Modulation for emergent networks: serotonin and dopamine.

PubMed

Weng, Juyang; Paslaski, Stephen; Daly, James; VanDam, Courtland; Brown, Jacob

2013-05-01

In autonomous learning, value-sensitive experiences can improve the efficiency of learning. A learning network needs be motivated so that the limited computational resources and the limited lifetime are devoted to events that are of high value for the agent to compete in its environment. The neuromodulatory system of the brain is mainly responsible for developing such a motivation system. Although reinforcement learning has been extensively studied, many existing models are symbolic whose internal nodes or modules have preset meanings. Neural networks have been used to automatically generate internal emergent representations. However, modeling an emergent motivational system for neural networks is still a great challenge. By emergent, we mean that the internal representations emerge autonomously through interactions with the external environments. This work proposes a generic emergent modulatory system for emergent networks, which includes two subsystems - the serotonin system and the dopamine system. The former signals a large class of stimuli that are intrinsically aversive (e.g., stress or pain). The latter signals a large class of stimuli that are intrinsically appetitive (e.g., pleasure or sweet). We experimented with this motivational system for two settings. The first is a visual recognition setting to investigate how such a system can learn through interactions with a teacher, who does not directly give answers, but only punishments and rewards. The second is a setting for wandering in the presence of a friend and a foe. Copyright © 2012 Elsevier Ltd. All rights reserved.

Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments

DTIC Science & Technology

2012-06-01

This document was downloaded on August 16, 2012 at 10:14:04 Author(s) Acton, Brian E.; Taylor, David L. Title Autonomous Dirigible Airships: a ...Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments...2. REPORT DATE June 2012 3. REPORT TYPE AND DATES COVERED MBA Professional Report 4. TITLE AND SUBTITLE: Autonomous Dirigible Airships: A

Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

DTIC Science & Technology

2006-08-14

COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

Science, technology and the future of small autonomous drones.

PubMed

Floreano, Dario; Wood, Robert J

2015-05-28

We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

Autonomous assistance navigation for robotic wheelchairs in confined spaces.

PubMed

Cheein, Fernando Auat; Carelli, Ricardo; De la Cruz, Celso; Muller, Sandra; Bastos Filho, Teodiano F

2010-01-01

In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, 90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

INL Autonomous Navigation System

DOE Office of Scientific and Technical Information (OSTI.GOV)

2005-03-30

The INL Autonomous Navigation System provides instructions for autonomously navigating a robot. The system permits high-speed autonomous navigation including obstacle avoidance, waypoing navigation and path planning in both indoor and outdoor environments.

Autonomous driving in urban environments: approaches, lessons and challenges.

PubMed

Campbell, Mark; Egerstedt, Magnus; How, Jonathan P; Murray, Richard M

2010-10-13

The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

NASA Technical Reports Server (NTRS)

Tran, Loc; Cross, Charles; Montague, Gilbert; Motter, Mark; Neilan, James; Qualls, Garry; Rothhaar, Paul; Trujillo, Anna; Allen, B. Danette

2015-01-01

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

A Cross-Cultural Examination of SNS Usage Intensity and Managing Interpersonal Relationships Online: The Role of Culture and the Autonomous-Related Self-Construal.

PubMed

Lee, Soon Li; Kim, Jung-Ae; Golden, Karen Jennifer; Kim, Jae-Hwi; Park, Miriam Sang-Ah

2016-01-01

Perception of the autonomy and relatedness of the self may be influenced by one's experiences and social expectations within a particular cultural setting. The present research examined the role of culture and the Autonomous-Related self-construal in predicting for different aspects of Social Networking Sites (SNS) usage in three Asian countries, especially focusing on those aspects serving interpersonal goals. Participants in this cross-cultural study included 305 university students from Malaysia (n = 105), South Korea (n = 113), and China (n = 87). The study explored specific social and interpersonal behaviors on SNS, such as browsing the contacts' profiles, checking for updates, and improving contact with SNS contacts, as well as the intensity of SNS use, hypothesizing that those with high intensity of use in the Asian context may be doing so to achieve the social goal of maintaining contact and keeping updated with friends. Two scales measuring activities on other users' profiles and contact with friends' profiles were developed and validated. As predicted, some cross-cultural differences were found. Koreans were more likely to use SNS to increase contact but tended to spend less time browsing contacts' profiles than the Malaysians and Chinese. The intensity of SNS use differed between the countries as well, where Malaysians reported higher intensity than Koreans and Chinese. Consistent with study predictions, Koreans were found with the highest Autonomous-Related self-construal scores. The Autonomous-Related self-construal predicted SNS intensity. The findings suggest that cultural contexts, along with the way the self is construed in different cultures, may encourage different types of SNS usage. The authors discuss study implications and suggest future research directions.

A Cross-Cultural Examination of SNS Usage Intensity and Managing Interpersonal Relationships Online: The Role of Culture and the Autonomous-Related Self-Construal

PubMed Central

Lee, Soon Li; Kim, Jung-Ae; Golden, Karen Jennifer; Kim, Jae-Hwi; Park, Miriam Sang-Ah

2016-01-01

Perception of the autonomy and relatedness of the self may be influenced by one's experiences and social expectations within a particular cultural setting. The present research examined the role of culture and the Autonomous-Related self-construal in predicting for different aspects of Social Networking Sites (SNS) usage in three Asian countries, especially focusing on those aspects serving interpersonal goals. Participants in this cross-cultural study included 305 university students from Malaysia (n = 105), South Korea (n = 113), and China (n = 87). The study explored specific social and interpersonal behaviors on SNS, such as browsing the contacts' profiles, checking for updates, and improving contact with SNS contacts, as well as the intensity of SNS use, hypothesizing that those with high intensity of use in the Asian context may be doing so to achieve the social goal of maintaining contact and keeping updated with friends. Two scales measuring activities on other users' profiles and contact with friends' profiles were developed and validated. As predicted, some cross-cultural differences were found. Koreans were more likely to use SNS to increase contact but tended to spend less time browsing contacts' profiles than the Malaysians and Chinese. The intensity of SNS use differed between the countries as well, where Malaysians reported higher intensity than Koreans and Chinese. Consistent with study predictions, Koreans were found with the highest Autonomous-Related self-construal scores. The Autonomous-Related self-construal predicted SNS intensity. The findings suggest that cultural contexts, along with the way the self is construed in different cultures, may encourage different types of SNS usage. The authors discuss study implications and suggest future research directions. PMID:27148100

Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

PubMed

Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

2017-09-26

Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

ROSE: the road simulation environment

NASA Astrophysics Data System (ADS)

Liatsis, Panos; Mitronikas, Panogiotis

1997-05-01

Evaluation of advanced sensing systems for autonomous vehicle navigation (AVN) is currently carried out off-line with prerecorded image sequences taken by physically attaching the sensors to the ego-vehicle. The data collection process is cumbersome and costly as well as highly restricted to specific road environments and weather conditions. This work proposes the use of scientific animation in modeling and representation of real-world traffic scenes and aims to produce an efficient, reliable and cost-effective concept evaluation suite for AVN sensing algorithms. ROSE is organized in a modular fashion consisting of the route generator, the journey generator, the sequence description generator and the renderer. The application was developed in MATLAB and POV-Ray was selected as the rendering module. User-friendly graphical user interfaces have been designed to allow easy selection of animation parameters and monitoring of the generation proces. The system, in its current form, allows the generation of various traffic scenarios, providing for an adequate number of static/dynamic objects, road types and environmental conditions. Initial tests on the robustness of various image processing algorithms to varying lighting and weather conditions have been already carried out.

Adaptive Oceanographic Sampling in a Coastal Environment Using Autonomous Gliding Vehicles

DTIC Science & Technology

2003-08-01

cost autonomous vehicles with near-global range and modular sensor payload. Particular emphasis is placed on the development of adaptive sampling...environment. Secondary objectives include continued development of adaptive sampling strategies suitable for large fleets of slow-moving autonomous ... vehicles , and development and implementation of new oceanographic sensors and sampling methodologies. The main task completed was a complete redesign of

The Jet Propulsion Laboratory shared control architecture and implementation

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad

1990-01-01

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Corrosion-Activated Micro-Containers for Environmentally Friendly Corrosion Protective Coatings

NASA Technical Reports Server (NTRS)

Li, Wenyan; Buhrow, J. W.; Zhang, X.; Johnsey, M. N.; Pearman, B. P.; Jolley, S. T.; Calle, L. M.

2016-01-01

This work concerns the development of environmentally friendly encapsulation technology, specifically designed to incorporate corrosion indicators, inhibitors, and self-healing agents into a coating, in such a way that the delivery of the indicators and inhibitors is triggered by the corrosion process, and the delivery of self-healing agents is triggered by mechanical damage to the coating. Encapsulation of the active corrosion control ingredients allows the incorporation of desired autonomous corrosion control functions such as: early corrosion detection, hidden corrosion detection, corrosion inhibition, and self-healing of mechanical damage into a coating. The technology offers the versatility needed to include one or several corrosion control functions into the same coating.The development of the encapsulation technology has progressed from the initial proof-of-concept work, in which a corrosion indicator was encapsulated into an oil-core (hydrophobic) microcapsule and shown to be delivered autonomously, under simulated corrosion conditions, to a sophisticated portfolio of micro carriers (organic, inorganic, and hybrid) that can be used to deliver a wide range of active corrosion ingredients at a rate that can be adjusted to offer immediate as well as long-term corrosion control. The micro carriers have been incorporated into different coating formulas to test and optimize the autonomous corrosion detection, inhibition, and self-healing functions of the coatings. This paper provides an overview of progress made to date and highlights recent technical developments, such as improved corrosion detection sensitivity, inhibitor test results in various types of coatings, and highly effective self-healing coatings based on green chemistry. The NASA Kennedy Space Centers Corrosion Technology Lab at the Kennedy Space Center in Florida, U.S.A. has been developing multifunctional smart coatings based on the microencapsulation of environmentally friendly corrosion indicators, inhibitors and self-healing agents. This allows the incorporation of autonomous corrosion control functionalities, such as corrosion detection and inhibition as well as the self-healing of mechanical damage, into coatings. This paper presents technical details on the characterization of inhibitor-containing particles and their corrosion inhibitive effects using electrochemical and mass loss methods.Three organic environmentally friendly corrosion inhibitors were encapsulated in organic microparticles that are compatible with desired coatings. The release of the inhibitors from the microparticles in basic solution was studied. Fast release, for immediate corrosion protection, as well as long-term release for continued protection, was observed.The inhibition efficacy of the inhibitors, incorporated directly and in microparticles, on carbon steel was evaluated. Polarization curves and mass loss measurements showed that, in the case of 2MBT, its corrosion inhibition effectiveness was greater when it was delivered from microparticles.

Links between Friends' Physical Aggression and Adolescents' Physical Aggression: What Happens If Gene-Environment Correlations are Controlled?

ERIC Educational Resources Information Center

Vitaro, Frank; Brendgen, Mara; Girard, Alain; Dionne, Ginette; Tremblay, Richard E.; Boivin, Michel

2016-01-01

Exposure to deviant friends has been found to be a powerful source of influence on children's and adolescents' aggressive behavior. However, the contribution of deviant friends may have been overestimated because of a possible non-accounted gene-environment correlation (rGE). In this study, we used a cross-lagged design to test whether friends'…

Gene-Environment Interplay in the Link of Friends' and Nonfriends' Behaviors with Children's Social Reticence in a Competitive Situation

ERIC Educational Resources Information Center

Guimond, Fanny-Alexandra; Brendgen, Mara; Vitaro, Frank; Forget-Dubois, Nadine; Dionne, Ginette; Tremblay, Richard E.; Boivin, Michel

2014-01-01

This study used a genetically informed design to assess the effects of friends' and nonfriends' reticent and dominant behaviors on children's observed social reticence in a competitive situation. Potential gene-environment correlations (rGE) and gene-environment interactions (GxE) in the link between (a) friends' and…

A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

PubMed

Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

2014-12-01

Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

System and method of self-properties for an autonomous and automatic computer environment

NASA Technical Reports Server (NTRS)

Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

2010-01-01

Systems, methods and apparatus are provided through which in some embodiments self health/urgency data and environment health/urgency data may be transmitted externally from an autonomic element. Other embodiments may include transmitting the self health/urgency data and environment health/urgency data together on a regular basis similar to the lub-dub of a heartbeat. Yet other embodiments may include a method for managing a system based on the functioning state and operating status of the system, wherein the method may include processing received signals from the system indicative of the functioning state and the operating status to obtain an analysis of the condition of the system, generating one or more stay alive signals based on the functioning status and the operating state of the system, transmitting the stay-alive signal, transmitting self health/urgency data, and transmitting environment health/urgency data. Still other embodiments may include an autonomic element that includes a self monitor, a self adjuster, an environment monitor, and an autonomic manager.

Localization system for use in GPS denied environments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Trueblood, J. J.

The military uses to autonomous platforms to complete missions to provide standoff for the warfighters. However autonomous platforms rely on GPS to provide their global position. In many missions spaces the autonomous platforms may encounter GPS denied environments which limits where the platform operates and requires the warfighters to takes its place. GPS denied environments can occur due to tall building, trees, canyon wall blocking the GPS satellite signals or a lack of coverage. An Inertial Navigation System (INS) uses sensors to detect the vehicle movement and direction its traveling to calculate the vehicle. One of biggest challenges with anmore » INS system is the accuracy and accumulation of errors over time of the sensors. If these challenges can be overcome the INS would provide accurate positioning information to the autonomous vehicle in GPS denied environments and allow them to provide the desired standoff for the warfighters.« less

Long-Term Simultaneous Localization and Mapping in Dynamic Environments

DTIC Science & Technology

2015-01-01

core competencies required for autonomous mobile robotics is the ability to use sensors to perceive the environment. From this noisy sensor data, the...and mapping (SLAM), is a prerequisite for almost all higher-level autonomous behavior in mobile robotics. By associating the robot???s sensory...distributed stochastic neighbor embedding x ABSTRACT One of the core competencies required for autonomous mobile robotics is the ability to use sensors

Formal Assurance for Cognitive Architecture Based Autonomous Agent

NASA Technical Reports Server (NTRS)

Bhattacharyya, Siddhartha; Eskridge, Thomas; Neogi, Natasha; Carvalho, Marco

2017-01-01

Autonomous systems are designed and deployed in different modeling paradigms. These environments focus on specific concepts in designing the system. We focus our effort in the use of cognitive architectures to design autonomous agents to collaborate with humans to accomplish tasks in a mission. Our research focuses on introducing formal assurance methods to verify the behavior of agents designed in Soar, by translating the agent to the formal verification environment Uppaal.

Microglia PACAP and glutamate: Friends or foes in seizure-induced autonomic dysfunction and SUDEP?

PubMed

Bhandare, Amol M; Kapoor, Komal; Farnham, Melissa M J; Pilowsky, Paul M

2016-06-01

Seizure-induced cardiorespiratory autonomic dysfunction is a major cause of sudden unexpected death in epilepsy (SUDEP), and the underlying mechanism is unclear. Seizures lead to increased synthesis, and release of glutamate, pituitary adenylate cyclase activating polypeptide (PACAP), and other neurotransmitters, and cause extensive activation of microglia at multiple regions in the brain including central autonomic cardiorespiratory brainstem nuclei. Glutamate contributes to neurodegeneration, and inflammation in epilepsy. PACAP has neuroprotective, and anti-inflammatory properties, whereas microglia are key players in inflammatory responses in CNS. Seizure-induced increase in PACAP is neuroprotective. PACAP produces neuroprotective effects acting on microglial PAC1 and VPAC1 receptors. Microglia also express glutamate transporters, and their expression can be increased by PACAP in response to harmful or stressful situations such as seizures. Here we discuss the mechanism of autonomic cardiorespiratory dysfunction in seizure, and the role of PACAP, glutamate and microglia in regulating cardiorespiratory brainstem neurons in their physiological state that could provide future therapeutic options for SUDEP. Copyright © 2016 Elsevier B.V. All rights reserved.

Development of autonomous controller system of high speed UAV from simulation to ready to fly condition

NASA Astrophysics Data System (ADS)

Yudhi Irwanto, Herma

2018-02-01

The development of autonomous controller system that is specially used in our high speed UAV, it’s call RKX-200EDF/TJ controlled vehicle needs to be continued as a step to mastery and to developt control system of LAPAN’s satellite launching rocket. The weakness of the existing control system in this high speed UAV needs to be repaired and replaced using the autonomous controller system. Conversion steps for ready-to-fly system involved controlling X tail fin, adjusting auto take off procedure by adding X axis sensor, procedure of way points reading and process of measuring distance and heading to the nearest way point, developing user-friendly ground station, and adding tools for safety landing. The development of this autonomous controller system also covered a real flying test in Pandanwangi, Lumajang in November 2016. Unfortunately, the flying test was not successful because the booster rocket was blown right after burning. However, the system could record the event and demonstrated that the controller system had worked according to plan.

Modeling Age-Friendly Environment, Active Aging, and Social Connectedness in an Emerging Asian Economy.

PubMed

Lai, Ming-Ming; Lein, Shi-Ying; Lau, Siok-Hwa; Lai, Ming-Ling

2016-01-01

This paper empirically tested eight key features of WHO guidelines to age-friendly community by surveying 211 informal caregivers and 402 self-care adults (aged 45 to 85 and above) in Malaysia. We examined the associations of these eight features with active aging and social connectedness through exploratory and confirmatory factor analyses. A structural model with satisfactory goodness-of-fit indices (CMIN/df = 1.11, RMSEA = 0.02, NFI = 0.97, TLI = 1.00, CFI = 1.00, and GFI = 0.96) indicates that transportation and housing, community support and health services, and outdoor spaces and buildings are statistically significant in creating an age-friendly environment. We found a statistically significant positive relationship between an age-friendly environment and active aging. This relationship is mediated by social connectedness. The results indicate that built environments such as accessible public transportations and housing, affordable and accessible healthcare services, and elderly friendly outdoor spaces and buildings have to be put into place before social environment in building an age-friendly environment. Otherwise, the structural barriers would hinder social interactions for the aged. The removal of the environmental barriers and improved public transportation services provide short-term solutions to meet the varied and growing needs of the older population.

Modeling Age-Friendly Environment, Active Aging, and Social Connectedness in an Emerging Asian Economy

PubMed Central

Lai, Ming-Ming; Lein, Shi-Ying; Lau, Siok-Hwa; Lai, Ming-Ling

2016-01-01

This paper empirically tested eight key features of WHO guidelines to age-friendly community by surveying 211 informal caregivers and 402 self-care adults (aged 45 to 85 and above) in Malaysia. We examined the associations of these eight features with active aging and social connectedness through exploratory and confirmatory factor analyses. A structural model with satisfactory goodness-of-fit indices (CMIN/df = 1.11, RMSEA = 0.02, NFI = 0.97, TLI = 1.00, CFI = 1.00, and GFI = 0.96) indicates that transportation and housing, community support and health services, and outdoor spaces and buildings are statistically significant in creating an age-friendly environment. We found a statistically significant positive relationship between an age-friendly environment and active aging. This relationship is mediated by social connectedness. The results indicate that built environments such as accessible public transportations and housing, affordable and accessible healthcare services, and elderly friendly outdoor spaces and buildings have to be put into place before social environment in building an age-friendly environment. Otherwise, the structural barriers would hinder social interactions for the aged. The removal of the environmental barriers and improved public transportation services provide short-term solutions to meet the varied and growing needs of the older population. PMID:27293889

How Do We Create ASD-Friendly Schools? A Dilemma of Placement

ERIC Educational Resources Information Center

Goodall, Craig

2015-01-01

Scope exists within the Northern Ireland (NI) education system to transform mainstream schools into autistic spectrum disorder (ASD)-friendly environments. The efficacy of mainstream inclusion is discussed prior to discussing the creation of ASD-friendly schools. The transformation of mainstream school environments is underpinned by concepts such…

Designed by the Pupils, for the Pupils: An Autism-Friendly School

ERIC Educational Resources Information Center

McAllister, Keith; Sloan, Sean

2016-01-01

There is growing interest in promoting autism-friendly environments, especially in a school setting. Findings to date have generally advocated an accepted reductionist or generalist approach when providing an autism-friendly built environment. However, previous studies, while very well intentioned, have rarely involved those with autism spectrum…

Passive and Self-Powered Autonomous Sensors for Remote Measurements

PubMed Central

Sardini, Emilio; Serpelloni, Mauro

2009-01-01

Autonomous sensors play a very important role in the environmental, structural, and medical fields. The use of this kind of systems can be expanded for several applications, for example in implantable devices inside the human body where it is impossible to use wires. Furthermore, they enable measurements in harsh or hermetic environments, such as under extreme heat, cold, humidity or corrosive conditions. The use of batteries as a power supply for these devices represents one solution, but the size, and sometimes the cost and unwanted maintenance burdens of replacement are important drawbacks. In this paper passive and self-powered autonomous sensors for harsh or hermetical environments without batteries are discussed. Their general architectures are presented. Sensing strategies, communication techniques and power management are analyzed. Then, general building blocks of an autonomous sensor are presented and the design guidelines that such a system must follow are given. Furthermore, this paper reports different proposed applications of autonomous sensors applied in harsh or hermetic environments: two examples of passive autonomous sensors that use telemetric communication are proposed, the first one for humidity measurements and the second for high temperatures. Other examples of self-powered autonomous sensors that use a power harvesting system from electromagnetic fields are proposed for temperature measurements and for airflow speeds. PMID:22399949

Passive and self-powered autonomous sensors for remote measurements.

PubMed

Sardini, Emilio; Serpelloni, Mauro

2009-01-01

Autonomous sensors play a very important role in the environmental, structural, and medical fields. The use of this kind of systems can be expanded for several applications, for example in implantable devices inside the human body where it is impossible to use wires. Furthermore, they enable measurements in harsh or hermetic environments, such as under extreme heat, cold, humidity or corrosive conditions. The use of batteries as a power supply for these devices represents one solution, but the size, and sometimes the cost and unwanted maintenance burdens of replacement are important drawbacks. In this paper passive and self-powered autonomous sensors for harsh or hermetical environments without batteries are discussed. Their general architectures are presented. Sensing strategies, communication techniques and power management are analyzed. Then, general building blocks of an autonomous sensor are presented and the design guidelines that such a system must follow are given. Furthermore, this paper reports different proposed applications of autonomous sensors applied in harsh or hermetic environments: two examples of passive autonomous sensors that use telemetric communication are proposed, the first one for humidity measurements and the second for high temperatures. Other examples of self-powered autonomous sensors that use a power harvesting system from electromagnetic fields are proposed for temperature measurements and for airflow speeds.

Autonomy support environment and autonomous motivation on nursing student academic performance: An exploratory analysis.

PubMed

Bronson, Sevilla

2016-09-01

In the U.S., enrollment and graduation rates of baccalaureate nursing programs are slowly increasing. Rigorous program requirements can be overwhelming for students who may have difficulty adjusting to curriculum demands. Faculty who help students to adjust may also build a supportive learning environment that promotes autonomous motivation, improves engagement, and strengthens academic performance. Students may also experience well-being and autonomy when they feel supported and when their needs are met. The aim of this study was to investigate nursing students' autonomy support environments and autonomous motivation (measured as spirituality), and the influence on engagement and academic performance. A cross-sectional correlational design using a convenience sample of 150 nursing students in the last year of a baccalaureate nursing program was used. Participants were recruited from four universities in Florida and data collection occurred over three months. All participants were enrolled in the last year of their baccalaureate nursing program with an average Grade Point Average (GPA) of 3.36. The learning climate alone was moderately supportive of student motivation (M=70.60, SD=18.99). No significant relationship between the autonomy support environment and autonomous motivation (r=.034, p=.676) was found. Correlations and regression analysis of autonomous motivation and work engagement were significant (F (2, 147)=28.28, p=.000). Comparison of participant groups from each university independently revealed supportive learning environments. Strategies to promote autonomy must be developed and implemented as a means of ensuring a favorable learning environment. Future research may include the investigation of spirituality and autonomous motivation as two separate variables. Copyright © 2016 Elsevier Ltd. All rights reserved.

The Autonomous House: A Bio-Hydrogen Based Energy Self-Sufficient Approach

PubMed Central

Chen, Shang-Yuan; Chu, Chen-Yeon; Cheng, Ming-jen; Lin, Chiu-Yue

2009-01-01

In the wake of the greenhouse effect and global energy crisis, finding sources of clean, alternative energy and developing everyday life applications have become urgent tasks. This study proposes the development of an “autonomous house” emphasizing the use of modern green energy technology to reduce environmental load, achieve energy autonomy and use energy intelligently in order to create a sustainable, comfortable living environment. The houses’ two attributes are: (1) a self-sufficient energy cycle and (2) autonomous energy control to maintain environmental comfort. The autonomous house thus combines energy-conserving, carbon emission-reducing passive design with active elements needed to maintain a comfortable environment. PMID:19440531

The autonomous house: a bio-hydrogen based energy self-sufficient approach.

PubMed

Chen, Shang-Yuan; Chu, Chen-Yeon; Cheng, Ming-Jen; Lin, Chiu-Yue

2009-04-01

In the wake of the greenhouse effect and global energy crisis, finding sources of clean, alternative energy and developing everyday life applications have become urgent tasks. This study proposes the development of an "autonomous house" emphasizing the use of modern green energy technology to reduce environmental load, achieve energy autonomy and use energy intelligently in order to create a sustainable, comfortable living environment. The houses' two attributes are: (1) a self-sufficient energy cycle and (2) autonomous energy control to maintain environmental comfort. The autonomous house thus combines energy-conserving, carbon emission-reducing passive design with active elements needed to maintain a comfortable environment.

An intelligent algorithm for autonomous scientific sampling with the VALKYRIE cryobot

NASA Astrophysics Data System (ADS)

Clark, Evan B.; Bramall, Nathan E.; Christner, Brent; Flesher, Chris; Harman, John; Hogan, Bart; Lavender, Heather; Lelievre, Scott; Moor, Joshua; Siegel, Vickie

2018-07-01

The development of algorithms for agile science and autonomous exploration has been pursued in contexts ranging from spacecraft to planetary rovers to unmanned aerial vehicles to autonomous underwater vehicles. In situations where time, mission resources and communications are limited and the future state of the operating environment is unknown, the capability of a vehicle to dynamically respond to changing circumstances without human guidance can substantially improve science return. Such capabilities are difficult to achieve in practice, however, because they require intelligent reasoning to utilize limited resources in an inherently uncertain environment. Here we discuss the development, characterization and field performance of two algorithms for autonomously collecting water samples on VALKYRIE (Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer), a glacier-penetrating cryobot deployed to the Matanuska Glacier, Alaska (Mission Control location: 61°42'09.3''N 147°37'23.2''W). We show performance on par with human performance across a wide range of mission morphologies using simulated mission data, and demonstrate the effectiveness of the algorithms at autonomously collecting samples with high relative cell concentration during field operation. The development of such algorithms will help enable autonomous science operations in environments where constant real-time human supervision is impractical, such as penetration of ice sheets on Earth and high-priority planetary science targets like Europa.

Active Control of NITINOL-Reinforced Structural Composites

DTIC Science & Technology

1992-10-12

useful in many critical structures that are intended to operate autonomously for long durations in isolated environments such as defense vehicles , space...durations in isolated environment such as defense vehicles , space structures and satellites. ACKNOWLEDGEMENTS This work is funded by a grant from the US Army...are intended to operate autonomously for long durations in isolated environment such as defense vehicles , space structures and satellites. REFERENCES

Telerobot operator control station requirements

NASA Technical Reports Server (NTRS)

Kan, Edwin P.

1988-01-01

The operator control station of a telerobot system has unique functional and human factors requirements. It has to satisfy the needs of a truly interactive and user-friendly complex system, a telerobot system being a hybrid between a teleoperated and an autonomous system. These functional, hardware and software requirements are discussed, with explicit reference to the design objectives and constraints of the JPL/NASA Telerobot Demonstrator System.

GOATS 2008 Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2008-09-30

To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and ASW, exploiting collaborative and environmentally...unlimited 13. SUPPLEMENTARY NOTES code 1 only 14. ABSTRACT To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and...of autonomous underwater vehicle networks as platforms for new sonar concepts exploring the full 3-D acoustic environment of shallow water (SW) and

Towards autonomous fuzzy control

NASA Technical Reports Server (NTRS)

Shenoi, Sujeet; Ramer, Arthur

1993-01-01

The efficient implementation of on-line adaptation in real time is an important research problem in fuzzy control. The goal is to develop autonomous self-organizing controllers employing system-independent control meta-knowledge which enables them to adjust their control policies depending on the systems they control and the environments in which they operate. An autonomous fuzzy controller would continuously observe system behavior while implementing its control actions and would use the outcomes of these actions to refine its control policy. It could be designed to lie dormant when its control actions give rise to adequate performance characteristics but could rapidly and autonomously initiate real-time adaptation whenever its performance degrades. Such an autonomous fuzzy controller would have immense practical value. It could accommodate individual variations in system characteristics and also compensate for degradations in system characteristics caused by wear and tear. It could also potentially deal with black-box systems and control scenarios. On-going research in autonomous fuzzy control is reported. The ultimate research objective is to develop robust and relatively inexpensive autonomous fuzzy control hardware suitable for use in real time environments.

Role of ecolabeling in reducing ecotoxicology.

PubMed

Chakravarthy, Yogita; Potdar, Aditee; Singh, Anju; Unnikrishnan, Seema; Naik, Neelima

2016-12-01

Ecolabeling helps consumers to select environment friendly products, while meeting high demands on occupational health, safety, and usability. Ecolabeling undertakes cradle-to-grave approach which helps in minimizing the toxicological impacts at every stage of the product life cycle. The ecolabeling procedure calls for substitution or reduction of hazardous substances thereby reducing the toxicity caused due to these chemicals. China, Japan, Australia, European Union, and Nordic countries are leading in the race of awareness and implementation of ecolabeling schemes. In India, the ecolabeling scheme (Ecomark) was initiated in 1991. The Ecomark scheme lacked adoption of the green marketing principles and thus failed to create an impact. This study presents an overview of ecolabels in European Union, Nordic countries, Germany, China and India. Furthermore, it assesses the awareness of ecolabels among the retailers and traders of environment friendly products in India through a survey. The study highlights that the ecolabels are a success in most of the countries studied and are applied across a range of industrial sectors. The survey is administered to 80 retailers and traders of stores selling environment friendly products across different Indian cities. A correlation is established with the variables identified. The survey results indicate that although the retailers and traders of environment friendly products have low awareness of the ecolabels on environment friendly products, they are taking considerable efforts to promote and deliver environment friendly products to consumers. Large-scale awareness drives initiated by the Ministry of Environment, Forests & Climate Change permeating at grass root levels with the involvement of stakeholders could prove beneficial for promotion of the ecolabeling schemes. Copyright © 2015 Elsevier Inc. All rights reserved.

Motion planning for autonomous vehicle based on radial basis function neural network in unstructured environment.

PubMed

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-09-18

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality.

Motion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment

PubMed Central

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-01-01

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality. PMID:25237902

Optimization of Land Use Suitability for Agriculture Using Integrated Geospatial Model and Genetic Algorithms

NASA Astrophysics Data System (ADS)

Mansor, S. B.; Pormanafi, S.; Mahmud, A. R. B.; Pirasteh, S.

2012-08-01

In this study, a geospatial model for land use allocation was developed from the view of simulating the biological autonomous adaptability to environment and the infrastructural preference. The model was developed based on multi-agent genetic algorithm. The model was customized to accommodate the constraint set for the study area, namely the resource saving and environmental-friendly. The model was then applied to solve the practical multi-objective spatial optimization allocation problems of land use in the core region of Menderjan Basin in Iran. The first task was to study the dominant crops and economic suitability evaluation of land. Second task was to determine the fitness function for the genetic algorithms. The third objective was to optimize the land use map using economical benefits. The results has indicated that the proposed model has much better performance for solving complex multi-objective spatial optimization allocation problems and it is a promising method for generating land use alternatives for further consideration in spatial decision-making.

Symmetries and solutions of the non-autonomous von Bertalanffy equation

NASA Astrophysics Data System (ADS)

Edwards, Maureen P.; Anderssen, Robert S.

2015-05-01

For growth in a closed environment, which is indicative of the situation in laboratory experiments, autonomous ODE models do not necessarily capture the dynamics under investigation. The importance and impact of a closed environment arise when the question under examination relates, for example, to the number of the surviving microbes, such as in a study of the spoilage and contamination of food, the gene silencing activity of fungi or the production of a chemical compound by bacteria or fungi. Autonomous ODE models are inappropriate as they assume that only the current size of the population controls the growth-decay dynamics. This is reflected in the fact that, asymptotically, their solutions can only grow or decay monotonically or asymptote. Non-autonomous ODE models are not so constrained. A natural strategy for the choice of non-autonomous ODEs is to take appropriate autonomous ones and change them to be non-autonomous through the introduction of relevant non-autonomous terms. This is the approach in this paper with the focus being the von Bertalanffy equation. Since this equation has independent importance in relation to practical applications in growth modelling, it is natural to explore the deeper relationships between the introduced non-autonomous terms through a symmetry analysis, which is the purpose and goal of the current paper. Infinitesimals are derived which allow particular forms of the non-autonomous von Bertalanffy equation to be transformed into autonomous forms for which some new analytic solutions have been found.

The effects of different learning environments on students' motivation for learning and their achievement.

PubMed

Baeten, Marlies; Dochy, Filip; Struyven, Katrien

2013-09-01

Research in higher education on the effects of student-centred versus lecture-based learning environments generally does not take into account the psychological need support provided in these learning environments. From a self-determination theory perspective, need support is important to study because it has been associated with benefits such as autonomous motivation and achievement. The purpose of the study is to investigate the effects of different learning environments on students' motivation for learning and achievement, while taking into account the perceived need support. First-year student teachers (N= 1,098) studying a child development course completed questionnaires assessing motivation and perceived need support. In addition, a prior knowledge test and case-based assessment were administered. A quasi-experimental pre-test/post-test design was set up consisting of four learning environments: (1) lectures, (2) case-based learning (CBL), (3) alternation of lectures and CBL, and (4) gradual implementation with lectures making way for CBL. Autonomous motivation and achievement were higher in the gradually implemented CBL environment, compared to the CBL environment. Concerning achievement, two additional effects were found; students in the lecture-based learning environment scored higher than students in the CBL environment, and students in the gradually implemented CBL environment scored higher than students in the alternated learning environment. Additionally, perceived need support was positively related to autonomous motivation, and negatively to controlled motivation. The study shows the importance of gradually introducing students to CBL, in terms of their autonomous motivation and achievement. Moreover, the study emphasizes the importance of perceived need support for students' motivation. © 2012 The British Psychological Society.

Autonomous Vehicle Systems Laboratory Research Capability Expansion Program

DTIC Science & Technology

2017-12-03

currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. University of the Incarnate Word 4301 Broadway, Box #T-2 San Antonio...autonomous control , collaboration, and decision-making in unstructured, dynamic, and uncertain nonlinear environments for autonomous ground and air...vehicle systems. To fulfill the research goal, the PI has initiated fundamental research in the areas of autonomous rotorcraft control and

Development of an Interactive Augmented Environment and Its Application to Autonomous Learning for Quadruped Robots

NASA Astrophysics Data System (ADS)

Kobayashi, Hayato; Osaki, Tsugutoyo; Okuyama, Tetsuro; Gramm, Joshua; Ishino, Akira; Shinohara, Ayumi

This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Wireless IR Image Transfer System for Autonomous Vehicles

DTIC Science & Technology

2003-12-01

the camera can operate between 0 and 500 C; this uniquely suites it for employment on autonomous vehicles in rugged environments. The camera is...system is suitable for used on autonomous vehicles under varying antenna orientations. • The third is the use of MDS transceivers allows the received

High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches

DTIC Science & Technology

2008-12-01

In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area...of data back to the command station, autonomous vehicles configured with high bandwidth communication system are positioned between the command

The Effects of Mothers' Educational Levels on University Students' Environmental Protection Commitments and Environmental Behaviors

ERIC Educational Resources Information Center

Saraçli, Sinan; Yilmaz, Veysel; Arslan, Talha

2014-01-01

Problem Statement: The damage caused by recent environmental problems has led to increased environmental concerns and the development of environment-friendly consumption behaviours in almost every society. Environment-friendly consumption involves the consideration of environmental benefits by minimizing any damage done to the environment at all…

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

A design approach for small vision-based autonomous vehicles

NASA Astrophysics Data System (ADS)

Edwards, Barrett B.; Fife, Wade S.; Archibald, James K.; Lee, Dah-Jye; Wilde, Doran K.

2006-10-01

This paper describes the design of a small autonomous vehicle based on the Helios computing platform, a custom FPGA-based board capable of supporting on-board vision. Target applications for the Helios computing platform are those that require lightweight equipment and low power consumption. To demonstrate the capabilities of FPGAs in real-time control of autonomous vehicles, a 16 inch long R/C monster truck was outfitted with a Helios board. The platform provided by such a small vehicle is ideal for testing and development. The proof of concept application for this autonomous vehicle was a timed race through an environment with obstacles. Given the size restrictions of the vehicle and its operating environment, the only feasible on-board sensor is a small CMOS camera. The single video feed is therefore the only source of information from the surrounding environment. The image is then segmented and processed by custom logic in the FPGA that also controls direction and speed of the vehicle based on visual input.

The "Digital Friend": A knowledge-based decision support system for space crews

NASA Astrophysics Data System (ADS)

Hoermann, Hans-Juergen; Johannes, Bernd; Petrovich Salnitski, Vyacheslav

Space travel of far distances presents exceptional strain on the medical and psychological well-being of the astronauts who undertake such missions. An intelligent knowledge management system has been developed, to assist space crews on long-duration missions as an autonomous decision support system, called the "Digital Friend". This system will become available upon request for the purpose of coaching group processes and individual performance levels as well as aiding in tactical decision processes by taking crew condition parameters into account. In its initial stage, the "Digital Friend" utilizes interconnected layers of knowledge, which encompass relevant models of operational, situational, individual psycho-physiological as well as group processes. An example is the human life science model that contains historic, diagnostic, and prognostic knowledge about the habitual, actual, and anticipated patterns of physiological, cognitive, and group psychology parameters of the crew members. Depending on the available data derived from pre-mission screening, regular check-ups, or non-intrusive onboard monitoring, the "Digital Friend" can generate a situational analysis and diagnose potential problems. When coping with the effects of foreseeable and unforeseen stressors encountered during the mission, the system can provide feedback and support the crew with a recommended course of actions. The first prototype of the "Digital Friend" employs the Neurolab/Healthlab platform developed in a cooperation of DLR and IBMP. The prototype contains psycho-physiological sensors with multiple Heally Satellites that relay data to the intelligent Heally Masters and a telemetric Host station. The analysis of data from a long-term simulation study illustrates how the system can be used to estimate the operators' current level of skill reliability based on Salnitski's model [V. Salnitski, A. Bobrov, A. Dudukin, B. Johannes, Reanalysis of operators reliability in professional skills under simulated and real space flight conditions, Proceedings of the 55th IAC Congress, 4-8 October 2004, Vancouver, Canada ], which combines time-series information of work performance and of work effort. In further collaborative projects, the subsequent system development will pursue a series of studies in related terrestrial environments to validate and fabricate different sensor systems, as well as to tune the data-processing engine and to test suitable user interfaces.

Autonomy support and autonomous motivation in the outpatient treatment of adults with an eating disorder.

PubMed

Steiger, Howard; Sansfaçon, Jeanne; Thaler, Lea; Leonard, Niamh; Cottier, Danaëlle; Kahan, Esther; Fletcher, Emilie; Rossi, Erika; Israel, Mimi; Gauvin, Lise

2017-09-01

Across diverse clinical problems, therapists' autonomy support has been found to increase patients' autonomous motivation for change. Being self-motivated has, in turn, been linked to superior treatment response. In people undergoing outpatient eating disorder (ED) treatment, we examined associations among ratings of autonomy support received from therapists and other carers, self-reported engagement in therapy, and clinical outcomes. Ninety-seven women with anorexia nervosa, bulimia nervosa, or a related ED provided measures of motivational status and clinical symptoms at the beginning and end of time-limited (12-16 weeks) segments of specialized treatment. At mid-treatment, patients also rated the extent to which they perceived their individual therapists, group therapists, group-therapy peers, family members, friends, and romantic partners as being autonomy supportive. Overall, multiple regression analyses indicated autonomy support to moderate (rather than mediate) the link between initial autonomous motivation and later change in autonomous motivation-with results indicating that, independently of ED diagnosis or treatment intensity, greater perceived autonomy support (from therapists and nontherapists alike) coincided with larger increases in autonomous motivation over the course of therapy. In turn, higher autonomous motivation at end-of-therapy coincided with larger reductions in eating symptoms. Findings suggest that the experience of autonomy support (from therapists and nontherapists) is associated with increasing motivation in people undergoing ED treatment, and that becoming self-motivated is linked to better outcomes. Such results indicate that support from therapists, relatives, and peers can favorably influence personal engagement in individuals undergoing ED treatment. © 2017 Wiley Periodicals, Inc.

Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed

DTIC Science & Technology

2012-01-01

Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed Matthew Keeter1, Daniel Moore2,3, Ryan Muller2,3, Eric Nieters1, Jennifer...Many applications for autonomous vehicles involve three-dimensional domains, notably aerial and aquatic environments. Such applications include mon...TYPE 3. DATES COVERED 00-00-2012 to 00-00-2012 4. TITLE AND SUBTITLE Cooperative Search With Autonomous Vehicles In A 3D Aquatic Testbed 5a

Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior

DTIC Science & Technology

2006-09-28

navigate in an unstructured environment to a specific target or location. 15. SUBJECT TERMS autonomous vehicles , fuzzy logic, learning behavior...ANSI-Std Z39-18 Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior FINAL REPORT 9/28/2006 Dean B. Edwards Department...the future, as greater numbers of autonomous vehicles are employed, it is hoped that lower LONG-TERM GOALS Use LAGR (Learning Applied to Ground Robots

Systems, methods and apparatus for quiesence of autonomic safety devices with self action

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic environmental safety device may be quiesced. In at least one embodiment, a method for managing an autonomic safety device, such as a smoke detector, based on functioning state and operating status of the autonomic safety device includes processing received signals from the autonomic safety device to obtain an analysis of the condition of the autonomic safety device, generating one or more stay-awake signals based on the functioning status and the operating state of the autonomic safety device, transmitting the stay-awake signal, transmitting self health/urgency data, and transmitting environment health/urgency data. A quiesce component of an autonomic safety device can render the autonomic safety device inactive for a specific amount of time or until a challenging situation has passed.

Wi-Fi and satellite-based location techniques for intelligent agricultural machinery controlled by a human operator.

PubMed

Drenjanac, Domagoj; Tomic, Slobodanka; Agüera, Juan; Perez-Ruiz, Manuel

2014-10-22

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems' (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach.

Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator

PubMed Central

Drenjanac, Domagoj; Tomic, Slobodanka; Agüera, Juan; Perez-Ruiz, Manuel

2014-01-01

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems’ (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach. PMID:25340450

Developing age-friendly cities: case studies from Brussels and Manchester and implications for policy and practice.

PubMed

Buffel, Tine; McGarry, Paul; Phillipson, Chris; De Donder, Liesbeth; Dury, Sarah; De Witte, Nico; Smetcoren, An-Sofie; Verté, Dominique

2014-01-01

Developing environments responsive to the aspirations of older people has become a major concern for social and public policy. Policies and programs directed at achieving "age-friendly" communities are considered to require a wide range of interventions, including actions at the level of the social and physical environment. This article compares the age-friendly approaches of two European cities, Brussels and Manchester, with a particular focus on policies and initiatives that promote active aging in an urban context. The article examines, first, the demographic, social, and multicultural contexts of Brussels and Manchester; second, the way in which both cities became members of the World Health Organization Global Network of Age-Friendly Cities and Communities; third, similarities and differences in the age-friendly approaches and actions adopted by both cities; and fourth, opportunities and barriers to the implementation of age-friendly policies. The article concludes by discussing the key elements and resources needed to develop age-friendly cities.

Is a Perceived Activity-Friendly Environment Associated with More Physical Activity and Fewer Screen-Based Activities in Adolescents?

PubMed

Kopcakova, Jaroslava; Dankulincova Veselska, Zuzana; Madarasova Geckova, Andrea; Bucksch, Jens; Nalecz, Hanna; Sigmundova, Dagmar; van Dijk, Jitse P; Reijneveld, Sijmen A

2017-01-03

Background: The aim of this study is to explore if perception of an activity-friendly environment is associated with more physical activity and fewer screen-based activities among adolescents. Methods: We collected self-reported data in 2014 via the Health Behavior in School-aged Children cross-sectional study from four European countries ( n = 13,800, mean age = 14.4, 49.4% boys). We explored the association of perceived environment (e.g., "There are other children nearby home to go out and play with") with physical activity and screen-based activities using a binary logistic regression model adjusted for age, gender, family affluence and country. Results: An environment perceived as activity-friendly was associated with higher odds that adolescents meet recommendations for physical activity (odds ratio (OR) for one standard deviation (SD) change = 1.11, 95% confidence interval (CI) 1.05-1.18) and lower odds for excessive screen-based activities (OR for 1 SD better = 0.93, 95% CI 0.88-0.98). Conclusions: Investment into an activity-friendly environment may support the promotion of active life styles in adolescence.

A NOVEL ENVIRONMENT FRIENDLY METHOD FOR EXPANSION AND MOLDING OF POLYMERIC FOAM

EPA Science Inventory

The objective of the project is to develop an environment friendly, novel and efficient alternative process for expansion and molding of polymeric foam. Spherical, expandable polymer beads are prepared from liquid monomer suspended in an aqueous medium, containing an expansion...

The VIPER project (Visualization Integration Platform for Exploration Research): a biologically inspired autonomous reconfigurable robotic platform for diverse unstructured environments

NASA Astrophysics Data System (ADS)

Schubert, Oliver J.; Tolle, Charles R.

2004-09-01

Over the last decade the world has seen numerous autonomous vehicle programs. Wheels and track designs are the basis for many of these vehicles. This is primarily due to four main reasons: a vast preexisting knowledge base for these designs, energy efficiency of power sources, scalability of actuators, and the lack of control systems technologies for handling alternate highly complex distributed systems. Though large efforts seek to improve the mobility of these vehicles, many limitations still exist for these systems within unstructured environments, e.g. limited mobility within industrial and nuclear accident sites where existing plant configurations have been extensively changed. These unstructured operational environments include missions for exploration, reconnaissance, and emergency recovery of objects within reconfigured or collapsed structures, e.g. bombed buildings. More importantly, these environments present a clear and present danger for direct human interactions during the initial phases of recovery operations. Clearly, the current classes of autonomous vehicles are incapable of performing in these environments. Thus the next generation of designs must include highly reconfigurable and flexible autonomous robotic platforms. This new breed of autonomous vehicles will be both highly flexible and environmentally adaptable. Presented in this paper is one of the most successful designs from nature, the snake-eel-worm (SEW). This design implements shape memory alloy (SMA) actuators which allow for scaling of the robotic SEW designs from sub-micron scale to heavy industrial implementations without major conceptual redesigns as required in traditional hydraulic, pneumatic, or motor driven systems. Autonomous vehicles based on the SEW design posses the ability to easily move between air based environments and fluid based environments with limited or no reconfiguration. Under a SEW designed vehicle, one not only achieves vastly improved maneuverability within a highly unstructured environment, but also gains robotic manipulation abilities, normally relegated as secondary add-ons within existing vehicles, all within one small condensed package. The prototype design presented includes a Beowulf style computing system for advanced guidance calculations and visualization computations. All of the design and implementation pertaining to the SEW robot discussed in this paper is the product of a student team under the summer fellowship program at the DOEs INEEL.

