Real-time path planning in dynamic virtual environments using multiagent navigation graphs.

PubMed

Sud, Avneesh; Andersen, Erik; Curtis, Sean; Lin, Ming C; Manocha, Dinesh

2008-01-01

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.

Orientation Guidance and Control for Marine Vehicles in the Horizontal Plane

DTIC Science & Technology

1991-06-01

FIELD GROUP SUB-GROUP Autonomous vehicles , Guidance and control, Stability, Path keeping 19 ABSIRACT (Continue on reverse if necessary and identify by...following in 3-D space. 33 LIST OF REFERENCES 1. Kanayama, Y. and Hartman, B.I. (1989) " Smooth local path planning for autonomous vehicles , " Proceeding

An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning.

PubMed

Li, Bai; Gong, Li-gang; Yang, Wen-lun

2014-01-01

Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.

Planning minimum-energy paths in an off-road environment with anisotropic traversal costs and motion constraints. Doctoral thesis

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

Ross, R.S.

1989-06-01

For a vehicle operating across arbitrarily-contoured terrain, finding the most fuel-efficient route between two points can be viewed as a high-level global path-planning problem with traversal costs and stability dependent on the direction of travel (anisotropic). The problem assumes a two-dimensional polygonal map of homogeneous cost regions for terrain representation constructed from elevation information. The anisotropic energy cost of vehicle motion has a non-braking component dependent on horizontal distance, a braking component dependent on vertical distance, and a constant path-independent component. The behavior of minimum-energy paths is then proved to be restricted to a small, but optimal set of traversalmore » types. An optimal-path-planning algorithm, using a heuristic search technique, reduces the infinite number of paths between the start and goal points to a finite number by generating sequences of goal-feasible window lists from analyzing the polygonal map and applying pruning criteria. The pruning criteria consist of visibility analysis, heading analysis, and region-boundary constraints. Each goal-feasible window lists specifies an associated convex optimization problem, and the best of all locally-optimal paths through the goal-feasible window lists is the globally-optimal path. These ideas have been implemented in a computer program, with results showing considerably better performance than the exponential average-case behavior predicted.« less

The 2012 Long-Term Budget Outlook

DTIC Science & Technology

2012-06-01

cuts or tax increases would give families, businesses , and state and local governments little time to plan and adjust, and would require more... busi - nesses, and state and local governments little time to plan and adjust, and would require more sacrifices sooner from current older workers...path. By comparison, if productivity growth was 0.3 per- centage points lower every year than CBO had assumed, GDP in the 10th year would be 3

Search Problems in Mission Planning and Navigation of Autonomous Aircraft. M.S. Thesis

NASA Technical Reports Server (NTRS)

Krozel, James A.

1988-01-01

An architecture for the control of an autonomous aircraft is presented. The architecture is a hierarchical system representing an anthropomorphic breakdown of the control problem into planner, navigator, and pilot systems. The planner system determines high level global plans from overall mission objectives. This abstract mission planning is investigated by focusing on the Traveling Salesman Problem with variations on local and global constraints. Tree search techniques are applied including the breadth first, depth first, and best first algorithms. The minimum-column and row entries for the Traveling Salesman Problem cost matrix provides a powerful heuristic to guide these search techniques. Mission planning subgoals are directed from the planner to the navigator for planning routes in mountainous terrain with threats. Terrain/threat information is abstracted into a graph of possible paths for which graph searches are performed. It is shown that paths can be well represented by a search graph based on the Voronoi diagram of points representing the vertices of mountain boundaries. A comparison of Dijkstra's dynamic programming algorithm and the A* graph search algorithm from artificial intelligence/operations research is performed for several navigation path planning examples. These examples illustrate paths that minimize a combination of distance and exposure to threats. Finally, the pilot system synthesizes the flight trajectory by creating the control commands to fly the aircraft.

Case report highlighting how wound path identification on CT can help identify organ damage in abdominal blast injuries.

PubMed

Fischer, Tatjana V; Folio, Les R; Backus, Christopher E; Bunger, Rolf

2012-01-01

Penetrating trauma is frequently encountered in forward deployed military combat hospitals. Abdominal blast injuries represent nearly 11% of combat injuries, and multiplanar computed tomography imaging is optimal for injury assessment and surgical planning. We describe a multiplanar approach to assessment of blast and ballistic injuries, which allows for more expeditious detection of missile tracts and damage caused along the path. Precise delineation of the trajectory path and localization of retained fragments enables time-saving and detailed evaluation of associated tissue and vascular injury. For consistent and reproducible documentation of fragment locations in the body, we propose a localization scheme based on Cartesian coordinates to report 3-dimensional locations of fragments and demonstrating the application in three cases of abdominal blast injury.

Rapid, parallel path planning by propagating wavefronts of spiking neural activity

PubMed Central

Ponulak, Filip; Hopfield, John J.

2013-01-01

Efficient path planning and navigation is critical for animals, robotics, logistics and transportation. We study a model in which spatial navigation problems can rapidly be solved in the brain by parallel mental exploration of alternative routes using propagating waves of neural activity. A wave of spiking activity propagates through a hippocampus-like network, altering the synaptic connectivity. The resulting vector field of synaptic change then guides a simulated animal to the appropriate selected target locations. We demonstrate that the navigation problem can be solved using realistic, local synaptic plasticity rules during a single passage of a wavefront. Our model can find optimal solutions for competing possible targets or learn and navigate in multiple environments. The model provides a hypothesis on the possible computational mechanisms for optimal path planning in the brain, at the same time it is useful for neuromorphic implementations, where the parallelism of information processing proposed here can fully be harnessed in hardware. PMID:23882213

Path planning for robotic truss assembly

NASA Technical Reports Server (NTRS)

Sanderson, Arthur C.

1993-01-01

A new Potential Fields approach to the robotic path planning problem is proposed and implemented. Our approach, which is based on one originally proposed by Munger, computes an incremental joint vector based upon attraction to a goal and repulsion from obstacles. By repetitively adding and computing these 'steps', it is hoped (but not guaranteed) that the robot will reach its goal. An attractive force exerted by the goal is found by solving for the the minimum norm solution to the linear Jacobian equation. A repulsive force between obstacles and the robot's links is used to avoid collisions. Its magnitude is inversely proportional to the distance. Together, these forces make the goal the global minimum potential point, but local minima can stop the robot from ever reaching that point. Our approach improves on a basic, potential field paradigm developed by Munger by using an active, adaptive field - what we will call a 'flexible' potential field. Active fields are stronger when objects move towards one another and weaker when they move apart. An adaptive field's strength is individually tailored to be just strong enough to avoid any collision. In addition to the local planner, a global planning algorithm helps the planner to avoid local field minima by providing subgoals. These subgoals are based on the obstacles which caused the local planner to fail. A best-first search algorithm A* is used for graph search.

Tracking Control of Mobile Robots Localized via Chained Fusion of Discrete and Continuous Epipolar Geometry, IMU and Odometry.

PubMed

Tick, David; Satici, Aykut C; Shen, Jinglin; Gans, Nicholas

2013-08-01

This paper presents a novel navigation and control system for autonomous mobile robots that includes path planning, localization, and control. A unique vision-based pose and velocity estimation scheme utilizing both the continuous and discrete forms of the Euclidean homography matrix is fused with inertial and optical encoder measurements to estimate the pose, orientation, and velocity of the robot and ensure accurate localization and control signals. A depth estimation system is integrated in order to overcome the loss of scale inherent in vision-based estimation. A path following control system is introduced that is capable of guiding the robot along a designated curve. Stability analysis is provided for the control system and experimental results are presented that prove the combined localization and control system performs with high accuracy.

Path planning on satellite images for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Yang, Joe-Ming; Tseng, Chien-Ming; Tseng, P. S.

2015-01-01

In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A* algorithm (FAA*), an advanced A* algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.

A human-machine cooperation route planning method based on improved A* algorithm

NASA Astrophysics Data System (ADS)

Zhang, Zhengsheng; Cai, Chao

2011-12-01

To avoid the limitation of common route planning method to blindly pursue higher Machine Intelligence and autoimmunization, this paper presents a human-machine cooperation route planning method. The proposed method includes a new A* path searing strategy based on dynamic heuristic searching and a human cooperated decision strategy to prune searching area. It can overcome the shortage of A* algorithm to fall into a local long term searching. Experiments showed that this method can quickly plan a feasible route to meet the macro-policy thinking.

Motion Planning and Synthesis of Human-Like Characters in Constrained Environments

NASA Astrophysics Data System (ADS)

Zhang, Liangjun; Pan, Jia; Manocha, Dinesh

We give an overview of our recent work on generating naturally-looking human motion in constrained environments with multiple obstacles. This includes a whole-body motion planning algorithm for high DOF human-like characters. The planning problem is decomposed into a sequence of low dimensional sub-problems. We use a constrained coordination scheme to solve the sub-problems in an incremental manner and a local path refinement algorithm to compute collision-free paths in tight spaces and satisfy the statically stable constraint on CoM. We also present a hybrid algorithm to generate plausible motion by combing the motion computed by our planner with mocap data. We demonstrate the performance of our algorithm on a 40 DOF human-like character and generate efficient motion strategies for object placement, bending, walking, and lifting in complex environments.

Robotic Online Path Planning on Point Cloud.

PubMed

Liu, Ming

2016-05-01

This paper deals with the path-planning problem for mobile wheeled- or tracked-robot which drive in 2.5-D environments, where the traversable surface is usually considered as a 2-D-manifold embedded in a 3-D ambient space. Specially, we aim at solving the 2.5-D navigation problem using raw point cloud as input. The proposed method is independent of traditional surface parametrization or reconstruction methods, such as a meshing process, which generally has high-computational complexity. Instead, we utilize the output of 3-D tensor voting framework on the raw point clouds. The computation of tensor voting is accelerated by optimized implementation on graphics computation unit. Based on the tensor voting results, a novel local Riemannian metric is defined using the saliency components, which helps the modeling of the latent traversable surface. Using the proposed metric, we prove that the geodesic in the 3-D tensor space leads to rational path-planning results by experiments. Compared to traditional methods, the results reveal the advantages of the proposed method in terms of smoothing the robot maneuver while considering the minimum travel distance.

Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems

NASA Astrophysics Data System (ADS)

Sahawneh, Laith Rasmi

The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes several important aspects including regulatory and system-level requirements, design specifications and performance standards, intruder detecting and tracking, collision risk assessment, and finally path planning and collision avoidance. In this dissertation, our primary focus is on developing an collision detection, risk assessment and avoidance framework that is computationally affordable and suitable to run on-board small UAS. To begin with, we address the minimum sensing range for the sense-and-avoid (SAA) system. We present an approximate close form analytical solution to compute the minimum sensing range to safely avoid an imminent collision. The approach is then demonstrated using a radar sensor prototype that achieves the required minimum sensing range. In the area of collision risk assessment and collision prediction, we present two approaches to estimate the collision risk of an encounter scenario. The first is a deterministic approach similar to those been developed for Traffic Alert and Collision Avoidance (TCAS) in manned aviation. We extend the approach to account for uncertainties of state estimates by deriving an analytic expression to propagate the error variance using Taylor series approximation. To address unanticipated intruders maneuvers, we propose an innovative probabilistic approach to quantify likely intruder trajectories and estimate the probability of collision risk using the uncorrelated encounter model (UEM) developed by MIT Lincoln Laboratory. We evaluate the proposed approach using Monte Carlo simulations and compare the performance with linearly extrapolated collision detection logic. For the path planning and collision avoidance part, we present multiple reactive path planning algorithms. We first propose a collision avoidance algorithm based on a simulated chain that responds to a virtual force field produced by encountering intruders. The key feature of the proposed approach is to model the future motion of both the intruder and the ownship using a chain of waypoints that are equally spaced in time. This timing information is used to continuously re-plan paths that minimize the probability of collision. Second, we present an innovative collision avoidance logic using an ownship centered coordinate system. The technique builds a graph in the local-level frame and uses the Dijkstra's algorithm to find the least cost path. An advantage of this approach is that collision avoidance is inherently a local phenomenon and can be more naturally represented in the local coordinates than the global coordinates. Finally, we propose a two step path planner for ground-based SAA systems. In the first step, an initial suboptimal path is generated using A* search. In the second step, using the A* solution as an initial condition, a chain of unit masses connected by springs and dampers evolves in a simulated force field. The chain is described by a set of ordinary differential equations that is driven by virtual forces to find the steady-state equilibrium. The simulation results show that the proposed approach produces collision-free plans while minimizing the path length. To move towards a deployable system, we apply collision detection and avoidance techniques to a variety of simulation and sensor modalities including camera, radar and ADS-B along with suitable tracking schemes. Keywords: unmanned aircraft system, small UAS, sense and avoid, minimum sensing range, airborne collision detection and avoidance, collision detection, collision risk assessment, collision avoidance, conflict detection, conflict avoidance, path planning.

Preoperative transcutaneous electrical nerve stimulation for localizing superficial nerve paths.

PubMed

Natori, Yuhei; Yoshizawa, Hidekazu; Mizuno, Hiroshi; Hayashi, Ayato

2015-12-01

During surgery, peripheral nerves are often seen to follow unpredictable paths because of previous surgeries and/or compression caused by a tumor. Iatrogenic nerve injury is a serious complication that must be avoided, and preoperative evaluation of nerve paths is important for preventing it. In this study, transcutaneous electrical nerve stimulation (TENS) was used for an in-depth analysis of peripheral nerve paths. This study included 27 patients who underwent the TENS procedure to evaluate the peripheral nerve path (17 males and 10 females; mean age: 59.9 years, range: 18-83 years) of each patient preoperatively. An electrode pen coupled to an electrical nerve stimulator was used for superficial nerve mapping. The TENS procedure was performed on patients' major peripheral nerves that passed close to the surgical field of tumor resection or trauma surgery, and intraoperative damage to those nerves was apprehensive. The paths of the target nerve were detected in most patients preoperatively. The nerve paths of 26 patients were precisely under the markings drawn preoperatively. The nerve path of one patient substantially differed from the preoperative markings with numbness at the surgical region. During surgery, the nerve paths could be accurately mapped preoperatively using the TENS procedure as confirmed by direct visualization of the nerve. This stimulation device is easy to use and offers highly accurate mapping of nerves for surgical planning without major complications. The authors conclude that TENS is a useful tool for noninvasive nerve localization and makes tumor resection a safe and smooth procedure. Copyright © 2015 British Association of Plastic, Reconstructive and Aesthetic Surgeons. Published by Elsevier Ltd. All rights reserved.

Hybrid Motion Planning with Multiple Destinations

NASA Technical Reports Server (NTRS)

Clouse, Jeffery

1998-01-01

In our initial proposal, we laid plans for developing a hybrid motion planning system that combines the concepts of visibility-based motion planning, artificial potential field based motion planning, evolutionary constrained optimization, and reinforcement learning. Our goal was, and still is, to produce a hybrid motion planning system that outperforms the best traditional motion planning systems on problems with dynamic environments. The proposed hybrid system will be in two parts the first is a global motion planning system and the second is a local motion planning system. The global system will take global information about the environment, such as the placement of the obstacles and goals, and produce feasible paths through those obstacles. We envision a system that combines the evolutionary-based optimization and visibility-based motion planning to achieve this end.

Navigation of military and space unmanned ground vehicles in unstructured terrains

NASA Technical Reports Server (NTRS)

Lescoe, Paul; Lavery, David; Bedard, Roger

1991-01-01

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Planning of Combat Operations and Command of Troops with the Aid of Network Graphs,

DTIC Science & Technology

1985-01-14

less than 30 h. First week 30 h. Third space . The works, which have local reserves, are examined. This is necessary in order to respectively lengthen the...107. Remaining routes/paths have smaller. length: -------------- 1.) 9-* i.) 4,3 t.- , .- ,-5*. .. .*, ..*.* . . . . DOC 84033705 PAGE Third space . Sequence

Two arm robot path planning in a static environment using polytopes and string stretching. Thesis

NASA Technical Reports Server (NTRS)

Schima, Francis J., III

1990-01-01

The two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.

Computational path planner for product assembly in complex environments

NASA Astrophysics Data System (ADS)

Shang, Wei; Liu, Jianhua; Ning, Ruxin; Liu, Mi

2013-03-01

Assembly path planning is a crucial problem in assembly related design and manufacturing processes. Sampling based motion planning algorithms are used for computational assembly path planning. However, the performance of such algorithms may degrade much in environments with complex product structure, narrow passages or other challenging scenarios. A computational path planner for automatic assembly path planning in complex 3D environments is presented. The global planning process is divided into three phases based on the environment and specific algorithms are proposed and utilized in each phase to solve the challenging issues. A novel ray test based stochastic collision detection method is proposed to evaluate the intersection between two polyhedral objects. This method avoids fake collisions in conventional methods and degrades the geometric constraint when a part has to be removed with surface contact with other parts. A refined history based rapidly-exploring random tree (RRT) algorithm which bias the growth of the tree based on its planning history is proposed and employed in the planning phase where the path is simple but the space is highly constrained. A novel adaptive RRT algorithm is developed for the path planning problem with challenging scenarios and uncertain environment. With extending values assigned on each tree node and extending schemes applied, the tree can adapts its growth to explore complex environments more efficiently. Experiments on the key algorithms are carried out and comparisons are made between the conventional path planning algorithms and the presented ones. The comparing results show that based on the proposed algorithms, the path planner can compute assembly path in challenging complex environments more efficiently and with higher success. This research provides the references to the study of computational assembly path planning under complex environments.

Cooperative organic mine avoidance path planning

NASA Astrophysics Data System (ADS)

McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David

2005-06-01

The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.

A neuro-collision avoidance strategy for robot manipulators

NASA Technical Reports Server (NTRS)

Onema, Joel P.; Maclaunchlan, Robert A.

1992-01-01

The area of collision avoidance and path planning in robotics has received much attention in the research community. Our study centers on a combination of an artificial neural network paradigm with a motion planning strategy that insures safe motion of the Articulated Two-Link Arm with Scissor Hand System relative to an object. Whenever an obstacle is encountered, the arm attempts to slide along the obstacle surface, thereby avoiding collision by means of the local tangent strategy and its artificial neural network implementation. This combination compensates the inverse kinematics of a robot manipulator. Simulation results indicate that a neuro-collision avoidance strategy can be achieved by means of a learning local tangent method.

Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

NASA Astrophysics Data System (ADS)

Latip, Nor Badariyah Abdul; Omar, Rosli

2017-08-01

When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.

Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.

NASA Astrophysics Data System (ADS)

Hawary, A. F.; Razak, N. A.

2018-05-01

Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.

Spatial abstraction for autonomous robot navigation.

PubMed

Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

2015-09-01

Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

Research on global path planning based on ant colony optimization for AUV

NASA Astrophysics Data System (ADS)

Wang, Hong-Jian; Xiong, Wei

2009-03-01

Path planning is an important issue for autonomous underwater vehicles (AUVs) traversing an unknown environment such as a sea floor, a jungle, or the outer celestial planets. For this paper, global path planning using large-scale chart data was studied, and the principles of ant colony optimization (ACO) were applied. This paper introduced the idea of a visibility graph based on the grid workspace model. It also brought a series of pheromone updating rules for the ACO planning algorithm. The operational steps of the ACO algorithm are proposed as a model for a global path planning method for AUV. To mimic the process of smoothing a planned path, a cutting operator and an insertion-point operator were designed. Simulation results demonstrated that the ACO algorithm is suitable for global path planning. The system has many advantages, including that the operating path of the AUV can be quickly optimized, and it is shorter, safer, and smoother. The prototype system successfully demonstrated the feasibility of the concept, proving it can be applied to surveys of unstructured unmanned environments.

UAV path planning using artificial potential field method updated by optimal control theory

NASA Astrophysics Data System (ADS)

Chen, Yong-bo; Luo, Guan-chen; Mei, Yue-song; Yu, Jian-qiao; Su, Xiao-long

2016-04-01

The unmanned aerial vehicle (UAV) path planning problem is an important assignment in the UAV mission planning. Based on the artificial potential field (APF) UAV path planning method, it is reconstructed into the constrained optimisation problem by introducing an additional control force. The constrained optimisation problem is translated into the unconstrained optimisation problem with the help of slack variables in this paper. The functional optimisation method is applied to reform this problem into an optimal control problem. The whole transformation process is deduced in detail, based on a discrete UAV dynamic model. Then, the path planning problem is solved with the help of the optimal control method. The path following process based on the six degrees of freedom simulation model of the quadrotor helicopters is introduced to verify the practicability of this method. Finally, the simulation results show that the improved method is more effective in planning path. In the planning space, the length of the calculated path is shorter and smoother than that using traditional APF method. In addition, the improved method can solve the dead point problem effectively.

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.

Succession Planning and Management Practice in Washington State Local Public Health Agencies.

PubMed

Wiesman, John M; Babich, Suzanne M; Umble, Karl; Baker, Edward L

2016-01-01

Turnover of top local public health officials is expected to be great, with 23% being 60 years of age or older, and another 42% being 50 to 59 years of age. Yet, we know little about the use of succession planning in public health agencies. Describe succession planning practices in local public health agencies. We conducted a Web-based, cross-sectional survey of succession planning practices and followed the career paths of public health officials for 40 months. The top local public health officials from Washington State's 35 local governmental public health agencies. Twenty-five succession planning best practices. All 35 agencies responded, resulting in a 100% response rate. Our study found evidence of succession planning practices in Washington State local public health agencies: 85% of agencies selected high-performing high potential employees for development, 76% sent them to formal technical and management/leadership training, 70% used cross-functional team projects, and 67% used stretch assignments to develop their employees. Impetuses to implement succession planning were discovering that large percentages of employees were able to retire soon and that national accreditation requires workforce development plans. Barriers to implementing succession planning included other competing demands for time, belief that the agency's workforce was too small for a formal program, and concerns that there would be union barriers. In 2012, 50% of the officials surveyed said that it would be at least possible that they would leave their current jobs within 5 years. Forty months later, 12 (34%) had left their positions. We were encouraged by the level of succession planning in Washington State and recommend creating a greater sense of urgency by focusing on agency retirement profiles and emphasizing the need for workforce development plans for accreditation. Developing the public health leaders of tomorrow is too important to be left to chance.

Trajectory Generation and Path Planning for Autonomous Aerobots

NASA Technical Reports Server (NTRS)

Sharma, Shivanjli; Kulczycki, Eric A.; Elfes, Alberto

2007-01-01

This paper presents global path planning algorithms for the Titan aerobot based on user defined waypoints in 2D and 3D space. The algorithms were implemented using information obtained through a planner user interface. The trajectory planning algorithms were designed to accurately represent the aerobot's characteristics, such as minimum turning radius. Additionally, trajectory planning techniques were implemented to allow for surveying of a planar area based solely on camera fields of view, airship altitude, and the location of the planar area's perimeter. The developed paths allow for planar navigation and three-dimensional path planning. These calculated trajectories are optimized to produce the shortest possible path while still remaining within realistic bounds of airship dynamics.

Path optimization with limited sensing ability

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

Kang, Sung Ha, E-mail: kang@math.gatech.edu; Kim, Seong Jun, E-mail: skim396@math.gatech.edu; Zhou, Haomin, E-mail: hmzhou@math.gatech.edu

2015-10-15

We propose a computational strategy to find the optimal path for a mobile sensor with limited coverage to traverse a cluttered region. The goal is to find one of the shortest feasible paths to achieve the complete scan of the environment. We pose the problem in the level set framework, and first consider a related question of placing multiple stationary sensors to obtain the full surveillance of the environment. By connecting the stationary locations using the nearest neighbor strategy, we form the initial guess for the path planning problem of the mobile sensor. Then the path is optimized by reducingmore » its length, via solving a system of ordinary differential equations (ODEs), while maintaining the complete scan of the environment. Furthermore, we use intermittent diffusion, which converts the ODEs into stochastic differential equations (SDEs), to find an optimal path whose length is globally minimal. To improve the computation efficiency, we introduce two techniques, one to remove redundant connecting points to reduce the dimension of the system, and the other to deal with the entangled path so the solution can escape the local traps. Numerical examples are shown to illustrate the effectiveness of the proposed method.« less

Remote sensing for industrial applications in the energy business: digital territorial data integration for planning of overhead power transmission lines (OHTLs)

NASA Astrophysics Data System (ADS)

Terrazzino, Alfonso; Volponi, Silvia; Borgogno Mondino, Enrico

2001-12-01

An investigation has been carried out, concerning remote sensing techniques, in order to assess their potential application to the energy system business: the most interesting results concern a new approach, based on digital data from remote sensing, to infrastructures with a large territorial distribution: in particular OverHead Transmission Lines, for the high voltage transmission and distribution of electricity on large distances. Remote sensing could in principle be applied to all the phases of the system lifetime, from planning to design, to construction, management, monitoring and maintenance. In this article, a remote sensing based approach is presented, targeted to the line planning: optimization of OHTLs path and layout, according to different parameters (technical, environmental and industrial). Planning new OHTLs is of particular interest in emerging markets, where typically the cartography is missing or available only on low accuracy scale (1:50.000 and lower), often not updated. Multi- spectral images can be used to generate thematic maps of the region of interest for the planning (soil coverage). Digital Elevation Models (DEMs), allow the planners to easily access the morphologic information of the surface. Other auxiliary information from local laws, environmental instances, international (IEC) standards can be integrated in order to perform an accurate optimized path choice and preliminary spotting of the OHTLs. This operation is carried out by an ABB proprietary optimization algorithm: the output is a preliminary path that bests fits the optimization parameters of the line in a life cycle approach.

The application of Markov decision process in restaurant delivery robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Hu, Zhen; Wang, Ying

2017-05-01

As the restaurant delivery robot is often in a dynamic and complex environment, including the chairs inadvertently moved to the channel and customers coming and going. The traditional path planning algorithm is not very ideal. To solve this problem, this paper proposes the Markov dynamic state immediate reward (MDR) path planning algorithm according to the traditional Markov decision process. First of all, it uses MDR to plan a global path, then navigates along this path. When the sensor detects there is no obstructions in front state, increase its immediate state reward value; when the sensor detects there is an obstacle in front, plan a global path that can avoid obstacle with the current position as the new starting point and reduce its state immediate reward value. This continues until the target is reached. When the robot learns for a period of time, it can avoid those places where obstacles are often present when planning the path. By analyzing the simulation experiment, the algorithm has achieved good results in the global path planning under the dynamic environment.

Planning 3-D collision-free paths using spheres

NASA Technical Reports Server (NTRS)

Bonner, Susan; Kelley, Robert B.

1989-01-01

A scheme for the representation of objects, the Successive Spherical Approximation (SSA), facilitates the rapid planning of collision-free paths in a 3-D, dynamic environment. The hierarchical nature of the SSA allows collision-free paths to be determined efficiently while still providing for the exact representation of dynamic objects. The concept of a freespace cell is introduced to allow human 3-D conceptual knowledge to be used in facilitating satisfying choices for paths. Collisions can be detected at a rate better than 1 second per environment object per path. This speed enables the path planning process to apply a hierarchy of rules to create a heuristically satisfying collision-free path.

Methodology for Augmenting Existing Paths with Additional Parallel Transects

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

Wilson, John E.

2013-09-30

Visual Sample Plan (VSP) is sample planning software that is used, among other purposes, to plan transect sampling paths to detect areas that were potentially used for munition training. This module was developed for application on a large site where existing roads and trails were to be used as primary sampling paths. Gap areas between these primary paths needed to found and covered with parallel transect paths. These gap areas represent areas on the site that are more than a specified distance from a primary path. These added parallel paths needed to optionally be connected together into a single path—themore » shortest path possible. The paths also needed to optionally be attached to existing primary paths, again with the shortest possible path. Finally, the process must be repeatable and predictable so that the same inputs (primary paths, specified distance, and path options) will result in the same set of new paths every time. This methodology was developed to meet those specifications.« less

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.

A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm

NASA Astrophysics Data System (ADS)

Zeng, Wenhui; Yi, Jin; Rao, Xiao; Zheng, Yun

2017-11-01

In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task's completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach.

Simulating Mission Command for Planning and Analysis

DTIC Science & Technology

2015-06-01

mission plan. 14. SUBJECT TERMS Mission Planning, CPM , PERT, Simulation, DES, Simkit, Triangle Distribution, Critical Path 15. NUMBER OF...Battalion Task Force CO Company CPM Critical Path Method DES Discrete Event Simulation FA BAT Field Artillery Battalion FEL Future Event List FIST...management tools that can be utilized to find the critical path in military projects. These are the Critical Path Method ( CPM ) and the Program Evaluation and

Grid Visualization Tool

NASA Technical Reports Server (NTRS)

Chouinard, Caroline; Fisher, Forest; Estlin, Tara; Gaines, Daniel; Schaffer, Steven

2005-01-01

The Grid Visualization Tool (GVT) is a computer program for displaying the path of a mobile robotic explorer (rover) on a terrain map. The GVT reads a map-data file in either portable graymap (PGM) or portable pixmap (PPM) format, representing a gray-scale or color map image, respectively. The GVT also accepts input from path-planning and activity-planning software. From these inputs, the GVT generates a map overlaid with one or more rover path(s), waypoints, locations of targets to be explored, and/or target-status information (indicating success or failure in exploring each target). The display can also indicate different types of paths or path segments, such as the path actually traveled versus a planned path or the path traveled to the present position versus planned future movement along a path. The program provides for updating of the display in real time to facilitate visualization of progress. The size of the display and the map scale can be changed as desired by the user. The GVT was written in the C++ language using the Open Graphics Library (OpenGL) software. It has been compiled for both Sun Solaris and Linux operating systems.

Path Planning for Non-Circular, Non-Holonomic Robots in Highly Cluttered Environments.

PubMed

Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando

2017-08-15

This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynamic-feasible lattice state space of high resolution; however, the technique is applicable to many search algorithms. With the purpose of allowing the algorithm to consider paths that take the robot through narrow passes and close to obstacles, high resolutions are used for the lattice space and the control set. This introduces new challenges because one of the most computationally expensive parts of path search based planning algorithms is calculating the cost of each one of the actions or steps that could potentially be part of the trajectory. The reason for this is that the evaluation of each one of these actions involves convolving the robot's footprint with a portion of a local map to evaluate the possibility of a collision, an operation that grows exponentially as the resolution is increased. The novel approach presented here reduces the need for these convolutions by using a set of offline precomputed maps that are updated, by means of a partial convolution, as new information arrives from sensors or other sources. Not only does this improve run-time performance, but it also provides support for dynamic search in changing environments. A set of alternative fast convolution methods are also proposed, depending on whether the environment is cluttered with obstacles or not. Finally, we provide both theoretical and experimental results from different experiments and applications.

Interactive multi-objective path planning through a palette-based user interface

NASA Astrophysics Data System (ADS)

Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph

2016-05-01

n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a great deal of flexibility using the adverb palette.

Mobile robot dynamic path planning based on improved genetic algorithm

NASA Astrophysics Data System (ADS)

Wang, Yong; Zhou, Heng; Wang, Ying

2017-08-01

In dynamic unknown environment, the dynamic path planning of mobile robots is a difficult problem. In this paper, a dynamic path planning method based on genetic algorithm is proposed, and a reward value model is designed to estimate the probability of dynamic obstacles on the path, and the reward value function is applied to the genetic algorithm. Unique coding techniques reduce the computational complexity of the algorithm. The fitness function of the genetic algorithm fully considers three factors: the security of the path, the shortest distance of the path and the reward value of the path. The simulation results show that the proposed genetic algorithm is efficient in all kinds of complex dynamic environments.

Study on Data Clustering and Intelligent Decision Algorithm of Indoor Localization

NASA Astrophysics Data System (ADS)

Liu, Zexi

2018-01-01

Indoor positioning technology enables the human beings to have the ability of positional perception in architectural space, and there is a shortage of single network coverage and the problem of location data redundancy. So this article puts forward the indoor positioning data clustering algorithm and intelligent decision-making research, design the basic ideas of multi-source indoor positioning technology, analyzes the fingerprint localization algorithm based on distance measurement, position and orientation of inertial device integration. By optimizing the clustering processing of massive indoor location data, the data normalization pretreatment, multi-dimensional controllable clustering center and multi-factor clustering are realized, and the redundancy of locating data is reduced. In addition, the path is proposed based on neural network inference and decision, design the sparse data input layer, the dynamic feedback hidden layer and output layer, low dimensional results improve the intelligent navigation path planning.

Automated Planning and Scheduling for Planetary Rover Distributed Operations

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve

1999-01-01

Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

NASA Technical Reports Server (NTRS)

Prinz, F. B.

1991-01-01

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

Cooperative path planning for multi-USV based on improved artificial bee colony algorithm

NASA Astrophysics Data System (ADS)

Cao, Lu; Chen, Qiwei

2018-03-01

Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for multiple unmanned surface vehicle (multi-USV), an improved artificial bee colony (I-ABC) algorithm were proposed to solve the model of cooperative path planning for multi-USV. First the Voronoi diagram of battle field space is conceived to generate the optimal area of USVs paths. Then the chaotic searching algorithm is used to initialize the collection of paths, which is regard as foods of the ABC algorithm. With the limited data, the initial collection can search the optimal area of paths perfectly. Finally simulations of the multi-USV path planning under various threats have been carried out. Simulation results verify that the I-ABC algorithm can improve the diversity of nectar source and the convergence rate of algorithm. It can increase the adaptability of dynamic battlefield and unexpected threats for USV.

Terrain classification in navigation of an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Dodds, David R.

1991-03-01

In this paper we describe a method of path planning that integrates terrain classification (by means of fractals) the certainty grid method of spatial representation Kehtarnavaz Griswold collision-zones Dubois Prade fuzzy temporal and spatial knowledge and non-point sized qualitative navigational planning. An initially planned (" end-to-end" ) path is piece-wise modified to accommodate known and inferred moving obstacles and includes attention to time-varying multiple subgoals which may influence a section of path at a time after the robot has begun traversing that planned path.

Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1989-01-01

Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.

Energy aware path planning in complex four dimensional environments

NASA Astrophysics Data System (ADS)

Chakrabarty, Anjan

This dissertation addresses the problem of energy-aware path planning for small autonomous vehicles. While small autonomous vehicles can perform missions that are too risky (or infeasible) for larger vehicles, the missions are limited by the amount of energy that can be carried on board the vehicle. Path planning techniques that either minimize energy consumption or exploit energy available in the environment can thus increase range and endurance. Path planning is complicated by significant spatial (and potentially temporal) variations in the environment. While the main focus is on autonomous aircraft, this research also addresses autonomous ground vehicles. Range and endurance of small unmanned aerial vehicles (UAVs) can be greatly improved by utilizing energy from the atmosphere. Wind can be exploited to minimize energy consumption of a small UAV. But wind, like any other atmospheric component , is a space and time varying phenomenon. To effectively use wind for long range missions, both exploration and exploitation of wind is critical. This research presents a kinematics based tree algorithm which efficiently handles the four dimensional (three spatial and time) path planning problem. The Kinematic Tree algorithm provides a sequence of waypoints, airspeeds, heading and bank angle commands for each segment of the path. The planner is shown to be resolution complete and computationally efficient. Global optimality of the cost function cannot be claimed, as energy is gained from the atmosphere, making the cost function inadmissible. However the Kinematic Tree is shown to be optimal up to resolution if the cost function is admissible. Simulation results show the efficacy of this planning method for a glider in complex real wind data. Simulation results verify that the planner is able to extract energy from the atmosphere enabling long range missions. The Kinematic Tree planning framework, developed to minimize energy consumption of UAVs, is applied for path planning in ground robots. In traditional path planning problem the focus is on obstacle avoidance and navigation. The optimal Kinematic Tree algorithm named Kinematic Tree* is shown to find optimal paths to reach the destination while avoiding obstacles. A more challenging path planning scenario arises for planning in complex terrain. This research shows how the Kinematic Tree* algorithm can be extended to find minimum energy paths for a ground vehicle in difficult mountainous terrain.

A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

NASA Astrophysics Data System (ADS)

Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun

2017-10-01

This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

Rotational-path decomposition based recursive planning for spacecraft attitude reorientation

NASA Astrophysics Data System (ADS)

Xu, Rui; Wang, Hui; Xu, Wenming; Cui, Pingyuan; Zhu, Shengying

2018-02-01

The spacecraft reorientation is a common task in many space missions. With multiple pointing constraints, it is greatly difficult to solve the constrained spacecraft reorientation planning problem. To deal with this problem, an efficient rotational-path decomposition based recursive planning (RDRP) method is proposed in this paper. The uniform pointing-constraint-ignored attitude rotation planning process is designed to solve all rotations without considering pointing constraints. Then the whole path is checked node by node. If any pointing constraint is violated, the nearest critical increment approach will be used to generate feasible alternative nodes in the process of rotational-path decomposition. As the planning path of each subdivision may still violate pointing constraints, multiple decomposition is needed and the reorientation planning is designed as a recursive manner. Simulation results demonstrate the effectiveness of the proposed method. The proposed method has been successfully applied in two SPARK microsatellites to solve onboard constrained attitude reorientation planning problem, which were developed by the Shanghai Engineering Center for Microsatellites and launched on 22 December 2016.

The Visual Orientation Memory of "Drosophila" Requires Foraging (PKG) Upstream of Ignorant (RSK2) in Ring Neurons of the Central Complex

ERIC Educational Resources Information Center

Kuntz, Sara; Poeck, Burkhard; Sokolowski, Marla B.; Strauss, Roland

2012-01-01

Orientation and navigation in a complex environment requires path planning and recall to exert goal-driven behavior. Walking "Drosophila" flies possess a visual orientation memory for attractive targets which is localized in the central complex of the adult brain. Here we show that this type of working memory requires the cGMP-dependent protein…

Lung fissure detection in CT images using global minimal paths

NASA Astrophysics Data System (ADS)

Appia, Vikram; Patil, Uday; Das, Bipul

2010-03-01

Pulmonary fissures separate human lungs into five distinct regions called lobes. Detection of fissure is essential for localization of the lobar distribution of lung diseases, surgical planning and follow-up. Treatment planning also requires calculation of the lobe volume. This volume estimation mandates accurate segmentation of the fissures. Presence of other structures (like vessels) near the fissure, along with its high variational probability in terms of position, shape etc. makes the lobe segmentation a challenging task. Also, false incomplete fissures and occurrence of diseases add to the complications of fissure detection. In this paper, we propose a semi-automated fissure segmentation algorithm using a minimal path approach on CT images. An energy function is defined such that the path integral over the fissure is the global minimum. Based on a few user defined points on a single slice of the CT image, the proposed algorithm minimizes a 2D energy function on the sagital slice computed using (a) intensity (b) distance of the vasculature, (c) curvature in 2D, (d) continuity in 3D. The fissure is the infimum energy path between a representative point on the fissure and nearest lung boundary point in this energy domain. The algorithm has been tested on 10 CT volume datasets acquired from GE scanners at multiple clinical sites. The datasets span through different pathological conditions and varying imaging artifacts.

Path Planning for Robot based on Chaotic Artificial Potential Field Method

NASA Astrophysics Data System (ADS)

Zhang, Cheng

2018-03-01

Robot path planning in unknown environments is one of the hot research topics in the field of robot control. Aiming at the shortcomings of traditional artificial potential field methods, we propose a new path planning for Robot based on chaotic artificial potential field method. The path planning adopts the potential function as the objective function and introduces the robot direction of movement as the control variables, which combines the improved artificial potential field method with chaotic optimization algorithm. Simulations have been carried out and the results demonstrate that the superior practicality and high efficiency of the proposed method.

Differential-Evolution Control Parameter Optimization for Unmanned Aerial Vehicle Path Planning

PubMed Central

Kok, Kai Yit; Rajendran, Parvathy

2016-01-01

The differential evolution algorithm has been widely applied on unmanned aerial vehicle (UAV) path planning. At present, four random tuning parameters exist for differential evolution algorithm, namely, population size, differential weight, crossover, and generation number. These tuning parameters are required, together with user setting on path and computational cost weightage. However, the optimum settings of these tuning parameters vary according to application. Instead of trial and error, this paper presents an optimization method of differential evolution algorithm for tuning the parameters of UAV path planning. The parameters that this research focuses on are population size, differential weight, crossover, and generation number. The developed algorithm enables the user to simply define the weightage desired between the path and computational cost to converge with the minimum generation required based on user requirement. In conclusion, the proposed optimization of tuning parameters in differential evolution algorithm for UAV path planning expedites and improves the final output path and computational cost. PMID:26943630

Three-dimensional path planning software-assisted transjugular intrahepatic portosystemic shunt: a technical modification.

PubMed

Tsauo, Jiaywei; Luo, Xuefeng; Ye, Linchao; Li, Xiao

2015-06-01

This study was designed to report our results with a modified technique of three-dimensional (3D) path planning software assisted transjugular intrahepatic portosystemic shunt (TIPS). 3D path planning software was recently developed to facilitate TIPS creation by using two carbon dioxide portograms acquired at least 20° apart to generate a 3D path for overlay needle guidance. However, one shortcoming is that puncturing along the overlay would be technically impossible if the angle of the liver access set and the angle of the 3D path are not the same. To solve this problem, a prototype 3D path planning software was fitted with a utility to calculate the angle of the 3D path. Using this, we modified the angle of the liver access set accordingly during the procedure in ten patients. Failure for technical reasons occurred in three patients (unsuccessful wedged hepatic venography in two cases, software technical failure in one case). The procedure was successful in the remaining seven patients, and only one needle pass was required to obtain portal vein access in each case. The course of puncture was comparable to the 3D path in all patients. No procedure-related complication occurred following the procedures. Adjusting the angle of the liver access set to match the angle of the 3D path determined by the software appears to be a favorable modification to the technique of 3D path planning software assisted TIPS.

Reconstruction for proton computed tomography by tracing proton trajectories: A Monte Carlo study

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

Li Tianfang; Liang Zhengrong; Singanallur, Jayalakshmi V.

Proton computed tomography (pCT) has been explored in the past decades because of its unique imaging characteristics, low radiation dose, and its possible use for treatment planning and on-line target localization in proton therapy. However, reconstruction of pCT images is challenging because the proton path within the object to be imaged is statistically affected by multiple Coulomb scattering. In this paper, we employ GEANT4-based Monte Carlo simulations of the two-dimensional pCT reconstruction of an elliptical phantom to investigate the possible use of the algebraic reconstruction technique (ART) with three different path-estimation methods for pCT reconstruction. The first method assumes amore » straight-line path (SLP) connecting the proton entry and exit positions, the second method adapts the most-likely path (MLP) theoretically determined for a uniform medium, and the third method employs a cubic spline path (CSP). The ART reconstructions showed progressive improvement of spatial resolution when going from the SLP [2 line pairs (lp) cm{sup -1}] to the curved CSP and MLP path estimates (5 lp cm{sup -1}). The MLP-based ART algorithm had the fastest convergence and smallest residual error of all three estimates. This work demonstrates the advantage of tracking curved proton paths in conjunction with the ART algorithm and curved path estimates.« less

Optimal Path Planning Program for Autonomous Speed Sprayer in Orchard Using Order-Picking Algorithm

NASA Astrophysics Data System (ADS)

Park, T. S.; Park, S. J.; Hwang, K. Y.; Cho, S. I.

This study was conducted to develop a software program which computes optimal path for autonomous navigation in orchard, especially for speed sprayer. Possibilities of autonomous navigation in orchard were shown by other researches which have minimized distance error between planned path and performed path. But, research of planning an optimal path for speed sprayer in orchard is hardly founded. In this study, a digital map and a database for orchard which contains GPS coordinate information (coordinates of trees and boundary of orchard) and entity information (heights and widths of trees, radius of main stem of trees, disease of trees) was designed. An orderpicking algorithm which has been used for management of warehouse was used to calculate optimum path based on the digital map. Database for digital map was created by using Microsoft Access and graphic interface for database was made by using Microsoft Visual C++ 6.0. It was possible to search and display information about boundary of an orchard, locations of trees, daily plan for scattering chemicals and plan optimal path on different orchard based on digital map, on each circumstance (starting speed sprayer in different location, scattering chemicals for only selected trees).

Fuzzy integral-based gaze control architecture incorporated with modified-univector field-based navigation for humanoid robots.

PubMed

Yoo, Jeong-Ki; Kim, Jong-Hwan

2012-02-01

When a humanoid robot moves in a dynamic environment, a simple process of planning and following a path may not guarantee competent performance for dynamic obstacle avoidance because the robot acquires limited information from the environment using a local vision sensor. Thus, it is essential to update its local map as frequently as possible to obtain more information through gaze control while walking. This paper proposes a fuzzy integral-based gaze control architecture incorporated with the modified-univector field-based navigation for humanoid robots. To determine the gaze direction, four criteria based on local map confidence, waypoint, self-localization, and obstacles, are defined along with their corresponding partial evaluation functions. Using the partial evaluation values and the degree of consideration for criteria, fuzzy integral is applied to each candidate gaze direction for global evaluation. For the effective dynamic obstacle avoidance, partial evaluation functions about self-localization error and surrounding obstacles are also used for generating virtual dynamic obstacle for the modified-univector field method which generates the path and velocity of robot toward the next waypoint. The proposed architecture is verified through the comparison with the conventional weighted sum-based approach with the simulations using a developed simulator for HanSaRam-IX (HSR-IX).

A novel representation for planning 3-D collision-free paths

NASA Technical Reports Server (NTRS)

Bonner, Susan; Kelley, Robert B.

1990-01-01

A new scheme for the representation of objects, the successive spherical approximation (SSA), facilitates the rapid planning of collision-free paths in a dynamic three-dimensional environment. The hierarchical nature of the SSA allows collisions to be determined efficiently while still providing an exact representation of objects. The rapidity with which collisions can be detected, less than 1 sec per environment object per path, makes it possible to use a generate-and-test path-planning strategy driven by human conceptual knowledge to determine collision-free paths in a matter of seconds on a Sun 3/180 computer. A hierarchy of rules, based on the concept of a free space cell, is used to find heuristically satisfying collision-free paths in a structured environment.

A bat algorithm with mutation for UCAV path planning.

PubMed

Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi

2012-01-01

Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models.

