Obstacle avoidance for redundant robots using configuration control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor); Colbaugh, Richard D. (Inventor); Glass, Kristin L. (Inventor)

1992-01-01

A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.

Two Formal Gas Models For Multi-Agent Sweeping and Obstacle Avoidance

NASA Technical Reports Server (NTRS)

Kerr, Wesley; Spears, Diana; Spears, William; Thayer, David

2004-01-01

The task addressed here is a dynamic search through a bounded region, while avoiding multiple large obstacles, such as buildings. In the case of limited sensors and communication, maintaining spatial coverage - especially after passing the obstacles - is a challenging problem. Here, we investigate two physics-based approaches to solving this task with multiple simulated mobile robots, one based on artificial forces and the other based on the kinetic theory of gases. The desired behavior is achieved with both methods, and a comparison is made between them. Because both approaches are physics-based, formal assurances about the multi-robot behavior are straightforward, and are included in the paper.

Virtual reality-based navigation task to reveal obstacle avoidance performance in individuals with visuospatial neglect.

PubMed

Aravind, Gayatri; Darekar, Anuja; Fung, Joyce; Lamontagne, Anouk

2015-03-01

Persons with post-stroke visuospatial neglect (VSN) often collide with moving obstacles while walking. It is not well understood whether the collisions occur as a result of attentional-perceptual deficits caused by VSN or due to post-stroke locomotor deficits. We assessed individuals with VSN on a seated, joystick-driven obstacle avoidance task, thus eliminating the influence of locomotion. Twelve participants with VSN were tested on obstacle detection and obstacle avoidance tasks in a virtual environment that included three obstacles approaching head-on or 30 (°) contralesionally/ipsilesionally. Our results indicate that in the detection task, the contralesional and head-on obstacles were detected at closer proximities compared to the ipsilesional obstacle. For the avoidance task collisions were observed only for the contralesional and head-on obstacle approaches. For the contralesional obstacle approach, participants initiated their avoidance strategies at smaller distances from the obstacle and maintained smaller minimum distances from the obstacles. The distance at detection showed a negative association with the distance at the onset of avoidance strategy for all three obstacle approaches. We conclusion the observation of collisions with contralesional and head-on obstacles, in the absence of locomotor burden, provides evidence that attentional-perceptual deficits due to VSN, independent of post-stroke locomotor deficits, alter obstacle avoidance abilities.

An enhanced obstacle avoiding system for AUV`s

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

Conte, G.; Zanoli, S.M.

1994-12-31

This paper concerns the development of a sonar-based navigation and guidance system for underwater, unmanned vehicles. In particular, the authors describe and discuss an obstacle avoidance procedure that is capable of dealing with situations involving several obstacles. The main features of the system are the use of a Kalman filter, both for estimating data and for predicting the evolution of the observed scene, and the possibility of working at different levels of data abstraction. The system has shown satisfactory performances in dealing with moving obstacles in general situations.

Autonomous dynamic obstacle avoidance for bacteria-powered microrobots (BPMs) with modified vector field histogram.

PubMed

Kim, Hoyeon; Cheang, U Kei; Kim, Min Jun

2017-01-01

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algorithm for bacteria-powered microrobots (BPMs) using electric field in fluidic environments. A BPM consists of an artificial body, which is made of SU-8, and a high dense layer of harnessed bacteria. BPMs can be controlled using externally applied electric fields due to the electrokinetic property of bacteria. For developing dynamic obstacle avoidance for BPMs, a kinematic model of BPMs was utilized to prevent collision and a finite element model was used to characteristic the deformation of an electric field near the obstacle walls. In order to avoid fast moving obstacles, we modified our previously static obstacle avoidance approach using a modified vector field histogram (VFH) method. To validate the advanced algorithm in experiments, magnetically controlled moving obstacles were used to intercept the BPMs as the BPMs move from the initial position to final position. The algorithm was able to successfully guide the BPMs to reach their respective goal positions while avoiding the dynamic obstacles.

Obstacle Detection and Avoidance System Based on Monocular Camera and Size Expansion Algorithm for UAVs

PubMed Central

Al-Kaff, Abdulla; García, Fernando; Martín, David; De La Escalera, Arturo; Armingol, José María

2017-01-01

One of the most challenging problems in the domain of autonomous aerial vehicles is the designing of a robust real-time obstacle detection and avoidance system. This problem is complex, especially for the micro and small aerial vehicles, that is due to the Size, Weight and Power (SWaP) constraints. Therefore, using lightweight sensors (i.e., Digital camera) can be the best choice comparing with other sensors; such as laser or radar.For real-time applications, different works are based on stereo cameras in order to obtain a 3D model of the obstacles, or to estimate their depth. Instead, in this paper, a method that mimics the human behavior of detecting the collision state of the approaching obstacles using monocular camera is proposed. The key of the proposed algorithm is to analyze the size changes of the detected feature points, combined with the expansion ratios of the convex hull constructed around the detected feature points from consecutive frames. During the Aerial Vehicle (UAV) motion, the detection algorithm estimates the changes in the size of the area of the approaching obstacles. First, the method detects the feature points of the obstacles, then extracts the obstacles that have the probability of getting close toward the UAV. Secondly, by comparing the area ratio of the obstacle and the position of the UAV, the method decides if the detected obstacle may cause a collision. Finally, by estimating the obstacle 2D position in the image and combining with the tracked waypoints, the UAV performs the avoidance maneuver. The proposed algorithm was evaluated by performing real indoor and outdoor flights, and the obtained results show the accuracy of the proposed algorithm compared with other related works. PMID:28481277

Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

PubMed Central

Moccia, Antonio

2014-01-01

Obstacle detection and tracking is a key function for UAS sense and avoid applications. In fact, obstacles in the flight path must be detected and tracked in an accurate and timely manner in order to execute a collision avoidance maneuver in case of collision threat. The most important parameter for the assessment of a collision risk is the Distance at Closest Point of Approach, that is, the predicted minimum distance between own aircraft and intruder for assigned current position and speed. Since assessed methodologies can cause some loss of accuracy due to nonlinearities, advanced filtering methodologies, such as particle filters, can provide more accurate estimates of the target state in case of nonlinear problems, thus improving system performance in terms of collision risk estimation. The paper focuses on algorithm development and performance evaluation for an obstacle tracking system based on a particle filter. The particle filter algorithm was tested in off-line simulations based on data gathered during flight tests. In particular, radar-based tracking was considered in order to evaluate the impact of particle filtering in a single sensor framework. The analysis shows some accuracy improvements in the estimation of Distance at Closest Point of Approach, thus reducing the delay in collision detection. PMID:25105154

Autonomous dynamic obstacle avoidance for bacteria-powered microrobots (BPMs) with modified vector field histogram

PubMed Central

Kim, Hoyeon; Cheang, U. Kei

2017-01-01

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algorithm for bacteria-powered microrobots (BPMs) using electric field in fluidic environments. A BPM consists of an artificial body, which is made of SU-8, and a high dense layer of harnessed bacteria. BPMs can be controlled using externally applied electric fields due to the electrokinetic property of bacteria. For developing dynamic obstacle avoidance for BPMs, a kinematic model of BPMs was utilized to prevent collision and a finite element model was used to characteristic the deformation of an electric field near the obstacle walls. In order to avoid fast moving obstacles, we modified our previously static obstacle avoidance approach using a modified vector field histogram (VFH) method. To validate the advanced algorithm in experiments, magnetically controlled moving obstacles were used to intercept the BPMs as the BPMs move from the initial position to final position. The algorithm was able to successfully guide the BPMs to reach their respective goal positions while avoiding the dynamic obstacles. PMID:29020016

A five-week exercise program can reduce falls and improve obstacle avoidance in the elderly.

PubMed

Weerdesteyn, Vivian; Rijken, Hennie; Geurts, Alexander C H; Smits-Engelsman, Bouwien C M; Mulder, Theo; Duysens, Jacques

2006-01-01

Falls in the elderly are a major health problem. Although exercise programs have been shown to reduce the risk of falls, the optimal exercise components, as well as the working mechanisms that underlie the effectiveness of these programs, have not yet been established. To test whether the Nijmegen Falls Prevention Program was effective in reducing falls and improving standing balance, balance confidence, and obstacle avoidance performance in community-dwelling elderly people. A total of 113 elderly with a history of falls participated in this study (exercise group, n = 79; control group, n = 28; dropouts before randomization, n = 6). Exercise sessions were held twice weekly for 5 weeks. Pre- and post-intervention fall monitoring and quantitative motor control assessments were performed. The outcome measures were the number of falls, standing balance and obstacle avoidance performance, and balance confidence scores. The number of falls in the exercise group decreased by 46% (incidence rate ratio (IRR) 0.54, 95% confidence interval (CI) 0.36-0.79) compared to the number of falls during the baseline period and by 46% (IRR 0.54, 95% CI 0.34-0.86) compared to the control group. Obstacle avoidance success rates improved significantly more in the exercise group (on average 12%) compared to the control group (on average 6%). Quiet stance and weight-shifting measures did not show significant effects of exercise. The exercise group also had a 6% increase of balance confidence scores. The Nijmegen Falls Prevention Program was effective in reducing the incidence of falls in otherwise healthy elderly. There was no evidence of improved control of posture as a mechanism underlying this result. In contrast, an obstacle avoidance task indicated that subjects improved their performance. Laboratory obstacle avoidance tests may therefore be better instruments to evaluate future fall prevention studies than posturographic balance assessments. Copyright (c) 2006 S. Karger AG, Basel.

A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation

PubMed Central

Torres, Luis G.; Kuntz, Alan; Gilbert, Hunter B.; Swaney, Philip J.; Hendrick, Richard J.; Webster, Robert J.; Alterovitz, Ron

2015-01-01

Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot’s shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot’s tip. However, the robot’s unintuitive kinematics makes it difficult for a human user to manually ensure obstacle avoidance along the entire tentacle-like shape of the robot’s shaft. We present a motion planning approach for concentric tube robot teleoperation that enables the robot to interactively maneuver its tip to points selected by a user while automatically avoiding obstacles along its shaft. We achieve automatic collision avoidance by precomputing a roadmap of collision-free robot configurations based on a description of the anatomical obstacles, which are attainable via volumetric medical imaging. We also mitigate the effects of kinematic modeling error in reaching the goal positions by adjusting motions based on robot tip position sensing. We evaluate our motion planner on a teleoperated concentric tube robot and demonstrate its obstacle avoidance and accuracy in environments with tubular obstacles. PMID:26413381

A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation.

