This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and data-slimming algorithm for well-organized and simplified map formalization and management, 2) the direct acquisition of local traversability indexes through vehicle and point cloud interaction analysis, which saves work in surface fitting, and 3) the assignment of traversability indexes on a multi-level connectivity graph to generate a weighted traversability graph for generally search-based path planning. The A* algorithm is modified to utilize the traversability graph to generate a short and safe path. The effectiveness and reliability of the proposed method are verified through indoor and outdoor experiments conducted in various environments, including multi-floor buildings, woodland, and rugged mountainous regions. The results demonstrate that the proposed method can properly address 3D path planning problems for ground vehicles in a wide range of situations.

Machine learning plays an important role in the operation of current wind energy production systems. One central application is predictive maintenance to increase efficiency and lower electricity costs by reducing downtimes. Integrating physics-based knowledge in neural networks to enforce their physical plausibilty is a promising method to improve current approaches, but incomplete system information often impedes their application in real world scenarios. We describe a simple and efficient way for physics-constrained deep learning-based predictive maintenance for wind turbine gearbox bearings with partial system knowledge. The approach is based on temperature nowcasting constrained by physics, where unknown system coefficients are treated as learnable neural network parameters. Results show improved generalization performance to unseen environments compared to a baseline neural network, which is especially important in low data scenarios often encountered in real-world applications.

Bayesian variable selection is a powerful tool for data analysis, as it offers a principled method for variable selection that accounts for prior information and uncertainty. However, wider adoption of Bayesian variable selection has been hampered by computational challenges, especially in difficult regimes with a large number of covariates or non-conjugate likelihoods. Generalized linear models for count data, which are prevalent in biology, ecology, economics, and beyond, represent an important special case. Here we introduce an efficient MCMC scheme for variable selection in binomial and negative binomial regression that exploits Tempered Gibbs Sampling (Zanella and Roberts, 2019) and that includes logistic regression as a special case. In experiments we demonstrate the effectiveness of our approach, including on cancer data with seventeen thousand covariates.