Three-Dimensional Path Planning Software-Assisted Transjugular Intrahepatic Portosystemic Shunt: A Technical Modification

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

Tsauo, Jiaywei, E-mail: 80732059@qq.com; Luo, Xuefeng, E-mail: luobo-913@126.com; Ye, Linchao, E-mail: linchao.ye@siemens.com

2015-06-15

PurposeThis study was designed to report our results with a modified technique of three-dimensional (3D) path planning software assisted transjugular intrahepatic portosystemic shunt (TIPS).Methods3D path planning software was recently developed to facilitate TIPS creation by using two carbon dioxide portograms acquired at least 20° apart to generate a 3D path for overlay needle guidance. However, one shortcoming is that puncturing along the overlay would be technically impossible if the angle of the liver access set and the angle of the 3D path are not the same. To solve this problem, a prototype 3D path planning software was fitted with a utility to calculate themore » angle of the 3D path. Using this, we modified the angle of the liver access set accordingly during the procedure in ten patients.ResultsFailure for technical reasons occurred in three patients (unsuccessful wedged hepatic venography in two cases, software technical failure in one case). The procedure was successful in the remaining seven patients, and only one needle pass was required to obtain portal vein access in each case. The course of puncture was comparable to the 3D path in all patients. No procedure-related complication occurred following the procedures.ConclusionsAdjusting the angle of the liver access set to match the angle of the 3D path determined by the software appears to be a favorable modification to the technique of 3D path planning software assisted TIPS.« less

Application of ant colony algorithm in path planning of the data center room robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Ma, Jianming; Wang, Ying

2017-05-01

According to the Internet Data Center (IDC) room patrol robot as the background, the robot in the search path of autonomous obstacle avoidance and path planning ability, worked out in advance of the robot room patrol mission. The simulation experimental results show that the improved ant colony algorithm for IDC room patrol robot obstacle avoidance planning, makes the robot along an optimal or suboptimal and safe obstacle avoidance path to reach the target point to complete the task. To prove the feasibility of the method.

Research and application of genetic algorithm in path planning of logistics distribution vehicle

NASA Astrophysics Data System (ADS)

Wang, Yong; Zhou, Heng; Wang, Ying

2017-08-01

The core of the logistics distribution system is the vehicle routing planning, research path planning problem, provide a better solution has become an important issue. In order to provide the decision support for logistics and distribution operations, this paper studies the problem of vehicle routing with capacity constraints (CVRP). By establishing a mathematical model, the genetic algorithm is used to plan the path of the logistics vehicle to meet the minimum logistics and transportation costs.

Kinematic path planning for space-based robotics

NASA Astrophysics Data System (ADS)

Seereeram, Sanjeev; Wen, John T.

1998-01-01

Future space robotics tasks require manipulators of significant dexterity, achievable through kinematic redundancy and modular reconfigurability, but with a corresponding complexity of motion planning. Existing research aims for full autonomy and completeness, at the expense of efficiency, generality or even user friendliness. Commercial simulators require user-taught joint paths-a significant burden for assembly tasks subject to collision avoidance, kinematic and dynamic constraints. Our research has developed a Kinematic Path Planning (KPP) algorithm which bridges the gap between research and industry to produce a powerful and useful product. KPP consists of three key components: path-space iterative search, probabilistic refinement, and an operator guidance interface. The KPP algorithm has been successfully applied to the SSRMS for PMA relocation and dual-arm truss assembly tasks. Other KPP capabilities include Cartesian path following, hybrid Cartesian endpoint/intermediate via-point planning, redundancy resolution and path optimization. KPP incorporates supervisory (operator) input at any detail to influence the solution, yielding desirable/predictable paths for multi-jointed arms, avoiding obstacles and obeying manipulator limits. This software will eventually form a marketable robotic planner suitable for commercialization in conjunction with existing robotic CAD/CAM packages.

A Vision System For A Mars Rover

NASA Astrophysics Data System (ADS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1987-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

A vision system for a Mars rover

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1988-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Path planning algorithms for assembly sequence planning. [in robot kinematics

NASA Technical Reports Server (NTRS)

Krishnan, S. S.; Sanderson, Arthur C.

1991-01-01

Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

NASA Astrophysics Data System (ADS)

Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

2016-05-01

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

Remote imagery for unmanned ground vehicles: the future of path planning for ground robotics

NASA Astrophysics Data System (ADS)

Frederick, Philip A.; Theisen, Bernard L.; Ward, Derek

2006-10-01

Remote Imagery for Unmanned Ground Vehicles (RIUGV) uses a combination of high-resolution multi-spectral satellite imagery and advanced commercial off-the-self (COTS) object-oriented image processing software to provide automated terrain feature extraction and classification. This information, along with elevation data, infrared imagery, a vehicle mobility model and various meta-data (local weather reports, Zobler Soil map, etc...), is fed into automated path planning software to provide a stand-alone ability to generate rapidly updateable dynamic mobility maps for Manned or Unmanned Ground Vehicles (MGVs or UGVs). These polygon based mobility maps can reside on an individual platform or a tactical network. When new information is available, change files are generated and ingested into existing mobility maps based on user selected criteria. Bandwidth concerns are mitigated by the use of shape files for the representation of the data (e.g. each object in the scene is represented by a shape file and thus can be transmitted individually). User input (desired level of stealth, required time of arrival, etc...) determines the priority in which objects are tagged for updates. This paper will also discuss the planned July 2006 field experiment.

Observability-based Local Path Planning and Collision Avoidance Using Bearing-only Measurements

DTIC Science & Technology

2012-01-20

Clark N. Taylorb aDepartment of Electrical and Computer Engineering, Brigham Young University , Provo, Utah, 84602 bSensors Directorate, Air Force Research...NAME(S) AND ADDRESS(ES) Brigham Young University ,Department of Electrical and Computer Engineering,Provo,UT,84602 8. PERFORMING ORGANIZATION... vit is the measurement noise that is assumed to be a zero-mean Gaus- sian random variable. Based on the state transition model expressed by Eqs. (1

A Mobile Sensing Approach for Regional Surveillance of ...

EPA Pesticide Factsheets

This paper discusses plan-path and automated concepts for inspection to localize individual leaks and to quantify their source rates over regions with active oil and gas well pads and pipelines. This is a peer reviewed journal article submission that advances GMAP OTM 33 mobile measurement and fixed place fence line NGAM topics. This paper is focused on methods development and does not contain new or unpublished source emissions results regarding oil and gas.

MO-F-CAMPUS-T-05: SQL Database Queries to Determine Treatment Planning Resource Usage

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

Fox, C; Gladstone, D

2015-06-15

Purpose: A radiation oncology clinic’s treatment capacity is traditionally thought to be limited by the number of machines in the clinic. As the number of fractions per course decrease and the number of adaptive plans increase, the question of how many treatment plans a clinic can plan becomes increasingly important. This work seeks to lay the ground work for assessing treatment planning resource usage. Methods: Care path templates were created using the Aria 11 care path interface. Care path tasks included key steps in the treatment planning process from the completion of CT simulation through the first radiation treatment. SQLmore » Server Management Studio was used to run SQL queries to extract task completion time stamps along with care path template information and diagnosis codes from the Aria database. 6 months of planning cycles were evaluated. Elapsed time was evaluated in terms of work hours within Monday – Friday, 7am to 5pm. Results: For the 195 validated treatment planning cycles, the average time for planning and MD review was 22.8 hours. Of those cases 33 were categorized as urgent. The average planning time for urgent plans was 5 hours. A strong correlation between diagnosis code and range of elapsed planning time was as well as between elapsed time and select diagnosis codes was observed. It was also observed that tasks were more likely to be completed on the date due than the time that they were due. Follow-up confirmed that most users did not look at the due time. Conclusion: Evaluation of elapsed planning time and other tasks suggest that care paths should be adjusted to allow for different contouring and planning times for certain diagnosis codes and urgent cases. Additional clinic training around task due times vs dates or a structuring of care paths around due dates is also needed.« less

A template for integrated community sustainability planning.

PubMed

Ling, Christopher; Hanna, Kevin; Dale, Ann

2009-08-01

This article describes a template for implementing an integrated community sustainability plan. The template emphasizes community engagement and outlines the components of a basic framework for integrating ecological, social and economic dynamics into a community plan. The framework is a series of steps that support a sustainable community development process. While it reflects the Canadian experience, the tools and techniques have applied value for a range of environmental planning contexts around the world. The research is case study based and draws from a diverse range of communities representing many types of infrastructure, demographics and ecological and geographical contexts. A critical path for moving local governments to sustainable community development is the creation and implementation of integrated planning approaches. To be effective and to be implemented, a requisite shift to sustainability requires active community engagement processes, political will, and a commitment to political and administrative accountability, and measurement.

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

NASA Astrophysics Data System (ADS)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

Localization with a mobile beacon in underwater acoustic sensor networks.

PubMed

Lee, Sangho; Kim, Kiseon

2012-01-01

Localization is one of the most important issues associated with underwater acoustic sensor networks, especially when sensor nodes are randomly deployed. Given that it is difficult to deploy beacon nodes at predetermined locations, localization schemes with a mobile beacon on the sea surface or along the planned path are inherently convenient, accurate, and energy-efficient. In this paper, we propose a new range-free Localization with a Mobile Beacon (LoMoB). The mobile beacon periodically broadcasts a beacon message containing its location. Sensor nodes are individually localized by passively receiving the beacon messages without inter-node communications. For location estimation, a set of potential locations are obtained as candidates for a node's location and then the node's location is determined through the weighted mean of all the potential locations with the weights computed based on residuals.

Localization with a Mobile Beacon in Underwater Acoustic Sensor Networks

PubMed Central

Lee, Sangho; Kim, Kiseon

2012-01-01

Localization is one of the most important issues associated with underwater acoustic sensor networks, especially when sensor nodes are randomly deployed. Given that it is difficult to deploy beacon nodes at predetermined locations, localization schemes with a mobile beacon on the sea surface or along the planned path are inherently convenient, accurate, and energy-efficient. In this paper, we propose a new range-free Localization with a Mobile Beacon (LoMoB). The mobile beacon periodically broadcasts a beacon message containing its location. Sensor nodes are individually localized by passively receiving the beacon messages without inter-node communications. For location estimation, a set of potential locations are obtained as candidates for a node's location and then the node's location is determined through the weighted mean of all the potential locations with the weights computed based on residuals. PMID:22778597

Optimized planning of in-service inspections of local flow-accelerated corrosion of pipeline elements used in the secondary coolant circuit of the VVER-440-based units at the Novovoronezh NPP

NASA Astrophysics Data System (ADS)

Tomarov, G. V.; Povarov, V. P.; Shipkov, A. A.; Gromov, A. F.; Budanov, V. A.; Golubeva, T. N.

2015-03-01

Matters concerned with making efficient use of the information-analytical system on the flow-accelerated corrosion problem in setting up in-service examination of the metal of pipeline elements operating in the secondary coolant circuit of the VVER-440-based power units at the Novovoronezh NPP are considered. The principles used to select samples of pipeline elements in planning ultrasonic thickness measurements for timely revealing metal thinning due to flow-accelerated corrosion along with reducing the total amount of measurements in the condensate-feedwater path are discussed.

Planning a tourism landscape in geosite area: Sipiso-piso waterfall

NASA Astrophysics Data System (ADS)

Vinky Rahman, N.; Ginting, Nurlisa; Subhilhar; Narisa, Nindya

2018-03-01

Landscape is one of the valuable assets in tourism, especially in rural tourism. Good landscape planning can be increasing the tourism in one place. In Geopark area, landscape planning is also necessary, and it is because geopark area is also a landscape. This paper aims to create a landscape planning concept in Sipiso-Piso Waterfall that can be used to improve the tourism in Sipiso-piso Waterfall. The method that used in this paper is a qualitative method that is used interviews with related stakeholders like, local figure, government, and academic, and field observation in the study area. The data obtained would be analyzed with four elements of landscape namely, open space, pedestrian path, street circulation, and street furniture. The result shows that the four elements of landscape in Sipiso-Piso Waterfall is still not proper and needs improvement.

A Bat Algorithm with Mutation for UCAV Path Planning

PubMed Central

Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi

2012-01-01

Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models. PMID:23365518

Assessing the Performance of Human-Automation Collaborative Planning Systems

DTIC Science & Technology

2011-06-01

process- ing and incorporating vast amounts of incoming information into their solutions. How- ever, these algorithms are brittle and unable to account for...planning system, a descriptive Mission Performance measure may address the total travel time on the path or the cost of the path (e.g. total work...minimizing costs or collisions [4, 32, 33]. Error measures for such a path planning system may track how many collisions occur or how much threat

Optimal Paths in Gliding Flight

NASA Astrophysics Data System (ADS)

Wolek, Artur

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

A Hybrid Metaheuristic DE/CS Algorithm for UCAV Three-Dimension Path Planning

PubMed Central

Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen

2012-01-01

Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model. PMID:23193383

A hybrid metaheuristic DE/CS algorithm for UCAV three-dimension path planning.

PubMed

Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen

2012-01-01

Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model.

Evolutionistic or revolutionary paths? A PACS maturity model for strategic situational planning.

PubMed

van de Wetering, Rogier; Batenburg, Ronald; Lederman, Reeva

2010-07-01

While many hospitals are re-evaluating their current Picture Archiving and Communication System (PACS), few have a mature strategy for PACS deployment. Furthermore, strategies for implementation, strategic and situational planning methods for the evolution of PACS maturity are scarce in the scientific literature. Consequently, in this paper we propose a strategic planning method for PACS deployment. This method builds upon a PACS maturity model (PMM), based on the elaboration of the strategic alignment concept and the maturity growth path concept previously developed in the PACS domain. First, we review the literature on strategic planning for information systems and information technology and PACS maturity. Secondly, the PMM is extended by applying four different strategic perspectives of the Strategic Alignment Framework whereupon two types of growth paths (evolutionistic and revolutionary) are applied that focus on a roadmap for PMM. This roadmap builds a path to get from one level of maturity and evolve to the next. An extended method for PACS strategic planning is developed. This method defines eight distinctive strategies for PACS strategic situational planning that allow decision-makers in hospitals to decide which approach best suits their hospitals' current situation and future ambition and what in principle is needed to evolve through the different maturity levels. The proposed method allows hospitals to strategically plan for PACS maturation. It is situational in that the required investments and activities depend on the alignment between the hospital strategy and the selected growth path. The inclusion of both strategic alignment and maturity growth path concepts make the planning method rigorous, and provide a framework for further empirical research and clinical practice.

A path planning method used in fluid jet polishing eliminating lightweight mirror imprinting effect

NASA Astrophysics Data System (ADS)

Li, Wenzong; Fan, Bin; Shi, Chunyan; Wang, Jia; Zhuo, Bin

2014-08-01

With the development of space technology, the design of optical system tends to large aperture lightweight mirror with high dimension-thickness ratio. However, when the lightweight mirror PV value is less than λ/10 , the surface will show wavy imprinting effect obviously. Imprinting effect introduced by head-tool pressure has become a technological barrier in high-precision lightweight mirror manufacturing. Fluid jet polishing can exclude outside pressure. Presently, machining tracks often used are grating type path, screw type path and pseudo-random path. On the edge of imprinting error, the speed of adjacent path points changes too fast, which causes the machine hard to reflect quickly, brings about new path error, and increases the polishing time due to superfluous path. This paper presents a new planning path method to eliminate imprinting effect. Simulation results show that the path of the improved grating path can better eliminate imprinting effect compared to the general path.

Dynamic path planning for mobile robot based on particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

In the contemporary, robots are used in many fields, such as cleaning, medical treatment, space exploration, disaster relief and so on. The dynamic path planning of robot without collision is becoming more and more the focus of people's attention. A new method of path planning is proposed in this paper. Firstly, the motion space model of the robot is established by using the MAKLINK graph method. Then the A* algorithm is used to get the shortest path from the start point to the end point. Secondly, this paper proposes an effective method to detect and avoid obstacles. When an obstacle is detected on the shortest path, the robot will choose the nearest safety point to move. Moreover, calculate the next point which is nearest to the target. Finally, the particle swarm optimization algorithm is used to optimize the path. The experimental results can prove that the proposed method is more effective.

Toward Autonomous Multi-floor Exploration: Ascending Stairway Localization and Modeling

DTIC Science & Technology

2013-03-01

robots have traditionally been restricted to single floors of a building or outdoor areas free of abrupt elevation changes such as curbs and stairs ...solution to this problem and is motivated by the rich potential of an autonomous ground robot that can climb stairs while exploring a multi-floor...parameters of the stairways, the robot could plan a path that traverses the stairs in order to explore the frontier at other elevations that were previously

Optimal guidance with obstacle avoidance for nap-of-the-earth flight

NASA Technical Reports Server (NTRS)

Pekelsma, Nicholas J.

1988-01-01

The development of automatic guidance is discussed for helicopter Nap-of-the-Earth (NOE) and near-NOE flight. It deals with algorithm refinements relating to automated real-time flight path planning and to mission planning. With regard to path planning, it relates rotorcraft trajectory characteristics to the NOE computation scheme and addresses real-time computing issues and both ride quality issues and pilot-vehicle interfaces. The automated mission planning algorithm refinements include route optimization, automatic waypoint generation, interactive applications, and provisions for integrating the results into the real-time path planning software. A microcomputer based mission planning workstation was developed and is described. Further, the application of Defense Mapping Agency (DMA) digital terrain to both the mission planning workstation and to automatic guidance is both discussed and illustrated.

Robot path planning using a genetic algorithm

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Baffes, Paul T.; Wang, Liu

1988-01-01

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.

MO-F-CAMPUS-T-03: Continuous Dose Delivery with Gamma Knife Perfexion

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

Ghobadi,; Li, W; Chung, C

2015-06-15

Purpose: We propose continuous dose delivery techniques for stereotactic treatments delivered by Gamma Knife Perfexion using inverse treatment planning system that can be applied to various tumour sites in the brain. We test the accuracy of the plans on Perfexion’s planning system (GammaPlan) to ensure the obtained plans are viable. This approach introduces continuous dose delivery for Perefxion, as opposed to the currently employed step-and-shoot approaches, for different tumour sites. Additionally, this is the first realization of automated inverse planning on GammaPlan. Methods: The inverse planning approach is divided into two steps of identifying a quality path inside the target,more » and finding the best collimator composition for the path. To find a path, we select strategic regions inside the target volume and find a path that visits each region exactly once. This path is then passed to a mathematical model which finds the best combination of collimators and their durations. The mathematical model minimizes the dose spillage to the surrounding tissues while ensuring the prescribed dose is delivered to the target(s). Organs-at-risk and their corresponding allowable doses can also be added to the model to protect adjacent organs. Results: We test this approach on various tumour sizes and sites. The quality of the obtained treatment plans are comparable or better than forward plans and inverse plans that use step- and-shoot technique. The conformity indices in the obtained continuous dose delivery plans are similar to those of forward plans while the beam-on time is improved on average (see Table 1 in supporting document). Conclusion: We employ inverse planning for continuous dose delivery in Perfexion for brain tumours. The quality of the obtained plans is similar to forward and inverse plans that use conventional step-and-shoot technique. We tested the inverse plans on GammaPlan to verify clinical relevance. This research was partially supported by Elekta, Sweden (vendor of Gamma Knife Perfexion)« less

Constructing an Indoor Floor Plan Using Crowdsourcing Based on Magnetic Fingerprinting

PubMed Central

Zhao, Fang; Jiang, Mengling; Ma, Hao; Zhang, Yuexia

2017-01-01

A large number of indoor positioning systems have recently been developed to cater for various location-based services. Indoor maps are a prerequisite of such indoor positioning systems; however, indoor maps are currently non-existent for most indoor environments. Construction of an indoor map by external experts excludes quick deployment and prevents widespread utilization of indoor localization systems. Here, we propose an algorithm for the automatic construction of an indoor floor plan, together with a magnetic fingerprint map of unmapped buildings using crowdsourced smartphone data. For floor plan construction, our system combines the use of dead reckoning technology, an observation model with geomagnetic signals, and trajectory fusion based on an affinity propagation algorithm. To obtain the indoor paths, the magnetic trajectory data obtained through crowdsourcing were first clustered using dynamic time warping similarity criteria. The trajectories were inferred from odometry tracing, and those belonging to the same cluster in the magnetic trajectory domain were then fused. Fusing these data effectively eliminates the inherent tracking errors originating from noisy sensors; as a result, we obtained highly accurate indoor paths. One advantage of our system is that no additional hardware such as a laser rangefinder or wheel encoder is required. Experimental results demonstrate that our proposed algorithm successfully constructs indoor floor plans with 0.48 m accuracy, which could benefit location-based services which lack indoor maps. PMID:29156639

Pedestrian flow-path modeling to support tsunami evacuation and disaster relief planning in the U.S. Pacific Northwest

USGS Publications Warehouse

Wood, Nathan J.; Jones, Jeanne M.; Schmidtlein, Mathew; Schelling, John; Frazier, T.

2016-01-01

Successful evacuations are critical to saving lives from future tsunamis. Pedestrian-evacuation modeling related to tsunami hazards primarily has focused on identifying areas and the number of people in these areas where successful evacuations are unlikely. Less attention has been paid to identifying evacuation pathways and population demand at assembly areas for at-risk individuals that may have sufficient time to evacuate. We use the neighboring coastal communities of Hoquiam, Aberdeen, and Cosmopolis (Washington, USA) and the local tsunami threat posed by Cascadia subduction zone earthquakes as a case study to explore the use of geospatial, least-cost-distance evacuation modeling for supporting evacuation outreach, response, and relief planning. We demonstrate an approach that uses geospatial evacuation modeling to (a) map the minimum pedestrian travel speeds to safety, the most efficient paths, and collective evacuation basins, (b) estimate the total number and demographic description of evacuees at predetermined assembly areas, and (c) determine which paths may be compromised due to earthquake-induced ground failure. Results suggest a wide range in the magnitude and type of evacuees at predetermined assembly areas and highlight parts of the communities with no readily accessible assembly area. Earthquake-induced ground failures could obstruct access to some assembly areas, cause evacuees to reroute to get to other assembly areas, and isolate some evacuees from relief personnel. Evacuation-modeling methods and results discussed here have implications and application to tsunami-evacuation outreach, training, response procedures, mitigation, and long-term land use planning to increase community resilience.

Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review.

PubMed

Li, Pan; Yang, Zhiyong; Jiang, Shan

2018-06-01

Image-guided robot-assisted minimally invasive surgery is an important medicine procedure used for biopsy or local target therapy. In order to reach the target region not accessible using traditional techniques, long and thin flexible needles are inserted into the soft tissue which has large deformation and nonlinear characteristics. However, the detection results and therapeutic effect are directly influenced by the targeting accuracy of needle steering. For this reason, the needle-tissue interactive mechanism, path planning, and steering control are investigated in this review by searching literatures in the last 10 years, which results in a comprehensive overview of the existing techniques with the main accomplishments, limitations, and recommendations. Through comprehensive analyses, surgical simulation for insertion into multi-layer inhomogeneous tissue is verified as a primary and propositional aspect to be explored, which accurately predicts the nonlinear needle deflection and tissue deformation. Investigation of the path planning of flexible needles is recommended to an anatomical or a deformable environment which has characteristics of the tissue deformation. Nonholonomic modeling combined with duty-cycled spinning for needle steering, which tracks the tip position in real time and compensates for the deviation error, is recommended as a future research focus in the steering control in anatomical and deformable environments. Graphical abstract a Insertion force when the needle is inserted into soft tissue. b Needle deflection model when the needle is inserted into soft tissue [68]. c Path planning in anatomical environments [92]. d Duty-cycled spinning incorporated in nonholonomic needle steering [64].

Three-Dimensional Path Planning for Uninhabited Combat Aerial Vehicle Based on Predator-Prey Pigeon-Inspired Optimization in Dynamic Environment.

PubMed

Zhang, Bo; Duan, Haibin

2017-01-01

Three-dimension path planning of uninhabited combat aerial vehicle (UCAV) is a complicated optimal problem, which mainly focused on optimizing the flight route considering the different types of constrains under complex combating environment. A novel predator-prey pigeon-inspired optimization (PPPIO) is proposed to solve the UCAV three-dimension path planning problem in dynamic environment. Pigeon-inspired optimization (PIO) is a new bio-inspired optimization algorithm. In this algorithm, map and compass operator model and landmark operator model are used to search the best result of a function. The prey-predator concept is adopted to improve global best properties and enhance the convergence speed. The characteristics of the optimal path are presented in the form of a cost function. The comparative simulation results show that our proposed PPPIO algorithm is more efficient than the basic PIO, particle swarm optimization (PSO), and different evolution (DE) in solving UCAV three-dimensional path planning problems.

Integration of Hierarchical Goal Network Planning and Autonomous Path Planning

DTIC Science & Technology

2016-03-01

Conference on Robotics and Automation (ICRA); 2010 May 3– 7; Anchorage, AK. p. 2902–2908. 4. Ayan NF, Kuter U, Yaman F, Goldman RP. Hotride...DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited. 13. SUPPLEMENTARY NOTES 14. ABSTRACT Automated planning has...world robotic systems. This report documents work to integrate a hierarchical goal network planning algorithm with low-level path planning. The system

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

PubMed Central

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-01-01

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

PubMed

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-02-11

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective.

PubMed

Faigl, Jan

2016-01-01

In this paper, Self-Organizing Map (SOM) for the Multiple Traveling Salesman Problem (MTSP) with minmax objective is applied to the robotic problem of multigoal path planning in the polygonal domain. The main difficulty of such SOM deployment is determination of collision-free paths among obstacles that is required to evaluate the neuron-city distances in the winner selection phase of unsupervised learning. Moreover, a collision-free path is also needed in the adaptation phase, where neurons are adapted towards the presented input signal (city) to the network. Simple approximations of the shortest path are utilized to address this issue and solve the robotic MTSP by SOM. Suitability of the proposed approximations is verified in the context of cooperative inspection, where cities represent sensing locations that guarantee to "see" the whole robots' workspace. The inspection task formulated as the MTSP-Minmax is solved by the proposed SOM approach and compared with the combinatorial heuristic GENIUS. The results indicate that the proposed approach provides competitive results to GENIUS and support applicability of SOM for robotic multigoal path planning with a group of cooperating mobile robots. The proposed combination of approximate shortest paths with unsupervised learning opens further applications of SOM in the field of robotic planning.

An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective

PubMed Central

Faigl, Jan

2016-01-01

In this paper, Self-Organizing Map (SOM) for the Multiple Traveling Salesman Problem (MTSP) with minmax objective is applied to the robotic problem of multigoal path planning in the polygonal domain. The main difficulty of such SOM deployment is determination of collision-free paths among obstacles that is required to evaluate the neuron-city distances in the winner selection phase of unsupervised learning. Moreover, a collision-free path is also needed in the adaptation phase, where neurons are adapted towards the presented input signal (city) to the network. Simple approximations of the shortest path are utilized to address this issue and solve the robotic MTSP by SOM. Suitability of the proposed approximations is verified in the context of cooperative inspection, where cities represent sensing locations that guarantee to “see” the whole robots' workspace. The inspection task formulated as the MTSP-Minmax is solved by the proposed SOM approach and compared with the combinatorial heuristic GENIUS. The results indicate that the proposed approach provides competitive results to GENIUS and support applicability of SOM for robotic multigoal path planning with a group of cooperating mobile robots. The proposed combination of approximate shortest paths with unsupervised learning opens further applications of SOM in the field of robotic planning. PMID:27340395

Plan demographics, participants' saving behavior, and target-date fund investments.

PubMed

Park, Youngkyun

2009-05-01

This analysis explores (1) whether plan demographic characteristics would affect individual participant contribution rates and target-date fund investments and (2) equity glide paths for participants in relation to plan demographics by considering target replacement income and its success rate. PLAN DEMOGRAPHIC CHARACTERISTICS IN PARTICIPANT CONTRIBUTION RATES: This study finds empirical evidence that 401(k) plan participants' contribution rates differ by plan demographics based on participants' income and/or tenure. In particular, participants in 401(k) plans dominated by those with low income and short tenure tend to contribute less than those in plans dominated by participants with high income and long tenure. Future research will explore how participant contribution behavior may also be influenced by incentives provided by employers through matching formulae. PLAN DEMOGRAPHIC CHARACTERISTICS IN TARGET-DATE FUND INVESTMENTS: The study also finds empirical evidence that participants' investments in target-date funds with different equity allocations differ by plan demographics based on participants' income and/or tenure. In particular, target-date fund users with 90 percent or more of their account balances in target-date funds who are in 401(k) plans dominated by low-income and short-tenure participants tend to hold target-date funds with lower equity allocations, compared with their counterparts in plans dominated by high-income and long-tenure participants. Future research will focus on the extent to which these characteristics might influence the selection of target-date funds by plan sponsors. EQUITY GLIDE PATHS: Several stylized equity glide paths as well as alternative asset allocations are compared for participants at various starting ages to demonstrate the interaction between plan demographics and equity glide paths/asset allocations in terms of success rates in meeting various replacement income targets. The equity glide path/asset allocation providing the highest success rate at a particular replacement rate target will vary with the assumed starting date of the participant (see Figure 17). Given the highly stylized nature of the simulations in this Issue Brief it is important to note that the results are not intended to provide a single equity glide path solution in relation to plan demographics. Instead, they serve as a framework to be considered when plan sponsors make a selection concerning which target-date funds to include in their plan. IMPORTANCE OF PARTICIPANT CONTRIBUTION RATES: This analysis finds that although target-date funds with different equity glide paths affect the retirement income replacement success rate, participant contribution rates corresponding to different plan demographic characteristics have a stronger impact. AUTO FEATURES OF THE PPA: This Issue Brief provides a stylized study using observed contribution rates as of the 2007 plan year. However, with the passage of the Pension Protection Act of 2006 and its likely impact on plan design in the future (increased utilization of automatic enrollment and automatic contribution escalations), it is likely that contribution rates among the participants may become more homogenous. In such a scenario, it may be more likely that a single equity glide path would meet a wide range of demographic profiles.

Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

NASA Technical Reports Server (NTRS)

Rowe, Neil C.; Lewis, David H.

1989-01-01

Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.

Path Planning Algorithms for Autonomous Border Patrol Vehicles

NASA Astrophysics Data System (ADS)

Lau, George Tin Lam

This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

Local Free-Space Mapping and Path Guidance for Mobile Robots.

DTIC Science & Technology

1988-03-01

CM a CD U 00 Technical Document 1227 March 1988 Local Free- Space Mapping o and Path Guidance for Mobile Robots o William T. Gex N’% Nancy L. Campbell...TITLE (inludvSeocutCl&sas~o*) Local Free- Space Mapping and Path Guidance for Mobile Robots 12. PERSONAL AUTHOR(S) William T. Gex and Nancy L...Description of Robot System... 2 Free- Space Mapping ... 4 Map Construction ... 4 . ,12pping Examplk... 5 ’ft Sensor Unreliability... 8 % Path Guidance

Invasive growth patterns of juvenile nasopharyngeal angiofibroma: radiological imaging and clinical implications.

PubMed

Szymańska, Anna; Szymański, Marcin; Czekajska-Chehab, Elżbieta; Szczerbo-Trojanowska, Małgorzata

2014-07-01

Juvenile nasopharyngeal angiofibroma is a benign lesion with locally aggressive nature. Knowledge of its typical growth patterns is crucial for precise preoperative staging and adequate preoperative patient counseling. This pictorial essay focuses on characteristic radiological features and paths of invasive growth of this rare tumor. Also, the impact of accurate preoperative evaluation of tumor extensions on surgical planning and results of treatment are discussed. © The Foundation Acta Radiologica 2013 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav.

Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles

NASA Astrophysics Data System (ADS)

Hu, Xuemin; Chen, Long; Tang, Bo; Cao, Dongpu; He, Haibo

2018-02-01

This paper presents a real-time dynamic path planning method for autonomous driving that avoids both static and moving obstacles. The proposed path planning method determines not only an optimal path, but also the appropriate acceleration and speed for a vehicle. In this method, we first construct a center line from a set of predefined waypoints, which are usually obtained from a lane-level map. A series of path candidates are generated by the arc length and offset to the center line in the s - ρ coordinate system. Then, all of these candidates are converted into Cartesian coordinates. The optimal path is selected considering the total cost of static safety, comfortability, and dynamic safety; meanwhile, the appropriate acceleration and speed for the optimal path are also identified. Various types of roads, including single-lane roads and multi-lane roads with static and moving obstacles, are designed to test the proposed method. The simulation results demonstrate the effectiveness of the proposed method, and indicate its wide practical application to autonomous driving.

FTS evolution

NASA Technical Reports Server (NTRS)

Provost, David E.

1990-01-01

Viewgraphs on flight telerobotic servicer evolution are presented. Topics covered include: paths for FTS evolution; frequently performed actions; primary task states; EPS radiator panel installation; generic task definitions; path planning; non-contact alignment; contact planning and control; and human operator interface.

Bim-Based Indoor Path Planning Considering Obstacles

NASA Astrophysics Data System (ADS)

Xu, M.; Wei, S.; Zlatanova, S.; Zhang, R.

2017-09-01

At present, 87 % of people's activities are in indoor environment; indoor navigation has become a research issue. As the building structures for people's daily life are more and more complex, many obstacles influence humans' moving. Therefore it is essential to provide an accurate and efficient indoor path planning. Nowadays there are many challenges and problems in indoor navigation. Most existing path planning approaches are based on 2D plans, pay more attention to the geometric configuration of indoor space, often ignore rich semantic information of building components, and mostly consider simple indoor layout without taking into account the furniture. Addressing the above shortcomings, this paper uses BIM (IFC) as the input data and concentrates on indoor navigation considering obstacles in the multi-floor buildings. After geometric and semantic information are extracted, 2D and 3D space subdivision methods are adopted to build the indoor navigation network and to realize a path planning that avoids obstacles. The 3D space subdivision is based on triangular prism. The two approaches are verified by the experiments.

Development of preoperative planning software for transforaminal endoscopic surgery and the guidance for clinical applications.

PubMed

Chen, Xiaojun; Cheng, Jun; Gu, Xin; Sun, Yi; Politis, Constantinus

2016-04-01

Preoperative planning is of great importance for transforaminal endoscopic techniques applied in percutaneous endoscopic lumbar discectomy. In this study, a modular preoperative planning software for transforaminal endoscopic surgery was developed and demonstrated. The path searching method is based on collision detection, and the oriented bounding box was constructed for the anatomical models. Then, image reformatting algorithms were developed for multiplanar reconstruction which provides detailed anatomical information surrounding the virtual planned path. Finally, multithread technique was implemented to realize the steady-state condition of the software. A preoperative planning software for transforaminal endoscopic surgery (TE-Guider) was developed; seven cases of patients with symptomatic lumbar disc herniations were planned preoperatively using TE-Guider. The distances to the midlines and the direction of the optimal paths were exported, and each result was in line with the empirical value. TE-Guider provides an efficient and cost-effective way to search the ideal path and entry point for the puncture. However, more clinical cases will be conducted to demonstrate its feasibility and reliability.

Visually based path-planning by Japanese monkeys.

PubMed

Mushiake, H; Saito, N; Sakamoto, K; Sato, Y; Tanji, J

2001-03-01

To construct an animal model of strategy formation, we designed a maze path-finding task. First, we asked monkeys to capture a goal in the maze by moving a cursor on the screen. Cursor movement was linked to movements of each wrist. When the animals learned the association between cursor movement and wrist movement, we established a start and a goal in the maze, and asked them to find a path between them. We found that the animals took the shortest pathway, rather than approaching the goal randomly. We further found that the animals adopted a strategy of selecting a fixed intermediate point in the visually presented maze to select one of the shortest pathways, suggesting a visually based path planning. To examine their capacity to use that strategy flexibly, we transformed the task by blocking pathways in the maze, providing a problem to solve. The animals then developed a strategy of solving the problem by planning a novel shortest path from the start to the goal and rerouting the path to bypass the obstacle.

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

PubMed Central

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently. PMID:28255297

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

PubMed

Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

Reasoning on the Self-Organizing Incremental Associative Memory for Online Robot Path Planning

NASA Astrophysics Data System (ADS)

Kawewong, Aram; Honda, Yutaro; Tsuboyama, Manabu; Hasegawa, Osamu

Robot path-planning is one of the important issues in robotic navigation. This paper presents a novel robot path-planning approach based on the associative memory using Self-Organizing Incremental Neural Networks (SOINN). By the proposed method, an environment is first autonomously divided into a set of path-fragments by junctions. Each fragment is represented by a sequence of preliminarily generated common patterns (CPs). In an online manner, a robot regards the current path as the associative path-fragments, each connected by junctions. The reasoning technique is additionally proposed for decision making at each junction to speed up the exploration time. Distinct from other methods, our method does not ignore the important information about the regions between junctions (path-fragments). The resultant number of path-fragments is also less than other method. Evaluation is done via Webots physical 3D-simulated and real robot experiments, where only distance sensors are available. Results show that our method can represent the environment effectively; it enables the robot to solve the goal-oriented navigation problem in only one episode, which is actually less than that necessary for most of the Reinforcement Learning (RL) based methods. The running time is proved finite and scales well with the environment. The resultant number of path-fragments matches well to the environment.

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments

PubMed Central

Ravankar, Abhijeet; Ravankar, Ankit A.; Kobayashi, Yukinori; Emaru, Takanori

2017-01-01

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from ‘driver-lost’ scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results. PMID:28809803

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments.

PubMed

Ravankar, Abhijeet; Ravankar, Ankit A; Kobayashi, Yukinori; Emaru, Takanori

2017-08-15

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from `driver-lost' scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results.

Path planning for mobile robot using the novel repulsive force algorithm

NASA Astrophysics Data System (ADS)

Sun, Siyue; Yin, Guoqiang; Li, Xueping

2018-01-01

A new type of repulsive force algorithm is proposed to solve the problem of local minimum and the target unreachable of the classic Artificial Potential Field (APF) method in this paper. The Gaussian function that is related to the distance between the robot and the target is added to the traditional repulsive force, solving the problem of the goal unreachable with the obstacle nearby; variable coefficient is added to the repulsive force component to resize the repulsive force, which can solve the local minimum problem when the robot, the obstacle and the target point are in the same line. The effectiveness of the algorithm is verified by simulation based on MATLAB and actual mobile robot platform.

Thermal Stability of Al2O3/Silicone Composites as High-Temperature Encapsulants

NASA Astrophysics Data System (ADS)

Yao, Yiying

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Sequential quadratic programming-based fast path planning algorithm subject to no-fly zone constraints

NASA Astrophysics Data System (ADS)

Liu, Wei; Ma, Shunjian; Sun, Mingwei; Yi, Haidong; Wang, Zenghui; Chen, Zengqiang

2016-08-01

Path planning plays an important role in aircraft guided systems. Multiple no-fly zones in the flight area make path planning a constrained nonlinear optimization problem. It is necessary to obtain a feasible optimal solution in real time. In this article, the flight path is specified to be composed of alternate line segments and circular arcs, in order to reformulate the problem into a static optimization one in terms of the waypoints. For the commonly used circular and polygonal no-fly zones, geometric conditions are established to determine whether or not the path intersects with them, and these can be readily programmed. Then, the original problem is transformed into a form that can be solved by the sequential quadratic programming method. The solution can be obtained quickly using the Sparse Nonlinear OPTimizer (SNOPT) package. Mathematical simulations are used to verify the effectiveness and rapidity of the proposed algorithm.

Path Planning Method in Multi-obstacle Marine Environment

NASA Astrophysics Data System (ADS)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.

Project Scheduling Based on Risk of Gas Transmission Pipe

NASA Astrophysics Data System (ADS)

Silvianita; Nurbaity, A.; Mulyadi, Y.; Suntoyo; Chamelia, D. M.

2018-03-01

The planning of a project has a time limit on which must be completed before or right at a predetermined time. Thus, in a project planning, it is necessary to have scheduling management that is useful for completing a project to achieve maximum results by considering the constraints that will exists. Scheduling management is undertaken to deal with uncertainties and negative impacts of time and cost in project completion. This paper explains about scheduling management in gas transmission pipeline project Gresik-Semarang to find out which scheduling plan is most effectively used in accordance with its risk value. Scheduling management in this paper is assissted by Microsoft Project software to find the critical path of existing project scheduling planning data. Critical path is the longest scheduling path with the fastest completion time. The result is found a critical path on project scheduling with completion time is 152 days. Furthermore, the calculation of risk is done by using House of Risk (HOR) method and it is found that the critical path has a share of 40.98 percent of all causes of the occurence of risk events that will be experienced.

UAVSAR Flight-Planning System

NASA Technical Reports Server (NTRS)

2008-01-01

A system of software partly automates planning of a flight of the Uninhabited Aerial Vehicle Synthetic Aperture Radar (UAVSAR) -- a polarimetric synthetic-aperture radar system aboard an unpiloted or minimally piloted airplane. The software constructs a flight plan that specifies not only the intended flight path but also the setup of the radar system at each point along the path.

Grasp planning under uncertainty

NASA Technical Reports Server (NTRS)

Erkmen, A. M.; Stephanou, H. E.

1989-01-01

The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

Planning paths to multiple targets: memory involvement and planning heuristics in spatial problem solving.

PubMed

Wiener, J M; Ehbauer, N N; Mallot, H A

2009-09-01

For large numbers of targets, path planning is a complex and computationally expensive task. Humans, however, usually solve such tasks quickly and efficiently. We present experiments studying human path planning performance and the cognitive processes and heuristics involved. Twenty-five places were arranged on a regular grid in a large room. Participants were repeatedly asked to solve traveling salesman problems (TSP), i.e., to find the shortest closed loop connecting a start location with multiple target locations. In Experiment 1, we tested whether humans employed the nearest neighbor (NN) strategy when solving the TSP. Results showed that subjects outperform the NN-strategy, suggesting that it is not sufficient to explain human route planning behavior. As a second possible strategy we tested a hierarchical planning heuristic in Experiment 2, demonstrating that participants first plan a coarse route on the region level that is refined during navigation. To test for the relevance of spatial working memory (SWM) and spatial long-term memory (LTM) for planning performance and the planning heuristics applied, we varied the memory demands between conditions in Experiment 2. In one condition the target locations were directly marked, such that no memory was required; a second condition required participants to memorize the target locations during path planning (SWM); in a third condition, additionally, the locations of targets had to retrieved from LTM (SWM and LTM). Results showed that navigation performance decreased with increasing memory demands while the dependence on the hierarchical planning heuristic increased.

System and Method for Aiding Pilot Preview, Rehearsal, Review, and Real-Time Visual Acquisition of Flight Mission Progress

NASA Technical Reports Server (NTRS)

Prinzel, III, Lawrence J. (Inventor); Pope, Alan T. (Inventor); Williams, Steven P. (Inventor); Bailey, Randall E. (Inventor); Arthur, Jarvis J. (Inventor); Kramer, Lynda J. (Inventor); Schutte, Paul C. (Inventor)

2012-01-01

Embodiments of the invention permit flight paths (current and planned) to be viewed from various orientations to provide improved path and terrain awareness via graphical two-dimensional or three-dimensional perspective display formats. By coupling the flight path information with a terrain database, uncompromising terrain awareness relative to the path and ownship is provided. In addition, missed approaches, path deviations, and any navigational path can be reviewed and rehearsed before performing the actual task. By rehearsing a particular mission, check list items can be reviewed, terrain awareness can be highlighted, and missed approach procedures can be discussed by the flight crew. Further, the use of Controller Pilot Datalink Communications enables data-linked path, flight plan changes, and Air Traffic Control requests to be integrated into the flight display of the present invention.

Sampling-Based Coverage Path Planning for Complex 3D Structures

DTIC Science & Technology

2012-09-01

one such task, in which a single robot must sweep its end effector over the entirety of a known workspace. For two-dimensional environments, optimal...structures. First, we introduce a new algorithm for planning feasible coverage paths. It is more computationally efficient in problems of complex geometry...iteratively shortens and smooths a feasible coverage path; robot configurations are adjusted without violating any coverage con- straints. Third, we propose

Energy-optimal path planning in the coastal ocean

NASA Astrophysics Data System (ADS)

Subramani, Deepak N.; Haley, Patrick J.; Lermusiaux, Pierre F. J.

2017-05-01

We integrate data-driven ocean modeling with the stochastic Dynamically Orthogonal (DO) level-set optimization methodology to compute and study energy-optimal paths, speeds, and headings for ocean vehicles in the Middle-Atlantic Bight (MAB) region. We hindcast the energy-optimal paths from among exact time-optimal paths for the period 28 August 2006 to 9 September 2006. To do so, we first obtain a data-assimilative multiscale reanalysis, combining ocean observations with implicit two-way nested multiresolution primitive-equation simulations of the tidal-to-mesoscale dynamics in the region. Second, we solve the reduced-order stochastic DO level-set partial differential equations (PDEs) to compute the joint probability of minimum arrival time, vehicle-speed time series, and total energy utilized. Third, for each arrival time, we select the vehicle-speed time series that minimize the total energy utilization from the marginal probability of vehicle-speed and total energy. The corresponding energy-optimal path and headings are obtained through the exact particle-backtracking equation. Theoretically, the present methodology is PDE-based and provides fundamental energy-optimal predictions without heuristics. Computationally, it is 3-4 orders of magnitude faster than direct Monte Carlo methods. For the missions considered, we analyze the effects of the regional tidal currents, strong wind events, coastal jets, shelfbreak front, and other local circulations on the energy-optimal paths. Results showcase the opportunities for vehicles that intelligently utilize the ocean environment to minimize energy usage, rigorously integrating ocean forecasting with optimal control of autonomous vehicles.

Robot path planning algorithm based on symbolic tags in dynamic environment

NASA Astrophysics Data System (ADS)

Vokhmintsev, A.; Timchenko, M.; Melnikov, A.; Kozko, A.; Makovetskii, A.

2017-09-01

The present work will propose a new heuristic algorithms for path planning of a mobile robot in an unknown dynamic space that have theoretically approved estimates of computational complexity and are approbated for solving specific applied problems.

Research on Taxiway Path Optimization Based on Conflict Detection

PubMed Central

Zhou, Hang; Jiang, Xinxin

2015-01-01

Taxiway path planning is one of the effective measures to make full use of the airport resources, and the optimized paths can ensure the safety of the aircraft during the sliding process. In this paper, the taxiway path planning based on conflict detection is considered. Specific steps are shown as follows: firstly, make an improvement on A * algorithm, the conflict detection strategy is added to search for the shortest and safe path in the static taxiway network. Then, according to the sliding speed of aircraft, a time table for each node is determined and the safety interval is treated as the constraint to judge whether there is a conflict or not. The intelligent initial path planning model is established based on the results. Finally, make an example in an airport simulation environment, detect and relieve the conflict to ensure the safety. The results indicate that the model established in this paper is effective and feasible. Meanwhile, make comparison with the improved A*algorithm and other intelligent algorithms, conclude that the improved A*algorithm has great advantages. It could not only optimize taxiway path, but also ensure the safety of the sliding process and improve the operational efficiency. PMID:26226485

Expert system for neurosurgical treatment planning

NASA Astrophysics Data System (ADS)

Cheng, Andrew Y. S.; Chung, Sally S. Y.; Kwok, John C. K.