PubMed

Torres, Luis G; Kuntz, Alan; Gilbert, Hunter B; Swaney, Philip J; Hendrick, Richard J; Webster, Robert J; Alterovitz, Ron

2015-05-01

Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot's tip. However, the robot's unintuitive kinematics makes it difficult for a human user to manually ensure obstacle avoidance along the entire tentacle-like shape of the robot's shaft. We present a motion planning approach for concentric tube robot teleoperation that enables the robot to interactively maneuver its tip to points selected by a user while automatically avoiding obstacles along its shaft. We achieve automatic collision avoidance by precomputing a roadmap of collision-free robot configurations based on a description of the anatomical obstacles, which are attainable via volumetric medical imaging. We also mitigate the effects of kinematic modeling error in reaching the goal positions by adjusting motions based on robot tip position sensing. We evaluate our motion planner on a teleoperated concentric tube robot and demonstrate its obstacle avoidance and accuracy in environments with tubular obstacles.

Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

NASA Astrophysics Data System (ADS)

Cao, Lu; Qiao, Dong; Xu, Jingwen

2018-02-01

Sub-Optimal Artificial Potential Function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

Automatic Quadcopter Control Avoiding Obstacle Using Camera with Integrated Ultrasonic Sensor

NASA Astrophysics Data System (ADS)

Anis, Hanafi; Haris Indra Fadhillah, Ahmad; Darma, Surya; Soekirno, Santoso

2018-04-01

Automatic navigation on the drone is being developed these days, a wide variety of types of drones and its automatic functions. Drones used in this study was an aircraft with four propellers or quadcopter. In this experiment, image processing used to recognize the position of an object and ultrasonic sensor used to detect obstacle distance. The method used to trace an obsctacle in image processing was the Lucas-Kanade-Tomasi Tracker, which had been widely used due to its high accuracy. Ultrasonic sensor used to complement the image processing success rate to be fully detected object. The obstacle avoidance system was to observe at the program decisions from some obstacle conditions read by the camera and ultrasonic sensors. Visual feedback control based PID controllers are used as a control of drones movement. The conclusion of the obstacle avoidance system was to observe at the program decisions from some obstacle conditions read by the camera and ultrasonic sensors.

Obstacle avoidance in social groups: new insights from asynchronous models

PubMed Central

Croft, Simon; Budgey, Richard; Pitchford, Jonathan W.; Wood, A. Jamie

2015-01-01

For moving animals, the successful avoidance of hazardous obstacles is an important capability. Despite this, few models of collective motion have addressed the relationship between behavioural and social features and obstacle avoidance. We develop an asynchronous individual-based model for social movement which allows social structure within groups to be included. We assess the dynamics of group navigation and resulting collision risk in the context of information transfer through the system. In agreement with previous work, we find that group size has a nonlinear effect on collision risk. We implement examples of possible network structures to explore the impact social preferences have on collision risk. We show that any social heterogeneity induces greater obstacle avoidance with further improvements corresponding to groups containing fewer influential individuals. The model provides a platform for both further theoretical investigation and practical application. In particular, we argue that the role of social structures within bird flocks may have an important role to play in assessing the risk of collisions with wind turbines, but that new methods of data analysis are needed to identify these social structures. PMID:25833245

Learn to Avoid or Overcome Leadership Obstacles

ERIC Educational Resources Information Center

D'Auria, John

2015-01-01

Leadership is increasingly recognized as an important factor in moving schools forward, yet we have been relatively random in how we prepare and support them. Four obstacles often block or diminish their effectiveness. Avoiding or overcoming each of these requires an underlying set of skills and knowledge that we believe can be learned and…

Obstacle Avoidance and Target Acquisition for Robot Navigation Using a Mixed Signal Analog/Digital Neuromorphic Processing System

PubMed Central

Milde, Moritz B.; Blum, Hermann; Dietmüller, Alexander; Sumislawska, Dora; Conradt, Jörg; Indiveri, Giacomo; Sandamirskaya, Yulia

2017-01-01

Neuromorphic hardware emulates dynamics of biological neural networks in electronic circuits offering an alternative to the von Neumann computing architecture that is low-power, inherently parallel, and event-driven. This hardware allows to implement neural-network based robotic controllers in an energy-efficient way with low latency, but requires solving the problem of device variability, characteristic for analog electronic circuits. In this work, we interfaced a mixed-signal analog-digital neuromorphic processor ROLLS to a neuromorphic dynamic vision sensor (DVS) mounted on a robotic vehicle and developed an autonomous neuromorphic agent that is able to perform neurally inspired obstacle-avoidance and target acquisition. We developed a neural network architecture that can cope with device variability and verified its robustness in different environmental situations, e.g., moving obstacles, moving target, clutter, and poor light conditions. We demonstrate how this network, combined with the properties of the DVS, allows the robot to avoid obstacles using a simple biologically-inspired dynamics. We also show how a Dynamic Neural Field for target acquisition can be implemented in spiking neuromorphic hardware. This work demonstrates an implementation of working obstacle avoidance and target acquisition using mixed signal analog/digital neuromorphic hardware. PMID:28747883

Obstacle Avoidance and Target Acquisition for Robot Navigation Using a Mixed Signal Analog/Digital Neuromorphic Processing System.