Supporting Learner Autonomy: Developing Practice through the Production of Courses for Distance Learners of French, German and Spanish

ERIC Educational Resources Information Center

Murphy, Linda

2008-01-01

The development of autonomous learners is an important goal for language teaching programmes. However, achievement of this goal depends on teachers creating an environment where learners can experience autonomy in order to become more autonomous, a process referred to by Little (2003) as "autonomization". In distance learning, course…

Periodic solution for a stochastic non-autonomous competitive Lotka-Volterra model in a polluted environment

NASA Astrophysics Data System (ADS)

Jiang, Daqing; Zhang, Qiumei; Hayat, Tasawar; Alsaedi, Ahmed

2017-04-01

In this paper, we consider a stochastic non-autonomous competitive Lotka-Volterra model in a polluted environment. We derive sufficient criteria for the existence and global attractivity of the boundary periodic solutions. Furthermore, we obtain conditions for the existence and global attractivity of a nontrivial positive periodic solution. Finally we make simulations to illustrate our analytical results.

Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments

DTIC Science & Technology

2012-06-01

NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA MBA PROFESSIONAL REPORT Autonomous Dirigible Airships: A Comparative Analysis...COVERED MBA Professional Report 4. TITLE AND SUBTITLE: Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation...NAME(S) AND ADDRESS(ES) N/ A 10. SPONSORING / MONITORING AGENCY REPORT NUMBER 11. SUPPLEMENTARY NOTES The views expressed in this report are

Green dentistry, a metamorphosis towards an eco-friendly dentistry: a short communication.

PubMed

Rastogi, Varun; Sharma, Rachna; Yadav, Lalita; Satpute, Pranali; Sharma, Vandana

2014-07-01

Dentistry is most importantly and foremost a healing profession. In today's world, it is very necessary to understand the importance of being eco-friendly in every facet of our lives, including dental practice which has a huge impact on the environment due to the large amount of metallic waste generated by various dental procedures along with excessive use of water and electricity, which specifically emphasis the thrust to move towards 'Green dentistry'. Green dentistry is an innovative way of dental practice which is environment friendly and at the same time conserves money and time by reducing waste, conserving energy and decreasing pollution with the use of latest techniques and procedures. Green dentistry therefore, protects the environment and mankind from the hazards of rapid urbanisation in developing countries. The authors wish to emphasize the practice of eco-friendly, green dentistry in a developing country like India which needs to conserve resources and curb environmental pollution.

Autonomous Agents: The Origins and Co-Evolution of Reproducing Molecular Systems

NASA Technical Reports Server (NTRS)

Kauffman, Stuart

1999-01-01

The central aim of this award concerned an investigation into, and adequate formulation of, the concept of an "autonomous agent." If we consider a bacterium swimming upstream in a glucose gradient, we are willing to say of the bacterium that it is going to get food. That is, we are willing, and do, describe the bacterium as acting on its own behalf in an environment. All free living cells are, in this sense, autonomous agents. But the bacterium is "just" a set of molecules. We define an autonomous agent as a physical system able to act on its own behalf in an environment, then ask, "What must a physical system be to be an autonomous agent?" The tentative definition for a molecular autonomous agent is that it must be self-reproducing and carry out at least one thermodynamic work cycle. The work carried out in this grant involved, among other features, the development of a detailed model of a molecular autonomous agent, and study of the kinetics of this system. In particular, a molecular autonomous agent must, by the above tentative definition, not only reproduce, but must carry out at least one work cycle. I took, as a simple example of a self-reproducing molecular system, the single-stranded DNA hexamer 3'CCGCGG5' which can line up and ligate its two complementary trimers, 5'CCG3' and 5'CGG3'. But the two ligated trimers constitute the same molecular sequence in the 3' to 5' direction as the initial hexamer, hence this system is autocatalytic. On the other hand the above system is not yet an autonomous agent. At the minimum, autonomous agents, as I have defined them, are a new class of chemical reaction network. At a maximum, they may constitute a proper definition of life itself.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

PubMed

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-07-26

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

PubMed Central

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-01-01

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

NASA Technical Reports Server (NTRS)

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

[Gender differences in career motivation: female doctors' ambitions benefit from family friendly work environment].

PubMed

Pas, B R; Lagro-Janssen, A L M; Doorewaard, J A C M; Eisinga, R N; Peters, C P

2008-10-04

To determine gender differences in career motivation and the effect of a family friendly work environment. Cross-sectional pilot investigation. A web survey among male and female doctors (n = 107; 72 women and 35 men) in different specialties, including surgical, internal medicine and general practitioners, was used to gather information on different dimensions of career motivation and perceptions of the family friendliness of the work environment. Differences were analysed by means of t-tests and regression analyses. Male doctors had higher scores on career identity and on career planning than female doctors. However, male and female doctors did not differ in their willingness to achieve top positions. Female doctors were more determined concerning their career goals than their male counterparts. The family friendliness of the work environment had an overall positive effect on career motivation for both male and female doctors. However, a family friendly work environment had a negative effect on the career identity of male doctors. For male and female doctors alike, support to achieve career goals and elimination of career barriers lead to increased career identity. Male and female doctors differed in certain dimensions of career motivation. Offering support for career goals and taking away career barriers leads to a higher career motivation than offering a family friendly work environment.

Characterization of Encapsulated Corrosion Inhibitors Containing Microparticles for Environmentally Friendly Smart Coatings

NASA Technical Reports Server (NTRS)

Pearman, Benjamin Pieter; Calle, Luz M.

2015-01-01

This poster presents the results obtained from experiments designed to evaluate the release properties, as well as the corrosion inhibition effectiveness, of several encapsulated corrosion inhibitors. Microencapsulation has been used in the development of environmentally friendly multifunctional smart coatings. This technique enables the incorporation of autonomous corrosion detection, inhibition and self-healing functionalities into many commercially available coating systems. Select environmentally friendly corrosion inhibitors were encapsulated in organic and inorganic pH-sensitive microparticles and their release in basic solutions was studied. The release rate results showed that the encapsulation can be tailored from fast, for immediate corrosion protection, to slow, which will provide continued long-term corrosion protection. The incorporation of several corrosion inhibitor release profiles into a coating provides effective corrosion protection properties. To investigate the corrosion inhibition efficiency of the encapsulated inhibitors, electrochemical techniques were used to obtain corrosion potential, polarization curve and polarization resistance data. These measurements were performed using the free as well as the encapsulated inhibitors singly or in combinations. Results from these electrochemical tests will be compared to those obtained from weight loss and other accelerated corrosion experiments.

Characterization of Encapsulated Corrosion Inhibitors for Environmentally Friendly Smart Coatings

NASA Technical Reports Server (NTRS)

Pearman, B. P.; Calle, L. M.; Zhang, X.; Li, W.; Buhrow, J. W.; Johnsey, M. N.; Montgomery, E. L.; Fitzpatrick, L.; Surma, J. M.

2015-01-01

The NASA Kennedy Space Center's Corrosion Technology Lab at the Kennedy Space Center in Florida, U.S.A. has been developing multifunctional smart coatings based on the microencapsulation of environmentally friendly corrosion indicators, inhibitors and self-healing agents. This allows the incorporation of autonomous corrosion control functionalities, such as corrosion detection and inhibition as well as the self-healing of mechanical damage, into coatings. This paper presents technical details on the characterization of inhibitor-containing particles and their corrosion inhibitive effects using electrochemical and mass loss methods. Three organic environmentally friendly corrosion inhibitors were encapsulated in organic microparticles that are compatible with desired coatings. The release of the inhibitors from the microparticles in basic solution was studied. Fast release, for immediate corrosion protection, as well as long-term release for continued protection, was observed. The inhibition efficacy of the inhibitors, incorporated directly and in microparticles, on carbon steel was evaluated. Polarization curves and mass loss measurements showed that, in the case of 2MBT, its corrosion inhibition effectiveness was greater when it was delivered from microparticles.

DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

EPA Science Inventory

This project included modifying an existing teleoperated robot to include autonomous navigation, large object avoidance, and air monitoring and demonstrating that prototype robot system in indoor and outdoor environments. An existing teleoperated "Surveyor" robot developed by ARD...

Development of a non-contextual model for determining the autonomy level of intelligent unmanned systems

NASA Astrophysics Data System (ADS)

Durst, Phillip J.; Gray, Wendell; Trentini, Michael

2013-05-01

A simple, quantitative measure for encapsulating the autonomous capabilities of unmanned systems (UMS) has yet to be established. Current models for measuring a UMS's autonomy level require extensive, operational level testing, and provide a means for assessing the autonomy level for a specific mission/task and operational environment. A more elegant technique for quantifying autonomy using component level testing of the robot platform alone, outside of mission and environment contexts, is desirable. Using a high level framework for UMS architectures, such a model for determining a level of autonomy has been developed. The model uses a combination of developmental and component level testing for each aspect of the UMS architecture to define a non-contextual autonomous potential (NCAP). The NCAP provides an autonomy level, ranging from fully non- autonomous to fully autonomous, in the form of a single numeric parameter describing the UMS's performance capabilities when operating at that level of autonomy.

Authenticity testing of environment-friendly Korean rice (Oryza sativa L.) using carbon and nitrogen stable isotope ratio analysis.

PubMed

Chung, Ill-Min; Park, Sung-Kyu; Lee, Kyoung-Jin; An, Min-Jeong; Lee, Ji-Hee; Oh, Yong-Taek; Kim, Seung-Hyun

2017-11-01

The increasing demand for organic foods creates, in turn, a pressing need for the development of more accurate tools for the authentication of organic food in order to ensure both fair trade and food safety. This study examines the feasibility of δ 13 C and δ 15 N analyses as potential tools for authentication of environment-friendly rice sold in Korea. δ 13 C and δ 15 N examination in different rice grains showed that environment-friendly rice can be successfully distinguished from conventional rice. No multi-residue pesticides were detected in the examined rice samples, including conventional rice. This study demonstrates the complementary feasibility of δ 13 C and δ 15 N analyses for the authentication of environment-friendly rice sold in Korea in cases where pesticide residue analysis alone is insufficient for discrimination of organic and conventional rice. In future, complementary analyses including compound-specific isotope ratio analysis might be employed for improving the reliability of organic authentication. Copyright © 2017 Elsevier Ltd. All rights reserved.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Realization of the FPGA-based reconfigurable computing environment by the example of morphological processing of a grayscale image

NASA Astrophysics Data System (ADS)

Shatravin, V.; Shashev, D. V.

2018-05-01

Currently, robots are increasingly being used in every industry. One of the most high-tech areas is creation of completely autonomous robotic devices including vehicles. The results of various global research prove the efficiency of vision systems in autonomous robotic devices. However, the use of these systems is limited because of the computational and energy resources available in the robot device. The paper describes the results of applying the original approach for image processing on reconfigurable computing environments by the example of morphological operations over grayscale images. This approach is prospective for realizing complex image processing algorithms and real-time image analysis in autonomous robotic devices.

Friends and social contexts as unshared environments: a discordant sibling analysis of obesity- and health-related behaviors in young adolescents.

PubMed

Salvy, S-J; Feda, D M; Epstein, L H; Roemmich, J N

2017-04-01

This study examines the contribution of best friends' weight and the peer social context (time spent alone versus with friends) as sources of unshared environment associated with variability in weight and health behaviors among weight-discordant siblings. Pairs of same-sex biologic siblings (N=40 pairs; ages 13-17) were originally recruited as part of a study evaluating putative factors contributing to differences in adiposity among weight-discordant siblings. Siblings were asked to bring their best friends to the laboratory and siblings and friends' height and weight were objectively measured. Siblings also completed multi-pass dietary recalls to assess energy intake and sugar sweetened beverage (SSB) consumption. Siblings' physical activity was measured using accelerometry. Experience sampling methodology was used to assess sedentary behaviors/screen time and the number of occasions siblings spent alone and in the presence of friends. Multilevel models were used to estimate the relationships between predictors (best friends' zBMI, time spent alone or with friends) and outcomes (siblings' zBMI and obesity-related health behaviors). Best friends' zBMI was the best predictor of participants' zBMI, even when controlling for child's birth weight. Best friends' weight (zBMI) further predicted participants' SSB intake and time engaged in sedentary behaviors. Being active with friends was positively associated with participants' overall physical activity, whereas spending time alone was negatively associated with accelerometer counts regardless of siblings' adiposity. A friends' weight and the social context are unshared environmental factors associated with variability in adiposity among biologically-related weight-discordant siblings.

Autonomous detection of crowd anomalies in multiple-camera surveillance feeds

NASA Astrophysics Data System (ADS)

Nordlöf, Jonas; Andersson, Maria

2016-10-01

A novel approach for autonomous detection of anomalies in crowded environments is presented in this paper. The proposed models uses a Gaussian mixture probability hypothesis density (GM-PHD) filter as feature extractor in conjunction with different Gaussian mixture hidden Markov models (GM-HMMs). Results, based on both simulated and recorded data, indicate that this method can track and detect anomalies on-line in individual crowds through multiple camera feeds in a crowded environment.

Autonomous Motility of Polymer Films.

PubMed

Treml, Benjamin E; McKenzie, Ruel N; Buskohl, Philip; Wang, David; Kuhn, Michael; Tan, Loon-Seng; Vaia, Richard A

2018-02-01

Adaptive soft materials exhibit a diverse set of behaviors including reconfiguration, actuation, and locomotion. These responses however, are typically optimized in isolation. Here, the interrelation between these behaviors is established through a state space framework, using Nylon 6 thin films in a humidity gradient as an experimental testbed. It is determined that the dynamic behaviors are a result of not only a response to but also an interaction with the applied stimulus, which can be tuned via control of the environment and film characteristics, including size, permeability, and coefficient of hygroscopic expansion to target a desired behavior such as multimodal locomotion. Using these insights, it is demonstrated that films simultaneously harvest energy and information from the environment to autonomously move down a stimulus gradient. Improved understanding of the coupling between an adaptive material and its environment aids the development of materials that integrate closed loop autonomous sensing, actuation, and locomotion. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Self-organizing network services with evolutionary adaptation.

PubMed

Nakano, Tadashi; Suda, Tatsuya

2005-09-01

This paper proposes a novel framework for developing adaptive and scalable network services. In the proposed framework, a network service is implemented as a group of autonomous agents that interact in the network environment. Agents in the proposed framework are autonomous and capable of simple behaviors (e.g., replication, migration, and death). In this paper, an evolutionary adaptation mechanism is designed using genetic algorithms (GAs) for agents to evolve their behaviors and improve their fitness values (e.g., response time to a service request) to the environment. The proposed framework is evaluated through simulations, and the simulation results demonstrate the ability of autonomous agents to adapt to the network environment. The proposed framework may be suitable for disseminating network services in dynamic and large-scale networks where a large number of data and services need to be replicated, moved, and deleted in a decentralized manner.

Development of autonomous grasping and navigating robot

NASA Astrophysics Data System (ADS)

Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

2015-01-01

The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

A low cost, high precision extreme/harsh cold environment, autonomous sensor data gathering and transmission platform.

NASA Astrophysics Data System (ADS)

Chetty, S.; Field, L. A.

2014-12-01

SWIMS III, is a low cost, autonomous sensor data gathering platform developed specifically for extreme/harsh cold environments. Arctic ocean's continuing decrease of summer-time ice is related to rapidly diminishing multi-year ice due to the effects of climate change. Ice911 Research aims to develop environmentally inert materials that when deployed will increase the albedo, enabling the formation and/preservation of multi-year ice. SWIMS III's sophisticated autonomous sensors are designed to measure the albedo, weather, water temperature and other environmental parameters. This platform uses low cost, high accuracy/precision sensors, extreme environment command and data handling computer system using satellite and terrestrial wireless solution. The system also incorporates tilt sensors and sonar based ice thickness sensors. The system is light weight and can be deployed by hand by a single person. This presentation covers the technical, and design challenges in developing and deploying these platforms.

Collaborative autonomous sensing with Bayesians in the loop

NASA Astrophysics Data System (ADS)

Ahmed, Nisar

2016-10-01

There is a strong push to develop intelligent unmanned autonomy that complements human reasoning for applications as diverse as wilderness search and rescue, military surveillance, and robotic space exploration. More than just replacing humans for `dull, dirty and dangerous' work, autonomous agents are expected to cope with a whole host of uncertainties while working closely together with humans in new situations. The robotics revolution firmly established the primacy of Bayesian algorithms for tackling challenging perception, learning and decision-making problems. Since the next frontier of autonomy demands the ability to gather information across stretches of time and space that are beyond the reach of a single autonomous agent, the next generation of Bayesian algorithms must capitalize on opportunities to draw upon the sensing and perception abilities of humans-in/on-the-loop. This work summarizes our recent research toward harnessing `human sensors' for information gathering tasks. The basic idea behind is to allow human end users (i.e. non-experts in robotics, statistics, machine learning, etc.) to directly `talk to' the information fusion engine and perceptual processes aboard any autonomous agent. Our approach is grounded in rigorous Bayesian modeling and fusion of flexible semantic information derived from user-friendly interfaces, such as natural language chat and locative hand-drawn sketches. This naturally enables `plug and play' human sensing with existing probabilistic algorithms for planning and perception, and has been successfully demonstrated with human-robot teams in target localization applications.

Developing a Friendly and Productive Language Learning Environment (FPLE) Using the Learner as a Resource

ERIC Educational Resources Information Center

Masaazi, Fred M.

2015-01-01

This article addresses the need to develop a friendly and productive Language learning environment (FPLE) using the learners as a resource in schools in Uganda. This is in light of the persistent challenging reality that the teaching and learning of languages in schools appears to be still largely traditional, teacher-centered and…

Going green with eco-friendly dentistry.

PubMed

Avinash, Bhagyalakshmi; Avinash, B S; Shivalinga, B M; Jyothikiran, S; Padmini, M N

2013-07-01

Eco-friendly dentistry is currently transforming the medical and dental field to decrease its affect on our natural environment and reduce the amount of waste being produced. Eco-friendly dentistry uses a sustainable approach to encourage dentists to implement new strategies to try and reduce the energy being consumed and the large amount of waste being produced by the industry. Many reasonable, practical and easy alternatives do exist which would reduce the environmental footprint of a dental office were it to follow the 'green' recommendations. Dentist should take a leading role in the society by implementing 'green' initiatives to lessen their impact on the environment. This article provides a series of 'green' recommendations that dentists around the world can implement to become a leading Stewards of the environment.

Autonomous Monitoring of Radiation Environment and Personal Systems for Crew Enhanced SPE Protection (AMORE and PSYCHE)

NASA Astrophysics Data System (ADS)

Narici, L.; Baiocco, G.; Berrilli, F.; Giraudo, M.; Ottolenghi, A.; Rizzo, A.; Salina, G.

2018-02-01

Understand the relationship between SPE precursors, the related SPE radiation inside the Deep Space Gateway, and the associated risk levels, validating existing models, proposing countermeasures actions via a real time, autonomous intelligent system.

No thanks! Autonomous interpersonal style is associated with less experience and valuing of gratitude.

PubMed

Parker, Suzanne C; Majid, Haseeb; Stewart, Kate L; Ahrens, Anthony H

2017-12-01

Gratitude has been promoted as a beneficial emotional experience. However, gratitude is not universally experienced as positive. The current work examines whether an autonomous interpersonal style is associated with differential experience of gratitude. Study 1 found an inverse relationship between trait autonomy and both trait gratitude and positivity of response to receiving a hypothetical benefit from a friend. Study 2 replicated the finding that those higher in autonomy report less trait gratitude, and also demonstrated an inverse relationship between autonomy and valuing gratitude. Study 3 found that those higher in autonomy had more self-image goals and reduced compassionate goals in relationships, and that valuing gratitude mediated the relationship between autonomy and relationship goals. These results show a consistent inverse relationship between autonomy and the experience and valuing of gratitude, suggesting that degree of autonomy is one determinant of whether gratitude is experienced as positive.

Visual identification and similarity measures used for on-line motion planning of autonomous robots in unknown environments

NASA Astrophysics Data System (ADS)

Martínez, Fredy; Martínez, Fernando; Jacinto, Edwar

2017-02-01

In this paper we propose an on-line motion planning strategy for autonomous robots in dynamic and locally observable environments. In this approach, we first visually identify geometric shapes in the environment by filtering images. Then, an ART-2 network is used to establish the similarity between patterns. The proposed algorithm allows that a robot establish its relative location in the environment, and define its navigation path based on images of the environment and its similarity to reference images. This is an efficient and minimalist method that uses the similarity of landmark view patterns to navigate to the desired destination. Laboratory tests on real prototypes demonstrate the performance of the algorithm.

Amplifying human ability through autonomics and machine learning in IMPACT

NASA Astrophysics Data System (ADS)

Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

2017-05-01

Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

Green Dentistry, A Metamorphosis Towards an Eco-Friendly Dentistry: A Short Communication

PubMed Central

Sharma, Rachna; Yadav, Lalita; Satpute, Pranali; Sharma, Vandana

2014-01-01

Dentistry is most importantly and foremost a healing profession. In today’s world, it is very necessary to understand the importance of being eco-friendly in every facet of our lives, including dental practice which has a huge impact on the environment due to the large amount of metallic waste generated by various dental procedures along with excessive use of water and electricity, which specifically emphasis the thrust to move towards ‘Green dentistry’. Green dentistry is an innovative way of dental practice which is environment friendly and at the same time conserves money and time by reducing waste, conserving energy and decreasing pollution with the use of latest techniques and procedures. Green dentistry therefore, protects the environment and mankind from the hazards of rapid urbanisation in developing countries. The authors wish to emphasize the practice of eco-friendly, green dentistry in a developing country like India which needs to conserve resources and curb environmental pollution. PMID:25177666

Hacking the hospital environment: young adults designing youth-friendly hospital rooms together with young people with cancer experiences.

PubMed

Boisen, Kirsten A; Boisen, Anne; Thomsen, Stine Legarth; Matthiesen, Simon Meggers; Hjerming, Maiken; Hertz, Pernille Grarup

2015-12-09

There is a need for youth-friendly hospital environments as the ward environment may affect both patient satisfaction and health outcomes. To involve young people in designing youth-friendly ward environment. We arranged a design competition lasting 42 h (Hackathon). Students in architecture, design, engineering, communication and anthropology participated (27 young adults) - forming eight groups. Adolescents and young adults (AYA) with current or former cancer experience participated as sparring partners. We provided workspace and food during the weekend. The groups presented their products to a jury and relevant stakeholders. The groups created eight unique design concepts. The young designers were extremely flexible listening to ideas and experiences from the young patients, which led to common features including individual and flexible design, privacy in two-bed wardrooms and social contact with other hospitalized AYA. The winning project included an integrated concept for both wardrooms and the AYA day room, including logos and names for the rooms and an 'energy wall' in the day room. A hackathon event was an effective mode of youth participation. The design concepts and ideas were in line with current evidence regarding pleasing hospital environment and youth-friendly inpatient facilities and may be applicable to other young patients.

IT-security challenges in IoT environments and autonomous systems

NASA Astrophysics Data System (ADS)

Heun, Ulrich

2017-05-01

Internet of Things will open the digital world for future services working across company borders. Together with autonomous systems intelligent things will communicate and work together without direct influence of human technicians or service managers. IT-security will become one of the most important challenges to ensure a stable service performance and to provide a trustful environment to let people use such service without any concerns regarding data privacy and eligibility of the outcomes.

PointCom: semi-autonomous UGV control with intuitive interface

NASA Astrophysics Data System (ADS)

Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

2008-04-01

Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration

PubMed Central

Cepeda, Jesus S.; Chaimowicz, Luiz; Soto, Rogelio; Gordillo, José L.; Alanís-Reyes, Edén A.; Carrillo-Arce, Luis C.

2012-01-01

In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits.

From Autonomous Robots to Artificial Ecosystems

NASA Astrophysics Data System (ADS)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

DTIC Science & Technology

2016-03-05

SECURITY CLASSIFICATION OF: The aim of this research is to develop a unified theory for perception and planning in autonomous ground vehicles, with a...Report Title The aim of this research is to develop a unified theory for perception and planning in autonomous ground vehicles, with a specific focus on...a combination of experimentally collected vision data and Monte- Carlo simulations. Smoothing for improved perception and robustness in planning

The Behavior of Environmentally Friendly Corrosion Preventative Compounds in an Aggressive Coastal Marine Environment

NASA Technical Reports Server (NTRS)

Montgomery, Eliza L.; Calle, Luz Marina; Curran Jerome C.; Kolody, Mark R.

2013-01-01

The shift to use environmentally friendly technologies throughout future space-related launch programs prompted a study aimed at replacing current petroleum and solvent-based Corrosion Preventive Compounds (CPCs) with environmentally friendly alternatives. The work in this paper focused on the identification and evaluation of environmentally friendly CPCs for use in protecting flight hardware and ground support equipment from atmospheric corrosion. The CPCs, while a temporary protective coating, must survive in the aggressive coastal marine environment that exists throughout the Kennedy Space Center, Florida. The different protection behaviors of fifteen different soft film CPCs, both common petroleum-based and newer environmentally friendly types, were evaluated on various steel and aluminum substrates. The CPC and substrate systems were subjected to atmospheric testing at the Kennedy Space Center's Beachside Atmospheric Corrosion Test Site, as well as cyclic accelerated corrosion testing. Each CPC also underwent physical characterization and launch-related compatibility testing . The initial results for the fifteen CPC systems are reported : Key words: corrosion preventive compound, CPC, spaceport, environmentally friendly, atmospheric exposure, marine, carbon steel, aluminum alloy, galvanic corrosion, wire on bolt.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Gene-environment interplay in the link of friends' and nonfriends' behaviors with children's social reticence in a competitive situation.

PubMed

Guimond, Fanny-Alexandra; Brendgen, Mara; Vitaro, Frank; Forget-Dubois, Nadine; Dionne, Ginette; Tremblay, Richard E; Boivin, Michel

2014-03-01

This study used a genetically informed design to assess the effects of friends' and nonfriends' reticent and dominant behaviors on children's observed social reticence in a competitive situation. Potential gene-environment correlations (rGE) and gene-environment interactions (GxE) in the link between (a) friends' and nonfriends' behaviors and (b) children's social reticence were examined. The sample comprised 466 twin children (i.e., the target children), each of whom was assessed in kindergarten together with a same-sex friend and two nonfriend classmates of either sex. Multilevel regression analyses revealed that children with a genetic disposition for social reticence showed more reticent behavior in the competitive situation and were more likely to affiliate with reticent friends (i.e., rGE). Moreover, a higher level of children's reticent behavior was predicted by their friends' higher social reticence (particularly for girls) and their friends' higher social dominance, independently of children's genetic disposition. Children's social reticence was also predicted by their nonfriends' behaviors. Specifically, children were less reticent when male nonfriends showed high levels of social reticence in the competitive situation, and this was particularly true for children with a genetic disposition for social reticence (i.e., GxE). Moreover, children genetically vulnerable for social reticence seemed to foster dominant behavior in their female nonfriend peers (i.e., rGE). In turn, male nonfriends seemed to be more dominant as soon as the target children were reticent, even if the target children did not have a stable genetic disposition for this behavior. PsycINFO Database Record (c) 2014 APA, all rights reserved.

Older people’s perspectives on an elderly-friendly hospital environment: an exploratory study

PubMed Central

Karki, Sushmita; Bhatta, Dharma Nand; Aryal, Umesh Raj

2015-01-01

Background Many older people are vulnerable with multiple health problems and need of extensive care and support for quality of life. The main objective of this study was to explore the older people’s perspectives on an “elderly-friendly” hospital. Methods Hospital was stratified by four domains including government, semi-government, community, and private. We interviewed 33 hospitalized older patients and four hospital managers between June and December 2014 in Kathmandu, Nepal, using purposive sampling technique. We executed a qualitative content analysis step with extensive review of the interviews. Final name of the theme was given after the agreement between the research team and experts to improve trustworthiness. Elderly-friendly services, expectation from government and hospital, and health policy related to senior citizen were developed as main themes. Results Most of the participants were satisfied with the behavior of health personnel. However, none of the health personnel were trained with geriatric health care. Elderly-friendly hospital guidelines and policy were not developed by any hospitals. Older people health card, advocacy for older people’s health and benefit, and hospital environment were the common expectations of older patients. Government policy and budget constraint were the main obstacles to promote elderly-friendly health care services. Conclusion Elderly-related health policies, physical environments of hospital, elderly-friendly health manpower, advocacy, and other facilities and benefits should be improved and developed. There are urgent needs to develop elderly-friendly hospital policies and guidelines that focus on older people’s health benefits and friendly services. PMID:26028980

Development and demonstration of autonomous behaviors for urban environment exploration

NASA Astrophysics Data System (ADS)

Ahuja, Gaurav; Fellars, Donald; Kogut, Gregory; Pacis Rius, Estrellina; Schoolov, Misha; Xydes, Alexander

2012-06-01

Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacic (SSC- PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground oors of various building sizes.1 SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specied area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specied area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.

Immune systems are not just for making you feel better: they are for controlling autonomous robots

NASA Astrophysics Data System (ADS)

Rosenblum, Mark

2005-05-01

The typical algorithm for robot autonomous navigation in off-road complex environments involves building a 3D map of the robot's surrounding environment using a 3D sensing modality such as stereo vision or active laser scanning, and generating an instantaneous plan to navigate around hazards. Although there has been steady progress using these methods, these systems suffer from several limitations that cannot be overcome with 3D sensing and planning alone. Geometric sensing alone has no ability to distinguish between compressible and non-compressible materials. As a result, these systems have difficulty in heavily vegetated environments and require sensitivity adjustments across different terrain types. On the planning side, these systems have no ability to learn from their mistakes and avoid problematic environmental situations on subsequent encounters. We have implemented an adaptive terrain classification system based on the Artificial Immune System (AIS) computational model, which is loosely based on the biological immune system, that combines various forms of imaging sensor inputs to produce a "feature labeled" image of the scene categorizing areas as benign or detrimental for autonomous robot navigation. Because of the qualities of the AIS computation model, the resulting system will be able to learn and adapt on its own through interaction with the environment by modifying its interpretation of the sensor data. The feature labeled results from the AIS analysis are inserted into a map and can then be used by a planner to generate a safe route to a goal point. The coupling of diverse visual cues with the malleable AIS computational model will lead to autonomous robotic ground vehicles that require less human intervention for deployment in novel environments and more robust operation as a result of the system's ability to improve its performance through interaction with the environment.

The effects of views of nature on autonomic control.

PubMed

Gladwell, V F; Brown, D K; Barton, J L; Tarvainen, M P; Kuoppa, P; Pretty, J; Suddaby, J M; Sandercock, G R H

2012-09-01

Previously studies have shown that nature improves mood and self-esteem and reduces blood pressure. Walking within a natural environment has been suggested to alter autonomic nervous system control, but the mechanisms are not fully understood. Heart rate variability (HRV) is a non-invasive method of assessing autonomic control and can give an insight into vagal modulation. Our hypothesis was that viewing nature alone within a controlled laboratory environment would induce higher levels of HRV as compared to built scenes. Heart rate (HR) and blood pressure (BP) were measured during viewing different scenes in a controlled environment. HRV was used to investigate alterations in autonomic activity, specifically parasympathetic activity. Each participant lay in the semi-supine position in a laboratory while we recorded 5 min (n = 29) of ECG, BP and respiration as they viewed two collections of slides (one containing nature views and the other built scenes). During viewing of nature, markers of parasympathetic activity were increased in both studies. Root mean squared of successive differences increased 4.2 ± 7.7 ms (t = 2.9, p = 0.008) and natural logarithm of high frequency increased 0.19 ± 0.36 ms(2) Hz(-1) (t = 2.9, p = 0.007) as compared to built scenes. Mean HR and BP were not significantly altered. This study provides evidence that autonomic control of the heart is altered by the simple act of just viewing natural scenes with an increase in vagal activity.

Clinical models of cardiovascular regulation after weightlessness

NASA Technical Reports Server (NTRS)

Robertson, D.; Jacob, G.; Ertl, A.; Shannon, J.; Mosqueda-Garcia, R.; Robertson, R. M.; Biaggioni, I.

1996-01-01

After several days in microgravity, return to earth is attended by alterations in cardiovascular function. The mechanisms underlying these effects are inadequately understood. Three clinical disorders of autonomic function represent possible models of this abnormal cardiovascular function after spaceflight. They are pure autonomic failure, baroreflex failure, and orthostatic intolerance. In pure autonomic failure, virtually complete loss of sympathetic and parasympathetic function occurs along with profound and immediate orthostatic hypotension. In baroreflex failure, various degrees of debuffering of blood pressure occur. In acute and complete baroreflex failure, there is usually severe hypertension and tachycardia, while with less complete and more chronic baroreflex impairment, orthostatic abnormalities may be more apparent. In orthostatic intolerance, blood pressure fall is minor, but orthostatic symptoms are prominent and tachycardia frequently occurs. Only careful autonomic studies of human subjects in the microgravity environment will permit us to determine which of these models most closely reflects the pathophysiology brought on by a period of time in the microgravity environment.

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

EISLER, G. RICHARD

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstratemore » the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.« less

Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; de Saussure, G.; Spelt, P.F.

1988-01-01

This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioningmore » of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.« less

Autonomous and Autonomic Swarms

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Rash, James L.; Truszkowski, Walter F.; Rouff, Christopher A.; Sterritt, Roy

2005-01-01

A watershed in systems engineering is represented by the advent of swarm-based systems that accomplish missions through cooperative action by a (large) group of autonomous individuals each having simple capabilities and no global knowledge of the group s objective. Such systems, with individuals capable of surviving in hostile environments, pose unprecedented challenges to system developers. Design and testing and verification at much higher levels will be required, together with the corresponding tools, to bring such systems to fruition. Concepts for possible future NASA space exploration missions include autonomous, autonomic swarms. Engineering swarm-based missions begins with understanding autonomy and autonomicity and how to design, test, and verify systems that have those properties and, simultaneously, the capability to accomplish prescribed mission goals. Formal methods-based technologies, both projected and in development, are described in terms of their potential utility to swarm-based system developers.

Vegetation Versus Man-Made Object Detection from Imagery for Unmanned Vehicles in Off-Road Environments

DTIC Science & Technology

2013-05-01

saliency, natural scene statistics 1. INTRODUCTION Research into the area of autonomous navigation for unmanned ground vehicles (UGV) has accelerated in...recent years. This is partly due to the success of programs such as the DARPA Grand Challenge1 and the dream of driverless cars ,2 but is also due to the...NOTES 14. ABSTRACT There have been several major advances in autonomous navigation for unmanned ground vehicles in controlled urban environments in

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Hinchey, Mike; Sterritt, Roy

2005-01-01

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

A Primer on Autonomous Aerial Vehicle Design

PubMed Central

Coppejans, Hugo H. G.; Myburgh, Herman C.

2015-01-01

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

A Primer on Autonomous Aerial Vehicle Design.

PubMed

Coppejans, Hugo H G; Myburgh, Herman C

2015-12-02

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

ARK: Autonomous mobile robot in an industrial environment

NASA Technical Reports Server (NTRS)

Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

1994-01-01

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Autonomous multifunctional nanobrushes-autonomous materials

NASA Astrophysics Data System (ADS)

Ghasemi-Nejhad, Mehrdad N.; Tius, Marcus A.

2007-04-01

In this work, taking advantage of carbon nanotubes' small size, and exceptional mechanical, chemical and electrical properties, we report on a series of nano-synthesis procedures that combine conventional chemical vapor deposition and selective substrate area growth followed by chemical functionalizations to fabricate functionalized nano-brushes from aligned carbon nanotube arrays and chemically selective functional groups. The high aspect ratio and small dimension, mechanical stability and flexibility, surface chemical and adhesive characteristics of carbon nanotubes provide opportunities to create nano-brushes with selected chemical functionalities. The nano-brushes are made from aligned multi-walled carbon nanotube bristles grafted onto long SiC fiber handles in various configurations and functionalized with various chemical functional groups. These nano-brushes can easily be manipulated physically, either manually or with the aid of motors. Here, we explain the autonomous characteristics of the functionalized nano-brushes employing functional chemical groups such that the nano-brush can potentially collect various metal particles, ions, and contaminants from liquid solutions and the air environment, autonomously. These functionalized multiwalled carbon nanotube based nano-brushes can work swiftly in both liquid and air environments. With surface modification and functionalization, the nanotube nano-brushes can potentially become a versatile nano-devices in many chemical and biological applications, where they can autonomously pick up the particles they encounter since they can be chemically programmed to function as Autonomous Chemical Nano Robots (ACNR).

The Effectiveness of Mentoring for Adolescent Mothers and Their Infants: A Comparative Study between Sister Friend and Cal Learn.

ERIC Educational Resources Information Center

Tebb, Kathleen P.

This study evaluated Sister Friend, a mentoring program in Yolo County, California, serving low-income adolescent mothers and their infants. The primary objective was to determine if participating in the Sister Friend program improved the adolescent mother's parenting class attendance, the home environment, parenting behavior, and child…

Sharing skills: using augmented reality for human-robot collaboration

NASA Astrophysics Data System (ADS)

Giesler, Bjorn; Steinhaus, Peter; Walther, Marcus; Dillmann, Ruediger

2004-05-01

Both stationary 'industrial' and autonomous mobile robots nowadays pervade many workplaces, but human-friendly interaction with them is still very much an experimental subject. One of the reasons for this is that computer and robotic systems are very bad at performing certain tasks well and robust. A prime example is classification of sensor readings: Which part of a 3D depth image is the cup, which the saucer, which the table? These are tasks that humans excel at. To alleviate this problem, we propose a team approah, wherein the robot records sensor data and uses an Augmented-Reality (AR) system to present the data to the user directly in the 3D environment. The user can then perform classification decisions directly on the data by pointing, gestures and speech commands. After the classification has been performed by the user, the robot takes the classified data and matches it to its environment model. As a demonstration of this approach, we present an initial system for creating objects on-the-fly in the environment model. A rotating laser scanner is used to capture a 3D snapshot of the environment. This snapshot is presented to the user as an overlay over his view of the scene. The user classifies unknown objects by pointing at them. The system segments the snapshot according to the user's indications and presents the results of segmentation back to the user, who can then inspect, correct and enhance them interactively. After a satisfying result has been reached, the laser-scanner can take more snapshots from other angles and use the previous segmentation hints to construct a 3D model of the object.

Adaptive Tunable Laser Spectrometer for Space Applications

NASA Technical Reports Server (NTRS)

Flesch, Gregory; Keymeulen, Didier

2010-01-01

An architecture and process for the rapid prototyping and subsequent development of an adaptive tunable laser absorption spectrometer (TLS) are described. Our digital hardware/firmware/software platform is both reconfigurable at design time as well as autonomously adaptive in real-time for both post-integration and post-launch situations. The design expands the range of viable target environments and enhances tunable laser spectrometer performance in extreme and even unpredictable environments. Through rapid prototyping with a commercial RTOS/FPGA platform, we have implemented a fully operational tunable laser spectrometer (using a highly sensitive second harmonic technique). With this prototype, we have demonstrated autonomous real-time adaptivity in the lab with simulated extreme environments.

Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments

NASA Astrophysics Data System (ADS)

Jin, Xin; Ray, Asok

2014-04-01

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision making and online replanning of vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity player/stage simulator for oil spill cleaning in a harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking. A preliminary version of this paper was presented by X. Jin and A. Ray as 'Coverage Control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments', Proceedings of the American Control Conference, Washington, DC, June 2013, pp. 2600-2605.

Reactive navigation for autonomous guided vehicle using neuro-fuzzy techniques

NASA Astrophysics Data System (ADS)

Cao, Jin; Liao, Xiaoqun; Hall, Ernest L.

1999-08-01

A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an environment characterized by as terrain and a set of distinct objects, such as obstacles and landmarks. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Neural network and fuzzy logic control techniques can improve real-time control performance for mobile robot due to its high robustness and error-tolerance ability. For a mobile robot to navigate automatically and rapidly, an important factor is to identify and classify mobile robots' currently perceptual environment. In this paper, a new approach of the current perceptual environment feature identification and classification, which are based on the analysis of the classifying neural network and the Neuro- fuzzy algorithm, is presented. The significance of this work lies in the development of a new method for mobile robot navigation.

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

NASA Technical Reports Server (NTRS)

Estlin, Tara A.; Gaines, Daniel M.; Chouinard, Caroline M.; Fisher, Forest W.; Castano, Rebecca; Judd, Michele J.; Nesnas, Issa A.

2006-01-01

With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

Release Properties and Electrochemical Characterization of Encapsulated Corrosion Inhibitors for Environmentally Friendly Smart Coatings

NASA Technical Reports Server (NTRS)

Pearman, B. P.; Calle, L. M.; Zhang, X.; Li, W.; Buhrow, J. W.; Johnsey, M. N.; Montgomery, E. L.; Fitzpatrick, L.; Surma, J. M.

2015-01-01

The NASA Kennedy Space Center's Corrosion Technology Lab at the Kennedy Space Center in Florida, U.S.A. has been developing multifunctional smart coatings based on the microencapsulation of environmentally friendly corrosion indicators, inhibitors and self-healing agents. This allows for the incorporation of autonomous corrosion control functionalities, such as corrosion detection and inhibition as well as the self-healing of mechanical damage, into coatings. This paper presents technical details on the characterization of inhibitor-containing particles and their corrosion inhibitive effects using electrochemical and mass loss methods. Three organic environmentally friendly corrosion inhibitors were encapsulated in organic microparticles that are compatible with desired coatings. The total inhibitor content and the release of one of the inhibitors from the microparticles in basic solution was measured. Particles with inhibitor contents of up 60 wt% were synthesized. Fast release, for immediate corrosion protection, as well as long-term release for continued protection, was observed. The inhibition efficacy of the inhibitors, both as the pure materials and in microparticles, on carbon steel was evaluated. Polarization curves and mass loss measurements showed that, in the case of 2MBT, its corrosion inhibition effectiveness was greater when it was delivered from microparticles.

Dynamic SLA Negotiation in Autonomic Federated Environments

NASA Astrophysics Data System (ADS)

Rubach, Pawel; Sobolewski, Michael

Federated computing environments offer requestors the ability to dynamically invoke services offered by collaborating providers in the virtual service network. Without an efficient resource management that includes Dynamic SLA Negotiation, however, the assignment of providers to customer's requests cannot be optimized and cannot offer high reliability without relevant SLA guarantees. We propose a new SLA-based SERViceable Metacomputing Environment (SERVME) capable of matching providers based on QoS requirements and performing autonomic provisioning and deprovisioning of services according to dynamic requestor needs. This paper presents the SLA negotiation process that includes on-demand provisioning and uses an object-oriented SLA model for large-scale service-oriented systems supported by SERVME. An initial reference implementation in the SORCER environment is also described.

Use of an autonomous sensor to evaluate the biological performance of the advanced turbine at Wanapum Dam

DOE PAGES

Deng, Zhiqun; Carlson, Thomas J.; Duncan, Joanne P.; ...

2010-10-13

Hydropower is the largest renewable energy resource in the United States and the world. However, hydropower dams have adverse ecological impacts because migrating fish may be injured or killed when they pass through hydroturbines. In the Columbia and Snake River basins, dam operators and engineers are required to make those hydroelectric facilities more fish-friendly through changes in hydroturbine design and operation after fish population declines and the subsequent listing of several species of Pacific salmon under the Endangered Species Act of 1973. Public Utility District No. 2 of Grant County, Washington, requested authorization from the Federal Energy Regulatory Commission tomore » replace the ten turbines at Wanapum Dam with advanced hydropower turbines designed to improve survival for fish passing through the turbines while improving operation efficiency and increasing power generation. As an additional measure to the primary metric of direct injury and mortality rates of juvenile Chinook salmon using balloon tag-recapture methodology, this study used an autonomous sensor device - the Sensor Fish - to provide insight into the specific hydraulic conditions and physical stresses experienced by the fish as well as the specific causes of fish biological response. We found that the new hydroturbine blade shape and the corresponding reduction of turbulence in the advanced hydropower turbine were effective in meeting the objectives of improving fish survival while enhancing operational efficiency of the dam. The frequency of severe events based on Sensor Fish pressure and acceleration measurements showed trends similar to those of fish survival determined by the balloon tag-recapture methodology. In addition, the new turbine provided a better pressure and rate of pressure change environment for fish passage. Altogether, the Sensor Fish data indicated that the advanced hydroturbine design improved passage of juvenile salmon at Wanapum Dam.« less

Perceptions of seniors with heart failure regarding autonomous zero-effort monitoring of physiological parameters in the smart-home environment.

PubMed

Grace, Sherry L; Taherzadeh, Golnoush; Jae Chang, Isaac Sung; Boger, Jennifer; Arcelus, Amaya; Mak, Susanna; Chessex, Caroline; Mihailidis, Alex

Technological advances are leading to the ability to autonomously monitor patient's health status in their own homes, to enable aging-in-place. To understand the perceptions of seniors with heart failure (HF) regarding smart-home systems to monitor their physiological parameters. In this qualitative study, HF outpatients were invited to a smart-home lab, where they completed a sequence of activities, during which the capacity of 5 autonomous sensing modalities was compared to gold standard measures. Afterwards, a semi-structured interview was undertaken. These were transcribed and analyzed using an interpretive-descriptive approach. Five themes emerged from the 26 interviews: (1) perceptions of technology, (2) perceived benefits of autonomous health monitoring, (3) disadvantages of autonomous monitoring, (4) lack of perceived need for continuous health monitoring, and (5) preferences for autonomous monitoring. Patient perception towards autonomous monitoring devices was positive, lending credence to zero-effort technology as a viable and promising approach. Copyright © 2017 Elsevier Inc. All rights reserved.

Validating a UAV artificial intelligence control system using an autonomous test case generator

NASA Astrophysics Data System (ADS)

Straub, Jeremy; Huber, Justin

2013-05-01

The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

Autonomous operations through onboard artificial intelligence

NASA Technical Reports Server (NTRS)

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2002-01-01

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Computer-generated forces in distributed interactive simulation

NASA Astrophysics Data System (ADS)

Petty, Mikel D.

1995-04-01

Distributed Interactive Simulation (DIS) is an architecture for building large-scale simulation models from a set of independent simulator nodes communicating via a common network protocol. DIS is most often used to create a simulated battlefield for military training. Computer Generated Forces (CGF) systems control large numbers of autonomous battlefield entities in a DIS simulation using computer equipment and software rather than humans in simulators. CGF entities serve as both enemy forces and supplemental friendly forces in a DIS exercise. Research into various aspects of CGF systems is ongoing. Several CGF systems have been implemented.

Autonomous Adaptation and Collaboration of Unmanned Vehicles for Tracking Submerged Contacts

DTIC Science & Technology

2012-06-01

filter: CRS RANGE REPORT =”name=archie,range=23.4,target= jackal ,time=2342551.213” • Line 8: ping wait is the time delay between range pulses. • Line 13: rn...uFldContactRangeSensor Settings 1: ProcessConfig = uFldContactRangeSensor 2: { 3: AppTick = 4 4: CommsTick = 4 5: 6: reply distance = jackal = 50 7: reach distance...REPORT = CRS RANGE REPORT 8: MY SHIP = archie 9: MY FRIEND = betty 10: MY CONTACT = jackal 11: MY BEST GUESS = besttarget 12: MY AVG GUESS = avgtarget 13

A Flight Deck Decision Support Tool for Autonomous Airborne Operations

NASA Technical Reports Server (NTRS)

Ballin, Mark G.; Sharma, Vivek; Vivona, Robert A.; Johnson, Edward J.; Ramiscal, Ermin

2002-01-01

NASA is developing a flight deck decision support tool to support research into autonomous operations in a future distributed air/ground traffic management environment. This interactive real-time decision aid, referred to as the Autonomous Operations Planner (AOP), will enable the flight crew to plan autonomously in the presence of dense traffic and complex flight management constraints. In assisting the flight crew, the AOP accounts for traffic flow management and airspace constraints, schedule requirements, weather hazards, aircraft operational limits, and crew or airline flight-planning goals. This paper describes the AOP and presents an overview of functional and implementation design considerations required for its development. Required AOP functionality is described, its application in autonomous operations research is discussed, and a prototype software architecture for the AOP is presented.