1996-04-01

A specially designed expert system is in development for neurosurgical treatment planning. The knowledge base contains knowledge and experiences on neurosurgical treatment planning from neurosurgeon consultants, who also determine the risks of different regions in human brains. When completed, the system can simulate the decision making process of neurosurgeons to determine the safest probing path for operation. The Computed Tomography (CT) or Magnetic Resonance Imaging (MRI) scan images for each patient are grabbed as the input. The system also allows neurosurgeons to include for any particular patient the additional information, such as how the tumor affects its neighboring functional regions, which is also important for calculating the safest probing path. It can then consider all the relevant information and find the most suitable probing path on the patient's brain. A 3D brain model is constructed for each set of the CT/MRI scan images and is displayed real-time together with the possible probing paths found. The precise risk value of each path is shown as a number between 0 and 1, together with its possible damages in text. Neurosurgeons can view more than one possible path simultaneously, and make the final decision on the selected path for operation.

Research on Taxiway Path Optimization Based on Conflict Detection.

PubMed

Zhou, Hang; Jiang, Xinxin

2015-01-01

Taxiway path planning is one of the effective measures to make full use of the airport resources, and the optimized paths can ensure the safety of the aircraft during the sliding process. In this paper, the taxiway path planning based on conflict detection is considered. Specific steps are shown as follows: firstly, make an improvement on A * algorithm, the conflict detection strategy is added to search for the shortest and safe path in the static taxiway network. Then, according to the sliding speed of aircraft, a time table for each node is determined and the safety interval is treated as the constraint to judge whether there is a conflict or not. The intelligent initial path planning model is established based on the results. Finally, make an example in an airport simulation environment, detect and relieve the conflict to ensure the safety. The results indicate that the model established in this paper is effective and feasible. Meanwhile, make comparison with the improved A*algorithm and other intelligent algorithms, conclude that the improved A*algorithm has great advantages. It could not only optimize taxiway path, but also ensure the safety of the sliding process and improve the operational efficiency.

The research of autonomous obstacle avoidance of mobile robot based on multi-sensor integration

NASA Astrophysics Data System (ADS)

Zhao, Ming; Han, Baoling

2016-11-01

The object of this study is the bionic quadruped mobile robot. The study has proposed a system design plan for mobile robot obstacle avoidance with the binocular stereo visual sensor and the self-control 3D Lidar integrated with modified ant colony optimization path planning to realize the reconstruction of the environmental map. Because the working condition of a mobile robot is complex, the result of the 3D reconstruction with a single binocular sensor is undesirable when feature points are few and the light condition is poor. Therefore, this system integrates the stereo vision sensor blumblebee2 and the Lidar sensor together to detect the cloud information of 3D points of environmental obstacles. This paper proposes the sensor information fusion technology to rebuild the environment map. Firstly, according to the Lidar data and visual data on obstacle detection respectively, and then consider two methods respectively to detect the distribution of obstacles. Finally fusing the data to get the more complete, more accurate distribution of obstacles in the scene. Then the thesis introduces ant colony algorithm. It has analyzed advantages and disadvantages of the ant colony optimization and its formation cause deeply, and then improved the system with the help of the ant colony optimization to increase the rate of convergence and precision of the algorithm in robot path planning. Such improvements and integrations overcome the shortcomings of the ant colony optimization like involving into the local optimal solution easily, slow search speed and poor search results. This experiment deals with images and programs the motor drive under the compiling environment of Matlab and Visual Studio and establishes the visual 2.5D grid map. Finally it plans a global path for the mobile robot according to the ant colony algorithm. The feasibility and effectiveness of the system are confirmed by ROS and simulation platform of Linux.

Study of Double-Weighted Graph Model and Optimal Path Planning for Tourist Scenic Area Oriented Intelligent Tour Guide

NASA Astrophysics Data System (ADS)

Shi, Y.; Long, Y.; Wi, X. L.

2014-04-01

When tourists visiting multiple tourist scenic spots, the travel line is usually the most effective road network according to the actual tour process, and maybe the travel line is different from planned travel line. For in the field of navigation, a proposed travel line is normally generated automatically by path planning algorithm, considering the scenic spots' positions and road networks. But when a scenic spot have a certain area and have multiple entrances or exits, the traditional described mechanism of single point coordinates is difficult to reflect these own structural features. In order to solve this problem, this paper focuses on the influence on the process of path planning caused by scenic spots' own structural features such as multiple entrances or exits, and then proposes a doubleweighted Graph Model, for the weight of both vertexes and edges of proposed Model can be selected dynamically. And then discusses the model building method, and the optimal path planning algorithm based on Dijkstra algorithm and Prim algorithm. Experimental results show that the optimal planned travel line derived from the proposed model and algorithm is more reasonable, and the travelling order and distance would be further optimized.

Path planning for planetary rover using extended elevation map

NASA Technical Reports Server (NTRS)

Nakatani, Ichiro; Kubota, Takashi; Yoshimitsu, Tetsuo

1994-01-01

This paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.

Autonomous Path Planning for On-Orbit Servicing Vehicles

NASA Astrophysics Data System (ADS)

McInnes, C. R.

On-orbit servicing has long been considered as a means of reducing mission costs. While automated on-orbit servicing of satellites in LEO and GEO has yet to be realised, the International Space Station (ISS) will require servicing in a number of forms for re-supply, external visual inspection and maintenance. This paper will discuss a unified approach to path planning for such servicing vehicles using artificial potential field methods. In particular, path constrained rendezvous and docking of the ESA Automated Transfer Vehicle (ATV) at the ISS will be investigated as will mission and path planning tools for the Daimler-Chrysler Aerospace ISS Inspector free-flying camera. Future applications for free-flying microcameras and co-operative control between multiple free-flyers for on-orbit assembly will also be considered.

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.

Planning Paths Through Singularities in the Center of Mass Space

NASA Technical Reports Server (NTRS)

Doggett, William R.; Messner, William C.; Juang, Jer-Nan

1998-01-01

The center of mass space is a convenient space for planning motions that minimize reaction forces at the robot's base or optimize the stability of a mechanism. A unique problem associated with path planning in the center of mass space is the potential existence of multiple center of mass images for a single Cartesian obstacle, since a single center of mass location can correspond to multiple robot joint configurations. The existence of multiple images results in a need to either maintain multiple center of mass obstacle maps or to update obstacle locations when the robot passes through a singularity, such as when it moves from an elbow-up to an elbow-down configuration. To illustrate the concepts presented in this paper, a path is planned for an example task requiring motion through multiple center of mass space maps. The object of the path planning algorithm is to locate the bang- bang acceleration profile that minimizes the robot's base reactions in the presence of a single Cartesian obstacle. To simplify the presentation, only non-redundant robots are considered and joint non-linearities are neglected.

Safe Maritime Autonomous Path Planning in a High Sea State

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Quadrelli, Marco; Huntsberger, Terrance L.

2014-01-01

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

Visual environment recognition for robot path planning using template matched filters

NASA Astrophysics Data System (ADS)

Orozco-Rosas, Ulises; Picos, Kenia; Díaz-Ramírez, Víctor H.; Montiel, Oscar; Sepúlveda, Roberto

2017-08-01

A visual approach in environment recognition for robot navigation is proposed. This work includes a template matching filtering technique to detect obstacles and feasible paths using a single camera to sense a cluttered environment. In this problem statement, a robot can move from the start to the goal by choosing a single path between multiple possible ways. In order to generate an efficient and safe path for mobile robot navigation, the proposal employs a pseudo-bacterial potential field algorithm to derive optimal potential field functions using evolutionary computation. Simulation results are evaluated in synthetic and real scenes in terms of accuracy of environment recognition and efficiency of path planning computation.

New Polyazine-Bridged RuII,RhIII and RuII,RhI Supramolecular Photocatalysts for Water Reduction to Hydrogen Applicable for Solar Energy Conversion and Mechanistic Investigation of the Photocatalytic Cycle

NASA Astrophysics Data System (ADS)

Zhou, Rongwei

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

Rock climbing: A local-global algorithm to compute minimum energy and minimum free energy pathways.

PubMed

Templeton, Clark; Chen, Szu-Hua; Fathizadeh, Arman; Elber, Ron

2017-10-21

The calculation of minimum energy or minimum free energy paths is an important step in the quantitative and qualitative studies of chemical and physical processes. The computations of these coordinates present a significant challenge and have attracted considerable theoretical and computational interest. Here we present a new local-global approach to study reaction coordinates, based on a gradual optimization of an action. Like other global algorithms, it provides a path between known reactants and products, but it uses a local algorithm to extend the current path in small steps. The local-global approach does not require an initial guess to the path, a major challenge for global pathway finders. Finally, it provides an exact answer (the steepest descent path) at the end of the calculations. Numerical examples are provided for the Mueller potential and for a conformational transition in a solvated ring system.

Aircraft path planning for optimal imaging using dynamic cost functions

NASA Astrophysics Data System (ADS)

Christie, Gordon; Chaudhry, Haseeb; Kochersberger, Kevin

2015-05-01

Unmanned aircraft development has accelerated with recent technological improvements in sensing and communications, which has resulted in an "applications lag" for how these aircraft can best be utilized. The aircraft are becoming smaller, more maneuverable and have longer endurance to perform sensing and sampling missions, but operating them aggressively to exploit these capabilities has not been a primary focus in unmanned systems development. This paper addresses a means of aerial vehicle path planning to provide a realistic optimal path in acquiring imagery for structure from motion (SfM) reconstructions and performing radiation surveys. This method will allow SfM reconstructions to occur accurately and with minimal flight time so that the reconstructions can be executed efficiently. An assumption is made that we have 3D point cloud data available prior to the flight. A discrete set of scan lines are proposed for the given area that are scored based on visibility of the scene. Our approach finds a time-efficient path and calculates trajectories between scan lines and over obstacles encountered along those scan lines. Aircraft dynamics are incorporated into the path planning algorithm as dynamic cost functions to create optimal imaging paths in minimum time. Simulations of the path planning algorithm are shown for an urban environment. We also present our approach for image-based terrain mapping, which is able to efficiently perform a 3D reconstruction of a large area without the use of GPS data.

Implications of path tolerance and path characteristics on critical vehicle manoeuvres

NASA Astrophysics Data System (ADS)

Lundahl, K.; Frisk, E.; Nielsen, L.

2017-12-01

Path planning and path following are core components in safe autonomous driving. Typically, a path planner provides a path with some tolerance on how tightly the path should be followed. Based on that, and other path characteristics, for example, sharpness of curves, a speed profile needs to be assigned so that the vehicle can stay within the given tolerance without going unnecessarily slow. Here, such trajectory planning is based on optimal control formulations where critical cases arise as on-the-limit solutions. The study focuses on heavy commercial vehicles, causing rollover to be of a major concern, due to the relatively high centre of gravity. Several results are obtained on required model complexity depending on path characteristics, for example, quantification of required path tolerance for a simple model to be sufficient, quantification of when yaw inertia needs to be considered in more detail, and how the curvature rate of change interplays with available friction. Overall, in situations where the vehicle is subject to a wide range of driving conditions, from good transport roads to more tricky avoidance manoeuvres, the requirements on the path following will vary. For this, the provided results form a basis for real-time path following.

Application of particle swarm optimization in path planning of mobile robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

In order to realize the optimal path planning of mobile robot in unknown environment, a particle swarm optimization algorithm based on path length as fitness function is proposed. The location of the global optimal particle is determined by the minimum fitness value, and the robot moves along the points of the optimal particles to the target position. The process of moving to the target point is done with MATLAB R2014a. Compared with the standard particle swarm optimization algorithm, the simulation results show that this method can effectively avoid all obstacles and get the optimal path.

Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach

DTIC Science & Technology

2015-03-01

in the framework of probabilistic finite state automata (PFSA) and language measure from a control-theoretic perspective. The proposed concept has been...DOI: 10.1115/1.4027876] Keywords: path planning, language measure, probabilistic finite state automata 1 Motivation and Introduction In general

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †

PubMed Central

Zhang, Meiyan; Zheng, Yahong Rosa

2017-01-01

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X−Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem. PMID:28696377

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †.

PubMed

Cai, Wenyu; Zhang, Meiyan; Zheng, Yahong Rosa

2017-07-11

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X - Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

Automated flight path planning for virtual endoscopy.

PubMed

Paik, D S; Beaulieu, C F; Jeffrey, R B; Rubin, G D; Napel, S

1998-05-01

In this paper, a novel technique for rapid and automatic computation of flight paths for guiding virtual endoscopic exploration of three-dimensional medical images is described. While manually planning flight paths is a tedious and time consuming task, our algorithm is automated and fast. Our method for positioning the virtual camera is based on the medial axis transform but is much more computationally efficient. By iteratively correcting a path toward the medial axis, the necessity of evaluating simple point criteria during morphological thinning is eliminated. The virtual camera is also oriented in a stable viewing direction, avoiding sudden twists and turns. We tested our algorithm on volumetric data sets of eight colons, one aorta and one bronchial tree. The algorithm computed the flight paths in several minutes per volume on an inexpensive workstation with minimal computation time added for multiple paths through branching structures (10%-13% per extra path). The results of our algorithm are smooth, centralized paths that aid in the task of navigation in virtual endoscopic exploration of three-dimensional medical images.

Information surfing with the JHU/APL coherent imager

NASA Astrophysics Data System (ADS)

Ratto, Christopher R.; Shipley, Kara R.; Beagley, Nathaniel; Wolfe, Kevin C.

2015-05-01

The ability to perform remote forensics in situ is an important application of autonomous undersea vehicles (AUVs). Forensics objectives may include remediation of mines and/or unexploded ordnance, as well as monitoring of seafloor infrastructure. At JHU/APL, digital holography is being explored for the potential application to underwater imaging and integration with an AUV. In previous work, a feature-based approach was developed for processing the holographic imagery and performing object recognition. In this work, the results of the image processing method were incorporated into a Bayesian framework for autonomous path planning referred to as information surfing. The framework was derived assuming that the location of the object of interest is known a priori, but the type of object and its pose are unknown. The path-planning algorithm adaptively modifies the trajectory of the sensing platform based on historical performance of object and pose classification. The algorithm is called information surfing because the direction of motion is governed by the local information gradient. Simulation experiments were carried out using holographic imagery collected from submerged objects. The autonomous sensing algorithm was compared to a deterministic sensing CONOPS, and demonstrated improved accuracy and faster convergence in several cases.

Comparison of tablet-based strategies for incision planning in laser microsurgery

NASA Astrophysics Data System (ADS)

Schoob, Andreas; Lekon, Stefan; Kundrat, Dennis; Kahrs, Lüder A.; Mattos, Leonardo S.; Ortmaier, Tobias

2015-03-01

Recent research has revealed that incision planning in laser surgery deploying stylus and tablet outperforms state-of-the-art micro-manipulator-based laser control. Providing more detailed quantitation regarding that approach, a comparative study of six tablet-based strategies for laser path planning is presented. Reference strategy is defined by monoscopic visualization and continuous path drawing on a graphics tablet. Further concepts deploying stereoscopic or a synthesized laser view, point-based path definition, real-time teleoperation or a pen display are compared with the reference scenario. Volunteers were asked to redraw and ablate stamped lines on a sample. Performance is assessed by measuring planning accuracy, completion time and ease of use. Results demonstrate that significant differences exist between proposed concepts. The reference strategy provides more accurate incision planning than the stereo or laser view scenario. Real-time teleoperation performs best with respect to completion time without indicating any significant deviation in accuracy and usability. Point-based planning as well as the pen display provide most accurate planning and increased ease of use compared to the reference strategy. As a result, combining the pen display approach with point-based planning has potential to become a powerful strategy because of benefiting from improved hand-eye-coordination on the one hand and from a simple but accurate technique for path definition on the other hand. These findings as well as the overall usability scale indicating high acceptance and consistence of proposed strategies motivate further advanced tablet-based planning in laser microsurgery.

Received signal strength and local terrain profile data for radio network planning and optimization at GSM frequency bands.

PubMed

Popoola, Segun I; Atayero, Aderemi A; Faruk, Nasir

2018-02-01

The behaviour of radio wave signals in a wireless channel depends on the local terrain profile of the propagation environments. In view of this, Received Signal Strength (RSS) of transmitted signals are measured at different points in space for radio network planning and optimization. However, these important data are often not publicly available for wireless channel characterization and propagation model development. In this data article, RSS data of a commercial base station operating at 900 and 1800 MHz were measured along three different routes of Lagos-Badagry Highway, Nigeria. In addition, local terrain profile data of the study area (terrain elevation, clutter height, altitude, and the distance of the mobile station from the base station) are extracted from Digital Terrain Map (DTM) to account for the unique environmental features. Statistical analyses and probability distributions of the RSS data are presented in tables and graphs. Furthermore, the degree of correlations (and the corresponding significance) between the RSS and the local terrain parameters were computed and analyzed for proper interpretations. The data provided in this article will help radio network engineers to: predict signal path loss; estimate radio coverage; efficiently reuse limited frequencies; avoid interferences; optimize handover; and adjust transmitted power level.

Automatic Operation For A Robot Lawn Mower

NASA Astrophysics Data System (ADS)

Huang, Y. Y.; Cao, Z. L.; Oh, S. J.; Kattan, E. U.; Hall, E. L.

1987-02-01

A domestic mobile robot, lawn mower, which performs the automatic operation mode, has been built up in the Center of Robotics Research, University of Cincinnati. The robot lawn mower automatically completes its work with the region filling operation, a new kind of path planning for mobile robots. Some strategies for region filling of path planning have been developed for a partly-known or a unknown environment. Also, an advanced omnidirectional navigation system and a multisensor-based control system are used in the automatic operation. Research on the robot lawn mower, especially on the region filling of path planning, is significant in industrial and agricultural applications.

Multi Robot Path Planning for Budgeted Active Perception with Self-Organising Maps

DTIC Science & Technology

2016-10-04

Multi- Robot Path Planning for Budgeted Active Perception with Self-Organising Maps Graeme Best1, Jan Faigl2 and Robert Fitch1 Abstract— We propose a...optimise paths for a multi- robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting...regions, each node has an observation reward, and the robots are constrained by travel budgets. The SOM algorithm jointly selects and allocates nodes

Chain-Based Communication in Cylindrical Underwater Wireless Sensor Networks

PubMed Central

Javaid, Nadeem; Jafri, Mohsin Raza; Khan, Zahoor Ali; Alrajeh, Nabil; Imran, Muhammad; Vasilakos, Athanasios

2015-01-01

Appropriate network design is very significant for Underwater Wireless Sensor Networks (UWSNs). Application-oriented UWSNs are planned to achieve certain objectives. Therefore, there is always a demand for efficient data routing schemes, which can fulfill certain requirements of application-oriented UWSNs. These networks can be of any shape, i.e., rectangular, cylindrical or square. In this paper, we propose chain-based routing schemes for application-oriented cylindrical networks and also formulate mathematical models to find a global optimum path for data transmission. In the first scheme, we devise four interconnected chains of sensor nodes to perform data communication. In the second scheme, we propose routing scheme in which two chains of sensor nodes are interconnected, whereas in third scheme single-chain based routing is done in cylindrical networks. After finding local optimum paths in separate chains, we find global optimum paths through their interconnection. Moreover, we develop a computational model for the analysis of end-to-end delay. We compare the performance of the above three proposed schemes with that of Power Efficient Gathering System in Sensor Information Systems (PEGASIS) and Congestion adjusted PEGASIS (C-PEGASIS). Simulation results show that our proposed 4-chain based scheme performs better than the other selected schemes in terms of network lifetime, end-to-end delay, path loss, transmission loss, and packet sending rate. PMID:25658394

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

NASA Technical Reports Server (NTRS)

Blackmore, Lars

2008-01-01

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm

NASA Astrophysics Data System (ADS)

Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

2017-04-01

The paper aims to present a design algorithm for multi quadrotor lanes in order to move towards the goal quickly and avoid obstacles in an area with obstacles. There are several problems in path planning including how to get to the goal position quickly and avoid static and dynamic obstacles. To overcome the problem, therefore, the paper presents fuzzy logic algorithm and fuzzy cell decomposition algorithm. Fuzzy logic algorithm is one of the artificial intelligence algorithms which can be applied to robot path planning that is able to detect static and dynamic obstacles. Cell decomposition algorithm is an algorithm of graph theory used to make a robot path map. By using the two algorithms the robot is able to get to the goal position and avoid obstacles but it takes a considerable time because they are able to find the shortest path. Therefore, this paper describes a modification of the algorithms by adding a potential field algorithm used to provide weight values on the map applied for each quadrotor by using decentralized controlled, so that the quadrotor is able to move to the goal position quickly by finding the shortest path. The simulations conducted have shown that multi-quadrotor can avoid various obstacles and find the shortest path by using the proposed algorithms.

Why reread? Evidence from garden-path and local coherence structures.

PubMed

Christianson, Kiel; Luke, Steven G; Hussey, Erika K; Wochna, Kacey L

2017-07-01

Two eye-tracking experiments were conducted to compare the online reading and offline comprehension of main verb/reduced relative garden-path sentences and local coherence sentences. Rereading of early material in garden-path reduced relatives should be revisionary, aimed at reanalysing an earlier misparse; however, rereading of early material in a local coherence reduced relative need only be confirmatory, as the original parse of the earlier portion of these sentences is ultimately correct. Results of online and offline measures showed that local coherence structures elicited signals of reading disruption that arose earlier and lasted longer, and local coherence comprehension was also better than garden path comprehension. Few rereading measures in either sentence type were predicted by structural features of these sentences, nor was rereading related to comprehension accuracy, which was extremely low overall. Results are discussed with respect to selective reanalysis and good-enough processing.

The intertwining paths of the density managment and riparian buffer study and the Northwest Forest Plan

Treesearch

Kenneth J. Ruzicka; Deanna H. Olson; Klaus J. Puettmann

2013-01-01

Initiated simultaneously, the Density Management and Riparian Buff er Study of western Oregon and the Northwest Forest Plan have had intertwining paths related to federal forest management and policy changes in the Pacifi c Northwest over the last 15 to 20 years. We briefl y discuss the development of the Northwest Forest Plan and how it changed the way forest policy...

The Integrated Curriculum of "Planned Approach to Healthier Schools"

ERIC Educational Resources Information Center

Lounsbery, Monica; Gast, Julie; Smith, Nicole

2005-01-01

Planned Approach to Healthier Schools (PATHS) is a multicomponent school program that aims to establish and sustain a social norm consistent with physical activity and healthy nutrition in the school community. The PATHS components include: (1) a professional development and wellness program for faculty and staff; (2) ongoing social-marketing…

32. ISOMETRIC VIEW OF PIPING PLAN, SHOWING PATH OF CONDUIT ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

32. ISOMETRIC VIEW OF PIPING PLAN, SHOWING PATH OF CONDUIT FROM CONTROL BUNKER TO SHIELDING TANK. F.C. TORKELSON DRAWING NUMBER 842-ARVFS-701-P-1. INEL INDEX CODE NUMBER: 075 0701 60 851 151977. - Idaho National Engineering Laboratory, Advanced Reentry Vehicle Fusing System, Scoville, Butte County, ID

Planning Flight Paths of Autonomous Aerobots

NASA Technical Reports Server (NTRS)

Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli

2009-01-01

Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.

EPA Critical Path Science Plan Projects 19, 20 and 21: Human and Bovine Source Detection

EPA Science Inventory

The U.S. EPA Critical Path Science Plan Projects are: Project 19: develop novel bovine and human host-specific PCR assays and complete performance evaluation with other published methods. Project 20: Evaluate human-specific assays with water samples impacted with different lev...

[Gender and career paths of female primary care physicians in Andalusia, Spain, at the beginning of 21st century].

PubMed

Saletti-Cuesta, Lorena; Delgado, Ana; Ortiz-Gómez, Teresa

2014-12-01

The purpose of this article was to study, from a feminist perspective, the diversity and homogeneity in the career paths of female primary care physicians from Andalusia, Spain in the early 21st century, by analyzing the meanings they give to their careers and the influence of personal, family and professional factors. We conducted a qualitative study with six discussion groups. Thirty-two female primary care physicians working in urban health centers of the public health system of Andalusia participated in the study. The discourse analysis revealed that most of the female physicians did not plan for professional goals and, when they did plan for them, the goals were intertwined with family needs. Consequently, their career paths were discontinuous. In contrast, career paths oriented towards professional development and the conscious planning of goals were more common among the female doctors acting as directors of health care centers.

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

NASA Astrophysics Data System (ADS)

Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

2007-12-01

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

The navigation system of the JPL robot

NASA Technical Reports Server (NTRS)

Thompson, A. M.

1977-01-01

The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning

ERIC Educational Resources Information Center

Duan, Haibin; Li, Pei; Shi, Yuhui; Zhang, Xiangyin; Sun, Changhao

2015-01-01

This paper describes the development of BOLE, a MATLAB-based interactive learning environment, that facilitates the process of learning bio-inspired optimization algorithms, and that is dedicated exclusively to unmanned aerial vehicle path planning. As a complement to conventional teaching methods, BOLE is designed to help students consolidate the…

Stakeholder Choices in Adaptation and Public Finance Planning for Coastal Hazard Mitigation in a Changing World: Highlights from Case Studies in Santos, Brazil, Broward County, FL, US and Selsey, UK (The METROPOLE Project)

NASA Astrophysics Data System (ADS)

Muller-Karger, F. E.; Merrill, S.; Pelling, M.; Marengo, J. A.; Reynolds, C. J.; Langbehn, K.; Paterson, S.; Nunes, L. H.; Kartez, J.; Lockman, J. T.

2016-12-01

Better integration of the human dimensions (values, beliefs, cultural identity, place, risk perceptions, communications, decision making) with scientific, technical, and economic data is required to advance effective municipal planning for adaptation to changes that can be expected to occur based on a changing climate. The international METROPOLE project offers practical insights and a path forward for coastal communities around the world with results from applied research carried out by social scientists, natural scientists, and practitioners working in coastal municipalities in Brazil, the United Kingdom, and the United States. Decision makers were interviewed to assess the Adaptive Capacity of their communities, and stakeholders were engaged in workshops to discuss the risks due to projected sea level rise (SLR) in terms of impacts and costs to property. The team investigated the social, cultural, and governance factors that shape decision making. Municipal leaders and local experts selected the SLR scenarios and adaptation options to be modelled using COAST, a state-of-the-art tool. The visualizations and risk maps integrated scientific and local economic data, and illustrated the potential impacts on 10,000 properties in each study area. Stakeholders voted on parameters to determine the cost-benefit ratio of potential adaptation options. Stakeholder priorities for local adaption planning, agreement with the need for increased fees/taxes, and acceptability of possible public finance mechanisms were evaluated with pre- and post-workshop surveys. The research identified similar patterns of adaptation "priorities" and new insight into how stakeholders consider public finance mechanisms for local action, in the context of "fiscal benefits and burdens." The research suggests implications for small towns, land-use policy changes, implementing adaptation options which deliver short and long-term benefits, and, for state and local governments to develop finance policy/mechanisms. Findings will be incorporated into new programs through our partnership with the Florida chapter of the American Planning Association.

The force control and path planning of electromagnetic induction-based massage robot.

PubMed

Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing

2017-07-20

Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore the massage effect can be improved.

Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning.

PubMed

Trinh, Lan Anh; Ekström, Mikael; Cürüklü, Baran

2018-01-01

Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta * algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta * algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of these two fields results in a safe path planning algorithm, with a deterministic outcome, to navigate agents to their desired goals.

CMPF: class-switching minimized pathfinding in metabolic networks.

PubMed

Lim, Kevin; Wong, Limsoon

2012-01-01

The metabolic network is an aggregation of enzyme catalyzed reactions that converts one compound to another. Paths in a metabolic network are a sequence of enzymes that describe how a chemical compound of interest can be produced in a biological system. As the number of such paths is quite large, many methods have been developed to score paths so that the k-shortest paths represent the set of paths that are biologically meaningful or efficient. However, these approaches do not consider whether the sequence of enzymes can be manufactured in the same pathway/species/localization. As a result, a predicted sequence might consist of groups of enzymes that operate in distinct pathway/species/localization and may not truly reflect the events occurring within cell. We propose a path weighting method CMPF (Class-switching Minimized Pathfinder) to search for routes in a metabolic network which minimizes pathway switching. In biological terms, a pathway is a series of chemical reactions which define a specific function (e.g. glycolysis). We conjecture that routes that cross many pathways are inefficient since different pathways define different metabolic functions. In addition, native routes are also well characterized within pathways, suggesting that reasonable paths should not involve too many pathway switches. Our method can be generalized when reactions participate in a class set (e.g., pathways, species or cellular localization) so that the paths predicted have minimal class crossings. We show that our method generates k-paths that involve the least number of class switching. In addition, we also show that native paths are recoverable and alternative paths deviates less from native paths compared to other methods. This suggests that paths ranked by our method could be a way to predict paths that are likely to occur in biological systems.

Diffractive paths for weak localization in quantum billiards

NASA Astrophysics Data System (ADS)

Březinová, Iva; Stampfer, Christoph; Wirtz, Ludger; Rotter, Stefan; Burgdörfer, Joachim

2008-04-01

We study the weak-localization effect in quantum transport through a clean ballistic cavity with regular classical dynamics. We address the question which paths account for the suppression of conductance through a system where disorder and chaos are absent. By exploiting both quantum and semiclassical methods, we unambiguously identify paths that are diffractively backscattered into the cavity (when approaching the lead mouths from the cavity interior) to play a key role. Diffractive scattering couples transmitted and reflected paths and is thus essential to reproduce the weak-localization peak in reflection and the corresponding antipeak in transmission. A comparison of semiclassical calculations featuring these diffractive paths yields good agreement with full quantum calculations and experimental data. Our theory provides system-specific predictions for the quantum regime of few open lead modes and can be expected to be relevant also for mixed as well as chaotic systems.

Task path planning, scheduling and learning for free-ranging robot systems

NASA Technical Reports Server (NTRS)

Wakefield, G. Steve

1987-01-01

The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

Path Planning Based on Ply Orientation Information for Automatic Fiber Placement on Mesh Surface

NASA Astrophysics Data System (ADS)

Pei, Jiazhi; Wang, Xiaoping; Pei, Jingyu; Yang, Yang

2018-03-01

This article introduces an investigation of path planning with ply orientation information for automatic fiber placement (AFP) on open-contoured mesh surface. The new method makes use of the ply orientation information generated by loading characteristics on surface, divides the surface into several zones according to the ply orientation information and then designs different fiber paths in different zones. This article also gives new idea of up-layer design in order to make up for defects between parts and improve product's strength.

Robust mobility in human-populated environments

NASA Astrophysics Data System (ADS)

Gonzalez, Juan Pablo; Phillips, Mike; Neuman, Brad; Likhachev, Max

2012-06-01

Creating robots that can help humans in a variety of tasks requires robust mobility and the ability to safely navigate among moving obstacles. This paper presents an overview of recent research in the Robotics Collaborative Technology Alliance (RCTA) that addresses many of the core requirements for robust mobility in human-populated environments. Safe Interval Path Planning (SIPP) allows for very fast planning in dynamic environments when planning timeminimal trajectories. Generalized Safe Interval Path Planning extends this concept to trajectories that minimize arbitrary cost functions. Finally, generalized PPCP algorithm is used to generate plans that reason about the uncertainty in the predicted trajectories of moving obstacles and try to actively disambiguate the intentions of humans whenever necessary. We show how these approaches consider moving obstacles and temporal constraints and produce high-fidelity paths. Experiments in simulated environments show the performance of the algorithms under different controlled conditions, and experiments on physical mobile robots interacting with humans show how the algorithms perform under the uncertainties of the real world.

The flight planning - flight management connection

NASA Technical Reports Server (NTRS)

Sorensen, J. A.

1984-01-01

Airborne flight management systems are currently being implemented to minimize direct operating costs when flying over a fixed route between a given city pair. Inherent in the design of these systems is that the horizontal flight path and wind and temperature models be defined and input into the airborne computer before flight. The wind/temperature model and horizontal path are products of the flight planning process. Flight planning consists of generating 3-D reference trajectories through a forecast wind field subject to certain ATC and transport operator constraints. The interrelationships between flight management and flight planning are reviewed, and the steps taken during the flight planning process are summarized.

Path Planning Algorithms for the Adaptive Sensor Fleet

NASA Technical Reports Server (NTRS)

Stoneking, Eric; Hosler, Jeff

2005-01-01

The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.

Path planning for assembly of strut-based structures. Thesis

NASA Technical Reports Server (NTRS)

Muenger, Rolf

1991-01-01

A path planning method with collision avoidance for a general single chain nonredundant or redundant robot is proposed. Joint range boundary overruns are also avoided. The result is a sequence of joint vectors which are passed to a trajectory planner. A potential field algorithm in joint space computes incremental joint vectors delta-q = delta-q(sub a) + delta-q(sub c) + delta-q(sub r). Adding delta-q to the robot's current joint vector leads to the next step in the path. Delta-q(sub a) is obtained by computing the minimum norm solution of the underdetermined linear system J delta-q(sub a) = x(sub a) where x(sub a) is a translational and rotational force vector that attracts the robot to its goal position and orientation. J is the manipulator Jacobian. Delta-q(sub c) is a collision avoidance term encompassing collisions between the robot (links and payload) and obstacles in the environment as well as collisions among links and payload of the robot themselves. It is obtained in joint space directly. Delta-q(sub r) is a function of the current joint vector and avoids joint range overruns. A higher level discrete search over candidate safe positions is used to provide alternatives in case the potential field algorithm encounters a local minimum and thus fails to reach the goal. The best first search algorithm A* is used for graph search. Symmetry properties of the payload and equivalent rotations are exploited to further enlarge the number of alternatives passed to the potential field algorithm.

Sensors and Algorithms for an Unmanned Surf-Zone Robot

DTIC Science & Technology

2015-12-01

71 3. Data Fusion and Filtering................................................ 74 C. VIRTUAL POTENTIAL FIELD (VPF) PATH PLANNING ...iron effects are clearly seen: Soft iron de - calibration (sphere distortion) was caused by proximity of circuit boards. Offset of the center of the...information to perform global tasks such as path- planning , sensors and actuators commands, external communications, etc. Python3 is used as the primary

Robot Trajectories Comparison: A Statistical Approach

PubMed Central

Ansuategui, A.; Arruti, A.; Susperregi, L.; Yurramendi, Y.; Jauregi, E.; Lazkano, E.; Sierra, B.

2014-01-01

The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them. Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided. The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners. PMID:25525618

Real-time path planning and autonomous control for helicopter autorotation

NASA Astrophysics Data System (ADS)

Yomchinda, Thanan

Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind.

PubMed

Luo, He; Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided.

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind

PubMed Central

Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided. PMID:29561888

Link prediction based on local weighted paths for complex networks

NASA Astrophysics Data System (ADS)

Yao, Yabing; Zhang, Ruisheng; Yang, Fan; Yuan, Yongna; Hu, Rongjing; Zhao, Zhili

As a significant problem in complex networks, link prediction aims to find the missing and future links between two unconnected nodes by estimating the existence likelihood of potential links. It plays an important role in understanding the evolution mechanism of networks and has broad applications in practice. In order to improve prediction performance, a variety of structural similarity-based methods that rely on different topological features have been put forward. As one topological feature, the path information between node pairs is utilized to calculate the node similarity. However, many path-dependent methods neglect the different contributions of paths for a pair of nodes. In this paper, a local weighted path (LWP) index is proposed to differentiate the contributions between paths. The LWP index considers the effect of the link degrees of intermediate links and the connectivity influence of intermediate nodes on paths to quantify the path weight in the prediction procedure. The experimental results on 12 real-world networks show that the LWP index outperforms other seven prediction baselines.

SU-F-J-64: Comparison of Dosimetric Robustness Between Proton Therapy and IMRT Plans Following Tumor Regression for Locally Advanced Non-Small Cell Lung Cancer (NSCLC)

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

Teng, C; Ainsley, C; Teo, B

Purpose: In the light of tumor regression and normal tissue changes, dose distributions can deviate undesirably from what was planned. As a consequence, replanning is sometimes necessary during treatment to ensure continued tumor coverage or to avoid overdosing organs at risk (OARs). Proton plans are generally thought to be less robust than photon plans because of the proton beam’s higher sensitivity to changes in tissue composition, suggesting also a higher likely replanning rate due to tumor regression. The purpose of this study is to compare dosimetric deviations between forward-calculated double scattering (DS) proton plans with IMRT plans upon tumor regression,more » and assesses their impact on clinical replanning decisions. Methods: Ten consecutive locally advanced NSCLC patients whose tumors shrank > 50% in volume and who received four or more CT scans during radiotherapy were analyzed. All the patients received proton radiotherapy (6660 cGy, 180 cGy/fx). Dosimetric robustness during therapy was characterized by changes in the planning objective metrics as well as by point-by-point root-mean-squared differences for the entire PTV, ITV, and OARs (heart, cord, esophagus, brachial plexus and lungs) DVHs. Results: Sixty-four pairs of DVHs were reviewed by three clinicians, who requested a replanning rate of 16.7% and 18.6% for DS and IMRT plans, respectively, with a high agreement between providers. Robustness of clinical indicators was found to depend on the beam orientation and dose level on the DVH curve. Proton dose increased most in OARs distal to the PTV along the beam path, but these changes were primarily in the mid to low dose levels. In contrast, the variation in IMRT plans occurred primarily in the high dose region. Conclusion: Robustness of clinical indicators depends where on the DVH curves comparisons are made. Similar replanning rates were observed for DS and IMRT plans upon large tumor regression.« less

Image-based path planning for automated virtual colonoscopy navigation

NASA Astrophysics Data System (ADS)

Hong, Wei

2008-03-01

Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.

A Comparison of Two Path Planners for Planetary Rovers

NASA Technical Reports Server (NTRS)

Tarokh, M.; Shiller, Z.; Hayati, S.

1999-01-01

The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared

On computing the global time-optimal motions of robotic manipulators in the presence of obstacles

NASA Technical Reports Server (NTRS)

Shiller, Zvi; Dubowsky, Steven

1991-01-01

A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem is reduced to a search for the time-optimal path in the n-dimensional position space. A small set of near-optimal paths is first efficiently selected from a grid, using a branch and bound search and a series of lower bound estimates on the traveling time along a given path. These paths are further optimized with a local path optimization to yield the global optimal solution. Obstacles are considered by eliminating the collision points from the tessellated space and by adding a penalty function to the motion time in the local optimization. The computational efficiency of the method stems from the reduced dimensionality of the searched spaced and from combining the grid search with a local optimization. The method is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles.

Defining Advancement Career Paths and Succession Plans: Critical Human Capital Retention Strategies for High-Performing Advancement Divisions

ERIC Educational Resources Information Center

Croteau, Jon Derek; Wolk, Holly Gordon

2010-01-01

There are many factors that can influence whether a highly talented staff member will build a career within an institution or use it as a stepping stone. This article defines and explores the notions of developing career paths and succession planning and why they are critical human capital investment strategies in retaining the highest performers…

Path planning and energy management of solar-powered unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Kaplan, Adam

Many of the applications pertinent to unmanned vehicles, such as environmental research and analysis, communications, and information-surveillance and reconnaissance, benefit from prolonged vehicle operation time. Conventional efforts to increase the operational time of electric-powered unmanned vehicles have traditionally focused on the design of energy-efficient components and the identification of energy efficient search patterns, while little attention has been paid to the vehicle's mission-level path plan and power management. This thesis explores the formulation and generation of integrated motion-plans and power-schedules for solar-panel equipped mobile robots operating under strict energy constraints, which cannot be effectively addressed through conventional motion planning algorithms. Transit problems are considered to design time-optimal paths using both Balkcom-Mason and Pseudo-Dubins curves. Additionally, a more complicated problem to generate mission plans for vehicles which must persistently travel between certain locations, similar to the traveling salesperson problem (TSP), is presented. A comparison between one of the common motion-planning algorithms and experimental results of the prescribed algorithms, made possible by use of a test environment and mobile robot designed and developed specifically for this research, are presented and discussed.

Using GIS and Google Earth for the creation of the Going-to-the-Sun Road Avalanche Atlas, Glacier National Park, Montana, USA

USGS Publications Warehouse

Peitzsch, Erich H.; Fagre, Daniel B.; Dundas, Mark

2010-01-01

Snow avalanche paths are key geomorphologic features in Glacier National Park, Montana, and an important component of mountain ecosystems: they are isolated within a larger ecosystem, they are continuously disturbed, and they contain unique physical characteristics (Malanson and Butler, 1984). Avalanches impact subalpine forest structure and function, as well as overall biodiversity (Bebi et al., 2009). Because avalanches are dynamic phenomena, avalanche path geometry and spatial extent depend upon climatic regimes. The USGS/GNP Avalanche Program formally began in 2003 as an avalanche forecasting program for the spring opening of the ever-popular Going-to-the-Sun Road (GTSR), which crosses through 37 identified avalanche paths. Avalanche safety and forecasting is a necessary part of the GTSR spring opening procedures. An avalanche atlas detailing topographic parameters and oblique photographs was completed for the GTSR corridor in response to a request from GNP personnel for planning and resource management. Using ArcMap 9.2 GIS software, polygons were created for every avalanche path affecting the GTSR using aerial imagery, field-based observations, and GPS measurements of sub-meter accuracy. Spatial attributes for each path were derived within the GIS. Resulting products include an avalanche atlas book for operational use, a geoPDF of the atlas, and a Google Earth flyover illustrating each path and associated photographs. The avalanche atlas aids park management in worker safety, infrastructure planning, and natural resource protection by identifying avalanche path patterns and location. The atlas was created for operational and planning purposes and is also used as a foundation for research such as avalanche ecology projects and avalanche path runout modeling.

A novel multi-segment path analysis based on a heterogeneous velocity model for the localization of acoustic emission sources in complex propagation media.

PubMed

Gollob, Stephan; Kocur, Georg Karl; Schumacher, Thomas; Mhamdi, Lassaad; Vogel, Thomas

2017-02-01

In acoustic emission analysis, common source location algorithms assume, independently of the nature of the propagation medium, a straight (shortest) wave path between the source and the sensors. For heterogeneous media such as concrete, the wave travels in complex paths due to the interaction with the dissimilar material contents and with the possible geometrical and material irregularities present in these media. For instance, cracks and large air voids present in concrete influence significantly the way the wave travels, by causing wave path deviations. Neglecting these deviations by assuming straight paths can introduce significant errors to the source location results. In this paper, a novel source localization method called FastWay is proposed. It accounts, contrary to most available shortest path-based methods, for the different effects of material discontinuities (cracks and voids). FastWay, based on a heterogeneous velocity model, uses the fastest rather than the shortest travel paths between the source and each sensor. The method was evaluated both numerically and experimentally and the results from both evaluation tests show that, in general, FastWay was able to locate sources of acoustic emissions more accurately and reliably than the traditional source localization methods. Copyright © 2016 Elsevier B.V. All rights reserved.

Global Qualitative Flow-Path Modeling for Local State Determination in Simulation and Analysis

NASA Technical Reports Server (NTRS)

Malin, Jane T. (Inventor); Fleming, Land D. (Inventor)

1998-01-01

For qualitative modeling and analysis, a general qualitative abstraction of power transmission variables (flow and effort) for elements of flow paths includes information on resistance, net flow, permissible directions of flow, and qualitative potential is discussed. Each type of component model has flow-related variables and an associated internal flow map, connected into an overall flow network of the system. For storage devices, the implicit power transfer to the environment is represented by "virtual" circuits that include an environmental junction. A heterogeneous aggregation method simplifies the path structure. A method determines global flow-path changes during dynamic simulation and analysis, and identifies corresponding local flow state changes that are effects of global configuration changes. Flow-path determination is triggered by any change in a flow-related device variable in a simulation or analysis. Components (path elements) that may be affected are identified, and flow-related attributes favoring flow in the two possible directions are collected for each of them. Next, flow-related attributes are determined for each affected path element, based on possibly conflicting indications of flow direction. Spurious qualitative ambiguities are minimized by using relative magnitudes and permissible directions of flow, and by favoring flow sources over effort sources when comparing flow tendencies. The results are output to local flow states of affected components.

Enhancing the violation of the einstein-podolsky-rosen local realism by quantum hyperentanglement.

PubMed

Barbieri, Marco; De Martini, Francesco; Mataloni, Paolo; Vallone, Giuseppe; Cabello, Adán

2006-10-06

Mermin's observation [Phys. Rev. Lett. 65, 1838 (1990)] that the magnitude of the violation of local realism, defined as the ratio between the quantum prediction and the classical bound, can grow exponentially with the size of the system is demonstrated using two-photon hyperentangled states entangled in polarization and path degrees of freedom, and local measurements of polarization and path simultaneously.

The application of Markov decision process with penalty function in restaurant delivery robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Hu, Zhen; Wang, Ying

2017-05-01

As the restaurant delivery robot is often in a dynamic and complex environment, including the chairs inadvertently moved to the channel and customers coming and going. The traditional Markov decision process path planning algorithm is not save, the robot is very close to the table and chairs. To solve this problem, this paper proposes the Markov Decision Process with a penalty term called MDPPT path planning algorithm according to the traditional Markov decision process (MDP). For MDP, if the restaurant delivery robot bumps into an obstacle, the reward it receives is part of the current status reward. For the MDPPT, the reward it receives not only the part of the current status but also a negative constant term. Simulation results show that the MDPPT algorithm can plan a more secure path.

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.

A portable back massage robot based on Traditional Chinese Medicine.

PubMed

Wang, Wendong; Liang, Chaohong; Zhang, Peng; Shi, Yikai

2018-05-30

A portable back massage robot which can complete the massage operations such as tapping, kneading and rolling was designed to improve the level of intelligence and massage effect. An efficient full covered path planning algorithm was put forward for a portable back massage robot to improve the coverage. Currently, massage robots has become one of important research focuses with the increasing requirements for healthcare. The massage robot is difficult to be widely accepted as there are problems of massage robot in control, structure, and coverage path planning. The 3D electromagnetic simulation model was established to optimize electromagnetic force. By analyzing the Traditional Chinese Medicine massage operation and the demands, the path planning algorithm models were established. The experimental platform of the massage robot was built. The simulation results show presented path planning algorithm is suitable for back massage, which ensures that the massage robot traverse the entire back area with improved massage coverage. The tested results show that the massage effect is best when the duty cycle is in the range of 1/8 to 1/2, and the massage force increases with the increase of the input voltage. The massage robot eventually achieved the desired massage effect, and the proposed efficient algorithm can effectively improve the coverage and promote the massage effect.

A Tomographic Method for the Reconstruction of Local Probability Density Functions

NASA Technical Reports Server (NTRS)

Sivathanu, Y. R.; Gore, J. P.