PubMed

Milde, Moritz B; Blum, Hermann; Dietmüller, Alexander; Sumislawska, Dora; Conradt, Jörg; Indiveri, Giacomo; Sandamirskaya, Yulia

2017-01-01

Neuromorphic hardware emulates dynamics of biological neural networks in electronic circuits offering an alternative to the von Neumann computing architecture that is low-power, inherently parallel, and event-driven. This hardware allows to implement neural-network based robotic controllers in an energy-efficient way with low latency, but requires solving the problem of device variability, characteristic for analog electronic circuits. In this work, we interfaced a mixed-signal analog-digital neuromorphic processor ROLLS to a neuromorphic dynamic vision sensor (DVS) mounted on a robotic vehicle and developed an autonomous neuromorphic agent that is able to perform neurally inspired obstacle-avoidance and target acquisition. We developed a neural network architecture that can cope with device variability and verified its robustness in different environmental situations, e.g., moving obstacles, moving target, clutter, and poor light conditions. We demonstrate how this network, combined with the properties of the DVS, allows the robot to avoid obstacles using a simple biologically-inspired dynamics. We also show how a Dynamic Neural Field for target acquisition can be implemented in spiking neuromorphic hardware. This work demonstrates an implementation of working obstacle avoidance and target acquisition using mixed signal analog/digital neuromorphic hardware.

A bio-inspired kinematic controller for obstacle avoidance during reaching tasks with real robots.

PubMed

Srinivasa, Narayan; Bhattacharyya, Rajan; Sundareswara, Rashmi; Lee, Craig; Grossberg, Stephen

2012-11-01

This paper describes a redundant robot arm that is capable of learning to reach for targets in space in a self-organized fashion while avoiding obstacles. Self-generated movement commands that activate correlated visual, spatial and motor information are used to learn forward and inverse kinematic control models while moving in obstacle-free space using the Direction-to-Rotation Transform (DIRECT). Unlike prior DIRECT models, the learning process in this work was realized using an online Fuzzy ARTMAP learning algorithm. The DIRECT-based kinematic controller is fault tolerant and can handle a wide range of perturbations such as joint locking and the use of tools despite not having experienced them during learning. The DIRECT model was extended based on a novel reactive obstacle avoidance direction (DIRECT-ROAD) model to enable redundant robots to avoid obstacles in environments with simple obstacle configurations. However, certain configurations of obstacles in the environment prevented the robot from reaching the target with purely reactive obstacle avoidance. To address this complexity, a self-organized process of mental rehearsals of movements was modeled, inspired by human and animal experiments on reaching, to generate plans for movement execution using DIRECT-ROAD in complex environments. These mental rehearsals or plans are self-generated by using the Fuzzy ARTMAP algorithm to retrieve multiple solutions for reaching each target while accounting for all the obstacles in its environment. The key aspects of the proposed novel controller were illustrated first using simple examples. Experiments were then performed on real robot platforms to demonstrate successful obstacle avoidance during reaching tasks in real-world environments. Copyright © 2012 Elsevier Ltd. All rights reserved.

Obstacle-avoiding robot with IR and PIR motion sensors

NASA Astrophysics Data System (ADS)

Ismail, R.; Omar, Z.; Suaibun, S.

2016-10-01

Obstacle avoiding robot was designed, constructed and programmed which may be potentially used for educational and research purposes. The developed robot will move in a particular direction once the infrared (IR) and the PIR passive infrared (PIR) sensors sense a signal while avoiding the obstacles in its path. The robot can also perform desired tasks in unstructured environments without continuous human guidance. The hardware was integrated in one application board as embedded system design. The software was developed using C++ and compiled by Arduino IDE 1.6.5. The main objective of this project is to provide simple guidelines to the polytechnic students and beginners who are interested in this type of research. It is hoped that this robot could benefit students who wish to carry out research on IR and PIR sensors.

Laser radar system for obstacle avoidance

NASA Astrophysics Data System (ADS)

Bers, Karlheinz; Schulz, Karl R.; Armbruster, Walter

2005-09-01

The threat of hostile surveillance and weapon systems require military aircraft to fly under extreme conditions such as low altitude, high speed, poor visibility and incomplete terrain information. The probability of collision with natural and man-made obstacles during such contour missions is high if detection capability is restricted to conventional vision aids. Forward-looking scanning laser radars which are build by the EADS company and presently being flight tested and evaluated at German proving grounds, provide a possible solution, having a large field of view, high angular and range resolution, a high pulse repetition rate, and sufficient pulse energy to register returns from objects at distances of military relevance with a high hit-and-detect probability. The development of advanced 3d-scene analysis algorithms had increased the recognition probability and reduced the false alarm rate by using more readily recognizable objects such as terrain, poles, pylons, trees, etc. to generate a parametric description of the terrain surface as well as the class, position, orientation, size and shape of all objects in the scene. The sensor system and the implemented algorithms can be used for other applications such as terrain following, autonomous obstacle avoidance, and automatic target recognition. This paper describes different 3D-imaging ladar sensors with unique system architecture but different components matched for different military application. Emphasis is laid on an obstacle warning system with a high probability of detection of thin wires, the real time processing of the measured range image data, obstacle classification und visualization.

A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots.

PubMed

Wu, Fang; Vibhute, Akash; Soh, Gim Song; Wood, Kristin L; Foong, Shaohui

2017-05-28

Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Most of the existing spherical robots rely on the "hit and run" technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. It utilizes a passive magnetic field so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. Experimental results are also presented for validation purposes.