The Effects of Learning Activities Based on Argumentation on Conceptual Understanding of 7th Graders about "Force and Motion" Unit and Establishing Thinking Friendly Classroom Environment

ERIC Educational Resources Information Center

Buber, Ayse; Coban, Gul Unal

2017-01-01

The purpose of this study was to investigate the effects of learning activities based on argumentation about "Force and Motion" unit on conceptual understanding and views about establishing thinking friendly classroom environment of 7th graders. The study was conducted with total 39 students (20 students in experimental group and 19…

Technical Trend of Environment-friendly High Voltage Vacuum Circuit Breaker (VCB)

NASA Astrophysics Data System (ADS)

Okubo, Hitoshi

Vacuum Circuit Breakers (VCBs) have widely been used for low and medium voltage level, because of their high current interruption performance, maintenance free operations and environment-friendly characteristics. The VCB is now going to be applied to higher voltage systems for transmission and substation use. In this paper, the recent technical trend and future perspectives of high voltage VCBs are described, as well as their technical background.

The peer effect on pain tolerance.

PubMed

Engebretsen, Solveig; Frigessi, Arnoldo; Engø-Monsen, Kenth; Furberg, Anne-Sofie; Stubhaug, Audun; de Blasio, Birgitte Freiesleben; Nielsen, Christopher Sivert

2018-05-19

Twin studies have found that approximately half of the variance in pain tolerance can be explained by genetic factors, while shared family environment has a negligible effect. Hence, a large proportion of the variance in pain tolerance is explained by the (non-shared) unique environment. The social environment beyond the family is a potential candidate for explaining some of the variance in pain tolerance. Numerous individual traits have previously shown to be associated with friendship ties. In this study, we investigate whether pain tolerance is associated with friendship ties. We study the friendship effect on pain tolerance by considering data from the Tromsø Study: Fit Futures I, which contains pain tolerance measurements and social network information for adolescents attending first year of upper secondary school in the Tromsø area in Northern Norway. Pain tolerance was measured with the cold-pressor test (primary outcome), contact heat and pressure algometry. We analyse the data by using statistical methods from social network analysis. Specifically, we compute pairwise correlations in pain tolerance among friends. We also fit network autocorrelation models to the data, where the pain tolerance of an individual is explained by (among other factors) the average pain tolerance of the individual's friends. We find a significant and positive relationship between the pain tolerance of an individual and the pain tolerance of their friends. The estimated effect is that for every 1 s increase in friends' average cold-pressor tolerance time, the expected cold-pressor pain tolerance of the individual increases by 0.21 s (p-value: 0.0049, sample size n=997). This estimated effect is controlled for sex. The friendship effect remains significant when controlling for potential confounders such as lifestyle factors and test sequence among the students. Further investigating the role of sex on this friendship effect, we only find a significant peer effect of male friends on males, while there is no significant effect of friends' average pain tolerance on females in stratified analyses. Similar, but somewhat lower estimates were obtained for the other pain modalities. We find a positive and significant peer effect in pain tolerance. Hence, there is a significant tendency for students to be friends with others with similar pain tolerance. Sex-stratified analyses show that the only significant effect is the effect of male friends on males. Two different processes can explain the friendship effect in pain tolerance, selection and social transmission. Individuals might select friends directly due to similarity in pain tolerance, or indirectly through similarity in other confounding variables that affect pain tolerance. Alternatively, there is an influence effect among friends either directly in pain tolerance, or indirectly through other variables that affect pain tolerance. If there is indeed a social influence effect in pain tolerance, then the social environment can account for some of the unique environmental variance in pain tolerance. If so, it is possible to therapeutically affect pain tolerance through alteration of the social environment.

Lidar-based door and stair detection from a mobile robot

NASA Astrophysics Data System (ADS)

Bansal, Mayank; Southall, Ben; Matei, Bogdan; Eledath, Jayan; Sawhney, Harpreet

2010-04-01

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

A fuzzy logic control in adjustable autonomy of a multi-agent system for an automated elderly movement monitoring application.

PubMed

Mostafa, Salama A; Mustapha, Aida; Mohammed, Mazin Abed; Ahmad, Mohd Sharifuddin; Mahmoud, Moamin A

2018-04-01

Autonomous agents are being widely used in many systems, such as ambient assisted-living systems, to perform tasks on behalf of humans. However, these systems usually operate in complex environments that entail uncertain, highly dynamic, or irregular workload. In such environments, autonomous agents tend to make decisions that lead to undesirable outcomes. In this paper, we propose a fuzzy-logic-based adjustable autonomy (FLAA) model to manage the autonomy of multi-agent systems that are operating in complex environments. This model aims to facilitate the autonomy management of agents and help them make competent autonomous decisions. The FLAA model employs fuzzy logic to quantitatively measure and distribute autonomy among several agents based on their performance. We implement and test this model in the Automated Elderly Movements Monitoring (AEMM-Care) system, which uses agents to monitor the daily movement activities of elderly users and perform fall detection and prevention tasks in a complex environment. The test results show that the FLAA model improves the accuracy and performance of these agents in detecting and preventing falls. Copyright © 2018 Elsevier B.V. All rights reserved.

Parallel-distributed mobile robot simulator

NASA Astrophysics Data System (ADS)

Okada, Hiroyuki; Sekiguchi, Minoru; Watanabe, Nobuo

1996-06-01

The aim of this project is to achieve an autonomous learning and growth function based on active interaction with the real world. It should also be able to autonomically acquire knowledge about the context in which jobs take place, and how the jobs are executed. This article describes a parallel distributed movable robot system simulator with an autonomous learning and growth function. The autonomous learning and growth function which we are proposing is characterized by its ability to learn and grow through interaction with the real world. When the movable robot interacts with the real world, the system compares the virtual environment simulation with the interaction result in the real world. The system then improves the virtual environment to match the real-world result more closely. This the system learns and grows. It is very important that such a simulation is time- realistic. The parallel distributed movable robot simulator was developed to simulate the space of a movable robot system with an autonomous learning and growth function. The simulator constructs a virtual space faithful to the real world and also integrates the interfaces between the user, the actual movable robot and the virtual movable robot. Using an ultrafast CG (computer graphics) system (FUJITSU AG series), time-realistic 3D CG is displayed.

Viewing nature scenes positively affects recovery of autonomic function following acute-mental stress.

PubMed

Brown, Daniel K; Barton, Jo L; Gladwell, Valerie F

2013-06-04

A randomized crossover study explored whether viewing different scenes prior to a stressor altered autonomic function during the recovery from the stressor. The two scenes were (a) nature (composed of trees, grass, fields) or (b) built (composed of man-made, urban scenes lacking natural characteristics) environments. Autonomic function was assessed using noninvasive techniques of heart rate variability; in particular, time domain analyses evaluated parasympathetic activity, using root-mean-square of successive differences (RMSSD). During stress, secondary cardiovascular markers (heart rate, systolic and diastolic blood pressure) showed significant increases from baseline which did not differ between the two viewing conditions. Parasympathetic activity, however, was significantly higher in recovery following the stressor in the viewing scenes of nature condition compared to viewing scenes depicting built environments (RMSSD; 50.0 ± 31.3 vs 34.8 ± 14.8 ms). Thus, viewing nature scenes prior to a stressor alters autonomic activity in the recovery period. The secondary aim was to examine autonomic function during viewing of the two scenes. Standard deviation of R-R intervals (SDRR), as change from baseline, during the first 5 min of viewing nature scenes was greater than during built scenes. Overall, this suggests that nature can elicit improvements in the recovery process following a stressor.

Viewing Nature Scenes Positively Affects Recovery of Autonomic Function Following Acute-Mental Stress

PubMed Central

2013-01-01

A randomized crossover study explored whether viewing different scenes prior to a stressor altered autonomic function during the recovery from the stressor. The two scenes were (a) nature (composed of trees, grass, fields) or (b) built (composed of man-made, urban scenes lacking natural characteristics) environments. Autonomic function was assessed using noninvasive techniques of heart rate variability; in particular, time domain analyses evaluated parasympathetic activity, using root-mean-square of successive differences (RMSSD). During stress, secondary cardiovascular markers (heart rate, systolic and diastolic blood pressure) showed significant increases from baseline which did not differ between the two viewing conditions. Parasympathetic activity, however, was significantly higher in recovery following the stressor in the viewing scenes of nature condition compared to viewing scenes depicting built environments (RMSSD; 50.0 ± 31.3 vs 34.8 ± 14.8 ms). Thus, viewing nature scenes prior to a stressor alters autonomic activity in the recovery period. The secondary aim was to examine autonomic function during viewing of the two scenes. Standard deviation of R-R intervals (SDRR), as change from baseline, during the first 5 min of viewing nature scenes was greater than during built scenes. Overall, this suggests that nature can elicit improvements in the recovery process following a stressor. PMID:23590163

Does better for the environment mean less tasty? Offering more climate-friendly meals is good for the environment and customer satisfaction.

PubMed

Visschers, Vivianne H M; Siegrist, Michael

2015-12-01

Food consumption comprises a significant portion of the total environmental impact of households. One way to reduce this impact may be to offer consumers more climate-friendly meal choices, such as when eating out. However, the environmental benefits of such an intervention will depend on not only consumers' liking of the climate-friendlier meals, but also on the perceived environmental impact. We therefore investigated the relationship between the global warming potential (GWP) of and consumers' liking of meals in two field studies in the same restaurant. Visitors to the restaurant were asked to rate the taste of the meal they had just consumed. These taste ratings were then related to the meals' GWP and number of purchases. In the second study, an intervention was tested consisting of a climate-friendly choice label and information posters. Contrary to expectations, it was found in both studies that the GWP of the meals was unrelated to the taste or the number of purchases. Offering more climate-friendly meals did not change consumer satisfaction. As expected, the introduction of the climate-friendly choice label increased the number of climate-friendly meal purchases. Therefore, offering more climate-friendly meals with a climate-friendly choice label can affect consumers' meal choices, but not their preferences or satisfaction, which is beneficial for the climate, consumers and gastronomic establishments. Copyright © 2015 Elsevier Ltd. All rights reserved.

Autonomous mission management for UAVs using soar intelligent agents

NASA Astrophysics Data System (ADS)

Gunetti, Paolo; Thompson, Haydn; Dodd, Tony

2013-05-01

State-of-the-art unmanned aerial vehicles (UAVs) are typically able to autonomously execute a pre-planned mission. However, UAVs usually fly in a very dynamic environment which requires dynamic changes to the flight plan; this mission management activity is usually tasked to human supervision. Within this article, a software system that autonomously accomplishes the mission management task for a UAV will be proposed. The system is based on a set of theoretical concepts which allow the description of a flight plan and implemented using a combination of Soar intelligent agents and traditional control techniques. The system is capable of automatically generating and then executing an entire flight plan after being assigned a set of objectives. This article thoroughly describes all system components and then presents the results of tests that were executed using a realistic simulation environment.

Cooperative mission execution and planning

NASA Astrophysics Data System (ADS)

Flann, Nicholas S.; Saunders, Kevin S.; Pells, Larry

1998-08-01

Utilizing multiple cooperating autonomous vehicles to perform tasks enhances robustness and efficiency over the use of a single vehicle. Furthermore, because autonomous vehicles can be controlled precisely and their status known accurately in real time, new types of cooperative behaviors are possible. This paper presents a working system called MEPS that plans and executes missions for multiple autonomous vehicles in large structured environments. Two generic spatial tasks are supported, to sweep an area and to visit a location while activating on-board equipment. Tasks can be entered both initially by the user and dynamically during mission execution by both users and vehicles. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle and tasks conditions. The system has been successfully applied to control ATV and micro-robotic vehicles in precision agriculture and waste-site characterization environments.

Concept synthesis of an equipment manipulation and transportation system EMATS

NASA Technical Reports Server (NTRS)

Depeuter, W.; Waffenschmidt, E.

1989-01-01

The European Columbus Scenario is established. One of the Columbus Elements, the Man Tended Free Flyer will be designed for fully autonomous operation in order to provide the environment for micro gravity facilities. The Concept of an autonomous automation system which perform servicing of facilities and deals with related logistic tasks is discussed.

Using a Multicore Processor for Rover Autonomous Science

NASA Technical Reports Server (NTRS)

Bornstein, Benjamin; Estlin, Tara; Clement, Bradley; Springer, Paul

2011-01-01

Multicore processing promises to be a critical component of future spacecraft. It provides immense increases in onboard processing power and provides an environment for directly supporting fault-tolerant computing. This paper discusses using a state-of-the-art multicore processor to efficiently perform image analysis onboard a Mars rover in support of autonomous science activities.

Autonomous Learning through Task-Based Instruction in Fully Online Language Courses

ERIC Educational Resources Information Center

Lee, Lina

2016-01-01

This study investigated the affordances for autonomous learning in a fully online learning environment involving the implementation of task-based instruction in conjunction with Web 2.0 technologies. To that end, four-skill-integrated tasks and digital tools were incorporated into the coursework. Data were collected using midterm reflections,…

Interoperability between loose-coupled distributed resources and application across autonomous systems

NASA Astrophysics Data System (ADS)

Arrott, M.; Orcutt, J.; Chave, A.

2005-12-01

The following is an example to illustrate the concept, possibilities and issues associated with the interoperability between loose-coupled distributed resources and application across autonomous systems. Take, for example, printing. If you are in your office (or home office) environment, it is likely that you select "Print" in your application, select a printer from the list of printers offered those "loaded" onto your computer, and your computer communicates directly with the selected printer to produce a paper copy of your document. If you are sitting in a coffee shop, however, selecting the same printer likely produces no immediate results. Imagine if, in contrast to the scenario just outlined, your selection of the "Print" command produced a list of printers available at nearby copy service shops (e.g., Ali's Copy & Print), public libraries and "friends you forgot you had." This list might include information regarding how far the printer is from your current location and how much you would be charged to print your document on it. Deciding that you'll gladly pay .30 cents to save a half mile walk, you select Ali's Copy & Print. Your system authorizes payment, Ali's Copy & Print authorizes service, and your document appears on Ali's printer, ready for pickup. This latter scenario requires the introduction of a layer of negotiation between producers and consumers of network services that is not available today. Rather than a resource consumer (your application) seeking to connect to a specific resource (your printer), a resource consumer presents a request for service which one or more producers offer to fill. The beginning and the end of the transaction remain unchanged: you select the print command and the system presents potential printers, and, eventually, your system presents a command to a printer: however, an intermediate negotiation takes place to determine the when, where who and how. The implication of this model is that, fundamentally, networks must shift from being collections of known resources to being confederated communities of potential resources. In other words, producers must be able to advertise their services, consumers must be able to present their needs, and the two must be able to reach an agreement on services rendered and payments received. Creating a confederated community of potential resources poses three basic technical challenges. First, collaborating parties in a service must be able to describe, identify and communicate themselves in manner that is mutually understandable. Second, parties must be able to establish trust that each are legitimate; potentially requiring mutually trusted third party verification. Third, parties must be able to govern negotiations and agreements in which they participate. This presentation addresses these three challenges in manner that provides a durable set of solutions, by investigate the following questions in the context of a loose-coupled distributed environment between autonomous systems: 1. Characterize the domain of the relationship between the resources offered by one autonomous system and the utilization of those resource by applications used in another autonomous system? 2. What models of interactions can be employed to support the domain of relationship? 3. What are the metrics for evaluating these relationships? 4. What changes the nature of the relationship between the resource and the application?

Novel microbial diversity retrieved by autonomous robotic exploration of the world's deepest vertical phreatic sinkhole.

PubMed

Sahl, Jason W; Fairfield, Nathaniel; Harris, J Kirk; Wettergreen, David; Stone, William C; Spear, John R

2010-03-01

The deep phreatic thermal explorer (DEPTHX) is an autonomous underwater vehicle designed to navigate an unexplored environment, generate high-resolution three-dimensional (3-D) maps, collect biological samples based on an autonomous sampling decision, and return to its origin. In the spring of 2007, DEPTHX was deployed in Zacatón, a deep (approximately 318 m), limestone, phreatic sinkhole (cenote) in northeastern Mexico. As DEPTHX descended, it generated a 3-D map based on the processing of range data from 54 onboard sonars. The vehicle collected water column samples and wall biomat samples throughout the depth profile of the cenote. Post-expedition sample analysis via comparative analysis of 16S rRNA gene sequences revealed a wealth of microbial diversity. Traditional Sanger gene sequencing combined with a barcoded-amplicon pyrosequencing approach revealed novel, phylum-level lineages from the domains Bacteria and Archaea; in addition, several novel subphylum lineages were also identified. Overall, DEPTHX successfully navigated and mapped Zacatón, and collected biological samples based on an autonomous decision, which revealed novel microbial diversity in a previously unexplored environment.

Ribbon networks for modeling navigable paths of autonomous agents in virtual environments.

PubMed

Willemsen, Peter; Kearney, Joseph K; Wang, Hongling

2006-01-01

This paper presents the Environment Description Framework (EDF) for modeling complex networks of intersecting roads and pathways in virtual environments. EDF represents information about the layout of streets and sidewalks, the rules that govern behavior on roads and walkways, and the locations of agents with respect to navigable structures. The framework serves as the substrate on which behavior programs for autonomous vehicles and pedestrians are built. Pathways are modeled as ribbons in space. The ribbon structure provides a natural coordinate frame for defining the local geometry of navigable surfaces. EDF includes a powerful runtime interface supported by robust and efficient code for locating objects on the ribbon network, for mapping between Cartesian and ribbon coordinates, and for determining behavioral constraints imposed by the environment.

Electromagnetic pulses bone healing booster

NASA Astrophysics Data System (ADS)

Sintea, S. R.; Pomazan, V. M.; Bica, D.; Grebenisan, D.; Bordea, N.

2015-11-01

Posttraumatic bone restoration triggered by the need to assist and stimulate compensatory bone growth in periodontal condition. Recent studies state that specific electromagnetic stimulation can boost the bone restoration, reaching up to 30% decrease in recovery time. Based on the existing data on the electromagnetic parameters, a digital electronic device is proposed for intra oral mounting and bone restoration stimulation in periodontal condition. The electrical signal is applied to an inductive mark that will create and impregnate magnetic field in diseased tissue. The device also monitors the status of the electromagnetic field. Controlled wave forms and pulse frequency signal at programmable intervals are obtained with optimized number of components and miniaturized using surface mounting devices (SMD) circuits and surface mounting technology (SMT), with enhanced protection against abnormal current growth, given the intra-oral environment. The system is powered by an autonomous power supply (battery), to limit the problems caused by powering medical equipment from the main power supply. Currently the device is used in clinical testing, in cycles of six up to twelve months. Basic principles for the electrical scheme and algorithms for pulse generation, pulse control, electromagnetic field control and automation of current monitoring are presented, together with the friendly user interface, suitable for medical data and patient monitoring.

Autonomous target recognition using remotely sensed surface vibration measurements

NASA Astrophysics Data System (ADS)

Geurts, James; Ruck, Dennis W.; Rogers, Steven K.; Oxley, Mark E.; Barr, Dallas N.

1993-09-01

The remotely measured surface vibration signatures of tactical military ground vehicles are investigated for use in target classification and identification friend or foe (IFF) systems. The use of remote surface vibration sensing by a laser radar reduces the effects of partial occlusion, concealment, and camouflage experienced by automatic target recognition systems using traditional imagery in a tactical battlefield environment. Linear Predictive Coding (LPC) efficiently represents the vibration signatures and nearest neighbor classifiers exploit the LPC feature set using a variety of distortion metrics. Nearest neighbor classifiers achieve an 88 percent classification rate in an eight class problem, representing a classification performance increase of thirty percent from previous efforts. A novel confidence figure of merit is implemented to attain a 100 percent classification rate with less than 60 percent rejection. The high classification rates are achieved on a target set which would pose significant problems to traditional image-based recognition systems. The targets are presented to the sensor in a variety of aspects and engine speeds at a range of 1 kilometer. The classification rates achieved demonstrate the benefits of using remote vibration measurement in a ground IFF system. The signature modeling and classification system can also be used to identify rotary and fixed-wing targets.

[Development and perspective of bio-based chemical fiber industry].

PubMed

Li, Zengjun

2016-06-25

Bio-based fiber is environment friendly, reproducible, easily biodegradable. Therefore, rapid development of bio-based fiber industry is an obvious in progress to replace petrochemical resources, develop sustainable economy, build resource saving and environment friendly society. This article describes the current development of bio-based fiber industry, analyzes existing problems, indicates the trends and objectives of bio-based fiber materials technology innovation and recommends developing bio-based fibers industry of our country.

Decreasing spatial disorientation in care-home settings: How psychology can guide the development of dementia friendly design guidelines.

PubMed

O'Malley, Mary; Innes, Anthea; Wiener, Jan M

2017-04-01

Alzheimer's disease results in marked declines in navigation skills that are particularly pronounced in unfamiliar environments. However, many people with Alzheimer's disease eventually face the challenge of having to learn their way around unfamiliar environments when moving into assisted living or care-homes. People with Alzheimer's disease would have an easier transition moving to new residences if these larger, and often more institutional, environments were designed to compensate for decreasing orientation skills. However, few existing dementia friendly design guidelines specifically address orientation and wayfinding. Those that do are often based on custom, practice or intuition and not well integrated with psychological and neuroscientific knowledge or navigation research, therefore often remaining unspecific. This paper discusses current dementia friendly design guidelines, reports findings from psychological and neuropsychological experiments on navigation and evaluates their potential for informing design guidelines that decrease spatial disorientation for people with dementia.

Green Logistics Management

NASA Astrophysics Data System (ADS)

Chang, Yoon S.; Oh, Chang H.

Nowadays, environmental management becomes a critical business consideration for companies to survive from many regulations and tough business requirements. Most of world-leading companies are now aware that environment friendly technology and management are critical to the sustainable growth of the company. The environment market has seen continuous growth marking 532B in 2000, and 590B in 2004. This growth rate is expected to grow to 700B in 2010. It is not hard to see the environment-friendly efforts in almost all aspects of business operations. Such trends can be easily found in logistics area. Green logistics aims to make environmental friendly decisions throughout a product lifecycle. Therefore for the success of green logistics, it is critical to have real time tracking capability on the product throughout the product lifecycle and smart solution service architecture. In this chapter, we introduce an RFID based green logistics solution and service.

Environment-friendly drilling operation technology

NASA Astrophysics Data System (ADS)

Luo, Huaidong; Jing, Ning; Zhang, Yanna; Huang, Hongjun; Wei, Jun

2017-01-01

Under the circumstance that international safety and environmental standards being more and more stringent, drilling engineering is facing unprecedented challenges, the extensive traditional process flow is no longer accepted, the new safe and environment-friendly process is more suitable to the healthy development of the industry. In 2015, CNPCIC adopted environment-friendly drilling technology for the first time in the Chad region, ensured the safety of well control, at the same time increased the environmental protection measure, reduced the risk of environmental pollution what obtain the ratification from local government. This technology carries out recovery and disposal of crude oil, cuttings and mud without falling on the ground. The final products are used in road and well site construction, which realizes the reutilization of drilling waste, reduces the operating cost, and provides a strong technical support for cost-cutting and performance-increase of drilling engineering under low oil price.

Preparation and mechanism analysis of an environment-friendly maize seed coating agent.

PubMed

Zeng, Defang; Fan, Zhao; Tian, Xu; Wang, Wenjin; Zhou, Mingchun; Li, Haochuan

2018-06-01

Traditional seed coating agents often contain toxic ingredients, which contaminate the environment and threaten human health. This paper expounds a method of preparing a novel environment-friendly seed coating agent for maize and researches its mechanism of action. The natural polysaccharide polymer, which is the main active ingredient of this environment-friendly seed coating agent, has the characteristics of innocuity and harmlessness, and it can replace the toxic ingredients used in traditional seed coating agents. This environment-friendly seed coating agent for maize was mainly made up of the natural polysaccharide polymer and other additives. The field trials results showed that the control efficacy of Helminthosporium maydis came to 93.72%, the anti-feeding rate of cutworms came to 81.29%, and the maize yield was increased by 17.75%. Besides, the LD 50 value (half the lethal dose in rats) of this seed coating agent was 10 times higher than that of the traditional seed coating agents. This seed coating agent could improve the activity of plant protective enzymes (peroxidase, catalase and superoxidase dismutase) and increase the chlorophyll content. This seed coating agent has four characteristics of disease prevention, desinsectization, increasing yield and safety. Results of mechanism analyses showed that this seed coating agent could enhance disease control effectiveness by improving plant protective enzymes activity and increase maize yield by improving chlorophyll content. © 2017 Society of Chemical Industry. © 2017 Society of Chemical Industry.

A Helping Hand.

ERIC Educational Resources Information Center

Renner, Jason M.

2000-01-01

Discusses how designing a hand washing-friendly environment can help to reduce the spread of germs in school restrooms. Use of electronic faucets, surface risk management, traffic flow, and user- friendly hand washing systems that are convenient and maximally hygienic are examined. (GR)

The association between motivation and fruit and vegetable intake: The moderating role of social support

PubMed Central

McSpadden, Kate E.; Patrick, Heather; Oh, April Y.; Yaroch, Amy L.; Dwyer, Laura A.; Nebeling, Linda C.

2015-01-01

Despite knowing that fruit and vegetable (FV) intake promotes health and well-being, few U.S. adults meet current guidelines. Thus, understanding people’s motivation for FV intake is important for predicting dietary behavior. Applying self-determination theory, the goal of this study was to examine the role of social support as a potential moderator of the link between autonomous and controlled motivations and FV intake. Cross-sectional data from 2,959 adults in the United States were analyzed. Autonomous motivation and perceived social support were positively associated with FV intake, while controlled motivation was negatively associated with FV intake. Additionally, there was evidence that the negative association between controlled motivation and FV intake was attenuated by higher levels of perceived social support. Findings suggest the need for a more comprehensive approach to understanding the role of motivation in health behaviors like FV intake and the potential roles played by friends and family in these motivational processes. PMID:26321416

The association between motivation and fruit and vegetable intake: The moderating role of social support.

PubMed

McSpadden, Kate E; Patrick, Heather; Oh, April Y; Yaroch, Amy L; Dwyer, Laura A; Nebeling, Linda C

2016-01-01

Despite knowing that fruit and vegetable (FV) intake promotes health and well-being, few U.S. adults meet current guidelines. Thus, understanding people's motivation for FV intake is important for predicting dietary behavior. Applying self-determination theory, the goal of this study was to examine the role of social support as a potential moderator of the link between autonomous and controlled motivations and FV intake. Cross-sectional data from 2959 adults in the United States were analyzed. Autonomous motivation and perceived social support were positively associated with FV intake, while controlled motivation was negatively associated with FV intake. Additionally, there was evidence that the negative association between controlled motivation and FV intake was attenuated by higher levels of perceived social support. Findings suggest the need for a more comprehensive approach to understanding the role of motivation in health behaviors like FV intake and the potential roles played by friends and family in these motivational processes. Copyright © 2015 Elsevier Ltd. All rights reserved.

Differences in dichogamy and herkogamy contribute to higher selfing in contrasting environments in the annual Blackstonia perfoliata (Gentianaceae)

PubMed Central

Brys, Rein; Geens, Bram; Beeckman, Tom; Jacquemyn, Hans

2013-01-01

Background and Aims The establishment of plant populations in novel environments may generate pronounced shifts in floral traits and plant mating systems, particularly when pollinators are scarce. In this study, floral morphology and mating system functioning are compared between recently established and older populations of the annual plant Blackstonia perfoliata that occur in different pollinator environments. Methods Hand-pollination and emasculation experiments were conducted to assess the extent of pollinator-mediated pollen deposition and pollen limitation, and the contribution of autonomous selfing to total seed production. Detailed measurements of key floral traits were performed to compare the flower morphology and mating system functioning between plants from both pollination environments. Key Results Pollinator-mediated pollen deposition was about twice as low in the recently colonized and pollinator-poor environment compared with the old and pollinator-rich sites, but total seed set was little affected by any type of pollen limitation. The contribution of autonomous selfing to total seed production was higher in the pollinator-poor sites than in the pollinator-rich sites (index of reproductive assurance = 0·56 and 0·17, respectively), and seed production was only poorly affected by selfing, whereas in the pollinator-rich populations selfing reduced total reproductive output by about 40 % compared with outcross pollination. Plants originating from pollinator-poor environments produced smaller flowers that showed significantly lower levels of dichogamy (i.e. protogyny) and herkogamy. These reductions resulted in a 2-fold higher capacity for autonomous selfing under pollinator-free conditions (index of autonomous selfing = 0·81 and 0·41 in plants originating from the pollinator-poor and pollinator-rich environment, respectively). Conclusions The results illustrate that plant populations colonizing novel environments can differ markedly in floral morphology and mating system functioning. Due to a temporal shift in the male phase, the breeding system of B. perfoliata shifted from delayed selfing under pollinator-rich conditions towards competing selfing in recently established populations, providing greater reproductive assurance when pollinators and/or reproductive partners are limited. PMID:23408833

Toward autonomous driving: The CMU Navlab. I - Perception

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

The Navlab project, which seeks to build an autonomous robot that can operate in a realistic environment with bad weather, bad lighting, and bad or changing roads, is discussed. The perception techniques developed for the Navlab include road-following techniques using color classification and neural nets. These are discussed with reference to three road-following systems, SCARF, YARF, and ALVINN. Three-dimensional perception using three types of terrain representation (obstacle maps, terrain feature maps, and high-resolution maps) is examined. It is noted that perception continues to be an obstacle in developing autonomous vehicles.

Autonomous navigation and obstacle avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Larson, Jacoby; Bruch, Michael; Ebken, John

2006-05-01

The US Navy and other Department of Defense (DoD) and Department of Homeland Security (DHS) organizations are increasingly interested in the use of unmanned surface vehicles (USVs) for a variety of missions and applications. In order for USVs to fill these roles, they must be capable of a relatively high degree of autonomous navigation. Space and Naval Warfare Systems Center, San Diego is developing core technologies required for robust USV operation in a real-world environment, primarily focusing on autonomous navigation, obstacle avoidance, and path planning.

Self-evaluation on Motion Adaptation for Service Robots

NASA Astrophysics Data System (ADS)

Funabora, Yuki; Yano, Yoshikazu; Doki, Shinji; Okuma, Shigeru

We suggest self motion evaluation method to adapt to environmental changes for service robots. Several motions such as walking, dancing, demonstration and so on are described with time series patterns. These motions are optimized with the architecture of the robot and under certain surrounding environment. Under unknown operating environment, robots cannot accomplish their tasks. We propose autonomous motion generation techniques based on heuristic search with histories of internal sensor values. New motion patterns are explored under unknown operating environment based on self-evaluation. Robot has some prepared motions which realize the tasks under the designed environment. Internal sensor values observed under the designed environment with prepared motions show the interaction results with the environment. Self-evaluation is composed of difference of internal sensor values between designed environment and unknown operating environment. Proposed method modifies the motions to synchronize the interaction results on both environment. New motion patterns are generated to maximize self-evaluation function without external information, such as run length, global position of robot, human observation and so on. Experimental results show that the possibility to adapt autonomously patterned motions to environmental changes.

Simultaneous assessment of autonomic function and anxiety-related behavior in BALB/c and C57BL/6 mice.

PubMed

Depino, Amaicha Mara; Gross, Cornelius

2007-02-27

In humans, anxiety is accompanied by changes in autonomic nervous system function, including increased heart rate, body temperature, and blood pressure, and decreased heart rate variability. In rodents, anxiety is inferred by examining anxiety-related behavioral responses such as avoidance and freezing, and more infrequently by assessing autonomic responses to anxiogenic stimuli. However, few studies have simultaneously measured behavioral and autonomic responses to aversive stimuli in rodents and it remains unclear whether autonomic measures are reliable correlates of anxiety-related behavior in these animal models. Here we recorded for the first time heart rate and body temperature in freely moving BALB/c and C57BL/6 mice during exposure to an unfamiliar environment. Our data show that upon exposure to a novel open field, BALB/c mice showed increased anxiety-related behavior, reduced heart rate and higher heart rate variability (HRV) when compared with C57BL/6 mice. Regression analysis revealed a significant correlation between both heart rate and long-term HRV measures and locomotor activity and time spent in the center of the open field, but no correlation between body temperature and any behavioral variables. In the free exploration test, in which animals were allowed direct access to a novel environment from a familiar environment without experimenter handling, significant correlations were found only between heart rate and total locomotor activity, but not time spent in the unfamiliar chamber despite increased anxiety-related behavior in BALB/c mice. These findings demonstrate that increased anxiety-related behavior in BALB/c mice is not associated with specific changes in heart rate, HRV, or body temperature.

Enhancing the Autonomous Use of CALL: A New Curriculum Model in EFL

ERIC Educational Resources Information Center

Smith, Karen; Craig, Hana

2013-01-01

This action research study evaluates the effectiveness of a CALL Learner Autonomy (CALL LA) course at a Japanese university. The "C course" blends face-to-face instruction and independent study in a CALL environment. It aims to enhance learners' autonomous use of CALL in the acquisition of English as a Foreign Language (EFL). In this…

Indicators of activity-friendly communities: an evidence-based consensus process.

PubMed

Brennan Ramirez, Laura K; Hoehner, Christine M; Brownson, Ross C; Cook, Rebeka; Orleans, C Tracy; Hollander, Marla; Barker, Dianne C; Bors, Philip; Ewing, Reid; Killingsworth, Richard; Petersmarck, Karen; Schmid, Thomas; Wilkinson, William

2006-12-01

Regular physical activity, even at modest intensities, is associated with many health benefits. Most Americans, however, do not engage in the recommended levels. As practitioners seek ways to increase population rates of physical activity, interventions and advocacy efforts are being targeted to the community level. Yet, advocates, community leaders, and researchers lack the tools needed to assess local barriers to and opportunities for more active, healthy lifestyles. Investigators used a systematic review process to identify key indicators of activity-friendly communities that can assess and improve opportunities for regular physical activity. Investigators conducted a comprehensive literature review of both peer-reviewed literature and fugitive information (e.g., reports and websites) to generate an initial list of indicators for review (n=230). The review included a three-tiered, modified Delphi consensus-development process that incorporated input of international, national, state, and local researchers and practitioners from academic institutions, federal and state government agencies, nonprofit organizations, and funding agencies in public health, transportation, urban planning, parks and recreation, and public policy. Ten promising indicators of activity-friendly communities were identified: land use environment, access to exercise facilities, transportation environment, aesthetics, travel patterns, social environment, land use economics, transportation economics, institutional and organizational policies, and promotion. Collaborative, multidisciplinary approaches are underway to test, refine, and expand this initial list of indicators and to develop measures that communities, community leaders, and policymakers can use to design more activity-friendly community environments.

Mobile Autonomous Humanoid Assistant

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Simulation-Based Verification of Autonomous Controllers via Livingstone PathFinder

NASA Technical Reports Server (NTRS)

Lindsey, A. E.; Pecheur, Charles

2004-01-01

AI software is often used as a means for providing greater autonomy to automated systems, capable of coping with harsh and unpredictable environments. Due in part to the enormous space of possible situations that they aim to addrs, autonomous systems pose a serious challenge to traditional test-based verification approaches. Efficient verification approaches need to be perfected before these systems can reliably control critical applications. This publication describes Livingstone PathFinder (LPF), a verification tool for autonomous control software. LPF applies state space exploration algorithms to an instrumented testbed, consisting of the controller embedded in a simulated operating environment. Although LPF has focused on NASA s Livingstone model-based diagnosis system applications, the architecture is modular and adaptable to other systems. This article presents different facets of LPF and experimental results from applying the software to a Livingstone model of the main propulsion feed subsystem for a prototype space vehicle.

Security-Enhanced Autonomous Network Management

NASA Technical Reports Server (NTRS)

Zeng, Hui

2015-01-01

Ensuring reliable communication in next-generation space networks requires a novel network management system to support greater levels of autonomy and greater awareness of the environment and assets. Intelligent Automation, Inc., has developed a security-enhanced autonomous network management (SEANM) approach for space networks through cross-layer negotiation and network monitoring, analysis, and adaptation. The underlying technology is bundle-based delay/disruption-tolerant networking (DTN). The SEANM scheme allows a system to adaptively reconfigure its network elements based on awareness of network conditions, policies, and mission requirements. Although SEANM is generically applicable to any radio network, for validation purposes it has been prototyped and evaluated on two specific networks: a commercial off-the-shelf hardware test-bed using Institute of Electrical Engineers (IEEE) 802.11 Wi-Fi devices and a military hardware test-bed using AN/PRC-154 Rifleman Radio platforms. Testing has demonstrated that SEANM provides autonomous network management resulting in reliable communications in delay/disruptive-prone environments.

When Ultrasonic Sensors and Computer Vision Join Forces for Efficient Obstacle Detection and Recognition

PubMed Central

Mocanu, Bogdan; Tapu, Ruxandra; Zaharia, Titus

2016-01-01

In the most recent report published by the World Health Organization concerning people with visual disabilities it is highlighted that by the year 2020, worldwide, the number of completely blind people will reach 75 million, while the number of visually impaired (VI) people will rise to 250 million. Within this context, the development of dedicated electronic travel aid (ETA) systems, able to increase the safe displacement of VI people in indoor/outdoor spaces, while providing additional cognition of the environment becomes of outmost importance. This paper introduces a novel wearable assistive device designed to facilitate the autonomous navigation of blind and VI people in highly dynamic urban scenes. The system exploits two independent sources of information: ultrasonic sensors and the video camera embedded in a regular smartphone. The underlying methodology exploits computer vision and machine learning techniques and makes it possible to identify accurately both static and highly dynamic objects existent in a scene, regardless on their location, size or shape. In addition, the proposed system is able to acquire information about the environment, semantically interpret it and alert users about possible dangerous situations through acoustic feedback. To determine the performance of the proposed methodology we have performed an extensive objective and subjective experimental evaluation with the help of 21 VI subjects from two blind associations. The users pointed out that our prototype is highly helpful in increasing the mobility, while being friendly and easy to learn. PMID:27801834

When Ultrasonic Sensors and Computer Vision Join Forces for Efficient Obstacle Detection and Recognition.

PubMed

Mocanu, Bogdan; Tapu, Ruxandra; Zaharia, Titus

2016-10-28

In the most recent report published by the World Health Organization concerning people with visual disabilities it is highlighted that by the year 2020, worldwide, the number of completely blind people will reach 75 million, while the number of visually impaired (VI) people will rise to 250 million. Within this context, the development of dedicated electronic travel aid (ETA) systems, able to increase the safe displacement of VI people in indoor/outdoor spaces, while providing additional cognition of the environment becomes of outmost importance. This paper introduces a novel wearable assistive device designed to facilitate the autonomous navigation of blind and VI people in highly dynamic urban scenes. The system exploits two independent sources of information: ultrasonic sensors and the video camera embedded in a regular smartphone. The underlying methodology exploits computer vision and machine learning techniques and makes it possible to identify accurately both static and highly dynamic objects existent in a scene, regardless on their location, size or shape. In addition, the proposed system is able to acquire information about the environment, semantically interpret it and alert users about possible dangerous situations through acoustic feedback. To determine the performance of the proposed methodology we have performed an extensive objective and subjective experimental evaluation with the help of 21 VI subjects from two blind associations. The users pointed out that our prototype is highly helpful in increasing the mobility, while being friendly and easy to learn.

Research on the strategies to optimize traditional Korean nationality village residential environment -- Taking the transformation of Chatiao Village in Antu County, Yanbian Korean Nationality Autonomous Prefecture as example

NASA Astrophysics Data System (ADS)

Chaoyang, Sun; Xin, Sui; Mo, Li; Yongqiang, Wang

2017-04-01

This research is aimed to make an in-depth research into the strategies and methods to protect and develop the residential environment in the villages and towns with minority group characteristics. In the research on the construction mode and optimization strategy of the residential environment of the original residents in Chatiao Village, Antu County, Korean Nationality Autonomous Prefecture, the contents of architecture and planning were used comprehensively with the philosophy of green design, sociology and economics being combined simultaneously to drive the humanistic and economic development in the minority areas at the same time of providing new employment opportunities and a comfortable residential environment for people, thus realizing the complete development of the characteristic villages in Chinese minority areas.

Productive Information Foraging

NASA Technical Reports Server (NTRS)

Furlong, P. Michael; Dille, Michael

2016-01-01

This paper presents a new algorithm for autonomous on-line exploration in unknown environments. The objective of the algorithm is to free robot scientists from extensive preliminary site investigation while still being able to collect meaningful data. We simulate a common form of exploration task for an autonomous robot involving sampling the environment at various locations and compare performance with a simpler existing algorithm that is also denied global information. The result of the experiment shows that the new algorithm has a statistically significant improvement in performance with a significant effect size for a range of costs for taking sampling actions.

Information Foraging and Change Detection for Automated Science Exploration

NASA Technical Reports Server (NTRS)

Furlong, P. Michael; Dille, Michael

2016-01-01

This paper presents a new algorithm for autonomous on-line exploration in unknown environments. The objective is to free remote scientists from possibly-infeasible extensive preliminary site investigation prior to sending robotic agents. We simulate a common exploration task for an autonomous robot sampling the environment at various locations and compare performance against simpler control strategies. An extension is proposed and evaluated that further permits operation in the presence of environmental variability in which the robot encounters a change in the distribution underlying sampling targets. Experimental results indicate a strong improvement in performance across varied parameter choices for the scenario.

Reinforcement learning: Solving two case studies

NASA Astrophysics Data System (ADS)

Duarte, Ana Filipa; Silva, Pedro; dos Santos, Cristina Peixoto

2012-09-01

Reinforcement Learning algorithms offer interesting features for the control of autonomous systems, such as the ability to learn from direct interaction with the environment, and the use of a simple reward signalas opposed to the input-outputs pairsused in classic supervised learning. The reward signal indicates the success of failure of the actions executed by the agent in the environment. In this work, are described RL algorithmsapplied to two case studies: the Crawler robot and the widely known inverted pendulum. We explore RL capabilities to autonomously learn a basic locomotion pattern in the Crawler, andapproach the balancing problem of biped locomotion using the inverted pendulum.

[The 'healing environment' and the fate of autonomous art in hospitals].

PubMed

Brands, Faye E M; Witte, Arnold A

2013-01-01

Attention to the role of art within healthcare is on the rise. Dutch hospitals are increasingly embracing the concept of the 'healing environment', which aims to create agreeable hospital surroundings for the well-being of employees and patients. The concept is being interpreted in diverse ways; irrespective of the specific outcome of this interpretation, the healing environment does have consequences for the healthcare facilities' policies related to art. Research at a few Dutch hospitals has revealed that the more stringently the guidelines on the healing environment are followed, the more emphasis is placed on the medical-functional approach to art and the lesser attention is paid to the intrinsic value of art. Hospitals that reject the concept of the healing environment, however, also clearly demonstrate defining art in terms of making the surroundings agreeable to the patient. The healing environment therefore cannot serve as a new legitimation of autonomous artworks in existing hospital collections, but it is congruent with the recent attention given to the societal role of art.

Map generation in unknown environments by AUKF-SLAM using line segment-type and point-type landmarks

NASA Astrophysics Data System (ADS)

Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

2018-02-01

Recently, autonomous mobile robots that collect information at disaster sites are being developed. Since it is difficult to obtain maps in advance in disaster sites, the robots being capable of autonomous movement under unknown environments are required. For this objective, the robots have to build maps, as well as the estimation of self-location. This is called a SLAM problem. In particular, AUKF-SLAM which uses corners in the environment as point-type landmarks has been developed as a solution method so far. However, when the robots move in an environment like a corridor consisting of few point-type features, the accuracy of self-location estimated by the landmark is decreased and it causes some distortions in the map. In this research, we propose AUKF-SLAM which uses walls in the environment as a line segment-type landmark. We demonstrate that the robot can generate maps in unknown environment by AUKF-SLAM, using line segment-type and point-type landmarks.

Maternal Rearing Environment Impacts Autonomic Nervous System Activity

PubMed Central

Bliss-Moreau, Eliza; Moadab, Gilda; Capitanio, John P.

2017-01-01

While it is now well known that social deprivation during early development permanently perturbs affective responding, accumulating evidence suggests that less severe restriction of the early social environment may also have deleterious effects. In the present report, we evaluate the affective responding of rhesus macaque (Macaca mulatta) infants raised by their mothers in restricted social environments or by their mothers in large social groups by indexing autonomic nervous system activity. Following a 25-hr evaluation of biobehavioral organization, electrocardiogram and an index of respiration were recorded for ten minutes. This allowed for an evaluation of both heart rate and respiratory sinus arrhythmia, an index of parasympathetic activity, during a challenging situation. Three to four month old infants raised in restricted social environments had significantly higher heart rates and lower respiratory sinus arrhythmia as compared to infants raised in unrestricted social environments, consistent with a more potent stress response to the procedure. These results are consistent with mounting evidence that the environment in which individuals are raised has important consequences for affective processing. PMID:28369889

Applying Utility Functions to Adaptation Planning for Home Automation Applications

NASA Astrophysics Data System (ADS)

Bratskas, Pyrros; Paspallis, Nearchos; Kakousis, Konstantinos; Papadopoulos, George A.

A pervasive computing environment typically comprises multiple embedded devices that may interact together and with mobile users. These users are part of the environment, and they experience it through a variety of devices embedded in the environment. This perception involves technologies which may be heterogeneous, pervasive, and dynamic. Due to the highly dynamic properties of such environments, the software systems running on them have to face problems such as user mobility, service failures, or resource and goal changes which may happen in an unpredictable manner. To cope with these problems, such systems must be autonomous and self-managed. In this chapter we deal with a special kind of a ubiquitous environment, a smart home environment, and introduce a user-preference-based model for adaptation planning. The model, which dynamically forms a set of configuration plans for resources, reasons automatically and autonomously, based on utility functions, on which plan is likely to best achieve the user's goals with respect to resource availability and user needs.

Environment Conscious Ceramics (Ecoceramics): An Eco-Friendly Route to Advanced Ceramic Materials

NASA Technical Reports Server (NTRS)

Singh, M.

2001-01-01

Environment conscious ceramics (Ecoceramics) are a new class of materials, which can be produced with renewable natural resources (wood) or wood wastes (wood sawdust). This technology provides an eco-friendly route to advanced ceramic materials. Ecoceramics have tailorable properties and behave like ceramic materials manufactured by conventional approaches. Silicon carbide-based ecoceramics have been fabricated by reactive infiltration of carbonaceous preforms by molten silicon or silicon-refractory metal alloys. The fabrication approach, microstructure, and mechanical properties of SiC-based ecoceramics are presented.

Capturing how age-friendly communities foster positive health, social participation and health equity: a study protocol of key components and processes that promote population health in aging Canadians.

PubMed

Levasseur, Mélanie; Dubois, Marie-France; Généreux, Mélissa; Menec, Verena; Raina, Parminder; Roy, Mathieu; Gabaude, Catherine; Couturier, Yves; St-Pierre, Catherine

2017-05-25

To address the challenges of the global aging population, the World Health Organization promoted age-friendly communities as a way to foster the development of active aging community initiatives. Accordingly, key components (i.e., policies, services and structures related to the communities' physical and social environments) should be designed to be age-friendly and help all aging adults to live safely, enjoy good health and stay involved in their communities. Although age-friendly communities are believed to be a promising way to help aging Canadians lead healthy and active lives, little is known about which key components best foster positive health, social participation and health equity, and their underlying mechanisms. This study aims to better understand which and how key components of age-friendly communities best foster positive health, social participation and health equity in aging Canadians. Specifically, the research objectives are to: 1) Describe and compare age-friendly key components of communities across Canada 2) Identify key components best associated with positive health, social participation and health equity of aging adults 3) Explore how these key components foster positive health, social participation and health equity METHODS: A mixed-method sequential explanatory design will be used. The quantitative part will involve a survey of Canadian communities and secondary analysis of cross-sectional data from the Canadian Longitudinal Study on Aging (CLSA). The survey will include an age-friendly questionnaire targeting key components in seven domains: physical environment, housing options, social environment, opportunities for participation, community supports and healthcare services, transportation options, communication and information. The CLSA is a large, national prospective study representative of the Canadian aging population designed to examine health transitions and trajectories of adults as they age. In the qualitative part, a multiple case study will be conducted in five Canadian communities performing best on positive health, social participation and health equity. Building on new and existing collaborations and generating evidence from real-world interventions, the results of this project will help communities to promote age-friendly policies, services and structures which foster positive health, social participation and health equity at a population level.