1993-01-01

A method of obtaining the probability density function (PDF) of local properties from path integrated measurements is described. The approach uses a discrete probability function (DPF) method to infer the PDF of the local extinction coefficient from measurements of the PDFs of the path integrated transmittance. The local PDFs obtained using the method are compared with those obtained from direct intrusive measurements in propylene/air and ethylene/air diffusion flames. The results of this comparison are good.

Wind Powering America State Outreach. Final Technical Report: Washington State

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

Stearns, Tim

2013-09-30

The Washington Department of Commerce, via a U.S. Department of Energy grant, supported research into siting and permitting processes for wind projects by Skagit County, Washington. The goal was to help a local government understand key issues, consider how other areas have addressed wind siting, and establish a basis for enacting permitting and zoning ordinances that provided a more predictable permitting path and process for landowners, citizens, government and developers of small and community wind projects. The County?s contractor developed a report that looked at various approaches to wind siting, interviewed stakeholders, and examined technology options. The contractor outlined keymore » issues and recommended the adoption of a siting process. The Skagit County Commission considered the report and directed the Skagit County Planning & Development Services Department to add development of wind guidelines to its work plan for potential changes to development codes.« less

Processor Would Find Best Paths On Map

NASA Technical Reports Server (NTRS)

Eberhardt, Silvio P.

1990-01-01

Proposed very-large-scale integrated (VLSI) circuit image-data processor finds path of least cost from specified origin to any destination on map. Cost of traversal assigned to each picture element of map. Path of least cost from originating picture element to every other picture element computed as path that preserves as much as possible of signal transmitted by originating picture element. Dedicated microprocessor at each picture element stores cost of traversal and performs its share of computations of paths of least cost. Least-cost-path problem occurs in research, military maneuvers, and in planning routes of vehicles.

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing

PubMed Central

Ravankar, Abhijeet; Ravankar, Ankit A.; Kobayashi, Yukinori; Emaru, Takanori

2017-01-01

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments. PMID:28678193

Deleterious Thermal Effects due to Randomized Flow Paths in Pebble Bed, and Particle Bed Style Reactors

NASA Technical Reports Server (NTRS)

Moran, Robert P.

2013-01-01

Reactor fuel rod surface area that is perpendicular to coolant flow direction (+S) i.e. perpendicular to the P creates areas of coolant stagnation leading to increased coolant temperatures resulting in localized changes in fluid properties. Changes in coolant fluid properties caused by minor increases in temperature lead to localized reductions in coolant mass flow rates leading to localized thermal instabilities. Reductions in coolant mass flow rates result in further increases in local temperatures exacerbating changes to coolant fluid properties leading to localized thermal runaway. Unchecked localized thermal runaway leads to localized fuel melting. Reactor designs with randomized flow paths are vulnerable to localized thermal instabilities, localized thermal runaway, and localized fuel melting.

Defining Health Research for Development: The perspective of stakeholders from an international health research partnership in Ghana and Tanzania.

PubMed

Ward, Claire Leonie; Shaw, David; Anane-Sarpong, Evelyn; Sankoh, Osman; Tanner, Marcel; Elger, Bernice

2017-05-03

The study uses a qualitative empirical method to define Health Research for Development. This project explores the perspectives of stakeholders in an international health research partnership operating in Ghana and Tanzania. We conducted 52 key informant interviews with major stakeholders in an international multicenter partnership between GlaxoSmithKline (GSK, Vaccine Developer) and the global health nonprofit organisation PATH and its Malaria Vaccine Initiative program (PATH/MVI, Funder-Development Partner), (RTS, S) (NCT00866619). The respondents included teams from four clinical research centres (two centres in Ghana and two in Tanzania) and various collaborating partners. This paper analyses responses to the question: What is Health Research for Development? Based on the stakeholders' experience the respondents offered many ways of defining Health Research for Development. The responses fell into four broad themes: i) Equitable Partnerships; ii) System Sustainability; iii) Addressing Local Health Targets, and iv) Regional Commitment to Benefit Sharing. Through defining Health Research for Development six key learning points were generated from the four result themes: 1) Ensure there is local research leadership working with the collaborative partnership, and local healthcare system, to align the project agenda and activities with local research and health priorities; 2) Know the country-specific context - map the social, health, legislative and political setting; 3) Define an explicit development component and plan of action in a research project; 4) Address the barriers and opportunities to sustain system capacity. 5) Support decentralised health system decision-making to facilitate the translation pathway; 6) Govern, monitor and evaluate the development components of health research partnerships. Overall, equity and unity between partners are required to deliver health research for development. © 2017 John Wiley & Sons Ltd.

Potential dosimetric benefit of dose-warping based 4D planning compared to conventional 3D planning in liver stereotactic body radiotherapy (SBRT)

NASA Astrophysics Data System (ADS)

Yeo, U. J.; Taylor, M. L.; Kron, T.; Pham, D.; Siva, S.; Franich, R. D.

2013-06-01

Respiratory motion induces dosimetric uncertainties for thoracic and abdominal cancer radiotherapy (RT) due to deforming and moving anatomy. This study investigates the extent of dosimetric differences between conventional 3D treatment planning and path-integrated 4D treatment planning in liver stereotactic body radiotherapy (SBRT). Respiratory-correlated 4DCT image sets with 10 phases were acquired for patients with liver tumours. Path-integrated 4D dose accumulation was performed using dose-warping techniques based on deformable image registration. Dose-volume histogram analysis demonstrated that the 3D planning approach overestimated doses to targets by up to 24% and underestimated dose to normal liver by ~4.5%, compared to the 4D planning methodology. Therefore, 4D planning has the potential to quantify such issues of under- and/or over-dosage and improve treatment accuracy.

Autonomous navigation and control of a Mars rover

NASA Technical Reports Server (NTRS)

Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

1990-01-01

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

Path Analysis and Residual Plotting as Methods of Environmental Scanning in Higher Education: An Illustration with Applications and Enrollments.

ERIC Educational Resources Information Center

Morcol, Goktug; McLaughlin, Gerald W.

1990-01-01

The study proposes using path analysis and residual plotting as methods supporting environmental scanning in strategic planning for higher education institutions. Path models of three levels of independent variables are developed. Dependent variables measuring applications and enrollments at Virginia Polytechnic Institute and State University are…

A Flexible Toolkit Supporting Knowledge-based Tactical Planning for Ground Forces

DTIC Science & Technology

2011-06-01

assigned to each of the Special Areas to model its temporal behaviour . In Figure 5 an optimal path going over two defined intermediate points is...which area can be reached by an armoured infantry platoon within a given time interval, which path should be taken by a support unit to minimize...al. 2008]. Although trained commanders and staff personnel may achieve very accurate planning results, time consuming procedures are excluded when

A Path Planning and Obstacle Avoidance Hybrid System Using a Connectionist Network

DTIC Science & Technology

1990-06-01

Department lele7 Prfessor of Aerospace Sciences and Mathematical Sciences Houston, Texas June, 1990 Abstract A PATH PLANNING AND OBSTACLE AVOIDANCE HYBRID...See Weiland (1989), Wu (1989), Norwood (1989), Cheatham (1987 & 1989), Adnan (1990), and Regalbuto (1988 & 1990).] Possible applications of this...neuron model’s output can be described mathematically as: Yj(t+ At) =sgn ijXi(t)-O Other non-linearity functions, such as and the sigmoid/ logistics

Robot Path Planning in Uncertain Environments: A Language Measure-theoretic Approach

DTIC Science & Technology

2014-01-01

Paper DS-14-1028 to appear in the Special Issue on Stochastic Models, Control and Algorithms in Robotics, ASME Journal of Dynamic Systems...Measurement and Control Robot Path Planning in Uncertain Environments: A Language Measure-theoretic Approach⋆ Devesh K. Jha† Yue Li† Thomas A. Wettergren‡† Asok...algorithm, called ν⋆, that was formulated in the framework of probabilistic finite state automata (PFSA) and language measure from a control -theoretic

Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators

NASA Astrophysics Data System (ADS)

Islam, Md. Nazrul; Tamura, Shinsuke; Murata, Tomonari; Yanase, Tatsuro

This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.

Optimal path planning for a mobile robot using cuckoo search algorithm

NASA Astrophysics Data System (ADS)

Mohanty, Prases K.; Parhi, Dayal R.

2016-03-01

The shortest/optimal path planning is essential for efficient operation of autonomous vehicles. In this article, a new nature-inspired meta-heuristic algorithm has been applied for mobile robot path planning in an unknown or partially known environment populated by a variety of static obstacles. This meta-heuristic algorithm is based on the levy flight behaviour and brood parasitic behaviour of cuckoos. A new objective function has been formulated between the robots and the target and obstacles, which satisfied the conditions of obstacle avoidance and target-seeking behaviour of robots present in the terrain. Depending upon the objective function value of each nest (cuckoo) in the swarm, the robot avoids obstacles and proceeds towards the target. The smooth optimal trajectory is framed with this algorithm when the robot reaches its goal. Some simulation and experimental results are presented at the end of the paper to show the effectiveness of the proposed navigational controller.

Adaptive Gait Control for a Quadruped Robot on 3D Path Planning

NASA Astrophysics Data System (ADS)

Igarashi, Hiroshi; Kakikura, Masayoshi

A legged walking robot is able to not only move on irregular terrain but also change its posture. For example, the robot can pass under overhead obstacles by crouching. The purpose of our research is to realize efficient path planning with a quadruped robot. Therefore, the path planning is expected to extended in three dimensions because of the mobility. However, some issues of the quadruped robot, which are instability, workspace limitation, deadlock and slippage, complicate realizing such application. In order to improve these issues and reinforce the mobility, a new static gait pattern for a quadruped robot, called TFG: Trajectory Following Gait, is proposed. The TFG intends to obtain high controllability like a wheel robot. Additionally, the TFG allows to change it posture during the walk. In this paper, some experimental results show that the TFG improves the issues and it is available for efficient locomotion in three dimensional environment.

High-Resolution Source Parameter and Site Characteristics Using Near-Field Recordings - Decoding the Trade-off Problems Between Site and Source

NASA Astrophysics Data System (ADS)

Chen, X.; Abercrombie, R. E.; Pennington, C.

2017-12-01

Recorded seismic waveforms include contributions from earthquake source properties and propagation effects, leading to long-standing trade-off problems between site/path effects and source effects. With near-field recordings, the path effect is relatively small, so the trade-off problem can be simplified to between source and site effects (commonly referred as "kappa value"). This problem is especially significant for small earthquakes where the corner frequencies are within similar ranges of kappa values, so direct spectrum fitting often leads to systematic biases due to corner frequency and magnitude. In response to the significantly increased seismicity rate in Oklahoma, several local networks have been deployed following major earthquakes: the Prague, Pawnee and Fairview earthquakes. Each network provides dense observations within 20 km surrounding the fault zone, recording tens of thousands of aftershocks between M1 to M3. Using near-field recordings in the Prague area, we apply a stacking approach to separate path/site and source effects. The resulting source parameters are consistent with parameters derived from ground motion and spectral ratio methods from other studies; they exhibit spatial coherence within the fault zone for different fault patches. We apply these source parameter constraints in an analysis of kappa values for stations within 20 km of the fault zone. The resulting kappa values show significantly reduced variability compared to those from direct spectral fitting without constraints on the source spectrum; they are not biased by earthquake magnitudes. With these improvements, we plan to apply the stacking analysis to other local arrays to analyze source properties and site characteristics. For selected individual earthquakes, we will also use individual-pair empirical Green's function (EGF) analysis to validate the source parameter estimations.

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

Robust path planning for flexible needle insertion using Markov decision processes.

PubMed

Tan, Xiaoyu; Yu, Pengqian; Lim, Kah-Bin; Chui, Chee-Kong

2018-05-11

Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue-needle interactions. This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue-needle interaction. Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue-needle interactions. Future work will involve experiment with biological tissue in vivo. The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.

IT Workforce: Key Practices Help Ensure Strong Integrated Program Teams; Selected Departments Need to Assess Skill Gaps

DTIC Science & Technology

2016-11-01

personnel, career paths for program managers, plans to strengthen program management, and use of special hiring authorities) Monitor and report...agencies with direct hiring authority for program managers and directed OPM to create a specialized career path. OMB also tasked agencies with...guidance for developing career paths for IT program managers.14 OPM’s career path guide was to build upon its IT Program Management Competency Model

Robot path planning using expert systems and machine vision

NASA Astrophysics Data System (ADS)

Malone, Denis E.; Friedrich, Werner E.

1992-02-01

This paper describes a system developed for the robotic processing of naturally variable products. In order to plan the robot motion path it was necessary to use a sensor system, in this case a machine vision system, to observe the variations occurring in workpieces and interpret this with a knowledge based expert system. The knowledge base was acquired by carrying out an in-depth study of the product using examination procedures not available in the robotic workplace and relates the nature of the required path to the information obtainable from the machine vision system. The practical application of this system to the processing of fish fillets is described and used to illustrate the techniques.

A variational dynamic programming approach to robot-path planning with a distance-safety criterion

NASA Technical Reports Server (NTRS)

Suh, Suk-Hwan; Shin, Kang G.

1988-01-01

An approach to robot-path planning is developed by considering both the traveling distance and the safety of the robot. A computationally-efficient algorithm is developed to find a near-optimal path with a weighted distance-safety criterion by using a variational calculus and dynamic programming (VCDP) method. The algorithm is readily applicable to any factory environment by representing the free workspace as channels. A method for deriving these channels is also proposed. Although it is developed mainly for two-dimensional problems, this method can be easily extended to a class of three-dimensional problems. Numerical examples are presented to demonstrate the utility and power of this method.

Ancient village fire escape path planning based on improved ant colony algorithm

NASA Astrophysics Data System (ADS)

Xia, Wei; Cao, Kang; Hu, QianChuan

2017-06-01

The roadways are narrow and perplexing in ancient villages, it brings challenges and difficulties for people to choose route to escape when a fire occurs. In this paper, a fire escape path planning method based on ant colony algorithm is presented according to the problem. The factors in the fire environment which influence the escape speed is introduced to improve the heuristic function of the algorithm, optimal transfer strategy, and adjustment pheromone volatile factor to improve pheromone update strategy adaptively, improve its dynamic search ability and search speed. Through simulation, the dynamic adjustment of the optimal escape path is obtained, and the method is proved to be feasible.

Local Free Space Mapping and Path Guidance,

DTIC Science & Technology

1987-03-01

Free Space Mapping and Path Guidance 12. PERSONIAL UTI4OFS) William T. Cex and Nancy L. Campbell 1s. TYPE OF REPORT 13b. iME COVERED 14. DATE OF REPORT...84 JAN 52 A" 1OMON MAYBOfUSED NMlLEMIAUSTEO UNCLASSIFIED ALL OTHE EDTIN A’.SL Y2.7cesson For 7 *5~ IT D, TA ........... iCL ... . LOCAL FREE SPACE ... MAPPING AND PATH GUIDANCE By Distribuition/ Availabiliuy C0e William T. Gex and Nancy L. Campbell I Avail and/or Naval Ocean Systems Center ist speci1 l

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

Dorum, O.H.; Hoover, A.; Jones, J.P.

This paper addresses some issues in the development of sensor-based systems for mobile robot navigation which use range imaging sensors as the primary source for geometric information about the environment. In particular, we describe a model of scanning laser range cameras which takes into account the properties of the mechanical system responsible for image formation and a calibration procedure which yields improved accuracy over previous models. In addition, we describe an algorithm which takes the limitations of these sensors into account in path planning and path execution. In particular, range imaging sensors are characterized by a limited field of viewmore » and a standoff distance -- a minimum distance nearer than which surfaces cannot be sensed. These limitations can be addressed by enriching the concept of configuration space to include information about what can be sensed from a given configuration, and using this information to guide path planning and path following.« less

A 2D chaotic path planning for mobile robots accomplishing boundary surveillance missions in adversarial conditions

NASA Astrophysics Data System (ADS)

Curiac, Daniel-Ioan; Volosencu, Constantin

2014-10-01

The path-planning algorithm represents a crucial issue for every autonomous mobile robot. In normal circumstances a patrol robot will compute an optimal path to ensure its task accomplishment, but in adversarial conditions the problem is getting more complicated. Here, the robot’s trajectory needs to be altered into a misleading and unpredictable path to cope with potential opponents. Chaotic systems provide the needed framework for obtaining unpredictable motion in all of the three basic robot surveillance missions: area, points of interests and boundary monitoring. Proficient approaches have been provided for the first two surveillance tasks, but for boundary patrol missions no method has been reported yet. This paper addresses the mentioned research gap by proposing an efficient method, based on chaotic dynamic of the Hénon system, to ensure unpredictable boundary patrol on any shape of chosen closed contour.

Neurosurgical robotic arm drilling navigation system.

PubMed

Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

2017-09-01

The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

The use of 3-D sensing techniques for on-line collision-free path planning

NASA Technical Reports Server (NTRS)

Hayward, V.; Aubry, S.; Jasiukajc, Z.

1987-01-01

The state of the art in collision prevention for manipulators with revolute joints, showing that it is a particularly computationally hard problem, is discussed. Based on the analogy with other hard or undecidable problems such as theorem proving, an extensible multi-resolution architecture for path planning, based on a collection of weak methods is proposed. Finally, the role that sensors can play for an on-line use of sensor data is examined.

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.

Incorporating target registration error into robotic bone milling

NASA Astrophysics Data System (ADS)

Siebold, Michael A.; Dillon, Neal P.; Webster, Robert J.; Fitzpatrick, J. Michael

2015-03-01

Robots have been shown to be useful in assisting surgeons in a variety of bone drilling and milling procedures. Examples include commercial systems for joint repair or replacement surgeries, with in vitro feasibility recently shown for mastoidectomy. Typically, the robot is guided along a path planned on a CT image that has been registered to the physical anatomy in the operating room, which is in turn registered to the robot. The registrations often take advantage of the high accuracy of fiducial registration, but, because no real-world registration is perfect, the drill guided by the robot will inevitably deviate from its planned path. The extent of the deviation can vary from point to point along the path because of the spatial variation of target registration error. The allowable deviation can also vary spatially based on the necessary safety margin between the drill tip and various nearby anatomical structures along the path. Knowledge of the expected spatial distribution of registration error can be obtained from theoretical models or experimental measurements and used to modify the planned path. The objective of such modifications is to achieve desired probabilities for sparing specified structures. This approach has previously been studied for drilling straight holes but has not yet been generalized to milling procedures, such as mastoidectomy, in which cavities of more general shapes must be created. In this work, we present a general method for altering any path to achieve specified probabilities for any spatial arrangement of structures to be protected. We validate the method via numerical simulations in the context of mastoidectomy.

The eye of the storm: Balancing my storm of family, career and self

NASA Astrophysics Data System (ADS)

Horton, K. Renee

2008-03-01

In knowing that the path I travel is not the usual path traveled by most; this has turned out to be the best path for me and my family. It is very important to prioritize what is important to you and then define the best path for you versus choosing a path and the path chooses your prioritizes. Coming from a loving and supportive middle class upbringing created a deep sense of family and the importance of family. Early in my life I was determined to have children and a career. Over the last ten years there have been several obstacles to overcome in my storm, but with careful planning, due diligence, and a support system to help maintain calm at the center of my storm I have been able to achieve my goals of pursuing my Doctorate. A complete research plan was put into place into choosing the institution that I would further my academic endeavors in the same manner in which my dissertation research topic has been defined. Just as any successful business, all persons involved in my future success were consulted with equal input into the new endeavor with the full understanding of what this new plan entailed. We decided on the University of Alabama for several reasons: location, weather, flexibility, policies, research and my ability to make a change in the face of science. According to my advisor, I will do that in about two and half years at my graduation ceremony when I become the first African American to receive a PhD in Material Science from the University of Alabama.

Incorporating Target Registration Error Into Robotic Bone Milling

PubMed Central

Siebold, Michael A.; Dillon, Neal P.; Webster, Robert J.; Fitzpatrick, J. Michael

2015-01-01

Robots have been shown to be useful in assisting surgeons in a variety of bone drilling and milling procedures. Examples include commercial systems for joint repair or replacement surgeries, with in vitro feasibility recently shown for mastoidectomy. Typically, the robot is guided along a path planned on a CT image that has been registered to the physical anatomy in the operating room, which is in turn registered to the robot. The registrations often take advantage of the high accuracy of fiducial registration, but, because no real-world registration is perfect, the drill guided by the robot will inevitably deviate from its planned path. The extent of the deviation can vary from point to point along the path because of the spatial variation of target registration error. The allowable deviation can also vary spatially based on the necessary safety margin between the drill tip and various nearby anatomical structures along the path. Knowledge of the expected spatial distribution of registration error can be obtained from theoretical models or experimental measurements and used to modify the planned path. The objective of such modifications is to achieve desired probabilities for sparing specified structures. This approach has previously been studied for drilling straight holes but has not yet been generalized to milling procedures, such as mastoidectomy, in which cavities of more general shapes must be created. In this work, we present a general method for altering any path to achieve specified probabilities for any spatial arrangement of structures to be protected. We validate the method via numerical simulations in the context of mastoidectomy. PMID:26692630

Development and demonstration of an on-board mission planner for helicopters

NASA Technical Reports Server (NTRS)

Deutsch, Owen L.; Desai, Mukund

1988-01-01

Mission management tasks can be distributed within a planning hierarchy, where each level of the hierarchy addresses a scope of action, and associated time scale or planning horizon, and requirements for plan generation response time. The current work is focused on the far-field planning subproblem, with a scope and planning horizon encompassing the entire mission and with a response time required to be about two minutes. The far-feld planning problem is posed as a constrained optimization problem and algorithms and structural organizations are proposed for the solution. Algorithms are implemented in a developmental environment, and performance is assessed with respect to optimality and feasibility for the intended application and in comparison with alternative algorithms. This is done for the three major components of far-field planning: goal planning, waypoint path planning, and timeline management. It appears feasible to meet performance requirements on a 10 Mips flyable processor (dedicated to far-field planning) using a heuristically-guided simulated annealing technique for the goal planner, a modified A* search for the waypoint path planner, and a speed scheduling technique developed for this project.

Route planning in a four-dimensional environment

NASA Technical Reports Server (NTRS)

Slack, M. G.; Miller, D. P.

1987-01-01

Robots must be able to function in the real world. The real world involves processes and agents that move independently of the actions of the robot, sometimes in an unpredictable manner. A real-time integrated route planning and spatial representation system for planning routes through dynamic domains is presented. The system will find the safest most efficient route through space-time as described by a set of user defined evaluation functions. Because the route planning algorthims is highly parallel and can run on an SIMD machine in O(p) time (p is the length of a path), the system will find real-time paths through unpredictable domains when used in an incremental mode. Spatial representation, an SIMD algorithm for route planning in a dynamic domain, and results from an implementation on a traditional computer architecture are discussed.

Grain-scale investigations of deformation heterogeneities in aluminum alloys

NASA Astrophysics Data System (ADS)

Güler, Baran; Şimşek, Ülke; Yalçınkaya, Tuncay; Efe, Mert

2018-05-01

The anisotropic deformation of Aluminum alloys at micron scale exhibits localized deformation, which has negative implications on the macroscale mechanical and forming behavior. The scope of this work is twofold. Firstly, micro-scale deformation heterogeneities affecting forming behavior of aluminum alloys is investigated through experimental microstructure analysis at large strains and various strain paths. The effects of initial texture, local grain misorientation, and strain paths on the strain localizations are established. In addition to uniaxial tension condition, deformation heterogeneities are also investigated under equibiaxial tension condition to determine the strain path effects on the localization behavior. Secondly, the morphology and the crystallographic data obtained from the experiments is transferred to Abaqus software, in order to predict both macroscopic response and the microstructure evolution though crystal plasticity finite element simulations. The model parameters are identified through the comparison with experiments and the capability of the model to capture real material response is discussed as well.

Maximally-localized position, Euclidean path-integral, and thermodynamics in GUP quantum mechanics

NASA Astrophysics Data System (ADS)

Bernardo, Reginald Christian S.; Esguerra, Jose Perico H.

2018-04-01

In dealing with quantum mechanics at very high energies, it is essential to adapt to a quasiposition representation using the maximally-localized states because of the generalized uncertainty principle. In this paper, we look at maximally-localized states as eigenstates of the operator ξ = X + iβP that we refer to as the maximally-localized position. We calculate the overlap between maximally-localized states and show that the identity operator can be expressed in terms of the maximally-localized states. Furthermore, we show that the maximally-localized position is diagonal in momentum-space and that the maximally-localized position and its adjoint satisfy commutation and anti-commutation relations reminiscent of the harmonic oscillator commutation and anti-commutation relations. As application, we use the maximally-localized position in developing the Euclidean path-integral and introduce the compact form of the propagator for maximal localization. The free particle momentum-space propagator and the propagator for maximal localization are analytically evaluated up to quadratic-order in β. Finally, we obtain a path-integral expression for the partition function of a thermodynamic system using the maximally-localized states. The partition function of a gas of noninteracting particles is evaluated. At temperatures exceeding the Planck energy, we obtain the gas' maximum internal energy N / 2 β and recover the zero heat capacity of an ideal gas.

Bell theorem without inequalities for two spinless particles

NASA Astrophysics Data System (ADS)

Bernstein, Herbert J.; Greenberger, Daniel M.; Horne, Michael A.; Zeilinger, Anton

1993-01-01

We use the Greenberger-Horne-Zeilinger [in Bell's Theorem, Quantum Theory,and Conceptions of the Universe, edited by M. Kafatos (Kluwer Academic, Dordrecht, 1989)] approach to present three demonstrations of the failure of Einstein-Podolsky-Rosen (EPR) [Phys. Rev. 47, 777 (1935)] local realism for the case of two spinless particles in a two-particle interferometer. The original EPR assumptions of locality and reality do not suffice for this. First, we use the EPR assumptions of locality and reality to establish that in a two-particle interferometer, the path taken by each particle is an element of reality. Second, we supplement the EPR premises by the postulate that when the path taken by a particle is an element of reality, all paths not taken are empty. We emphasize that our approach is not applicable to a single-particle interferometer because there the path taken by the particle cannot be established as an element of reality. We point out that there are real conceptual differences between single-particle, two-particle, and multiparticle interferometry.

Introduction of a computer-based method for automated planning of reduction paths under consideration of simulated muscular forces.

PubMed

Buschbaum, Jan; Fremd, Rainer; Pohlemann, Tim; Kristen, Alexander

2017-08-01

Reduction is a crucial step in the surgical treatment of bone fractures. Finding an optimal path for restoring anatomical alignment is considered technically demanding because collisions as well as high forces caused by surrounding soft tissues can avoid desired reduction movements. The repetition of reduction movements leads to a trial-and-error process which causes a prolonged duration of surgery. By planning an appropriate reduction path-an optimal sequence of target-directed movements-these problems should be overcome. For this purpose, a computer-based method has been developed. Using the example of simple femoral shaft fractures, 3D models are generated out of CT images. A reposition algorithm aligns both fragments by reconstructing their broken edges. According to the criteria of a deduced planning strategy, a modified A*-algorithm searches collision-free route of minimal force from the dislocated into the computed target position. Muscular forces are considered using a musculoskeletal reduction model (OpenSim model), and bone collisions are detected by an appropriate method. Five femoral SYNBONE models were broken into different fracture classification types and were automatically reduced from ten randomly selected displaced positions. Highest mean translational and rotational error for achieving target alignment is [Formula: see text] and [Formula: see text]. Mean value and standard deviation of occurring forces are [Formula: see text] for M. tensor fasciae latae and [Formula: see text] for M. semitendinosus over all trials. These pathways are precise, collision-free, required forces are minimized, and thus regarded as optimal paths. A novel method for planning reduction paths under consideration of collisions and muscular forces is introduced. The results deliver additional knowledge for an appropriate tactical reduction procedure and can provide a basis for further navigated or robotic-assisted developments.

H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps.

PubMed

Vallicrosa, Guillem; Ridao, Pere

2018-05-01

Occupancy Grid maps provide a probabilistic representation of space which is important for a variety of robotic applications like path planning and autonomous manipulation. In this paper, a SLAM (Simultaneous Localization and Mapping) framework capable of obtaining this representation online is presented. The H-SLAM (Hilbert Maps SLAM) is based on Hilbert Map representation and uses a Particle Filter to represent the robot state. Hilbert Maps offer a continuous probabilistic representation with a small memory footprint. We present a series of experimental results carried both in simulation and with real AUVs (Autonomous Underwater Vehicles). These results demonstrate that our approach is able to represent the environment more consistently while capable of running online.

The visual orientation memory of Drosophila requires Foraging (PKG) upstream of Ignorant (RSK2) in ring neurons of the central complex

PubMed Central

Kuntz, Sara; Poeck, Burkhard; Sokolowski, Marla B.; Strauss, Roland

2012-01-01

Orientation and navigation in a complex environment requires path planning and recall to exert goal-driven behavior. Walking Drosophila flies possess a visual orientation memory for attractive targets which is localized in the central complex of the adult brain. Here we show that this type of working memory requires the cGMP-dependent protein kinase encoded by the foraging gene in just one type of ellipsoid-body ring neurons. Moreover, genetic and epistatic interaction studies provide evidence that Foraging functions upstream of the Ignorant Ribosomal-S6 Kinase 2, thus revealing a novel neuronal signaling pathway necessary for this type of memory in Drosophila. PMID:22815538

An industrial robot singular trajectories planning based on graphs and neural networks

NASA Astrophysics Data System (ADS)

Łęgowski, Adrian; Niezabitowski, Michał

2016-06-01

Singular trajectories are rarely used because of issues during realization. A method of planning trajectories for given set of points in task space with use of graphs and neural networks is presented. In every desired point the inverse kinematics problem is solved in order to derive all possible solutions. A graph of solutions is made. The shortest path is determined to define required nodes in joint space. Neural networks are used to define the path between these nodes.

Planning Minimum-Energy Paths in an Off-Road Environment with Anisotropic Traversal Costs and Motion Constraints

DTIC Science & Technology

1989-06-01

problems, and (3) weighted-region problems. Since the minimum-energy path-planning problem addressed in this dissertation is a hybrid between the two...contains components that are strictly vehicle dependent, components that are strictly terrain dependent, and components representing a hybrid of...Single Segment Braking/Multiple Segment Hybrid Using Eq. (3.46), the traversal cost U 1,.-1 can be rewritten as Uop- 1 = mgD Itan01 , (4.12a) and the

Vervet monkey (Chlorocebus pygerythrus) behavior in a multi-destination route: Evidence for planning ahead when heuristics fail.

PubMed

Teichroeb, Julie Annette; Smeltzer, Eve Ann

2018-01-01

Animal paths are analogous to intractable mathematical problems like the Traveling Salesman Problem (TSP) and the shortest path problem (SPP). Both the TSP and SPP require an individual to find the shortest path through multiple targets but the TSP demands a return to the start, while the SPP does not. Vervet monkeys are very efficient in solving TSPs but this species is a multiple central place forager that does not always return to the same sleeping site and thus theoretically should be selected to find solutions to SPPs rather than TSPs. We examined path choice by wild vervets in an SPP experimental array where the shortest paths usually differed from those consistent with common heuristic strategies, the nearest-neighbor rule (NNR-go to the closest resource that has not been visited), and the convex hull (put a mental loop around sites, adding inner targets in order of distance from the edge)-an efficient strategy for TSPs but not SPPs. In addition, humans solving SPPs use an initial segment strategy (ISS-choose the straightest path at the beginning, only turning when necessary) and we looked at vervet paths consistent with this strategy. In 615 trials by single foragers, paths usually conformed to the NNR and rarely the slightly more efficient convex hull, supporting that vervets may be selected to solve SPPs. Further, like humans solving SPPs, vervets showed a tendency to use the ISS. Paths consistent with heuristics dropped off sharply, and use of the shortest path increased, when heuristics led to longer paths showing trade-offs in efficiency versus cognitive load. Two individuals out of 17, found the shortest path most often, showing inter-individual variation in path planning. Given support for the NNR and the ISS, we propose a new rule-of-thumb termed the "region heuristic" that vervets may apply in multi-destination routes.

Vervet monkey (Chlorocebus pygerythrus) behavior in a multi-destination route: Evidence for planning ahead when heuristics fail

PubMed Central

Smeltzer, Eve Ann

2018-01-01

Animal paths are analogous to intractable mathematical problems like the Traveling Salesman Problem (TSP) and the shortest path problem (SPP). Both the TSP and SPP require an individual to find the shortest path through multiple targets but the TSP demands a return to the start, while the SPP does not. Vervet monkeys are very efficient in solving TSPs but this species is a multiple central place forager that does not always return to the same sleeping site and thus theoretically should be selected to find solutions to SPPs rather than TSPs. We examined path choice by wild vervets in an SPP experimental array where the shortest paths usually differed from those consistent with common heuristic strategies, the nearest-neighbor rule (NNR–go to the closest resource that has not been visited), and the convex hull (put a mental loop around sites, adding inner targets in order of distance from the edge)–an efficient strategy for TSPs but not SPPs. In addition, humans solving SPPs use an initial segment strategy (ISS–choose the straightest path at the beginning, only turning when necessary) and we looked at vervet paths consistent with this strategy. In 615 trials by single foragers, paths usually conformed to the NNR and rarely the slightly more efficient convex hull, supporting that vervets may be selected to solve SPPs. Further, like humans solving SPPs, vervets showed a tendency to use the ISS. Paths consistent with heuristics dropped off sharply, and use of the shortest path increased, when heuristics led to longer paths showing trade-offs in efficiency versus cognitive load. Two individuals out of 17, found the shortest path most often, showing inter-individual variation in path planning. Given support for the NNR and the ISS, we propose a new rule-of-thumb termed the “region heuristic” that vervets may apply in multi-destination routes. PMID:29813105

Slant Path Low Visibility Atmospheric Conditions.

DTIC Science & Technology

1980-09-01

precipitation rate ; humidity; aerosol concentration; Particle spectrum; local aeiosol inhomogeneities; air * -Q.!ZIBS’IRACT: A slant path for...test path , of a length over which infrared transmissometer measurements can be made that are in a magnitude range permitting accurate measurements under...and therefore do not accurately relate to absolute transmissivity. A path which is too long will result in transmission measurements which are very low

Do Workplace Literacy Programs Promote High Skills or Low Wages? Suggestions for Future Evaluations of Workplace Literacy Programs.

ERIC Educational Resources Information Center

Sarmiento, Tony

Workplace literacy programs can support the path toward either low wages or high skills. Instead of the "high skill" path, most U.S. companies follow the "low wage" path. Depending on who is involved, which program goals are selected, and what planning process is followed, a workplace literacy program can maintain outdated workplaces or foster…

Air Vehicle Path Planning

DTIC Science & Technology

2001-12-13

6-18 6.13. Apollonius Circle for the Case of Two Unequal Power Radars . . . 6-20 6.14. Solution Triangle...Voronoi edge is an Apollonius circle [32, 19]. In this section, we are concerned with the optimality of the Voronoi path for the two radar exposure...Comparison of Cost vs. Path Length for Constrained Trajectories Around and Between Two Radars 6-18 from the two radars is an Apollonius circle

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

NASA Technical Reports Server (NTRS)

Birge, Brian

2013-01-01

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

WE-G-17A-05: Real-Time Catheter Localization Using An Active MR Tracker for Interstitial Brachytherapy

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

Wang, W; Damato, A; Viswanathan, A

2014-06-15

Purpose: To develop a novel active MR-tracking system which can provide accurate and rapid localization of brachytherapy catheters, and assess its reliability and spatial accuracy in comparison to standard catheter digitization using MR images. Methods: An active MR tracker for brachytherapy was constructed by adding three printed-circuit micro-coils to the shaft of a commercial metallic stylet. A gel phantom with an embedded framework was built, into which fifteen 14-Gauge catheters were placed, following either with parallel or crossed paths. The tracker was inserted sequentially into each catheter, with MR-tracking running continuously. Tracking was also performed during the tracker's removal frommore » each catheter. Catheter trajectories measured from the insertion and the removal procedures using the same micro-coil were compared, as well as trajectories obtained using different micro-coils. A 3D high-resolution MR image dataset of the phantom was acquired and imported into a treatment planning system (TPS) for catheter digitization. A comparison between MR-tracked positions and positions digitized from MR images by TPS was performed. Results: The MR tracking shows good consistency for varying catheter paths and for all micro-coils (mean difference ∼1.1 mm). The average distance between the MR-tracking trajectory and catheter digitization from the MR images was 1.1 mm. Ambiguity in catheter assignment from images due to crossed paths was resolved by active tracking. When tracking was interleaved with imaging, real-time images were continuously acquired at the instantaneous tip positions and displayed on an external workstation. Conclusion: The active MR tracker may be used to provide an independent measurement of catheter location in the MR environment, potentially eliminating the need for subsequent CT. It may also be used to control realtime imaging of catheter placement. This will enable MR-based brachytherapy planning of interstitial implants without ionizing radiation, with the potential to enable dosimetric guidance of catheter placement. We gratefully acknowledge support from the American Heart Association SDG 10SDG2610139, NIH 1R21CA158987-01A1, U41-RR019703, and R21 CA 167800, as well as a BWH Department of Radiation Oncology post-doctoral fellowship support. Li Pan and Wesley Gilson are employees of Siemens Corporation, Corporate Technology. Ravi Seethamraju is an employee of Siemens Healthcare.« less

Risk Management and Adaptation Transition Mechanisms and Pathways in New York City

NASA Astrophysics Data System (ADS)

Link, H. D.

2016-12-01

Understanding the values that drive current decision-making is essential to effective management of critical urban infrastructure. As urban infrastructure becomes increasingly interconnected, risks in one sector can translate to citywide risk in the flash of a photon or the blink of an eye. Approaches and goals of risk management vary across geographies. Administrators and residents attempt to reduce vulnerability to hazards and limit the scope of disasters in different ways in different contexts. Public and personal risk management decision making regimes are complex and often shifting. While the overarching goal is to try to reduce the level of risk faced by stakeholders in a particular locale, the conditions and changing character of local risk management decisions are affected by physical, economic and social factors. Opportunities for meaningful action are found at this nexus. To illuminate this nexus, this paper provides a detailed discussion and analysis of the New York City risk management regime and its trajectory as defined by local experts. The risk focus of the analysis is storm surge and flooding, and heat stress. The analysis examines the factors that enable movement and transition between different adaptive regimes, and on factors that support lock-in of current regime status The research utilizes a risk management framework based on four policy states developed for the Transformation and Resilience in the Urban Coast (TRUC) project (Solecki et al. 2016). "Collapse"; a state where there is no strategic risk planning; "Resistance"; risk planning that is directed at stability and aims at protecting current development pathways; "Resilience"; flexible planning that aims at introducing some changes to maintain current development, and "Transformation"; planning for fundamental changes in risk management including changing development choices and paths to accommodate uncertainty and future risk scenarios. (Solecki et al. 2016). To examine the risk management approach in New York City and the conditions for transition researchers gathered primary data - the results of an interactive risk management pathways workshop held in New York City and follow on, face-to-face interviews with local risk managers and stakeholders.

Biochemical analysis of plant protection afforded by a nonpathogenic endophytic mutant of Colletotrichum magna

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

Redman, R.S.; Rodriguez, R.J.; Clifton, D.R.

1999-02-01

A nonpathogenic mutant of Colletotrichum magna (path-1) was previously shown to protect watermelon (Citrullus lanatus) and cucumber (Cucumis sativus) seedlings from anthracnose disease elicited by wild-type C. magna. Disease protection was observed in stems of path-1-colonized cucurbits but not in cotyledons, indicating that path-1 conferred tissue-specific and/or localized protection. Plant biochemical indicators of a localized and systemic (peroxidase, phenylalanine ammonia-lyase, lignin, and salicylic acid) plant-defense response were investigated in anthracnose-resistant and-susceptible cultivars of cucurbit seedlings exposed to four treatments: (1) water (control), (2) path-1 conidia, (3) wild-type conidia, and (4) challenge conditions (inoculation into path-1 conidia for 48 h andmore » then exposure to wild-type conidia). Collectively, these analyses indicated that disease protection in path-1-colonized plants was correlated with the ability of these plants to mount a defense response more rapidly and to equal or greater levels than plants exposed to wild-type C. magna alone. Watermelon plants colonized with path-1 were also protected against disease caused by Colletotrichum orbiculare and Fusarium oxysporum. A model based on the kinetics of plant-defense activation is presented to explain the mechanism of path-1-conferred disease protection.« less

Biochemical analysis of plant protection afforded by a nonpathogenic endophytic mutant of Colletotrichum magna

USGS Publications Warehouse

Redman, R.S.; Freeman, S.; Clifton, D.R.; Morrel, J.; Brown, G.; Rodriguez, R.J.

1999-01-01

A nonpathogenic mutant of Colletotrichum magna (path-1) was previously shown to protect watermelon (Citrullus lanatus) and cucumber (Cucumis sativus) seedlings from anthracnose disease elicited by wild-type C. magna. Disease protection was observed in stems of path-1-colonized cucurbits but not in cotyledons, indicating that path-1 conferred tissue-specific and/or localized protection. Plant biochemical indicators of a localized and systemic (peroxidase, phenylalanine ammonia-lyase, lignin, and salicylic acid) 'plant-defense' response were investigated in anthracnose-resistant and -susceptible cultivars of cucurbit seedlings exposed to four treatments: (1) water (control), (2) path-1 conidia, (3) wild-type conidia, and (4) challenge conditions (inoculation into path-1 conidia for 48 h and then exposure to wild-type conidia). Collectively, these analyses indicated that disease protection in path-1 colonized plants was correlated with the ability of these plants to mount a defense response more rapidly and to equal or greater levels than plants exposed to wild-type C. magna alone. Watermelon plants colonized with path-1 were also protected against disease caused by Colletotrichum orbiculare and Fusarium oxysporum. A model based on the kinetics of plant-defense activation is presented to explain the mechanism of path-1-conferred disease protection.

Pedestrian flow-path modeling to support tsunami-evacuation planning

NASA Astrophysics Data System (ADS)

Wood, N. J.; Jones, J. M.; Schmidtlein, M.

2015-12-01

Near-field tsunami hazards are credible threats to many coastal communities throughout the world. Along the U.S. Pacific Northwest coast, low-lying areas could be inundated by a series of catastrophic tsunamis potentially arriving in a matter of minutes following a Cascadia subduction zone (CSZ) earthquake. We developed a geospatial-modeling method for characterizing pedestrian-evacuation flow paths and evacuation basins to support evacuation and relief planning efforts for coastal communities in this region. We demonstrate this approach using the coastal communities of Aberdeen, Hoquiam, and Cosmopolis in southwestern Grays Harbor County, Washington (USA), where previous research suggests approximately 20,500 people (99% of the residents in tsunami-hazard zones) will likely have enough time to evacuate before tsunami-wave arrival. Geospatial, anisotropic, path distance models were developed to map the most efficient pedestrian paths to higher ground from locations within the tsunami-hazard zone. This information was then used to identify evacuation basins, outlining neighborhoods sharing a common evacuation pathway to safety. We then estimated the number of people traveling along designated evacuation pathways and arriving at pre-determined safe assembly areas, helping determine shelter demand and relief support (e.g., for elderly individuals or tourists). Finally, we assessed which paths may become inaccessible due to earthquake-induced ground failures, a factor which may impact an individual's success in reaching safe ground. The presentation will include a discussion of the implications of our analysis for developing more comprehensive coastal community tsunami-evacuation planning strategies worldwide.

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.

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

DTIC Science & Technology

2006-02-17

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

Navigating the Path to a Biomedical Science Career

NASA Astrophysics Data System (ADS)

Zimmerman, Andrea McNeely

The number of biomedical PhD scientists being trained and graduated far exceeds the number of academic faculty positions and academic research jobs. If this trend is compelling biomedical PhD scientists to increasingly seek career paths outside of academia, then more should be known about their intentions, desires, training experiences, and career path navigation. Therefore, the purpose of this study was to understand the process through which biomedical PhD scientists are trained and supported for navigating future career paths. In addition, the study sought to determine whether career development support efforts and opportunities should be redesigned to account for the proportion of PhD scientists following non-academic career pathways. Guided by the social cognitive career theory (SCCT) framework this study sought to answer the following central research question: How does a southeastern tier 1 research university train and support its biomedical PhD scientists for navigating their career paths? Key findings are: Many factors influence PhD scientists' career sector preference and job search process, but the most influential were relationships with faculty, particularly the mentor advisor; Planned activities are a significant aspect of the training process and provide skills for career success; and Planned activities provided skills necessary for a career, but influential factors directed the career path navigated. Implications for practice and future research are discussed.

Software for Project-Based Learning of Robot Motion Planning

ERIC Educational Resources Information Center

Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

2013-01-01

Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can…

Planning nonlinear access paths for temporal bone surgery.

PubMed

Fauser, Johannes; Sakas, Georgios; Mukhopadhyay, Anirban

2018-05-01

Interventions at the otobasis operate in the narrow region of the temporal bone where several highly sensitive organs define obstacles with minimal clearance for surgical instruments. Nonlinear trajectories for potential minimally invasive interventions can provide larger distances to risk structures and optimized orientations of surgical instruments, thus improving clinical outcomes when compared to existing linear approaches. In this paper, we present fast and accurate planning methods for such nonlinear access paths. We define a specific motion planning problem in [Formula: see text] with notable constraints in computation time and goal pose that reflect the requirements of temporal bone surgery. We then present [Formula: see text]-RRT-Connect: two suitable motion planners based on bidirectional Rapidly exploring Random Tree (RRT) to solve this problem efficiently. The benefits of [Formula: see text]-RRT-Connect are demonstrated on real CT data of patients. Their general performance is shown on a large set of realistic synthetic anatomies. We also show that these new algorithms outperform state-of-the-art methods based on circular arcs or Bézier-Splines when applied to this specific problem. With this work, we demonstrate that preoperative and intra-operative planning of nonlinear access paths is possible for minimally invasive surgeries at the otobasis.

Adaptive Dynamics, Control, and Extinction in Networked Populations

DTIC Science & Technology

2015-07-09

network geometries. From the pre-history of paths that go extinct, a density function is created from the prehistory of these paths, and a clear local...density plots of Fig. 3b. Using the IAMM to compute the most probable path and comparing it to the prehistory of extinction events on stochastic networks

Integrating obstacle avoidance, global path planning, visual cue detection, and landmark triangulation in a mobile robot

NASA Astrophysics Data System (ADS)

Kortenkamp, David; Huber, Marcus J.; Congdon, Clare B.; Huffman, Scott B.; Bidlack, Clint R.; Cohen, Charles J.; Koss, Frank V.; Raschke, Ulrich; Weymouth, Terry E.