Research on robot mobile obstacle avoidance control based on visual information

NASA Astrophysics Data System (ADS)

Jin, Jiang

2018-03-01

Robots to detect obstacles and control robots to avoid obstacles has been a key research topic of robot control. In this paper, a scheme of visual information acquisition is proposed. By judging visual information, the visual information is transformed into the information source of path processing. In accordance with the established route, in the process of encountering obstacles, the algorithm real-time adjustment trajectory to meet the purpose of intelligent control of mobile robots. Simulation results show that, through the integration of visual sensing information, the obstacle information is fully obtained, while the real-time and accuracy of the robot movement control is guaranteed.

Concept development of automatic guidance for rotorcraft obstacle avoidance

NASA Technical Reports Server (NTRS)

Cheng, Victor H. L.

1990-01-01

The automatic guidance of rotorcraft for obstacle avoidance in nap-of-the-earth flight is studied. A hierarchical breakdown of the guidance components is used to identify the functional requirements. These requirements and anticipated sensor capabilities lead to a preliminary guidance concept, which has been evaluated via computer simulations.

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model.

PubMed

Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

2015-05-01

This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Micro air vehicle autonomous obstacle avoidance from stereo-vision

NASA Astrophysics Data System (ADS)

Brockers, Roland; Kuwata, Yoshiaki; Weiss, Stephan; Matthies, Lawrence

2014-06-01

We introduce a new approach for on-board autonomous obstacle avoidance for micro air vehicles flying outdoors in close proximity to structure. Our approach uses inverse-range, polar-perspective stereo-disparity maps for obstacle detection and representation, and deploys a closed-loop RRT planner that considers flight dynamics for trajectory generation. While motion planning is executed in 3D space, we reduce collision checking to a fast z-buffer-like operation in disparity space, which allows for significant speed-up compared to full 3d methods. Evaluations in simulation illustrate the robustness of our approach, whereas real world flights under tree canopy demonstrate the potential of the approach.

Fuzzy Inference Based Obstacle Avoidance Control of Electric Powered Wheelchair Considering Driving Risk

NASA Astrophysics Data System (ADS)

Kiso, Atsushi; Murakami, Hiroki; Seki, Hirokazu

This paper describes a novel obstacle avoidance control scheme of electric powered wheelchairs for realizing the safe driving in various environments. The “electric powered wheelchair” which generates the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people; however, the driving performance must be further improved because the number of driving accidents caused by elderly operator's narrow sight and joystick operation errors is increasing. This paper proposes a novel obstacle avoidance control scheme based on fuzzy algorithm to prevent driving accidents. The proposed control system determines the driving direction by fuzzy algorithm based on the information of the joystick operation and distance to obstacles measured by ultrasonic sensors. Fuzzy rules to determine the driving direction are designed surely to avoid passers-by and walls considering the human's intent and driving environments. Some driving experiments on the practical situations show the effectiveness of the proposed control system.

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.

Control of vertical posture while elevating one foot to avoid a real or virtual obstacle.

PubMed

Ida, Hirofumi; Mohapatra, Sambit; Aruin, Alexander

2017-06-01

The purpose of this study is to investigate the control of vertical posture during obstacle avoidance in a real versus a virtual reality (VR) environment. Ten healthy participants stood upright and lifted one leg to avoid colliding with a real obstacle sliding on the floor toward a participant and with its virtual image. Virtual obstacles were delivered by a head mounted display (HMD) or a 3D projector. The acceleration of the foot, center of pressure, and electrical activity of the leg and trunk muscles were measured and analyzed during the time intervals typical for early postural adjustments (EPAs), anticipatory postural adjustments (APAs), and compensatory postural adjustments (CPAs). The results showed that the peak acceleration of foot elevation in the HMD condition decreased significantly when compared with that of the real and 3D projector conditions. Reduced activity of the leg and trunk muscles was seen when dealing with virtual obstacles (HMD and 3D projector) as compared with that seen when dealing with real obstacles. These effects were more pronounced during APAs and CPAs. The onsets of muscle activities in the supporting limb were seen during EPAs and APAs. The observed modulation of muscle activity and altered patterns of movement seen while avoiding a virtual obstacle should be considered when designing virtual rehabilitation protocols.

Vision-Based UAV Flight Control and Obstacle Avoidance

DTIC Science & Technology

2006-01-01

denoted it by Vb = (Vb1, Vb2 , Vb3). Fig. 2 shows the block diagram of the proposed vision-based motion analysis and obstacle avoidance system. We denote...structure analysis often involve computation- intensive computer vision tasks, such as feature extraction and geometric modeling. Computation-intensive...First, we extract a set of features from each block. 2) Second, we compute the distance between these two sets of features. In conventional motion

Object classification for obstacle avoidance

NASA Astrophysics Data System (ADS)

Regensburger, Uwe; Graefe, Volker

1991-03-01

Object recognition is necessary for any mobile robot operating autonomously in the real world. This paper discusses an object classifier based on a 2-D object model. Obstacle candidates are tracked and analyzed false alarms generated by the object detector are recognized and rejected. The methods have been implemented on a multi-processor system and tested in real-world experiments. They work reliably under favorable conditions but sometimes problems occur e. g. when objects contain many features (edges) or move in front of structured background.

3D-Sonification for Obstacle Avoidance in Brownout Conditions

NASA Technical Reports Server (NTRS)

Godfroy-Cooper, M.; Miller, J. D.; Szoboszlay, Z.; Wenzel, E. M.