Reducing Manpower for a Technologically Advanced Ship

DTIC Science & Technology

2010-01-27

Watchstations by 84% (119 to 34) “ Autonomic ” Fire Suppression System AFSS is designed to automatically: (1) Isolate damage to firemain piping... System (IPS) Advanced VLS Autonomic Fire Suppression Hull Form Scale Models Total Ship Computing Environment (TSCE) Integrated Undersea...Warfare (IUSW) System ( AFSS ) 8 Total Ship Organization Ship C3I Engage Support Technical Director TSCEI Sense Integrated Product Teams TSSE Director

Changes in Children's Autonomous Motivation toward Physical Education during Transition from Elementary to Secondary School: A Self-Determination Perspective

ERIC Educational Resources Information Center

Rutten, Cindy; Boen, Filip; Vissers, Nathalie; Seghers, Jan

2015-01-01

Based on Self-Determination Theory (Deci & Ryan, 2000), this study tested whether changes in autonomous motivation toward physical education (AMPE) during the transition from elementary to secondary school can be predicted by changes in perceived need support from the physical education (PE) teacher and perceived physical school environment.…

How School Social and Physical Environments Relate to Autonomous Motivation in Physical Education: The Mediating Role of Need Satisfaction

ERIC Educational Resources Information Center

Rutten, Cindy; Boen, Filip; Seghers, Jan

2012-01-01

Based on the self-determination theory, this study investigated the mediating role of the satisfaction of the three psychological needs (need for competence, relatedness and autonomy) in the relation between need support from the physical education (PE) teacher and autonomous motivation to engage in PE and between the physical school environment…

Web-Based Reading Annotation System with an Attention-Based Self-Regulated Learning Mechanism for Promoting Reading Performance

ERIC Educational Resources Information Center

Chen, Chih-Ming; Huang, Sheng-Hui

2014-01-01

Due to the rapid development of information technology, web-based learning has become a dominant trend. That is, learners can often learn anytime and anywhere without being restricted by time and space. Autonomic learning primarily occurs in web-based learning environments, and self-regulated learning (SRL) is key to autonomic learning…

Autonomous Legged Hill and Stairwell Ascent

DTIC Science & Technology

2011-11-01

environments with little burden to a human operator. Keywords: autonomous robot , hill climbing , stair climbing , sequential composition, hexapod, self...X-RHex robot on a set of stairs with laser scanner, IMU, wireless repeater, and handle payloads. making them useful for both climbing hills and...reconciliation into that more powerful (but restrictive) framework. 1) The Stair Climbing Behavior: RHex robots have been climbing single-flight stairs

Detecting submerged features in water: modeling, sensors, and measurements

NASA Astrophysics Data System (ADS)

Bostater, Charles R., Jr.; Bassetti, Luce

2004-11-01

It is becoming more important to understand the remote sensing systems and associated autonomous or semi-autonomous methodologies (robotic & mechatronics) that may be utilized in freshwater and marine aquatic environments. This need comes from several issues related not only to advances in our scientific understanding and technological capabilities, but also from the desire to insure that the risk associated with UXO (unexploded ordnance), related submerged mines, as well as submerged targets (such as submerged aquatic vegetation) and debris left from previous human activities are remotely sensed and identified followed by reduced risks through detection and removal. This paper will describe (a) remote sensing systems, (b) platforms (fixed and mobile, as well as to demonstrate (c) the value of thinking in terms of scalability as well as modularity in the design and application of new systems now being constructed within our laboratory and other laboratories, as well as future systems. New remote sensing systems - moving or fixed sensing systems, as well as autonomous or semi-autonomous robotic and mechatronic systems will be essential to secure domestic preparedness for humanitarian reasons. These remote sensing systems hold tremendous value, if thoughtfully designed for other applications which include environmental monitoring in ambient environments.

Intelligent mobility research for robotic locomotion in complex terrain

NASA Astrophysics Data System (ADS)

Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

2006-05-01

The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

NASA Astrophysics Data System (ADS)

Rohde, Mitchell M.; Crawford, Justin; Toschlog, Matthew; Iagnemma, Karl D.; Kewlani, Guarav; Cummins, Christopher L.; Jones, Randolph A.; Horner, David A.

2009-05-01

It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles (UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing (HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE HPC research is a real-time desktop simulation application under development by the authors that provides a portal into the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia visualization techniques to form an intuitive, accurate engineering tool. The system provides an adaptable and customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations. ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf (COTS) hardware. In this paper, the authors describe key aspects of ANVEL and its development, as well as several initial applications of the system.

[Mobile autonomous robots-Possibilities and limits].

PubMed

Maehle, E; Brockmann, W; Walthelm, A

2002-02-01

Besides industrial robots, which today are firmly established in production processes, service robots are becoming more and more important. They shall provide services for humans in different areas of their professional and everyday environment including medicine. Most of these service robots are mobile which requires an intelligent autonomous behaviour. After characterising the different kinds of robots the relevant paradigms of intelligent autonomous behaviour for mobile robots are critically discussed in this paper and illustrated by three concrete examples of robots realized in Lübeck. In addition a short survey of actual kinds of surgical robots as well as an outlook to future developments is given.

Advanced control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Maurer, Markus; Dickmanns, Ernst D.

1997-06-01

An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

An Analytical Thermal Model for Autonomous Soaring Research

NASA Technical Reports Server (NTRS)

Allen, Michael

2006-01-01

A viewgraph presentation describing an analytical thermal model used to enable research on autonomous soaring for a small UAV aircraft is given. The topics include: 1) Purpose; 2) Approach; 3) SURFRAD Data; 4) Convective Layer Thickness; 5) Surface Heat Budget; 6) Surface Virtual Potential Temperature Flux; 7) Convective Scaling Velocity; 8) Other Calculations; 9) Yearly trends; 10) Scale Factors; 11) Scale Factor Test Matrix; 12) Statistical Model; 13) Updraft Strength Calculation; 14) Updraft Diameter; 15) Updraft Shape; 16) Smoothed Updraft Shape; 17) Updraft Spacing; 18) Environment Sink; 19) Updraft Lifespan; 20) Autonomous Soaring Research; 21) Planned Flight Test; and 22) Mixing Ratio.

Quality Partners

ERIC Educational Resources Information Center

Clark, Bob

2006-01-01

Green cleaning is gaining momentum. It is a method of cleaning and maintaining facilities that is friendly to the environment and healthful for students and staff. The process uses environmentally friendly and nontoxic cleaning products and practices that must be third-party-certified. Using green cleaning practices and products can result in…

A light-driven artificial flytrap

PubMed Central

Wani, Owies M.; Zeng, Hao; Priimagi, Arri

2017-01-01

The sophistication, complexity and intelligence of biological systems is a continuous source of inspiration for mankind. Mimicking the natural intelligence to devise tiny systems that are capable of self-regulated, autonomous action to, for example, distinguish different targets, remains among the grand challenges in biomimetic micro-robotics. Herein, we demonstrate an autonomous soft device, a light-driven flytrap, that uses optical feedback to trigger photomechanical actuation. The design is based on light-responsive liquid-crystal elastomer, fabricated onto the tip of an optical fibre, which acts as a power source and serves as a contactless probe that senses the environment. Mimicking natural flytraps, this artificial flytrap is capable of autonomous closure and object recognition. It enables self-regulated actuation within the fibre-sized architecture, thus opening up avenues towards soft, autonomous small-scale devices. PMID:28534872

How to make an autonomous robot as a partner with humans: design approach versus emergent approach.

PubMed

Fujita, M

2007-01-15

In this paper, we discuss what factors are important to realize an autonomous robot as a partner with humans. We believe that it is important to interact with people without boring them, using verbal and non-verbal communication channels. We have already developed autonomous robots such as AIBO and QRIO, whose behaviours are manually programmed and designed. We realized, however, that this design approach has limitations; therefore we propose a new approach, intelligence dynamics, where interacting in a real-world environment using embodiment is considered very important. There are pioneering works related to this approach from brain science, cognitive science, robotics and artificial intelligence. We assert that it is important to study the emergence of entire sets of autonomous behaviours and present our approach towards this goal.

Distributed subterranean exploration and mapping with teams of UAVs

NASA Astrophysics Data System (ADS)

Rogers, John G.; Sherrill, Ryan E.; Schang, Arthur; Meadows, Shava L.; Cox, Eric P.; Byrne, Brendan; Baran, David G.; Curtis, J. Willard; Brink, Kevin M.

2017-05-01

Teams of small autonomous UAVs can be used to map and explore unknown environments which are inaccessible to teams of human operators in humanitarian assistance and disaster relief efforts (HA/DR). In addition to HA/DR applications, teams of small autonomous UAVs can enhance Warfighter capabilities and provide operational stand-off for military operations such as cordon and search, counter-WMD, and other intelligence, surveillance, and reconnaissance (ISR) operations. This paper will present a hardware platform and software architecture to enable distributed teams of heterogeneous UAVs to navigate, explore, and coordinate their activities to accomplish a search task in a previously unknown environment.

Opportunistic Behavior in Motivated Learning Agents.

PubMed

Graham, James; Starzyk, Janusz A; Jachyra, Daniel

2015-08-01

This paper focuses on the novel motivated learning (ML) scheme and opportunistic behavior of an intelligent agent. It extends previously developed ML to opportunistic behavior in a multitask situation. Our paper describes the virtual world implementation of autonomous opportunistic agents learning in a dynamically changing environment, creating abstract goals, and taking advantage of arising opportunities to improve their performance. An opportunistic agent achieves better results than an agent based on ML only. It does so by minimizing the average value of all need signals rather than a dominating need. This paper applies to the design of autonomous embodied systems (robots) learning in real-time how to operate in a complex environment.

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

NASA Technical Reports Server (NTRS)

Quraishi, Naveed (Inventor)

1996-01-01

An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

Dynamic multisensor fusion for mobile robot navigation in an indoor environment

NASA Astrophysics Data System (ADS)

Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

2001-10-01

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Mind-wandering and alterations to default mode network connectivity when listening to naturalistic versus artificial sounds.

PubMed

Gould van Praag, Cassandra D; Garfinkel, Sarah N; Sparasci, Oliver; Mees, Alex; Philippides, Andrew O; Ware, Mark; Ottaviani, Cristina; Critchley, Hugo D

2017-03-27

Naturalistic environments have been demonstrated to promote relaxation and wellbeing. We assess opposing theoretical accounts for these effects through investigation of autonomic arousal and alterations of activation and functional connectivity within the default mode network (DMN) of the brain while participants listened to sounds from artificial and natural environments. We found no evidence for increased DMN activity in the naturalistic compared to artificial or control condition, however, seed based functional connectivity showed a shift from anterior to posterior midline functional coupling in the naturalistic condition. These changes were accompanied by an increase in peak high frequency heart rate variability, indicating an increase in parasympathetic activity in the naturalistic condition in line with the Stress Recovery Theory of nature exposure. Changes in heart rate and the peak high frequency were correlated with baseline functional connectivity within the DMN and baseline parasympathetic tone respectively, highlighting the importance of individual neural and autonomic differences in the response to nature exposure. Our findings may help explain reported health benefits of exposure to natural environments, through identification of alterations to autonomic activity and functional coupling within the DMN when listening to naturalistic sounds.

Mind-wandering and alterations to default mode network connectivity when listening to naturalistic versus artificial sounds

PubMed Central

Gould van Praag, Cassandra D.; Garfinkel, Sarah N.; Sparasci, Oliver; Mees, Alex; Philippides, Andrew O.; Ware, Mark; Ottaviani, Cristina; Critchley, Hugo D.

2017-01-01

Naturalistic environments have been demonstrated to promote relaxation and wellbeing. We assess opposing theoretical accounts for these effects through investigation of autonomic arousal and alterations of activation and functional connectivity within the default mode network (DMN) of the brain while participants listened to sounds from artificial and natural environments. We found no evidence for increased DMN activity in the naturalistic compared to artificial or control condition, however, seed based functional connectivity showed a shift from anterior to posterior midline functional coupling in the naturalistic condition. These changes were accompanied by an increase in peak high frequency heart rate variability, indicating an increase in parasympathetic activity in the naturalistic condition in line with the Stress Recovery Theory of nature exposure. Changes in heart rate and the peak high frequency were correlated with baseline functional connectivity within the DMN and baseline parasympathetic tone respectively, highlighting the importance of individual neural and autonomic differences in the response to nature exposure. Our findings may help explain reported health benefits of exposure to natural environments, through identification of alterations to autonomic activity and functional coupling within the DMN when listening to naturalistic sounds. PMID:28345604

Agency as a Construct for Guiding the Establishment of Communication-Friendly Classrooms

ERIC Educational Resources Information Center

Alper, Rebecca M.; McGregor, Karla K.

2015-01-01

Educators face the challenge of creating classroom environments that are physically, socially, and didactically "communication friendly" for children with diverse communication needs and differences. In this article we propose that (1) communication and the development of agency are bi-directionally linked and, therefore, (2) the…

Creating the User-Friendly Library by Evaluating Patron Perception of Signage.

ERIC Educational Resources Information Center

Bosman, Ellen; Rusinek, Carol

1997-01-01

Librarians at Indiana University Northwest Library surveyed patrons on how to make the library's collection and services more accessible by improving signage. Examines the effectiveness of signage to instruct users, reduce difficulties and fears, ameliorate negative experiences, and contribute to a user-friendly environment. (AEF)

Autonomous & Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles

DTIC Science & Technology

2015-02-01

44 3.6 Tracking the Marine ermocline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 3.6.1 ermocline Definition ...intelligent autonomy algorithms to adapt the vehicle’s motion to changes in the environment, effectively seeking out and tracking an oceanographic...interface, H is the mean water depth, and f is the Coriolis parameter (twice the earth’s angular velocity about its vertical axis) [38]. at is, the

Autonomy in robots and other agents.

PubMed

Smithers, T

1997-06-01

The word "autonomous" has become widely used in artificial intelligence, robotics, and, more recently, artificial life and is typically used to qualify types of systems, agents, or robots: we see terms like "autonomous systems," "autonomous agents," and "autonomous robots." Its use in these fields is, however, both weak, with no distinctions being made that are not better and more precisely made with other existing terms, and varied, with no single underlying concept being involved. This ill-disciplined usage contrasts strongly with the use of the same term in other fields such as biology, philosophy, ethics, law, and human rights, for example. In all these quite different areas the concept of autonomy is essentially the same, though the language used and the aspects and issues of concern, of course, differ. In all these cases the underlying notion is one of self-law making and the closely related concept of self-identity. In this paper I argue that the loose and varied use of the term autonomous in artificial intelligence, robotics, and artificial life has effectively robbed these fields of an important concept. A concept essentially the same as we find it in biology, philosophy, ethics, and law, and one that is needed to distinguish a particular kind of agent or robot from those developed and built so far. I suggest that robots and other agents will have to be autonomous, i.e., self-law making, not just self-regulating, if they are to be able effectively to deal with the kinds of environments in which we live and work: environments which have significant large scale spatial and temporal invariant structure, but which also have large amounts of local spatial and temporal dynamic variation and unpredictability, and which lead to the frequent occurrence of previously unexperienced situations for the agents that interact with them.

Characterizing Microbe-Environment Interactions Through Experimental Evolution: The Autonomous Adaptive Directed Evolution Chamber

NASA Astrophysics Data System (ADS)

Ibanez, C. R.; Blaich, J.; Owyang, S.; Storrs, A.; Moffet, A.; Wong, N.; Zhou, J.; Gentry, D.

2015-12-01

We are developing a laboratory system for studying micro- to meso-scale interactions between microorganisms and their physicochemical environments. The Autonomous Adaptive Directed Evolution Chamber (AADEC) cultures microorganisms in controlled,small-scale geochemical environments. It observes corresponding microbial interactions to these environments and has the ability to adjust thermal, chemical, and other parameters in real time in response to these interactions. In addition to the sensed data, the system allows the generation of time-resolved ecological, genomic, etc. samples on the order of microbial generations. The AADEC currently houses cultures in liquid media and controls UVC radiation, heat exposure, and nutrient supply. In a proof-of-concept experimental evolution application, it can increase UVC radiation resistance of Escherichia coli cultures by iteratively exposing them to UVC and allowing the surviving cells to regrow. A baseline characterization generated a million fold resistance increase. This demonstration uses a single-well growth chamber prototype, but it was limited by scalability. We have expanded upon this system by implementing a microwell plate compatible fluidics system and sensor housing. This microwell plate system increases the diversity of microbial interactions seen in response to the geochemical environments generated by the system, allowing greater control over individual cultures' environments and detection of rarer events. The custom microfluidic card matches the footprint of a standard microwell plate. This card enables controllable fluid flow between wells and introduces multiple separate exposure and sensor chambers, increasing the variety of sensors compatible with the system. This gives the device control over scale and the interconnectedness of environments within the system. The increased controllability of the multiwell system provides a platform for implementing machine learning algorithms that will autonomously adjust geochemical environmental parameters.

Can We Study Autonomous Driving Comfort in Moving-Base Driving Simulators? A Validation Study.

PubMed

Bellem, Hanna; Klüver, Malte; Schrauf, Michael; Schöner, Hans-Peter; Hecht, Heiko; Krems, Josef F

2017-05-01

To lay the basis of studying autonomous driving comfort using driving simulators, we assessed the behavioral validity of two moving-base simulator configurations by contrasting them with a test-track setting. With increasing level of automation, driving comfort becomes increasingly important. Simulators provide a safe environment to study perceived comfort in autonomous driving. To date, however, no studies were conducted in relation to comfort in autonomous driving to determine the extent to which results from simulator studies can be transferred to on-road driving conditions. Participants ( N = 72) experienced six differently parameterized lane-change and deceleration maneuvers and subsequently rated the comfort of each scenario. One group of participants experienced the maneuvers on a test-track setting, whereas two other groups experienced them in one of two moving-base simulator configurations. We could demonstrate relative and absolute validity for one of the two simulator configurations. Subsequent analyses revealed that the validity of the simulator highly depends on the parameterization of the motion system. Moving-base simulation can be a useful research tool to study driving comfort in autonomous vehicles. However, our results point at a preference for subunity scaling factors for both lateral and longitudinal motion cues, which might be explained by an underestimation of speed in virtual environments. In line with previous studies, we recommend lateral- and longitudinal-motion scaling factors of approximately 50% to 60% in order to obtain valid results for both active and passive driving tasks.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Astrophysics Data System (ADS)

Alhorn, Dean C.

2005-02-01

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete sub-systems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Technical Reports Server (NTRS)

Alhorn, Dean C.

2005-01-01

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete subsystems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Jordanian dentists' knowledge and implementation of eco-friendly dental office strategies.

PubMed

Al Shatrat, Sabha M; Shuman, Deanne; Darby, Michele L; Jeng, Hueiwang A

2013-06-01

To investigate the implementation of eco-friendly dental office strategies by Jordanian dentists. Self-designed questionnaires were provided to 150 dentists working in private dental practices in the city of Amman, the capital of Jordan. Dentists' names and addresses were obtained from the Jordanian Dental Association. Overall, the level of knowledge about eco-friendly dental offices strategies was high for amalgam, radiology, paper waste, infection control and energy and water conservation. In terms of implementation, the majority of Jordanian dentists apply few eco-friendly dental offices strategies. The most frequently identified barriers to implementation of eco-friendly dental offices strategies were cost and lack of incentives from the government. Most Jordanian dental practices are not eco-friendly. A continued focus on the impact of dental practices on the environment is needed through formal and continuing dental education. Results of this study can guide policy development to encourage implementation of eco-friendly strategies. © 2013 FDI World Dental Federation.

Development of the Korean framework for senior-friendly hospitals: a Delphi study.

PubMed

Kim, Yoon-Sook; Han, Seol-Heui; Hwang, Jeong-Hae; Park, Jae-Min; Lee, Jongmin; Choi, Jaekyung; Moon, Yeonsil; Kim, Hee Joung; Shin, Grace Jung Eun; Lee, Ji-Sun; Choi, Ye Ji; Uhm, Kyeong Eun; Kim, In Ae; Nam, Ji-Won

2017-08-04

Aging is an inevitable part of life. One can maintain well-being and wellness even after discharge and/or transition if his or her functional decline is minimized, sudden decline is prevented, and functioning is promoted during hospitalization. Caring appropriately for elderly patients requires the systematic application of Senior-Friendly Hospital principles to all operating systems, including medical centres' organization and environment, as well as patient treatment processes. The Senior-Friendly Hospital framework is valid and important for patient safety and quality improvement. This study aimed to make recommendations regarding the development of the Korean Framework for Senior-Friendly Hospitals for older patients' care management, patient safety interventions, and health promotion, via a Delphi survey. Two rounds of Delphi surveying were conducted with 15 participants who had at least 3 years' experience in accreditation surveying and medical accreditation standards, survey methods, and accreditation investigator education. In each round, we calculated statistics describing each standard's validity and feasibility. The Korean Framework for Senior-Friendly Hospitals included 4 Chapters, 11 categories, and 67 standards through consensus of the Senior-Friendly Hospitals task force and experts' peer review. After the two rounds of Delphi surveying, validity evaluation led to no changes in standards of the Senior-Friendly Hospitals; however, the number of standards showing adequate validity decreased from 67 to 58. Regarding feasibility, no changes were necessary in the standards; however, the number of categories showing adequate feasibility decreased from 11 to 8 and from 67 to 30, respectively. The excluded categories were 3.2, 4.2, and 4.3 (service, transportation, and signage and identification). The highest feasibility values were given to standards 2.1.1, 4.1.4, and 4.1.6. The highest feasibility score was given to standard 2.4.2. The Korean Framework for Senior-Friendly Hospitals needs to include 4 Chapters, 8 categories, and 30 standards. The Accreditation Program for Healthcare Organizations should include Senior-Friendly Hospitals -relevant standards considering Korea's medical environment.

State estimation for autonomous flight in cluttered environments

NASA Astrophysics Data System (ADS)

Langelaan, Jacob Willem

Safe, autonomous operation in complex, cluttered environments is a critical challenge facing autonomous mobile systems. The research described in this dissertation was motivated by a particularly difficult example of autonomous mobility: flight of a small Unmanned Aerial Vehicle (UAV) through a forest. In cluttered environments (such as forests or natural and urban canyons) signals from navigation beacons such as GPS may frequently be occluded. Direct measurements of vehicle position are therefore unavailable, and information required for flight control, obstacle avoidance, and navigation must be obtained using only on-board sensors. However, payload limitations of small UAVs restrict both the mass and physical dimensions of sensors that can be carried. This dissertation describes the development and proof-of-concept demonstration of a navigation system that uses only a low-cost inertial measurement unit and a monocular camera. Micro electromechanical inertial measurements units are well suited to small UAV applications and provide measurements of acceleration and angular rate. However, they do not provide information about nearby obstacles (needed for collision avoidance) and their noise and bias characteristics lead to unbounded growth in computed position. A monocular camera can provide bearings to nearby obstacles and landmarks. These bearings can be used both to enable obstacle avoidance and to aid navigation. Presented here is a solution to the problem of estimating vehicle state (position, orientation and velocity) as well as positions of obstacles in the environment using only inertial measurements and bearings to obstacles. This is a highly nonlinear estimation problem, and standard estimation techniques such as the Extended Kalman Filter are prone to divergence in this application. In this dissertation a Sigma Point Kalman Filter is implemented, resulting in an estimator which is able to cope with the significant nonlinearities in the system equations and uncertainty in state estimates while remaining tractable for real-time operation. In addition, the issues of data association and landmark initialization are addressed. Estimator performance is examined through Monte Carlo simulations in both two and three dimensions for scenarios involving UAV flight in cluttered environments. Hardware tests and simulations demonstrate navigation through an obstacle-strewn environment by a small Unmanned Ground Vehicle.

A new user-friendly visual environment for breast MRI data analysis.

PubMed

Antonios, Danelakis; Dimitrios, Verganelakis A; Theoharis, Theoharis

2013-06-01

In this paper a novel, user friendly visual environment for Breast MRI Data Analysis is presented (BreDAn). Given planar MRI images before and after IV contrast medium injection, BreDAn generates kinematic graphs, color maps of signal increase and decrease and finally detects high risk breast areas. The advantage of BreDAn, which has been validated and tested successfully, is the automation of the radiodiagnostic process in an accurate and reliable manner. It can potentially facilitate radiologists' workload. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Assured Human-Autonomy Interaction through Machine Self-Confidence

NASA Astrophysics Data System (ADS)

Aitken, Matthew

Autonomous systems employ many layers of approximations in order to operate in increasingly uncertain and unstructured environments. The complexity of these systems makes it hard for a user to understand the systems capabilities, especially if the user is not an expert. However, if autonomous systems are to be used efficiently, their users must trust them appropriately. This purpose of this work is to implement and assess an 'assurance' that an autonomous system can provide to the user to elicit appropriate trust. Specifically, the autonomous system's perception of its own capabilities is reported to the user as the self-confidence assurance. The self-confidence assurance should allow the user to more quickly and accurately assess the autonomous system's capabilities, generating appropriate trust in the autonomous system. First, this research defines self-confidence and discusses what the self-confidence assurance is attempting to communicate to the user. Then it provides a framework for computing the autonomous system's self-confidence as a function of self-confidence factors which correspond to individual elements in the autonomous system's process. In order to explore this idea, self-confidence is implemented on an autonomous system that uses a mixed observability Markov decision process model to solve a pursuit-evasion problem on a road network. The implementation of a factor assessing the goodness of the autonomy's expected performance is focused on in particular. This work highlights some of the issues and considerations in the design of appropriate metrics for the self-confidence factors, and provides the basis for future research for computing self-confidence in autonomous systems.

Investigating Effects of Problem-Based versus Lecture-Based Learning Environments on Student Motivation

ERIC Educational Resources Information Center

Wijnia, Lisette; Loyens, Sofie M. M.; Derous, Eva

2011-01-01

This study examines the effects of two learning environments (i.e., problem-based learning [PBL] versus lecture-based [LB] environments) on undergraduates' study motivation. Survey results demonstrated that PBL students scored higher on competence but did not differ from LB students on autonomous motivation. Analyses of focus groups further…

Autonomic Dysfunction and Risk Factors Associated with Trypanosoma cruzi Infection among Children in Arequipa, Peru

PubMed Central

Bowman, Natalie M.; Kawai, Vivian; Gilman, Robert H.; Bocangel, Cesar; Galdos-Cardenas, Gerson; Cabrera, Lilia; Levy, Michael Z.; Cornejo del Carpio, Juan Geny; Delgado, Freddy; Rosenthal, Lauren; Pinedo-Cancino, Vivian V.; Steurer, Francis; Seitz, Amy E.; Maguire, James H.; Bern, Caryn

2011-01-01

Chagas disease affects an estimated 8 million people in Latin America. Infected individuals have 20–30% lifetime risk of developing cardiomyopathy, but more subtle changes in autonomic responses may be more frequent. We conducted a matched case-control study of children in Arequipa, Peru, where triatomine infestation and Trypanosoma cruzi infection are emerging problems. We collected data on home environment, history, physical examination, electrocardiogram, and autonomic testing. Signs of triatomine infestation and/or animals sleeping in the child's room and household members with Chagas disease were associated with increased infection risk. Electrocardiogram findings did not differ between cases and controls. However, compared with control children, infected children had blunted autonomic responses by three different measures, the Valsalva maneuver, the cold pressor test, and the orthostatic test. T. cruzi-infected children show autonomic dysfunction, although the prognostic value of this finding is not clear. Sustained vector control programs are essential to decreasing future T. cruzi infections. PMID:21212207

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

The autonomous sciencecraft constellations

NASA Technical Reports Server (NTRS)

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2003-01-01

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we discuss how these AI technologies are synergistically integrated in a hybrid multi-layer control architecture to enable a virtual spacecraft science agent. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Current challenges in autonomous vehicle development

NASA Astrophysics Data System (ADS)

Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

2006-05-01

The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

A New Paradigm for Robotic Rovers

NASA Astrophysics Data System (ADS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.

We are in the process of developing rovers with extreme mobility needed to explore remote, rugged terrain. We call these systems Tetrahedral Explorer Technologies (TETs). Architecture is based on conformable tetrahedra, the simplest space-filling form, as building blocks, single or networked, where apices act as nodes from which struts reversibly deploy. The tetrahedral framework acts as a simple skeletal muscular structure. We have already prototyped a simple robotic walker from a single reconfigurable tetrahedron capable of tumbling and a more evolved 12Tetrahedral Walker, the Autonomous Landed Investigator (ALI), which has interior nodes for payload, more continuous motion, and is commandable through a user friendly interface. ALI is an EMS level mission concept which would allow autonomous in situ exploration of the lunar poles within the next decade. ALI would consist of one or more 12tetrahedral walkers capable of rapid locomotion with the many degrees of freedom and equipped for navigation in the unilluminated, inaccessible and thus largely unexplored rugged terrains where lunar resources are likely to be found: the Polar Regions. ALI walkers would act as roving reconnaissance teams for unexplored regions, analyzing samples along the way.

Conducting and Supporting a Goal-Based Scenario Learning Environment.

ERIC Educational Resources Information Center

Montgomery, Joel; And Others

1994-01-01

Discussion of goal-based scenario (GBS) learning environments focuses on a training module designed to prepare consultants with new skills in managing clients, designing user-friendly graphical computer interfaces, and working in a client/server computing environment. Transforming the environment from teaching focused to learning focused is…

Gene-Environment Interplay between Number of Friends and Prosocial Leadership Behavior in Children

ERIC Educational Resources Information Center

Rivizzigno, Alessandra S.; Brendgen, Mara; Feng, Bei; Vitaro, Frank; Dionne, Ginette; Tremblay, Richard E.; Boivin, Michel

2014-01-01

Enriched environments may moderate the effect of genetic factors on prosocial leadership (gene-environment interaction, G × E). However, positive environmental experiences may also themselves be influenced by a genetic disposition for prosocial leadership (gene-environment correlation, rGE). Relating these processes to friendships, the present…

Age-friendly environments and life satisfaction among South Korean elders: person-environment fit perspective.

PubMed

Park, Sojung; Lee, Sangchul

2017-07-01

Drawing on the person-environment (P-E) fit perspective, this study examined the role of environment on the well-being of vulnerable older adults in a non-western context. Using the indicators from the World Health Organization's (WHO) framework for age friendly cities (ACF), we examined life satisfaction among South Korean older adults, exploring the extent to which multidimensional environmental characteristics are associated with low socioeconomic status (SES). Using the regionally representative data from the Seoul City-wide needs assessment of middle- and old-aged adults, an analytic sample (N = 1657) focused on community-living individuals aged 65 and older. Multilevel regression models examined interaction between SES subgroups and varying aspects of the environment (i.e. physical, social, and service environment) as related to life satisfaction. Consistent with the environmental docility hypothesis, members of the most vulnerable subgroup in the Korean context - older adults who are living alone and poor - are more likely to have higher life satisfaction when they have higher levels of support in physical and social environments. Interestingly, a higher level of support in the service environment was related to lower life satisfaction for this subgroup. This study provides an empirical foundation for efforts to identify age-friendly environmental characteristics as modifiable environmental resources that can improve older adults' psychological well-being. As the first attempt to use WHO ACF indicators within the P-E fit perspective in a non-Western context, our study provides a foundation for designing support services or programs that effectively meet the needs of vulnerable older adults.

Motivational factors associated with physical activity and quality of life in people with severe mental illness.

PubMed

Farholm, Anders; Sørensen, Marit; Halvari, Hallgeir

2017-12-01

There has been increasing interest for investigating the role of motivation in physical activity among people with severe mental illness (SMI). Autonomous motivation has been suggested to have a potentially important role in adoption and maintenance of physical activity. However, the knowledge about factors that facilitate autonomous motivation among people with SMI is scarce. The aim of this study was to examine factors associated with motivation for physical activity as well as the relationships between motivation, physical activity and health-related quality of life in individuals with SMI that were currently physically active. A cross-sectional design was used, and 88 participants were recruited from a public health network promoting physical activity for people with SMI. They answered a questionnaire package consisting of scales measuring psychological need support - psychological need satisfaction - and motivation for physical activity, physical activity and health-related quality of life. The majority of participants reported to be in regular physical activity. Associations between variables were tested according to the self-determination theory process model. Structural equation modelling yielded good fit of the process model to the data. Specifically, a need-supportive environment was positively associated with psychological need satisfaction, while psychological need satisfaction was positively associated with autonomous motivation and mental health-related quality of life, and negatively associated with controlled motivation and amotivation. Physical activity was positively associated with autonomous motivation and physical health-related quality of life, and negatively associated with amotivation. This study indicates that individuals with SMI can be regularly physically active when provided with suitable opportunities. Furthermore, the present results suggest that it is vital for health-care practitioners to emphasise creating a need-supportive environment when organising physical activity because such an environment is associated with both increased autonomous motivation for physical activity and mental health-related quality of life. © 2016 Nordic College of Caring Science.

Autonomous Mission Operations for Sensor Webs

NASA Astrophysics Data System (ADS)

Underbrink, A.; Witt, K.; Stanley, J.; Mandl, D.

2008-12-01

We present interim results of a 2005 ROSES AIST project entitled, "Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations", or SWAMO. The goal of the SWAMO project is to shift the control of spacecraft missions from a ground-based, centrally controlled architecture to a collaborative, distributed set of intelligent agents. The network of intelligent agents intends to reduce management requirements by utilizing model-based system prediction and autonomic model/agent collaboration. SWAMO agents are distributed throughout the Sensor Web environment, which may include multiple spacecraft, aircraft, ground systems, and ocean systems, as well as manned operations centers. The agents monitor and manage sensor platforms, Earth sensing systems, and Earth sensing models and processes. The SWAMO agents form a Sensor Web of agents via peer-to-peer coordination. Some of the intelligent agents are mobile and able to traverse between on-orbit and ground-based systems. Other agents in the network are responsible for encapsulating system models to perform prediction of future behavior of the modeled subsystems and components to which they are assigned. The software agents use semantic web technologies to enable improved information sharing among the operational entities of the Sensor Web. The semantics include ontological conceptualizations of the Sensor Web environment, plus conceptualizations of the SWAMO agents themselves. By conceptualizations of the agents, we mean knowledge of their state, operational capabilities, current operational capacities, Web Service search and discovery results, agent collaboration rules, etc. The need for ontological conceptualizations over the agents is to enable autonomous and autonomic operations of the Sensor Web. The SWAMO ontology enables automated decision making and responses to the dynamic Sensor Web environment and to end user science requests. The current ontology is compatible with Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) Sensor Model Language (SensorML) concepts and structures. The agents are currently deployed on the U.S. Naval Academy MidSTAR-1 satellite and are actively managing the power subsystem on-orbit without the need for human intervention.

Transformation of the System of Values of Autonomous Learning for English Acquisition in Blended E-Studies for Adults: A Holistic Fractal Model

ERIC Educational Resources Information Center

Bojare, Inara; Skrinda, Astrida

2016-01-01

The present study is aimed at creating a holistic fractal model (HFM) of autonomous learning for English acquisition in a blended environment of e-studies in adult non-formal education on the basis of the theories and paradigms of philosophy, psychology and education for sustainable development to promote the development of adult learners'…

A Study of Problems and Responses in the Development of Dual-Language Education Models in Tibetan Regions: Taking Xiahe County in Gannan Tibetan Autonomous Prefecture as an Example

ERIC Educational Resources Information Center

Hongzhi, Long

2017-01-01

Dual-language education models are theoretical and practical systems formed through the process of dual-language education and centered on study and teaching. The language environment is the basis for developing and reforming dual-language education models. The author takes Xiahe County in Gannan Tibetan Autonomous Prefecture as an example and…

Investigating the Usefulness of Soldier Aids for Autonomous Unmanned Ground Vehicles, Part 2

DTIC Science & Technology

2015-03-01

distribution is unlimited. 13. SUPPLEMENTARY NOTES DCS Corporation, Alexandria, VA 14. ABSTRACT In the past, robot operation has been a high-cognitive...increase performance and reduce perceived workload. The aids were overlays displaying what an autonomous robot perceived in the environment and the...subsequent course of action planned by the robot . Eight active-duty, US Army Soldiers completed 16 scenario missions using an operator interface

Peer Educators and Close Friends as Predictors of Male College Students' Willingness to Prevent Rape

ERIC Educational Resources Information Center

Stein, Jerrold L.

2007-01-01

Astin's (1977, 1991, 1993) input-environment-outcome (I-E-O) model provided a conceptual framework for this study which measured 156 male college students' willingness to prevent rape (outcome variable). Predictor variables included personal attitudes (input variable), perceptions of close friends' attitudes toward rape and rape prevention…

Primary Schools Eco-Friendly Education in the Frame of Education for Sustainable Development

ERIC Educational Resources Information Center

Prabawani, Bulan; Hanika, Ita Musfirowati; Pradhanawati, Ari; Budiatmo, Agung

2017-01-01

A research on primary school education in the frame of education for sustainable development, as known as ESD, is important because the awareness of eco-friendly activities and environment empowerment cannot be developed in a short time. Meanwhile, human activities have caused significant environmental degradation. This is an exploratory study…

Going Green: Environmentally Friendly Schools Pay Off

ERIC Educational Resources Information Center

LaFee, Scott

2008-01-01

The notion of campuses that are energy-efficient and ecologically friendly, and that provide a healthy, productive, comfortable environment for students and staff has been around for some time. But for many educators, green schools have remained more good intention than proven approach, a huge risk that few school leaders could--or would--take.…

The Importance of Understanding Culture When Improving Education: Learning from Cambodia

ERIC Educational Resources Information Center

Berkvens, Jan B. Y.

2017-01-01

Following Education for All, initiatives like child-friendly schools initiative, are rolled out in many countries, including Cambodia. The child-friendly schools initiative is addressing general and local needs of children in schools, like a safe environment, well-trained teachers and the provision of teaching and materials. But there is also a…

Quality Education through Child-Friendly Schools: Resource Allocation for the Protection of Children's Rights

ERIC Educational Resources Information Center

Orkodashvili, Mariam

2010-01-01

The paper discusses the idea and purpose of Child-Friendly Schools (CFSs) initiated by the UNICEF. It analyses the implications of CFSs in terms of improving children's health and nutrition, promoting gender equality, protecting children's rights, re-defining education quality and creating positive psycho-emotional environment at schools.…

An eco-friendly in situ activatable antibiotic via cucurbit[8]uril-mediated supramolecular crosslinking of branched polyethylenimine.

PubMed

Li, Shengke; Jiang, Nan; Zhao, Wenxuan; Ding, Yuan-Fu; Zheng, Ying; Wang, Lian-Hui; Zheng, Jun; Wang, Ruibing

2017-05-30

We report an unprecedented, eco-friendly, in situ activatable model antibiotic, phenylalanyl-polyethylenimine (PhePEI), to potentially diminish antibiotic pollution of the environment and associated antibiotic resistance. The inactive PhePEI can be reversibly activated upon supramolecular crosslinking by cucurbit[8]uril, conferring potent antibacterial activity.

How can we make biofuels more climate friendly?

USDA-ARS?s Scientific Manuscript database

Wouldn’t it be great to find a fuel that powers our cars and planes without polluting the environment or warming up our planet? Fuels made from plants, like corn or sugarcane, called “biofuels,” appeared to be more climate-friendly than burning fossil fuels. Unfortunately, it turns out that many bi...

Thank You for Your Service: Military Initiatives on College Campuses

ERIC Educational Resources Information Center

Wilson, Kristin Bailey

2014-01-01

Military students and their dependents arrive on college campuses with a diverse array of academic goals and support needs. A military friendly college understands that military students are transitioning from the professional military environment to the workforce, and academic work is part of that transition. A military friendly college is not…

Dual-Schemata Model

NASA Astrophysics Data System (ADS)

Taniguchi, Tadahiro; Sawaragi, Tetsuo

In this paper, a new machine-learning method, called Dual-Schemata model, is presented. Dual-Schemata model is a kind of self-organizational machine learning methods for an autonomous robot interacting with an unknown dynamical environment. This is based on Piaget's Schema model, that is a classical psychological model to explain memory and cognitive development of human beings. Our Dual-Schemata model is developed as a computational model of Piaget's Schema model, especially focusing on sensori-motor developing period. This developmental process is characterized by a couple of two mutually-interacting dynamics; one is a dynamics formed by assimilation and accommodation, and the other dynamics is formed by equilibration and differentiation. By these dynamics schema system enables an agent to act well in a real world. This schema's differentiation process corresponds to a symbol formation process occurring within an autonomous agent when it interacts with an unknown, dynamically changing environment. Experiment results obtained from an autonomous facial robot in which our model is embedded are presented; an autonomous facial robot becomes able to chase a ball moving in various ways without any rewards nor teaching signals from outside. Moreover, emergence of concepts on the target movements within a robot is shown and discussed in terms of fuzzy logics on set-subset inclusive relationships.

Comparison of Environmentally Friendly Space Compatible Grease to its Predecessor in a Space Mechanism Bearing Test Rig

NASA Technical Reports Server (NTRS)

Jett, T. R.; Baker, M. A.; Thom, R. L.

1997-01-01

Perfluoroakylpolyether (PFPE) greases are used extensively in critical flight hardware in a space environment. In the past, these greases have been processed using chlorofluorocarbon (CFC) based solvents. In response to the recent ban of CFC's, new formulations of environmentally friendly PFPE greases that are not processed with CFC based solvents were developed. The purpose of this study was to compare the performance of a new environmentally friendly formulation PFPE grease to a previously proven space compatible formulation PFPE grease. A one year test using 20 small electrical motors (two bearings per motor) was conducted in a high vacuum environment(2.0 x 10(exp 4)) Torr at a temperature of 90 C. Twenty bearings were lubricated with a new environmentally friendly formulation, and twenty bearings were lubricated with an old formulation. The mass of each lubricated bearing was measured both pre and post test. Along with mass loss measurements a profilometer trace was taken to measure post test wear of the bearings. In addition the bearings were visually examined and analyzed using an optical microscope.

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

NASA Technical Reports Server (NTRS)

Wehner, Walter S.

2014-01-01

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

Autonomous low-power magnetic data collection platform to enable remote high latitude array deployment.

PubMed

Musko, Stephen B; Clauer, C Robert; Ridley, Aaron J; Arnett, Kennneth L

2009-04-01

A major driver in the advancement of geophysical sciences is improvement in the quality and resolution of data for use in scientific analysis, discovery, and for assimilation into or validation of empirical and physical models. The need for more and better measurements together with improvements in technical capabilities is driving the ambition to deploy arrays of autonomous geophysical instrument platforms in remote regions. This is particularly true in the southern polar regions where measurements are presently sparse due to the remoteness, lack of infrastructure, and harshness of the environment. The need for the acquisition of continuous long-term data from remote polar locations exists across geophysical disciplines and is a generic infrastructure problem. The infrastructure, however, to support autonomous instrument platforms in polar environments is still in the early stages of development. We report here the development of an autonomous low-power magnetic variation data collection system. Following 2 years of field testing at the south pole station, the system is being reproduced to establish a dense chain of stations on the Antarctic plateau along the 40 degrees magnetic meridian. The system is designed to operate for at least 5 years unattended and to provide data access via satellite communication. The system will store 1 s measurements of the magnetic field variation (<0.2 nT resolution) in three vector components plus a variety of engineering status and environment parameters. We believe that the data collection platform can be utilized by a variety of low-power instruments designed for low-temperature operation. The design, technical characteristics, and operation results are presented here.

Brief Report: Evaluation of an Intelligent Learning Environment for Young Children with Autism Spectrum Disorder.

PubMed

Zheng, Zhi; Warren, Zachary; Weitlauf, Amy; Fu, Qiang; Zhao, Huan; Swanson, Amy; Sarkar, Nilanjan

2016-11-01

Researchers are increasingly attempting to develop and apply innovative technological platforms for early detection and intervention of autism spectrum disorder (ASD). This pilot study designed and evaluated a novel technologically-mediated intelligent learning environment with relevance to early social orienting skills. The environment was endowed with the capacity to administer social orienting cues and adaptively respond to autonomous real-time measurement of performance (i.e., non-contact gaze measurement). We evaluated the system with both toddlers with ASD (n = 8) as well as typically developing infants (n = 8). Children in both groups were able to ultimately respond accurately to social prompts delivered by the technological system. Results also indicated that the system was capable of attracting and pushing toward correct performance autonomously without user intervention.

Vision-based mapping with cooperative robots

NASA Astrophysics Data System (ADS)

Little, James J.; Jennings, Cullen; Murray, Don

1998-10-01

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

Autonomous exploration and mapping of unknown environments

NASA Astrophysics Data System (ADS)

Owens, Jason; Osteen, Phil; Fields, MaryAnne

2012-06-01

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

Exploring the Notion of the Family Friendly City

NASA Astrophysics Data System (ADS)

Provi Drianda, Riela

2018-05-01

There is a common perception that downtown areas will never attract families and big cities are not the best place to raise children. Particularly the downtown areas of cities been depicted as the place where criminals, prostitutes, drug-sellers, and other dangerous strangers live. People with children are more likely to look for the suburbs to find bigger housing with more affordable prices, cleaner air, richer nature, a slower lifestyle, and safer environment. However, living in the modern suburb is not always easy and cheap, especially for those who need to commute to the central city. Dealing with the long commutes can be stressful and it affects the health, happiness, and well-being of family members. As the number of modern families with both parents in the workforce is rising, the demand to live closer to the workplace is getting stronger and growing. In some parts of the world, more families increasingly want to live in the cities. This trend can be seen in the United States, Japan, Korea, and Canada. Being family-friendly has become increasingly important for modern cities as more millennial generation show the tendency to raise their families in the urban area. Moreover, it is predicted that two-thirds of world’s population will live in cities by 2030. To accommodate the growing population, in particular, those with children, modern cities should be developed to suit urban families. But what criteria and qualities make one city more family-friendly than another? What would a family-friendly city look like? To date, the number studies exploring the notion of the family-friendly city has been very limited. Most studies have been focusing on the notion of family-friendly dwellings, family-friendly workplaces, or child-friendly cities. This paper brings together and examines the dominant and recurring ideas about the family-friendly city represented in the relevant literature and current urban practices. This paper also questions whether the concept of the child-friendly city is adequate to create a better environment to raise families in the city.

Efficient Use of AUVs in the Maritime Environment

NASA Astrophysics Data System (ADS)

Slămnoiu, G.; Radu, O.; Roşca, V.; Pascu, C.; Surdu, G.; Curcă, E.; Damian, R. G.; Rădulescu, A.

2017-06-01

Autonomous underwater vehicle (AUV) a.k.a. underwater drones are subsea vehicles which operate in the underwater environment independently of direct human input. There is a growing interest in underwater data collection by using autonomous underwater vehicles within the oceanographic research community. In this paper, the Iver 2 AUV is examined to accomplish accurate side-scan data while executing well planned missions. Therefore, this papers goal is to establish the optimal use conditions for the AUV that RCN has so that we maximize the detection probability of sea bottom objects that can be risk factors and at the same time to cover a surface as large as possible during a single mission.

Perception system and functions for autonomous navigation in a natural environment

NASA Technical Reports Server (NTRS)

Chatila, Raja; Devy, Michel; Lacroix, Simon; Herrb, Matthieu

1994-01-01

This paper presents the approach, algorithms, and processes we developed for the perception system of a cross-country autonomous robot. After a presentation of the tele-programming context we favor for intervention robots, we introduce an adaptive navigation approach, well suited for the characteristics of complex natural environments. This approach lead us to develop a heterogeneous perception system that manages several different terrain representatives. The perception functionalities required during navigation are listed, along with the corresponding representations we consider. The main perception processes we developed are presented. They are integrated within an on-board control architecture we developed. First results of an ambitious experiment currently underway at LAAS are then presented.

Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle

PubMed Central

Chen, Long; Li, Qingquan; Li, Ming; Zhang, Liang; Mao, Qingzhou

2012-01-01

This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

Environment-friendly wood fibre composite with high bonding strength and water resistance

PubMed Central

Ji, Xiaodi; Dong, Yue; Nguyen, Tat Thang; Chen, Xueqi

2018-01-01

With the growing depletion of wood-based materials and concerns over emissions of formaldehyde from traditional wood fibre composites, there is a desire for environment-friendly binders. Herein, we report a green wood fibre composite with specific bonding strength and water resistance that is superior to a commercial system by using wood fibres and chitosan-based adhesives. When the mass ratio of solid content in the adhesive and absolute dry wood fibres was 3%, the bonding strength and water resistance of the wood fibre composite reached the optimal level, which was significantly improved over that of wood fibre composites without adhesive and completely met the requirements of the Chinese national standard GB/T 11718-2009. Fourier transform infrared (FTIR), X-ray photoelectron spectroscopy (XPS) and X-ray diffraction (XRD) characterizations revealed that the excellent performance of the binder might partly be due to the amide linkages and hydrogen bonding between wood fibres and the chitosan-based adhesive. We believe that this strategy could open new insights into the design of environment-friendly wood fibre composites with high bonding strength and water resistance for multifunctional applications. PMID:29765653

Environment-friendly wood fibre composite with high bonding strength and water resistance

NASA Astrophysics Data System (ADS)

Ji, Xiaodi; Dong, Yue; Nguyen, Tat Thang; Chen, Xueqi; Guo, Minghui

2018-04-01

With the growing depletion of wood-based materials and concerns over emissions of formaldehyde from traditional wood fibre composites, there is a desire for environment-friendly binders. Herein, we report a green wood fibre composite with specific bonding strength and water resistance that is superior to a commercial system by using wood fibres and chitosan-based adhesives. When the mass ratio of solid content in the adhesive and absolute dry wood fibres was 3%, the bonding strength and water resistance of the wood fibre composite reached the optimal level, which was significantly improved over that of wood fibre composites without adhesive and completely met the requirements of the Chinese national standard GB/T 11718-2009. Fourier transform infrared (FTIR), X-ray photoelectron spectroscopy (XPS) and X-ray diffraction (XRD) characterizations revealed that the excellent performance of the binder might partly be due to the amide linkages and hydrogen bonding between wood fibres and the chitosan-based adhesive. We believe that this strategy could open new insights into the design of environment-friendly wood fibre composites with high bonding strength and water resistance for multifunctional applications.

Multi-AUV Target Search Based on Bioinspired Neurodynamics Model in 3-D Underwater Environments.

PubMed

Cao, Xiang; Zhu, Daqi; Yang, Simon X

2016-11-01

Target search in 3-D underwater environments is a challenge in multiple autonomous underwater vehicles (multi-AUVs) exploration. This paper focuses on an effective strategy for multi-AUV target search in the 3-D underwater environments with obstacles. First, the Dempster-Shafer theory of evidence is applied to extract information of environment from the sonar data to build a grid map of the underwater environments. Second, a topologically organized bioinspired neurodynamics model based on the grid map is constructed to represent the dynamic environment. The target globally attracts the AUVs through the dynamic neural activity landscape of the model, while the obstacles locally push the AUVs away to avoid collision. Finally, the AUVs plan their search path to the targets autonomously by a steepest gradient descent rule. The proposed algorithm deals with various situations, such as static targets search, dynamic targets search, and one or several AUVs break down in the 3-D underwater environments with obstacles. The simulation results show that the proposed algorithm is capable of guiding multi-AUV to achieve search task of multiple targets with higher efficiency and adaptability compared with other algorithms.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application.

PubMed

Vivacqua, Rafael; Vassallo, Raquel; Martins, Felipe

2017-10-16

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle's backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application

PubMed Central

Vassallo, Raquel

2017-01-01

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle’s backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation. PMID:29035334

Perturbed Communication in a Virtual Environment to Train Medical Team Leaders.

PubMed

Huguet, Lauriane; Lourdeaux, Domitile; Sabouret, Nicolas; Ferrer, Marie-Hélène

2016-01-01

The VICTEAMS project aims at designing a virtual environment for training medical team leaders to non-technical skills. The virtual environment is populated with autonomous virtual agents who are able to make mistakes (in action or communication) in order to train rescue team leaders and to make them adaptive with all kinds of situations or teams.

Medical education and social environment.

PubMed

Rasool, Ahsan; Qayum, Iftikhar; Ahmad, Ashfaq; Farooq, Umer; Shah, Awais Ali; Waqas, Muhammad; Rasool, Maleeha; Hameed, Sania; Kanwal, Rana; Azmat, Muneeba; Marwat, Saleem; Afridit, Faheem

2014-01-01

A positive learning environment and quality of course content have an imperative role in academic achievement of students. This study aims to assess students' point of view about the quality of education and social environment of a public sector medical college in Pakistan. Relative scarcity of data from students' perspective merited this study. A cross-sectional survey was undertaken at Ayub Medical College, Abbottabad, Pakistan, including 300 medical students from all five years of the MBBS course. Systematic random sampling was used with a kth interval of 4 for each class. Self-administered questionnaire was used and contained items related to academics, learning environment, learning resources, teaching methodologies and student-friendly activities. The data were analysed using SPSS-16. There were 265 respondents (88.3%) to the questionnaire with males accounting for 58.9% (n=156). In general students showed satisfaction with quality of content being taught; however there was discontent towards various academic and non- academic facilities provided to the students. Only 44.10% and 31.50% students reported provision of academic related facilities and interactive sessions as up to mark respectively; 83% students reported that undergraduate medical research was in need of improvement; 55.5% and 60.2% reported that facilities in hostel and recreational facilities needed improvement respectively; and 52.8% students stated presence of a healthy, student friendly, encouraging environment was not up to mark. Although course content and teaching methodologies are generally satisfactory, a healthy, student friendly, encouraging environment is vet to be created to help students foster their abilities completely.

The Imprimatur of Europe: Turkey, Europeanization, and the European Union

DTIC Science & Technology

1994-08-01

Jasmine , Erin, and Leo, for their patience and understanding as I sat trance-like in front of the computer writing. Their contribution to this effort was...1) that the international environment is conflictual; (2) that the " essence of social reality is the group" and its present relevant manifestation...consequences in others. In essence , completely autonomous national economic structures, capable of making or taking autonomous actions, no longer exist

Age Effect on Autonomic Cardiovascular Control in Pilots

DTIC Science & Technology

2000-08-01

Nantcheva**, M. Vukov *** *National Center of Hygiene, Medical Ecology and Nutrition 15 Dimitar Nestorov Blvd. 1431 Sofia, Bulgaria "**Military Medical...values and critique. Inter. Physiol. Behav. Sci. 1997, 3, of health risk compared with referents. 202-219. 14. Fluckiger L., Boivin J ., Quilliot D...during flight. Aviat. Space Chapman and Hall. 1991, 590 pp. Environ Med. 1998,4, 360-367. 4. Berntson G., Cacioppo J ., Quigley K. Autonomic 18. Hellman J

AN OFFSET FOR AFSOF: COMBINING ADDITIVE MANUFACTURING AND AUTONOMOUS SYSTEMS WITH SWARM EMPLOYMENT

DTIC Science & Technology

2016-10-01

teams composed of autonomous robot players compete in games of soccer .58 Strongly coordinated centralized systems are similar to the distributed...goal in a dynamically changing environment. This is a very active area of research and exemplified by the robot soccer league, a competition where...University, 2013, 23. 63 Massie, Andrew. “Autonomy and the Future Force” Strategic Studies Quarterly, Summer 2016, 146. 64 Zacharias, Greg. "Autonomus

Maritime Data Transfer Protocol (MDTP): A Proposal for a Data Transmission Protocol in Resource-Constrained Underwater Environments Involving Cyber-Physical Systems.

PubMed

Rodríguez-Molina, Jesús; Martínez, Belén; Bilbao, Sonia; Martín-Wanton, Tamara

2017-06-08

The utilization of autonomous maritime vehicles is becoming widespread in operations that are deemed too hazardous for humans to be directly involved in them. One of the ways to increase the productivity of the tools used during missions is the deployment of several vehicles with the same objective regarding data collection and transfer, both for the benefit of human staff and policy makers. However, the interchange of data in such an environment poses major challenges, such as a low bandwidth and the unreliability of the environment where transmissions take place. Furthermore, the relevant information that must be sent, as well as the exact size that will allow understanding it, is usually not clearly established, as standardization works are scarce in this domain. Under these conditions, establishing a way to interchange information at the data level among autonomous maritime vehicles becomes of critical importance since the needed information, along with the size of the transferred data, will have to be defined. This manuscript puts forward the Maritime Data Transfer Protocol, (MDTP) a way to interchange standardized pieces of information at the data level for maritime autonomous maritime vehicles, as well as the procedures that are required for information interchange.

Maritime Data Transfer Protocol (MDTP): A Proposal for a Data Transmission Protocol in Resource-Constrained Underwater Environments Involving Cyber-Physical Systems

PubMed Central

Rodríguez-Molina, Jesús; Martínez, Belén; Bilbao, Sonia; Martín-Wanton, Tamara

2017-01-01

The utilization of autonomous maritime vehicles is becoming widespread in operations that are deemed too hazardous for humans to be directly involved in them. One of the ways to increase the productivity of the tools used during missions is the deployment of several vehicles with the same objective regarding data collection and transfer, both for the benefit of human staff and policy makers. However, the interchange of data in such an environment poses major challenges, such as a low bandwidth and the unreliability of the environment where transmissions take place. Furthermore, the relevant information that must be sent, as well as the exact size that will allow understanding it, is usually not clearly established, as standardization works are scarce in this domain. Under these conditions, establishing a way to interchange information at the data level among autonomous maritime vehicles becomes of critical importance since the needed information, along with the size of the transferred data, will have to be defined. This manuscript puts forward the Maritime Data Transfer Protocol, (MDTP) a way to interchange standardized pieces of information at the data level for maritime autonomous maritime vehicles, as well as the procedures that are required for information interchange. PMID:28594393

Enabling Autonomous Navigation for Affordable Scooters.

PubMed

Liu, Kaikai; Mulky, Rajathswaroop

2018-06-05

Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate the laser motion in real time and create synthetic mapping of simple environments with regular shapes and deep hallways. Laser range finders are suitable for long ranges with limited resolution. Stereo vision, on the other hand, provides 3D structural data of nearby complex objects. To achieve simultaneous fine-grained resolution and long range coverage in the mapping of cluttered and complex environments, we dynamically fuse the measurements from the stereo vision camera system, the synthetic laser scanner, and the LiDAR. We propose solutions to self-correct errors in data fusion and create a hybrid map to assist the scooter in achieving collision-free navigation in an indoor environment.

Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

NASA Astrophysics Data System (ADS)

Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

2005-06-01

The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

Gene-Environment Correlation and Interaction in Peer Effects on Adolescent Alcohol and Tobacco Use

PubMed Central

Harden, K. Paige; Hill, Jennifer E.; Turkheimer, Eric; Emery, Robert E.

2010-01-01

Peer relationships are commonly thought to be critical for adolescent socialization, including the development of negative health behaviors such as alcohol and tobacco use. The interplay between genetic liability and peer influences on the development of adolescent alcohol and tobacco use was examined using a nationally-representative sample of adolescent sibling pairs and their best friends. Genetic factors, some of them related to an adolescent's own substance use and some of them independent of use, were associated with increased exposure to best friends with heavy substance use—a gene-environment correlation. Moreover, adolescents who were genetically liable to substance use were more vulnerable to the adverse influences of their best friends—a gene-environment interaction. PMID:18368474

Adherence to National Asthma Education and Prevention Program's "How Asthma-Friendly Is Your School?" Recommendations

ERIC Educational Resources Information Center

Jones, Sherry Everett; Wheeler, Lani S.; Smith, Alisa M.; McManus, Tim

2009-01-01

School health policies and programs provide the framework for a safe and supportive environment for students with asthma. School Health Policies and Programs Study 2006 data were examined to assess whether schools nationwide have policies and programs consistent with the "How Asthma-Friendly Is Your School?" checklist from the National Asthma…

Making Connections through the Lens of Blue Man Group

ERIC Educational Resources Information Center

Stephens, Pam

2005-01-01

The Blue Man Group began in 1988 when friends Matt Goldman, Phil Stanton, and Chris Wink all living in New York--voiced their increasing disgruntlement and boredom with urban life. With a gut feeling that creativity and a tribal-like community could prosper in their metropolitan environment, the friends decided to confront the issues rather than…

Age-Friendly Rural Communities: Conceptualizing 'Best-Fit'.

PubMed

Keating, Norah; Eales, Jacquie; Phillips, Judith E

2013-12-01

The literature on age-friendly communities is predominantly focused on a model of urban aging, thereby failing to reflect the diversity of rural communities. In this article, we address that gap by focusing on the concept of community in a rural context and asking what makes a good fi t between older people and their environment. We do this through (a) autobiographical and biographical accounts of two very different geographical living environments: bucolic and bypassed communities; and through (b) analysis of the different needs and resources of two groups of people: marginalized and community-active older adults, who live in those two different rural communities. We argue that the original 2007 Health Organization definition of age friendly should be reconceptualized to explicitly accommodate different community needs and resources, to be more inclusive as well as more interactive and dynamic, incorporating changes that have occurred over time in people and place.

Organizational Responsibility for Age-Friendly Social Participation: Views of Australian Rural Community Stakeholders.

PubMed

Winterton, Rachel

2016-01-01

This qualitative study critically explores the barriers experienced by diverse rural community stakeholders in facilitating environments that enable age-friendly social participation. Twenty-six semi-structured interviews were conducted across two rural Australian communities with stakeholders from local government, health, social care, and community organizations. Findings identify that rural community stakeholders face significant difficulties in securing resources for groups and activities catering to older adults, which subsequently impacts their capacity to undertake outreach to older adults. However, in discussing these issues, questions were raised in relation to whose responsibility it is to provide resources for community groups and organizations providing social initiatives and whose responsibility it is to engage isolated seniors. These findings provide a much-needed critical perspective on current age-friendly research by acknowledging the responsibilities of various macro-level social structures-different community-level organizations, local government, and policy in fostering environments to enable participation of diverse rural older adults.

Childhood Obesity and Physical Activity-Friendly School Environments.

PubMed

Ip, Patrick; Ho, Frederick Ka-Wing; Louie, Lobo Hung-Tak; Chung, Thomas Wai-Hung; Cheung, Yiu-Fai; Lee, So-Lun; Hui, Stanley Sai-Chuen; Ho, Walter King-Yan; Ho, Daniel Sai-Yin; Wong, Wilfred Hing-Sang; Jiang, Fan

2017-12-01

Childhood obesity may be related to school environment, but previous studies often focused on food environment only. This study aimed to examine the relationship between school physical activity environment and childhood obesity. This is a cross-sectional study with multilevel data collected on school physical activity environment using teacher questionnaires, students' growth, and obesity status from electronic health records, and neighborhood socioeconomic status from census data. This study included 208 280 students (6-18 years of age) from 438 schools (45% of Hong Kong). Prevalence of obesity was 5.0%. After controlling for socioeconomic status and intraschool correlation, robust Poisson regression revealed a reduced obesity risk associated with higher teachers' perceived physical activity benefits (risk ratio 0.96, 95% CI 0.94-0.99, P = .02), physical activity teaching experience (0.93, 0.91-0.96, P < .001), school campus size (0.93, 0.87-0.99, P = .02), physical activity ethos (0.91, 0.88-0.94, P < .001), number of physical activity programs (0.93, 0.90-0.96, P < .001), and physical activity facilities (0.87, 0.84-0.90, P < .001). Students in schools with at least 3 physical activity-friendly environmental factors (11.7%) had a much lower risk of obesity (0.68, 0.62-0.75, P < .001) than those without (23.7%). A physical activity-friendly school environment is associated with lower risk of obesity. School physical activity environment should be considered in future epidemiologic and intervention studies. Copyright © 2017 Elsevier Inc. All rights reserved.

Regulation of the immune system by biodiversity from the natural environment: an ecosystem service essential to health.

PubMed

Rook, Graham A

2013-11-12

Epidemiological studies suggest that living close to the natural environment is associated with long-term health benefits including reduced death rates, reduced cardiovascular disease, and reduced psychiatric problems. This is often attributed to psychological mechanisms, boosted by exercise, social interactions, and sunlight. Compared with urban environments, exposure to green spaces does indeed trigger rapid psychological, physiological, and endocrinological effects. However, there is little evidence that these rapid transient effects cause long-term health benefits or even that they are a specific property of natural environments. Meanwhile, the illnesses that are increasing in high-income countries are associated with failing immunoregulation and poorly regulated inflammatory responses, manifested as chronically raised C-reactive protein and proinflammatory cytokines. This failure of immunoregulation is partly attributable to a lack of exposure to organisms ("Old Friends") from mankind's evolutionary past that needed to be tolerated and therefore evolved roles in driving immunoregulatory mechanisms. Some Old Friends (such as helminths and infections picked up at birth that established carrier states) are almost eliminated from the urban environment. This increases our dependence on Old Friends derived from our mothers, other people, animals, and the environment. It is suggested that the requirement for microbial input from the environment to drive immunoregulation is a major component of the beneficial effect of green space, and a neglected ecosystem service that is essential for our well-being. This insight will allow green spaces to be designed to optimize health benefits and will provide impetus from health systems for the preservation of ecosystem biodiversity.

User-friendly design approach for analog layout design

NASA Astrophysics Data System (ADS)

Li, Yongfu; Lee, Zhao Chuan; Tripathi, Vikas; Perez, Valerio; Ong, Yoong Seang; Hui, Chiu Wing

2017-03-01

Analog circuits are sensitives to the changes in the layout environment conditions, manufacturing processes, and variations. This paper presents analog verification flow with five types of analogfocused layout constraint checks to assist engineers in identifying any potential device mismatch and layout drawing mistakes. Compared to several solutions, our approach only requires layout design, which is sufficient to recognize all the matched devices. Our approach simplifies the data preparation and allows seamless integration into the layout environment with minimum disruption to the custom layout flow. Our user-friendly analog verification flow provides the engineer with more confident with their layouts quality.

A Collaborative Knowledge Plane for Autonomic Networks

NASA Astrophysics Data System (ADS)

Mbaye, Maïssa; Krief, Francine

Autonomic networking aims to give network components self-managing capabilities. Several autonomic architectures have been proposed. Each of these architectures includes sort of a knowledge plane which is very important to mimic an autonomic behavior. Knowledge plane has a central role for self-functions by providing suitable knowledge to equipment and needs to learn new strategies for more accuracy.However, defining knowledge plane's architecture is still a challenge for researchers. Specially, defining the way cognitive supports interact each other in knowledge plane and implementing them. Decision making process depends on these interactions between reasoning and learning parts of knowledge plane. In this paper we propose a knowledge plane's architecture based on machine learning (inductive logic programming) paradigm and situated view to deal with distributed environment. This architecture is focused on two self-functions that include all other self-functions: self-adaptation and self-organization. Study cases are given and implemented.

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques.

PubMed

Bayat, Behzad; Crasta, Naveena; Crespi, Alessandro; Pascoal, António M; Ijspeert, Auke

2017-06-01

Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of operating in harsh environments without human supervision. The aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles. Copyright © 2017 Elsevier Ltd. All rights reserved.

Neuromorphic vision sensors and preprocessors in system applications

NASA Astrophysics Data System (ADS)

Kramer, Joerg; Indiveri, Giacomo

1998-09-01

A partial review of neuromorphic vision sensors that are suitable for use in autonomous systems is presented. Interfaces are being developed to multiplex the high- dimensional output signals of arrays of such sensors and to communicate them in standard formats to off-chip devices for higher-level processing, actuation, storage and display. Alternatively, on-chip processing stages may be implemented to extract sparse image parameters, thereby obviating the need for multiplexing. Autonomous robots are used to test neuromorphic vision chips in real-world environments and to explore the possibilities of data fusion from different sensing modalities. Examples of autonomous mobile systems that use neuromorphic vision chips for line tracking and optical flow matching are described.

Safe Autonomous Flight Environment (SAFE50) for the Notional Last 50 ft of Operation of 55 lb Class of UAS

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje; Kopardekar, Parimal; Ippolito, Corey; Melton, John E.; Stepanyan, Vahram; Sankararaman, Shankar; Nikaido, Ben

2017-01-01

The most difficult phase of small Unmanned Aerial System (sUAS) deployment is autonomous operations below the notional 50 ft in urban landscapes. Understanding the feasibility of safely flying sUAS autonomously below 50 ft is a game changer for many civilian applications. This paper outlines three areas of research currently underway which address key challenges for flight in the urban landscape. These are: (1) Off-line and On-board wind estimation and accommodation; (2) Real-time trajectory planning via characterization of obstacles using a LIDAR; (3) On-board information fusion for real-time decision-making and safe trajectory generation.

Towards Autonomous Agriculture: Automatic Ground Detection Using Trinocular Stereovision

PubMed Central

Reina, Giulio; Milella, Annalisa

2012-01-01

Autonomous driving is a challenging problem, particularly when the domain is unstructured, as in an outdoor agricultural setting. Thus, advanced perception systems are primarily required to sense and understand the surrounding environment recognizing artificial and natural structures, topology, vegetation and paths. In this paper, a self-learning framework is proposed to automatically train a ground classifier for scene interpretation and autonomous navigation based on multi-baseline stereovision. The use of rich 3D data is emphasized where the sensor output includes range and color information of the surrounding environment. Two distinct classifiers are presented, one based on geometric data that can detect the broad class of ground and one based on color data that can further segment ground into subclasses. The geometry-based classifier features two main stages: an adaptive training stage and a classification stage. During the training stage, the system automatically learns to associate geometric appearance of 3D stereo-generated data with class labels. Then, it makes predictions based on past observations. It serves as well to provide training labels to the color-based classifier. Once trained, the color-based classifier is able to recognize similar terrain classes in stereo imagery. The system is continuously updated online using the latest stereo readings, thus making it feasible for long range and long duration navigation, over changing environments. Experimental results, obtained with a tractor test platform operating in a rural environment, are presented to validate this approach, showing an average classification precision and recall of 91.0% and 77.3%, respectively.

Mapping Gnss Restricted Environments with a Drone Tandem and Indirect Position Control

NASA Astrophysics Data System (ADS)

Cledat, E.; Cucci, D. A.

2017-08-01

The problem of autonomously mapping highly cluttered environments, such as urban and natural canyons, is intractable with the current UAV technology. The reason lies in the absence or unreliability of GNSS signals due to partial sky occlusion or multi-path effects. High quality carrier-phase observations are also required in efficient mapping paradigms, such as Assisted Aerial Triangulation, to achieve high ground accuracy without the need of dense networks of ground control points. In this work we consider a drone tandem in which the first drone flies outside the canyon, where GNSS constellation is ideal, visually tracks the second drone and provides an indirect position control for it. This enables both autonomous guidance and accurate mapping of GNSS restricted environments without the need of ground control points. We address the technical feasibility of this concept considering preliminary real-world experiments in comparable conditions and we perform a mapping accuracy prediction based on a simulation scenario.

Tegotae-based decentralised control scheme for autonomous gait transition of snake-like robots.

PubMed

Kano, Takeshi; Yoshizawa, Ryo; Ishiguro, Akio

2017-08-04

Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, a decentralised control scheme of snake-like robots that exhibited autonomous gait transition (i.e. the transition between concertina locomotion in narrow aisles and scaffold-based locomotion on unstructured terrains) was developed. Additionally, the control scheme was validated via simulations. A key insight revealed is that these locomotion patterns were not preprogrammed but emerged by exploiting Tegotae, a concept that describes the extent to which a perceived reaction matches a generated action. Unlike local reflexive mechanisms proposed previously, the Tegotae-based feedback mechanism enabled the robot to 'selectively' exploit environments beneficial for propulsion, and generated reasonable locomotion patterns. It is expected that the results of this study can form the basis to design robots that can work under unpredictable and unstructured environments.

Local navigation and fuzzy control realization for autonomous guided vehicle

NASA Astrophysics Data System (ADS)

El-Konyaly, El-Sayed H.; Saraya, Sabry F.; Shehata, Raef S.

1996-10-01

This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.

Multiresolutional schemata for unsupervised learning of autonomous robots for 3D space operation

NASA Technical Reports Server (NTRS)

Lacaze, Alberto; Meystel, Michael; Meystel, Alex

1994-01-01

This paper describes a novel approach to the development of a learning control system for autonomous space robot (ASR) which presents the ASR as a 'baby' -- that is, a system with no a priori knowledge of the world in which it operates, but with behavior acquisition techniques that allows it to build this knowledge from the experiences of actions within a particular environment (we will call it an Astro-baby). The learning techniques are rooted in the recursive algorithm for inductive generation of nested schemata molded from processes of early cognitive development in humans. The algorithm extracts data from the environment and by means of correlation and abduction, it creates schemata that are used for control. This system is robust enough to deal with a constantly changing environment because such changes provoke the creation of new schemata by generalizing from experiences, while still maintaining minimal computational complexity, thanks to the system's multiresolutional nature.

A Dynamic Model of Adolescent Friendship Networks, Parental Influences, and Smoking.

PubMed

Lakon, Cynthia M; Wang, Cheng; Butts, Carter T; Jose, Rupa; Timberlake, David S; Hipp, John R

2015-09-01

Peer and parental influences are critical socializing forces shaping adolescent development, including the co-evolving processes of friendship tie choice and adolescent smoking. This study examines aspects of adolescent friendship networks and dimensions of parental influences shaping friendship tie choice and smoking, including parental support, parental monitoring, and the parental home smoking environment using a Stochastic Actor-Based model. With data from three waves of the National Longitudinal Study of Adolescent Health of youth in grades 7 through 12, including the In-School Survey, the first wave of the In-Home survey occurring 6 months later, and the second wave of the In-Home survey, occurring one year later, this study utilizes two samples based on the social network data collected in the longitudinal saturated sample of sixteen schools. One consists of twelve small schools (n = 1,284, 50.93 % female), and the other of one large school (n = 976, 48.46 % female). The findings indicated that reciprocity, choosing a friend of a friend as a friend, and smoking similarity increased friendship tie choice behavior, as did parental support. Parental monitoring interacted with choosing friends who smoke in affecting friendship tie choice, as at higher levels of parental monitoring, youth chose fewer friends that smoked. A parental home smoking context conducive to smoking decreased the number of friends adolescents chose. Peer influence and a parental home smoking environment conducive to smoking increased smoking, while parental monitoring decreased it in the large school. Overall, peer and parental factors affected the coevolution of friendship tie choice and smoking, directly and multiplicatively.

A Dynamic Model of Adolescent Friendship Networks, Parental Influences, and Smoking

PubMed Central

Wang, Cheng; Butts, Carter T.; Jose, Rupa; Timberlake, David S.; Hipp, John R.

2015-01-01

Peer and parental influences are critical socializing forces shaping adolescent development, including the co-evolving processes of friendship tie choice and adolescent smoking. This study examines aspects of adolescent friendship networks and dimensions of parental influences shaping friendship tie choice and smoking, including parental support, parental monitoring, and the parental home smoking environment using a Stochastic Actor-Based model. With data from three waves of the National Longitudinal Study of Adolescent Health of youth in grades 7 through 12, including the In-School Survey, the first wave of the In-Home survey occurring 6 months later, and the second wave of the In-Home survey, occurring one year later, this study utilizes two samples based on the social network data collected in the longitudinal saturated sample of sixteen schools. One consists of twelve small schools (n = 1,284, 50.93 % female), and the other of one large school (n = 976, 48.46 % female). The findings indicated that reciprocity, choosing a friend of a friend as a friend, and smoking similarity increased friendship tie choice behavior, as did parental support. Parental monitoring interacted with choosing friends who smoke in affecting friendship tie choice, as at higher levels of parental monitoring, youth chose fewer friends that smoked. A parental home smoking context conducive to smoking decreased the number of friends adolescents chose. Peer influence and a parental home smoking environment conducive to smoking increased smoking, while parental monitoring decreased it in the large school. Overall, peer and parental factors affected the coevolution of friendship tie choice and smoking, directly and multiplicatively. PMID:25239115

An autonomous observation and control system based on EPICS and RTS2 for Antarctic telescopes

NASA Astrophysics Data System (ADS)

Zhang, Guang-yu; Wang, Jian; Tang, Peng-yi; Jia, Ming-hao; Chen, Jie; Dong, Shu-cheng; Jiang, Fengxin; Wu, Wen-qing; Liu, Jia-jing; Zhang, Hong-fei

2016-01-01

For unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS-(Experimental Physics and Industrial Control System) and RTS2-(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of open source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2, respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfil the function of astronomical observation and use EPICS to fulfil the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 directly. For the specification and requirement of control system of telescope in Antarctic, core components named Executor and Auto-focus for autonomous observation is designed and implemented with remote operation user interface based on browser-server mode. The whole system including the telescope is tested in Lijiang Observatory in Yunnan Province for practical observation to complete the autonomous observation and control, including telescope control, camera control, dome control, weather information acquisition with the local and remote operation.

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Vision-based semi-autonomous outdoor robot system to reduce soldier workload

NASA Astrophysics Data System (ADS)

Richardson, Al; Rodgers, Michael H.

2001-09-01

Sensors and computational capability have not reached the point to enable small robots to navigate autonomously in unconstrained outdoor environments at tactically useful speeds. This problem is greatly reduced, however, if a soldier can lead the robot through terrain that he knows it can traverse. An application of this concept is a small pack-mule robot that follows a foot soldier over outdoor terrain. The solder would be responsible to avoid situations beyond the robot's limitations when encountered. Having learned the route, the robot could autonomously retrace the path carrying supplies and munitions. This would greatly reduce the soldier's workload under normal conditions. This paper presents a description of a developmental robot sensor system using low-cost commercial 3D vision and inertial sensors to address this application. The robot moves at fast walking speed and requires only short-range perception to accomplish its task. 3D-feature information is recorded on a composite route map that the robot uses to negotiate its local environment and retrace the path taught by the soldier leader.

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

Grasping rigid objects in zero-g

NASA Astrophysics Data System (ADS)

Anderson, Greg D.

1993-12-01

The extra vehicular activity helper/retriever (EVAHR) is a prototype for an autonomous free- flying robotic astronaut helper. The ability to grasp a moving object is a fundamental skill required for any autonomous free-flyer. This paper discusses an algorithm that couples resolved acceleration control with potential field based obstacle avoidance to enable a manipulator to track and capture a rigid object in (imperfect) zero-g while avoiding joint limits, singular configurations, and unintentional impacts between the manipulator and the environment.

Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

DTIC Science & Technology

2016-04-28

Contract # N00014-14-C-0004 Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States Progress Report...Aviation (ONR BAA12-SN-0028). This project addresses the Sea Based Aviation (SBA) initiative in Advanced Handling Qualities for Rotorcraft. Landing a...and a degraded visual environment, workload during the landing task begins to approach the limits of a human pilot’s capability. It is a similarly

High psychosis liability is associated with altered autonomic balance during exposure to Virtual Reality social stressors.

PubMed

Counotte, Jacqueline; Pot-Kolder, Roos; van Roon, Arie M; Hoskam, Olivier; van der Gaag, Mark; Veling, Wim

2017-06-01

Social stressors are associated with an increased risk of psychosis. Stress sensitisation is thought to be an underlying mechanism and may be reflected in an altered autonomic stress response. Using an experimental Virtual Reality design, the autonomic stress response to social stressors was examined in participants with different liability to psychosis. Fifty-five patients with recent onset psychotic disorder, 20 patients at ultra-high risk for psychosis, 42 siblings of patients with psychosis and 53 controls were exposed to social stressors (crowdedness, ethnic minority status and hostility) in a Virtual Reality environment. Heart rate variability parameters and skin conductance levels were measured at baseline and during Virtual Reality experiments. High psychosis liability groups had significantly increased heart rate and decreased heart rate variability compared to low liability groups both at baseline and during Virtual Reality experiments. Both low frequency (LF) and high frequency (HF) power were reduced, while the LF/HF ratio was similar between groups. The number of virtual social stressors significantly affected heart rate, HF, LF/HF and skin conductance level. There was no interaction between psychosis liability and amount of virtual social stress. High liability to psychosis is associated with decreased parasympathetic activity in virtual social environments, which reflects generally high levels of arousal, rather than increased autonomic reactivity to social stressors. Copyright © 2016 Elsevier B.V. All rights reserved.

Fuzzy logic path planning system for collision avoidance by an autonomous rover vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1993-01-01

The Space Exploration Initiative of the United States will make great demands upon NASA and its limited resources. One aspect of great importance will be providing for autonomous (unmanned) operation of vehicles and/or subsystems in space flight and surface exploration. An additional, complicating factor is that much of the need for autonomy of operation will take place under conditions of great uncertainty or ambiguity. Issues in developing an autonomous collision avoidance subsystem within a path planning system for application in a remote, hostile environment that does not lend itself well to remote manipulation by Earth-based telecommunications is addressed. A good focus is unmanned surface exploration of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. Four major issues addressed are (1) avoidance of a fuzzy moving obstacle; (2) backoff from a deadend in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system. Examples of the need for collision avoidance by an autonomous rover vehicle on the surface of Mars with a moving obstacle would be wind-blown debris, surface flow or anomalies due to subsurface disturbances, another vehicle, etc. The other issues of backoff, sensor fusion, and adaptive learning are important in the overall path planning system.

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

PubMed

Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

2018-03-16

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

Deployable reconnaissance from a VTOL UAS in urban environments

NASA Astrophysics Data System (ADS)

Barnett, Shane; Bird, John; Culhane, Andrew; Sharkasi, Adam; Reinholtz, Charles

2007-04-01

Reconnaissance collection in unknown or hostile environments can be a dangerous and life threatening task. To reduce this risk, the Unmanned Systems Group at Virginia Tech has produced a fully autonomous reconnaissance system able to provide live video reconnaissance from outside and inside unknown structures. This system consists of an autonomous helicopter which launches a small reconnaissance pod inside a building and an operator control unit (OCU) on a ground station. The helicopter is a modified Bergen Industrial Twin using a Rotomotion flight controller and can fly missions of up to one half hour. The mission planning OCU can control the helicopter remotely through teleoperation or fully autonomously by GPS waypoints. A forward facing camera and template matching aid in navigation by identifying the target building. Once the target structure is identified, vision algorithms will center the UAS adjacent to open windows or doorways. Tunable parameters in the vision algorithm account for varying launch distances and opening sizes. Launch of the reconnaissance pod may be initiated remotely through a human in the loop or autonomously. Compressed air propels the half pound stationary pod or the larger mobile pod into the open portals. Once inside the building, the reconnaissance pod will then transmit live video back to the helicopter. The helicopter acts as a repeater node for increased video range and simplification of communication back to the ground station.

Smart Fluid Systems: The Advent of Autonomous Liquid Robotics.

PubMed

Chiolerio, A; Quadrelli, Marco B

2017-07-01

Organic, inorganic or hybrid devices in the liquid state, kept in a fixed volume by surface tension or by a confining membrane that protects them from a harsh environment, could be used as biologically inspired autonomous robotic systems with unique capabilities. They could change shape according to a specific exogenous command or by means of a fully integrated adaptive system, and provide an innovative solution for many future applications, such as space exploration in extreme or otherwise challenging environments, post-disaster search and rescue in ground applications, compliant wearable devices, and even in the medical field for in vivo applications. This perspective provides an initial assessment of existing capabilities that could be leveraged to pursue the topic of "Smart Fluid Systems" or "Liquid Engineered Systems".

Next generation sensing platforms for extended deployments in large-scale, multidisciplinary, adaptive sampling and observational networks

NASA Astrophysics Data System (ADS)

Cross, J. N.; Meinig, C.; Mordy, C. W.; Lawrence-Slavas, N.; Cokelet, E. D.; Jenkins, R.; Tabisola, H. M.; Stabeno, P. J.

2016-12-01

New autonomous sensors have dramatically increased the resolution and accuracy of oceanographic data collection, enabling rapid sampling over extremely fine scales. Innovative new autonomous platofrms like floats, gliders, drones, and crawling moorings leverage the full potential of these new sensors by extending spatiotemporal reach across varied environments. During 2015 and 2016, The Innovative Technology for Arctic Exploration Program at the Pacific Marine Environmental Laboratory tested several new types of fully autonomous platforms with increased speed, durability, and power and payload capacity designed to deliver cutting-edge ecosystem assessment sensors to remote or inaccessible environments. The Expendable Ice-Tracking (EXIT) gloat developed by the NOAA Pacific Marine Environmental Laboratory (PMEL) is moored near bottom during the ice-free season and released on an autonomous timer beneath the ice during the following winter. The float collects a rapid profile during ascent, and continues to collect critical, poorly-accessible under-ice data until melt, when data is transmitted via satellite. The autonomous Oculus sub-surface glider developed by the University of Washington and PMEL has a large power and payload capacity and an enhanced buoyancy engine. This 'coastal truck' is designed for the rapid water column ascent required by optical imaging systems. The Saildrone is a solar and wind powered ocean unmanned surface vessel (USV) developed by Saildrone, Inc. in partnership with PMEL. This large-payload (200 lbs), fast (1-7 kts), durable (46 kts winds) platform was equipped with 15 sensors designed for ecosystem assessment during 2016, including passive and active acoustic systems specially redesigned for autonomous vehicle deployments. The senors deployed on these platforms achieved rigorous accuracy and precision standards. These innovative platforms provide new sampling capabilities and cost efficiencies in high-resolution sensor deployment, including reconnaissance for annual fisheries and marine mammal surveys; better linkages between sustained observing platforms; and adaptive deployments that can easily target anomalies as they arise.

Real-time visual mosaicking and navigation on the seafloor

NASA Astrophysics Data System (ADS)

Richmond, Kristof

Remote robotic exploration holds vast potential for gaining knowledge about extreme environments accessible to humans only with great difficulty. Robotic explorers have been sent to other solar system bodies, and on this planet into inaccessible areas such as caves and volcanoes. In fact, the largest unexplored land area on earth lies hidden in the airless cold and intense pressure of the ocean depths. Exploration in the oceans is further hindered by water's high absorption of electromagnetic radiation, which both inhibits remote sensing from the surface, and limits communications with the bottom. The Earth's oceans thus provide an attractive target for developing remote exploration capabilities. As a result, numerous robotic vehicles now routinely survey this environment, from remotely operated vehicles piloted over tethers from the surface to torpedo-shaped autonomous underwater vehicles surveying the mid-waters. However, these vehicles are limited in their ability to navigate relative to their environment. This limits their ability to return to sites with precision without the use of external navigation aids, and to maneuver near and interact with objects autonomously in the water and on the sea floor. The enabling of environment-relative positioning on fully autonomous underwater vehicles will greatly extend their power and utility for remote exploration in the furthest reaches of the Earth's waters---even under ice and under ground---and eventually in extraterrestrial liquid environments such as Europa's oceans. This thesis presents an operational, fielded system for visual navigation of underwater robotic vehicles in unexplored areas of the seafloor. The system does not depend on external sensing systems, using only instruments on board the vehicle. As an area is explored, a camera is used to capture images and a composite view, or visual mosaic, of the ocean bottom is created in real time. Side-to-side visual registration of images is combined with dead-reckoned navigation information in a framework allowing the creation and updating of large, locally consistent mosaics. These mosaics are used as maps in which the vehicle can navigate and localize itself with respect to points in the environment. The system achieves real-time performance in several ways. First, wherever possible, direct sensing of motion parameters is used in place of extracting them from visual data. Second, trajectories are chosen to enable a hierarchical search for side-to-side links which limits the amount of searching performed without sacrificing robustness. Finally, the map estimation is formulated as a sparse, linear information filter allowing rapid updating of large maps. The visual navigation enabled by the work in this thesis represents a new capability for remotely operated vehicles, and an enabling capability for a new generation of autonomous vehicles which explore and interact with remote, unknown and unstructured underwater environments. The real-time mosaic can be used on current tethered vehicles to create pilot aids and provide a vehicle user with situational awareness of the local environment and the position of the vehicle within it. For autonomous vehicles, the visual navigation system enables precise environment-relative positioning and mapping, without requiring external navigation systems, opening the way for ever-expanding autonomous exploration capabilities. The utility of this system was demonstrated in the field at sites of scientific interest using the ROVs Ventana and Tiburon operated by the Monterey Bay Aquarium Research Institute. A number of sites in and around Monterey Bay, California were mosaicked using the system, culminating in a complete imaging of the wreck site of the USS Macon , where real-time visual mosaics containing thousands of images were generated while navigating using only sensor systems on board the vehicle.

Immobile Robots: AI in the New Millennium

NASA Technical Reports Server (NTRS)

Williams, Brian C.; Nayak, P. Pandurang

1996-01-01

A new generation of sensor rich, massively distributed, autonomous systems are being developed that have the potential for profound social, environmental, and economic change. These include networked building energy systems, autonomous space probes, chemical plant control systems, satellite constellations for remote ecosystem monitoring, power grids, biosphere-like life support systems, and reconfigurable traffic systems, to highlight but a few. To achieve high performance, these immobile robots (or immobots) will need to develop sophisticated regulatory and immune systems that accurately and robustly control their complex internal functions. To accomplish this, immobots will exploit a vast nervous system of sensors to model themselves and their environment on a grand scale. They will use these models to dramatically reconfigure themselves in order to survive decades of autonomous operations. Achieving these large scale modeling and configuration tasks will require a tight coupling between the higher level coordination function provided by symbolic reasoning, and the lower level autonomic processes of adaptive estimation and control. To be economically viable they will need to be programmable purely through high level compositional models. Self modeling and self configuration, coordinating autonomic functions through symbolic reasoning, and compositional, model-based programming are the three key elements of a model-based autonomous systems architecture that is taking us into the New Millennium.

Proceedings of the 1989 CESAR/CEA (Center for Engineering Systems Advanced Research/Commissariat a l'Energie Atomique) workshop on autonomous mobile robots (May 30--June 1, 1989)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harber, K.S.; Pin, F.G.

1990-03-01

The US DOE Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) and the Commissariat a l'Energie Atomique's (CEA) Office de Robotique et Productique within the Directorat a la Valorization are working toward a long-term cooperative agreement and relationship in the area of Intelligent Systems Research (ISR). This report presents the proceedings of the first CESAR/CEA Workshop on Autonomous Mobile Robots which took place at ORNL on May 30, 31 and June 1, 1989. The purpose of the workshop was to present and discuss methodologies and algorithms under development at the two facilities in themore » area of perception and navigation for autonomous mobile robots in unstructured environments. Experimental demonstration of the algorithms and comparison of some of their features were proposed to take place within the framework of a previously mutually agreed-upon demonstration scenario or base-case.'' The base-case scenario described in detail in Appendix A, involved autonomous navigation by the robot in an a priori unknown environment with dynamic obstacles, in order to reach a predetermined goal. From the intermediate goal location, the robot had to search for and locate a control panel, move toward it, and dock in front of the panel face. The CESAR demonstration was successfully accomplished using the HERMIES-IIB robot while subsets of the CEA demonstration performed using the ARES robot simulation and animation system were presented. The first session of the workshop focused on these experimental demonstrations and on the needs and considerations for establishing benchmarks'' for testing autonomous robot control algorithms.« less

Effect of forest walking on autonomic nervous system activity in middle-aged hypertensive individuals: a pilot study.

PubMed

Song, Chorong; Ikei, Harumi; Kobayashi, Maiko; Miura, Takashi; Taue, Masao; Kagawa, Takahide; Li, Qing; Kumeda, Shigeyoshi; Imai, Michiko; Miyazaki, Yoshifumi

2015-03-02

There has been increasing attention on the therapeutic effects of the forest environment. However, evidence-based research that clarifies the physiological effects of the forest environment on hypertensive individuals is lacking. This study provides scientific evidence suggesting that a brief forest walk affects autonomic nervous system activity in middle-aged hypertensive individuals. Twenty participants (58.0±10.6 years) were instructed to walk predetermined courses in forest and urban environments (as control). Course length (17-min walk), walking speed, and energy expenditure were equal between the forest and urban environments to clarify the effects of each environment. Heart rate variability (HRV) and heart rate were used to quantify physiological responses. The modified semantic differential method and Profile of Mood States were used to determine psychological responses. The natural logarithm of the high-frequency component of HRV was significantly higher and heart rate was significantly lower when participants walked in the forest than when they walked in the urban environment. The questionnaire results indicated that, compared with the urban environment, walking in the forest increased "comfortable", "relaxed", "natural" and "vigorous" feelings and decreased "tension-anxiety," "depression," "anxiety-hostility," "fatigue" and "confusion". A brief walk in the forest elicited physiological and psychological relaxation effects on middle-aged hypertensive individuals.

Environmentally Friendly Corrosion Preventative Compounds

NASA Technical Reports Server (NTRS)

Calle, Luz Marina; Montgomery, Eliza; Kolody, Mark; Curran, Jerry; Back, Teddy; Balles, Angela

2012-01-01

The objective of the Ground Systems Development and Operations Program Environmentally Friendly Corrosion Protective Coatings and Corrosion Preventive Compounds (CPCs) project is to identify, test, and develop qualification criteria for the use of environmentally friendly corrosion protective coatings and CPCs for flight hardware and ground support equipment. This document is the Final Report for Phase I evaluations, which included physical property, corrosion resistance, and NASA spaceport environment compatibility testing and analysis of fifteen CPC types. The CPCs consisted of ten different oily film CPCs and five different wax or grease CPC types. Physical property testing encompassed measuring various properties of the bulk CPCs, while corrosion resistance testing directly measured the ability of each CPC material to protect various metals against corrosion. The NASA spaceport environment compatibility testing included common tests required by NASA-STD-6001, "Flammability, Odor, Offgassing, and Compatibility Requirements and Test Procedures for Materials in Environments that Support Combustion". At the end of Phase I, CPC materials were down-selected for inclusion in the next test phases. This final report includes all data and analysis of results obtained by following the experimental test plan that was developed as part of the project. Highlights of the results are summarized by test criteria type.

A modelling methodology to assess the effect of insect pest control on agro-ecosystems.

PubMed

Wan, Nian-Feng; Ji, Xiang-Yun; Jiang, Jie-Xian; Li, Bo

2015-04-23

The extensive use of chemical pesticides for pest management in agricultural systems can entail risks to the complex ecosystems consisting of economic, ecological and social subsystems. To analyze the negative and positive effects of external or internal disturbances on complex ecosystems, we proposed an ecological two-sidedness approach which has been applied to the design of pest-controlling strategies for pesticide pollution management. However, catastrophe theory has not been initially applied to this approach. Thus, we used an approach of integrating ecological two-sidedness with a multi-criterion evaluation method of catastrophe theory to analyze the complexity of agro-ecosystems disturbed by the insecticides and screen out the best insect pest-controlling strategy in cabbage production. The results showed that the order of the values of evaluation index (RCC/CP) for three strategies in cabbage production was "applying frequency vibration lamps and environment-friendly insecticides 8 times" (0.80) < "applying trap devices and environment-friendly insecticides 9 times" (0.83) < "applying common insecticides 14 times" (1.08). The treatment "applying frequency vibration lamps and environment-friendly insecticides 8 times" was considered as the best insect pest-controlling strategy in cabbage production in Shanghai, China.

A modelling methodology to assess the effect of insect pest control on agro-ecosystems

PubMed Central

Wan, Nian-Feng; Ji, Xiang-Yun; Jiang, Jie-Xian; Li, Bo

2015-01-01

The extensive use of chemical pesticides for pest management in agricultural systems can entail risks to the complex ecosystems consisting of economic, ecological and social subsystems. To analyze the negative and positive effects of external or internal disturbances on complex ecosystems, we proposed an ecological two-sidedness approach which has been applied to the design of pest-controlling strategies for pesticide pollution management. However, catastrophe theory has not been initially applied to this approach. Thus, we used an approach of integrating ecological two-sidedness with a multi-criterion evaluation method of catastrophe theory to analyze the complexity of agro-ecosystems disturbed by the insecticides and screen out the best insect pest-controlling strategy in cabbage production. The results showed that the order of the values of evaluation index (RCC/CP) for three strategies in cabbage production was “applying frequency vibration lamps and environment-friendly insecticides 8 times” (0.80) < “applying trap devices and environment-friendly insecticides 9 times” (0.83) < “applying common insecticides 14 times” (1.08). The treatment “applying frequency vibration lamps and environment-friendly insecticides 8 times” was considered as the best insect pest-controlling strategy in cabbage production in Shanghai, China. PMID:25906199

Human-Interaction Challenges in UAV-Based Autonomous Surveillance

NASA Technical Reports Server (NTRS)

Freed, Michael; Harris, Robert; Shafto, Michael G.