1993-05-01

This paper describes the design and implementation of an integrated system for combining obstacle avoidance, path planning, landmark detection and position triangulation. Such an integrated system allows the robot to move from place to place in an environment, avoiding obstacles and planning its way out of traps, while maintaining its position and orientation using distinctive landmarks. The task the robot performs is to search a 22 m X 22 m arena for 10 distinctive objects, visiting each object in turn. This same task was recently performed by a dozen different robots at a competition in which the robot described in this paper finished first.

Investigation of in-body path loss in different human subjects for localization of capsule endoscope.

PubMed

Ara, Perzila; Cheng, Shaokoon; Heimlich, Michael; Dutkiewicz, Eryk

2015-01-01

Recent developments in capsule endoscopy have highlighted the need for accurate techniques to estimate the location of a capsule endoscope. A highly accurate location estimation of a capsule endoscope in the gastrointestinal (GI) tract in the range of several millimeters is a challenging task. This is mainly because the radio-frequency signals encounter high loss and a highly dynamic channel propagation environment. Therefore, an accurate path-loss model is required for the development of accurate localization algorithms. This paper presents an in-body path-loss model for the human abdomen region at 2.4 GHz frequency. To develop the path-loss model, electromagnetic simulations using the Finite-Difference Time-Domain (FDTD) method were carried out on two different anatomical human models. A mathematical expression for the path-loss model was proposed based on analysis of the measured loss at different capsule locations inside the small intestine. The proposed path-loss model is a good approximation to model in-body RF propagation, since the real measurements are quite infeasible for the capsule endoscopy subject.

Autonomous mobile platform with simultaneous localisation and mapping system for patrolling purposes

NASA Astrophysics Data System (ADS)

Mitka, Łukasz; Buratowski, Tomasz

2017-10-01

This work describes an autonomous mobile platform for supervision and surveillance purposes. The system can be adapted for mounting on different types of vehicles. The platform is based on a SLAM navigation system which performs a localization task. Sensor fusion including laser scanners, inertial measurement unit (IMU), odometry and GPS lets the system determine its position in a certain and precise way. The platform is able to create a 3D model of a supervised area and export it as a point cloud. The system can operate both inside and outside as the navigation algorithm is resistant to typical localization errors caused by wheel slippage or temporal GPS signal loss. The system is equipped with a path-planning module which allows operating in two modes. The first mode is for periodical observation of points in a selected area. The second mode is turned on in case of an alarm. When it is called, the platform moves with the fastest route to the place of the alert. The path planning is always performed online with use of the most current scans, therefore the platform is able to adjust its trajectory to the environment changes or obstacles that are in the motion. The control algorithms are developed under the Robot Operating System (ROS) since it comes with drivers for many devices used in robotics. Such a solution allows for extending the system with any type of sensor in order to incorporate its data into a created area model. Proposed appliance can be ported to other existing robotic platforms or used to develop a new platform dedicated to a specific kind of surveillance. The platform use cases are to patrol an area, such as airport or metro station, in search for dangerous substances or suspicious objects and in case of detection instantly inform security forces. Second use case is a tele-operation in hazardous area for an inspection purposes.

Hayabusa Re-Entry: Trajectory Analysis and Observation Mission Design

NASA Technical Reports Server (NTRS)

Cassell, Alan M.; Winter, Michael W.; Allen, Gary A.; Grinstead, Jay H.; Antimisiaris, Manny E.; Albers, James; Jenniskens, Peter

2011-01-01

On June 13th, 2010, the Hayabusa sample return capsule successfully re-entered Earth s atmosphere over the Woomera Prohibited Area in southern Australia in its quest to return fragments from the asteroid 1998 SF36 Itokawa . The sample return capsule entered at a super-orbital velocity of 12.04 km/sec (inertial), making it the second fastest human-made object to traverse the atmosphere. The NASA DC-8 airborne observatory was utilized as an instrument platform to record the luminous portion of the sample return capsule re-entry (60 sec) with a variety of on-board spectroscopic imaging instruments. The predicted sample return capsule s entry state information at 200 km altitude was propagated through the atmosphere to generate aerothermodynamic and trajectory data used for initial observation flight path design and planning. The DC- 8 flight path was designed by considering safety, optimal sample return capsule viewing geometry and aircraft capabilities in concert with key aerothermodynamic events along the predicted trajectory. Subsequent entry state vector updates provided by the Deep Space Network team at NASA s Jet Propulsion Laboratory were analyzed after the planned trajectory correction maneuvers to further refine the DC-8 observation flight path. Primary and alternate observation flight paths were generated during the mission planning phase which required coordination with Australian authorities for pre-mission approval. The final observation flight path was chosen based upon trade-offs between optimal viewing requirements, ground based observer locations (to facilitate post-flight trajectory reconstruction), predicted weather in the Woomera Prohibited Area and constraints imposed by flight path filing deadlines. To facilitate sample return capsule tracking by the instrument operators, a series of two racetrack flight path patterns were performed prior to the observation leg so the instruments could be pointed towards the region in the star background where the sample return capsule was expected to become visible. An overview of the design methodologies and trade-offs used in the Hayabusa re-entry observation campaign are presented.

Financial Planning for Retirement: An Imperative for Baby Boomer Women.

ERIC Educational Resources Information Center

Glass, J. Conrad, Jr.; Kilpatrick, Beverly B.

1998-01-01

Many women fail to plan for retirement due to economic constraints, interrupted career paths, lower earnings, gender bias, gender-role socialization, self-esteem, role definition, locus of control, or risk tolerance. Retirement education must address women's specific issues regarding financial planning. (SK)

Airline meteorological requirements

NASA Technical Reports Server (NTRS)

Chandler, C. L.; Pappas, J.

1985-01-01

A brief review of airline meteorological/flight planning is presented. The effects of variations in meteorological parameters upon flight and operational costs are reviewed. Flight path planning through the use of meteorological information is briefly discussed.

Novel Approach for Prediction of Localized Necking in Case of Nonlinear Strain Paths

NASA Astrophysics Data System (ADS)

Drotleff, K.; Liewald, M.

2017-09-01

Rising customer expectations regarding design complexity and weight reduction of sheet metal components alongside with further reduced time to market implicate increased demand for process validation using numerical forming simulation. Formability prediction though often is still based on the forming limit diagram first presented in the 1960s. Despite many drawbacks in case of nonlinear strain paths and major advances in research in the recent years, the forming limit curve (FLC) is still one of the most commonly used criteria for assessing formability of sheet metal materials. Especially when forming complex part geometries nonlinear strain paths may occur, which cannot be predicted using the conventional FLC-Concept. In this paper a novel approach for calculation of FLCs for nonlinear strain paths is presented. Combining an interesting approach for prediction of FLC using tensile test data and IFU-FLC-Criterion a model for prediction of localized necking for nonlinear strain paths can be derived. Presented model is purely based on experimental tensile test data making it easy to calibrate for any given material. Resulting prediction of localized necking is validated using an experimental deep drawing specimen made of AA6014 material having a sheet thickness of 1.04 mm. The results are compared to IFU-FLC-Criterion based on data of pre-stretched Nakajima specimen.

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

NASA Technical Reports Server (NTRS)

Laubach, Sharon L.; Olson, Clark F.; Burdick, Joel W.; Hayati, Samad

1999-01-01

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Dynamic Programming Algorithms for Planning and Robotics in Continuous Domains and the Hamilton-Jacobi Equation

DTIC Science & Technology

2008-09-22

provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently...CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT Same as Report (SAR) 18. NUMBER OF PAGES 72 19a. NAME OF RESPONSIBLE PERSON a . REPORT unclassified b...2008 Ian Mitchell, University of British Columbia 3 Basic Path Planning • Find the optimal path p(s) to a target (or from a source) • Inputs – Cost c

Path integration guided with a quality map for shape reconstruction in the fringe reflection technique

NASA Astrophysics Data System (ADS)

Jing, Xiaoli; Cheng, Haobo; Wen, Yongfu

2018-04-01

A new local integration algorithm called quality map path integration (QMPI) is reported for shape reconstruction in the fringe reflection technique. A quality map is proposed to evaluate the quality of gradient data locally, and functions as a guideline for the integrated path. The presented method can be employed in wavefront estimation from its slopes over the general shaped surface with slope noise equivalent to that in practical measurements. Moreover, QMPI is much better at handling the slope data with local noise, which may be caused by the irregular shapes of the surface under test. The performance of QMPI is discussed by simulations and experiment. It is shown that QMPI not only improves the accuracy of local integration, but can also be easily implemented with no iteration compared to Southwell zonal reconstruction (SZR). From an engineering point-of-view, the proposed method may also provide an efficient and stable approach for different shapes with high-precise demand.

The Use Of Videography For Three-Dimensional Motion Analysis

NASA Astrophysics Data System (ADS)

Hawkins, D. A.; Hawthorne, D. L.; DeLozier, G. S.; Campbell, K. R.; Grabiner, M. D.

1988-02-01

Special video path editing capabilities with custom hardware and software, have been developed for use in conjunction with existing video acquisition hardware and firmware. This system has simplified the task of quantifying the kinematics of human movement. A set of retro-reflective markers are secured to a subject performing a given task (i.e. walking, throwing, swinging a golf club, etc.). Multiple cameras, a video processor, and a computer work station collect video data while the task is performed. Software has been developed to edit video files, create centroid data, and identify marker paths. Multi-camera path files are combined to form a 3D path file using the DLT method of cinematography. A separate program converts the 3D path file into kinematic data by creating a set of local coordinate axes and performing a series of coordinate transformations from one local system to the next. The kinematic data is then displayed for appropriate review and/or comparison.

Energy-optimal path planning by stochastic dynamically orthogonal level-set optimization

NASA Astrophysics Data System (ADS)

Subramani, Deepak N.; Lermusiaux, Pierre F. J.

2016-04-01

A stochastic optimization methodology is formulated for computing energy-optimal paths from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field. Based on partial differential equations, the methodology rigorously leverages the level-set equation that governs time-optimal reachability fronts for a given relative vehicle-speed function. To set up the energy optimization, the relative vehicle-speed and headings are considered to be stochastic and new stochastic Dynamically Orthogonal (DO) level-set equations are derived. Their solution provides the distribution of time-optimal reachability fronts and corresponding distribution of time-optimal paths. An optimization is then performed on the vehicle's energy-time joint distribution to select the energy-optimal paths for each arrival time, among all stochastic time-optimal paths for that arrival time. Numerical schemes to solve the reduced stochastic DO level-set equations are obtained, and accuracy and efficiency considerations are discussed. These reduced equations are first shown to be efficient at solving the governing stochastic level-sets, in part by comparisons with direct Monte Carlo simulations. To validate the methodology and illustrate its accuracy, comparisons with semi-analytical energy-optimal path solutions are then completed. In particular, we consider the energy-optimal crossing of a canonical steady front and set up its semi-analytical solution using a energy-time nested nonlinear double-optimization scheme. We then showcase the inner workings and nuances of the energy-optimal path planning, considering different mission scenarios. Finally, we study and discuss results of energy-optimal missions in a wind-driven barotropic quasi-geostrophic double-gyre ocean circulation.

Usability of light-emitting diodes in precision approach path indicator systems by individuals with marginal color vision.

DOT National Transportation Integrated Search

2014-05-01

To save energy, the FAA is planning to convert from incandescent lights to light-emitting diodes (LEDs) in : precision approach path indicator (PAPI) systems. Preliminary work on the usability of LEDs by color vision-waivered pilots (Bullough, Skinne...

The Performance Analysis of AN Indoor Mobile Mapping System with Rgb-D Sensor

NASA Astrophysics Data System (ADS)

Tsai, G. J.; Chiang, K. W.; Chu, C. H.; Chen, Y. L.; El-Sheimy, N.; Habib, A.

2015-08-01

Over the years, Mobile Mapping Systems (MMSs) have been widely applied to urban mapping, path management and monitoring and cyber city, etc. The key concept of mobile mapping is based on positioning technology and photogrammetry. In order to achieve the integration, multi-sensor integrated mapping technology has clearly established. In recent years, the robotic technology has been rapidly developed. The other mapping technology that is on the basis of low-cost sensor has generally used in robotic system, it is known as the Simultaneous Localization and Mapping (SLAM). The objective of this study is developed a prototype of indoor MMS for mobile mapping applications, especially to reduce the costs and enhance the efficiency of data collection and validation of direct georeferenced (DG) performance. The proposed indoor MMS is composed of a tactical grade Inertial Measurement Unit (IMU), the Kinect RGB-D sensor and light detection, ranging (LIDAR) and robot. In summary, this paper designs the payload for indoor MMS to generate the floor plan. In first session, it concentrates on comparing the different positioning algorithms in the indoor environment. Next, the indoor plans are generated by two sensors, Kinect RGB-D sensor LIDAR on robot. Moreover, the generated floor plan will compare with the known plan for both validation and verification.

Design and analysis of advanced flight planning concepts

NASA Technical Reports Server (NTRS)

Sorensen, John A.

1987-01-01

The objectives of this continuing effort are to develop and evaluate new algorithms and advanced concepts for flight management and flight planning. This includes the minimization of fuel or direct operating costs, the integration of the airborne flight management and ground-based flight planning processes, and the enhancement of future traffic management systems design. Flight management (FMS) concepts are for on-board profile computation and steering of transport aircraft in the vertical plane between a city pair and along a given horizontal path. Flight planning (FPS) concepts are for the pre-flight ground based computation of the three-dimensional reference trajectory that connects the city pair and specifies the horizontal path, fuel load, and weather profiles for initializing the FMS. As part of these objectives, a new computer program called EFPLAN has been developed and utilized to study advanced flight planning concepts. EFPLAN represents an experimental version of an FPS. It has been developed to generate reference flight plans compatible as input to an FMS and to provide various options for flight planning research. This report describes EFPLAN and the associated research conducted in its development.

Autonomous search and surveillance with small fixed wing aircraft

NASA Astrophysics Data System (ADS)

McGee, Timothy Garland

Small unmanned aerial vehicles (UAVs) have the potential to act as low cost tools in a variety of both civilian and military applications including traffic monitoring, border patrol, and search and rescue. While most current operational UAV systems require human operators, advances in autonomy will allow these systems to reach their full potential as sensor platforms. This dissertation specifically focuses on developing advanced control, path planning, search, and image processing techniques that allow small fixed wing aircraft to autonomously collect data. The problems explored were motivated by experience with the development and experimental flight testing of a fleet of small autonomous fixed wing aircraft. These issues, which have not been fully addressed in past work done on ground vehicles or autonomous helicopters, include the influence of wind and turning rate constraints, the non-negligible velocity of ground targets relative to the aircraft velocity, and limitations on sensor size and processing power on small vehicles. Several contributions for the autonomous operation of small fixed wing aircraft are presented. Several sliding surface controllers are designed which extend previous techniques to include variable sliding surface coefficients and the use of spatial vehicle dynamics. These advances eliminate potential singularities in the control laws to follow spatially defined paths and allow smooth transition between controllers. The optimal solution for the problem of path planning through an ordered set of points for an aircraft with a bounded turning rate in the presence of a constant wind is then discussed. Path planning strategies are also explored to guarantee that a searcher will travel within sensing distance of a mobile ground target. This work assumes only a maximum velocity of the target and is designed to succeed for any possible path of the target. Closed-loop approximations of both the path planning and search techniques, using the sliding surface controllers already discussed, are also studied. Finally, a novel method is presented to detect obstacles by segmenting an image into sky and non-sky regions. The feasibility of this method is demonstrated experimentally on an aircraft test bed.

Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

PubMed

Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

2005-08-01

An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

CMMAD Usability Case Study in Support of Countermine and Hazard Sensing

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

Victor G. Walker; David I. Gertman

2010-04-01

During field trials, operator usability data were collected in support of lane clearing missions and hazard sensing for two robot platforms with Robot Intelligence Kernel (RIK) software and sensor scanning payloads onboard. The tests featured autonomous and shared robot autonomy levels where tasking of the robot used a graphical interface featuring mine location and sensor readings. The goal of this work was to provide insights that could be used to further technology development. The efficacy of countermine systems in terms of mobility, search, path planning, detection, and localization were assessed. Findings from objective and subjective operator interaction measures are reviewedmore » along with commentary from soldiers having taken part in the study who strongly endorse the system.« less

The Futurist Perspective: Implications for Community College Planning.

ERIC Educational Resources Information Center

Nicholson, R. Stephen; Keyser, John S.

Community college managers would probably acknowledge the importance of planning, but might not accept the need to adopt a futuristic perspective on educational planning. One of the characteristics of futurists is a belief that the future is a created reality, not a consequence of random events. Futurists conceive possible paths, examine…

76 FR 51463 - Petition for Waiver of Compliance

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-18

... territory. Specifically, this petition is made in connection with the implementation of PATH's Automatic Train Control (ATC) project and the plan to use unequipped PA-4 cars as maintenance-of-way (MOW) work... control (CBTC) technology throughout the PATH rail network, as described in the Positive Train Control...

Path Planning For A Class Of Cutting Operations

NASA Astrophysics Data System (ADS)

Tavora, Jose

1989-03-01

Optimizing processing time in some contour-cutting operations requires solving the so-called no-load path problem. This problem is formulated and an approximate resolution method (based on heuristic search techniques) is described. Results for real-life instances (clothing layouts in the apparel industry) are presented and evaluated.

NASA's Radioisotope Power Systems - Plans

NASA Technical Reports Server (NTRS)

Hamley, John A.; Mccallum, Peter W.; Sandifer, Carl E., II; Sutliff, Thomas J.; Zakrajsek, June F.

2015-01-01

NASA's Radioisotope Power Systems (RPS) Program continues to plan and implement content to enable planetary exploration where such systems could be needed, and to prepare more advanced RPS technology for possible infusion into future power systems. The 2014-2015 period saw significant changes, and strong progress. Achievements of near-term objectives have enabled definition of a clear path forward in which payoffs from research investments and other sustaining efforts can be applied. The future implementation path is expected to yield a higher-performing thermoelectric generator design, a more isotope-fuel efficient system concept design, and a robust RPS infrastructure maintained effectively within both NASA and the Department of Energy. This paper describes recent work with an eye towards the future plans that result from these achievements.

The path to active living: physical activity through community design in Somerville, Massachusetts.

PubMed

Burke, Noreen M; Chomitz, Virginia R; Rioles, Nicole A; Winslow, Stephen P; Brukilacchio, Lisa B; Baker, Jessie C

2009-12-01

Somerville, Massachusetts, an ethnically diverse, urban community northwest of Boston, presents opportunities and challenges for active living. With a dense street grid, well-maintained sidewalks, neighborhood parks, and existing Community Path, Somerville is very walkable. However, two major surface arteries traverse and bisect neighborhoods, creating pedestrian safety and environmental justice issues. Major goals included promoting increased collaboration and communication among existing active-living efforts; managing the Community Path extension project; encouraging Portuguese-speaking adults to incorporate daily physical activity; leveraging existing urban planning work to establish secure, attractive walking/biking corridors; and embedding active-living messages in everyday life. The Somerville Active Living by Design Partnership (ALbD) successfully created a robust task force that was integrated with citywide active-living efforts, secured resources to increase infrastructure and support for active living, including city-level coordinator positions, and changed decision-making practices that led to incorporation of pedestrian and bicycle transportation priorities into city planning and that influenced the extension of the Community Path. Partnerships must employ sustainability planning early on, utilize skilled facilitative leaders to manage leadership transitions, and engage new partners. Identifying, cultivating, and celebrating champions, especially those with political power, are critical. Working closely with research partners leads to rich data sources for planning and evaluation. Changing the built environment is difficult; working toward smaller wins is realistic and achievable. The synergy of ALbD and other community interventions created a foundation for short-term successes and accelerated political-cultural changes already underway with respect to active living.

MLESAC Based Localization of Needle Insertion Using 2D Ultrasound Images

NASA Astrophysics Data System (ADS)

Xu, Fei; Gao, Dedong; Wang, Shan; Zhanwen, A.

2018-04-01

In the 2D ultrasound image of ultrasound-guided percutaneous needle insertions, it is difficult to determine the positions of needle axis and tip because of the existence of artifacts and other noises. In this work the speckle is regarded as the noise of an ultrasound image, and a novel algorithm is presented to detect the needle in a 2D ultrasound image. Firstly, the wavelet soft thresholding technique based on BayesShrink rule is used to denoise the speckle of ultrasound image. Secondly, we add Otsu’s thresholding method and morphologic operations to pre-process the ultrasound image. Finally, the localization of the needle is identified and positioned in the 2D ultrasound image based on the maximum likelihood estimation sample consensus (MLESAC) algorithm. The experimental results show that it is valid for estimating the position of needle axis and tip in the ultrasound images with the proposed algorithm. The research work is hopeful to be used in the path planning and robot-assisted needle insertion procedures.

Context Aware TCP for Intelligence, Surveillance and Reconnaissance Missions on Autonomous Platforms

DTIC Science & Technology

2014-10-08

under the Unmanned Vehicle Experimental Communications Testbed (UVECT) flight test plan and were done over the Stockbridge Research Facility in the...sure the payload did not interfere with the command and control systems of the aircraft several flight paths were selected to exert the link and the...throughput from data source to destination. Figure 1 shows the flight path of a small RPA in a PoL flight path scenario. The change of SNR

Understanding Laterally Varying Path Effects on P/S Ratios and their Effectiveness for Event Discrimination at Local Distances

NASA Astrophysics Data System (ADS)

Pyle, M. L.; Walter, W. R.

2017-12-01

Discrimination between underground explosions and naturally occurring earthquakes is an important endeavor for global security and test-ban treaty monitoring, and ratios of seismic P to S-wave amplitudes at regional distances have proven to be an effective discriminant. The use of the P/S ratio is rooted in the idea that explosive sources should theoretically only generate compressional energy. While, in practice, shear energy is observed from explosions, generally when corrections are made for magnitude and distance, P/S ratios from explosions are higher than those from surrounding earthquakes. At local distances (< 200 km) that might be needed to detect smaller events, however, this discriminant becomes less reliable. While ratios at some stations still show separation between earthquake and explosion populations, at other stations the populations are indistinguishable. There is no clear distance or azimuthal trend for which stations show discriminating abilities and which do not. A number of factors may play a role in differences we see between regional and local discrimination, including source effects such as depth and radiation pattern, and path effects such as laterally varying attenuation and focusing/defocusing from layers and scattering. We use data from the Source Physics Experiment (SPE) to investigate some of these effects. SPE is a series of chemical explosions at the Nevada National Security Site (NNSS) designed to improve our understanding and modeling capabilities of shear waves generated by explosions. Phase I consisted of 5 explosions in granite and Phase II will move to a contrasting dry alluvium geology. We apply a high-resolution 2D attenuation model to events near the NNSS to examine what effect path plays in local P/S ratios, and how well an earthquake-derived model can account for shallower explosion paths. The model incorporates both intrinsic attenuation and scattering effects and extends to 16 Hz, allowing us to make lateral path corrections and consider high-frequency ratios. Preliminary work suggests that while 2D path corrections modestly improve earthquake amplitude predictions, explosion amplitudes are not well matched, and so P/S ratios do not necessarily improve. Further work is needed to better understand the uses and limitation of 2D path corrections for local P/S ratios.

Spreading paths in partially observed social networks

NASA Astrophysics Data System (ADS)

Onnela, Jukka-Pekka; Christakis, Nicholas A.

2012-03-01

Understanding how and how far information, behaviors, or pathogens spread in social networks is an important problem, having implications for both predicting the size of epidemics, as well as for planning effective interventions. There are, however, two main challenges for inferring spreading paths in real-world networks. One is the practical difficulty of observing a dynamic process on a network, and the other is the typical constraint of only partially observing a network. Using static, structurally realistic social networks as platforms for simulations, we juxtapose three distinct paths: (1) the stochastic path taken by a simulated spreading process from source to target; (2) the topologically shortest path in the fully observed network, and hence the single most likely stochastic path, between the two nodes; and (3) the topologically shortest path in a partially observed network. In a sampled network, how closely does the partially observed shortest path (3) emulate the unobserved spreading path (1)? Although partial observation inflates the length of the shortest path, the stochastic nature of the spreading process also frequently derails the dynamic path from the shortest path. We find that the partially observed shortest path does not necessarily give an inflated estimate of the length of the process path; in fact, partial observation may, counterintuitively, make the path seem shorter than it actually is.

Spreading paths in partially observed social networks.

PubMed

Onnela, Jukka-Pekka; Christakis, Nicholas A

2012-03-01

Understanding how and how far information, behaviors, or pathogens spread in social networks is an important problem, having implications for both predicting the size of epidemics, as well as for planning effective interventions. There are, however, two main challenges for inferring spreading paths in real-world networks. One is the practical difficulty of observing a dynamic process on a network, and the other is the typical constraint of only partially observing a network. Using static, structurally realistic social networks as platforms for simulations, we juxtapose three distinct paths: (1) the stochastic path taken by a simulated spreading process from source to target; (2) the topologically shortest path in the fully observed network, and hence the single most likely stochastic path, between the two nodes; and (3) the topologically shortest path in a partially observed network. In a sampled network, how closely does the partially observed shortest path (3) emulate the unobserved spreading path (1)? Although partial observation inflates the length of the shortest path, the stochastic nature of the spreading process also frequently derails the dynamic path from the shortest path. We find that the partially observed shortest path does not necessarily give an inflated estimate of the length of the process path; in fact, partial observation may, counterintuitively, make the path seem shorter than it actually is.

Path (un)predictability of two interacting cracks in polycarbonate sheets using Digital Image Correlation.

PubMed

Koivisto, J; Dalbe, M-J; Alava, M J; Santucci, S

2016-08-31

Crack propagation is tracked here with Digital Image Correlation analysis in the test case of two cracks propagating in opposite directions in polycarbonate, a material with high ductility and a large Fracture Process Zone (FPZ). Depending on the initial distances between the two crack tips, one may observe different complex crack paths with in particular a regime where the two cracks repel each other prior to being attracted. We show by strain field analysis how this can be understood according to the principle of local symmetry: the propagation is to the direction where the local shear - mode KII in fracture mechanics language - is zero. Thus the interactions exhibited by the cracks arise from symmetry, from the initial geometry, and from the material properties which induce the FPZ. This complexity makes any long-range prediction of the path(s) impossible.

Pseudo paths towards minimum energy states in network dynamics

NASA Astrophysics Data System (ADS)

Hedayatifar, L.; Hassanibesheli, F.; Shirazi, A. H.; Vasheghani Farahani, S.; Jafari, G. R.

2017-10-01

The dynamics of networks forming on Heider balance theory moves towards lower tension states. The condition derived from this theory enforces agents to reevaluate and modify their interactions to achieve equilibrium. These possible changes in network's topology can be considered as various paths that guide systems to minimum energy states. Based on this theory the final destination of a system could reside on a local minimum energy, ;jammed state;, or the global minimum energy, balanced states. The question we would like to address is whether jammed states just appear by chance? Or there exist some pseudo paths that bound a system towards a jammed state. We introduce an indicator to suspect the location of a jammed state based on the Inverse Participation Ratio method (IPR). We provide a margin before a local minimum where the number of possible paths dramatically drastically decreases. This is a condition that proves adequate for ending up on a jammed states.

Constraint-Based Local Search for Constrained Optimum Paths Problems

NASA Astrophysics Data System (ADS)

Pham, Quang Dung; Deville, Yves; van Hentenryck, Pascal

Constrained Optimum Path (COP) problems arise in many real-life applications and are ubiquitous in communication networks. They have been traditionally approached by dedicated algorithms, which are often hard to extend with side constraints and to apply widely. This paper proposes a constraint-based local search (CBLS) framework for COP applications, bringing the compositionality, reuse, and extensibility at the core of CBLS and CP systems. The modeling contribution is the ability to express compositional models for various COP applications at a high level of abstraction, while cleanly separating the model and the search procedure. The main technical contribution is a connected neighborhood based on rooted spanning trees to find high-quality solutions to COP problems. The framework, implemented in COMET, is applied to Resource Constrained Shortest Path (RCSP) problems (with and without side constraints) and to the edge-disjoint paths problem (EDP). Computational results show the potential significance of the approach.

Absence of metastable states in strained monoatomic cubic crystals.

NASA Astrophysics Data System (ADS)

Aguayo, Aarón; Mehl, Michael L.; de Coss, Romeo

2005-03-01

The Bain path distortion of a metal with an fcc (bcc) ground state toward the bcc (fcc) structure initially requires an increase in energy, but at some point along the Bain path the energy will again decrease until a local minimum is reached. We have studied the tetragonal distortion (Bain path) of monoatomic cubic crystals, using a combination of parametrized tight-binding and first-principles linearized augmented plane wave calculations. We show that this local minimum is unstable with respect to an elastic distortion, except in the rare case that the minimum is at the bcc (fcc) point on the Bain path. This shows that body-centered-tetragonal phases of these materials, which have been seen in epitaxially grown thin films, must be stabilized by the substrate and cannot be freestanding films. This work was partially supported by Consejo Nacional de Ciencia y Tecnolog'ia (CONACYT, M'exico) under Grant No. 43830-F.

Traverse Planning with Temporal-Spatial Constraints

NASA Technical Reports Server (NTRS)

Bresina, John L.; Morris, Paul H.; Deans, Mathew C.; Cohen, Tamar E.; Lees, David S.

2017-01-01

We present an approach to planning rover traverses in a domain that includes temporal-spatial constraints. We are using the NASA Resource Prospector mission as a reference mission in our research. The objective of this mission is to explore permanently shadowed regions at a Lunar pole. Most of the time the rover is required to avoid being in shadow. This requirement depends on where the rover is located and when it is at that location. Such a temporal-spatial constraint makes traverse planning more challenging for both humans and machines. We present a mixed-initiative traverse planner which addresses this challenge. This traverse planner is part of the Exploration Ground Data Systems (xGDS), which we have enhanced with new visualization features, new analysis tools, and new automation for path planning, in order to be applicable to the Re-source Prospector mission. The key concept that is the basis of the analysis tools and that supports the automated path planning is reachability in this dynamic environment due to the temporal-spatial constraints.

Planning for execution monitoring on a planetary rover

NASA Technical Reports Server (NTRS)

Gat, Erann; Firby, R. James; Miller, David P.

1990-01-01

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.

The Teratology Society 2007 strategic planning session: a desire to inspire.

PubMed

2008-05-01

On April 18-20, 2007, the Teratology Society held its third strategic planning session (SPS) in San Diego, CA. The purpose of this session was to build on the successful work generated by the previous strategic plans [Nashville, TN 2002 and Cincinnati, OH 1997] and importantly, to provide a path forward to inspire the Society, create deeper connections with members that speak to their individual passion for the science of teratology and to increase the Society's visibility within the larger scientific community. The following summary report provides an overview of the session's pre-work, objective, and discussions. A total of 24 attendees were present at the session. The group included representation from Council, various committees and different members constituencies. This plan and the activities subsequent to the session will provide a path forward for our Society for the next five years.

Two-path plasmonic interferometer with integrated detector

DOEpatents

Dyer, Gregory Conrad; Shaner, Eric A.; Aizin, Gregory

2016-03-29

An electrically tunable terahertz two-path plasmonic interferometer with an integrated detection element can down convert a terahertz field to a rectified DC signal. The integrated detector utilizes a resonant plasmonic homodyne mixing mechanism that measures the component of the plasma waves in-phase with an excitation field that functions as the local oscillator in the mixer. The plasmonic interferometer comprises two independently tuned electrical paths. The plasmonic interferometer enables a spectrometer-on-a-chip where the tuning of electrical path length plays an analogous role to that of physical path length in macroscopic Fourier transform interferometers.

Enroute flight-path planning - Cooperative performance of flight crews and knowledge-based systems

NASA Technical Reports Server (NTRS)

Smith, Philip J.; Mccoy, Elaine; Layton, Chuck; Galdes, Deb

1989-01-01

Interface design issues associated with the introduction of knowledge-based systems into the cockpit are discussed. Such issues include not only questions about display and control design, they also include deeper system design issues such as questions about the alternative roles and responsibilities of the flight crew and the computer system. In addition, the feasibility of using enroute flight path planning as a context for exploring such research questions is considered. In particular, the development of a prototyping shell that allows rapid design and study of alternative interfaces and system designs is discussed.

Localization Decisions of Entrepreneurs: The Role of Path Dependency and Market Forces

NASA Astrophysics Data System (ADS)

Pylak, Korneliusz; Majerek, Dariusz

2017-10-01

The purpose of this research is to determine the role of path dependency and market forces in the localization decisions of entrepreneurs from different industries. We hypothesize that most industries develop new entities based on the number of companies from the same industry that already exist in a region. We also hypothesize that entrepreneurs create new entities based on related industries operating within the same knowledge pool. To test these hypotheses, we used the machine learning decision tree method. The input variables are the number of companies from 86 industries located in 2,531 communities in Poland in 2009. The target values are the number of new companies from these industries created in the years 2009-2015. The principal results show that localization decisions are mostly based on demand and supply industries, in which manufacturing industries play crucial role. Path dependency appears in less than half of the industries’ models and thus is not the main factor influencing decisions regarding the creation of new companies. The highest share of path-dependent industries is in manufacturing sector, but the degree of the dependence is lower than in the service sector. The service sector seems to be the least path-dependent, as services usually serve other industries. Competition in industries is a rare factor in new company creation; however, if it appears, it usually shrinks the industry.

Scenario Planning at College of Marin.

ERIC Educational Resources Information Center

College of Marin, Kentfield, CA.

This article reviews the scenario planning process implemented at the College of Marin (California). Scenario planning is a creative process in which a group of people who share a common fate develop stories about different ways their future might unfold, and use these stories to make decisions about what path to take. The Global Business Network…

Reinventing Your Career: Following the 5 New Paths to Career Fulfillment.

ERIC Educational Resources Information Center

Logan, David C.; Kritzell, Bryan

This book is designed to help individuals reinvent their careers by analyzing the current state of their careers, identifying career objectives suited to their individual and family needs, and developing personal strategic action plans for achieving career fulfillment in five new career path options: corporate climber, new entrepreneur,…

For Teachers, a Better Kind of Pension Plan

ERIC Educational Resources Information Center

Winters, Marcus A.

2017-01-01

Public school teachers deserve a compensation system that puts them on a secure path toward retirement. The severely backloaded structure of today's public school teacher pension systems benefit only a small proportion of entering teachers while putting the rest on an insecure retirement path. But there is a cost-neutral solution to this problem…

Explore the Many Paths to Leadership

ERIC Educational Resources Information Center

Crow, Tracy

2015-01-01

The road to leadership is not necessarily one that educators plan carefully with a series of logical steps. Certainly some educators start as teachers and then systematically work through a traditional hierarchy on their way to the superintendency. No matter their role or their path, education leaders demand more from themselves and others and…

Alternative Paths to Entry: New Jersey and Elsewhere.

ERIC Educational Resources Information Center

Uhler, Sayre

In 1983, New Jersey's governor, Tom Keane, proposed the Alternative Path to Certification as a means to alleviate the state's growing teacher shortage. At least 12 other states are now using similar plans to recruit teachers possessing liberal arts bachelor's degrees who have passed a standardized test and completed successfully a one-year…

Development of the first force-controlled robot for otoneurosurgery.

PubMed

Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

2003-03-01

In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

A fuzzy logic controller for an autonomous mobile robot

NASA Technical Reports Server (NTRS)

Yen, John; Pfluger, Nathan

1993-01-01

The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

NASA Astrophysics Data System (ADS)

Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig

2012-01-01

In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters

PubMed Central

Jan, Shau Shiun; Lin, Yu Hsiang

2011-01-01

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029

Integrated flight path planning system and flight control system for unmanned helicopters.

PubMed

Jan, Shau Shiun; Lin, Yu Hsiang

2011-01-01

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).

UCAV path planning in the presence of radar-guided surface-to-air missile threats

NASA Astrophysics Data System (ADS)

Zeitz, Frederick H., III

This dissertation addresses the problem of path planning for unmanned combat aerial vehicles (UCAVs) in the presence of radar-guided surface-to-air missiles (SAMs). The radars, collocated with SAM launch sites, operate within the structure of an Integrated Air Defense System (IADS) that permits communication and cooperation between individual radars. The problem is formulated in the framework of the interaction between three sub-systems: the aircraft, the IADS, and the missile. The main features of this integrated model are: The aircraft radar cross section (RCS) depends explicitly on both the aspect and bank angles; hence, the RCS and aircraft dynamics are coupled. The probabilistic nature of IADS tracking is accounted for; namely, the probability that the aircraft has been continuously tracked by the IADS depends on the aircraft RCS and range from the perspective of each radar within the IADS. Finally, the requirement to maintain tracking prior to missile launch and during missile flyout are also modeled. Based on this model, the problem of UCAV path planning is formulated as a minimax optimal control problem, with the aircraft bank angle serving as control. Necessary conditions of optimality for this minimax problem are derived. Based on these necessary conditions, properties of the optimal paths are derived. These properties are used to discretize the dynamic optimization problem into a finite-dimensional, nonlinear programming problem that can be solved numerically. Properties of the optimal paths are also used to initialize the numerical procedure. A homotopy method is proposed to solve the finite-dimensional, nonlinear programming problem, and a heuristic method is proposed to improve the discretization during the homotopy process. Based upon the properties of numerical solutions, a method is proposed for parameterizing and storing information for later recall in flight to permit rapid replanning in response to changing threats. Illustrative examples are presented that confirm the standard flying tactics of "denying range, aspect, and aim," by yielding flight paths that "weave" to avoid long exposures of aspects with large RCS.

Design of an advanced flight planning system

NASA Technical Reports Server (NTRS)

Sorensen, J. A.; Goka, T.

1985-01-01

The demand for both fuel conservation and four-dimensional traffic management require that the preflight planning process be designed to account for advances in airborne flight management and weather forecasting. The steps and issues in designing such an advanced flight planning system are presented. Focus is placed on the different optimization options for generating the three-dimensional reference path. For the cruise phase, one can use predefined jet routes, direct routes based on a network of evenly spaced grid points, or a network where the grid points are existing navaid locations. Each choice has its own problem in determining an optimum solution. Finding the reference path is further complicated by choice of cruise altitude levels, use of a time-varying weather field, and requiring a fixed time-of-arrival (four-dimensional problem).

Autonomous Vehicle Mission Planning Using AI (Artificial Intelligence) Techniques.

DTIC Science & Technology

1985-12-01

it uses are declarative patterns that encode facts about how goals may give rise to - . plans. The program processes a story a sentence at a time...the planning process. By separating the knowledge about how to plan from the specific domain knowledge, an understander can use this knowledge about how ...path planning program developed in a previous thesis effort will be incorporated into the overall program in order to demonstrate the operating system

Multiagent Flight Control in Dynamic Environments with Cooperative Coevolutionary Algorithms

NASA Technical Reports Server (NTRS)

Knudson, Matthew D.; Colby, Mitchell; Tumer, Kagan

2014-01-01

Dynamic flight environments in which objectives and environmental features change with respect to time pose a difficult problem with regards to planning optimal flight paths. Path planning methods are typically computationally expensive, and are often difficult to implement in real time if system objectives are changed. This computational problem is compounded when multiple agents are present in the system, as the state and action space grows exponentially. In this work, we use cooperative coevolutionary algorithms in order to develop policies which control agent motion in a dynamic multiagent unmanned aerial system environment such that goals and perceptions change, while ensuring safety constraints are not violated. Rather than replanning new paths when the environment changes, we develop a policy which can map the new environmental features to a trajectory for the agent while ensuring safe and reliable operation, while providing 92% of the theoretically optimal performance

Multiagent Flight Control in Dynamic Environments with Cooperative Coevolutionary Algorithms

NASA Technical Reports Server (NTRS)

Colby, Mitchell; Knudson, Matthew D.; Tumer, Kagan

2014-01-01

Dynamic environments in which objectives and environmental features change with respect to time pose a difficult problem with regards to planning optimal paths through these environments. Path planning methods are typically computationally expensive, and are often difficult to implement in real time if system objectives are changed. This computational problem is compounded when multiple agents are present in the system, as the state and action space grows exponentially with the number of agents in the system. In this work, we use cooperative coevolutionary algorithms in order to develop policies which control agent motion in a dynamic multiagent unmanned aerial system environment such that goals and perceptions change, while ensuring safety constraints are not violated. Rather than replanning new paths when the environment changes, we develop a policy which can map the new environmental features to a trajectory for the agent while ensuring safe and reliable operation, while providing 92% of the theoretically optimal performance.

SU-F-T-198: Dosimetric Comparison of Carbon and Proton Radiotherapy for Recurrent Nasopharynx Carcinoma

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

Sheng, Y; Zhao, J; Wang, W

2016-06-15

Purpose: Various radiotherapy planning methods for locally recurrent nasopharynx carcinoma (R-NPC) have been proposed. The purpose of this study was to compare carbon and proton therapy for the treatment of R-NPC in terms of dose coverage for target volume and sparing for organs at risk (OARs). Methods: Six patients who were suffering from R-NPC and treated using carbon therapy were selected for this study. Treatment plans with a total dose of 57.5Gy (RBE) in 23 fractions were made using SIEMENS Syngo V11. An intensity-modulated radiotherapy optimization method was chosen for carbon plans (IMCT) while for proton plans both intensity-modulated radiotherapymore » (IMPT) and single beam optimization (proton-SBO) methods were chosen. Dose distributions, dose volume parameters, and selected dosimetric indices for target volumes and OARs were compared for all treatment plans. Results: All plans provided comparable PTV coverage. The volume covered by 95% of the prescribed dose was comparable for all three plans. The average values were 96.11%, 96.24% and 96.11% for IMCT, IMPT, and proton-SBO respectively. A significant reduction of the 80% and 50% dose volumes were observed for the IMCT plans compared to the IMPT and proton-SBO plans. Critical organs lateral to the target such as brain stem and spinal cord were better spared by IMPT than by proton-SBO, while IMCT spared those organs best. For organs in the beam path, such as parotid glands, the mean dose results were similar for all three plans. Conclusion: Carbon plans yielded better dose conformity than proton plans. They provided similar or better target coverage while significantly lowering the dose for normal tissues. Dose sparing for critical organs in IMPT plans was better than proton-SBO, however, IMPT is known to be more sensitive to range uncertainties. For proton plans it is essential to find a balance between the two optimization methods.« less

Glacial Lake Outburst Flood Risk in Himachal Pradesh, India: An Integrative and Anticipatory Approach to Inform Adaptation Planning

NASA Astrophysics Data System (ADS)

Allen, Simon; Linsbauer, Andreas; Huggel, Christian; Singh Randhawa, Surjeet

2016-04-01

Most research concerning the hazard from glacial lake outburst floods (GLOFs) has focused on the threat from lakes that have formed over the past century, and which continue to expand rapidly in response to recent warming of the climate system. However, attention is shifting towards the anticipation of future hazard and risk associated with new lakes that will develop as glaciers continue to retreat and dramatically different landscapes are uncovered. Nowhere will this threat be more pronounced than in the Himalaya, where the majority of the world's glaciers are found, and where the dynamics of nature interact closely with livelihoods and anthropogenic resources. Using the Indian Himalayan state of Himachal Pradesh (HP) as a case study, we combine a suite of GIS-based approaches to: 1)Implement a large-scale automated GLOF risk assessment within an integrative climate risk framework that recognizes both physical and socio-economic determining factors. 2)Expand the assessment beyond the current situation, to provide early anticipation of emerging GLOF hazard as new lakes form in response to further retreat of the Himalayan glaciers. Results clearly demonstrate a significant future increase in relative GLOF hazard levels across most Thesils of HP (administrative units), as the overall potential for GLOFs being triggered from mass movement of ice and rock avalanches increases, and as new GLOF paths affect additional land areas. Across most Thesils, the simulated increase in GLOF frequency is an order of magnitude larger than the simulated increase in GLOF affected area, as paths from newly formed glacial lakes generally tend to converge downstream within existing flood channels. In the Thesil of Kullu for example, we demonstrate a 7-fold increase in the probability of GLOF occurrence, and a 3-fold increase in the area affected by potential GLOF paths. In those situations where potential GLOFs from new lakes will flow primarily along existing flood paths, any adaptation measures implemented now will offer dual benefits - reducing not only the current GLOF risk, but also responding to the emerging risk anticipated for the coming decades. Such adaptation strategies (e.g. early warning systems, community preparedness, disaster response planning and land zoning) can be considered "low-regret" measures, i.e, responses that offer immediate benefits to the communities now while also offering benefits over a range of possible future scenarios. Conversely in locations where the formation of new lakes over the coming decades will create an entirely new threat, local authorities would be encouraged to consider long time scales in their climate adaptation planning. This is particularly relevant for new infrastructural developments (residential property, road, hydropower dams etc) where new threats could clearly emerge during the intended lifetime of any constructions.

PLACES (Planning Land And Communities To Be Environmentally Sustainable) Program Helps Communities Onto The Path Of Sustainability

EPA Science Inventory

Land use changes from natural to more man-made environments that are done with no community level planning, shorten the life span and lessen the quality of life of a community. A community armed with a master plan with a number of alternative strategies that consider the natural...

Method and apparatus for planning motions of robot manipulators

DOEpatents

Chen, Pang C.; Hwang, Yong K.

1996-01-01

Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.

Graphene-coated coupling coil for AC resistance reduction

DOEpatents

Miller, John M

2014-03-04

At least one graphene layer is formed to laterally surround a tube so that the basal plane of each graphene layer is tangential to the local surface of the tube on which the graphene layer is formed. An electrically conductive path is provided around the tube for providing high conductivity electrical path provided by the basal plane of each graphene layer. The high conductivity path can be employed for high frequency applications such as coupling coils for wireless power transmission to overcome skin depth effects and proximity effects prevalent in high frequency alternating current paths.

Critical path method applied to research project planning: Fire Economics Evaluation System (FEES)

Treesearch

Earl B. Anderson; R. Stanton Hales

1986-01-01

The critical path method (CPM) of network analysis (a) depicts precedence among the many activities in a project by a network diagram; (b) identifies critical activities by calculating their starting, finishing, and float times; and (c) displays possible schedules by constructing time charts. CPM was applied to the development of the Forest Service's Fire...

77 FR 64374 - Notification of Petition for Approval; Port Authority Trans-Hudson Product Safety Plan

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-19

... assigned the petition Docket Number FRA-2012-0075. PATH is upgrading some of its track circuits with Digicode microprocessor-based track circuits. The Digicode track circuit is part of Alstom's Smartway Digital Track Circuit product line and will be used by PATH for train detection and broken rail detection...