2017-01-01

Helicopter brownout is a phenomenon that occurs when making landing approaches in dusty environments, whereby sand or dust particles become swept up in the rotor outwash. Brownout is characterized by partial or total obscuration of the terrain, which degrades visual cues necessary for hovering and safe landing. Furthermore, the motion of the dust cloud produced during brownout can lead to the pilot experiencing motion cue anomalies such as vection illusions. In this context, the stability and guidance control functions can be intermittently or continuously degraded, potentially leading to undetected surface hazards and obstacles as well as unnoticed drift. Safe and controlled landing in brownout can be achieved using an integrated presentation of LADAR and RADAR imagery and aircraft state symbology. However, though detected by the LADAR and displayed on the sensor image, small obstacles can be difficult to discern from the background so that changes in obstacle elevation may go unnoticed. Moreover, pilot workload associated with tracking the displayed symbology is often so high that the pilot cannot give sufficient attention to the LADAR/RADAR image. This paper documents a simulation evaluating the use of 3D auditory cueing for obstacle avoidance in brownout as a replacement for or compliment to LADAR/RADAR imagery.

A Mobile Robot Sonar System with Obstacle Avoidance.

DTIC Science & Technology

1994-03-01

WITH OBSTACLE - AVOIDANCE __ by __ Patrick Gerard Byrne March 1994 Thesis Advisor : Yutaka Kanayama Approved for public release; distribution is...point p is on a line L whose normal has an orientation a and whose distance from the origin is r (Figure 5). This method has an advantage in expressing...sonar(FRONTR); Wine(&pl); while(hitl I >’- 100.0 11 hitl 1 - 0.0 ){ hitl I = sonar(FRONTR); I skipO; line(&p3); gat- robO (&posit 1); while(positl.x

Visual feedback training improves postural adjustments associated with moving obstacle avoidance in elderly women.

PubMed

Hatzitaki, V; Voudouris, D; Nikodelis, T; Amiridis, I G

2009-02-01

The study examined the impact of visually guided weight shifting (WS) practice on the postural adjustments evoked by elderly women when avoiding collision with a moving obstacle while standing. Fifty-six healthy elderly women (70.9+/-5.7 years, 87.5+/-9.6 kg) were randomly assigned into one of three groups: a group that completed 12 sessions (25 min, 3s/week) of WS practice in the Anterior/Posterior direction (A/P group, n=20), a group that performed the same practice in the medio/lateral direction (M/L group, n=20) and a control group (n=16). Pre- and post-training, participants were tested in a moving obstacle avoidance task. As a result of practice, postural response onset shifted closer to the time of collision with the obstacle. Side-to-side WS resulted in a reduction of the M/L sway amplitude and an increase of the trunk's velocity during avoidance. It is concluded that visually guided WS practice enhances elderly's ability for on-line visuo-motor processing when avoiding collision eliminating reliance on anticipatory scaling. Specifying the direction of WS seems to be critical for optimizing the transfer of training adaptations.

Design and evaluation of an autonomous, obstacle avoiding, flight control system using visual sensors

NASA Astrophysics Data System (ADS)

Crawford, Bobby Grant

In an effort to field smaller and cheaper Uninhabited Aerial Vehicles (UAVs), the Army has expressed an interest in an ability of the vehicle to autonomously detect and avoid obstacles. Current systems are not suitable for small aircraft. NASA Langley Research Center has developed a vision sensing system that uses small semiconductor cameras. The feasibility of using this sensor for the purpose of autonomous obstacle avoidance by a UAV is the focus of the research presented in this document. The vision sensor characteristics are modeled and incorporated into guidance and control algorithms designed to generate flight commands based on obstacle information received from the sensor. The system is evaluated by simulating the response to these flight commands using a six degree-of-freedom, non-linear simulation of a small, fixed wing UAV. The simulation is written using the MATLAB application and runs on a PC. Simulations were conducted to test the longitudinal and lateral capabilities of the flight control for a range of airspeeds, camera characteristics, and wind speeds. Results indicate that the control system is suitable for obstacle avoiding flight control using the simulated vision system. In addition, a method for designing and evaluating the performance of such a system has been developed that allows the user to easily change component characteristics and evaluate new systems through simulation.

How does visual manipulation affect obstacle avoidance strategies used by athletes?

PubMed

Bijman, M P; Fisher, J J; Vallis, L A

2016-01-01

Research examining our ability to avoid obstacles in our path has stressed the importance of visual input. The aim of this study was to determine if athletes playing varsity-level field sports, who rely on visual input to guide motor behaviour, are more able to guide their foot over obstacles compared to recreational individuals. While wearing kinematic markers, eight varsity athletes and eight age-matched controls (aged 18-25) walked along a walkway and stepped over stationary obstacles (180° motion arc). Visual input was manipulated using PLATO visual goggles three or two steps pre-obstacle crossing and compared to trials where vision was given throughout. A main effect between groups for peak trail toe elevation was shown with greater values generated by the controls for all crossing conditions during full vision trials only. This may be interpreted as athletes not perceiving this obstacle as an increased threat to their postural stability. Collectively, findings suggest the athletic group is able to transfer their abilities to non-specific conditions during full vision trials; however, varsity-level athletes were equally reliant on visual cues for these visually guided stepping tasks as their performance was similar to the controls when vision is removed.