2004-01-01

Autonomous UAVs provide a platform for intelligent surveillance in application domains ranging from security and military operations to scientific information gathering and land management. Surveillance tasks are often long duration, requiring that any approach be adaptive to changes in the environment or user needs. We describe a decision- theoretic model of surveillance, appropriate for use on our autonomous helicopter, that provides a basis for optimizing the value of information returned by the UAV. From this approach arise a range of challenges in making this framework practical for use by human operators lacking specialized knowledge of autonomy and mathematics. This paper describes our platform and approach, then describes human-interaction challenges arising from this approach that we have identified and begun to address.

Efforts toward an autonomous wheelchair - biomed 2011.

PubMed

Barrett, Steven; Streeter, Robert

2011-01-01

An autonomous wheelchair is in development to provide mobility to those with significant physical challenges. The overall goal of the project is to develop a wheelchair that is fully autonomous with the ability to navigate about an environment and negotiate obstacles. As a starting point for the project, we have reversed engineered the joystick control system of an off-the-shelf commercially available wheelchair. The joystick control has been replaced with a microcontroller based system. The microcontroller has the capability to interface with a number of subsystems currently under development including wheel odometers, obstacle avoidance sensors, and ultrasonic-based wall sensors. This paper will discuss the microcontroller based system and provide a detailed system description. Results of this study may be adapted to commercial or military robot control.

A New Simulation Framework for Autonomy in Robotic Missions

NASA Technical Reports Server (NTRS)

Flueckiger, Lorenzo; Neukom, Christian

2003-01-01

Autonomy is a key factor in remote robotic exploration and there is significant activity addressing the application of autonomy to remote robots. It has become increasingly important to have simulation tools available to test the autonomy algorithms. While indus1;rial robotics benefits from a variety of high quality simulation tools, researchers developing autonomous software are still dependent primarily on block-world simulations. The Mission Simulation Facility I(MSF) project addresses this shortcoming with a simulation toolkit that will enable developers of autonomous control systems to test their system s performance against a set of integrated, standardized simulations of NASA mission scenarios. MSF provides a distributed architecture that connects the autonomous system to a set of simulated components replacing the robot hardware and its environment.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1990-01-01

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Towards Principled Experimental Study of Autonomous Mobile Robots

NASA Technical Reports Server (NTRS)

Gat, Erann

1995-01-01

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

Supervised autonomous robotic soft tissue surgery.

PubMed

Shademan, Azad; Decker, Ryan S; Opfermann, Justin D; Leonard, Simon; Krieger, Axel; Kim, Peter C W

2016-05-04

The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques. Copyright © 2016, American Association for the Advancement of Science.

Friendship Experiences and Anxiety Among Children: A Genetically Informed Study.

PubMed

Poirier, Catherine Serra; Brendgen, Mara; Girard, Alain; Vitaro, Frank; Dionne, Ginette; Boivin, Michel

2016-01-01

This study examined (a) whether, in line with a gene-environment correlation (rGE), a genetic disposition for anxiety puts children at risk of having anxious friends or having no reciprocal friends; (b) to what extent these friendship experiences are related to anxiety symptoms, when controlling for sex and genetic disposition for this trait; and (c) the additive and interactive predictive links of the reciprocal best friend's anxiety symptoms and of friendship quality with children's anxiety symptoms. Using a genetically informed design based on 521 monozygotic and ic twins (264 girls; 87% of European descent) assessed in Grade 4 (M age = 10.04 years, SD = .26), anxiety symptoms and perceived friendship quality were measured with self-report questionnaires. Results indicated that, in line with rGE, children with a strong genetic disposition for anxiety were more likely to have anxious friends than nonanxious friends. Moreover, controlling for their genetic risk for anxiety, children with anxious friends showed higher levels of anxiety symptoms than children with nonanxious friends but did not differ from those without reciprocal friends. Additional analyses suggested a possible contagion of anxiety symptoms between reciprocal best friends when perceived negative features of friendship were high. These results underline the importance of teaching strategies such as problem solving that enhance friendship quality to limit the potential social contagion of anxiety symptoms.

Multi-model-based interactive authoring environment for creating shareable medical knowledge.

PubMed

Ali, Taqdir; Hussain, Maqbool; Ali Khan, Wajahat; Afzal, Muhammad; Hussain, Jamil; Ali, Rahman; Hassan, Waseem; Jamshed, Arif; Kang, Byeong Ho; Lee, Sungyoung

2017-10-01

Technologically integrated healthcare environments can be realized if physicians are encouraged to use smart systems for the creation and sharing of knowledge used in clinical decision support systems (CDSS). While CDSSs are heading toward smart environments, they lack support for abstraction of technology-oriented knowledge from physicians. Therefore, abstraction in the form of a user-friendly and flexible authoring environment is required in order for physicians to create shareable and interoperable knowledge for CDSS workflows. Our proposed system provides a user-friendly authoring environment to create Arden Syntax MLM (Medical Logic Module) as shareable knowledge rules for intelligent decision-making by CDSS. Existing systems are not physician friendly and lack interoperability and shareability of knowledge. In this paper, we proposed Intelligent-Knowledge Authoring Tool (I-KAT), a knowledge authoring environment that overcomes the above mentioned limitations. Shareability is achieved by creating a knowledge base from MLMs using Arden Syntax. Interoperability is enhanced using standard data models and terminologies. However, creation of shareable and interoperable knowledge using Arden Syntax without abstraction increases complexity, which ultimately makes it difficult for physicians to use the authoring environment. Therefore, physician friendliness is provided by abstraction at the application layer to reduce complexity. This abstraction is regulated by mappings created between legacy system concepts, which are modeled as domain clinical model (DCM) and decision support standards such as virtual medical record (vMR) and Systematized Nomenclature of Medicine - Clinical Terms (SNOMED CT). We represent these mappings with a semantic reconciliation model (SRM). The objective of the study is the creation of shareable and interoperable knowledge using a user-friendly and flexible I-KAT. Therefore we evaluated our system using completeness and user satisfaction criteria, which we assessed through the system- and user-centric evaluation processes. For system-centric evaluation, we compared the implementation of clinical information modelling system requirements in our proposed system and in existing systems. The results suggested that 82.05% of the requirements were fully supported, 7.69% were partially supported, and 10.25% were not supported by our system. In the existing systems, 35.89% of requirements were fully supported, 28.20% were partially supported, and 35.89% were not supported. For user-centric evaluation, the assessment criterion was 'ease of use'. Our proposed system showed 15 times better results with respect to MLM creation time than the existing systems. Moreover, on average, the participants made only one error in MLM creation using our proposed system, but 13 errors per MLM using the existing systems. We provide a user-friendly authoring environment for creation of shareable and interoperable knowledge for CDSS to overcome knowledge acquisition complexity. The authoring environment uses state-of-the-art decision support-related clinical standards with increased ease of use. Copyright © 2017 Elsevier B.V. All rights reserved.

How youth-friendly are pharmacies in New Zealand? Surveying aspects of accessibility and the pharmacy environment using a youth participatory approach.

PubMed

Horsfield, Emma; Kelly, Fiona; Clark, Terryann; Sheridan, Janie

2014-01-01

The international youth population has significant unmet health needs, and there have been many calls to increase youth health care access. Community pharmacies may be able to help address these needs, but very little research has investigated this area and it is not known whether the current community pharmacy setting is acceptable or appropriate for youth. 1) To obtain information on physical factors which could affect young people's use of community pharmacies in New Zealand, including accessibility, opening times and the physical youth-friendliness of the pharmacy environment. 2) To involve and utilize young people in the research process, in order to understand their needs and interpretation of survey data. This study applied a cross sectional survey design, informed by a sequential youth participatory approach. A questionnaire was developed in consultation with a youth advisory group (YAG). Questionnaires distributed to pharmacists at 500 randomly selected pharmacies nationwide between May and September 2011 collected information on whether the pharmacy met selected youth-friendly criteria. These included physical aspects of youth-friendliness, such as opening times and the pharmacy environment. The YAG also provided a youth perspective in the interpretation of the results. Three mail shots achieved a response rate of 50.5%. Most respondents reported the pharmacy to be accessible by public transport and many had extended opening hours. Although most pharmacies met some youth-friendly criteria with regards to the pharmacy environment (e.g. having a private consultation area), more specific criteria (such as displaying youth health information) were usually not met. Interpretive feedback from the YAG highlighted areas for improvement. Pharmacies show potential as youth-friendly health care access points and most already meet some youth-friendly criteria. Areas identified for improvement will require a greater youth focus from the profession, and should be undertaken in consultation with young people. We recommend the use of youth participation approaches in future pharmacy practice research into youth health services. Copyright © 2014 Elsevier Inc. All rights reserved.

Behavior-based multi-robot collaboration for autonomous construction tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.

Autonomous Navigation, Dynamic Path and Work Flow Planning in Multi-Agent Robotic Swarms Project

NASA Technical Reports Server (NTRS)

Falker, John; Zeitlin, Nancy; Leucht, Kurt; Stolleis, Karl

2015-01-01

Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots, called Swarmies, to be used as a ground-based research platform for in-situ resource utilization missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in an unknown environment and return those resources to a central site.

Study of Command and Control (C&C) Structures on Integrating Unmanned Autonomous Systems (UAS) into Manned Environments

DTIC Science & Technology

2012-09-01

and traveled all the way around Lake Tahoe. The self - driving cars have logged over 140,000 miles since October 9, 2010 (Google 2010) pictured here...UNDERWATER VEHICLES (AUV) STARFISH is the name given to a small team of autonomous robotic fish - a project carried out by the Acoustic Research...www.scribd.com/doc/42245301/Manual-Mine- Clearance-Book1. Accessed July 23, 2012. Google. The Self - Driving Car Logs more Miles on New Wheels. August 7

A multimodal micro air vehicle for autonomous flight in near-earth environments

NASA Astrophysics Data System (ADS)

Green, William Edward

Reconnaissance, surveillance, and search-and-rescue missions in near-Earth environments such as caves, forests, and urban areas pose many new challenges to command and control (C2) teams. Of great significance is how to acquire situational awareness when access to the scene is blocked by enemy fire, rubble, or other occlusions. Small bird-sized aerial robots are expendable and can fly over obstacles and through small openings to assist in the acquisition and distribution of intelligence. However, limited flying space and densely populated obstacle fields requires a vehicle that is capable of hovering, but also maneuverable. A secondary flight mode was incorporated into a fixed-wing aircraft to preserve its maneuverability while adding the capability of hovering. An inertial measurement sensor and onboard flight control system were interfaced and used to transition the hybrid prototype from cruise to hover flight and sustain a hover autonomously. Furthermore, the hovering flight mode can be used to maneuver the aircraft through small openings such as doorways. An ultrasonic and infrared sensor suite was designed to follow exterior building walls until an ingress route was detected. Reactive control was then used to traverse the doorway and gather reconnaissance. Entering a dangerous environment to gather intelligence autonomously will provide an invaluable resource to any C2 team. The holistic approach of platform development, sensor suite design, and control serves as the philosophy of this work.

Medical Aspects of Survival: Training for Aircrew

DTIC Science & Technology

1983-01-01

requirements for food and water. b. The environment - terrain, climate , flora and fauna, friendly or neutral natives, distance from friendly forces...the discomforts of colds and upper respiratory deseases , and at best, will just take the edge off severe pain. They should be taken, however, if...injury, either mechanical or emotional. Whilst the circula- tory changes initially favour body resistance to the injury by ensuring adequate blood

Work and Life Balance Support of Female Midlevel Noninstructional Staff at Community Colleges

ERIC Educational Resources Information Center

Jones, Stephanie J.; Taylor, Colette M.

2013-01-01

Two-year public institutions are known for their nurturing academic environments that support students from diverse backgrounds and experiences. One would assume that these nurturing and supportive environments would also go beyond the students to include employees. Family-friendly working environments support the needs of employees to balance…

The association between physical environment and cycling to school among Turkish and Moroccan adolescents in Amsterdam.

PubMed

Mäki-Opas, Tomi E; de Munter, Jeroen; Maas, Jolanda; den Hertog, Frank; Kunst, Anton E

2014-08-01

This study examined the effect of physical environment on cycling to and from school among boys and girls of Turkish and Moroccan origin living in Amsterdam. The LASER study (n = 697) was an interview study that included information on cycling to and from school and the perceived physical environment. Objective information on physical environment was gathered from Statistics Netherlands and the Department for Research and Statistics at the Municipality of Amsterdam. Structural equation modelling with latent variables was applied, taking into account age, gender, self-assessed health, education, country of origin, and distance to school. For every unit increase in the latent variable scale for bicycle-friendly infrastructure, we observed a 21% increase in the odds for cycling to and from school. The association was only borderline statistically significant and disappeared after controlling for distance to school. The enjoyable environment was not associated with cycling to and from school after controlling for all background factors. Bicycle-friendly infrastructure and an enjoyable environment were not important factors for cycling to and from school among those with no cultural cycling background.

Diurnal vocal activity of gray whales in Laguna San Ignacio, BCS, Mexico

NASA Astrophysics Data System (ADS)

Guerra, Melania; Thode, Aaron; Wisdom, Sheyna; Gonzalez, Sergio; Urban, Jorge; Sumich, James

2005-09-01

Three sets of portable horizontal acoustic arrays were deployed during a week in February 2005 to gather acoustic recordings of gray whales (Eschrichtius robustus) in Laguna San Ignacio, one of the three major breeding/calving lagoons in Baja California, Mexico. These arrays, which were constructed by attaching a pair of autonomous flash-memory acoustic sensors to a rope, were deployed for 36 consecutive hours on two occasions, spatially covering the narrowest point of the lagoon near Punta Piedra, the area of the highest concentration of whales. Additionally a single hydrophone was deployed off a small boat to record during friendly encounters with single whales and cow/calf pairs. Each recorder's time series was analyzed for Type 1 gray whale sounds (called pops), which are pulsive, broadband, and have substantial acoustic energy between 100 and 600 Hz. The number of automated acoustic detections per hour can be compared with population sizes estimated by two visual surveys conducted by scientists of the Autonomous University of Baja California Sur, La Paz. The results of several automated analyses of both the bottom-mounted and boat-deployed recordings will be presented, with a focus on potential diurnal patterns in the vocal activity.

NOAA Atmospheric, Marine and Arctic Monitoring Using UASs (including Rapid Response)

NASA Astrophysics Data System (ADS)

Coffey, J. J.; Jacobs, T.

2015-12-01

Unmanned systems have the potential to efficiently, effectively, economically, and safely bridge critical observation requirements in an environmentally friendly manner. As the United States' Atmospheric, Marine and Arctic areas of interest expand and include hard-to-reach regions of the Earth (such as the Arctic and remote oceanic areas) optimizing unmanned capabilities will be needed to advance the United States' science, technology and security efforts. Through increased multi-mission and multi-agency operations using improved inter-operable and autonomous unmanned systems, the research and operations communities will better collect environmental intelligence and better protect our Country against hazardous weather, environmental, marine and polar hazards. This presentation will examine NOAA's Atmospheric, Marine and Arctic Monitoring Unmanned Aircraft System (UAS) strategies which includes developing a coordinated effort to maximize the efficiency and capabilities of unmanned systems across the federal government and research partners. Numerous intra- and inter-agency operational demonstrations and assessments have been made to verify and validated these strategies. This includes the introduction of the Targeted Autonomous Insitu Sensing and Rapid Response (TAISRR) with UAS concept of operations. The presentation will also discuss the requisite UAS capabilities and our experience in using them.

Development of a framework for transit-oriented development (TOD) : research summary.

DOT National Transportation Integrated Search

2013-12-01

Transit-oriented development is a type of development that encourages public : transit and a transit-friendly urban environment. In general TOD provides an : environment where residents live within walking distance of one or more major : transit stat...

Human-Centered Design for the Personal Satellite Assistant

NASA Technical Reports Server (NTRS)

Bradshaw, Jeffrey M.; Sierhuis, Maarten; Gawdiak, Yuri; Thomas, Hans; Greaves, Mark; Clancey, William J.; Swanson, Keith (Technical Monitor)

2000-01-01

The Personal Satellite Assistant (PSA) is a softball-sized flying robot designed to operate autonomously onboard manned spacecraft in pressurized micro-gravity environments. We describe how the Brahms multi-agent modeling and simulation environment in conjunction with a KAoS agent teamwork approach can be used to support human-centered design for the PSA.

Thoughts on the Role of Government in the Development of World-Class Universities in China

ERIC Educational Resources Information Center

Guangcai, Yan

2011-01-01

Looking at the rise of world-class universities through history, creating an institutional environment in which universities are relatively autonomous, while also ensuring effective material support from the government is essential for the formation of world-class universities. It is worth examining the deteriorating academic environment in China…

A Model for Field Deployment of Wireless Sensor Networks (WSNs) within the Domain of Microclimate Habitat Monitoring

ERIC Educational Resources Information Center

Sanborn, Mark

2011-01-01

Wireless sensor networks (WSNs) represent a class of miniaturized information systems designed to monitor physical environments. These smart monitoring systems form collaborative networks utilizing autonomous sensing, data-collection, and processing to provide real-time analytics of observed environments. As a fundamental research area in…

Multi-fuel driven Janus micromotors.

PubMed

Gao, Wei; D'Agostino, Mattia; Garcia-Gradilla, Victor; Orozco, Jahir; Wang, Joseph

2013-02-11

Here the first example of a chemically powered micromotor that harvests its energy from the reactions of three different fuels is presented. The new Al/Pd Janus microspheres-prepared by depositing a Pd layer on one side of Al microparticles-are propelled efficiently by the thrust of hydrogen bubbles generated from different reactions of Al in strong acidic and alkaline environments, and by an oxygen bubble thrust produced at their partial Pd coating in hydrogen peroxide media. High speeds and long lifetimes of 200 μm s(-1) and 8 min are achieved in strong alkaline media and acidic media, respectively. The ability to autonomously adapt to the presence of a new fuel (surrounding environment), without compromising the propulsion behavior is illustrated. These data also represent the first example of a chemically powered micromotor that propels autonomously and efficiently in alkaline environments (pH > 11) without additional fuels. The ability to use multiple fuel sources to power the same micromotor offers a broader scope of operation and considerable promise for diverse applications of micromotors in different chemical environments. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

PubMed

Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

2016-09-14

Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

PubMed Central

Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

2016-01-01

Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments. PMID:27649178

Smart Fluid Systems: The Advent of Autonomous Liquid Robotics

PubMed Central

2017-01-01

Organic, inorganic or hybrid devices in the liquid state, kept in a fixed volume by surface tension or by a confining membrane that protects them from a harsh environment, could be used as biologically inspired autonomous robotic systems with unique capabilities. They could change shape according to a specific exogenous command or by means of a fully integrated adaptive system, and provide an innovative solution for many future applications, such as space exploration in extreme or otherwise challenging environments, post‐disaster search and rescue in ground applications, compliant wearable devices, and even in the medical field for in vivo applications. This perspective provides an initial assessment of existing capabilities that could be leveraged to pursue the topic of “Smart Fluid Systems” or “Liquid Engineered Systems”. PMID:28725530

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks

PubMed Central

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-01

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage. PMID:28075364

Implementation of an iPhone as a wireless accelerometer for quantifying gait characteristics.

PubMed

Lemoyne, Robert; Mastroianni, Timothy; Cozza, Michael; Coroian, Cristian; Grundfest, Warren

2010-01-01

The capacity to quantify and evaluate gait beyond the general confines of a clinical environment under effectively autonomous conditions may alleviate rampant strain on limited and highly specialized medical resources. An iPhone consists of a three dimensional accelerometer subsystem with highly robust and scalable software applications. With the synthesis of the integral iPhone features, an iPhone application, which constitutes a wireless accelerometer system for gait quantification and analysis, has been tested and evaluated in an autonomous environment. The acquired gait cycle data was transmitted wireless and through email for subsequent post-processing in a location remote to the location where the experiment was conducted. The iPhone application functioning as a wireless accelerometer for the acquisition of gait characteristics has demonstrated sufficient accuracy and consistency.

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks.

PubMed

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-09

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

Incorporating Manual and Autonomous Code Generation

NASA Technical Reports Server (NTRS)

McComas, David

1998-01-01

Code can be generated manually or using code-generated software tools, but how do you interpret the two? This article looks at a design methodology that combines object-oriented design with autonomic code generation for attitude control flight software. Recent improvements in space flight computers are allowing software engineers to spend more time engineering the applications software. The application developed was the attitude control flight software for an astronomical satellite called the Microwave Anisotropy Probe (MAP). The MAP flight system is being designed, developed, and integrated at NASA's Goddard Space Flight Center. The MAP controls engineers are using Integrated Systems Inc.'s MATRIXx for their controls analysis. In addition to providing a graphical analysis for an environment, MATRIXx includes an autonomic code generation facility called AutoCode. This article examines the forces that shaped the final design and describes three highlights of the design process: (1) Defining the manual to autonomic code interface; (2) Applying object-oriented design to the manual flight code; (3) Implementing the object-oriented design in C.

Low-power cryptographic coprocessor for autonomous wireless sensor networks

NASA Astrophysics Data System (ADS)

Olszyna, Jakub; Winiecki, Wiesław

2013-10-01

The concept of autonomous wireless sensor networks involves energy harvesting, as well as effective management of system resources. Public-key cryptography (PKC) offers the advantage of elegant key agreement schemes with which a secret key can be securely established over unsecure channels. In addition to solving the key management problem, the other major application of PKC is digital signatures, with which non-repudiation of messages exchanges can be achieved. The motivation for studying low-power and area efficient modular arithmetic algorithms comes from enabling public-key security for low-power devices that can perform under constrained environment like autonomous wireless sensor networks. This paper presents a cryptographic coprocessor tailored to the autonomous wireless sensor networks constraints. Such hardware circuit is aimed to support the implementation of different public-key cryptosystems based on modular arithmetic in GF(p) and GF(2m). Key components of the coprocessor are described as GEZEL models and can be easily transformed to VHDL and implemented in hardware.

Development of a semi-autonomous service robot with telerobotic capabilities

NASA Technical Reports Server (NTRS)

Jones, J. E.; White, D. R.

1987-01-01

The importance to the United States of semi-autonomous systems for application to a large number of manufacturing and service processes is very clear. Two principal reasons emerge as the primary driving forces for development of such systems: enhanced national productivity and operation in environments whch are hazardous to humans. Completely autonomous systems may not currently be economically feasible. However, autonomous systems that operate in a limited operation domain or that are supervised by humans are within the technology capability of this decade and will likely provide reasonable return on investment. The two research and development efforts of autonomy and telerobotics are distinctly different, yet interconnected. The first addresses the communication of an intelligent electronic system with a robot while the second requires human communication and ergonomic consideration. Discussed here are work in robotic control, human/robot team implementation, expert system robot operation, and sensor development by the American Welding Institute, MTS Systems Corporation, and the Colorado School of Mines--Center for Welding Research.

Sandia National Laboratories proof-of-concept robotic security vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

A Test-Bed Configuration: Toward an Autonomous System

NASA Astrophysics Data System (ADS)

Ocaña, F.; Castillo, M.; Uranga, E.; Ponz, J. D.; TBT Consortium

2015-09-01

In the context of the Space Situational Awareness (SSA) program of ESA, it is foreseen to deploy several large robotic telescopes in remote locations to provide surveillance and tracking services for man-made as well as natural near-Earth objects (NEOs). The present project, termed Telescope Test Bed (TBT) is being developed under ESA's General Studies and Technology Programme, and shall implement a test-bed for the validation of an autonomous optical observing system in a realistic scenario, consisting of two telescopes located in Spain and Australia, to collect representative test data for precursor NEO services. In order to fulfill all the security requirements for the TBT project, the use of a autonomous emergency system (AES) is foreseen to monitor the control system. The AES will monitor remotely the health of the observing system and the internal and external environment. It will incorporate both autonomous and interactive actuators to force the protection of the system (i.e., emergency dome close out).

A Miniaturized 0.78-mW/cm2 Autonomous Thermoelectric Energy-Harvesting Platform for Biomedical Sensors.

PubMed

Rozgic, Dejan; Markovic, Dejan

2017-08-01

In order to use thermoelectric energy harvesters (TEHs) as a truly autonomous energy source for size-limited sensing applications, it is essential to improve the power conversion efficiency and energy density. This study presents a thin-film, array-based TEH with a surface area of 0.83 cm 2 . The TEH autonomously supplies a power management IC fabricated in a 65-nm CMOS technology. The IC utilizes a single-inductor topology with integrated analog maximum power point tracking (MPPT), resulting in a 68% peak end-to-end efficiency (92% converter efficiency) and less than 20-ms MPPT. In an in-vivo test, a 645-μW regulated output power (effective 3.5 K of temperature gradient) was harvested from a rat implanted with our TEH, demonstrating true energy independence in a real environment while showing a 7.9 × improvement in regulated power density compared to the state-of-the-art. The system showed autonomous operation down to 65-mV TEH input.

Innovative thermal energy harvesting for future autonomous applications

NASA Astrophysics Data System (ADS)

Monfray, Stephane

2013-12-01

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power μ-processors, μ-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies & Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market.

Using probabilistic model as feature descriptor on a smartphone device for autonomous navigation of unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Desai, Alok; Lee, Dah-Jye

2013-12-01

There has been significant research on the development of feature descriptors in the past few years. Most of them do not emphasize real-time applications. This paper presents the development of an affine invariant feature descriptor for low resource applications such as UAV and UGV that are equipped with an embedded system with a small microprocessor, a field programmable gate array (FPGA), or a smart phone device. UAV and UGV have proven suitable for many promising applications such as unknown environment exploration, search and rescue operations. These applications required on board image processing for obstacle detection, avoidance and navigation. All these real-time vision applications require a camera to grab images and match features using a feature descriptor. A good feature descriptor will uniquely describe a feature point thus allowing it to be correctly identified and matched with its corresponding feature point in another image. A few feature description algorithms are available for a resource limited system. They either require too much of the device's resource or too much simplification on the algorithm, which results in reduction in performance. This research is aimed at meeting the needs of these systems without sacrificing accuracy. This paper introduces a new feature descriptor called PRObabilistic model (PRO) for UGV navigation applications. It is a compact and efficient binary descriptor that is hardware-friendly and easy for implementation.

A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data

PubMed Central

Qin, Xinyan; Wu, Gongping; Fan, Fei; Ye, Xuhui; Mei, Quanjie

2018-01-01

With the growth of the national economy, there is increasing demand for electricity, which forces transmission line corridors to become structurally complicated and extend to complex environments (e.g., mountains, forests). It is a great challenge to inspect transmission line in these regions. To address these difficulties, a novel method of autonomous inspection for transmission line is proposed based on cable inspection robot (CIR) LiDAR data, which mainly includes two steps: preliminary inspection and autonomous inspection. In preliminary inspection, the position and orientation system (POS) data is used for original point cloud dividing, ground point filtering, and structured partition. A hierarchical classification strategy is established to identify the classes and positions of the abnormal points. In autonomous inspection, CIR can autonomously reach the specified points through inspection planning. These inspection targets are imaged with PTZ (pan, tilt, zoom) cameras by coordinate transformation. The feasibility and effectiveness of the proposed method are verified by test site experiments and actual line experiments, respectively. The proposed method greatly reduces manpower and improves inspection accuracy, providing a theoretical basis for intelligent inspection of transmission lines in the future. PMID:29462865

Development and Evaluation of an Airborne Separation Assurance System for Autonomous Aircraft Operations

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Palmer, Michael T.; Eischeid, Todd M.

2004-01-01

NASA Langley Research Center is developing an Autonomous Operations Planner (AOP) that functions as an Airborne Separation Assurance System for autonomous flight operations. This development effort supports NASA s Distributed Air-Ground Traffic Management (DAG-TM) operational concept, designed to significantly increase capacity of the national airspace system, while maintaining safety. Autonomous aircraft pilots use the AOP to maintain traffic separation from other autonomous aircraft and managed aircraft flying under today's Instrument Flight Rules, while maintaining traffic flow management constraints assigned by Air Traffic Service Providers. AOP is designed to facilitate eventual implementation through careful modeling of its operational environment, interfaces with other aircraft systems and data links, and conformance with established flight deck conventions and human factors guidelines. AOP uses currently available or anticipated data exchanged over modeled Arinc 429 data buses and an Automatic Dependent Surveillance Broadcast 1090 MHz link. It provides pilots with conflict detection, prevention, and resolution functions and works with the Flight Management System to maintain assigned traffic flow management constraints. The AOP design has been enhanced over the course of several experiments conducted at NASA Langley and is being prepared for an upcoming Joint Air/Ground Simulation with NASA Ames Research Center.

LABRADOR: a learning autonomous behavior-based robot for adaptive detection and object retrieval

NASA Astrophysics Data System (ADS)

Yamauchi, Brian; Moseley, Mark; Brookshire, Jonathan

2013-01-01

As part of the TARDEC-funded CANINE (Cooperative Autonomous Navigation in a Networked Environment) Program, iRobot developed LABRADOR (Learning Autonomous Behavior-based Robot for Adaptive Detection and Object Retrieval). LABRADOR was based on the rugged, man-portable, iRobot PackBot unmanned ground vehicle (UGV) equipped with an explosives ordnance disposal (EOD) manipulator arm and a custom gripper. For LABRADOR, we developed a vision-based object learning and recognition system that combined a TLD (track-learn-detect) filter based on object shape features with a color-histogram-based object detector. Our vision system was able to learn in real-time to recognize objects presented to the robot. We also implemented a waypoint navigation system based on fused GPS, IMU (inertial measurement unit), and odometry data. We used this navigation capability to implement autonomous behaviors capable of searching a specified area using a variety of robust coverage strategies - including outward spiral, random bounce, random waypoint, and perimeter following behaviors. While the full system was not integrated in time to compete in the CANINE competition event, we developed useful perception, navigation, and behavior capabilities that may be applied to future autonomous robot systems.

DESIGNING ENVIRONMENTALLY FRIENDLY CHEMICAL PROCESSES

EPA Science Inventory

The design of a chemical process involves many aspects: from profitability, flexibility and reliability to safety to the environment. While each of these is important, in this work, the focus will be on profitability and the environment. Key to the study of these aspects is the ...

Performance Evaluation of Energy-Autonomous Sensors Using Power-Harvesting Beacons for Environmental Monitoring in Internet of Things (IoT).

PubMed

Moiş, George Dan; Sanislav, Teodora; Folea, Silviu Corneliu; Zeadally, Sherali

2018-05-25

Environmental conditions and air quality monitoring have become crucial today due to the undeniable changes of the climate and accelerated urbanization. To efficiently monitor environmental parameters such as temperature, humidity, and the levels of pollutants, such as fine particulate matter (PM2.5) and volatile organic compounds (VOCs) in the air, and to collect data covering vast geographical areas, the development of cheap energy-autonomous sensors for large scale deployment and fine-grained data acquisition is required. Rapid advances in electronics and communication technologies along with the emergence of paradigms such as Cyber-Physical Systems (CPSs) and the Internet of Things (IoT) have led to the development of low-cost sensor devices that can operate unattended for long periods of time and communicate using wired or wireless connections through the Internet. We investigate the energy efficiency of an environmental monitoring system based on Bluetooth Low Energy (BLE) beacons that operate in the IoT environment. The beacons developed measure the temperature, the relative humidity, the light intensity, and the CO₂ and VOC levels in the air. Based on our analysis we have developed efficient sleep scheduling algorithms that allow the sensor nodes developed to operate autonomously without requiring the replacement of the power supply. The experimental results show that low-power sensors communicating using BLE technology can operate autonomously (from the energy perspective) in applications that monitor the environment or the air quality in indoor or outdoor settings.

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

NASA Astrophysics Data System (ADS)

Jankovic, Marko; Paul, Jan; Kirchner, Frank

2016-04-01

Recent studies of the space debris population in low Earth orbit (LEO) have concluded that certain regions have already reached a critical density of objects. This will eventually lead to a cascading process called the Kessler syndrome. The time may have come to seriously consider active debris removal (ADR) missions as the only viable way of preserving the space environment for future generations. Among all objects in the current environment, the SL-8 (Kosmos 3M second stages) rocket bodies (R/Bs) are some of the most suitable targets for future robotic ADR missions. However, to date, an autonomous relative navigation to and capture of an non-cooperative target has never been performed. Therefore, there is a need for more advanced, autonomous and modular systems that can cope with uncontrolled, tumbling objects. The guidance, navigation and control (GNC) system is one of the most critical ones. The main objective of this paper is to present a preliminary concept of a modular GNC architecture that should enable a safe and fuel-efficient capture of a known but uncooperative target, such as Kosmos 3M R/B. In particular, the concept was developed having in mind the most critical part of an ADR mission, i.e. close range proximity operations, and state of the art algorithms in the field of autonomous rendezvous and docking. In the end, a brief description of the hardware in the loop (HIL) testing facility is made, foreseen for the practical evaluation of the developed architecture.

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

PubMed Central

Dou, Lihua; Su, Zhong; Liu, Ning

2018-01-01

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots. PMID:29547515

Optimizing Pedestrian-Friendly Walking Path for the First and Last Mile Transit Journey by Using the Analytical Network Process (anp) Decision Model and GIS Network Analysis

NASA Astrophysics Data System (ADS)

Naharudin, N.; Ahamad, M. S. S.; Sadullah, A. F. M.

2017-10-01

Every transit trip begins and ends with pedestrian travel. People need to walk to access the transit services. However, their choice to walk depends on many factors including the connectivity, level of comfort and safety. These factors can influence the pleasantness of riding the transit itself, especially during the first/last mile (FLM) journey. This had triggered few studies attempting to measure the pedestrian-friendliness a walking environment can offer. There were studies that implement the pedestrian experience on walking to assess the pedestrian-friendliness of a walking environment. There were also studies that use spatial analysis to measure it based on the path connectivity and accessibility to public facilities and amenities. Though both are good, but the perception-based studies and spatial analysis can be combined to derive more holistic results. This paper proposes a framework for selecting a pedestrian-friendly path for the FLM transit journey by using the two techniques (perception-based and spatial analysis). First, the degree of importance for the factors influencing a good walking environment will be aggregated by using Analytical Network Process (ANP) decision rules based on people's preferences on those factors. The weight will then be used as attributes in the GIS network analysis. Next, the network analysis will be performed to find a pedestrian-friendly walking route based on the priorities aggregated by ANP. It will choose routes passing through the preferred attributes accordingly. The final output is a map showing pedestrian-friendly walking path for the FLM transit journey.

A system-wide analysis using a senior-friendly hospital framework identifies current practices and opportunities for improvement in the care of hospitalized older adults.

PubMed

Wong, Ken S; Ryan, David P; Liu, Barbara A

2014-11-01

Older adults are vulnerable to hospital-associated complications such as falls, pressure ulcers, functional decline, and delirium, which can contribute to prolonged hospital stay, readmission, and nursing home placement. These vulnerabilities are exacerbated when the hospital's practices, services, and physical environment are not sufficiently mindful of the complex, multidimensional needs of frail individuals. Several frameworks have emerged to help hospitals examine how organization-wide processes can be customized to avoid these complications. This article describes the application of one such framework-the Senior-Friendly Hospital (SFH) framework adopted in Ontario, Canada-which comprises five interrelated domains: organizational support, processes of care, emotional and behavioral environment, ethics in clinical care and research, and physical environment. This framework provided the blueprint for a self-assessment of all 155 adult hospitals across the province of Ontario. The system-wide analysis identified practice gaps and promising practices within each domain of the SFH framework. Taken together, these results informed 12 recommendations to support hospitals at all stages of development in becoming friendly to older adults. Priorities for system-wide action were identified, encouraging hospitals to implement or further develop their processes to better address hospital-acquired delirium and functional decline. These recommendations led to collaborative action across the province, including the development of an online toolkit and the identification of accountability indicators to support hospitals in quality improvement focusing on senior-friendly care. © 2014, Copyright the Authors Journal compilation © 2014, The American Geriatrics Society.

Children's thoughts and feelings about their donor and security of attachment to their solo mothers in middle childhood.

PubMed

Zadeh, S; Jones, C M; Basi, T; Golombok, S

2017-04-01

What is the relationship between children's thoughts and feelings about their donor and their security of attachment to their solo mothers in middle childhood? Children with higher levels of secure-autonomous attachment to their mothers were more likely to have positive perceptions of the donor, and those with higher levels of insecure-disorganized attachment to their mothers were more likely to perceive him negatively. There is limited understanding of the factors that contribute to children's thoughts and feelings about their donor in solo mother families. In adolescence, an association was found between adolescents' curiosity about donor conception and their security of attachment to their mothers. 19 children were administered the Friends and Family Interview and Donor Conception Interview between December 2015 and March 2016 as part of the second phase of a longitudinal, multi-method, multi-informant study of solo mother families. All children were aged between 7 and 13 years and had been conceived by donor insemination to solo mothers. Interviews were conducted in participants' homes. The Friends and Family Interview was rated according to a standardized coding scheme designed to measure security of attachment in terms of secure-autonomous, insecure-dismissing, insecure-preoccupied and insecure-disorganized attachment patterns. Quantitative analyses of the Donor Conception Interview yielded two factors: interest in the donor and perceptions of the donor. Qualitative analyses of the Donor Conception Interview were conducted using qualitative content analysis and thematic analysis. Statistically significant associations were found between the perception of the donor scale and the secure-autonomous and insecure-disorganized attachment ratings. Children with higher levels of secure-autonomous attachment to their mothers were more likely to have positive perceptions of the donor (r = 0.549, P = 0.015), and those with higher levels of insecure-disorganized attachment to their mothers were more likely to perceive him negatively (r = -0.632, P = 0.004). Children's narratives about the donor depicted him as a stranger (n = 8), a biological father (n = 4), a social parent (n = 3), or in ambivalent terms (n = 4). Findings are limited by the wide age range of children within a small overall sample size. Participants were those willing and able to take part in research on donor conception families. The statistical significance of correlation coefficients was not corrected for multiple comparisons. Findings highlight the importance of situating children's ideas about the donor within family contexts. It is recommended that those working with donor conception families consider this when advising parents about whether, what and how to tell children about donor conception. This study was funded by the Wellcome Trust [097857/Z/11/Z]. The authors have no conflicts of interest to declare. © The Author 2017. Published by Oxford University Press on behalf of the European Society of Human Reproduction and Embryology.

Exercising with an iPod, friend, or neither: which is better for psychological benefits?

PubMed

Plante, Thomas G; Gustafson, Carissa; Brecht, Carrie; Imberi, Jenny; Sanchez, Jacqueline

2011-01-01

To examine the role of music and social contact on exercise benefits. Two hundred twenty-nine (n = 229) students were randomly assigned to one of 6 conditions: biking alone with iPod or friend in a laboratory, walking alone with iPod or friend outdoors, or biking or walking alone in control conditions. All participants completed 20 minutes of exercise at 70% of their maximum target heart rate. Exercising in control conditions indoors resulted in a more relaxed and calm response. Exercising outdoors was more enjoyable and resulted in less tension and stress. Exercise environment impacts psychological benefits of exercise.

Facing the Long War: Factors that Lead Soldiers to Stay in the Army during Persistent Conflict

DTIC Science & Technology

2011-05-19

increases productivity, job satisfaction , and organizational commitments, all of which buffer the negative effects of work - life conflicts. Moreover...The predicted relationship with family-friendly work environment as a moderator between work - life conflict and outcome measures. Family Friendly...Command and General Staff College, the United States Army, the Department of Defense, or any other US government agency. Cleared for public release

MSIX - A general and user-friendly platform for RAM analysis

NASA Astrophysics Data System (ADS)

Pan, Z. J.; Blemel, Peter

The authors present a CAD (computer-aided design) platform supporting RAM (reliability, availability, and maintainability) analysis with efficient system description and alternative evaluation. The design concepts, implementation techniques, and application results are described. This platform is user-friendly because of its graphic environment, drawing facilities, object orientation, self-tutoring, and access to the operating system. The programs' independency and portability make them generally applicable to various analysis tasks.

Biodegradable and bio-based polymers: future prospects of eco-friendly plastics.

PubMed

Iwata, Tadahisa

2015-03-09

Currently used plastics are mostly produced from petrochemical products, but there is a growing demand for eco-friendly plastics. The use of bio-based plastics, which are produced from renewable resources, and biodegradable plastics, which are degraded in the environment, will lead to a more sustainable society and help us solve global environmental and waste management problems. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

NASA's Aeronautics Vision

NASA Technical Reports Server (NTRS)

Tenney, Darrel R.

2004-01-01

Six long-term technology focus areas are: 1. Environmentally Friendly, Clean Burning Engines. Focus: Develop innovative technologies to enable intelligent turbine engines that significantly reduce harmful emissions while maintaining high performance and increasing reliability. 2. New Aircraft Energy Sources and Management. Focus: Discover new energy sources and intelligent management techniques directed towards zero emissions and enable new vehicle concepts for public mobility and new science missions. 3. Quiet Aircraft for Community Friendly Service. Focus: Develop and integrate noise reduction technology to enable unrestricted air transportation service to all communities. 4. Aerodynamic Performance for Fuel Efficiency. Focus: Improve aerodynamic efficiency,structures and materials technologies, and design tools and methodologies to reduce fuel burn and minimize environmental impact and enable new vehicle concepts and capabilities for public mobility and new science missions. 5. Aircraft Weight Reduction and Community Access. Focus: Develop ultralight smart materials and structures, aerodynamic concepts, and lightweight subsystems to increase vehicle efficiency, leading to high altitude long endurance vehicles, planetary aircraft, advanced vertical and short takeoff and landing vehicles and beyond. 6. Smart Aircraft and Autonomous Control. Focus: Enable aircraft to fly with reduced or no human intervention, to optimize flight over multiple regimes, and to provide maintenance on demand towards the goal of a feeling, seeing, sensing, sentient air vehicle.

Restorative Qualities of and Preference for Natural and Urban Soundscapes.

PubMed

Krzywicka, Paulina; Byrka, Katarzyna

2017-01-01

Psychological restoration in urban agglomerations has become a growing challenge. Although scientific proof of the significance of nature is irrefutable, an increase in built-up areas has led to a decrease in urban greenery. Thus, a growing need for restorativeness in urban surroundings has emerged. To investigate whether positively evaluated sonic environments, represented by natural and urban sounds, have comparable restorative qualities we conducted two studies. The aim of the first (Study 1) was to explore the restorative qualities of positively assessed natural and urban sounds. Participants ( N = 88) were asked to listen and to rate 22 recordings (each 1 min long) either from natural or urban environments. In the second (Study 2) we investigated whether positively evaluated sonic environments (natural and urban), demand for restoration (feeling relaxed or fatigued) and company (being alone or with a friend) affect the restorative qualities of natural and urban soundscapes. After reading assigned scenarios (feeling relaxed or fatigued; being alone or with a friend), participants ( N = 120) were asked to imagine a walk in presented sonic environments and to complete forms (one for each sonic environment) concerning the restorative qualities of given soundscapes (natural and urban). Top five recordings of natural and urban sonic environments were selected from Study 1 and combined into a 154-s soundtrack, to provide a background for the imagined walks in both settings. Our findings confirmed that natural sounds are perceived more favorably than urban recordings. Even when only the most positively assessed soundscapes were compared, nature was still perceived as being more restorative than urban areas. Company of a friend was found to be more beneficial in the urban surroundings, particularly when there was no need for restoration.

Restorative Qualities of and Preference for Natural and Urban Soundscapes

PubMed Central

Krzywicka, Paulina; Byrka, Katarzyna

2017-01-01

Psychological restoration in urban agglomerations has become a growing challenge. Although scientific proof of the significance of nature is irrefutable, an increase in built-up areas has led to a decrease in urban greenery. Thus, a growing need for restorativeness in urban surroundings has emerged. To investigate whether positively evaluated sonic environments, represented by natural and urban sounds, have comparable restorative qualities we conducted two studies. The aim of the first (Study 1) was to explore the restorative qualities of positively assessed natural and urban sounds. Participants (N = 88) were asked to listen and to rate 22 recordings (each 1 min long) either from natural or urban environments. In the second (Study 2) we investigated whether positively evaluated sonic environments (natural and urban), demand for restoration (feeling relaxed or fatigued) and company (being alone or with a friend) affect the restorative qualities of natural and urban soundscapes. After reading assigned scenarios (feeling relaxed or fatigued; being alone or with a friend), participants (N = 120) were asked to imagine a walk in presented sonic environments and to complete forms (one for each sonic environment) concerning the restorative qualities of given soundscapes (natural and urban). Top five recordings of natural and urban sonic environments were selected from Study 1 and combined into a 154-s soundtrack, to provide a background for the imagined walks in both settings. Our findings confirmed that natural sounds are perceived more favorably than urban recordings. Even when only the most positively assessed soundscapes were compared, nature was still perceived as being more restorative than urban areas. Company of a friend was found to be more beneficial in the urban surroundings, particularly when there was no need for restoration. PMID:29046653

Multi-AUV autonomous task planning based on the scroll time domain quantum bee colony optimization algorithm in uncertain environment

PubMed Central

Zhang, Rubo; Yang, Yu

2017-01-01

Research on distributed task planning model for multi-autonomous underwater vehicle (MAUV). A scroll time domain quantum artificial bee colony (STDQABC) optimization algorithm is proposed to solve the multi-AUV optimal task planning scheme. In the uncertain marine environment, the rolling time domain control technique is used to realize a numerical optimization in a narrowed time range. Rolling time domain control is one of the better task planning techniques, which can greatly reduce the computational workload and realize the tradeoff between AUV dynamics, environment and cost. Finally, a simulation experiment was performed to evaluate the distributed task planning performance of the scroll time domain quantum bee colony optimization algorithm. The simulation results demonstrate that the STDQABC algorithm converges faster than the QABC and ABC algorithms in terms of both iterations and running time. The STDQABC algorithm can effectively improve MAUV distributed tasking planning performance, complete the task goal and get the approximate optimal solution. PMID:29186166

Multi-AUV autonomous task planning based on the scroll time domain quantum bee colony optimization algorithm in uncertain environment.

PubMed

Li, Jianjun; Zhang, Rubo; Yang, Yu

2017-01-01

Research on distributed task planning model for multi-autonomous underwater vehicle (MAUV). A scroll time domain quantum artificial bee colony (STDQABC) optimization algorithm is proposed to solve the multi-AUV optimal task planning scheme. In the uncertain marine environment, the rolling time domain control technique is used to realize a numerical optimization in a narrowed time range. Rolling time domain control is one of the better task planning techniques, which can greatly reduce the computational workload and realize the tradeoff between AUV dynamics, environment and cost. Finally, a simulation experiment was performed to evaluate the distributed task planning performance of the scroll time domain quantum bee colony optimization algorithm. The simulation results demonstrate that the STDQABC algorithm converges faster than the QABC and ABC algorithms in terms of both iterations and running time. The STDQABC algorithm can effectively improve MAUV distributed tasking planning performance, complete the task goal and get the approximate optimal solution.

Environmentally Friendly Corrosion Preventative Compounds for Ground Support Structures

NASA Technical Reports Server (NTRS)

Montgomery Eliza L.; Calle, Luz, Marina; Curran, Jerome P.; Kolody, Mark R.

2013-01-01

The need to use environmentally friendly technologies throughout future space-related launch programs prompted a study aimed at replacing current petroleum and solvent-based Corrosion Preventive Compounds (CPCs) with environmentally friendly alternatives. The work in this paper focused on the identification and evaluation of environmentally friendly CPCs for use in protecting flight hardware and ground support equipment from atmospheric corrosion. CPCs are used as temporary protective coatings and must survive in the aggressive coastal marine environment that exists throughout the Kennedy Space Center, Florida. The different protection behaviors of fifteen different oily film CPCs, both common petroleum-based and newer environmentally friendly types, were evaluated on various steel and aluminum substrates. CPC and substrate systems were subjected to atmospheric testing at the Kennedy Space Center's Beachside Atmospheric Corrosion Test Site, as well as cyclic accelerated corrosion testing. Each CPC also underwent physical characterization and launch-related compatibility testing. The results for the fifteen CPC systems are presented in this paper.