A Paradox of Town Spatial Development: The Growing Real Estate and Shrinking Town - a Case Study of Hsinchu County, Taiwan

NASA Astrophysics Data System (ADS)

Hung, Chi-Tung; Chuang, Mo-Hsiung; Lin, Wen-Yen

2017-04-01

The key factors of many discussions on shrinking towns are focusing at decreasing population and declining industries. Our study, using Hsinchu County as an example, has found that part of the county (Guanxi township) is following a typical and traditional town development pattern, while somewhere else of this county (Zhubei township) shows rapid growth in real estate but with a high vacancy rate. Even though the distance between Guanxi and Zhubei is less than 20 kilometers, the spatial development phenomenon of the two townships are both "shrinking" in the same county but very different in their developing paths. This study used GIS to overlay the maps from field survey and archive data, such as real estate prices of different years, environmental hazards and disaster records, local area power consumptions, and vulnerable population data, to clarify the causes and systems behind the shrinking phenomena of the two townships and to construct a theory of "shrinking town" in Taiwan. The contribution of this study is the findings of the tangling relations of the vulnerability from land-enclosure policy, the system design of local industrial development and urban planning, and structural factors of environmental hazards. Note: This study is part of the results from the Ministry of Science and Technology funding project (MOST 105-2621-M-120-002) KEYWORDS: shrinking town, environmental hazards, urban planning, spatial disasters, real estate development

Life-space foam: A medium for motivational and cognitive dynamics

NASA Astrophysics Data System (ADS)

Ivancevic, Vladimir; Aidman, Eugene

2007-08-01

General stochastic dynamics, developed in a framework of Feynman path integrals, have been applied to Lewinian field-theoretic psychodynamics [K. Lewin, Field Theory in Social Science, University of Chicago Press, Chicago, 1951; K. Lewin, Resolving Social Conflicts, and, Field Theory in Social Science, American Psychological Association, Washington, 1997; M. Gold, A Kurt Lewin Reader, the Complete Social Scientist, American Psychological Association, Washington, 1999], resulting in the development of a new concept of life-space foam (LSF) as a natural medium for motivational and cognitive psychodynamics. According to LSF formalisms, the classic Lewinian life space can be macroscopically represented as a smooth manifold with steady force fields and behavioral paths, while at the microscopic level it is more realistically represented as a collection of wildly fluctuating force fields, (loco)motion paths and local geometries (and topologies with holes). A set of least-action principles is used to model the smoothness of global, macro-level LSF paths, fields and geometry. To model the corresponding local, micro-level LSF structures, an adaptive path integral is used, defining a multi-phase and multi-path (multi-field and multi-geometry) transition process from intention to goal-driven action. Application examples of this new approach include (but are not limited to) information processing, motivational fatigue, learning, memory and decision making.

An Analysis of Navigation Algorithms for Smartphones Using J2ME

NASA Astrophysics Data System (ADS)

Santos, André C.; Tarrataca, Luís; Cardoso, João M. P.

Embedded systems are considered one of the most potential areas for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms. As a test case, we use a smartphone to control an autonomous mobile robot. We tested three navigation problems: Mapping, Localization and Path Planning. For each of these problems, an algorithm has been chosen, developed in J2ME, and tested on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

A testbed for the evaluation of computer aids for enroute flight path planning

NASA Technical Reports Server (NTRS)

Smith, Philip J.; Layton, Chuck; Galdes, Deb; Mccoy, C. E.

1990-01-01

A simulator study of the five airline flight crews engaged in various enroute planning activities has been conducted. Based on a cognitive task analysis of this data, a flight planning workstation has been developed on a Mac II controlling three color monitors. This workstation is being used to study design concepts to support the flight planning activities of dispatchers and flight crews in part-task simulators.

Coordinating robot motion, sensing, and control in plans. LDRD project final report

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

Xavier, P.G.; Brown, R.G.; Watterberg, P.A.

1997-08-01

The goal of this project was to develop a framework for robotic planning and execution that provides a continuum of adaptability with respect to model incompleteness, model error, and sensing error. For example, dividing robot motion into gross-motion planning, fine-motion planning, and sensor-augmented control had yielded productive research and solutions to individual problems. Unfortunately, these techniques could only be combined by hand with ad hoc methods and were restricted to systems where all kinematics are completely modeled in planning. The original intent was to develop methods for understanding and autonomously synthesizing plans that coordinate motion, sensing, and control. The projectmore » considered this problem from several perspectives. Results included (1) theoretical methods to combine and extend gross-motion and fine-motion planning; (2) preliminary work in flexible-object manipulation and an implementable algorithm for planning shortest paths through obstacles for the free-end of an anchored cable; (3) development and implementation of a fast swept-body distance algorithm; and (4) integration of Sandia`s C-Space Toolkit geometry engine and SANDROS motion planer and improvements, which yielded a system practical for everyday motion planning, with path-segment planning at interactive speeds. Results (3) and (4) have either led to follow-on work or are being used in current projects, and they believe that (2) will eventually be also.« less

Path Flow Estimation Using Time Varying Coefficient State Space Model

NASA Astrophysics Data System (ADS)

Jou, Yow-Jen; Lan, Chien-Lun

2009-08-01

The dynamic path flow information is very crucial in the field of transportation operation and management, i.e., dynamic traffic assignment, scheduling plan, and signal timing. Time-dependent path information, which is important in many aspects, is nearly impossible to be obtained. Consequently, researchers have been seeking estimation methods for deriving valuable path flow information from less expensive traffic data, primarily link traffic counts of surveillance systems. This investigation considers a path flow estimation problem involving the time varying coefficient state space model, Gibbs sampler, and Kalman filter. Numerical examples with part of a real network of the Taipei Mass Rapid Transit with real O-D matrices is demonstrated to address the accuracy of proposed model. Results of this study show that this time-varying coefficient state space model is very effective in the estimation of path flow compared to time-invariant model.

Development of Phased-Array Ultrasonic Testing Acceptability Criteria : (Phase II)

DOT National Transportation Integrated Search

2014-10-01

The preliminary technical approach and scan plans developed during phase I of this research was implemented on testing four butt-weld specimens. The ray path analysis carried out to develop the scan plans and the preliminary data analysis indicated t...

The Path to a Cure for Hepatitis C in People With HIV

MedlinePlus

... of the Director Office of the Chief Science Management & Operations Administrative Services Office of Biodefense Research & Surety Communications ... Office of Clinical Research Policy and Regulatory Planning Operations Support Program Planning Analysis ... Office of Acquisitions Scientific Review Program Division ...

Thioarsenides: A case for long-range Lewis acid-base-directed van der Waals interactions

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

Gibbs, Gerald V.; Wallace, Adam F.; Downs, R. T.

2011-04-01

Electron density distributions, bond paths, Laplacian and local energy density properties have been calculated for a number of As4Sn (n = 3,4,5) thioarsenide molecular crystals. On the basis of the distributions, the intramolecular As-S and As-As interactions classify as shared bonded interactions and the intermolecular As-S, As-As and S-S interactions classify as closed-shell van der Waals bonded interactions. The bulk of the intermolecular As-S bond paths link regions of locally concentrated electron density (Lewis base regions) with aligned regions of locally depleted electron density (Lewis acid regions) on adjacent molecules. The paths are comparable with intermolecular paths reported for severalmore » other molecular crystals that link aligned Lewis base and acid regions in a key-lock fashion, interactions that classified as long range Lewis acid-base directed van der Waals interactions. As the bulk of the intermolecular As-S bond paths (~70%) link Lewis acid-base regions on adjacent molecules, it appears that molecules adopt an arrangement that maximizes the number of As-S Lewis acid-base intermolecular bonded interactions. The maximization of the number of Lewis acid-base interactions appears to be connected with the close-packed array adopted by molecules: distorted cubic close-packed arrays are adopted for alacránite, pararealgar, uzonite, realgar and β-AsS and the distorted hexagonal close-packed arrays adopted by α- and β-dimorphite. A growth mechanism is proposed for thioarsenide molecular crystals from aqueous species that maximizes the number of long range Lewis acid-base vdW As-S bonded interactions with the resulting directed bond paths structuralizing the molecules as a molecular crystal.« less

Segmentation of stereo terrain images

NASA Astrophysics Data System (ADS)

George, Debra A.; Privitera, Claudio M.; Blackmon, Theodore T.; Zbinden, Eric; Stark, Lawrence W.

2000-06-01

We have studied four approaches to segmentation of images: three automatic ones using image processing algorithms and a fourth approach, human manual segmentation. We were motivated toward helping with an important NASA Mars rover mission task -- replacing laborious manual path planning with automatic navigation of the rover on the Mars terrain. The goal of the automatic segmentations was to identify an obstacle map on the Mars terrain to enable automatic path planning for the rover. The automatic segmentation was first explored with two different segmentation methods: one based on pixel luminance, and the other based on pixel altitude generated through stereo image processing. The third automatic segmentation was achieved by combining these two types of image segmentation. Human manual segmentation of Martian terrain images was used for evaluating the effectiveness of the combined automatic segmentation as well as for determining how different humans segment the same images. Comparisons between two different segmentations, manual or automatic, were measured using a similarity metric, SAB. Based on this metric, the combined automatic segmentation did fairly well in agreeing with the manual segmentation. This was a demonstration of a positive step towards automatically creating the accurate obstacle maps necessary for automatic path planning and rover navigation.

Autonomous underwater vehicle adaptive path planning for target classification

NASA Astrophysics Data System (ADS)

Edwards, Joseph R.; Schmidt, Henrik

2002-11-01

Autonomous underwater vehicles (AUVs) are being rapidly developed to carry sensors into the sea in ways that have previously not been possible. The full use of the vehicles, however, is still not near realization due to lack of the true vehicle autonomy that is promised in the label (AUV). AUVs today primarily attempt to follow as closely as possible a preplanned trajectory. The key to increasing the autonomy of the AUV is to provide the vehicle with a means to make decisions based on its sensor receptions. The current work examines the use of active sonar returns from mine-like objects (MLOs) as a basis for sensor-based adaptive path planning, where the path planning objective is to discriminate between real mines and rocks. Once a target is detected in the mine hunting phase, the mine classification phase is initialized with a derivative cost function to emphasize signal differences and enhance classification capability. The AUV moves adaptively to minimize the cost function. The algorithm is verified using at-sea data derived from the joint MIT/SACLANTCEN GOATS experiments and advanced acoustic simulation using SEALAB. The mission oriented operating system (MOOS) real-time simulator is then used to test the onboard implementation of the algorithm.

An optimal model-based trajectory following architecture synthesising the lateral adaptive preview strategy and longitudinal velocity planning for highly automated vehicle

NASA Astrophysics Data System (ADS)

Cao, Haotian; Song, Xiaolin; Zhao, Song; Bao, Shan; Huang, Zhi

2017-08-01

Automated driving has received a broad of attentions from the academia and industry, since it is effective to greatly reduce the severity of potential traffic accidents and achieve the ultimate automobile safety and comfort. This paper presents an optimal model-based trajectory following architecture for highly automated vehicle in its driving tasks such as automated guidance or lane keeping, which includes a velocity-planning module, a steering controller and a velocity-tracking controller. The velocity-planning module considering the optimal time-consuming and passenger comforts simultaneously could generate a smooth velocity profile. The robust sliding mode control (SMC) steering controller with adaptive preview time strategy could not only track the target path well, but also avoid a big lateral acceleration occurred in its path-tracking progress due to a fuzzy-adaptive preview time mechanism introduced. In addition, an SMC controller with input-output linearisation method for velocity tracking is built and validated. Simulation results show this trajectory following architecture are effective and feasible for high automated driving vehicle, comparing with the Driver-in-the-Loop simulations performed by an experienced driver and novice driver, respectively. The simulation results demonstrate that the present trajectory following architecture could plan a satisfying longitudinal speed profile, track the target path well and safely when dealing with different road geometry structure, it ensures a good time efficiency and driving comfort simultaneously.

Path planning in uncertain flow fields using ensemble method

NASA Astrophysics Data System (ADS)

Wang, Tong; Le Maître, Olivier P.; Hoteit, Ibrahim; Knio, Omar M.

2016-10-01

An ensemble-based approach is developed to conduct optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where an ensemble of deterministic predictions is used to model and quantify uncertainty. In an operational setting, much about dynamics, topography, and forcing of the ocean environment is uncertain. To address this uncertainty, the flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each of the resulting realizations of the uncertain current field, we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of the sampling strategy and to develop insight into extensions dealing with general circulation ocean models. In particular, the ensemble method enables us to perform a statistical analysis of travel times and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.

A novel cost-effective parallel narrowband ANC system with local secondary-path estimation

NASA Astrophysics Data System (ADS)

Delegà, Riccardo; Bernasconi, Giancarlo; Piroddi, Luigi

2017-08-01

Many noise reduction applications are targeted at multi-tonal disturbances. Active noise control (ANC) solutions for such problems are generally based on the combination of multiple adaptive notch filters. Both the performance and the computational cost are negatively affected by an increase in the number of controlled frequencies. In this work we study a different modeling approach for the secondary path, based on the estimation of various small local models in adjacent frequency subbands, that greatly reduces the impact of reference-filtering operations in the ANC algorithm. Furthermore, in combination with a frequency-specific step size tuning method it provides a balanced attenuation performance over the whole controlled frequency range (and particularly in the high end of the range). Finally, the use of small local models is greatly beneficial for the reactivity of the online secondary path modeling algorithm when the characteristics of the acoustic channels are time-varying. Several simulations are provided to illustrate the positive features of the proposed method compared to other well-known techniques.

Finding Out Critical Points For Real-Time Path Planning

NASA Astrophysics Data System (ADS)

Chen, Wei

1989-03-01

Path planning for a mobile robot is a classic topic, but the path planning under real-time environment is a different issue. The system sources including sampling time, processing time, processes communicating time, and memory space are very limited for this type of application. This paper presents a method which abstracts the world representation from the sensory data and makes the decision as to which point will be a potentially critical point to span the world map by using incomplete knowledge about physical world and heuristic rule. Without any previous knowledge or map of the workspace, the robot will determine the world map by roving through the workspace. The computational complexity for building and searching such a map is not more than O( n2 ) The find-path problem is well-known in robotics. Given an object with an initial location and orientation, a goal location and orientation, and a set of obstacles located in space, the problem is to find a continuous path for the object from the initial position to the goal position which avoids collisions with obstacles along the way. There are a lot of methods to find a collision-free path in given environment. Techniques for solving this problem can be classified into three approaches: 1) the configuration space approach [1],[2],[3] which represents the polygonal obstacles by vertices in a graph. The idea is to determine those parts of the free space which a reference point of the moving object can occupy without colliding with any obstacles. A path is then found for the reference point through this truly free space. Dealing with rotations turns out to be a major difficulty with the approach, requiring complex geometric algorithms which are computationally expensive. 2) the direct representation of the free space using basic shape primitives such as convex polygons [4] and overlapping generalized cones [5]. 3) the combination of technique 1 and 2 [6] by which the space is divided into the primary convex region, overlap region and obstacle region, then obstacle boundaries with attribute values are represented by the vertices of the hypergraph. The primary convex region and overlap region are represented by hyperedges, the centroids of overlap form the critical points. The difficulty is generating segment graph and estimating of minimum path width. The all techniques mentioned above need previous knowledge about the world to make path planning and the computational cost is not low. They are not available in an unknow and uncertain environment. Due to limited system resources such as CPU time, memory size and knowledge about the special application in an intelligent system (such as mobile robot), it is necessary to use algorithms that provide the good decision which is feasible with the available resources in real time rather than the best answer that could be achieved in unlimited time with unlimited resources. A real-time path planner should meet following requirements: - Quickly abstract the representation of the world from the sensory data without any previous knowledge about the robot environment. - Easily update the world model to spell out the global-path map and to reflect changes in the robot environment. - Must make a decision of where the robot must go and which direction the range sensor should point to in real time with limited resources. The method presented here assumes that the data from range sensors has been processed by signal process unite. The path planner will guide the scan of range sensor, find critical points, make decision where the robot should go and which point is poten- tial critical point, generate the path map and monitor the robot moves to the given point. The program runs recursively until the goal is reached or the whole workspace is roved through.

Vervet monkeys use paths consistent with context-specific spatial movement heuristics.

PubMed

Teichroeb, Julie A

2015-10-01

Animal foraging routes are analogous to the computationally demanding "traveling salesman problem" (TSP), where individuals must find the shortest path among several locations before returning to the start. Humans approximate solutions to TSPs using simple heuristics or "rules of thumb," but our knowledge of how other animals solve multidestination routing problems is incomplete. Most nonhuman primate species have shown limited ability to route plan. However, captive vervets were shown to solve a TSP for six sites. These results were consistent with either planning three steps ahead or a risk-avoidance strategy. I investigated how wild vervet monkeys (Chlorocebus pygerythrus) solved a path problem with six, equally rewarding food sites; where site arrangement allowed assessment of whether vervets found the shortest route and/or used paths consistent with one of three simple heuristics to navigate. Single vervets took the shortest possible path in fewer than half of the trials, usually in ways consistent with the most efficient heuristic (the convex hull). When in competition, vervets' paths were consistent with different, more efficient heuristics dependent on their dominance rank (a cluster strategy for dominants and the nearest neighbor rule for subordinates). These results suggest that, like humans, vervets may solve multidestination routing problems by applying simple, adaptive, context-specific "rules of thumb." The heuristics that were consistent with vervet paths in this study are the same as some of those asserted to be used by humans. These spatial movement strategies may have common evolutionary roots and be part of a universal mental navigational toolkit. Alternatively, they may have emerged through convergent evolution as the optimal way to solve multidestination routing problems.

Dynamics of a Two-Link Vehicle in an L-Shaped Corridor Revisited

NASA Astrophysics Data System (ADS)

Antonyuk, E. Ya.; Zabuga, A. T.

2014-03-01

The kinematics of a two-link mobile robot with three steerable wheels moving in an L-shaped corridor is analyzed. A smooth (with continuous first derivative) path is designed maintaining the optimal maneuverability of the vehicle. The motion of the vehicle along this path is planned. Analytical expressions for the reactions at the contact of the wheels with the ground are given in the general case of motion. The radius of curvature of the programmed path is shown to have a strong influence on the reactions.

MRI-based dynamic tracking of an untethered ferromagnetic microcapsule navigating in liquid

NASA Astrophysics Data System (ADS)

Dahmen, Christian; Belharet, Karim; Folio, David; Ferreira, Antoine; Fatikow, Sergej

2016-04-01

The propulsion of ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the ferromagnetic objects, and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment, integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this article aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in the human body. The proposed approaches are validated with different experiments.

Statistical similarity measures for link prediction in heterogeneous complex networks

NASA Astrophysics Data System (ADS)

Shakibian, Hadi; Charkari, Nasrollah Moghadam

2018-07-01

The majority of the link prediction measures in heterogeneous complex networks rely on the nodes connectivities while less attention has been paid to the importance of the nodes and paths. In this paper, we propose some new meta-path based statistical similarity measures to properly perform link prediction task. The main idea in the proposed measures is to drive some co-occurrence events in a number of co-occurrence matrices that are occurred between the visited nodes obeying a meta-path. The extracted co-occurrence matrices are analyzed in terms of the energy, inertia, local homogeneity, correlation, and information measure of correlation to determine various information theoretic measures. We evaluate the proposed measures, denoted as link energy, link inertia, link local homogeneity, link correlation, and link information measure of correlation, using a standard DBLP network data set. The results of the AUC score and Precision rate indicate the validity and accuracy of the proposed measures in comparison to the popular meta-path based similarity measures.

Total solar eclipse of 3 November 1994

NASA Technical Reports Server (NTRS)

Espenak, Fred; Anderson, Jay

1993-01-01

A total eclipse of the Sun will be visible from the southern half of the Western Hemisphere on 3 November 1994. The path of the Moon's shadow passes through Peru, Chile, Bolivia, Paraguay, and Brazil. Detailed predictions for this event are presented and include tables of geographic coordinates of the path of totality, local circumstances for hundreds of cities, maps of the path of total and partial eclipse, weather prospects, and the lunar limb profile.

National Program Plan for Research and Development in Solar Heating and Cooling. Interim Report.

ERIC Educational Resources Information Center

Energy Research and Development Administration, Washington, DC. Div. of Solar Energy.

This report presents the Energy Research and Development Administration (ERDA) program plan for solar heating and cooling of buildings and for agricultural and industrial process applications. An overview of the program plan is followed by a description of the ten paths to the solar heating and cooling of buildings and a brief discussion of the…

Path length differencing and energy conservation of the S[sub N] Boltzmann/Spencer-Lewis equation

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

Filippone, W.L.; Monahan, S.P.

It is shown that the S[sub N] Boltzmann/Spencer-Lewis equations conserve energy locally if and only if they satisfy particle balance and diamond differencing is used in path length. In contrast, the spatial differencing schemes have no bearing on the energy balance. Energy is conserved globally if it is conserved locally and the multigroup cross sections are energy conserving. Although the coupled electron-photon cross sections generated by CEPXS conserve particles and charge, they do not precisely conserve energy. It is demonstrated that these cross sections can be adjusted such that particles, charge, and energy are conserved. Finally, since a conventional negativemore » flux fixup destroys energy balance when applied to path legend, a modified fixup scheme that does not is presented.« less

Do-It-Yourself Critical Path Method.

ERIC Educational Resources Information Center

Morris, Edward P., Jr.

This report describes the critical path method (CPM), a system for planning and scheduling work to get the best time-cost combination for any particular job. With the use of diagrams, the report describes how CPM works on a step-by-step basis. CPM uses a network to show which parts of a job must be done and how they would eventually fit together…

ABLEPathPlanner library for Umbra

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

Oppel III, Fred J; Xavier, Patrick G.; Gottlieb, Eric Joseph

Umbra contains a flexible, modular path planner that is used to simulate complex entity behaviors moving within 3D terrain environments that include buildings, barriers, roads, bridges, fences, and a variety of other terrain features (water, vegetation, slope, etc…). The path planning algorithm is a critical component required to execute these tactical behaviors to provide realistic entity movement and provide efficient system computing performance.

Extended shortest path selection for package routing of complex networks

NASA Astrophysics Data System (ADS)

Ye, Fan; Zhang, Lei; Wang, Bing-Hong; Liu, Lu; Zhang, Xing-Yi

The routing strategy plays a very important role in complex networks such as Internet system and Peer-to-Peer networks. However, most of the previous work concentrates only on the path selection, e.g. Flooding and Random Walk, or finding the shortest path (SP) and rarely considering the local load information such as SP and Distance Vector Routing. Flow-based Routing mainly considers load balance and still cannot achieve best optimization. Thus, in this paper, we propose a novel dynamic routing strategy on complex network by incorporating the local load information into SP algorithm to enhance the traffic flow routing optimization. It was found that the flow in a network is greatly affected by the waiting time of the network, so we should not consider only choosing optimized path for package transformation but also consider node congestion. As a result, the packages should be transmitted with a global optimized path with smaller congestion and relatively short distance. Analysis work and simulation experiments show that the proposed algorithm can largely enhance the network flow with the maximum throughput within an acceptable calculating time. The detailed analysis of the algorithm will also be provided for explaining the efficiency.

Risk-Hedged Approach for Re-Routing Air Traffic Under Weather Uncertainty

NASA Technical Reports Server (NTRS)

Sadovsky, Alexander V.; Bilimoria, Karl D.

2016-01-01

This presentation corresponds to: our paper explores a new risk-hedged approach for re-routing air traffic around forecast convective weather. In this work, flying through a more likely weather instantiation is considered to pose a higher level of risk. Current operational practice strategically plans re-routes to avoid only the most likely (highest risk) weather instantiation, and then tactically makes any necessary adjustments as the weather evolves. The risk-hedged approach strategically plans re-routes by minimizing the risk-adjusted path length, incorporating multiple possible weather instantiations with associated likelihoods (risks). The resulting model is transparent and is readily analyzed for realism and treated with well-understood shortest-path algorithms. Risk-hedged re-routes are computed for some example weather instantiations. The main result is that in some scenarios, relative to an operational-practice proxy solution, the risk-hedged solution provides the benefits of lower risk as well as shorter path length. In other scenarios, the benefits of the risk-hedged solution are ambiguous, because the solution is characterized by a tradeoff between risk and path length. The risk-hedged solution can be executed in those scenarios where it provides a clear benefit over current operational practice.

Autonomous path-planning navigation system for site characterization

NASA Astrophysics Data System (ADS)

Rankin, Arturo L.; Crane, Carl D., III; Armstrong, David G., II; Nease, Allen D.; Brown, H. Edward

1996-05-01

The location and removal of buried munitions is an important yet hazardous task. Current development is aimed at performing both the ordnance location and removal tasks autonomously. An autonomous survey vehicle (ASV) named the Gator has been developed at the Center for Intelligent Machines and Robotics, under the direction of Wright Laboratory, Tyndall Air Force Base, Florida, and the Navy Explosive Ordnance Disposal Technology Division, Indian Head, Maryland. The primary task of the survey vehicle is to autonomously traverse an off-road site, towing behind it a trailer containing a sensor package capable of characterizing the sub-surface contents. Achieving 00 percent coverage of the site is critical to fully characterizing the site. This paper presents a strategy for planning efficient paths for the survey vehicle that guarantees near-complete coverage of a site. A small library of three in-house developed path planners are reviewed. A strategy is also presented to keep the trailer on-path and to calculate the percent of coverage of a site with a resolution of 0.01 m2. All of the algorithms discussed in this paper were initially developed in simulation on a Silicon Graphics computer and subsequently implemented on the survey vehicle.

Paving the Way Towards Reactive Planar Spanner Construction in Wireless Networks

NASA Astrophysics Data System (ADS)

Frey, Hannes; Rührup, Stefan

A spanner is a subgraph of a given graph that supports the original graph's shortest path lengths up to a constant factor. Planar spanners and their distributed construction are of particular interest for geographic routing, which is an efficient localized routing scheme for wireless ad hoc and sensor networks. Planarity of the network graph is a key criterion for guaranteed delivery, while the spanner property supports efficiency in terms of path length. We consider the problem of reactive local spanner construction, where a node's local topology is determined on demand. Known message-efficient reactive planarization algorithms do not preserve the spanner property, while reactive spanner constructions with a low message overhead have not been described so far. We introduce the concept of direct planarization which may be an enabler of efficient reactive spanner construction. Given an edge, nodes check for all incident intersecting edges a certain geometric criterion and withdraw the edge if this criterion is not satisfied. We use this concept to derive a generic reactive topology control mechanism and consider two geometric criteria. Simulation results show that direct planarization increases the performance of localized geographic routing by providing shorter paths than existing reactive approaches.

A continuous arc delivery optimization algorithm for CyberKnife m6.

PubMed

Kearney, Vasant; Descovich, Martina; Sudhyadhom, Atchar; Cheung, Joey P; McGuinness, Christopher; Solberg, Timothy D

2018-06-01

This study aims to reduce the delivery time of CyberKnife m6 treatments by allowing for noncoplanar continuous arc delivery. To achieve this, a novel noncoplanar continuous arc delivery optimization algorithm was developed for the CyberKnife m6 treatment system (CyberArc-m6). CyberArc-m6 uses a five-step overarching strategy, in which an initial set of beam geometries is determined, the robotic delivery path is calculated, direct aperture optimization is conducted, intermediate MLC configurations are extracted, and the final beam weights are computed for the continuous arc radiation source model. This algorithm was implemented on five prostate and three brain patients, previously planned using a conventional step-and-shoot CyberKnife m6 delivery technique. The dosimetric quality of the CyberArc-m6 plans was assessed using locally confined mutual information (LCMI), conformity index (CI), heterogeneity index (HI), and a variety of common clinical dosimetric objectives. Using conservative optimization tuning parameters, CyberArc-m6 plans were able to achieve an average CI difference of 0.036 ± 0.025, an average HI difference of 0.046 ± 0.038, and an average LCMI of 0.920 ± 0.030 compared with the original CyberKnife m6 plans. Including a 5 s per minute image alignment time and a 5-min setup time, conservative CyberArc-m6 plans achieved an average treatment delivery speed up of 1.545x ± 0.305x compared with step-and-shoot plans. The CyberArc-m6 algorithm was able to achieve dosimetrically similar plans compared to their step-and-shoot CyberKnife m6 counterparts, while simultaneously reducing treatment delivery times. © 2018 American Association of Physicists in Medicine.

Design requirements and development of an airborne descent path definition algorithm for time navigation

NASA Technical Reports Server (NTRS)

Izumi, K. H.; Thompson, J. L.; Groce, J. L.; Schwab, R. W.

1986-01-01

The design requirements for a 4D path definition algorithm are described. These requirements were developed for the NASA ATOPS as an extension of the Local Flow Management/Profile Descent algorithm. They specify the processing flow, functional and data architectures, and system input requirements, and recommended the addition of a broad path revision (reinitialization) function capability. The document also summarizes algorithm design enhancements and the implementation status of the algorithm on an in-house PDP-11/70 computer. Finally, the requirements for the pilot-computer interfaces, the lateral path processor, and guidance and steering function are described.

Chemistry, manufacturing and control (CMC) and clinical trial technical support for influenza vaccine manufacturers.

PubMed

Wahid, Rahnuma; Holt, Renee; Hjorth, Richard; Berlanda Scorza, Francesco

2016-10-26

With the support of the Biomedical Advanced Research and Development Authority (BARDA) of the US Department of Health and Human Services, PATH has contributed to the World Health Organization's (WHO's) Global Action Plan for Influenza Vaccines (GAP) by providing technical and clinical assistance to several developing country vaccine manufacturers (DCVMs). GAP builds regionally based independent and sustainable influenza vaccine production capacity to mitigate the overall global shortage of influenza vaccines. The program also ensures adequate influenza vaccine manufacturing capacity in the event of an influenza pandemic. Since 2009, PATH has worked closely with two DCVMs in Vietnam: the Institute of Vaccines and Medical Biologicals (IVAC) and VABIOTECH. Beginning in 2013, PATH also began working with Torlak Institute in Serbia; Instituto Butantan in Brazil; Serum Institute of India Private Ltd. in India; and Changchun BCHT Biotechnology Co. (BCHT) in China. The DCVMs supported under the GAP program all had existing influenza vaccine manufacturing capability and required technical support from PATH to improve vaccine yield, process efficiency, and product formulation. PATH has provided customized technical support for the manufacturing process to each DCVM based on their respective requirements. Additionally, PATH, working with BARDA and WHO, supported several DCVMs in the clinical development of influenza vaccine candidates progressing toward national licensure or WHO prequalification. As a result of the activities outlined in this review, several companies were able to make excellent progress in developing state-of-the-art manufacturing processes and completing early phase clinical trials. Licensure trials are currently ongoing or planned for several DCVMs. Copyright © 2016 Elsevier Ltd. All rights reserved.

Annular Solar Eclipse of 10 May 1994

NASA Technical Reports Server (NTRS)

Espenak, Fred; Anderson, Jay

1993-01-01

An annular eclipse of the Sun will be widely visible from the Western Hemisphere on 10 May 1994. The path of the Moon's shadow passes through Mexico, the United States of America, maritime Canada, the North Atlantic, the Azores and Morocco. Detailed predictions for this event are presented and include tables of geographic coordinates of the annular path, local circumstances for hundreds of cities, maps of the path of annular and partial eclipse, weather prospects, and the lunar limb profile.

Path planning for persistent surveillance applications using fixed-wing unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Keller, James F.

This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C 2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length. • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction. • A smooth path generator that provides C 2 routes that satisfy user specified curvature constraints. C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles. C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have developed a diverse range of solutions for persistent surveillance applications but few directly address dynamic maneuver constraints. The key feature of C1 is a two stage sequential solution that discretizes the problem so that graph search techniques can be combined with parametric polynomial curve generation. A method to abstract the kino-dynamics of the aerial platforms is then presented so that a graph search solution can be adapted for this application. An A* Traveling Salesman Problem (TSP) algorithm is developed to search the discretized space using the abstract distance metric to acquire more data or avoid obstacles. Results of the graph search are then transcribed into smooth paths based on vehicle maneuver constraints. A complete solution for a single vehicle periodic tour of the area is developed using the results of the graph search algorithm. To execute the mission, we present a simultaneous arrival algorithm (C2) to coordinate execution by multiple vehicles to satisfy data refresh requirements and to ensure there are no collisions at any of the path intersections. We present a toolbox of spline-based algorithms (C3) to streamline the development of C2 continuous paths with numerical stability. These tools are applied to an aerial persistent surveillance application to illustrate their utility. Comparisons with other parametric polynomial approaches are highlighted to underscore the benefits of the B-spline framework. Performance limits with respect to feasibility constraints are documented.

Modeling heading and path perception from optic flow in the case of independently moving objects

PubMed Central

Raudies, Florian; Neumann, Heiko

2013-01-01

Humans are usually accurate when estimating heading or path from optic flow, even in the presence of independently moving objects (IMOs) in an otherwise rigid scene. To invoke significant biases in perceived heading, IMOs have to be large and obscure the focus of expansion (FOE) in the image plane, which is the point of approach. For the estimation of path during curvilinear self-motion no significant biases were found in the presence of IMOs. What makes humans robust in their estimation of heading or path using optic flow? We derive analytical models of optic flow for linear and curvilinear self-motion using geometric scene models. Heading biases of a linear least squares method, which builds upon these analytical models, are large, larger than those reported for humans. This motivated us to study segmentation cues that are available from optic flow. We derive models of accretion/deletion, expansion/contraction, acceleration/deceleration, local spatial curvature, and local temporal curvature, to be used as cues to segment an IMO from the background. Integrating these segmentation cues into our method of estimating heading or path now explains human psychophysical data and extends, as well as unifies, previous investigations. Our analysis suggests that various cues available from optic flow help to segment IMOs and, thus, make humans' heading and path perception robust in the presence of such IMOs. PMID:23554589

An Analysis of the Development Path of Business English Teachers in Local Institutions of China

ERIC Educational Resources Information Center

Wang, Xin

2017-01-01

The application-oriented development of local institutions has become a trend. Business English, with its "compound and cross-disciplinary" characteristics and the development of local economy have put forward higher requirements for the development of business English teachers in local institutions. This paper surveys and analyzes the…

An approach for recreation suitability analysis to recreation planning in Gölcük Nature Park.

PubMed

Gül, Atila; Orücü, M Kamil; Karaca, Oznur

2006-05-01

Gölcük Nature Park (GNP) is an area protected by law in Turkey. It is an important nature park with rich flora, fauna, geomorphologic forms, landscape features, and recreational potential in the region. However, GNP does not have a recreation management plan. The purpose of this study was to determine the actual natural, cultural, and visual resources of GNP, determine the most suitable recreational sites with multiple factors, evaluate the demands and tendencies of visitors, and suggest recreational activities and facilities for the most suitable sites of GNP. However, it was also conceived as leading to a recreational plan and design of GNP in the future and identifying the entire appropriate and current data of GNP with the creation of various maps. This study used multifactor analysis to determine the most suitable recreation sites of GNP. Used recreation factors were established including degree of slope, proximity to water resources, accessibility, elevation, vegetation, soil, climate, aspect, current cultural facilities, visual values, and some limiting factors in accordance with the characteristics of GNP. Weighting and suitability values of factors were determined by 30 local expert surveys. All obtained data were evaluated and integrated in the Geographical Information Systems base. Obtained maps were overlapped. Thus, recreational suitability zones map were created manually. However, the demands and behaviours from visitor surveys in GNP were focused on the most suitable recreation sites of the park. Finally, 10% of GNP was identified as the most suitable sites for recreational use. Various recreational facilities and activities (including picnicking, sports facilities and playgrounds, camping sites, walking paths, food and local outlets, etc.) were recommended for nine of the most suitable areas on the proposed recreational map.

Oklahoma City's killer tornadoes: how local hospitals responded to yet another extreme disaster.

PubMed

1999-09-01

On the evening of May 3rd, a group of high-powered tornadoes tore through Oklahoma--leaving more than 40 people dead and hundreds injured. The main twister formed about 45 miles south of Oklahoma City and was classified F5, the most severe type of tornado, with winds of more than 260 mph. It cut a path one mile wide; stayed on the ground for more than four hours; and, along with other twisters, demolished 60 miles of countryside. More than 7,000 homes were destroyed or damaged, and more than 5,000 families were left homeless. Oklahoma City was hit the hardest, with about 1,500 homes leveled in the storm. A total of 755 people were injured in Oklahoma City and the surrounding area, testing local hospital disaster plans to the maximum. The same hospitals had been called on in April 1995 to handle the over 500 persons injured in the bombing of the Alfred P. Murrah Federal Building, a terrorist blast that killed 168. The hospitals' latest response to a disaster situation is recorded in this report.

Navigation system for autonomous mapper robots

NASA Astrophysics Data System (ADS)

Halbach, Marc; Baudoin, Yvan

1993-05-01

This paper describes the conception and realization of a fast, robust, and general navigation system for a mobile (wheeled or legged) robot. A database, representing a high level map of the environment is generated and continuously updated. The first part describes the legged target vehicle and the hexapod robot being developed. The second section deals with spatial and temporal sensor fusion for dynamic environment modeling within an obstacle/free space probabilistic classification grid. Ultrasonic sensors are used, others are suspected to be integrated, and a-priori knowledge is treated. US sensors are controlled by the path planning module. The third part concerns path planning and a simulation of a wheeled robot is also presented.

Geospatial analysis based on GIS integrated with LADAR.

PubMed

Fetterman, Matt R; Freking, Robert; Fernandez-Cull, Christy; Hinkle, Christopher W; Myne, Anu; Relyea, Steven; Winslow, Jim

2013-10-07

In this work, we describe multi-layered analyses of a high-resolution broad-area LADAR data set in support of expeditionary activities. High-level features are extracted from the LADAR data, such as the presence and location of buildings and cars, and then these features are used to populate a GIS (geographic information system) tool. We also apply line-of-sight (LOS) analysis to develop a path-planning module. Finally, visualization is addressed and enhanced with a gesture-based control system that allows the user to navigate through the enhanced data set in a virtual immersive experience. This work has operational applications including military, security, disaster relief, and task-based robotic path planning.

Transparent aligners: An invisible approach to correct mild skeletal class III malocclusion

PubMed Central

Yezdani, A. Arif

2015-01-01

This case report highlights the treatment of a mild skeletal class III malocclusion with an invisible thermoplastic retainer. A 15-year-old female patient presented with a mild skeletal class III malocclusion with a retrognathic maxilla, orthognathic mandible, a low mandibular plane angle with Angle's class III malocclusion with maxillary lateral incisors in anterior cross-bite with crowding of maxillary anteriors, imbricated and rotated mandibular incisors and deep bite. Accurate upper and lower impressions and a bite registration were taken with polyvinyl siloxane rubber base impression material. This was then sent to the lab for the processing of a series of ClearPath aligners. The ClearPath virtual set-up sent from the lab provided the treatment plan and interproximal reduction estimation complete with posttreatment results. This enabled the clinician to actively participate in the treatment plan and provide the necessary suggestions. The ClearPath three-dimensional aligner was found to have effectively corrected the anterior cross-bite and crowding of the maxillary anteriors. PMID:26015738

Children's exercise behavior: the moderating role of habit processes within the theory of planned behavior.

PubMed

Hashim, H A; Jawis, M N; Wahat, A; Grove, J R

2014-01-01

The moderating effect of exercise habit strength and specific habit processes within the theory of planned behavior (TPB) was tested in children. Participants were primary school students (N = 380, mean age = 10.46 ± .52). The data were collected using self-report measures followed by one-mile run test performance. Data were analyzed using structural equation modeling. The findings revealed that 34, 57, and 9% of students could be classified as low, moderate, and high in PA, respectively. Path analysis for the overall model revealed significant path loadings (p = < .05), except for the attitude-intention path. Moderating effects results revealed that strong habit strength extinguished the effects of intention on PA. Habit strength has the potential to minimize the deliberate processes associated with intention to exercise, thereby increasing the probability of intention-behavior translation. For specific habit processes, only negative affect appears to moderate the relationships between the TPB variables.

A novel method for trajectory planning of cooperative mobile manipulators.

PubMed

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method.

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

PubMed Central

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method. PMID:22606656

A New Path Forward: Four Approaches to Quality Teaching and Better Schools

ERIC Educational Resources Information Center

Weingarten, Randi

2010-01-01

In a global knowledge economy, filling in the bubbles on a standardized test isn't going to prepare children to succeed in life. This is the time to shed the old conflicts and come together. In this article, the author suggests a new path forward--toward a 21st-century education system, a serious and comprehensive reform plan to transform U.S.…

IRBM in Unitary Plan Wind Tunnel

NASA Image and Video Library

1957-09-07

L57-700 In the reentry flight path of this nose cone model of a Jupiter Intermediate range ballistic missile (IRBM) was tested in the Unitary Plan Wind Tunnel. Photograph published in Engineer in Charge: A History of the Langley Aeronautical Laboratory, 1917-1958 by James R. Hansen. Page 475.

Calibration of neural networks using genetic algorithms, with application to optimal path planning

NASA Technical Reports Server (NTRS)

Smith, Terence R.; Pitney, Gilbert A.; Greenwood, Daniel

1987-01-01

Genetic algorithms (GA) are used to search the synaptic weight space of artificial neural systems (ANS) for weight vectors that optimize some network performance function. GAs do not suffer from some of the architectural constraints involved with other techniques and it is straightforward to incorporate terms into the performance function concerning the metastructure of the ANS. Hence GAs offer a remarkably general approach to calibrating ANS. GAs are applied to the problem of calibrating an ANS that finds optimal paths over a given surface. This problem involves training an ANS on a relatively small set of paths and then examining whether the calibrated ANS is able to find good paths between arbitrary start and end points on the surface.

Automated generation of weld path trajectories.

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

Sizemore, John M.; Hinman-Sweeney, Elaine Marie; Ames, Arlo Leroy

2003-06-01

AUTOmated GENeration of Control Programs for Robotic Welding of Ship Structure (AUTOGEN) is software that automates the planning and compiling of control programs for robotic welding of ship structure. The software works by evaluating computer representations of the ship design and the manufacturing plan. Based on this evaluation, AUTOGEN internally identifies and appropriately characterizes each weld. Then it constructs the robot motions necessary to accomplish the welds and determines for each the correct assignment of process control values. AUTOGEN generates these robot control programs completely without manual intervention or edits except to correct wrong or missing input data. Most shipmore » structure assemblies are unique or at best manufactured only a few times. Accordingly, the high cost inherent in all previous methods of preparing complex control programs has made robot welding of ship structures economically unattractive to the U.S. shipbuilding industry. AUTOGEN eliminates the cost of creating robot control programs. With programming costs eliminated, capitalization of robots to weld ship structures becomes economically viable. Robot welding of ship structures will result in reduced ship costs, uniform product quality, and enhanced worker safety. Sandia National Laboratories and Northrop Grumman Ship Systems worked with the National Shipbuilding Research Program to develop a means of automated path and process generation for robotic welding. This effort resulted in the AUTOGEN program, which has successfully demonstrated automated path generation and robot control. Although the current implementation of AUTOGEN is optimized for welding applications, the path and process planning capability has applicability to a number of industrial applications, including painting, riveting, and adhesive delivery.« less

Solving a Class of Spatial Reasoning Problems: Minimal-Cost Path Planning in the Cartesian Plane.

DTIC Science & Technology

1987-06-01

as in Figure 72. By the Theorem of Pythagoras : Z1 <a z 2 < C Yl(bl+b 2)uI, the cost of going along (a,b,c) is greater that the...preceding lemmas to an indefinite number of boundary-crossing episodes is accomplished by the following theorems . Theorem 1 extends the result of Lemma 1... Theorem 1: Any two Snell’s-law paths within a K-explored wedge defined by Snell’s-law paths RL and R. do not intersect within the K-explored portion of

Path planning and execution monitoring for a planetary rover

NASA Technical Reports Server (NTRS)

Gat, Erann; Slack, Marc G.; Miller, David P.; Firby, R. James

1990-01-01

A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.

Bidirectional quantum teleportation of unknown photons using path-polarization intra-particle hybrid entanglement and controlled-unitary gates via cross-Kerr nonlinearity

NASA Astrophysics Data System (ADS)

Heo, Jino; Hong, Chang-Ho; Lim, Jong-In; Yang, Hyung-Jin

2015-05-01

We propose an arbitrary controlled-unitary (CU) gate and a bidirectional quantum teleportation (BQTP) scheme. The proposed CU gate utilizes photonic qubits (photons) with cross-Kerr nonlinearities (XKNLs), X-homodyne detectors, and linear optical elements, and consists of the consecutive operation of a controlled-path (C-path) gate and a gathering-path (G-path) gate. It is almost deterministic and feasible with current technology when a strong coherent state and weak XKNLs are employed. Based on the CU gate, we present a BQTP scheme that simultaneously teleports two unknown photons between distant users by transmitting only one photon in a path-polarization intra-particle hybrid entangled state. Consequently, it is possible to experimentally implement BQTP with a certain success probability using the proposed CU gate. Project supported by the Ministry of Science, ICT&Future Planning, Korea, under the C-ITRC (Convergence Information Technology Research Center) Support program (NIPA-2013-H0301-13-3007) supervised by the National IT Industry Promotion Agency.

Integrating Terrain Maps Into a Reactive Navigation Strategy

NASA Technical Reports Server (NTRS)

Howard, Ayanna; Werger, Barry; Seraji, Homayoun

2006-01-01

An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.

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.

Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace.

PubMed

Zhu, Daqi; Huang, Huan; Yang, S X

2013-04-01

For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions.

PubMed

Ramos, A G; García-Garrido, V J; Mancho, A M; Wiggins, S; Coca, J; Glenn, S; Schofield, O; Kohut, J; Aragon, D; Kerfoot, J; Haskins, T; Miles, T; Haldeman, C; Strandskov, N; Allsup, B; Jones, C; Shapiro, J

2018-03-15

Transoceanic Gliders are Autonomous Underwater Vehicles (AUVs) for which there is a developing and expanding range of applications in open-seas research, technology and underwater clean transport. Mature glider autonomy, operating depth (0-1000 meters) and low energy consumption without a CO 2 footprint enable evolutionary access across ocean basins. Pursuant to the first successful transatlantic glider crossing in December 2009, the Challenger Mission has opened the door to long-term, long-distance routine transoceanic AUV missions. These vehicles, which glide through the water column between 0 and 1000 meters depth, are highly sensitive to the ocean current field. Consequently, it is essential to exploit the complex space-time structure of the ocean current field in order to plan a path that optimizes scientific payoff and navigation efficiency. This letter demonstrates the capability of dynamical system theory for achieving this goal by realizing the real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider (0-1000 m), that crossed the North Atlantic from April 2016 to March 2017. Path planning in real time based on this approach has facilitated an impressive speed up of the AUV to unprecedented velocities resulting in major battery savings on the mission, offering the potential for routine transoceanic long duration missions.