Healthy young adults implement distinctive avoidance strategies while walking and circumventing virtual human vs. non-human obstacles in a virtual environment.

PubMed

Souza Silva, Wagner; Aravind, Gayatri; Sangani, Samir; Lamontagne, Anouk

2018-03-01

This study examines how three types of obstacles (cylinder, virtual human and virtual human with footstep sounds) affect circumvention strategies of healthy young adults. Sixteen participants aged 25.2 ± 2.5 years (mean ± 1SD) were tested while walking overground and viewing a virtual room through a helmet mounted display. As participants walked towards a stationary target in the far space, they avoided an obstacle (cylinder or virtual human) approaching either from the right (+40°), left (-40°) or head-on (0°). Obstacle avoidance strategies were characterized using the position and orientation of the head. Repeated mixed model analysis showed smaller minimal distances (p = 0.007) while avoiding virtual humans as compared to cylinders. Footstep sounds added to virtual humans did not modify (p = 0.2) minimal distances compared to when no sound was provided. Onset times of avoidance strategies were similar across conditions (p = 0.06). Results indicate that the nature of the obstacle (human-like vs. non-human object) matters and can modify avoidance strategies. Smaller obstacle clearances in response to virtual humans may reflect the use of a less conservative avoidance strategy, due to a resemblance of obstacles to pedestrians and a recall of strategies used in daily locomotion. The lack of influence of footstep sounds supports the fact that obstacle avoidance primarily relies on visual cues and the principle of 'inverse effectiveness' whereby multisensory neurons' response to multimodal stimuli becomes weaker when the unimodal sensory stimulus (vision) is strong. Present findings should be taken into consideration to optimize the ecological validity of VR-based obstacle avoidance paradigms used in research and rehabilitation. Copyright © 2018 Elsevier B.V. All rights reserved.

Advanced obstacle avoidance for a laser based wheelchair using optimised Bayesian neural networks.

PubMed

Trieu, Hoang T; Nguyen, Hung T; Willey, Keith

2008-01-01

In this paper we present an advanced method of obstacle avoidance for a laser based intelligent wheelchair using optimized Bayesian neural networks. Three neural networks are designed for three separate sub-tasks: passing through a door way, corridor and wall following and general obstacle avoidance. The accurate usable accessible space is determined by including the actual wheelchair dimensions in a real-time map used as inputs to each networks. Data acquisitions are performed separately to collect the patterns required for specified sub-tasks. Bayesian frame work is used to determine the optimal neural network structure in each case. Then these networks are trained under the supervision of Bayesian rule. Experiment results showed that compare to the VFH algorithm our neural networks navigated a smoother path following a near optimum trajectory.

Improved obstacle avoidance and navigation for an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Giri, Binod; Cho, Hyunsu; Williams, Benjamin C.; Tann, Hokchhay; Shakya, Bicky; Bharam, Vishal; Ahlgren, David J.

2015-01-01

This paper presents improvements made to the intelligence algorithms employed on Q, an autonomous ground vehicle, for the 2014 Intelligent Ground Vehicle Competition (IGVC). In 2012, the IGVC committee combined the formerly separate autonomous and navigation challenges into a single AUT-NAV challenge. In this new challenge, the vehicle is required to navigate through a grassy obstacle course and stay within the course boundaries (a lane of two white painted lines) that guide it toward a given GPS waypoint. Once the vehicle reaches this waypoint, it enters an open course where it is required to navigate to another GPS waypoint while avoiding obstacles. After reaching the final waypoint, the vehicle is required to traverse another obstacle course before completing the run. Q uses modular parallel software architecture in which image processing, navigation, and sensor control algorithms run concurrently. A tuned navigation algorithm allows Q to smoothly maneuver through obstacle fields. For the 2014 competition, most revisions occurred in the vision system, which detects white lines and informs the navigation component. Barrel obstacles of various colors presented a new challenge for image processing: the previous color plane extraction algorithm would not suffice. To overcome this difficulty, laser range sensor data were overlaid on visual data. Q also participates in the Joint Architecture for Unmanned Systems (JAUS) challenge at IGVC. For 2014, significant updates were implemented: the JAUS component accepted a greater variety of messages and showed better compliance to the JAUS technical standard. With these improvements, Q secured second place in the JAUS competition.

Measures for simulator evaluation of a helicopter obstacle avoidance system

NASA Technical Reports Server (NTRS)

Demaio, Joe; Sharkey, Thomas J.; Kennedy, David; Hughes, Micheal; Meade, Perry

1993-01-01

The U.S. Army Aeroflightdynamics Directorate (AFDD) has developed a high-fidelity, full-mission simulation facility for the demonstration and evaluation of advanced helicopter mission equipment. The Crew Station Research and Development Facility (CSRDF) provides the capability to conduct one- or two-crew full-mission simulations in a state-of-the-art helicopter simulator. The CSRDF provides a realistic, full field-of-regard visual environment with simulation of state-of-the-art weapons, sensors, and flight control systems. We are using the CSRDF to evaluate the ability of an obstacle avoidance system (OASYS) to support low altitude flight in cluttered terrain using night vision goggles (NVG). The OASYS uses a laser radar to locate obstacles to safe flight in the aircraft's flight path. A major concern is the detection of wires, which can be difficult to see with NVG, but other obstacles--such as trees, poles or the ground--are also a concern. The OASYS symbology is presented to the pilot on a head-up display mounted on the NVG (NVG-HUD). The NVG-HUD presents head-stabilized symbology to the pilot while allowing him to view the image intensified, out-the-window scene through the HUD. Since interference with viewing through the display is a major concern, OASYS symbology must be designed to present usable obstacle clearance information with a minimum of clutter.