Environmentally friendly corrosion preventive compounds for ground support structures

NASA Astrophysics Data System (ADS)

Montgomery, Eliza; Curran, Jerome; Calle, Luz Marina; Kolody, Mark

The need to use environmentally friendly technologies throughout future space-related launch programs prompted a study aimed at replacing current petroleum and solvent-based corrosion preventive compounds (CPCs) with environmentally friendly alternatives. The work in this paper focused on the identification and evaluation of environmentally friendly CPCs for use in protecting flight hardware and ground support equipment from atmospheric corrosion. CPCs are used as temporary protective coatings and must survive in the aggressive coastal marine environment that exists throughout the Kennedy Space Center, Florida. The different protection behaviors of fifteen different oily film CPCs, both common petroleum-based and newer environmentally friendly types, were evaluated on various steel and aluminum substrates. CPC and substrate systems were subjected to atmospheric testing at the Kennedy Space Center's Beachside Atmospheric Corrosion Test Site, as well as cyclic accelerated corrosion testing. Each CPC also underwent physical characterization and launch-related compatibility testing. The results for the fifteen CPC systems are presented in this paper.

Lost in Search: (Mal-)Adaptation to Probabilistic Decision Environments in Children and Adults

ERIC Educational Resources Information Center

Betsch, Tilmann; Lehmann, Anne; Lindow, Stefanie; Lang, Anna; Schoemann, Martin

2016-01-01

Adaptive decision making in probabilistic environments requires individuals to use probabilities as weights in predecisional information searches and/or when making subsequent choices. Within a child-friendly computerized environment (Mousekids), we tracked 205 children's (105 children 5-6 years of age and 100 children 9-10 years of age) and 103…

Preservice Teachers' Perception Levels Concerning Consumer Environmental Consciousness

ERIC Educational Resources Information Center

Dikmenli, Yurdal

2017-01-01

People who strive to prevent harm to the environment while utilizing it and to maintain a livable environment is related to educational and cultural values. If we want the next generation to live in an environment as undisturbed as we live in now, environmentally friendly products should be consumed and waste should be prevented. Thus, raising an…

Itinerancy of money

NASA Astrophysics Data System (ADS)

Yasutomi, Ayumu

2003-09-01

Previously, I studied [Physica D 82, 180-194 (1995)] the emergence and collapse of money in a computer simulation model. In this paper I will revisit the same topic, building a model in the same line. I discuss this problem from the viewpoint of chaotic itinerancy. Money is the most popular system for evading the difficulty of exchange under division of labor. It emerges autonomously from exchanges among selfish agents which behave as automata. And such emergent money collapses autonomously. I describe money as a structure in economic space, explaining its autonomous emergence and collapse as two phases of the same phenomenon. The key element in this phenomenon is the switch of the meaning of strategies. This is caused by the drastic change of environment caused by the emergence of a structure. This dynamics shares some aspects with chaotic itinerancy.

Autonomous intelligent assembly systems LDRD 105746 final report.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

Instrument-Free and Autonomous Generation of H2O2 from Mg-ZnO/Au Hybrids for Disinfection and Organic Pollutant Degradations

NASA Astrophysics Data System (ADS)

Park, Seon Yeong; Jung, Yeon Wook; Hwang, Si Hyun; Jang, Gun Hyuk; Seo, Hyunseon; Kim, Yu-Chan; Ok, Myoung-Ryul

2018-03-01

We proposed a new hybrid system that autonomously generates H2O2 without any instrument or external energy source, such as light. Electrons formed during spontaneous degradation process of Mg were conveyed to ZnO/Au oxygen-reduction-reaction nanocatalysts, and these transferred electrons converted O2 molecules in aqueous solution into H2O2. Autonomously released H2O2 from Mg-ZnO/Au hybrids effectively killed 97% of Escherichia coli cells within 1 h. Moreover, Mg-ZnO/Au nanohybrids could gradually degrade methylene blue over time with Fe2+. We believe our approach utilizing degradable metals and catalytic metal oxides in mesoporous-film form can be a promising method in the field of environment remediation.

Instrument-Free and Autonomous Generation of H2O2 from Mg-ZnO/Au Hybrids for Disinfection and Organic Pollutant Degradations

NASA Astrophysics Data System (ADS)

Park, Seon Yeong; Jung, Yeon Wook; Hwang, Si Hyun; Jang, Gun Hyuk; Seo, Hyunseon; Kim, Yu-Chan; Ok, Myoung-Ryul

2018-05-01

We proposed a new hybrid system that autonomously generates H2O2 without any instrument or external energy source, such as light. Electrons formed during spontaneous degradation process of Mg were conveyed to ZnO/Au oxygen-reduction-reaction nanocatalysts, and these transferred electrons converted O2 molecules in aqueous solution into H2O2. Autonomously released H2O2 from Mg-ZnO/Au hybrids effectively killed 97% of Escherichia coli cells within 1 h. Moreover, Mg-ZnO/Au nanohybrids could gradually degrade methylene blue over time with Fe2+. We believe our approach utilizing degradable metals and catalytic metal oxides in mesoporous-film form can be a promising method in the field of environment remediation.

Reduction of User Interaction by Autonomy

NASA Technical Reports Server (NTRS)

Morfopoulos, Arin; McHenry, Michael; Matthies, Larry

2006-01-01

This paper describes experiments that quantify the improvement that autonomous behaviors enable in the amount of user interaction required to navigate a robot in urban environments. Many papers have discussed various ways to measure the absolute level of autonomy of a system; we measured the relative improvement of autonomous behaviors over teleoperation across multiple traverses of the same course. We performed four runs each on an 'easy' course and a 'hard' course, where half the runs were teleoperated and half used more autonomous behaviors. Statistics show 40-70% reductions in the amount of time the user interacts with the control station; however, with the behaviors tested, user attention remained on the control station even when he was not interacting. Reducing the need for attention will require better obstacle detection and avoidance and better absolute position estimation.

Study on the Preparation Process and Influential Factors of Large Area Environment-friendly Molten Carbonate Fuel Cell Matrix

NASA Astrophysics Data System (ADS)

Zhang, Ruiyun; Xu, Shisen; Cheng, Jian; Wang, Hongjian; Ren, Yongqiang

2017-07-01

Low-cost and high-performance matrix materials used in mass production of molten carbonate fuel cell (MCFC) were prepared by automatic casting machine with α-LiAlO2 powder material synthesized by gel-solid method, and distilled water as solvent. The single cell was assembled for generating test, and the good performance of the matrix was verified. The paper analyzed the factors affecting aqueous tape casting matrix preparation, such as solvent content, dispersant content, milling time, blade height and casting machine running speed, providing a solid basis for the mass production of large area environment-friendly matrix used in molten carbonate fuel cell.

G2 Autonomous Control for Cryogenic Delivery Systems

NASA Technical Reports Server (NTRS)

Dito, Scott J.

2014-01-01

The Independent System Health Management-Autonomous Control (ISHM-AC) application development for cryogenic delivery systems is intended to create an expert system that will require minimal operator involvement and ultimately allow for complete autonomy when fueling a space vehicle in the time prior to launch. The G2-Autonomous Control project is the development of a model, simulation, and ultimately a working application that will control and monitor the cryogenic fluid delivery to a rocket for testing purposes. To develop this application, the project is using the programming language/environment Gensym G2. The environment is an all-inclusive application that allows development, testing, modeling, and finally operation of the unique application through graphical and programmatic methods. We have learned G2 through training classes and subsequent application development, and are now in the process of building the application that will soon be used to test on cryogenic loading equipment here at the Kennedy Space Center Cryogenics Test Laboratory (CTL). The G2 ISHM-AC application will bring with it a safer and more efficient propellant loading system for the future launches at Kennedy Space Center and eventually mobile launches from all over the world.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

PubMed

Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

2018-02-14

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

PubMed Central

Sherwin, Tyrone; Easte, Mikala; Wang, Kevin I-Kai; Dai, Wenbin

2018-01-01

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system. PMID:29443906

An autonomous fault detection, isolation, and recovery system for a 20-kHz electric power distribution test bed

NASA Technical Reports Server (NTRS)

Quinn, Todd M.; Walters, Jerry L.

1991-01-01

Future space explorations will require long term human presence in space. Space environments that provide working and living quarters for manned missions are becoming increasingly larger and more sophisticated. Monitor and control of the space environment subsystems by expert system software, which emulate human reasoning processes, could maintain the health of the subsystems and help reduce the human workload. The autonomous power expert (APEX) system was developed to emulate a human expert's reasoning processes used to diagnose fault conditions in the domain of space power distribution. APEX is a fault detection, isolation, and recovery (FDIR) system, capable of autonomous monitoring and control of the power distribution system. APEX consists of a knowledge base, a data base, an inference engine, and various support and interface software. APEX provides the user with an easy-to-use interactive interface. When a fault is detected, APEX will inform the user of the detection. The user can direct APEX to isolate the probable cause of the fault. Once a fault has been isolated, the user can ask APEX to justify its fault isolation and to recommend actions to correct the fault. APEX implementation and capabilities are discussed.

Scene Segmentation For Autonomous Robotic Navigation Using Sequential Laser Projected Structured Light

NASA Astrophysics Data System (ADS)

Brown, C. David; Ih, Charles S.; Arce, Gonzalo R.; Fertell, David A.

1987-01-01

Vision systems for mobile robots or autonomous vehicles navigating in an unknown terrain environment must provide a rapid and accurate method of segmenting the scene ahead into regions of pathway and background. A major distinguishing feature between the pathway and background is the three dimensional texture of these two regions. Typical methods of textural image segmentation are very computationally intensive, often lack the required robustness, and are incapable of sensing the three dimensional texture of various regions of the scene. A method is presented where scanned laser projected lines of structured light, viewed by a stereoscopically located single video camera, resulted in an image in which the three dimensional characteristics of the scene were represented by the discontinuity of the projected lines. This image was conducive to processing with simple regional operators to classify regions as pathway or background. Design of some operators and application methods, and demonstration on sample images are presented. This method provides rapid and robust scene segmentation capability that has been implemented on a microcomputer in near real time, and should result in higher speed and more reliable robotic or autonomous navigation in unstructured environments.

Toward autonomous rotorcraft flight in degraded visual environments: experiments and lessons learned

NASA Astrophysics Data System (ADS)

Stambler, Adam; Spiker, Spencer; Bergerman, Marcel; Singh, Sanjiv

2016-05-01

Unmanned cargo delivery to combat outposts will inevitably involve operations in degraded visual environments (DVE). When DVE occurs, the aircraft autonomy system needs to be able to function regardless of the obscurant level. In 2014, Near Earth Autonomy established a baseline perception system for autonomous rotorcraft operating in clear air conditions, when its m3 sensor suite and perception software enabled autonomous, no-hover landings onto unprepared sites populated with obstacles. The m3's long-range lidar scanned the helicopter's path and the perception software detected obstacles and found safe locations for the helicopter to land. This paper presents the results of initial tests with the Near Earth perception system in a variety of DVE conditions and analyzes them from the perspective of mission performance and risk. Tests were conducted with the m3's lidar and a lightweight synthetic aperture radar in rain, smoke, snow, and controlled brownout experiments. These experiments showed the capability to penetrate through mild DVE but the perceptual capabilities became degraded with the densest brownouts. The results highlight the need for not only improved ability to see through DVE, but also for improved algorithms to monitor and report DVE conditions.

'We eat together; today she buys, tomorrow I will buy the food': adolescent best friends' food choices and dietary practices in Soweto, South Africa.

PubMed

Voorend, Carlijn G N; Norris, Shane A; Griffiths, Paula L; Sedibe, Modiehi H; Westerman, Marjan J; Doak, Colleen M

2013-03-01

To explore if and how female adolescents engage in shared eating and joint food choices with best friends within the context of living in urban Soweto, South Africa. A qualitative, exploratory, multiple case study was conducted using semi-structured duo interviews of best friend pairs to ascertain their eating patterns, friendship and social interactions around dietary habits. Participants were recruited from three high schools in the urban township of Soweto, South Africa. Fifty-eight female adolescents (twenty-nine friend pairs) still in high school (mean age of 18 years) were enrolled. Although overweight rates were high, no association between friends was found; neither did friends share dieting behaviours. Both at school and during visits to the shopping mall, foods were commonly shared and money pooled together by friends to make joint purchases. Some friends carefully planned expenditures together. Foods often bought at school were mostly unhealthy. Availability, price and quality were reported to affect choice of foods purchased at school. Preference shaped joint choices within the shopping mall environment. Food sharing practices should be investigated in other settings so as to identify specific behaviours and contexts for targeted and tailored obesity prevention interventions. School-based interventions focusing on price and portion size should be considered. In the Sowetan context, larger portions of healthy food may improve dietary intake of fruit and vegetables where friends are likely to share portions.

Finnish Upper Secondary Students' Collaborative Processes in Learning Statistics in a CSCL Environment

ERIC Educational Resources Information Center

Oikarinen, Juho Kaleva; Järvelä, Sanna; Kaasila, Raimo

2014-01-01

This design-based research project focuses on documenting statistical learning among 16-17-year-old Finnish upper secondary school students (N = 78) in a computer-supported collaborative learning (CSCL) environment. One novel value of this study is in reporting the shift from teacher-led mathematical teaching to autonomous small-group learning in…

Experiments in autonomous robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Stress and Aircraft Maintenance Performance in a Combat Environment

DTIC Science & Technology

1988-08-01

nervous system and initiate the GAS. The result of "turning on" the autonomic ’- - - -t .... ... 5 IV *w 0 4 :~~ A:i A m ao Os,.. 0 S~ is O * L d 10.4...discovered that some people can consciously control (cope with) this physical autonomic system (e.g. blood pressure, heart rate) via internal feedback...public release; distribution is unlimited. U DTIC U ELECTE RSEP0218 C z E S LABORATORY ’* b AIR FORCE SYSTEMS COMMAND BROOKS AIR FORCE BASE, TEXAS 78235

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Role of the autonomic nervous system in tumorigenesis and metastasis

PubMed Central

Magnon, Claire

2015-01-01

Convergence of multiple stromal cell types is required to develop a tumorigenic niche that nurtures the initial development of cancer and its dissemination. Although the immune and vascular systems have been shown to have strong influences on cancer, a growing body of evidence points to a role of the nervous system in promoting cancer development. This review discusses past and current research that shows the intriguing role of autonomic nerves, aided by neurotrophic growth factors and axon cues, in creating a favorable environment for the promotion of tumor formation and metastasis. PMID:27308436

Role of the autonomic nervous system in tumorigenesis and metastasis.

PubMed

Magnon, Claire

2015-01-01

Convergence of multiple stromal cell types is required to develop a tumorigenic niche that nurtures the initial development of cancer and its dissemination. Although the immune and vascular systems have been shown to have strong influences on cancer, a growing body of evidence points to a role of the nervous system in promoting cancer development. This review discusses past and current research that shows the intriguing role of autonomic nerves, aided by neurotrophic growth factors and axon cues, in creating a favorable environment for the promotion of tumor formation and metastasis.

Application of neural networks to autonomous rendezvous and docking of space vehicles

NASA Technical Reports Server (NTRS)

Dabney, Richard W.

1992-01-01

NASA-Marshall has investigated the feasibility of numerous autonomous rendezvous and docking (ARD) candidate techniques. Neural networks have been studied as a viable basis for such systems' implementation, due to their intrinsic representation of such nonlinear functions as those for which analytical solutions are either difficult or nonexistent. Neural networks are also able to recognize and adapt to changes in their dynamic environment, thereby enhancing redundancy and fault tolerance. Outstanding performance has been obtained from ARD azimuth, elevation, and roll networks of this type.

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments

PubMed Central

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-01-01

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle’s irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal. PMID:29393915

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

Autonomous Quantum Error Correction with Application to Quantum Metrology

NASA Astrophysics Data System (ADS)

Reiter, Florentin; Sorensen, Anders S.; Zoller, Peter; Muschik, Christine A.

2017-04-01

We present a quantum error correction scheme that stabilizes a qubit by coupling it to an engineered environment which protects it against spin- or phase flips. Our scheme uses always-on couplings that run continuously in time and operates in a fully autonomous fashion without the need to perform measurements or feedback operations on the system. The correction of errors takes place entirely at the microscopic level through a build-in feedback mechanism. Our dissipative error correction scheme can be implemented in a system of trapped ions and can be used for improving high precision sensing. We show that the enhanced coherence time that results from the coupling to the engineered environment translates into a significantly enhanced precision for measuring weak fields. In a broader context, this work constitutes a stepping stone towards the paradigm of self-correcting quantum information processing.

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments.

PubMed

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-02-02

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle's irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.

Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1991-01-01

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments

PubMed Central

Kohoutek, Tobias K.; Mautz, Rainer; Wegner, Jan D.

2013-01-01

We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera's pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance). PMID:23435055

Proposed Methodology for Application of Human-like gradual Multi-Agent Q-Learning (HuMAQ) for Multi-robot Exploration

NASA Astrophysics Data System (ADS)

Narayan Ray, Dip; Majumder, Somajyoti

2014-07-01

Several attempts have been made by the researchers around the world to develop a number of autonomous exploration techniques for robots. But it has been always an important issue for developing the algorithm for unstructured and unknown environments. Human-like gradual Multi-agent Q-leaming (HuMAQ) is a technique developed for autonomous robotic exploration in unknown (and even unimaginable) environments. It has been successfully implemented in multi-agent single robotic system. HuMAQ uses the concept of Subsumption architecture, a well-known Behaviour-based architecture for prioritizing the agents of the multi-agent system and executes only the most common action out of all the different actions recommended by different agents. Instead of using new state-action table (Q-table) each time, HuMAQ uses the immediate past table for efficient and faster exploration. The proof of learning has also been established both theoretically and practically. HuMAQ has the potential to be used in different and difficult situations as well as applications. The same architecture has been modified to use for multi-robot exploration in an environment. Apart from all other existing agents used in the single robotic system, agents for inter-robot communication and coordination/ co-operation with the other similar robots have been introduced in the present research. Current work uses a series of indigenously developed identical autonomous robotic systems, communicating with each other through ZigBee protocol.

A new environment-friendly hot pepper variety "Shiyan No. 1"

NASA Astrophysics Data System (ADS)

Han, Jianming; Xu, Shuzhen; Wang, Ruiling; Zhang, Yanzhao; Yun, Chao

2018-04-01

Hot pepper has rich genetic diversity which is the important base of breeding of new variety, and it is also one of the important vegetable in the word. In this study, we bred the "Shiyan No. 1" environment-friendly hot pepper variety using hybrid method on the basis of hot pepper genetic diversity. "Shiyan No. 1" is a new F1 hybrid of hot pepper variety with mid-early maturity. The new variety has a high productivity of 3000-5000kg(667m2)-1 with thick oxhorn shape fruits, green skin, thick flesh, mild-hot taste, good quality and marketable characters. It can reduce chemical pesticides usage and thereby protect environment because it is resistant to virus disease, highly resistant to phytophthora blight, anthracnose and bacterial wilt. In conclusion, the new bred "Shiyan No.1" is suitable for protected cultivation and open field cultivation in China.

Wider Action Plan and Multidisciplinar Approach Could Be a Wining Idea in Creation of Friendly Environment

PubMed Central

Gojkovic-Bukvic, Natasa; Bukvic, Nenad

2012-01-01

Herein, we proposed planning of wide transdisciplinary actions, which bring a solution for economic activity such as transportation, strongly related to pollution output with possible repercussions on climate change and public health. To solve logistics problem by introduction of common intermodal policy, and creation of more friendly transport solution, it is possible to obtain sustainable development, climate change prevention, government policy, and regulation which are all related to human health and creation of health-supportive environment. This approach permits environmental and biological monitoring same as economic results measurement by key performance indicators. This approach implementing emerging scientific knowledge in environmental health science such as genetic epidemiology aimed at understanding how genomic variation impacts phenotypic expression and how genes interact with the environment at the population level with subsequent translation into practical information for clinicians as well as for public health policy creation. PMID:22496704

Wider action plan and multidisciplinar approach could be a wining idea in creation of friendly environment.

PubMed

Gojkovic-Bukvic, Natasa; Bukvic, Nenad

2012-01-01

Herein, we proposed planning of wide transdisciplinary actions, which bring a solution for economic activity such as transportation, strongly related to pollution output with possible repercussions on climate change and public health. To solve logistics problem by introduction of common intermodal policy, and creation of more friendly transport solution, it is possible to obtain sustainable development, climate change prevention, government policy, and regulation which are all related to human health and creation of health-supportive environment. This approach permits environmental and biological monitoring same as economic results measurement by key performance indicators. This approach implementing emerging scientific knowledge in environmental health science such as genetic epidemiology aimed at understanding how genomic variation impacts phenotypic expression and how genes interact with the environment at the population level with subsequent translation into practical information for clinicians as well as for public health policy creation.

Disability-Friendly University Environments: Conducting a Climate Assessment

ERIC Educational Resources Information Center

Stodden, Robert A.; Brown, Steven E.; Roberts, Kelly

2011-01-01

What constitutes a supportive environment for all students with disabilities in postsecondary settings? After more than ten years of collecting data focused on the provision of educational supports to students with disabilities in postsecondary education, the authors have discovered numerous intervening variables that contribute to a supportive…

Multigenerational Independent Colony for Extraterrestrial Habitation, Autonomy, and Behavior Health (MICEHAB): An Investigation of a Long Duration, Partial Gravity, Autonomous Rodent Colony

NASA Technical Reports Server (NTRS)

Rodgers, Erica M.; Simon, Matthew A.; Antol, Jeffrey; Chai, Patrick R.; Jones, Christopher A.; Klovstad, Jordan J.; Neilan, James H.; Stillwagen, Frederic H.; Williams, Phillip A.; Bednara, Michael;

Needs, Pains, and Motivations in Autonomous Agents.

PubMed

Starzyk, Janusz A; Graham, James; Puzio, Leszek

This paper presents the development of a motivated learning (ML) agent with symbolic I/O. Our earlier work on the ML agent was enhanced, giving it autonomy for interaction with other agents. Specifically, we equipped the agent with drives and pains that establish its motivations to learn how to respond to desired and undesired events and create related abstract goals. The purpose of this paper is to explore the autonomous development of motivations and memory in agents within a simulated environment. The ML agent has been implemented in a virtual environment created within the NeoAxis game engine. Additionally, to illustrate the benefits of an ML-based agent, we compared the performance of our algorithm against various reinforcement learning (RL) algorithms in a dynamic test scenario, and demonstrated that our ML agent learns better than any of the tested RL agents.This paper presents the development of a motivated learning (ML) agent with symbolic I/O. Our earlier work on the ML agent was enhanced, giving it autonomy for interaction with other agents. Specifically, we equipped the agent with drives and pains that establish its motivations to learn how to respond to desired and undesired events and create related abstract goals. The purpose of this paper is to explore the autonomous development of motivations and memory in agents within a simulated environment. The ML agent has been implemented in a virtual environment created within the NeoAxis game engine. Additionally, to illustrate the benefits of an ML-based agent, we compared the performance of our algorithm against various reinforcement learning (RL) algorithms in a dynamic test scenario, and demonstrated that our ML agent learns better than any of the tested RL agents.

Ergonomic aspects of a virtual environment.

PubMed

Ahasan, M R; Väyrynen, S

1999-01-01

A virtual environment is an interactive graphic system mediated through computer technology that allows a certain level of reality or a sense of presence to access virtual information. To create reality in a virtual environment, ergonomics issues are explored in this paper, aiming to develop the design of presentation formats with related information, that is possible to attain and to maintain user-friendly application.

Is a healthy city also an age-friendly city?

PubMed

Jackisch, Josephine; Zamaro, Gianna; Green, Geoff; Huber, Manfred

2015-06-01

Healthy Ageing is an important focus of the European Healthy Cities Network and has been supported by WHO since 2003 as a key strategic topic, since 2010 in cooperation with the Global Network of Age-friendly Cities and Communities. Based on the methodology of realist evaluation, this article synthesizes qualitative evidence from 33 structured case studies (CS) from 32 WHO European Healthy Cities, 72 annual reports from Network cities and 71 quantitative responses to a General Evaluation Questionnaire. City cases are assigned to three clusters containing the eight domains of an age-friendly city proposed by WHO's Global Age-friendly City Guide published in 2007. The analysis of city's practice and efforts in this article takes stock of how cities have developed the institutional prerequisites and processes necessary for implementing age-friendly strategies, programmes and projects. A content analysis of the CS maps activities across age-friendly domains and illustrates how cities contribute to improving the social and physical environments of older people and enhance the health and social services provided by municipalities and their partners. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Birth environment facilitation by midwives assisting in non-hospital births: a qualitative interview study.

PubMed

Igarashi, Toshiko; Wakita, Mariko; Miyazaki, Kikuko; Nakayama, Takeo

2014-07-01

midwifery homes (similar to birth centres) are rich in midwifery wisdom and skills that differ from those in hospital obstetrical departments, and a certain percentage of pregnant women prefer birth in these settings. This study aimed to understand the organisation of the perinatal environment considered important by independent midwives in non-hospital settings and to clarify the processes involved. semi-structured qualitative interview study and constant comparative analysis. 14 independent midwives assisting at births in midwifery homes in Japan, and six independent midwives assisting at home births. Osaka, Kyoto, Nara, and Shiga, Japan. midwives assisting at non-hospital births organised the birth environment based on the following four categories: 'an environment where the mother and family are autonomous'; 'a physical environment that facilitates birth'; 'an environment that facilitates the movement of the mother for birth'; and 'scrupulous safety preparation'. These, along with their sub-categories, are presented in this paper. independent midwives considered it important to create a candid relationship between the midwife and the woman/family from the period of pregnancy to facilitate birth in which the woman and her family were autonomous. They also organised a distinctive environment for non-hospital birth, with preparations to guarantee safety. Experiential knowledge and skills played a major part in creating an environment to facilitate birth, and the effectiveness of this needs to be investigated objectively in future research. Copyright © 2014 Elsevier Ltd. All rights reserved.

Autonomous Congestion Control in Delay-Tolerant Networks

NASA Technical Reports Server (NTRS)

Burleigh, Scott C.; Jennings, Esther H.

2005-01-01

Congestion control is an important feature that directly affects network performance. Network congestion may cause loss of data or long delays. Although this problem has been studied extensively in the Internet, the solutions for Internet congestion control do not apply readily to challenged network environments such as Delay Tolerant Networks (DTN) where end-to-end connectivity may not exist continuously and latency can be high. In DTN, end-to-end rate control is not feasible. This calls for congestion control mechanisms where the decisions can be made autonomously with local information only. We use an economic pricing model and propose a rule-based congestion control mechanism where each router can autonomously decide on whether to accept a bundle (data) based on local information such as available storage and the value and risk of accepting the bundle (derived from historical statistics).

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner.

PubMed

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-07-20

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation.

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner

PubMed Central

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-01-01

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation. PMID:27447640

The power of (Mis)perception: Rethinking suicide contagion in youth friendship networks.

PubMed

Zimmerman, Gregory M; Rees, Carter; Posick, Chad; Zimmerman, Lori A

2016-05-01

Suicide is a leading cause of death among youth. In the wake of peer suicide, youth are vulnerable to suicide contagion. But, questions remain about the mechanisms through which suicide spreads and the accuracy of youths' estimates of friends' suicidal behaviors. This study addresses these questions within school-aged youths' friendship networks. Social network data were drawn from two schools in the National Longitudinal Study of Adolescent to Adult Health, from which 2180 youth in grades 7-12 nominated up to ten friends. A measure of "perceived" friends' attempted suicide was constructed based on respondents' reports of their friends' attempted suicide. This measure was broader than a "true" measure of friends' attempted suicide, constructed from self-reports of nominated friends who attended respondents' schools. Sociograms graphically represented the accuracy with which suicide attempters estimated friends' suicide attempts. Results from cross-tabulation with Chi-square analysis indicated that approximately 4% of youth (88/2180) attempted suicide, and these youth disproportionately misperceived (predominantly overestimated) friends' suicidal behaviors, compared to non-suicide-attempters. Penalized logistic regression models indicated that friends' self-reported attempted suicide was unrelated to respondent attempted suicide. But, the odds of respondent attempted suicide were 2.54 times higher (95% CI, 1.06-6.10) among youth who accurately perceived friends' attempted suicide, and 5.40 times higher (95% CI, 3.34-8.77) among youth who overestimated friends' attempted suicide. The results suggest that at-risk youth overestimate their friends' suicidal behaviors, which exacerbates their own risk of suicidal behavior. Methodologically, this suggests that a continued collaboration among network scientists, suicide researchers, and medical providers is necessary to further examine the mechanisms surrounding this phenomenon. Practically, it is important to screen at-risk youth for exposure to peer suicide and to use the social environment created by adolescent friendship networks to empower and support youth who are susceptible to suicidal thoughts and behaviors. Copyright © 2016 Elsevier Ltd. All rights reserved.

The Role of Public Extension in Introducing Environment-Friendly Farming Methods in Turkey.

ERIC Educational Resources Information Center

Kumuk, T.; Akgungor, S.

1995-01-01

Currently, the Turkish extension service plays a minimal role in reducing adverse environmental effects of farming methods. Public investment in research and extension on sustainable agriculture is needed to ensure long-term production practices that maintain the food supply without damaging the environment. (SK)

Work Environment and Japanese Fathers' Involvement in Child Care

ERIC Educational Resources Information Center

Ishii-Kuntz, Masako

2013-01-01

Previous studies mainly examined individual and family factors affecting Japanese fathers' involvement in child care. Along with these factors, we examine how work-related factors such as father-friendly environment at work, workplace's accommodation of parental needs, job stress, and autonomy are associated with Japanese men's participation in…

Meal-Maker: A Virtual Meal Preparation Environment for Children with Cerebral Palsy

ERIC Educational Resources Information Center

Kirshner, Sharon; Weiss, Patrice L.; Tirosh, Emanuel

2011-01-01

Virtual reality (VR) technology enables evaluation and practice of specific skills in a motivating, user-friendly and safe way. The implementation of virtual game environments within clinical settings has increased substantially in recent years. However, the psychometric properties and feasibility of many applications have not been fully…

Integration of the real-time tracking gradiometer (RTG) aboard the autonomous underwater vehicle (AUV) Morpheus

NASA Astrophysics Data System (ADS)

Allen, George I.; Matthews, Robert; Wynn, Michael

2001-10-01

In keeping with the Navy's policy to remove humans from harms way, the Autonomous Underwater Vehicle (AUV) is replacing human divers for many missions. The Advanced Marine Systems Lab at Florida Atlantic University (FAU) has developed a small, magnetically friendly, modular plastic AUV called Morpheus designed for coastal applications and especially suited for very shallow water (VSW) mine reconnaissance. Currently employed sensor technologies on AUVs have certain deficiencies and limitations when used across the wide gamut of naval targets and environments, and a strong requirement exists for a sensor or sensors to fill these niches. The Real-time Tracking Gradiometer (RTG) selected for this integration is truly such a niche sensor because its capabilities are not degraded by media interfaces or environmental conditions. It is an experimental prototype fluxgate magnetometer array developed by Quantum Magnetics for the Coastal Systems Station (CSS) and was designed to be man portable and self contained. While limited by physics in detection range, it is capable of detecting ferrous targets under the worst environmental conditions, even when the target is buried. While not having the range of sonar, the RTG does not respond to the false alarms that are indicated by sonar, and since it is capable of also providing range and bearing information, it provides an invaluable niche filling classification tool. The placing of any magnetic sensing system on a conventional AUV is a non-trivial problem. The standard AUV is designed around materials and components that were selected to maximize performance without regard to the magnetic properties of the materials used in its fabrication. To minimize the degradation of sensor performance caused by the platform, several steps must be taken. These include; the substitution of nonferrous components for ferrous, maximizing the separation between the sensor and magnetic field sources, minimizing current loops and using auxiliary current and field sensors capable of generating noise canceling signals. To maximize utility, the magnetic sensor systems should also provide range, bearing and magnetic target strength. While all data and results contained in this paper have been obtained with land-based testing, they are easily adapted to the underwater environment of the AUV. The RTG was recently attached to the Morpheus, and data collected with the unmodified Morpheus powered and undergoing simulated sea motion table. These tests indicate that integration, while not trivial, is indeed feasible, and work is continuing toward mounting the sensor internal to the AUV and implementing the required noise mitigation solutions.

Autonomy Supported, Learner-Controlled or System-Controlled Learning in Hypermedia Environments and the Influence of Academic Self-Regulation Style

ERIC Educational Resources Information Center

Gorissen, Chantal J. J.; Kester, Liesbeth; Brand-Gruwel, Saskia; Martens, Rob

2015-01-01

This study focuses on learning in three different hypermedia environments that either support autonomous learning, learner-controlled learning or system-controlled learning and explores the mediating role of academic self-regulation style (ASRS; i.e. a macro level of motivation) on learning. This research was performed to gain more insight in the…

Ultrasound in Space Medicine

NASA Technical Reports Server (NTRS)

Dulchavsky, Scott A.; Sargsyan, A.E.

2009-01-01

This slide presentation reviews the use of ultrasound as a diagnostic tool in microgravity environments. The goals of research in ultrasound usage in space environments are: (1) Determine accuracy of ultrasound in novel clinical conditions. (2) Determine optimal training methodologies, (3) Determine microgravity associated changes and (4) Develop intuitive ultrasound catalog to enhance autonomous medical care. Also uses of Ultrasound technology in terrestrial applications are reviewed.

Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control.

PubMed

Kember, Guy; Ardell, Jeffrey L; Shivkumar, Kalyanam; Armour, J Andrew

2017-01-01

The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as 'free-floating' in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease.

The Personal Satellite Assistant: An Internal Spacecraft Autonomous Mobile Monitor

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

This paper presents an overview of the research and development effort at the NASA Ames Research Center to create an internal spacecraft autonomous mobile monitor capable of performing intra-vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the capabilities, mission roles, rationale, high-level functional requirements, and design challenges for an autonomous mobile monitor. The rapid prototyping design methodology used, in which five prototypes of increasing fidelity are designed, is described as well as the status of these prototypes, of which two are operational and being tested, and one is actively being designed. The physical test facilities used to perform ground testing are briefly described, including a micro-gravity test facility that permits a prototype to propel itself in 3 dimensions with 6 degrees-of-freedom as if it were in an micro-gravity environment. We also describe an overview of the autonomy framework and its components including the software simulators used in the development process. Sample mission test scenarios are also described. The paper concludes with a discussion of future and related work followed by the summary.

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

NASA Technical Reports Server (NTRS)

Ambrose, Robert; Savely, Robert; Bluethmann, William; Kortenkamp, David

2003-01-01

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Autonomous biomorphic robots as platforms for sensors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tilden, M.; Hasslacher, B.; Mainieri, R.

1996-10-01

The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomousmore » machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.« less

Learning tactile skills through curious exploration

PubMed Central

Pape, Leo; Oddo, Calogero M.; Controzzi, Marco; Cipriani, Christian; Förster, Alexander; Carrozza, Maria C.; Schmidhuber, Jürgen

2012-01-01

We present curiosity-driven, autonomous acquisition of tactile exploratory skills on a biomimetic robot finger equipped with an array of microelectromechanical touch sensors. Instead of building tailored algorithms for solving a specific tactile task, we employ a more general curiosity-driven reinforcement learning approach that autonomously learns a set of motor skills in absence of an explicit teacher signal. In this approach, the acquisition of skills is driven by the information content of the sensory input signals relative to a learner that aims at representing sensory inputs using fewer and fewer computational resources. We show that, from initially random exploration of its environment, the robotic system autonomously develops a small set of basic motor skills that lead to different kinds of tactile input. Next, the system learns how to exploit the learned motor skills to solve supervised texture classification tasks. Our approach demonstrates the feasibility of autonomous acquisition of tactile skills on physical robotic platforms through curiosity-driven reinforcement learning, overcomes typical difficulties of engineered solutions for active tactile exploration and underactuated control, and provides a basis for studying developmental learning through intrinsic motivation in robots. PMID:22837748

The role of the nurse-physician leadership dyad in implementing the Baby-Friendly Hospital Initiative.

PubMed

St Fleur, Rose; McKeever, Joyce

2014-01-01

The concept of the nurse-physician leadership dyad incorporates the expertise of both nurses and physicians as leaders of change within health system environments. The leadership dyad model has been used traditionally in health care administrative settings to manage utilization of resources more effectively. Because the Baby-Friendly designation requires major cultural shifts in long-standing maternity care practices, an interdisciplinary approach to implementation is necessary. © 2014 AWHONN.

Adjustable Autonomy Testbed

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Schrenkenghost, Debra K.

2001-01-01

The Adjustable Autonomy Testbed (AAT) is a simulation-based testbed located in the Intelligent Systems Laboratory in the Automation, Robotics and Simulation Division at NASA Johnson Space Center. The purpose of the testbed is to support evaluation and validation of prototypes of adjustable autonomous agent software for control and fault management for complex systems. The AA T project has developed prototype adjustable autonomous agent software and human interfaces for cooperative fault management. This software builds on current autonomous agent technology by altering the architecture, components and interfaces for effective teamwork between autonomous systems and human experts. Autonomous agents include a planner, flexible executive, low level control and deductive model-based fault isolation. Adjustable autonomy is intended to increase the flexibility and effectiveness of fault management with an autonomous system. The test domain for this work is control of advanced life support systems for habitats for planetary exploration. The CONFIG hybrid discrete event simulation environment provides flexible and dynamically reconfigurable models of the behavior of components and fluids in the life support systems. Both discrete event and continuous (discrete time) simulation are supported, and flows and pressures are computed globally. This provides fast dynamic simulations of interacting hardware systems in closed loops that can be reconfigured during operations scenarios, producing complex cascading effects of operations and failures. Current object-oriented model libraries support modeling of fluid systems, and models have been developed of physico-chemical and biological subsystems for processing advanced life support gases. In FY01, water recovery system models will be developed.

Autonomous caregiver following robotic wheelchair

NASA Astrophysics Data System (ADS)

Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

2011-12-01

In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

Optimising physical activity engagement during youth sport: a self-determination theory approach.

PubMed

Fenton, Sally A M; Duda, Joan L; Barrett, Timothy

2016-10-01

Research suggests participation in youth sport does not guarantee physical activity (PA) guidelines are met. Studies indicate few children achieve recommended levels of moderate-to-vigorous physical activity (MVPA) during their youth sport involvement, and habitual levels of MVPA are below the recommended 60 min per day. Informed by self-determination theory, this study examined whether the coach-created social environment and related player motivation predict variability in objectively measured MVPA within the youth sport setting. Seventy three male youth sport footballers (Mean age = 11.66 ± 1.62) completed a multisection questionnaire assessing their perceptions of the social environment created in youth sport (autonomy supportive and controlling) and motivation towards their football participation (autonomous and controlled). Intensity of PA during youth sport was measured using accelerometers (GT3X, ActiGraph). Results supported a model in which perceptions of autonomy support significantly and positively predicted autonomous motivation towards football, which in turn significantly and positively predicted youth sport MVPA (% time). A significant indirect effect was observed for perceptions of autonomy support on youth sport %MVPA via autonomous motivation. Results have implications for optimising MVPA engagement during youth sport and increasing daily MVPA towards recommended and health-enhancing levels on youth sport days.

Design and Fabrication of an MRI-Compatible, Autonomous Incubation System.

PubMed

Khalilzad-Sharghi, Vahid; Xu, Huihui

2015-10-01

Tissue engineers have long sought access to an autonomous, imaging-compatible tissue incubation system that, with minimum operator handling, can provide real-time visualization and quantification of cells, tissue constructs, and organs. This type of screening system, capable of operating noninvasively to validate tissue, can overcome current limitations like temperature shock, unsustainable cellular environments, sample contamination, and handling/stress. However, this type of system has been a major challenge, until now. Here, we describe the design, fabrication, and characterization of an innovative, autonomous incubation system that is compatible with a 9.4 T magnetic resonance imaging (MRI) scanner. Termed the e-incubator (patent pending; application number: 13/953,984), this microcontroller-based system is integrated into an MRI scanner and noninvasively screens cells and tissue cultures in an environment where temperature, pH, and media/gas handling are regulated. The 4-week study discussed herein details the continuous operation of the e-incubator for a tissue-engineered osteogenic construct, validated by LIVE/DEAD(®) cell assays and histology. The evolving MR quantitative parameters of the osteogenic construct were used as biomarkers for bone tissue engineering and to further validate the quality of the product noninvasively before harvesting. Importantly, the e-incubator reliably facilitates culturing cells and tissue constructs to create engineered tissues and/or investigate disease therapies.

Possible origins of consciousness in simple control over "involuntary" neuroimmunological action.

PubMed

Clark, Kevin B

2018-05-01

The origin(s) and purpose(s) of consciousness continue to be fervently debated by neuroscientists. A recent unconventional hypothesis put forth by Morsella et al. suggests the primary function of consciousness is the integration, selection, and execution of advantageous lower-level voluntary skeletal muscle behavior on surrounding external environments. However, at main issue is whether more precise, adaptable voluntary skeletal motor action, and therefore the corresponding workings of consciousness, first emerged and evolved in animals to exert control over external environments or internal ones regulated by less flexible autonomic function. Using the example of voluntary immunomodulation, one can identify the strengths and weaknesses of either rationale. For instance, highly trained meditative techniques for immunomodulation more-or-less conform to Morsella et al.'s assumptions on higher-level indirect conscious control of autonomic function. Whereas, untrained skeletal motor resolution of infection-related approach-avoidance conflicts support conclusions contrary to those of Morsella et al. In such cases, primitive voluntary changes in host respiration rate and volume may selectively facilitate/inhibit acute autonomic psychophysiological stress responses to pathogen insult. This and other types of scenarios predictably give evolutionary and ecological rise to self-awareness of (visceral) internal states as well as to voluntary regulation of internal state action conflicts. Copyright © 2018 Elsevier Inc. All rights reserved.

The Immersive Virtual Reality Lab: Possibilities for Remote Experimental Manipulations of Autonomic Activity on a Large Scale.

PubMed

Juvrud, Joshua; Gredebäck, Gustaf; Åhs, Fredrik; Lerin, Nils; Nyström, Pär; Kastrati, Granit; Rosén, Jörgen

2018-01-01

There is a need for large-scale remote data collection in a controlled environment, and the in-home availability of virtual reality (VR) and the commercial availability of eye tracking for VR present unique and exciting opportunities for researchers. We propose and provide a proof-of-concept assessment of a robust system for large-scale in-home testing using consumer products that combines psychophysiological measures and VR, here referred to as a Virtual Lab. For the first time, this method is validated by correlating autonomic responses, skin conductance response (SCR), and pupillary dilation, in response to a spider, a beetle, and a ball using commercially available VR. Participants demonstrated greater SCR and pupillary responses to the spider, and the effect was dependent on the proximity of the stimuli to the participant, with a stronger response when the spider was close to the virtual self. We replicated these effects across two experiments and in separate physical room contexts to mimic variability in home environment. Together, these findings demonstrate the utility of pupil dilation as a marker of autonomic arousal and the feasibility to assess this in commercially available VR hardware and support a robust Virtual Lab tool for massive remote testing.

The Immersive Virtual Reality Lab: Possibilities for Remote Experimental Manipulations of Autonomic Activity on a Large Scale

PubMed Central

Juvrud, Joshua; Gredebäck, Gustaf; Åhs, Fredrik; Lerin, Nils; Nyström, Pär; Kastrati, Granit; Rosén, Jörgen

2018-01-01

There is a need for large-scale remote data collection in a controlled environment, and the in-home availability of virtual reality (VR) and the commercial availability of eye tracking for VR present unique and exciting opportunities for researchers. We propose and provide a proof-of-concept assessment of a robust system for large-scale in-home testing using consumer products that combines psychophysiological measures and VR, here referred to as a Virtual Lab. For the first time, this method is validated by correlating autonomic responses, skin conductance response (SCR), and pupillary dilation, in response to a spider, a beetle, and a ball using commercially available VR. Participants demonstrated greater SCR and pupillary responses to the spider, and the effect was dependent on the proximity of the stimuli to the participant, with a stronger response when the spider was close to the virtual self. We replicated these effects across two experiments and in separate physical room contexts to mimic variability in home environment. Together, these findings demonstrate the utility of pupil dilation as a marker of autonomic arousal and the feasibility to assess this in commercially available VR hardware and support a robust Virtual Lab tool for massive remote testing. PMID:29867318

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA Technical Reports Server (NTRS)

Allen, B. Danette; Cross, Charles D.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc; Trujillo, Anna C.; Crisp, Vicki K.

2015-01-01

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

NASA Astrophysics Data System (ADS)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

CESAR research in intelligent machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Weisbin, C.R.

1986-01-01

The Center for Engineering Systems Advanced Research (CESAR) was established in 1983 as a national center for multidisciplinary, long-range research and development in machine intelligence and advanced control theory for energy-related applications. Intelligent machines of interest here are artificially created operational systems that are capable of autonomous decision making and action. The initial emphasis for research is remote operations, with specific application to dexterous manipulation in unstructured dangerous environments where explosives, toxic chemicals, or radioactivity may be present, or in other environments with significant risk such as coal mining or oceanographic missions. Potential benefits include reduced risk to man inmore » hazardous situations, machine replication of scarce expertise, minimization of human error due to fear or fatigue, and enhanced capability using high resolution sensors and powerful computers. A CESAR goal is to explore the interface between the advanced teleoperation capability of today, and the autonomous machines of the future.« less

Coordinating teams of autonomous vehicles: an architectural perspective

NASA Astrophysics Data System (ADS)

Czichon, Cary; Peterson, Robert W.; Mettala, Erik G.; Vondrak, Ivo

2005-05-01

In defense-related robotics research, a mission level integration gap exists between mission tasks (tactical) performed by ground, sea, or air applications and elementary behaviors enacted by processing, communications, sensors, and weaponry resources (platform specific). The gap spans ensemble (heterogeneous team) behaviors, automatic MOE/MOP tracking, and tactical task modeling/simulation for virtual and mixed teams comprised of robotic and human combatants. This study surveys robotic system architectures, compares approaches for navigating problem/state spaces by autonomous systems, describes an architecture for an integrated, repository-based modeling, simulation, and execution environment, and outlines a multi-tiered scheme for robotic behavior components that is agent-based, platform-independent, and extendable via plug-ins. Tools for this integrated environment, along with a distributed agent framework for collaborative task performance are being developed by a U.S. Army funded SBIR project (RDECOM Contract N61339-04-C-0005).

Data Retrieved by ARCADE-R2 Experiment On Board the BEXUS-17 Balloon

NASA Astrophysics Data System (ADS)

Barbetta, M.; Branz, F.; Carron, A.; Olivieri, L.; Prendin, J.; Sansone, F.; Savioli, L.; Spinello, F.; Francesconi, A.

2015-09-01

The Autonomous Rendezvous, Control And Docking Experiment — Reflight 2 (ARCADE-R2) is a technology demonstrator aiming to prove automatic attitude determination and control, rendezvous and docking capabilities for small scale spacecraft and aircraft. The development of such capabilities could be fundamental to create, in the near future, fleets of cooperative, autonomous unmanned aerial vehicles for mapping, surveillance, inspection and remote observation of hazardous environments; small-class satellites could also benefit from the employment of docking systems to extend and reconfigure their mission profiles. ARCADE-R2 is designed to test these technologies on a stratospheric flight on board the BEXUS-17 balloon, allowing to demonstrate them in a harsh environment subjected to gusty winds and high pressure and temperature variations. In this paper, ARCADE-R2 architecture is introduced and the main results obtained from a stratospheric balloon flight are presented.