Communication assisted Localization and Navigation for Networked Robots

DTIC Science & Technology

2005-09-01

developments such as the Mica Mote [23, 24] and the single chip called “Spec” [1] along the path to the ultimate goal of smart dust. Other technologies...path or a path defining a grid , broadcasting GPS coordinates. The sensors incrementally pro- cess all broadcasts they receive to refine their estimated...RAM, 4K EEPROM), a 916 MHz RF transceiver (50Kbits/sec, nominal 30m range), a UART and a 4Mbit serial flash. A Mote runs for approximately one month on

SU-E-T-457: Impact of Interfractional Variations On Anterior Vs. Lateral-Field Proton Therapy of Prostate Cancer

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

Moteabbed, M; Trofimov, A; Sharp, G C

2015-06-15

Purpose: To investigate the effects of interfractional anatomy and setup variations on plans with anterior-oblique vs. lateral beams for prostate cancer pencil beam scanning (PBS) and passive scattered (PS) proton therapy. Methods: Six patients with low/intermediate risk prostate cancer treated with PS proton therapy at our institution were selected. All patients underwent weekly verification CT scans. Implanted fiducials were used for localization, and endorectal balloons for prostate immobilization. New PBS plans with lateral beams, as well as PBS and PS plans with anterior-oblique beams (±35 deg) were created. PBS plans used two different spot sizes: ∼10mm (large) and ∼5mm (medium)more » sigma at 25cm range and optimized as single-field-uniform-dose with ∼8% non-uniformity. No range uncertainty margins were applied in PBS plans to maximize rectal sparing. Field-specific apertures were used when planning with large spots to sharpen the penumbrae. The planned dose was recomputed on each weekly CT with fiducials aligned to the simulation CT, scaled and accumulated via deformable image registration. Results: The dose volume analysis showed that although difference between planned and accumulated dose remains negligible for plans with conventional lateral beams using both PS and PBS, this is not the case for plans with anterior beams. The target coverage in anterior plans was largely degraded due to the variations in the beam path length and the absence of range margins. The average prostate D95 was reduced by 7.5/15.9% (using PS/PBS) after accumulation for anterior plans, compared with 0/0.4% for lateral plans. The average mean dose in organs-at-risk decreased by 1% for lateral and 2% for anterior plans, similarly for PS and PBS. Spot size did not affect the dose changes. Conclusion: Prostate plans using anterior beams may undergo clinically relevant interfractional dose degradation. Corrective strategies guided by in-vivo range measurements should be studied before clinical application of this technique.« less

Meteor tracking via local pattern clustering in spatio-temporal domain

NASA Astrophysics Data System (ADS)

Kukal, Jaromír.; Klimt, Martin; Švihlík, Jan; Fliegel, Karel

2016-09-01

Reliable meteor detection is one of the crucial disciplines in astronomy. A variety of imaging systems is used for meteor path reconstruction. The traditional approach is based on analysis of 2D image sequences obtained from a double station video observation system. Precise localization of meteor path is difficult due to atmospheric turbulence and other factors causing spatio-temporal fluctuations of the image background. The proposed technique performs non-linear preprocessing of image intensity using Box-Cox transform as recommended in our previous work. Both symmetric and asymmetric spatio-temporal differences are designed to be robust in the statistical sense. Resulting local patterns are processed by data whitening technique and obtained vectors are classified via cluster analysis and Self-Organized Map (SOM).

Predictive Sea State Estimation for Automated Ride Control and Handling - PSSEARCH

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.; Howard, Andrew B.; Aghazarian, Hrand; Rankin, Arturo L.

2012-01-01

PSSEARCH provides predictive sea state estimation, coupled with closed-loop feedback control for automated ride control. It enables a manned or unmanned watercraft to determine the 3D map and sea state conditions in its vicinity in real time. Adaptive path-planning/ replanning software and a control surface management system will then use this information to choose the best settings and heading relative to the seas for the watercraft. PSSEARCH looks ahead and anticipates potential impact of waves on the boat and is used in a tight control loop to adjust trim tabs, course, and throttle settings. The software uses sensory inputs including IMU (Inertial Measurement Unit), stereo, radar, etc. to determine the sea state and wave conditions (wave height, frequency, wave direction) in the vicinity of a rapidly moving boat. This information can then be used to plot a safe path through the oncoming waves. The main issues in determining a safe path for sea surface navigation are: (1) deriving a 3D map of the surrounding environment, (2) extracting hazards and sea state surface state from the imaging sensors/map, and (3) planning a path and control surface settings that avoid the hazards, accomplish the mission navigation goals, and mitigate crew injuries from excessive heave, pitch, and roll accelerations while taking into account the dynamics of the sea surface state. The first part is solved using a wide baseline stereo system, where 3D structure is determined from two calibrated pairs of visual imagers. Once the 3D map is derived, anything above the sea surface is classified as a potential hazard and a surface analysis gives a static snapshot of the waves. Dynamics of the wave features are obtained from a frequency analysis of motion vectors derived from the orientation of the waves during a sequence of inputs. Fusion of the dynamic wave patterns with the 3D maps and the IMU outputs is used for efficient safe path planning.

Use of linkage mapping and centrality analysis across habitat gradients to conserve connectivity of gray wolf populations in western North America.

PubMed

Carroll, Carlos; McRae, Brad H; Brookes, Allen

2012-02-01

Centrality metrics evaluate paths between all possible pairwise combinations of sites on a landscape to rank the contribution of each site to facilitating ecological flows across the network of sites. Computational advances now allow application of centrality metrics to landscapes represented as continuous gradients of habitat quality. This avoids the binary classification of landscapes into patch and matrix required by patch-based graph analyses of connectivity. It also avoids the focus on delineating paths between individual pairs of core areas characteristic of most corridor- or linkage-mapping methods of connectivity analysis. Conservation of regional habitat connectivity has the potential to facilitate recovery of the gray wolf (Canis lupus), a species currently recolonizing portions of its historic range in the western United States. We applied 3 contrasting linkage-mapping methods (shortest path, current flow, and minimum-cost-maximum-flow) to spatial data representing wolf habitat to analyze connectivity between wolf populations in central Idaho and Yellowstone National Park (Wyoming). We then applied 3 analogous betweenness centrality metrics to analyze connectivity of wolf habitat throughout the northwestern United States and southwestern Canada to determine where it might be possible to facilitate range expansion and interpopulation dispersal. We developed software to facilitate application of centrality metrics. Shortest-path betweenness centrality identified a minimal network of linkages analogous to those identified by least-cost-path corridor mapping. Current flow and minimum-cost-maximum-flow betweenness centrality identified diffuse networks that included alternative linkages, which will allow greater flexibility in planning. Minimum-cost-maximum-flow betweenness centrality, by integrating both land cost and habitat capacity, allows connectivity to be considered within planning processes that seek to maximize species protection at minimum cost. Centrality analysis is relevant to conservation and landscape genetics at a range of spatial extents, but it may be most broadly applicable within single- and multispecies planning efforts to conserve regional habitat connectivity. ©2011 Society for Conservation Biology.

Integrated assignment and path planning

NASA Astrophysics Data System (ADS)

Murphey, Robert A.

2005-11-01

A surge of interest in unmanned systems has exposed many new and challenging research problems across many fields of engineering and mathematics. These systems have the potential of transforming our society by replacing dangerous and dirty jobs with networks of moving machines. This vision is fundamentally separate from the modern view of robotics in that sophisticated behavior is realizable not by increasing individual vehicle complexity, but instead through collaborative teaming that relies on collective perception, abstraction, decision making, and manipulation. Obvious examples where collective robotics will make an impact include planetary exploration, space structure assembly, remote and undersea mining, hazardous material handling and clean-up, and search and rescue. Nonetheless, the phenomenon driving this technology trend is the increasing reliance of the US military on unmanned vehicles, specifically, aircraft. Only a few years ago, following years of resistance to the use of unmanned systems, the military and civilian leadership in the United States reversed itself and have recently demonstrated surprisingly broad acceptance of increasingly pervasive use of unmanned platforms in defense surveillance, and even attack. However, as rapidly as unmanned systems have gained acceptance, the defense research community has discovered the technical pitfalls that lie ahead, especially for operating collective groups of unmanned platforms. A great deal of talent and energy has been devoted to solving these technical problems, which tend to fall into two categories: resource allocation of vehicles to objectives, and path planning of vehicle trajectories. An extensive amount of research has been conducted in each direction, yet, surprisingly, very little work has considered the integrated problem of assignment and path planning. This dissertation presents a framework for studying integrated assignment and path planning and then moves on to suggest an exact mathematical model and solution techniques. The approach adopted is based upon the very flexible New Product Development model but also blends many features from other approaches. Solution methods using branch and bound and construction heuristics are developed and tested on several example problems, including a military scenario featuring unmanned air vehicles.

A Descent Rate Control Approach to Developing an Autonomous Descent Vehicle

NASA Astrophysics Data System (ADS)

Fields, Travis D.

Circular parachutes have been used for aerial payload/personnel deliveries for over 100 years. In the past two decades, significant work has been done to improve the landing accuracies of cargo deliveries for humanitarian and military applications. This dissertation discusses the approach developed in which a circular parachute is used in conjunction with an electro-mechanical reefing system to manipulate the landing location. Rather than attempt to steer the autonomous descent vehicle directly, control of the landing location is accomplished by modifying the amount of time spent in a particular wind layer. Descent rate control is performed by reversibly reefing the parachute canopy. The first stage of the research investigated the use of a single actuation during descent (with periodic updates), in conjunction with a curvilinear target. Simulation results using real-world wind data are presented, illustrating the utility of the methodology developed. Additionally, hardware development and flight-testing of the single actuation autonomous descent vehicle are presented. The next phase of the research focuses on expanding the single actuation descent rate control methodology to incorporate a multi-actuation path-planning system. By modifying the parachute size throughout the descent, the controllability of the system greatly increases. The trajectory planning methodology developed provides a robust approach to accurately manipulate the landing location of the vehicle. The primary benefits of this system are the inherent robustness to release location errors and the ability to overcome vehicle uncertainties (mass, parachute size, etc.). A separate application of the path-planning methodology is also presented. An in-flight path-prediction system was developed for use in high-altitude ballooning by utilizing the path-planning methodology developed for descent vehicles. The developed onboard system improves landing location predictions in-flight using collected flight information during the ascent and descent. Simulation and real-world flight tests (using the developed low-cost hardware) demonstrate the significance of the improvements achievable when flying the developed system.

Attitudes and exercise adherence: test of the Theories of Reasoned Action and Planned Behaviour.

PubMed

Smith, R A; Biddle, S J

1999-04-01

Three studies of exercise adherence and attitudes are reported that tested the Theory of Reasoned Action and the Theory of Planned Behaviour. In a prospective study of adherence to a private fitness club, structural equation modelling path analysis showed that attitudinal and social normative components of the Theory of Reasoned Action accounted for 13.1% of the variance in adherence 4 months later, although only social norm significantly predicted intention. In a second study, the Theory of Planned Behaviour was used to predict both physical activity and sedentary behaviour. Path analyses showed that attitude and perceived control, but not social norm, predicted total physical activity. Physical activity was predicted from intentions and control over sedentary behaviour. Finally, an intervention study with previously sedentary adults showed that intentions to be active measured at the start and end of a 10-week intervention were associated with the planned behaviour variables. A multivariate analysis of variance revealed no significant multivariate effects for time on the planned behaviour variables measured before and after intervention. Qualitative data provided evidence that participants had a positive experience on the intervention programme and supported the role of social normative factors in the adherence process.

Gender differences in visuospatial planning: an eye movements study.

PubMed

Cazzato, Valentina; Basso, Demis; Cutini, Simone; Bisiacchi, Patrizia

2010-01-20

Gender studies report a male advantage in several visuospatial abilities. Only few studies however, have evaluated differences in visuospatial planning behaviour with regard to gender. This study was aimed at exploring whether gender may affect the choice of cognitive strategies in a visuospatial planning task and, if oculomotor measures could assist in disentangling the cognitive processes involved. A computerised task based on the travelling salesperson problem paradigm, the Maps test, was used to investigate these issues. Participants were required to optimise time and space of a path travelling among a set of sub-goals in a spatially constrained environment. Behavioural results suggest that there are no gender differences in the initial visual processing of the stimuli, but rather during the execution of the plan, with males showing a shorter execution time and a higher path length optimisation than females. Males often showed changes of heuristics during the execution while females seemed to prefer a constant strategy. Moreover, a better performance in behavioural and oculomotor measures seemed to suggest that males are more able than females in either the optimisation of spatial features or the realisation of the planned scheme. Despite inconclusive findings, the results support previous research and provide insight into the level of cognitive processing involved in navigation and planning tasks, with regard to the influence of gender.

A Plan for the Development and Demonstration of Optical Communications for Deep Space

NASA Technical Reports Server (NTRS)

Lesh, J. R.; Deutsch, L. J.; Weber, W. J.

1990-01-01

In this article, an overall plan for the development and demonstration of optical communications for deep-space applications is presented. The current state of the technology for optical communications is presented. Then, the development and demonstration plan is presented in two parts: the overall major systems activities, followed by the generic technology developments that will enable them. The plan covers the path from laboratory subsystems demonstrations out to a full-scale flight experiment system for the proposed Mars Communications Relay Orbiter mission.

Review of localization in geometry

NASA Astrophysics Data System (ADS)

Pestun, Vasily

2017-11-01

Review of localization in geometry: equivariant cohomology, characteristic classes, Atiyah-Bott-Berline-Vergne formula, Atiyah-Singer equivariant index formula, Mathai-Quillen formalism, and application to path integrals. This is a contribution to the review issue ‘Localization techniques in quantum field theories’ (ed Pestun and Zabzine) which contains 17 chapters available at [1].

Optimal control to modelling motorcycle rider steering: local versus global coordinate systems in rider preview

NASA Astrophysics Data System (ADS)

Rowell, S.; Popov, A. A.; Meijaard, J. P.

2010-04-01

The response of a motorcycle is heavily dependent on the rider's control actions, and consequently a means of replicating the rider's behaviour provides an important extension to motorcycle dynamics. The primary objective here is to develop effective path-following simulations and to understand how riders control motorcycles. Optimal control theory is applied to the tracking of roadway by a motorcycle, using a non-linear motorcycle model operating in free control by steering torque input. A path-following controller with road preview is designed by minimising tracking errors and control effort. Tight controls with high weightings on performance and loose controls with high weightings on control power are defined. Special attention is paid to the modelling of multipoint preview in local and global coordinate systems. The controller model is simulated over a standard single lane-change manoeuvre. It is argued that the local coordinates point of view is more representative of the way that a human rider operates and interprets information. The simulations suggest that for accurate path following, using optimal control, the problem must be solved by the local coordinates approach in order to achieve accurate results with short preview horizons. Furthermore, some weaknesses of the optimal control approach are highlighted here.

Simulation based optimization on automated fibre placement process

NASA Astrophysics Data System (ADS)

Lei, Shi

2018-02-01

In this paper, a software simulation (Autodesk TruPlan & TruFiber) based method is proposed to optimize the automate fibre placement (AFP) process. Different types of manufacturability analysis are introduced to predict potential defects. Advanced fibre path generation algorithms are compared with respect to geometrically different parts. Major manufacturing data have been taken into consideration prior to the tool paths generation to achieve high success rate of manufacturing.

Use of and short-term impacts of new cycling infrastructure in inner-Sydney, Australia: a quasi-experimental design.

PubMed

Rissel, Chris; Greaves, Stephen; Wen, Li Ming; Crane, Melanie; Standen, Chris

2015-10-06

Given increasing investment in new cycling infrastructure, it is important to understand its impacts. The Sydney Transport and Health Study evaluates a new 2.4 km bi-directional separated bicycle path in inner-Sydney. This paper describes the users of the new bicycle path, and examines its short-term impacts upon cycling behaviour and perceptions of the local environment. Data were collected from two bike counts at two intersections on the new bicycle path in the intervention area in 2013 and 2014. On-line surveys collected individual participant data in the intervention area and a similar comparison area before the bicycle path was built (2013), and 12 months later (four months after completion) (n = 512). The data included self-reported cycling behaviour, use of the new bicycle path and perceptions of changes in the local environment. Bike counts at two sites on the new bicycle path reported an increase of 23% and 97% respectively at 12 months. However, among the participants in the cohort, there was no change in the self-reported weekly frequency of cycling. One in six (approximately 15%) participants reported using the new bicycle path, with most users (76%) living in the intervention area. Bicycle path users were most likely to be frequent riders (at least weekly) [adjusted odds ratio (AOR) = 7.50, 95 % CI 3.93-14.31], be a high intensity recreational rider (AOR = 4.38, 95 % CI 1.53-12.54) or a low intensity transport rider (AOR = 2.42, 95 % CI 1.17-5.04) and live closer to the bicycle path (AOR = 1.24, 1.13-1.37). Perceptions that the neighbourhood was more pleasant, that there were more people walking and cycling were significantly higher in the intervention area at 12 months (both P values <0.05). Existing cycling behaviour and proximity to the bicycle path were associated with the use of the new bicycle path. Increased use of the new bicycle path as reported by the participants in the intervention area and increased cycling recorded by the bike counts may be due to existing cyclists changing routes to use the new path, and more cyclists from outside the study area using the new path, as study participants did not increase their frequency of cycling. Increases in cycling frequency in the intervention neighbourhood may require a longer lead time, additional promotional activities and further maturation of the Sydney bicycle path network. Understanding how new cycling infrastructure impacts communities can influence the promotion of such infrastructure.

A method for verification of treatment delivery in HDR prostate brachytherapy using a flat panel detector for both imaging and source tracking.

PubMed

Smith, Ryan L; Haworth, Annette; Panettieri, Vanessa; Millar, Jeremy L; Franich, Rick D

2016-05-01

Verification of high dose rate (HDR) brachytherapy treatment delivery is an important step, but is generally difficult to achieve. A technique is required to monitor the treatment as it is delivered, allowing comparison with the treatment plan and error detection. In this work, we demonstrate a method for monitoring the treatment as it is delivered and directly comparing the delivered treatment with the treatment plan in the clinical workspace. This treatment verification system is based on a flat panel detector (FPD) used for both pre-treatment imaging and source tracking. A phantom study was conducted to establish the resolution and precision of the system. A pretreatment radiograph of a phantom containing brachytherapy catheters is acquired and registration between the measurement and treatment planning system (TPS) is performed using implanted fiducial markers. The measured catheter paths immediately prior to treatment were then compared with the plan. During treatment delivery, the position of the (192)Ir source is determined at each dwell position by measuring the exit radiation with the FPD and directly compared to the planned source dwell positions. The registration between the two corresponding sets of fiducial markers in the TPS and radiograph yielded a registration error (residual) of 1.0 mm. The measured catheter paths agreed with the planned catheter paths on average to within 0.5 mm. The source positions measured with the FPD matched the planned source positions for all dwells on average within 0.6 mm (s.d. 0.3, min. 0.1, max. 1.4 mm). We have demonstrated a method for directly comparing the treatment plan with the delivered treatment that can be easily implemented in the clinical workspace. Pretreatment imaging was performed, enabling visualization of the implant before treatment delivery and identification of possible catheter displacement. Treatment delivery verification was performed by measuring the source position as each dwell was delivered. This approach using a FPD for imaging and source tracking provides a noninvasive method of acquiring extensive information for verification in HDR prostate brachytherapy.

A method for verification of treatment delivery in HDR prostate brachytherapy using a flat panel detector for both imaging and source tracking

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

Smith, Ryan L., E-mail: ryan.smith@wbrc.org.au; Millar, Jeremy L.; Franich, Rick D.

Purpose: Verification of high dose rate (HDR) brachytherapy treatment delivery is an important step, but is generally difficult to achieve. A technique is required to monitor the treatment as it is delivered, allowing comparison with the treatment plan and error detection. In this work, we demonstrate a method for monitoring the treatment as it is delivered and directly comparing the delivered treatment with the treatment plan in the clinical workspace. This treatment verification system is based on a flat panel detector (FPD) used for both pre-treatment imaging and source tracking. Methods: A phantom study was conducted to establish the resolutionmore » and precision of the system. A pretreatment radiograph of a phantom containing brachytherapy catheters is acquired and registration between the measurement and treatment planning system (TPS) is performed using implanted fiducial markers. The measured catheter paths immediately prior to treatment were then compared with the plan. During treatment delivery, the position of the {sup 192}Ir source is determined at each dwell position by measuring the exit radiation with the FPD and directly compared to the planned source dwell positions. Results: The registration between the two corresponding sets of fiducial markers in the TPS and radiograph yielded a registration error (residual) of 1.0 mm. The measured catheter paths agreed with the planned catheter paths on average to within 0.5 mm. The source positions measured with the FPD matched the planned source positions for all dwells on average within 0.6 mm (s.d. 0.3, min. 0.1, max. 1.4 mm). Conclusions: We have demonstrated a method for directly comparing the treatment plan with the delivered treatment that can be easily implemented in the clinical workspace. Pretreatment imaging was performed, enabling visualization of the implant before treatment delivery and identification of possible catheter displacement. Treatment delivery verification was performed by measuring the source position as each dwell was delivered. This approach using a FPD for imaging and source tracking provides a noninvasive method of acquiring extensive information for verification in HDR prostate brachytherapy.« less

Project Planning and Reporting

NASA Technical Reports Server (NTRS)

1982-01-01

Project Planning Analysis and Reporting System (PPARS) is automated aid in monitoring and scheduling of activities within project. PPARS system consists of PPARS Batch Program, five preprocessor programs, and two post-processor programs. PPARS Batch program is full CPM (Critical Path Method) scheduling program with resource capabilities. Can process networks with up to 10,000 activities.

Knowing the Community: Women Planning Careers in Educational Leadership

ERIC Educational Resources Information Center

Sperandio, Jill

2015-01-01

Women aspiring to be principals and superintendents in the U.S. public school system have little information concerning optimum career paths to leadership. This article considers recent research and theory regarding career planning in the context of K-12 schools, and the different approaches adopted by male and female aspirants. The choice of…

Distributed Optimization of Multi-Agent Systems: Framework, Local Optimizer, and Applications

NASA Astrophysics Data System (ADS)

Zu, Yue

Convex optimization problem can be solved in a centralized or distributed manner. Compared with centralized methods based on single-agent system, distributed algorithms rely on multi-agent systems with information exchanging among connected neighbors, which leads to great improvement on the system fault tolerance. Thus, a task within multi-agent system can be completed with presence of partial agent failures. By problem decomposition, a large-scale problem can be divided into a set of small-scale sub-problems that can be solved in sequence/parallel. Hence, the computational complexity is greatly reduced by distributed algorithm in multi-agent system. Moreover, distributed algorithm allows data collected and stored in a distributed fashion, which successfully overcomes the drawbacks of using multicast due to the bandwidth limitation. Distributed algorithm has been applied in solving a variety of real-world problems. Our research focuses on the framework and local optimizer design in practical engineering applications. In the first one, we propose a multi-sensor and multi-agent scheme for spatial motion estimation of a rigid body. Estimation performance is improved in terms of accuracy and convergence speed. Second, we develop a cyber-physical system and implement distributed computation devices to optimize the in-building evacuation path when hazard occurs. The proposed Bellman-Ford Dual-Subgradient path planning method relieves the congestion in corridor and the exit areas. At last, highway traffic flow is managed by adjusting speed limits to minimize the fuel consumption and travel time in the third project. Optimal control strategy is designed through both centralized and distributed algorithm based on convex problem formulation. Moreover, a hybrid control scheme is presented for highway network travel time minimization. Compared with no controlled case or conventional highway traffic control strategy, the proposed hybrid control strategy greatly reduces total travel time on test highway network.

Study of the Structural Stability in Intermetallics Using Displacive Transformation Paths

NASA Astrophysics Data System (ADS)

Sob, M.; Wang, L. G.; Vitek, V.

1997-03-01

Relative structural stability of TiAl, FeAl, NiAl and NiTi is studied by investigating displacive phase transformation paths. These include the well known tetragonal (Bain's) and trigonal deformation paths which correspond to large homogeneous straining, and also more complex paths that include the shuffling of atomic planes. The results of full-potential APW total energy calculations show that all higher-energy cubic structures studied are locally unstable with respect to some deformation modes. There may or may not be symmetry-dictated energy extrema corresponding to cubic lattices depending on the atomic ordering. However, other energy extrema that are not imposed by symmetry requirements occur along the transformation paths. Configurations corresponding to energy minima may represent metastable structures that can play an important role in interfaces and other extended defects.

A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

NASA Astrophysics Data System (ADS)

Güler, Fatma; Kasap, Emin

Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.

Adaptive Environmental Source Localization and Tracking with Unknown Permittivity and Path Loss Coefficients †

PubMed Central

Fidan, Barış; Umay, Ilknur

2015-01-01

Accurate signal-source and signal-reflector target localization tasks via mobile sensory units and wireless sensor networks (WSNs), including those for environmental monitoring via sensory UAVs, require precise knowledge of specific signal propagation properties of the environment, which are permittivity and path loss coefficients for the electromagnetic signal case. Thus, accurate estimation of these coefficients has significant importance for the accuracy of location estimates. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF)-based range sensors. The proposed technique is integrated to a recursive least squares (RLS)-based adaptive localization scheme and an adaptive motion control law, to construct adaptive target localization and adaptive target tracking algorithms, respectively, that are robust to uncertainties in aforementioned environmental signal propagation coefficients. The efficiency of the proposed adaptive localization and tracking techniques are both mathematically analysed and verified via simulation experiments. PMID:26690441

44 CFR 350.6 - Assistance in development of State and local plans.

Code of Federal Regulations, 2012 CFR

2012-10-01

... State and local plans. 350.6 Section 350.6 Emergency Management and Assistance FEDERAL EMERGENCY... radiological emergency response plans, and will review plans and observe exercises to evaluate the adequacy of... RADIOLOGICAL EMERGENCY PLANS AND PREPAREDNESS § 350.6 Assistance in development of State and local plans. (a...

Financial Preparation for Retirement in Brazil: a Cross-Cultural Test of the Interdisciplinary Financial Planning Model.

PubMed

França, Lucia H F; Hershey, Douglas A

2018-03-01

In this investigation, we attempt to replicate the Interdisciplinary Financial Planning Model advanced by Hershey et al. (International Journal of Aging and Human Development, 70, 1-38, 2010) using a sample of Brazilian adults. This model, which was originally tested on individuals from The Netherlands and the United States, posits that psychological, social, and economic forces are key determinants of retirement planning practices and perceptions of saving adequacy. Taken together, fifteen hypotheses were subject to evaluation. Participants were 167 Brazilian working adults, 21-69 years of age, who were married or cohabitating at the time of testing. A path analysis model showed substantial support for the theoretical framework, with all variables found to contribute directly or indirectly to the prediction of financial planning and saving adequacy. Furthermore, two new paths were found to emerge in the Brazilian model that were not observed in the original investigation. This cross-national replication of the Interdisciplinary Financial Planning Model extends research on the topic to a developing country in which relatively few empirical studies of retirement planning have been carried out. Other analyses in the article focus on direct comparisons between the Brazilian model and the models developed based on American and Dutch respondents, with an eye toward better understanding how cultural forces shape the retirement planning process. The discussion focuses on how models of financial planning, such as the Hershey et al. (2010) model, can inform the development of savings-oriented education and intervention programs.

Rectangular Array Of Digital Processors For Planning Paths

NASA Technical Reports Server (NTRS)

Kemeny, Sabrina E.; Fossum, Eric R.; Nixon, Robert H.

1993-01-01

Prototype 24 x 25 rectangular array of asynchronous parallel digital processors rapidly finds best path across two-dimensional field, which could be patch of terrain traversed by robotic or military vehicle. Implemented as single-chip very-large-scale integrated circuit. Excepting processors on edges, each processor communicates with four nearest neighbors along paths representing travel to north, south, east, and west. Each processor contains delay generator in form of 8-bit ripple counter, preset to 1 of 256 possible values. Operation begins with choice of processor representing starting point. Transmits signals to nearest neighbor processors, which retransmits to other neighboring processors, and process repeats until signals propagated across entire field.

NASA's Flexible Path for the Human Exploration

NASA Technical Reports Server (NTRS)

Soeder, James F.

2016-01-01

The idea of human exploration of Mars has been a topic in science fiction for close to a century. For the past 50 years it has been a major thrust in NASAs space mission planning. Currently, NASA is pursuing a flexible development path with the final goal to have humans on Mars. To reach Mars, new hardware will have to be developed and many technology hurdles will have to be overcome. This presentation discusses Mars and its Moons; the flexible path currently being followed; the hardware under development to support exploration; and the technical and organizational challenges that must be overcome to realize the age old dream of humans traveling to Mars.

Operational Planning for Multiple Heterogeneous Unmanned Aerial Vehicles in Three Dimensions

DTIC Science & Technology

2009-06-01

human input in the planning process. Two solution methods are presented: (1) a mixed-integer program, and (2) an algorithm that utilizes a metaheuristic ...and (2) an algorithm that utilizes a metaheuristic to generate composite variables for a linear program, called the Composite Operations Planning...that represent a path and an associated type of UAV. The reformulation is incorporated into an algorithm that uses a metaheuristic to generate the

NATO Needs a Comprehensive Strategy for Russia

DTIC Science & Technology

2015-01-01

stated their intent to continue on this path in the 2014 Wales Summit Declaration, when they announced a Readiness Action Plan that will create a...expansion of other military activities, such as joint planning , information exchanges, discus- sions among senior leaders, and ship visits. Second...end of the Cold War. For example, the Army stationed about 213,000 soldiers on 41 garrisons in Europe in 1989 but plans to have only about 30,000

Intercomparison of Open-Path Trace Gas Measurements with Two Dual Frequency Comb Spectrometers

PubMed Central

Waxman, Eleanor M.; Cossel, Kevin C.; Truong, Gar-Wing; Giorgetta, Fabrizio R.; Swann, William C.; Coburn, Sean; Wright, Robert J.; Rieker, Gregory B.; Coddington, Ian; Newbury, Nathan R.

2017-01-01

We present the first quantitative intercomparison between two open-path dual comb spectroscopy (DCS) instruments which were operated across adjacent 2-km open-air paths over a two-week period. We used DCS to measure the atmospheric absorption spectrum in the near infrared from 6021 to 6388 cm−1 (1565 to 1661 nm), corresponding to a 367 cm−1 bandwidth, at 0.0067 cm−1 sample spacing. The measured absorption spectra agree with each other to within 5×10−4 without any external calibration of either instrument. The absorption spectra are fit to retrieve concentrations for carbon dioxide (CO2), methane (CH4), water (H2O), and deuterated water (HDO). The retrieved dry mole fractions agree to 0.14% (0.57 ppm) for CO2, 0.35% (7 ppb) for CH4, and 0.40% (36 ppm) for H2O over the two-week measurement campaign, which included 23 °C outdoor temperature variations and periods of strong atmospheric turbulence. This agreement is at least an order of magnitude better than conventional active-source open-path instrument intercomparisons and is particularly relevant to future regional flux measurements as it allows accurate comparisons of open-path DCS data across locations and time. We additionally compare the open-path DCS retrievals to a WMO-calibrated cavity ringdown point sensor located along the path with good agreement. Short-term and long-term differences between the two systems are attributed, respectively, to spatial sampling discrepancies and to inaccuracies in the current spectral database used to fit the DCS data. Finally, the two-week measurement campaign yields diurnal cycles of CO2 and CH4 that are consistent with the presence of local sources of CO2 and absence of local sources of CH4. PMID:29276547

Further evidence for the EPNT assumption

NASA Technical Reports Server (NTRS)

Greenberger, Daniel M.; Bernstein, Herbert J.; Horne, Michael; Zeilinger, Anton

1994-01-01

We recently proved a theorem extending the Greenberger-Horne-Zeilinger (GHZ) Theorem from multi-particle systems to two-particle systems. This proof depended upon an auxiliary assumption, the EPNT assumption (Emptiness of Paths Not Taken). According to this assumption, if there exists an Einstein-Rosen-Podolsky (EPR) element of reality that determines that a path is empty, then there can be no entity associated with the wave that travels this path (pilot-waves, empty waves, etc.) and reports information to the amplitude, when the paths recombine. We produce some further evidence in support of this assumption, which is certainly true in quantum theory. The alternative is that such a pilot-wave theory would have to violate EPR locality.

Construction of Optimal-Path Maps for Homogeneous-Cost-Region Path-Planning Problems

DTIC Science & Technology

1989-09-01

of Artificial Inteligence , 9%,4. 24. Kirkpatrick, S., Gelatt Jr., C. D., and Vecchi, M. P., "Optinization by Sinmulated Ani- nealing", Science, Vol...studied in depth by researchers in such fields as artificial intelligence, robot;cs, and computa- tional geometry. Most methods require homogeneous...the results of the research. 10 U. L SLEVANT RESEARCH A. APPLICABLE CONCEPTS FROM ARTIFICIAL INTELLIGENCE 1. Search Methods One of the central

42 CFR 422.54 - Continuation of enrollment for MA local plans.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 42 Public Health 3 2010-10-01 2010-10-01 false Continuation of enrollment for MA local plans. 422... Enrollment § 422.54 Continuation of enrollment for MA local plans. (a) Definition. Continuation area means an additional area (outside the service area) within which the MA organization offering a local plan furnishes...

42 CFR 422.54 - Continuation of enrollment for MA local plans.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 42 Public Health 3 2011-10-01 2011-10-01 false Continuation of enrollment for MA local plans. 422... Enrollment § 422.54 Continuation of enrollment for MA local plans. (a) Definition. Continuation area means an additional area (outside the service area) within which the MA organization offering a local plan furnishes...

42 CFR 422.451 - Moratorium on new local preferred provider organization plans.

Code of Federal Regulations, 2010 CFR

2010-10-01

... for MA Regional Plans § 422.451 Moratorium on new local preferred provider organization plans. CMS... service area unless the MA organization seeking to offer the plan was offering a local preferred provider...

42 CFR 422.451 - Moratorium on new local preferred provider organization plans.

Code of Federal Regulations, 2011 CFR

2011-10-01

... for MA Regional Plans § 422.451 Moratorium on new local preferred provider organization plans. CMS... service area unless the MA organization seeking to offer the plan was offering a local preferred provider...

Kinematics, controls, and path planning results for a redundant manipulator

NASA Technical Reports Server (NTRS)

Gretz, Bruce; Tilley, Scott W.

1989-01-01

The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

The High Field Path to Practical Fusion Energy

NASA Astrophysics Data System (ADS)

Mumgaard, Robert; Whyte, D.; Greenwald, M.; Hartwig, Z.; Brunner, D.; Sorbom, B.; Marmar, E.; Minervini, J.; Bonoli, P.; Irby, J.; Labombard, B.; Terry, J.; Vieira, R.; Wukitch, S.

2017-10-01

We propose a faster, lower cost development path for fusion energy enabled by high temperature superconductors, devices at high magnetic field, innovative technologies and modern approaches to technology development. Timeliness, scale, and economic-viability are the drivers for fusion energy to combat climate change and aid economic development. The opportunities provided by high-temperature superconductors, innovative engineering and physics, and new organizational structures identified over the last few years open new possibilities for realizing practical fusion energy that could meet mid-century de-carbonization needs. We discuss re-factoring the fusion energy development path with an emphasis on concrete risk retirement strategies utilizing a modular approach based on the high-field tokamak that leverages the broader tokamak physics understanding of confinement, stability, and operational limits. Elements of this plan include development of high-temperature superconductor magnets, simplified immersion blankets, advanced long-leg divertors, a compact divertor test tokamak, efficient current drive, modular construction, and demountable magnet joints. An R&D plan culminating in the construction of an integrated pilot plant and test facility modeled on the ARC concept is presented.

Utilizing semantic networks to database and retrieve generalized stochastic colored Petri nets

NASA Technical Reports Server (NTRS)

Farah, Jeffrey J.; Kelley, Robert B.

1992-01-01

Previous work has introduced the Planning Coordinator (PCOORD), a coordinator functioning within the hierarchy of the Intelligent Machine Mode. Within the structure of the Planning Coordinator resides the Primitive Structure Database (PSDB) functioning to provide the primitive structures utilized by the Planning Coordinator in the establishing of error recovery or on-line path plans. This report further explores the Primitive Structure Database and establishes the potential of utilizing semantic networks as a means of efficiently storing and retrieving the Generalized Stochastic Colored Petri Nets from which the error recovery plans are derived.

Programs for road network planning.

Treesearch

Ward W. Carson; Dennis P. Dykstra

1978-01-01

This paper describes four computer programs developed to assist logging engineers to plan transportation in a forest. The objective of these programs, to be used together, is to find the shortest path through a transportation network from a point of departure to a destination. Three of the programs use the digitizing and plotting capabilities of a programable desk-top...

Partnerships: The Path to Improving Crisis Communication

DTIC Science & Technology

2007-03-01

News Media Perceives Relationships with Public Safety.................32 Table 4. Public Safety SWOT Analysis ...opportunities and threats ( SWOT ) of the Seattle fire and police departments. The SWOT analysis is an assessment tool common to strategic planning for...requirements for training • Lack of strategic planning experience Table 4. Public Safety SWOT Analysis 46 Table 4 compares the strengths and

LEPCs and Deliberate Releases: Addressing Terrorist Activities in the Local Emergency Plan

EPA Pesticide Factsheets

This fact sheet discusses how local emergency planning committees (LEPCs) can incorporate counter-terrorism issues when they review and update their local plans. Builds on the National Response Team's Hazardous Materials Emergency Planning Guide.

OMEGA (Offshore Membrane for Enclosing Algae). NASA-NAVY: A Strategic Planning Discussion

NASA Technical Reports Server (NTRS)

Trent, Jonathan

2010-01-01

This briefing packet provides a short introduction to OMEGA and a truncated version of our project approach, with an example of the kind of work break down structure (WBS) used to guide our Phase I activities. It is meant to give you an impression of how we are approaching the challenge of creating the world's first marine photobioreactor (PBR) that will scale to address the strategic energy problems confronting the United States and the world. Some of our conceptual PBR designs and plans for logistics are included to communicate the path we have taken. We have also included an aerial photograph of the experimental tanks we are using at the Cal Fish and Game, followed by concluding remarks. The overarching purpose of the strategic planning discussion in Norfolk is to establish the relationship between the NASA OMEGA Team and the Navy, to unite the strengths of both agencies, and to map a mutual way forward along the project's established critical path.

Assessment of variability in cerebral vasculature for neuro-anatomical surgery planning in rodent brain

NASA Astrophysics Data System (ADS)

Rangarajan, J. R.; Van Kuyck, K.; Himmelreich, U.; Nuttin, B.; Maes, F.; Suetens, P.

2011-03-01

Clinical and pre-clinical studies show that deep brain stimulation (DBS) of targeted brain regions by neurosurgical techniques ameliorate psychiatric disorder such as anorexia nervosa. Neurosurgical interventions in preclinical rodent brain are mostly accomplished manually with a 2D atlas. Considering both the large number of animals subjected to stereotactic surgical experiments and the associated imaging cost, feasibility of sophisticated pre-operative imaging based surgical path planning and/or robotic guidance is limited. Here, we spatially normalize vasculature information and assess the intra-strain variability in cerebral vasculature for a neurosurgery planning. By co-registering and subsequently building a probabilistic vasculature template in a standard space, we evaluate the risk of a user defined electrode trajectory damaging a blood vessel on its path. The use of such a method may not only be confined to DBS therapy in small animals, but also could be readily applicable to a wide range of stereotactic small animal surgeries like targeted injection of contrast agents and cell labeling applications.

Alternative input medium development for wheelchair user with severe spinal cord injury

NASA Astrophysics Data System (ADS)

Ihsan, Izzat Aqmar; Tomari, Razali; Zakaria, Wan Nurshazwani Wan; Othman, Nurmiza

2017-09-01

Quadriplegia or tetraplegia patients have restricted four limbs as well as torso movement caused by severe spinal cord injury. Undoubtedly, these patients face difficulties when operating their powered electric wheelchair since they are unable to control the wheelchair by means of a standard joystick. Due to total loss of both sensory and motor function of the four limbs and torso, an alternative input medium for the wheelchair will be developed to assist the user in operating the wheelchair. In this framework, the direction of the wheelchair movement is determined by the user's conscious intent through a brain control interface (BCI) based on Electroencephalogram (EEG) signal. A laser range finder (LFR) is used to perceive environment information for determining a safety distance of the wheelchair's surrounding. Local path planning algorithm will be developed to provide navigation planner along with user's input to prevent collision during control operation.

Air-borne shape measurement of parabolic trough collector fields

NASA Astrophysics Data System (ADS)

Prahl, Christoph; Röger, Marc; Hilgert, Christoph

2017-06-01

The optical and thermal efficiency of parabolic trough collector solar fields is dependent on the performance and assembly accuracy of its components such as the concentrator and absorber. For the purpose of optical inspection/approval, yield analysis, localization of low performing areas, and optimization of the solar field, it is essential to create a complete view of the optical properties of the field. Existing optical measurement tools are based on ground based cameras, facing restriction concerning speed, volume and automation. QFly is an airborne qualification system which provides holistic and accurate information on geometrical, optical, and thermal properties of the entire solar field. It consists of an unmanned aerial vehicle, cameras and related software for flight path planning, data acquisition and evaluation. This article presents recent advances of the QFly measurement system and proposes a methodology on holistic qualification of the complete solar field with minimum impact on plant operation.

Osm-Oriented Method of Multimodal Route Planning

NASA Astrophysics Data System (ADS)

Li, X.; Wu, Q.; Chen, L.; Xiong, W.; Jing, N.

2015-07-01

With the increasing pervasiveness of basic facilitate of transportation and information, the need of multimodal route planning is becoming more essential in the fields of communication and transportation, urban planning, logistics management, etc. This article mainly described an OSM-oriented method of multimodal route planning. Firstly, it introduced how to extract the information we need from OSM data and build proper network model and storage model; then it analysed the accustomed cost standard adopted by most travellers; finally, we used shortest path algorithm to calculate the best route with multiple traffic means.

Planning for the future.

PubMed

Stiewing, Janis

2002-01-01

Revising the strategic plan was the beginning of a multiyear initiative that will determine the path of the JRCERT. The key word in the preceding statement is beginning. The strategic plan is an ever-changing document. Although some components, such as the values statements, will stand over time, other components will change as accreditation and educational arenas change. That is the paradox of strategic planning: Remaining true to the vision, values and mission statements requires knowing when to change to keep the JRCERT aligned with the responsive to its communities of interest.

Floquet Engineering of Optical Solenoids and Quantized Charge Pumping along Tailored Paths in Two-Dimensional Chern Insulators

NASA Astrophysics Data System (ADS)

Wang, Botao; Ünal, F. Nur; Eckardt, André

2018-06-01

The insertion of a local magnetic flux, as the one created by a thin solenoid, plays an important role in gedanken experiments of quantum Hall physics. By combining Floquet engineering of artificial magnetic fields with the ability of single-site addressing in quantum gas microscopes, we propose a scheme for the realization of such local solenoid-type magnetic fields in optical lattices. We show that it can be employed to manipulate and probe elementary excitations of a topological Chern insulator. This includes quantized adiabatic charge pumping along tailored paths inside the bulk, as well as the controlled population of edge modes.

Reliable Transition State Searches Integrated with the Growing String Method.

PubMed

Zimmerman, Paul

2013-07-09

The growing string method (GSM) is highly useful for locating reaction paths connecting two molecular intermediates. GSM has often been used in a two-step procedure to locate exact transition states (TS), where GSM creates a quality initial structure for a local TS search. This procedure and others like it, however, do not always converge to the desired transition state because the local search is sensitive to the quality of the initial guess. This article describes an integrated technique for simultaneous reaction path and exact transition state search. This is achieved by implementing an eigenvector following optimization algorithm in internal coordinates with Hessian update techniques. After partial convergence of the string, an exact saddle point search begins under the constraint that the maximized eigenmode of the TS node Hessian has significant overlap with the string tangent near the TS. Subsequent optimization maintains connectivity of the string to the TS as well as locks in the TS direction, all but eliminating the possibility that the local search leads to the wrong TS. To verify the robustness of this approach, reaction paths and TSs are found for a benchmark set of more than 100 elementary reactions.

Deleterious Thermal Effects Due To Randomized Flow Paths in Pebble Bed, and Particle Bed Style Reactors

NASA Technical Reports Server (NTRS)

Moran, Robert P.

2013-01-01

A review of literature associated with Pebble Bed and Particle Bed reactor core research has revealed a systemic problem inherent to reactor core concepts which utilize randomized rather than structured coolant channel flow paths. For both the Pebble Bed and Particle Bed Reactor designs; case studies reveal that for indeterminate reasons, regions within the core would suffer from excessive heating leading to thermal runaway and localized fuel melting. A thermal Computational Fluid Dynamics model was utilized to verify that In both the Pebble Bed and Particle Bed Reactor concepts randomized coolant channel pathways combined with localized high temperature regions would work together to resist the flow of coolant diverting it away from where it is needed the most to cooler less resistive pathways where it is needed the least. In other words given the choice via randomized coolant pathways the reactor coolant will take the path of least resistance, and hot zones offer the highest resistance. Having identified the relationship between randomized coolant channel pathways and localized fuel melting it is now safe to assume that other reactor concepts that utilize randomized coolant pathways such as the foam core reactor are also susceptible to this phenomenon.

Optimization and planning of operating theatre activities: an original definition of pathways and process modeling.

PubMed

Barbagallo, Simone; Corradi, Luca; de Ville de Goyet, Jean; Iannucci, Marina; Porro, Ivan; Rosso, Nicola; Tanfani, Elena; Testi, Angela

2015-05-17

The Operating Room (OR) is a key resource of all major hospitals, but it also accounts for up 40% of resource costs. Improving cost effectiveness, while maintaining a quality of care, is a universal objective. These goals imply an optimization of planning and a scheduling of the activities involved. This is highly challenging due to the inherent variable and unpredictable nature of surgery. A Business Process Modeling Notation (BPMN 2.0) was used for the representation of the "OR Process" (being defined as the sequence of all of the elementary steps between "patient ready for surgery" to "patient operated upon") as a general pathway ("path"). The path was then both further standardized as much as possible and, at the same time, keeping all of the key-elements that would allow one to address or define the other steps of planning, and the inherent and wide variability in terms of patient specificity. The path was used to schedule OR activity, room-by-room, and day-by-day, feeding the process from a "waiting list database" and using a mathematical optimization model with the objective of ending up in an optimized planning. The OR process was defined with special attention paid to flows, timing and resource involvement. Standardization involved a dynamics operation and defined an expected operating time for each operation. The optimization model has been implemented and tested on real clinical data. The comparison of the results reported with the real data, shows that by using the optimization model, allows for the scheduling of about 30% more patients than in actual practice, as well as to better exploit the OR efficiency, increasing the average operating room utilization rate up to 20%. The optimization of OR activity planning is essential in order to manage the hospital's waiting list. Optimal planning is facilitated by defining the operation as a standard pathway where all variables are taken into account. By allowing a precise scheduling, it feeds the process of planning and, further up-stream, the management of a waiting list in an interactive and bi-directional dynamic process.

Discretization independence implies non-locality in 4D discrete quantum gravity

NASA Astrophysics Data System (ADS)

Dittrich, Bianca; Kamiński, Wojciech; Steinhaus, Sebastian

2014-12-01

The 4D Regge action is invariant under 5-1 and 4-2 Pachner moves, which define a subset of (local) changes of the triangulation. Given this fact, one might hope to find a local path integral measure that makes the quantum theory invariant under these moves and hence makes the theory partially triangulation invariant. We show that such a local invariant path integral measure does not exist for the 4D linearized Regge theory. To this end we uncover an interesting geometric interpretation for the Hessian of the 4D Regge action. This geometric interpretation will allow us to prove that the determinant of the Hessian of the 4D Regge action does not factorize over four-simplices or subsimplices. It furthermore allows us to determine configurations where this Hessian vanishes, which only appears to be the case in degenerate backgrounds or if one allows for different orientations of the simplices. We suggest a non-local measure factor that absorbs the non-local part of the determinant of the Hessian under 5-1 moves as well as a local measure factor that is preserved for very special configurations.

Generalized Ensemble Sampling of Enzyme Reaction Free Energy Pathways

PubMed Central

Wu, Dongsheng; Fajer, Mikolai I.; Cao, Liaoran; Cheng, Xiaolin; Yang, Wei

2016-01-01

Free energy path sampling plays an essential role in computational understanding of chemical reactions, particularly those occurring in enzymatic environments. Among a variety of molecular dynamics simulation approaches, the generalized ensemble sampling strategy is uniquely attractive for the fact that it not only can enhance the sampling of rare chemical events but also can naturally ensure consistent exploration of environmental degrees of freedom. In this review, we plan to provide a tutorial-like tour on an emerging topic: generalized ensemble sampling of enzyme reaction free energy path. The discussion is largely focused on our own studies, particularly ones based on the metadynamics free energy sampling method and the on-the-path random walk path sampling method. We hope that this mini presentation will provide interested practitioners some meaningful guidance for future algorithm formulation and application study. PMID:27498634

Role of Pharmacy Residency Training in Career Planning: A Student's Perspective.

PubMed

McElhaney, Ashley; Weber, Robert J

2014-12-01

Pharmacy students typically become more focused on career planning and assessment in the final year of their PharmD training. Weighing career options in the advanced pharmacy practice experience year can be both exciting and stressful. The goal of this article is to provide a primer on how pharmacy students can assess how a residency can fit into career planning. This article will describe the various career paths available to graduating students, highlight ways in which a residency can complement career choices, review the current state of the job market for pharmacists, discuss the current and future plans for residency programs, and present thoughts from some current and former residents on why they chose to complete a residency. Most career paths require some additional training, and a residency provides appropriate experience very quickly compared to on-the-job training. Alternative plans to residency training must also be considered, as there are not enough residency positions for candidates. Directors of pharmacy must consider several factors when giving career advice on pharmacy residency training to pharmacy students; they should provide the students with an honest assessment of their work skills and their abilities to successfully complete a residency. This assessment will help the students to set a plan for improvement and give them a better chance at being matched to a pharmacy residency.

Role of Pharmacy Residency Training in Career Planning: A Student’s Perspective

PubMed Central

McElhaney, Ashley; Weber, Robert J.

2014-01-01

Pharmacy students typically become more focused on career planning and assessment in the final year of their PharmD training. Weighing career options in the advanced pharmacy practice experience year can be both exciting and stressful. The goal of this article is to provide a primer on how pharmacy students can assess how a residency can fit into career planning. This article will describe the various career paths available to graduating students, highlight ways in which a residency can complement career choices, review the current state of the job market for pharmacists, discuss the current and future plans for residency programs, and present thoughts from some current and former residents on why they chose to complete a residency. Most career paths require some additional training, and a residency provides appropriate experience very quickly compared to on-the-job training. Alternative plans to residency training must also be considered, as there are not enough residency positions for candidates. Directors of pharmacy must consider several factors when giving career advice on pharmacy residency training to pharmacy students; they should provide the students with an honest assessment of their work skills and their abilities to successfully complete a residency. This assessment will help the students to set a plan for improvement and give them a better chance at being matched to a pharmacy residency. PMID:25673897

Analysis of Multi-Flight Common Routes for Traffic Flow Management

NASA Technical Reports Server (NTRS)

Sheth, Kapil; Clymer, Alexis; Morando, Alex; Shih, Fu-Tai

2016-01-01

When severe convective weather requires rerouting aircraft, FAA traffic managers employ severe weather avoidance plans (e.g., Playbook routes, Coded Departure Routes, etc.) These routes provide pilots with safe paths around weather-affected regions, and provide controllers with predictable, and often well-established flight plans. However, they often introduce large deviations to the nominal flight plans, which may not be necessary as weather conditions change. If and when the imposed traffic management initiatives (TMIs) become stale, updated shorter path flight trajectories may be found en route, providing significant time-savings to the affected flights. Multiple Flight Common Routes (MFCR) is a concept that allows multiple flights that are within a specified proximity or region, to receive updated shorter flight plans in an operationally efficient manner. MFCR is believed to provide benefits to the National Airspace System (NAS) by allowing traffic managers to update several flight plans of en route aircraft simultaneously, reducing operational workload within the TMUs of all affected ARTCCs. This paper will explore some aspects of the MFCR concept by analyzing multiple flights that have been selected for rerouting by the NAS Constraint Evaluation and Notification Tool (NASCENT). Various methods of grouping aircraft with common or similar routes will be presented, along with a comparison of the efficacy of these methods.

The Human Space Life Sciences Critical Path Roadmap Project: A Strategy for Human Space Flight through Exploration-Class Missions

NASA Technical Reports Server (NTRS)

Sawin, Charles F.

1999-01-01

The product of the critical path roadmap project is an integrated strategy for mitigating the risks associated with human exploration class missions. It is an evolving process that will assure the ability to communicate the integrated critical path roadmap. Unlike previous reports, this one will not sit on a shelf - it has the full support of the JSC Space and Life Sciences Directorate (SA) and is already being used as a decision making tool (e.g., budget and investigation planning for Shuttle and Space Station mission). Utility of this product depends on many efforts, namely: providing the required information (completed risk data sheets, critical question information, technology data). It is essential to communicate the results of the critical path roadmap to the scientific community - this meeting is a good opportunity to do so. The web site envisioned for the critical path roadmap will provide the capability to communicate to a broader community and to track and update the system routinely.

Simulation study on dynamics model of two kinds of on-orbit soft-contact mechanism

NASA Astrophysics Data System (ADS)

Ye, X.; Dong, Z. H.; Yang, F.

2018-05-01

Aiming at the problem that the operating conditions of the space manipulator is harsh and the space manipulator could not bear the large collision momentum, this paper presents a new concept and technical method, namely soft contact technology. Based on ADAMS dynamics software, this paper compares and simulates the mechanism model of on-orbit soft-contact mechanism based on the bionic model and the integrated double joint model. The main purpose is to verify the path planning ability and the momentum buffering ability based on the different design concept mechanism. The simulation results show that both the two mechanism models have the path planning function before the space target contact, and also has the momentum buffer and controllability during the space target contact process.

Lunar Surface Propagation Modeling and Effects on Communications

NASA Technical Reports Server (NTRS)

Hwu, Shian U.; Upanavage, Matthew; Sham, Catherine C.

2008-01-01

This paper analyzes the lunar terrain effects on the signal propagation of the planned NASA lunar wireless communication and sensor systems. It is observed that the propagation characteristics are significantly affected by the presence of the lunar terrain. The obtained results indicate that the terrain geometry, antenna location, and lunar surface material are important factors determining the propagation characteristics of the lunar wireless communication systems. The path loss can be much more severe than the free space propagation and is greatly affected by the antenna height, operating frequency, and surface material. The analysis results from this paper are important for the lunar communication link margin analysis in determining the limits on the reliable communication range and radio frequency coverage performance at planned lunar base worksites. Key Words lunar, multipath, path loss, propagation, wireless.

Environment exploration and SLAM experiment research based on ROS

NASA Astrophysics Data System (ADS)

Li, Zhize; Zheng, Wei

2017-11-01

Robots need to get the information of surrounding environment by means of map learning. SLAM or navigation based on mobile robots is developing rapidly. ROS (Robot Operating System) is widely used in the field of robots because of the convenient code reuse and open source. Numerous excellent algorithms of SLAM or navigation are ported to ROS package. hector_slam is one of them that can set up occupancy grid maps on-line fast with low computation resources requiring. Its characters above make the embedded handheld mapping system possible. Similarly, hector_navigation also does well in the navigation field. It can finish path planning and environment exploration by itself using only an environmental sensor. Combining hector_navigation with hector_slam can realize low cost environment exploration, path planning and slam at the same time

Optimal path planning for video-guided smart munitions via multitarget tracking

NASA Astrophysics Data System (ADS)

Borkowski, Jeffrey M.; Vasquez, Juan R.

2006-05-01

An advent in the development of smart munitions entails autonomously modifying target selection during flight in order to maximize the value of the target being destroyed. A unique guidance law can be constructed that exploits both attribute and kinematic data obtained from an onboard video sensor. An optimal path planning algorithm has been developed with the goals of obstacle avoidance and maximizing the value of the target impacted by the munition. Target identification and classification provides a basis for target value which is used in conjunction with multi-target tracks to determine an optimal waypoint for the munition. A dynamically feasible trajectory is computed to provide constraints on the waypoint selection. Results demonstrate the ability of the autonomous system to avoid moving obstacles and revise target selection in flight.

Government, Business and the Public: The Role of Environmental Education in Creating Sustainable Urban Places

ERIC Educational Resources Information Center

Ngotho, Muthoni; Fincham, Robert; Quinn, Nevil

2004-01-01

This paper focuses on the need to further environmental education research within a context in which local government, local business and tertiary institutions are viewed as interlinked components of the development process. Research and interaction with local stakeholders offers an opportunity to chart a path that intersects and then fuses…

Interactive Planning for Capability Driven Air & Space Operations

DTIC Science & Technology

2008-04-30

Time, Routledge and Kegan , London, UK, 1980. [5] A. Bochman, Concerted instant–interval temporal semantics I: Temporal ontologies, Notre Dame Journal...then return true else deleteStatement (X, rj , Y ) end if end for return false Figure 8 shows the search space for instance in Table 2. The green ...nodes are those for which the set of relations cor- responding to the path from the root form a consistent set. A path from root to a green leaf node

Simulation Of Research And Development Projects

NASA Technical Reports Server (NTRS)

Miles, Ralph F.

1987-01-01

Measures of preference for alternative project plans calculated. Simulation of Research and Development Projects (SIMRAND) program aids in optimal allocation of research and development resources needed to achieve project goals. Models system subsets or project tasks as various network paths to final goal. Each path described in terms of such task variables as cost per hour, cost per unit, and availability of resources. Uncertainty incorporated by treating task variables as probabilistic random variables. Written in Microsoft FORTRAN 77.

A Stochastic Approach to Path Planning in the Weighted-Region Problem

DTIC Science & Technology

1991-03-01

polynomial time. However, the polyhedrons in this three-dimensional obstacle-avoidance problem are all obstacles (i.e. travel is not permitted within...them). Therefore, optimal paths tend to avoid their vertices, and settle into closest approach tangents across polyhedron edges. So, in a sense...intersection update map database with new vertex for this edge 3. IF (C1 > D) and (C2 > D) THEN edge intersects ellipse at two points OR edge is

A concept for a fuel efficient flight planning aid for general aviation

NASA Technical Reports Server (NTRS)

Collins, B. P.; Haines, A. L.; Wales, C. J.

1982-01-01

A core equation for estimation of fuel burn from path profile data was developed. This equation was used as a necessary ingredient in a dynamic program to define a fuel efficient flight path. The resultant algorithm is oriented toward use by general aviation. The pilot provides a description of the desired ground track, standard aircraft parameters, and weather at selected waypoints. The algorithm then derives the fuel efficient altitudes and velocities at the waypoints.

Investigating Education and Immediate Career Paths of Master's and Doctoral Graduates over the Past Few Decades

NASA Astrophysics Data System (ADS)

Wilson, C. E.; Keane, C. M.

2016-12-01

Students enter into geoscience graduate degree programs have specific expectations of the type of career they are working towards. Are the graduate degree programs effectively serving these students through the development of necessary skills and experiences for their desired career pathway? This question is of particular interest to parties like the National Science Foundation and other STEM agencies who are concerned about the optimal investment in the development of the science and engineering workforce. To address this question, investigation on the general trends of education and immediate career paths over time is needed. The National Science Foundation has been collecting data on education and career paths of science and engineering graduates for decades. Since 2013, AGI has been collecting data from geoscience graduates since 2013 on their education, skills development, and immediate plans after graduation through AGI's Geoscience Student Exit Survey. This presentation synthesizes the data from these two sources related to geoscience master's and doctoral graduates to look at education and career paths over time to see how they have changed over the past few decades, as well as look specifically at the immediate plans of recent graduates as they enter the geoscience workforce. This data will also give some indication of the development of skills gained from these programs through activities such as field work and research.

ENVIRONMENTAL PLANNING FOR SMALL COMMUNITIES: A GUIDE FOR LOCAL DECISION-MAKERS

EPA Science Inventory

Environmental Planning for Small Communities - A Guide for Local Decision-Makers presents a process for creating and implementing a community environmental plan. With a comprehensive environmental plan, local decision-makers can create an integrated approach to protecting the env...

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.

Land-mobile satellite excess path loss measurements

NASA Astrophysics Data System (ADS)

Hess, G. C.

1980-05-01

An experiment conducted with the ATS-6 satellite to determine the additional path loss over free-space loss experienced by land-mobile communication links is described. This excess path loss is measured as a function of 1) local environment, 2) vehicle heading, 3) link frequency, 4) satellite elevation angle, and 5) street side. A statistical description of excess loss developed from the data shows that the first two parameters dominate. Excess path loss on the order of 25 dB is typical in urban situations, but decreases to under 10 dB in suburban/rural areas. Spaced antenna selection diversity is found to provide only a slight decrease (4 dB, typically) in the urban excess path loss observed. Level crossing rates are depressed in satellite links relative to those of Rayleigh-faded terrestrial links, but increases in average fade durations tend to offset that advantage. The measurements show that the excess path loss difference between 860-MHz links and 1550-MHz links is generally negligible.

Total Solar Eclipse of 2008 August 01

NASA Technical Reports Server (NTRS)

Espenak, F.; Anderson, J.

2007-01-01

On 2008 August 01, a total eclipse of the Sun is visible from within a narrow corridor that traverses half the Earth. The path of the Moon's umbral shadow begins in northern Canada and extends across Greenland, the Arctic, central Russia, Mongolia, and China. A partial eclipse is seen within the much broader path of the Moon's penumbral shadow, which includes northeastern North America, most of Europe and Asia. Detailed predictions for this event are presented and include besselian elements, geographic coordinates of the path of totality, physical ephemeris of the umbra, topocentric limb profile corrections, local circumstances for 308 cities, maps of the eclipse path, weather prospects, the lunar limb profile and the sky during totality. Information on safe eclipse viewing and eclipse photography is included.

TOOTHPASTEV6.11.3

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

Sankel, David J.; Clair, Aaron B. St.; Langsfield, Joshua D.

2006-11-01

Toothpaste is a graphical user interface and Computer Aided Drafting/Manufacturing (CAD/CAM) software package used to plan tool paths for Galil Motion Control hardware. The software is a tool for computer controlled dispensing of materials. The software may be used for solid freeform fabrication of components or the precision printing of inks. Mathematical calculations are used to produce a set of segments and arcs that when coupled together will fill space. The paths of the segments and arcs are then translated into a machine language that controls the motion of motors and translational stages to produce tool paths in three dimensions.more » As motion begins material(s) are dispensed or printed along the three-dimensional pathway.« less

A novel communication mechanism based on node potential multi-path routing

NASA Astrophysics Data System (ADS)

Bu, Youjun; Zhang, Chuanhao; Jiang, YiMing; Zhang, Zhen

2016-10-01

With the network scales rapidly and new network applications emerge frequently, bandwidth supply for today's Internet could not catch up with the rapid increasing requirements. Unfortunately, irrational using of network sources makes things worse. Actual network deploys single-next-hop optimization paths for data transmission, but such "best effort" model leads to the imbalance use of network resources and usually leads to local congestion. On the other hand Multi-path routing can use the aggregation bandwidth of multi paths efficiently and improve the robustness of network, security, load balancing and quality of service. As a result, multi-path has attracted much attention in the routing and switching research fields and many important ideas and solutions have been proposed. This paper focuses on implementing the parallel transmission of multi next-hop data, balancing the network traffic and reducing the congestion. It aimed at exploring the key technologies of the multi-path communication network, which could provide a feasible academic support for subsequent applications of multi-path communication networking. It proposed a novel multi-path algorithm based on node potential in the network. And the algorithm can fully use of the network link resource and effectively balance network link resource utilization.

Urban shrinkage in Germany and the USA: a comparison of transformation patterns and local strategies.

PubMed

Wiechmann, Thorsten; Pallagst, Karina M

2012-01-01

Many American and European cities have to deal with demographic and economic trajectories leading to urban shrinkage. According to official data, 13% of urban regions in the US and 54% of those in the EU have lost population in recent years. However, the extent and spatial distribution of declining populations differ significantly between Europe and the US. In Germany, the situation is driven by falling birth rates and the effects of German reunification. In the US, shrinkage is basically related to long-term industrial transformation. But the challenges of shrinking cities seldom appeared on the agendas of politicians and urban planners until recently. This article provides a critical overview of the development paths and local strategies of four shrinking cities: Schwedt and Dresden in eastern Germany; Youngstown and Pittsburgh in the US. A typology of urban growth and shrinkage, from economic and demographic perspectives, enables four types of city to be differentiated and the differences between the US and eastern Germany to be discussed. The article suggests that a new transatlantic debate on policy and planning strategies for restructuring shrinking cities is needed to overcome the dominant growth orientation that in most cases intensifies the negative consequences of shrinkage.

China’s Defense Industry on the Path of Reform

DTIC Science & Technology

2009-10-01

Strategy” (三三三转型升级 战 略). The strategy calls for a proactive approach to the development of three markets simultaneously: military, civilian, and foreign. 46...Plan to Leap Ahead in Core Competitive Power” (核心竞 争 力跃升计划). According to the plan, CETC called for strengthening the competitive power of products in

Charting a path to efficiencies following a merger.

PubMed

Klar, Brandon; Shufelt, Gregory P

2015-06-01

Health systems can access the full range of opportunities for enhanced efficiencies following a merger or an acquisition by pursuing the following five-step process, which constitutes the development of a business plan of operational efficiencies: Secure executive sponsorship and involvement. Establish an integration steering committee. Develop guiding principles. Identify and validate potential efficiencies. Develop an action plan for each department and function.

Managing Situation Awareness on the Flight Deck

NASA Technical Reports Server (NTRS)

Chappell, Sheryl L.; Connell, Linda (Technical Monitor)

1996-01-01

Awareness is required of the plane, the path and the people, both now and in the future. The steps to situation awareness are to monitor and evaluate the current situation. Anticipate the future to stay ahead of the airplane and consider contingencies, having a plan for 'what if situations. Continually update and modify the plan and share it with all crew members.

High School Longitudinal Study of 2009 (HSLS:09): Base-Year Data File Documentation. NCES 2011-328

ERIC Educational Resources Information Center

Ingels, Steven J.; Pratt, Daniel J.; Herget, Deborah R.; Burns, Laura J.; Dever, Jill A.; Ottem, Randolph; Rogers, James E.; Jin, Ying; Leinwand, Steve

2011-01-01

The High School Longitudinal Study of 2009 (HSLS:09) is the fifth in a series of National Center for Education Statistics (NCES) secondary longitudinal studies. The core research questions for HSLS:09 explore secondary to postsecondary transition plans and the evolution of those plans; the paths into and out of science, technology, engineering,…

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.

Gender differences in retirement planning: A longitudinal study among Spanish Registered Nurses.

PubMed

Topa, Gabriela; Segura, Adrián; Pérez, Sergio

2018-02-21

Consistent patterns of gender differences in retirement planning behaviours have been shown but little is known about these behaviours among nurses. To analyse the antecedents of the behaviours to prepare for retirement in nurses older than 55 and to identify differences as a function of gender. A two-wave longitudinal study with Spanish nurses (n = 132). Statistically significant gender differences were revealed. Specifically, paths from financial knowledge to public protection and self-insurance as well as paths from goals clarity to public protection all differed by gender. Patterns of retirement planning differentiated by gender apparently continue to emerge. The study adds evidence showing that female nurses continue to rely on public protection as a solid support for their retirement. Despite their greater awareness of the importance of health care and social relations, savings and finance are more neglected by female nurses. Intervention should be aimed at fostering financial literacy of the entire nursing population, but particularly, the access of women to this training. Secondly, given that the differences persist, advance planning of social actions to protect those who will be living alone and economically helpless in old age. © 2018 John Wiley & Sons Ltd.

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

Intercomparison of open-path trace gas measurements with two dual-frequency-comb spectrometers

DOE PAGES

Waxman, Eleanor M.; Cossel, Kevin C.; Truong, Gar-Wing; ...

2017-09-11

We present the first quantitative intercomparison between two open-path dual-comb spectroscopy (DCS) instruments which were operated across adjacent 2 km open-air paths over a 2-week period. We used DCS to measure the atmospheric absorption spectrum in the near infrared from 6023 to 6376 cm −1 (1568 to 1660 nm), corresponding to a 355 cm −1 bandwidth, at 0.0067 cm −1 sample spacing. The measured absorption spectra agree with each other to within 5 × 10 −4 in absorbance without any external calibration of either instrument. The absorption spectra are fit to retrieve path-integrated concentrations for carbon dioxide (CO 2), methane (CH 4), water (H 2O), and deuteratedmore » water (HDO). The retrieved dry mole fractions agree to 0.14 % (0.57 ppm) for CO 2, 0.35 % (7 ppb) for CH 4, and 0.40 % (36 ppm) for H 2O at  ∼  30 s integration time over the 2-week measurement campaign, which included 24 °C outdoor temperature variations and periods of strong atmospheric turbulence. This agreement is at least an order of magnitude better than conventional active-source open-path instrument intercomparisons and is particularly relevant to future regional flux measurements as it allows accurate comparisons of open-path DCS data across locations and time. We additionally compare the open-path DCS retrievals to a World Meteorological Organization (WMO)-calibrated cavity ring-down point sensor located along the path with good agreement. Short-term and long-term differences between the open-path DCS and point sensor are attributed, respectively, to spatial sampling discrepancies and to inaccuracies in the current spectral database used to fit the DCS data. Finally, the 2-week measurement campaign yields diurnal cycles of CO 2 and CH 4 that are consistent with the presence of local sources of CO 2 and absence of local sources of CH 4.« less

Intercomparison of open-path trace gas measurements with two dual-frequency-comb spectrometers

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

Waxman, Eleanor M.; Cossel, Kevin C.; Truong, Gar-Wing

We present the first quantitative intercomparison between two open-path dual-comb spectroscopy (DCS) instruments which were operated across adjacent 2 km open-air paths over a 2-week period. We used DCS to measure the atmospheric absorption spectrum in the near infrared from 6023 to 6376 cm −1 (1568 to 1660 nm), corresponding to a 355 cm −1 bandwidth, at 0.0067 cm −1 sample spacing. The measured absorption spectra agree with each other to within 5 × 10 −4 in absorbance without any external calibration of either instrument. The absorption spectra are fit to retrieve path-integrated concentrations for carbon dioxide (CO 2), methane (CH 4), water (H 2O), and deuteratedmore » water (HDO). The retrieved dry mole fractions agree to 0.14 % (0.57 ppm) for CO 2, 0.35 % (7 ppb) for CH 4, and 0.40 % (36 ppm) for H 2O at  ∼  30 s integration time over the 2-week measurement campaign, which included 24 °C outdoor temperature variations and periods of strong atmospheric turbulence. This agreement is at least an order of magnitude better than conventional active-source open-path instrument intercomparisons and is particularly relevant to future regional flux measurements as it allows accurate comparisons of open-path DCS data across locations and time. We additionally compare the open-path DCS retrievals to a World Meteorological Organization (WMO)-calibrated cavity ring-down point sensor located along the path with good agreement. Short-term and long-term differences between the open-path DCS and point sensor are attributed, respectively, to spatial sampling discrepancies and to inaccuracies in the current spectral database used to fit the DCS data. Finally, the 2-week measurement campaign yields diurnal cycles of CO 2 and CH 4 that are consistent with the presence of local sources of CO 2 and absence of local sources of CH 4.« less

Total solar eclipse of 1995 October 24

NASA Technical Reports Server (NTRS)

Espenak, Fred; Anderson, Jay

1994-01-01

A total eclipse of the sun will be visible from Asia and the Pacific Ocean on 24 Oct. 1995. The path of the moon's shadow begins in the Middle East and sweeps across India, Southeast Asia, and the waters of the Indonesian archipelago before ending at sunset in the Pacific. Detailed predictions for this event are presented and include besselian elements, geographic coordinates of the path of totality, physical ephemeris of the umbra, topocentric limb profile corrections, local circumstances for 400 cities, maps of the eclipse path, weather prospects, the lunar limb profile, and the sky during totality.

Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields

NASA Technical Reports Server (NTRS)

Wolf, Michael; Blackmore, James C.; Kuwata, Yoshiaki

2011-01-01

Lighter-than-air vehicles such as hot-air balloons have been proposed for exploring Saturn s moon Titan, as well as other bodies with significant atmospheres. For these vehicles to navigate effectively, it is critical to incorporate the effects of surrounding wind fields, especially as these winds will likely be strong relative to the control authority of the vehicle. Predictive models of these wind fields are available, and previous research has considered problems of planning paths subject to these predicted forces. However, such previous work has considered the wind fields as known a priori, whereas in practical applications, the actual wind vector field is not known exactly and may deviate significantly from the wind velocities estimated by the model. A probabilistic 3D path-planning algorithm was developed for balloons to use uncertain wind models to generate time-efficient paths. The nominal goal of the algorithm is to determine what altitude and what horizontal actuation, if any is available on the vehicle, to use to reach a particular goal location in the least expected time, utilizing advantageous winds. The solution also enables one to quickly evaluate the expected time-to-goal from any other location and to avoid regions of large uncertainty. This method is designed for balloons in wind fields but may be generalized for any buoyant vehicle operating in a vector field. To prepare the planning problem, the uncertainty in the wind field is modeled. Then, the problem of reaching a particular goal location is formulated as a Markov decision process (MDP) using a discretized space approach. Solving the MDP provides a policy of what actuation option (how much buoyancy change and, if applicable, horizontal actuation) should be selected at any given location to minimize the expected time-to-goal. The results provide expected time-to-goal values from any given location on the globe in addition to the action policy. This stochastic approach can also provide insights not accessible by deterministic methods; for example, one can evaluate variability and risk associated with different scenarios, rather than only viewing the expected outcome.

A self-interfering clock as a "which path" witness.

PubMed

Margalit, Yair; Zhou, Zhifan; Machluf, Shimon; Rohrlich, Daniel; Japha, Yonathan; Folman, Ron

2015-09-11

In Einstein's general theory of relativity, time depends locally on gravity; in standard quantum theory, time is global-all clocks "tick" uniformly. We demonstrate a new tool for investigating time in the overlap of these two theories: a self-interfering clock, comprising two atomic spin states. We prepare the clock in a spatial superposition of quantum wave packets, which evolve coherently along two paths into a stable interference pattern. If we make the clock wave packets "tick" at different rates, to simulate a gravitational time lag, the clock time along each path yields "which path" information, degrading the pattern's visibility. In contrast, in standard interferometry, time cannot yield "which path" information. This proof-of-principle experiment may have implications for the study of time and general relativity and their impact on fundamental effects such as decoherence and the emergence of a classical world. Copyright © 2015, American Association for the Advancement of Science.

Path integrals, supersymmetric quantum mechanics, and the Atiyah-Singer index theorem for twisted Dirac

NASA Astrophysics Data System (ADS)

Fine, Dana S.; Sawin, Stephen

2017-01-01

Feynman's time-slicing construction approximates the path integral by a product, determined by a partition of a finite time interval, of approximate propagators. This paper formulates general conditions to impose on a short-time approximation to the propagator in a general class of imaginary-time quantum mechanics on a Riemannian manifold which ensure that these products converge. The limit defines a path integral which agrees pointwise with the heat kernel for a generalized Laplacian. The result is a rigorous construction of the propagator for supersymmetric quantum mechanics, with potential, as a path integral. Further, the class of Laplacians includes the square of the twisted Dirac operator, which corresponds to an extension of N = 1/2 supersymmetric quantum mechanics. General results on the rate of convergence of the approximate path integrals suffice in this case to derive the local version of the Atiyah-Singer index theorem.

Bayesian-based localization of wireless capsule endoscope using received signal strength.

PubMed

Nadimi, Esmaeil S; Blanes-Vidal, Victoria; Tarokh, Vahid; Johansen, Per Michael

2014-01-01

In wireless body area sensor networking (WBASN) applications such as gastrointestinal (GI) tract monitoring using wireless video capsule endoscopy (WCE), the performance of out-of-body wireless link propagating through different body media (i.e. blood, fat, muscle and bone) is still under investigation. Most of the localization algorithms are vulnerable to the variations of path-loss coefficient resulting in unreliable location estimation. In this paper, we propose a novel robust probabilistic Bayesian-based approach using received-signal-strength (RSS) measurements that accounts for Rayleigh fading, variable path-loss exponent and uncertainty in location information received from the neighboring nodes and anchors. The results of this study showed that the localization root mean square error of our Bayesian-based method was 1.6 mm which was very close to the optimum Cramer-Rao lower bound (CRLB) and significantly smaller than that of other existing localization approaches (i.e. classical MDS (64.2mm), dwMDS (32.2mm), MLE (36.3mm) and POCS (2.3mm)).

Flight Planning

NASA Technical Reports Server (NTRS)

1991-01-01

Seagull Technology, Inc., Sunnyvale, CA, produced a computer program under a Langley Research Center Small Business Innovation Research (SBIR) grant called STAFPLAN (Seagull Technology Advanced Flight Plan) that plans optimal trajectory routes for small to medium sized airlines to minimize direct operating costs while complying with various airline operating constraints. STAFPLAN incorporates four input databases, weather, route data, aircraft performance, and flight-specific information (times, payload, crew, fuel cost) to provide the correct amount of fuel optimal cruise altitude, climb and descent points, optimal cruise speed, and flight path.

Human Space Flight Plans Committee Report

NASA Image and Video Library

2009-10-21

U.S. Human Space Flight Plans Committee member Ed Crawley, right, answers a reporter's question during a press conference where the committee released it's report on Thursday, Oct., 22, 2009 at the National Press Club in Washington. The Obama Administration tasked the committee to do an independent review of planned U.S. human space flight activities with the goal of ensuring that the nation is on a vigorous and sustainable path to achieving its boldest aspirations in space. Photo Credit: (NASA/Bill Ingalls)

Human Space Flight Plans Committee Report

NASA Image and Video Library

2009-10-21

U.S. Human Space Flight Plans Committee member Ed Crawley answers a reporter's question during a press conference where the committee released it's report on Thursday, Oct., 22, 2009 at the National Press Club in Washington. The Obama Administration tasked the committee to do an independent review of planned U.S. human space flight activities with the goal of ensuring that the nation is on a vigorous and sustainable path to achieving its boldest aspirations in space. Photo Credit: (NASA/Bill Ingalls)

Human Space Flight Plans Committee Report

NASA Image and Video Library

2009-10-21

Copies of the U.S. Human Space Flight Plans Committee report are seen at a press conference where the committee released it's report findings on Thursday, Oct., 22, 2009 at the National Press Club in Washington. The Obama Administration tasked the committee to do an independent review of planned U.S. human space flight activities with the goal of ensuring that the nation is on a vigorous and sustainable path to achieving its boldest aspirations in space. Photo Credit: (NASA/Bill Ingalls)

Human Space Flight Plans Committee Report

NASA Image and Video Library

2009-10-21

Chairman of the U.S. Human Space Flight Plans Committee Norman Augustine, center, listens to reporters questions during a press conference where the committee released it's report on Thursday, Oct., 22, 2009 at the National Press Club in Washington. The Obama Administration tasked the committee to do an independent review of planned U.S. human space flight activities with the goal of ensuring that the nation is on a vigorous and sustainable path to achieving its boldest aspirations in space. Photo Credit: (NASA/Bill Ingalls)

Human Space Flight Plans Committee Report

NASA Image and Video Library

2009-10-21

Chairman of the U.S. Human Space Flight Plans Committee Norman Augustine answers a reporters question during a press conference where the committee released it's report on Thursday, Oct., 22, 2009 at the National Press Club in Washington. The Obama Administration tasked the committee to do an independent review of planned U.S. human space flight activities with the goal of ensuring that the nation is on a vigorous and sustainable path to achieving its boldest aspirations in space. Photo Credit: (NASA/Bill Ingalls)

TripAdvisor^{N-D}: A Tourism-Inspired High-Dimensional Space Exploration Framework with Overview and Detail.

PubMed

Nam, Julia EunJu; Mueller, Klaus

2013-02-01

Gaining a true appreciation of high-dimensional space remains difficult since all of the existing high-dimensional space exploration techniques serialize the space travel in some way. This is not so foreign to us since we, when traveling, also experience the world in a serial fashion. But we typically have access to a map to help with positioning, orientation, navigation, and trip planning. Here, we propose a multivariate data exploration tool that compares high-dimensional space navigation with a sightseeing trip. It decomposes this activity into five major tasks: 1) Identify the sights: use a map to identify the sights of interest and their location; 2) Plan the trip: connect the sights of interest along a specifyable path; 3) Go on the trip: travel along the route; 4) Hop off the bus: experience the location, look around, zoom into detail; and 5) Orient and localize: regain bearings in the map. We describe intuitive and interactive tools for all of these tasks, both global navigation within the map and local exploration of the data distributions. For the latter, we describe a polygonal touchpad interface which enables users to smoothly tilt the projection plane in high-dimensional space to produce multivariate scatterplots that best convey the data relationships under investigation. Motion parallax and illustrative motion trails aid in the perception of these transient patterns. We describe the use of our system within two applications: 1) the exploratory discovery of data configurations that best fit a personal preference in the presence of tradeoffs and 2) interactive cluster analysis via cluster sculpting in N-D.

Adaptable mission planning for kino-dynamic systems

NASA Astrophysics Data System (ADS)

Bush, Lawrence A. M.; Jimenez, Tony R.; Williams, Brian C.

Autonomous systems can perform tasks that are dangerous, monotonous, or even impossible for humans. To approach the problem of planning for Unmanned Aerial Vehicles (UAVs) we present a hierarchical method that combines a high-level planner with a low-level planner. We pose the problem of high-level planning as a Selective Traveling Salesman Problem (STSP) and select the order in which to visit our science sites. We then use a kino-dynamic path planner to create a large number of intermediate waypoints. This is a complete system that combines high and low level planning to achieve a goal. This paper demonstrates the benefits gained by adaptable high-level plans versus static and greedy plans.

Walking patterns induced by learned odors in the honeybee, Apis mellifera L.

PubMed

Yamashita, Toshiya; Haupt, S Shuichi; Ikeno, Hidetoshi; Ai, Hiroyuki

2016-01-01

The odor localization strategy induced by odors learned via differential conditioning of the proboscis extension response was investigated in honeybees. In response to reward-associated but not non-reward-associated odors, learners walked longer paths than non-learners and control bees. When orange odor reward association was learned, the path length and the body turn angles were small during odor stimulation and greatly increased after stimulation ceased. In response to orange odor, bees walked locally with alternate left and right turns during odor stimulation to search for the reward-associated odor source. After odor stimulation, bees walked long paths with large turn angles to explore the odor plume. For clove odor, learning-related modulations of locomotion were less pronounced, presumably due to a spontaneous preference for orange in the tested population of bees. This study is the first to describe how an odor-reward association modulates odor-induced walking in bees. © 2016. Published by The Company of Biologists Ltd.

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

Khan, S; Chin, E; Xing, L

Purpose: The integration of couch motion during arc delivery is necessitated to enable irradiation trajectories such as coronal arcs, and to enhance the geometrical sampling for dynamic deliveries to the highest extent. To enable such capability, a platform of Trajectory Modulated Arc Therapy (TMAT) is developed in conjunction with standardized noncollisional dynamic path-set for irradiation of intracranial lesions. Methods: A generalized path-set was constructed through the combination of sagittal arcs (45 degrees from the CAX), axial arcs, and coronal arcs produced through modulation of the dynamic rotation of couch. The standardized path was implemented in a contiguous manner enabling themore » formation of fully automated sub-trajectories to provide maximal geometrical convergence with minimal number of arcs. Progressive sampling technique is used for direct aperture optimization of the MLCs and the selection of couch positions across the control points. Dosimetry of the resulting plans was assessed relative to clinically delivered plans. Using the TrueBeam Developer Mode, plan deliverability was tested. Results: Treatment planning of TMAT sub-trajectories for central, anterior and posterior tumor sites with volumes ranging from 4.75cc to 107cc demonstrated radically reduced doses to the critical OARs when compared to the clinically treated VMAT. Specifically, percentage reduction in mean dose for critical organs such as brainstem, cochlea, and optic nerve are found to be as low as 74±15%, 50±26% and 74±30% respectively as compared to VMAT. Conformity Index, defined as the ratio of tumor volume (VPTV) and 100% dose volume (V(D100%)), was reduced up to 12% while the Gradient Index, defined as V(D100%)/V(D50%), was concurrently improved by up to 14%. Conclusion: An automated standardized trajectory with dynamically modulated couch-gantry arcs has been developed for intracranial radiotherapy. Through the incorporation of coronal arcs, it is demonstrated that significantly reduced OAR doses can be achieved relative to clinically treated patient plans via VMAT. Research Grant Funding Support by Varian Medical Systems.« less

Artificial pheromone for path selection by a foraging swarm of robots.

PubMed

Campo, Alexandre; Gutiérrez, Alvaro; Nouyan, Shervin; Pinciroli, Carlo; Longchamp, Valentin; Garnier, Simon; Dorigo, Marco

2010-11-01

Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.

Diffusive and localization behavior of electromagnetic waves in a two-dimensional random medium

NASA Astrophysics Data System (ADS)

Wang, Ken Kang-Hsin; Ye, Zhen

2003-10-01

In this paper, we discuss the transport phenomena of electromagnetic waves in a two-dimensional random system which is composed of arrays of electrical dipoles, following the model presented earlier by Erdogan et al. [J. Opt. Soc. Am. B 10, 391 (1993)]. A set of self-consistent equations is presented, accounting for the multiple scattering in the system, and is then solved numerically. A strong localization regime is discovered in the frequency domain. The transport properties within, near the edge of, and nearly outside the localization regime are investigated for different parameters such as filling factor and system size. The results show that within the localization regime, waves are trapped near the transmitting source. Meanwhile, the diffusive waves follow an intuitive but expected picture. That is, they increase with traveling path as more and more random scattering incurs, followed by a saturation, then start to decay exponentially when the travelling path is large enough, signifying the localization effect. For the cases where the frequencies are near the boundary of or outside the localization regime, the results of diffusive waves are compared with the diffusion approximation, showing less encouraging agreement as in other systems [Asatryan et al., Phys. Rev. E 67, 036605 (2003)].

The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm.

PubMed

Han, Gaining; Fu, Weiping; Wang, Wen

2016-01-01

In the behavior dynamics model, behavior competition leads to the shock problem of the intelligent vehicle navigation path, because of the simultaneous occurrence of the time-variant target behavior and obstacle avoidance behavior. Considering the safety and real-time of intelligent vehicle, the particle swarm optimization (PSO) algorithm is proposed to solve these problems for the optimization of weight coefficients of the heading angle and the path velocity. Firstly, according to the behavior dynamics model, the fitness function is defined concerning the intelligent vehicle driving characteristics, the distance between intelligent vehicle and obstacle, and distance of intelligent vehicle and target. Secondly, behavior coordination parameters that minimize the fitness function are obtained by particle swarm optimization algorithms. Finally, the simulation results show that the optimization method and its fitness function can improve the perturbations of the vehicle planning path and real-time and reliability.

Digital Parallel Processor Array for Optimum Path Planning

NASA Technical Reports Server (NTRS)

Kremeny, Sabrina E. (Inventor); Fossum, Eric R. (Inventor); Nixon, Robert H. (Inventor)

1996-01-01

The invention computes the optimum path across a terrain or topology represented by an array of parallel processor cells interconnected between neighboring cells by links extending along different directions to the neighboring cells. Such an array is preferably implemented as a high-speed integrated circuit. The computation of the optimum path is accomplished by, in each cell, receiving stimulus signals from neighboring cells along corresponding directions, determining and storing the identity of a direction along which the first stimulus signal is received, broadcasting a subsequent stimulus signal to the neighboring cells after a predetermined delay time, whereby stimulus signals propagate throughout the array from a starting one of the cells. After propagation of the stimulus signal throughout the array, a master processor traces back from a selected destination cell to the starting cell along an optimum path of the cells in accordance with the identity of the directions stored in each of the cells.

Quantifying Traversability of Terrain for a Mobile Robot

NASA Technical Reports Server (NTRS)

Howard, Ayanna; Seraji, Homayoun; Werger, Barry

2005-01-01

A document presents an updated discussion on a method of autonomous navigation for a robotic vehicle navigating across rough terrain. The method involves, among other things, the use of a measure of traversability, denoted the fuzzy traversability index, which embodies the information about the slope and roughness of terrain obtained from analysis of images acquired by cameras mounted on the robot. The improvements presented in the report focus on the use of the fuzzy traversability index to generate a traversability map and a grid map for planning the safest path for the robot. Once grid traversability values have been computed, they are utilized for rejecting unsafe path segments and for computing a traversalcost function for ranking candidate paths, selected by a search algorithm, from a specified initial position to a specified final position. The output of the algorithm is a set of waypoints designating a path having a minimal-traversal cost.

The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm

PubMed Central

Han, Gaining; Fu, Weiping; Wang, Wen

2016-01-01

In the behavior dynamics model, behavior competition leads to the shock problem of the intelligent vehicle navigation path, because of the simultaneous occurrence of the time-variant target behavior and obstacle avoidance behavior. Considering the safety and real-time of intelligent vehicle, the particle swarm optimization (PSO) algorithm is proposed to solve these problems for the optimization of weight coefficients of the heading angle and the path velocity. Firstly, according to the behavior dynamics model, the fitness function is defined concerning the intelligent vehicle driving characteristics, the distance between intelligent vehicle and obstacle, and distance of intelligent vehicle and target. Secondly, behavior coordination parameters that minimize the fitness function are obtained by particle swarm optimization algorithms. Finally, the simulation results show that the optimization method and its fitness function can improve the perturbations of the vehicle planning path and real-time and reliability. PMID:26880881

Planning maximally smooth hand movements constrained to nonplanar workspaces.

PubMed

Liebermann, Dario G; Krasovsky, Tal; Berman, Sigal

2008-11-01

The article characterizes hand paths and speed profiles for movements performed in a nonplanar, 2-dimensional workspace (a hemisphere of constant curvature). The authors assessed endpoint kinematics (i.e., paths and speeds) under the minimum-jerk model assumptions and calculated minimal amplitude paths (geodesics) and the corresponding speed profiles. The authors also calculated hand speeds using the 2/3 power law. They then compared modeled results with the empirical observations. In all, 10 participants moved their hands forward and backward from a common starting position toward 3 targets located within a hemispheric workspace of small or large curvature. Comparisons of modeled observed differences using 2-way RM-ANOVAs showed that movement direction had no clear influence on hand kinetics (p < .05). Workspace curvature affected the hand paths, which seldom followed geodesic lines. Constraining the paths to different curvatures did not affect the hand speed profiles. Minimum-jerk speed profiles closely matched the observations and were superior to those predicted by 2/3 power law (p < .001). The authors conclude that speed and path cannot be unambiguously linked under the minimum-jerk assumption when individuals move the hand in a nonplanar 2-dimensional workspace. In such a case, the hands do not follow geodesic paths, but they preserve the speed profile, regardless of the geometric features of the workspace.

34 CFR 300.220 - Exception for prior local plans.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 34 Education 2 2011-07-01 2010-07-01 true Exception for prior local plans. 300.220 Section 300.220 Education Regulations of the Offices of the Department of Education (Continued) OFFICE OF SPECIAL EDUCATION... CHILDREN WITH DISABILITIES Local Educational Agency Eligibility § 300.220 Exception for prior local plans...

25 CFR 47.8 - Who develops the local educational financial plans?

Code of Federal Regulations, 2012 CFR

2012-04-01

... Section 47.8 Indians BUREAU OF INDIAN AFFAIRS, DEPARTMENT OF THE INTERIOR EDUCATION UNIFORM DIRECT FUNDING AND SUPPORT FOR BUREAU-OPERATED SCHOOLS § 47.8 Who develops the local educational financial plans? The local Bureau-operated school supervisor develops the local educational financial plan in active...

25 CFR 47.8 - Who develops the local educational financial plans?

Code of Federal Regulations, 2013 CFR

2013-04-01

... Section 47.8 Indians BUREAU OF INDIAN AFFAIRS, DEPARTMENT OF THE INTERIOR EDUCATION UNIFORM DIRECT FUNDING AND SUPPORT FOR BUREAU-OPERATED SCHOOLS § 47.8 Who develops the local educational financial plans? The local Bureau-operated school supervisor develops the local educational financial plan in active...

25 CFR 47.8 - Who develops the local educational financial plans?

Code of Federal Regulations, 2010 CFR

2010-04-01

... Section 47.8 Indians BUREAU OF INDIAN AFFAIRS, DEPARTMENT OF THE INTERIOR EDUCATION UNIFORM DIRECT FUNDING AND SUPPORT FOR BUREAU-OPERATED SCHOOLS § 47.8 Who develops the local educational financial plans? The local Bureau-operated school supervisor develops the local educational financial plan in active...