A Review of the Bayesian Occupancy Filter

PubMed Central

Saval-Calvo, Marcelo; Medina-Valdés, Luis; Castillo-Secilla, José María; Cuenca-Asensi, Sergio; Martínez-Álvarez, Antonio; Villagrá, Jorge

2017-01-01

Autonomous vehicle systems are currently the object of intense research within scientific and industrial communities; however, many problems remain to be solved. One of the most critical aspects addressed in both autonomous driving and robotics is environment perception, since it consists of the ability to understand the surroundings of the vehicle to estimate risks and make decisions on future movements. In recent years, the Bayesian Occupancy Filter (BOF) method has been developed to evaluate occupancy by tessellation of the environment. A review of the BOF and its variants is presented in this paper. Moreover, we propose a detailed taxonomy where the BOF is decomposed into five progressive layers, from the level closest to the sensor to the highest abstract level of risk assessment. In addition, we present a study of implemented use cases to provide a practical understanding on the main uses of the BOF and its taxonomy. PMID:28208638

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

PubMed

Deng, Fucheng; Zhu, Xiaorui; He, Chao

2017-09-13

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

POST2 End-To-End Descent and Landing Simulation for the Autonomous Landing and Hazard Avoidance Technology Project

NASA Technical Reports Server (NTRS)

Fisher, Jody l.; Striepe, Scott A.

2007-01-01

The Program to Optimize Simulated Trajectories II (POST2) is used as a basis for an end-to-end descent and landing trajectory simulation that is essential in determining the design and performance capability of lunar descent and landing system models and lunar environment models for the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. This POST2-based ALHAT simulation provides descent and landing simulation capability by integrating lunar environment and lander system models (including terrain, sensor, guidance, navigation, and control models), along with the data necessary to design and operate a landing system for robotic, human, and cargo lunar-landing success. This paper presents the current and planned development and model validation of the POST2-based end-to-end trajectory simulation used for the testing, performance and evaluation of ALHAT project system and models.

Exploiting map plans as resources for action

NASA Technical Reports Server (NTRS)

Payton, David

1989-01-01

When plans are used as programs for controlling the action of autonomous or teleoperated robots, their abstract representation can easily obscure a great deal of the critical knowledge that originally led to the planned course of action. An autonomous vehicle experiment is highlighted which illustrates how the information barriers created by abstraction can result in undesirable action. It is then shown how the same task can be performed correctly using plans as a resource for action. As a result of this simple change in outlook, problems requiring opportunistic reaction to unexpected changes in the environment can be solved.

[Comparative characteristics of lead and cadmium intoxication in the Khanty-Mansi autonomous district].

PubMed

Korchina, T Ia; Korchin, V I

2011-01-01

The Khanty-Mansi Autonomous District (KMAD) occupies a prominent place in the economy of Russia in oil and gas production and energy generation. The development of hydrocarbon raw material extraction in the district does great damage to the environment and nature. This results in the accumulation of toxic chemical elements in man. The levels of lead, cadmium, calcium, and zinc were measured in the hair of indigenous and non-indigenous populations of the district. High lead and cadmium and low calcium and zinc concentration were found in indigenous adults and children in the KMAD.

Autonomous mobile robot teams

NASA Technical Reports Server (NTRS)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

Research Update: Nanogenerators for self-powered autonomous wireless sensors

NASA Astrophysics Data System (ADS)

Khan, Usman; Hinchet, Ronan; Ryu, Hanjun; Kim, Sang-Woo

2017-07-01

Largely distributed networks of sensors based on the small electronics have great potential for health care, safety, and environmental monitoring. However, in order to have a maintenance free and sustainable operation, such wireless sensors have to be self-powered. Among various energies present in our environment, mechanical energy is widespread and can be harvested for powering the sensors. Piezoelectric and triboelectric nanogenerators (NGs) have been recently introduced for mechanical energy harvesting. Here we introduce the architecture and operational modes of self-powered autonomous wireless sensors. Thereafter, we review the piezoelectric and triboelectric NGs focusing on their working mechanism, structures, strategies, and materials.

Toward autonomous spacecraft

NASA Technical Reports Server (NTRS)

Fogel, L. J.; Calabrese, P. G.; Walsh, M. J.; Owens, A. J.

1982-01-01

Ways in which autonomous behavior of spacecraft can be extended to treat situations wherein a closed loop control by a human may not be appropriate or even possible are explored. Predictive models that minimize mean least squared error and arbitrary cost functions are discussed. A methodology for extracting cyclic components for an arbitrary environment with respect to usual and arbitrary criteria is developed. An approach to prediction and control based on evolutionary programming is outlined. A computer program capable of predicting time series is presented. A design of a control system for a robotic dense with partially unknown physical properties is presented.

A design strategy for autonomous systems

NASA Technical Reports Server (NTRS)

Forster, Pete

1989-01-01

Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

New millennium program ST6: autonomous technologies for future NASA spacecraft

NASA Technical Reports Server (NTRS)

Chmielewski, Arthur B.; Chien, Steve; Sherwood, Robert; Wyman, William; Brady, T.; Buckley, S.; Tillier, C.

2005-01-01

The purpose of NASA's New Millennium Program (NMP) is to validate advanced technologies in space and thus lower the risk for the first mission user. The focus of NMP is only on those technologies which need space environment for proper validation. The ST6 project has developed two advanced, experimental technologies for use on spacecraft of the future. These technologies are the Autonomous Sciencecraft Experiment and the Inertial Stellar Compass. These technologies will improve spacecraft's ability to: make decisions on what information to gather and send back to the ground, determine its own attitude and adjust its pointing.

Best Practices for In-Situ Sediment-Water Incubations with Benthic Landers

NASA Astrophysics Data System (ADS)

Tengberg, Anders; Kononets, Mikhail; Hall, Per; Nilsson, Madeleine; Ekeroth, Nils

2017-04-01

Biological, chemical, physical and geological processes that take place at the seafloor are crucial in influencing and regulating many aquatic environments. One method to estimate exchange rates, fluxes, between the sediment and the overlying water is in-situ sediment-water incubations using autonomous chamber landers. As for all field sampling and measurements best practices methods are needed to obtain high quality data. With experiences form many years usage of the Gothenburg autonomous bottom lander systems this presentation will describe some of the experimental work that has been done with focus on quality control and data evaluation methods.

Hedonic quality or reward? A study of basic pleasure in homeostasis and decision making of a motivated autonomous robot.

PubMed

Lewis, Matthew; Cañamero, Lola

2016-10-01

We present a robot architecture and experiments to investigate some of the roles that pleasure plays in the decision making (action selection) process of an autonomous robot that must survive in its environment. We have conducted three sets of experiments to assess the effect of different types of pleasure-related versus unrelated to the satisfaction of physiological needs-under different environmental circumstances. Our results indicate that pleasure, including pleasure unrelated to need satisfaction, has value for homeostatic management in terms of improved viability and increased flexibility in adaptive behavior.

Information-Driven Autonomous Exploration for a Vision-Based Mav

NASA Astrophysics Data System (ADS)

Palazzolo, E.; Stachniss, C.

2017-08-01

Most micro aerial vehicles (MAV) are flown manually by a pilot. When it comes to autonomous exploration for MAVs equipped with cameras, we need a good exploration strategy for covering an unknown 3D environment in order to build an accurate map of the scene. In particular, the robot must select appropriate viewpoints to acquire informative measurements. In this paper, we present an approach that computes in real-time a smooth flight path with the exploration of a 3D environment using a vision-based MAV. We assume to know a bounding box of the object or building to explore and our approach iteratively computes the next best viewpoints using a utility function that considers the expected information gain of new measurements, the distance between viewpoints, and the smoothness of the flight trajectories. In addition, the algorithm takes into account the elapsed time of the exploration run to safely land the MAV at its starting point after a user specified time. We implemented our algorithm and our experiments suggest that it allows for a precise reconstruction of the 3D environment while guiding the robot smoothly through the scene.

A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2016-11-01

This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.

Do cell phones, iPods/MP3 players, siblings and friends matter? Predictors of child body mass in a U.S. Southern Border City Middle School.

PubMed

Ynalvez, Marcus Antonius; Ynalvez, Ruby; Torregosa, Marivic; Palacios, Horacio; Kilburn, John

2012-01-01

This study examines the association of children's (i) micro-social environment, specifically siblings [kin-friends] and friends from school and neighborhood [non-kin-friends], and (ii) ownership of information and communication technologies (ICT), specifically cell phones and iPod/MP3 players, with body mass index percentile (BMIp). Fifty-five randomly selected 6th graders with a mean age of 12 years, stratified by gender (23 boys and 32 girls), from a Texas middle school located in a city along the U.S. southern border. The linear regression of BMIp on number of siblings and of non-kin-friends, and ownership of cell phone and of iPod/MP3 player was examined using two models: M1 was based on the manual selection of predictors from a pool of potential predictors. M2 was derived from the predictors specified in M1 using backward elimination technique. Because sample size was small, the significance of regression coefficients was evaluated using robust standard errors to calculate t-values. Data for predictors were obtained through a survey. Height and weight were obtained through actual anthropometric measurements. BMIp was calculated using the on-line BMI calculator of the Center for Disease Control and Prevention. Findings reveal that children's social environment and ICT ownership predict BMIp; specifically, number of siblings (M2: β = -0.34, p-value < .001), and ownership of iPod/MP3 players (M2: β = 0.33, p-value < .001). These results underscore the importance of family in configuring, and of new personal technical devices (that encourage solitary, and oftentimes sedentary, activities) in predicting child body mass. © 2012 Asian Oceanian Association for the Study of Obesity . Published by Elsevier Ltd. All rights reserved.

"For whom was it effective?" Moderators of the effect of a school-based intervention on potential physical activity determinants among Brazilian students.

PubMed

Barbosa Filho, Valter Cordeiro; da Silva, Kelly Samara; Mota, Jorge; Vieira, Neiva Francenely Cunha; Gubert, Fabiane do Amaral; Lopes, Adair da Silva

2017-04-01

Knowledge about the effects of school-based interventions on modifiable physical activity (PA) determinants (e.g., social support), and whether the intervention effect differs according to students' characteristics (e.g., age and gender) are relevant PA promotion topics. This study aims to answer these topics among Brazilian students. This cluster-randomized controlled trial was conducted with 548 students in the intervention group and 537 in the control group (51.5% of boys; aged 11-18years). The four-month intervention included strategies focused on training teachers, opportunities for PA in the school environment, and health education. Potential PA determinants (attitude, self-efficacy, support of friends, parents, and teachers, perceived neighborhood environment and PA facilities in school) and moderators (gender, age, socioeconomic status (SES), and PA level at baseline) were assessed using self-reported instrument. Height and weight were measured to estimate the students' body mass index (BMI) status. Generalized linear models were used. In general, there was a significant and positive intervention effect for attitude, support of friends and teachers for PA, as well as PA facilities in school; effect size was 0.29, 0.24, 0.34, and 0.29, respectively (P<0.05). Age (support of friends, parents and teachers, and PA facilities in school), SES (support of friends and PA facilities in school), and BMI status (support of friends) were moderators of the intervention effect on some outcomes. In conclusion, the intervention improved potential PA determinants, but some changes occurred differently according to students' characteristics. These findings should be considered in PA policies in the school context. This study is registered at Clinicaltrials.govNCT02439827. Copyright © 2017 Elsevier Inc. All rights reserved.

Home/family, peer, school, and neighborhood correlates of obesity in adolescents.

PubMed

Larson, N I; Wall, M M; Story, M T; Neumark-Sztainer, D R

2013-09-01

This study was designed to (1) identify the most important home/family, peer, school, and neighborhood environmental characteristics associated with weight status and (2) determine the overall contribution of these contexts to explaining weight status among an ethnically/racially diverse sample of adolescents. Surveys and anthropometric measures were completed in 2009-2010 by 2,793 adolescents (53.2% girls, mean age = 14.4 ± 2.0, 81.1% non-white) in Minneapolis/St. Paul, Minnesota schools. Data representing characteristics of adolescents' environments were collected from parents/caregivers, friends, school personnel, and Geographic Information System sources. Multiple regression models controlled for adolescent age, ethnicity/race, and socioeconomic status. The variance in body mass index (BMI) z-scores explained by 51 multicontextual characteristics was 24% for boys and 22% for girls. Across models, several characteristics of home/family (e.g., infrequent family meals) and peer environments (e.g., higher proportion of male friends who were overweight) were consistently associated with higher BMI z-scores among both boys and girls. Among girls, additional peer (e.g., lower physical activity among female friends) and neighborhood (e.g., perceived lack of safety) characteristics were consistently associated with higher BMI z-scores. Results underscore the importance of addressing the home/family and peer environments in future research and intervention efforts designed to reduce adolescent obesity. Copyright © 2013 The Obesity Society.

Impact of Policy Environment Characteristics on Physical Activity and Sedentary Behaviors of Children Attending Afterschool Programs

ERIC Educational Resources Information Center

Beets, Michael W.; Huberty, Jennifer; Beighle, Aaron; Moore, Justin B.; Webster, Collin; Ajja, Rahma; Weaver, Glenn

2013-01-01

State and national organizations recently developed policies focused on increasing physical activity (PA) in afterschool programs (ASPs). These policies emphasize "activity friendly" environment characteristics that, when present, should lead to higher levels of PA and reduce the amount of time children spend sedentary during an ASP.…

Assistive Technology for Young Children: Creating Inclusive Learning Environments

ERIC Educational Resources Information Center

Sadao, Kathleen C.; Robinson, Nancy B.

2010-01-01

Assistive technology (AT) can help young children with disabilities fully participate in natural, inclusive learning environments--but many early childhood professionals don't get the training they need to harness the power of AT. Fill that gap with this unintimidating, reader-friendly resource, the go-to guide to recommended AT practice for…

Natural Environments: A Letter from a Mother to Friends, Families, and Professionals.

ERIC Educational Resources Information Center

Mullis, Lorna

2002-01-01

A mother of a son with Down syndrome discusses how her family and child care providers work with him in natural environments to support his learning in daily activities. She urges other parents to keep trying until they find the right match that works for their family. (CR)

[Tobacco consumption among school children and its relation to the environment].

PubMed

Gascón Jiménez, F J; Jurado Porcel, A; Navarro Gochicoa, B; Gascón Jiménez, J A; Romanos Lezcano, A

1999-05-01

The aim of our study was to know the prevalence of tobacco consumption and the influence of the immediate environment in schoolchildren. Participants were a random sample of 1,195 sixth and eighth grade schoolchildren from our rural area (N = 14,537) with a mean age of 12.7 +/- 1.27 years. Data were collected from a confidential and anonymous survey about tobacco consumption. We found that 18.6% of children are currently smokers and 22% of them smoke daily. Forty-four percent of schoolchildren had tried tobacco occasionally. The mean age to start tobacco consumption was 11 years old. Regarding family environment, 56% of the fathers consumed tobacco daily in contrast to 22% of mothers. Logistic-regression analyses showed an independent association between smoking habits, alcohol and coffee consumption and smoking (habit in the best friend). A great number of schoolchildren had consumed tobacco occasionally. Group of friends had an important influence in the smoking habit, unlike the family environment. Moreover, tobacco consumption showed an independent association with bad habits like drinking alcohol and coffee.

TLBO based Voltage Stable Environment Friendly Economic Dispatch Considering Real and Reactive Power Constraints

NASA Astrophysics Data System (ADS)

Verma, H. K.; Mafidar, P.

2013-09-01

In view of growing concern towards environment, power system engineers are forced to generate quality green energy. Hence the economic dispatch (ED) aims at the power generation to meet the load demand at minimum fuel cost with environmental and voltage constraints along with essential constraints on real and reactive power. The emission control which reduces the negative impact on environment is achieved by including the additional constraints in ED problem. Presently, the power system mostly operates near its stability limits, therefore with increased demand the system faces voltage problem. The bus voltages are brought within limit in the present work by placement of static var compensator (SVC) at weak bus which is identified from bus participation factor. The optimal size of SVC is determined by univariate search method. This paper presents the use of Teaching Learning based Optimization (TLBO) algorithm for voltage stable environment friendly ED problem with real and reactive power constraints. The computational effectiveness of TLBO is established through test results over particle swarm optimization (PSO) and Big Bang-Big Crunch (BB-BC) algorithms for the ED problem.

Stimulating Autonomous Learning Environments: Considering Group Efficacy as Mediating the Relationship between Perceived Autonomy Support and Self- Determinism in the Learning Environment

ERIC Educational Resources Information Center

Hogan, Shannon L.

2012-01-01

This study researched 120 college students and professors to test the mediation of group efficacy between perceived autonomy support and self-determinism. The study provided surveys to students in eight different classes. Studying multiple classes offered an opportunity to understand the model more effectively and in a broader scope. The classes…

Influence of menstrual phase and arid vs. humid heat stress on autonomic and behavioural thermoregulation during exercise in trained but unacclimated women

PubMed Central

Lei, Tze‐Huan; Stannard, Stephen R.; Perry, Blake G.; Schlader, Zachary J.; Cotter, James D.

2017-01-01

Key points Despite an attenuated fluctuation in ovarian hormone concentrations in well‐trained women, one in two of such women believe their menstrual cycle negatively impacts training and performance.Forthcoming large international events will expose female athletes to hot environments, and studies evaluating aerobic exercise performance in such environments across the menstrual cycle are sparse, with mixed findings.We have identified that autonomic heat loss responses at rest and during fixed‐intensity exercise in well‐trained women are not affected by menstrual cycle phase, but differ between dry and humid heat.Furthermore, exercise performance is not different across the menstrual cycle, yet is lower in humid heat, in conjunction with reduced evaporative cooling.Menstrual cycle phase does not appear to affect exercise performance in the heat in well‐trained women, but humidity impairs performance, probably due to reduced evaporative power. Abstract We studied thermoregulatory responses of ten well‐trained [V˙O2 max , 57 (7) ml min−1 kg−1] eumenorrheic women exercising in dry and humid heat, across their menstrual cycle. They completed four trials, each of resting and cycling at fixed intensities (125 and 150 W), to assess autonomic regulation, then self‐paced intensity (30 min work trial), to assess behavioural regulation. Trials were in early‐follicular (EF) and mid‐luteal (ML) phases in dry (DRY) and humid (HUM) heat matched for wet bulb globe temperature (WBGT, 27°C). During rest and fixed‐intensity exercise, rectal temperature was ∼0.2°C higher in ML than EF (P < 0.01) independent of environment (P = 0.66). Mean skin temperature did not differ between menstrual phases (P ≥ 0.13) but was higher in DRY than HUM (P < 0.01). Local sweat rate and/or forearm blood flow differed as a function of menstrual phase and environment (interaction: P ≤ 0.01). Exercise performance did not differ between phases [EF: 257 (37), ML: 255 (43) kJ, P = 0.62], but was 7 (9)% higher in DRY than HUM [263 (39), 248 (40) kJ; P < 0.01] in conjunction with equivalent autonomic regulation and thermal strain but higher evaporative cooling [16 (6) W m2; P < 0.01]. In well‐trained women exercising in the heat: (1) menstrual phase did not affect performance, (2) humidity impaired performance due to reduced evaporative cooling despite matched WBGT and (3) behavioural responses nullified thermodynamic and autonomic differences associated with menstrual phase and dry vs. humid heat. PMID:27900769

Influence of menstrual phase and arid vs. humid heat stress on autonomic and behavioural thermoregulation during exercise in trained but unacclimated women.

PubMed

Lei, Tze-Huan; Stannard, Stephen R; Perry, Blake G; Schlader, Zachary J; Cotter, James D; Mündel, Toby

2017-05-01

Despite an attenuated fluctuation in ovarian hormone concentrations in well-trained women, one in two of such women believe their menstrual cycle negatively impacts training and performance. Forthcoming large international events will expose female athletes to hot environments, and studies evaluating aerobic exercise performance in such environments across the menstrual cycle are sparse, with mixed findings. We have identified that autonomic heat loss responses at rest and during fixed-intensity exercise in well-trained women are not affected by menstrual cycle phase, but differ between dry and humid heat. Furthermore, exercise performance is not different across the menstrual cycle, yet is lower in humid heat, in conjunction with reduced evaporative cooling. Menstrual cycle phase does not appear to affect exercise performance in the heat in well-trained women, but humidity impairs performance, probably due to reduced evaporative power. We studied thermoregulatory responses of ten well-trained [V̇O2 max , 57 (7) ml min -1  kg -1 ] eumenorrheic women exercising in dry and humid heat, across their menstrual cycle. They completed four trials, each of resting and cycling at fixed intensities (125 and 150 W), to assess autonomic regulation, then self-paced intensity (30 min work trial), to assess behavioural regulation. Trials were in early-follicular (EF) and mid-luteal (ML) phases in dry (DRY) and humid (HUM) heat matched for wet bulb globe temperature (WBGT, 27°C). During rest and fixed-intensity exercise, rectal temperature was ∼0.2°C higher in ML than EF (P < 0.01) independent of environment (P = 0.66). Mean skin temperature did not differ between menstrual phases (P ≥ 0.13) but was higher in DRY than HUM (P < 0.01). Local sweat rate and/or forearm blood flow differed as a function of menstrual phase and environment (interaction: P ≤ 0.01). Exercise performance did not differ between phases [EF: 257 (37), ML: 255 (43) kJ, P = 0.62], but was 7 (9)% higher in DRY than HUM [263 (39), 248 (40) kJ; P < 0.01] in conjunction with equivalent autonomic regulation and thermal strain but higher evaporative cooling [16 (6) W m 2 ; P < 0.01]. In well-trained women exercising in the heat: (1) menstrual phase did not affect performance, (2) humidity impaired performance due to reduced evaporative cooling despite matched WBGT and (3) behavioural responses nullified thermodynamic and autonomic differences associated with menstrual phase and dry vs. humid heat. © 2016 The Authors. The Journal of Physiology © 2016 The Physiological Society.

Substance use capital: Social resources enhancing youth substance use.

PubMed

Baggio, S; Mohler-Kuo, M; Dupuis, M; Henchoz, Y; Studer, J; N'Goran, A A; Gmel, G

2016-09-01

Social capital is described as a protective factor against youth substance use, but it may also be associated with behaviours that do not enhance health. The present study hypothesized that 'substance use capital', i.e. resources favourable to substance use, is a risk factor for substance use and misuse. We used baseline data from the ongoing Cohort Study on Substance Use Risk Factors (C-SURF) that included a representative sample of young Swiss men (n=5623). Substance use (alcohol, cannabis, 15 illicit drugs, lifetime use, hazardous use and dependence), substance use capital (parental and peer attitudes towards substance use, parental and peer drug use, perceived norms of substance use) and aspects of social capital (relationships with parents and peers) were assessed. Logistic regressions were used to examine the associations between substance-related resources and social resources, and substance use. Results showed that substance-related resources were associated with an increased risk of substance use (OR between 1.25 and 4.67), whereas social resources' associations with substance use were commonly protective but weaker than substance-related resources. Thus, a drug-friendly environment facilitated substance use and misuse. Moreover, the results showed that peer environments were more drug-friendly than familial environments. In conclusion, this study highlighted a concept of 'substance use capital', which may be useful for advancing both theoretical and applied knowledge of substance use. Indeed, substance use is not only associated with a lack of social resources, but also with specific drug-friendly social resources coming from environment and background. Copyright © 2016 Elsevier Masson SAS. All rights reserved.

Miniature Robotic Submarine for Exploring Harsh Environments

NASA Technical Reports Server (NTRS)

Behar, Alberto; Bruhn, Fredrik; Carsey, Frank

2004-01-01

The miniature autonomous submersible explorer (MASE) has been proposed as a means of scientific exploration -- especially, looking for signs of life -- in harsh, relatively inaccessible underwater environments. Basically, the MASE would be a small instrumented robotic submarine (see figure) that could launch itself or could be launched from another vehicle. Examples of environments that might be explored by use of the MASE include subglacial lakes, deep-ocean hydrothermal vents, acidic or alkaline lakes, brine lenses in permafrost, and ocean regions under Antarctic ice shelves.

Mobile Robot for Exploring Cold Liquid/Solid Environments

NASA Technical Reports Server (NTRS)

Bergh, Charles; Zimmerman, Wayne

2006-01-01

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Cameron, Jonathan; Myint, Steven; Kuo, Calvin; Jain, Abhi; Grip, Havard; Jayakumar, Paramsothy; Overholt, Jim

2013-01-01

This paper reports on a collaborative project between U.S. Army TARDEC and Jet Propulsion Laboratory (JPL) to develop a unmanned ground vehicle (UGV) simulation model using the ROAMS vehicle modeling framework. Besides modeling the physical suspension of the vehicle, the sensing and navigation of the HMMWV vehicle are simulated. Using models of urban and off-road environments, the HMMWV simulation was tested in several ways, including navigation in an urban environment with obstacle avoidance and the performance of a lane change maneuver.

Bio-inspired Autonomic Structures: a middleware for Telecommunications Ecosystems

NASA Astrophysics Data System (ADS)

Manzalini, Antonio; Minerva, Roberto; Moiso, Corrado

Today, people are making use of several devices for communications, for accessing multi-media content services, for data/information retrieving, for processing, computing, etc.: examples are laptops, PDAs, mobile phones, digital cameras, mp3 players, smart cards and smart appliances. One of the most attracting service scenarios for future Telecommunications and Internet is the one where people will be able to browse any object in the environment they live: communications, sensing and processing of data and services will be highly pervasive. In this vision, people, machines, artifacts and the surrounding space will create a kind of computational environment and, at the same time, the interfaces to the network resources. A challenging technological issue will be interconnection and management of heterogeneous systems and a huge amount of small devices tied together in networks of networks. Moreover, future network and service infrastructures should be able to provide Users and Application Developers (at different levels, e.g., residential Users but also SMEs, LEs, ASPs/Web2.0 Service roviders, ISPs, Content Providers, etc.) with the most appropriate "environment" according to their context and specific needs. Operators must be ready to manage such level of complication enabling their latforms with technological advanced allowing network and services self-supervision and self-adaptation capabilities. Autonomic software solutions, enhanced with innovative bio-inspired mechanisms and algorithms, are promising areas of long term research to face such challenges. This chapter proposes a bio-inspired autonomic middleware capable of leveraging the assets of the underlying network infrastructure whilst, at the same time, supporting the development of future Telecommunications and Internet Ecosystems.

Autonomous Congestion Control in Delay-Tolerant Networks

NASA Technical Reports Server (NTRS)

Burleigh, Scott; Jennings, Esther; Schoolcraft, Joshua

2006-01-01

Congestion control is an important feature that directly affects network performance. Network congestion may cause loss of data or long delays. Although this problem has been studied extensively in the Internet, the solutions for Internet congestion control do not apply readily to challenged network environments such as Delay Tolerant Networks (DTN) where end-to-end connectivity may not exist continuously and latency can be high. In DTN, end-to-end rate control is not feasible. This calls for congestion control mechanisms where the decisions can be made autonomously with local information only. We use an economic pricing model and propose a rule-based congestion control mechanism where each router can autonomously decide on whether to accept a bundle (data) based on local information such as available storage and the value and risk of accepting the bundle (derived from historical statistics). Preliminary experimental results show that this congestion control mechanism can protect routers from resource depletion without loss of data.

Memory and modularity in cell-fate decision making

NASA Astrophysics Data System (ADS)

Norman, Thomas M.; Lord, Nathan D.; Paulsson, Johan; Losick, Richard

2013-11-01

Genetically identical cells sharing an environment can display markedly different phenotypes. It is often unclear how much of this variation derives from chance, external signals, or attempts by individual cells to exert autonomous phenotypic programs. By observing thousands of cells for hundreds of consecutive generations under constant conditions, we dissect the stochastic decision between a solitary, motile state and a chained, sessile state in Bacillus subtilis. We show that the motile state is `memoryless', exhibiting no autonomous control over the time spent in the state. In contrast, the time spent as connected chains of cells is tightly controlled, enforcing coordination among related cells in the multicellular state. We show that the three-protein regulatory circuit governing the decision is modular, as initiation and maintenance of chaining are genetically separable functions. As stimulation of the same initiating pathway triggers biofilm formation, we argue that autonomous timing allows a trial commitment to multicellularity that external signals could extend.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Fuzzy logic in autonomous orbital operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.; Jani, Yashvant

1991-01-01

Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

Advances in Small Remotely Piloted Aircraft Communications and Remote Sensing in Maritime Environments including the Arctic

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Wackowski, S.; Walker, G.

2011-12-01

Small remotely piloted aircraft have recently been used for maritime remote sensing, including launch and retrieval operations from land, ships and sea ice. Such aircraft can also function to collect and communicate data from other ocean observing system platforms including moorings, tagged animals, drifters, autonomous surface vessels (ASVs), and autonomous underwater vessels (AUVs). The use of small remotely piloted aircraft (or UASs, unmanned aerial systems) with a combination of these capabilities will be required to monitor the vast areas of the open ocean, as well as in harsh high-latitude ecosystems. Indeed, these aircraft are a key component of planned high latitude maritime domain awareness environmental data collection capabilities, including use of visible, IR and hyperspectral sensors, as well as lidar, meteorological sensors, and interferometric synthetic aperture radars (ISARs). We here first describe at-sea demonstrations of improved reliability and bandwidth of communications from ocean sensors on autonomous underwater vehicles to autonomous surface vessels, and then via remotely piloted aircraft to shore, ships and manned aircraft using Delay and Disruption Tolerant (DTN) communication protocols. DTN enables data exchange in communications-challenged environments, such as remote regions of the ocean including high latitudes where low satellite angles and auroral disturbances can be problematic. DTN provides a network architecture and application interface structured around optionally-reliable asynchronous message forwarding, with limited expectations of end-to-end connectivity and node resources. This communications method enables aircraft and surface vessels to function as data mules to move data between physically disparate nodes. We provide examples of the uses of this communication protocol for environmental data collection and data distribution with a variety of different remotely piloted aircraft in a coastal ocean environment. Next, we highlight use in the arctic of two different small remotely piloted aircraft (ScanEagle and RAVEN) for remote sensing of ice and ocean conditions as well as surveys of marine mammals. Finally, we explain how these can be used in future networked environments with DTN support not only for the collection of ocean and ice data for maritime domain awareness, but also for monitoring oil spill dynamics in high latitude environments, including spills in and under sea ice. The networked operation of heterogeneous air and ocean vehicle systems using DTN communications methods can provide unprecedented levels of spatial-temporal sampling resolution important to improving arctic remote sensing and maritime domain awareness capabilities.

Sensory augmentation for increased awareness of driving environment : final research report.

DOT National Transportation Integrated Search

2016-01-01

The goal of this project was to develop a lateral localization framework for autonomous driving in urban areas. Vehicle location is significant information for the controller, planner and behaviors systems. Lateral location is extremely important for...

Building an environment model using depth information

NASA Technical Reports Server (NTRS)

Roth-Tabak, Y.; Jain, Ramesh

1989-01-01

Modeling the environment is one of the most crucial issues for the development and research of autonomous robot and tele-perception. Though the physical robot operates (navigates and performs various tasks) in the real world, any type of reasoning, such as situation assessment, planning or reasoning about action, is performed based on information in its internal world. Hence, the robot's intentional actions are inherently constrained by the models it has. These models may serve as interfaces between sensing modules and reasoning modules, or in the case of telerobots serve as interface between the human operator and the distant robot. A robot operating in a known restricted environment may have a priori knowledge of its whole possible work domain, which will be assimilated in its World Model. As the information in the World Model is relatively fixed, an Environment Model must be introduced to cope with the changes in the environment and to allow exploring entirely new domains. Introduced here is an algorithm that uses dense range data collected at various positions in the environment to refine and update or generate a 3-D volumetric model of an environment. The model, which is intended for autonomous robot navigation and tele-perception, consists of cubic voxels with the possible attributes: Void, Full, and Unknown. Experimental results from simulations of range data in synthetic environments are given. The quality of the results show great promise for dealing with noisy input data. The performance measures for the algorithm are defined, and quantitative results for noisy data and positional uncertainty are presented.

Innovative Railway Stations

NASA Astrophysics Data System (ADS)

Rzepnicka, Sylwia; Załuski, Daniel

2017-10-01

In relation to modern demographic trends, evolving technologies and environment-friendly solutions increases the potential of rail considered as sustainable form of public transport. Contemporary tendencies of designing railway stations in Europe are focused on lowering energy consumption and reducing carbon emission. The main goal of the designers is to create a friendly and intuitive space for its users and at the same time a building that uses renewable energy sources and minimizes negative impact on the environment by the increase of biologically active areas, reuse of rainwater and greywater, innovative heating and cooling solutions and reduction of energy losses. The optimisation of a life circle in railway architecture introduces new approach to passenger service. Examples mentioned in the content of this article help to synthesize changes in approach to the design within the context of sustainability.

Autonomous electrochemical biosensors: A new vision to direct methanol fuel cells.

PubMed

Sales, M Goreti F; Brandão, Lúcia

2017-12-15

A new approach to biosensing devices is demonstrated aiming an easier and simpler application in routine health care systems. Our methodology considered a new concept for the biosensor transducing event that allows to obtain, simultaneously, an equipment-free, user-friendly, cheap electrical biosensor. The use of the anode triple-phase boundary (TPB) layer of a passive direct methanol fuel cell (DMFC) as biosensor transducer is herein proposed. For that, the ionomer present in the anode catalytic layer of the DMFC is partially replaced by an ionomer with molecular recognition capability working as the biorecognition element of the biosensor. In this approach, fuel cell anode catalysts are modified with a molecularly imprinted polymer (plastic antibody) capable of protein recognition (ferritin is used as model protein), inserted in a suitable membrane electrode assembly (MEA) and tested, as initial proof-of-concept, in a non-passive fuel cell operation environment. The anchoring of the ionomer-based plastic antibody on the catalyst surface follows a simple one-step grafting from approach through radical polymerization. Such modification increases fuel cell performance due to the proton conductivity and macroporosity characteristics of the polymer on the TPB. Finally, the response and selectivity of the bioreceptor inside the fuel cell showed a clear and selective signal from the biosensor. Moreover, such pioneering transducing approach allowed amplification of the electrochemical response and increased biosensor sensitivity by 2 orders of magnitude when compared to a 3-electrodes configuration system. Copyright © 2017 The Authors. Published by Elsevier B.V. All rights reserved.

Coping strategies and social support needs of experienced and inexperienced nurses performing shiftwork.

PubMed

Gifkins, Jane; Loudoun, Rebecca; Johnston, Amy

2017-12-01

The aim of this investigation was to compare perceptions of nurses exposed to short or longer term shift work and their experiences working under this type of scheduling. Shift work is a crucial component of nurses' working lives, ensuring continuous care for patients. This study fills a research gap around the personal experiences of shift working nurses and the strategies used to manage the impacts of shift work. Qualitative case study design. Constructivist methodology, including in-depth semi-structured interviews conducted in 2015, was used for the study. Iterative review and inductive analysis of transcripts from nine recently graduated nurses and twelve experienced nurses enabled identification and verification of key themes. Three main areas of difference between new and experienced nurses relating to shift work challenges in a nursing environment emerged: perceptions about the utility of working in shifts, coping strategies and social support at home and work. Most experienced nurses found shift work advantageous, especially those with dependents. Coping strategies included flexible shift arrangements in both groups. Experienced nurses detailed the importance of support from family and friends while inexperienced nurses described feeling disconnected from social supports. Experienced nurses cited a lack of support from nursing managers as problematic. Findings suggest shift selection mitigated challenges of shift work for both inexperienced and experienced nurses, indicating autonomous roster selection is critical. Similarly, social support at work from senior nurses and management and at home played an important role in nurses' coping. © 2017 John Wiley & Sons Ltd.

Incremental learning of tasks from user demonstrations, past experiences, and vocal comments.

PubMed

Pardowitz, Michael; Knoop, Steffen; Dillmann, Ruediger; Zöllner, Raoul D

2007-04-01

Since many years the robotics community is envisioning robot assistants sharing the same environment with humans. It became obvious that they have to interact with humans and should adapt to individual user needs. Especially the high variety of tasks robot assistants will be facing requires a highly adaptive and user-friendly programming interface. One possible solution to this programming problem is the learning-by-demonstration paradigm, where the robot is supposed to observe the execution of a task, acquire task knowledge, and reproduce it. In this paper, a system to record, interpret, and reason over demonstrations of household tasks is presented. The focus is on the model-based representation of manipulation tasks, which serves as a basis for incremental reasoning over the acquired task knowledge. The aim of the reasoning is to condense and interconnect the data, resulting in more general task knowledge. A measure for the assessment of information content of task features is introduced. This measure for the relevance of certain features relies both on general background knowledge as well as task-specific knowledge gathered from the user demonstrations. Beside the autonomous information estimation of features, speech comments during the execution, pointing out the relevance of features are considered as well. The results of the incremental growth of the task knowledge when more task demonstrations become available and their fusion with relevance information gained from speech comments is demonstrated within the task of laying a table.

Autonomous Multi-sensor Coordination: The Science Goal Monitor

NASA Technical Reports Server (NTRS)

Koratkar, Anuradha; Jung, John; Geiger, Jenny; Grosvenor, Sandy

2004-01-01

Next-generation science and exploration systems will employ new observation strategies that will use multiple sensors in a dynamic environment to provide high quality monitoring, self-consistent analyses and informed decision making. The Science Goal Monitor (SGM) is a prototype software tool being developed to explore the nature of automation necessary to enable dynamic observing of earth phenomenon. The tools being developed in SGM improve our ability to autonomously monitor multiple independent sensors and coordinate reactions to better observe the dynamic phenomena. The SGM system enables users to specify events of interest and how to react when an event is detected. The system monitors streams of data to identify occurrences of the key events previously specified by the scientist/user. When an event occurs, the system autonomously coordinates the execution of the users desired reactions between different sensors. The information can be used to rapidly respond to a variety of fast temporal events. Investigators will no longer have to rely on after-the-fact data analysis to determine what happened. Our paper describes a series of prototype demonstrations that we have developed using SGM and NASA's Earth Observing-1 (EO-1) satellite and Earth Observing Systems Aqua/Terra spacecrafts MODIS instrument. Our demonstrations show the promise of coordinating data from different sources, analyzing the data for a relevant event, autonomously updating and rapidly obtaining a follow-on relevant image. SGM is being used to investigate forest fires, floods and volcanic eruptions. We are now identifying new earth science scenarios that will have more complex SGM reasoning. By developing and testing a prototype in an operational environment, we are also establishing and gathering metrics to gauge the success of automating science campaigns.

Exploring the Genetic Etiology of Trust in Adolescents: Combined Twin and DNA Analyses.

PubMed

Wootton, Robyn E; Davis, Oliver S P; Mottershaw, Abigail L; Wang, R Adele H; Haworth, Claire M A

2016-12-01

Behavioral traits generally show moderate to strong genetic influence, with heritability estimates of around 50%. Some recent research has suggested that trust may be an exception because it is more strongly influenced by social interactions. In a sample of over 7,000 adolescent twins from the United Kingdom's Twins Early Development Study, we found broad sense heritability estimates of 57% for generalized trust and 51% for trust in friends. Genomic-relatedness-matrix restricted maximum likelihood (GREML) estimates in the same sample indicate that 21% of the narrow sense genetic variance can be explained by common single nucleotide polymorphisms for generalized trust and 43% for trust in friends. As expected, this implies a large amount of unexplained heritability, although power is low for estimating DNA-based heritability. The missing heritability may be accounted for by interactions between DNA and the social environment during development or via gene-environment correlations with rare variants. How these genes and environments correlate seem especially important for the development of trust.

Exploring the Genetic Etiology of Trust in Adolescents: Combined Twin and DNA Analyses

PubMed Central

Wootton, Robyn E.; Davis, Oliver S. P.; Mottershaw, Abigail L.; Wang, R. Adele H.; Haworth, Claire M. A.

2017-01-01

Behavioral traits generally show moderate to strong genetic influence, with heritability estimates of around 50%. Some recent research has suggested that trust may be an exception because it is more strongly influenced by social interactions. In a sample of over 7,000 adolescent twins from the United Kingdom’s Twins Early Development Study, we found broad sense heritability estimates of 57% for generalized trust and 51% for trust in friends. Genomic-relatedness-matrix restricted maximum likelihood (GREML) estimates in the same sample indicate that 21% of the narrow sense genetic variance can be explained by common single nucleotide polymorphisms for generalized trust and 43% for trust in friends. As expected, this implies a large amount of unexplained heritability, although power is low for estimating DNA-based heritability. The missing heritability may be accounted for by interactions between DNA and the social environment during development or via gene–environment correlations with rare variants. How these genes and environments correlate seem especially important for the development of trust. PMID:27852354

Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control

PubMed Central

Ardell, Jeffrey L.; Shivkumar, Kalyanam; Armour, J. Andrew

2017-01-01

The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as ‘free-floating’ in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease. PMID:28692680

Multi Car Elevator Control by using Learning Automaton

NASA Astrophysics Data System (ADS)

Shiraishi, Kazuaki; Hamagami, Tomoki; Hirata, Hironori

We study an adaptive control technique for multi car elevators (MCEs) by adopting learning automatons (LAs.) The MCE is a high performance and a near-future elevator system with multi shafts and multi cars. A strong point of the system is that realizing a large carrying capacity in small shaft area. However, since the operation is too complicated, realizing an efficient MCE control is difficult for top-down approaches. For example, “bunching up together" is one of the typical phenomenon in a simple traffic environment like the MCE. Furthermore, an adapting to varying environment in configuration requirement is a serious issue in a real elevator service. In order to resolve these issues, having an autonomous behavior is required to the control system of each car in MCE system, so that the learning automaton, as the solutions for this requirement, is supposed to be appropriate for the simple traffic control. First, we assign a stochastic automaton (SA) to each car control system. Then, each SA varies its stochastic behavior distributions for adapting to environment in which its policy is evaluated with each passenger waiting times. That is LA which learns the environment autonomously. Using the LA based control technique, the MCE operation efficiency is evaluated through simulation experiments. Results show the technique enables reducing waiting times efficiently, and we confirm the system can adapt to the dynamic environment.

Neighborhood Attributes Associated With the Social Environment.

PubMed

Child, Stephanie T; Schoffman, Danielle E; Kaczynski, Andrew T; Forthofer, Melinda; Wilcox, Sara; Baruth, Meghan

2016-11-01

To examine the association between specific attributes of neighborhood environments and four social environment measures. Data were collected as part of a baseline survey among participants enrolling in a walking intervention. Participants were recruited from a metropolitan area in a Southeastern state. Participants (n = 294) were predominantly African-American (67%) and female (86%), with some college education (79%) and a mean age of 49. The International Physical Activity Questionnaire Environment Module assessed perceptions about neighborhood attributes. The social environment was assessed using three distinct scales: social cohesion, social interactions with neighbors, and social support for physical activity from family and friends. Multiple regression models examined associations between neighborhood attributes and social environment measures, adjusting for demographic variables. Having walkable destinations and having access to amenities and transit stops were associated with increased interactions with neighbors (b = 1.32, 1.04, and 1.68, respectively, p < .05). Attributes related to structural support for physical activity (sidewalks, street connectivity, recreation facilities) were associated with increased interactions with neighbors (b = 1.47, 1.34, and 1.13, respectively, p < .05). Bicycling facilities that were maintained (i.e., bike lanes, racks) were associated with social support for physical activity from family and friends (b = .43 and .30, respectively, p < .05). The study highlights key attributes of neighborhood environments that may be associated with the social context of such settings. © 2016 by American Journal of Health Promotion, Inc.

The barriers and enablers of healthy eating among young adults: a missing piece of the obesity puzzle: A scoping review.

PubMed

Munt, A E; Partridge, S R; Allman-Farinelli, M

2017-01-01

Young adults in Western countries are gaining weight faster than their parents and are more likely to gain weight than any other age cohort. Despite this, investigation into the complex young adults' food choice motives, which enable and prevent healthy eating, has not been widely investigated. A scoping review was conducted involving an extensive literature search of four major electronic databases: Medline, Embase, PsychInfo and CINAHL. Data were collected from 34 articles: study descriptions numerically analysed and key findings thematically analysed. The key barriers found included: male apathy towards diet; unhealthy diet of friends and family; expected consumption of unhealthy foods in certain situations; relative low cost of unhealthy foods; lack of time to plan, shop, prepare and cook healthy foods; lack of facilities to prepare, cook and store healthy foods; widespread presence of unhealthy foods; lack of knowledge and skills to plan, shop, prepare and cook healthy foods; lack of motivation to eat healthily (including risk-taking behaviour). The key enablers found included: female interest in a healthy diet; healthy diet of friends and family; support/encouragement of friends and family to eat healthy; desire for improved health; desire for weight management; desire for improved self-esteem; desire for attractiveness to potential partners and others; possessing autonomous motivation to eat healthy and existence and use of self-regulatory skills. This research provides evidence that can be used to tailor interventions for healthy eating and overweight and obesity in this population. However, government intervention in addressing food access, affordability, marketing and taxation remains essential to any significant change. © 2016 World Obesity Federation.

A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments

NASA Astrophysics Data System (ADS)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2018-06-01

This paper presents a nonlinear model predictive control (MPC) formulation for obstacle avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre of gravity (CoG) that operate in unstructured environments, such as military vehicles. The term 'unstructured' in this context denotes that there are no lanes or traffic rules to follow. Existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a new nonlinear MPC formulation is developed to navigate an AGV from its initial position to a target position at high-speed safely. First, a new cost function formulation is used that aims to find the shortest path to the target position, since no reference trajectory exists in unstructured environments. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms the obstacle-free region can assume due to the presence of multiple obstacles in the prediction horizon in an unstructured environment. Third, the no-wheel-lift-off condition, which is the major dynamical safety concern for high-speed, high-CoG AGVs, is ensured by limiting the steering angle within a range obtained offline using a 14 degrees-of-freedom vehicle dynamics model. Thus, a safe, high-speed navigation is enabled in an unstructured environment. Simulations of an AGV approaching multiple obstacles are provided to demonstrate the effectiveness of the algorithm.

Using a voice to put a name to a face: the psycholinguistics of proper name comprehension.

PubMed

Barr, Dale J; Jackson, Laura; Phillips, Isobel

2014-02-01

We propose that hearing a proper name (e.g., Kevin) in a particular voice serves as a compound memory cue that directly activates representations of a mutually known target person, often permitting reference resolution without any complex computation of shared knowledge. In a referential communication study, pairs of friends played a communication game, in which we monitored the eyes of one friend (the addressee) while he or she sought to identify the target person, in a set of four photos, on the basis of a name spoken aloud. When the name was spoken by a friend, addressees rapidly identified the target person, and this facilitation was independent of whether the friend was articulating a message he or she had designed versus one from a third party with whom the target person was not shared. Our findings suggest that the comprehension system takes advantage of regularities in the environment to minimize effortful computation about who knows what.

Physics-Aware Informative Coverage Planning for Autonomous Vehicles

DTIC Science & Technology

2014-06-01

environment and find the optimal path connecting fixed nodes, which is equivalent to solving the Traveling Salesman Problem (TSP). While TSP is an NP...intended for application to USV harbor patrolling, it is applicable to many different domains. The problem of traveling over an area and gathering...environment. I. INTRODUCTION There are many applications that need persistent monitor- ing of a given area, requiring repeated travel over the area to

Constructing a User-Friendly and Smart Ubiquitous Personalized Learning Environment by Using a Context-Aware Mechanism

ERIC Educational Resources Information Center

Yao, Ching-Bang

2017-01-01

Although m-learning applications have been widely researched, few studies have investigated applying adaptive learning content to various learning environments and efficient input interfaces. This study combined a context-aware mechanism, which can be used to provide suitable learning information anytime and anyplace by using GPS technology, with…

Electronic Warfare

DTIC Science & Technology

2012-02-08

EMOE is the background electromagnetic environment and the friendly, neutral, and adversarial electronic order of battle within the...X-RayELF VLF MF VHF SHFLF HF Radio Spectrum Visible Spectrum UHF EHF Gamma Ray Cosmic Ray The top bar shows how the electromagnetic spectrum is...effects of sunspots, lightning, and precipitation static. Essentially, the EME is the global EM background . Figure I-2. Electromagnetic Environment