Autonomous navigation and obstacle avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Larson, Jacoby; Bruch, Michael; Ebken, John

2006-05-01

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

Trust-based learning and behaviors for convoy obstacle avoidance

NASA Astrophysics Data System (ADS)

Mikulski, Dariusz G.; Karlsen, Robert E.

2015-05-01

In many multi-agent systems, robots within the same team are regarded as being fully trustworthy for cooperative tasks. However, the assumption of trustworthiness is not always justified, which may not only increase the risk of mission failure, but also endanger the lives of friendly forces. In prior work, we addressed this issue by using RoboTrust to dynamically adjust to observed behaviors or recommendations in order to mitigate the risks of illegitimate behaviors. However, in the simulations in prior work, all members of the convoy had knowledge of the convoy goal. In this paper, only the lead vehicle has knowledge of the convoy goals and the follow vehicles must infer trustworthiness strictly from lead vehicle performance. In addition, RoboTrust could only respond to observed performance and did not dynamically learn agent behavior. In this paper, we incorporate an adaptive agent-specific bias into the RoboTrust algorithm that modifies its trust dynamics. This bias is learned incrementally from agent interactions, allowing good agents to benefit from faster trust growth and slower trust decay and bad agents to be penalized with slower trust growth and faster trust decay. We then integrate this new trust model into a trust-based controller for decentralized autonomous convoy operations. We evaluate its performance in an obstacle avoidance mission, where the convoy attempts to learn the best speed and following distances combinations for an acceptable obstacle avoidance probability.

A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2016-11-01

This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.

Automatic guidance and control laws for helicopter obstacle avoidance

NASA Technical Reports Server (NTRS)

Cheng, Victor H. L.; Lam, T.

1992-01-01

The authors describe the implementation of a full-function guidance and control system for automatic obstacle avoidance in helicopter nap-of-the-earth (NOE) flight. The guidance function assumes that the helicopter is sufficiently responsive so that the flight path can be readily adjusted at NOE speeds. The controller, basically an autopilot for following the derived flight path, was implemented with parameter values to control a generic helicopter model used in the simulation. Evaluation of the guidance and control system with a 3-dimensional graphical helicopter simulation suggests that the guidance has the potential for providing good and meaningful flight trajectories.

A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

ERIC Educational Resources Information Center

Elder, David M.; Grossberg, Stephen; Mingolla, Ennio

2009-01-01

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3-dimensional virtual reality environment to determine the position of objects on the basis of motion discontinuities and computes heading direction,…

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.

Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidance

NASA Technical Reports Server (NTRS)

Smith, Phillip N.

1990-01-01

The automation of low-altitude rotorcraft flight depends on the ability to detect, locate, and navigate around obstacles lying in the rotorcraft's intended flightpath. Computer vision techniques provide a passive method of obstacle detection and range estimation, for obstacle avoidance. Several algorithms based on computer vision methods have been developed for this purpose using laboratory data; however, further development and validation of candidate algorithms require data collected from rotorcraft flight. A data base containing low-altitude imagery augmented with the rotorcraft and sensor parameters required for passive range estimation is not readily available. Here, the emphasis is on the methodology used to develop such a data base from flight-test data consisting of imagery, rotorcraft and sensor parameters, and ground-truth range measurements. As part of the data preparation, a technique for obtaining the sensor calibration parameters is described. The data base will enable the further development of algorithms for computer vision-based obstacle detection and passive range estimation, as well as provide a benchmark for verification of range estimates against ground-truth measurements.

Starfish Behavior as an Anticipatory System: Its Flexibility in Obstacle Avoidance

NASA Astrophysics Data System (ADS)

Migita, Masao

2006-06-01

As starfish do not have central nervous systems, their behaviors such as walking, righting, feeding, and so on, must be produced by some processes of self-organization of many motor organs. It has been noticed that self-organized behavioral patterns are not strictly determined by external stimuli, though such stimuli may elicit the very self-organization processes. In this sense, starfish are not only reactive like a conventional discourse of comparative psychology have presupposed. In this study, I will show diversity in self-organized behavior of a starfish exhibited under experiments on obstacle avoidance. The starfish may be considered as an anticipatory system, because it usually appeared to be free from serious deadlock at the obstacles. I will also discuss that to view the animal as an anticipatory system may have an interesting implication on the fields of behavioral biology and comparative psychology.

A soft robot capable of 2D mobility and self-sensing for obstacle detection and avoidance

NASA Astrophysics Data System (ADS)

Qin, Lei; Tang, Yucheng; Gupta, Ujjaval; Zhu, Jian

2018-04-01

Soft robots have shown great potential for surveillance applications due to their interesting attributes including inherent flexibility, extreme adaptability, and excellent ability to move in confined spaces. High mobility combined with the sensing systems that can detect obstacles plays a significant role in performing surveillance tasks. Extensive studies have been conducted on movement mechanisms of traditional hard-bodied robots to increase their mobility. However, there are limited efforts in the literature to explore the mobility of soft robots. In addition, little attempt has been made to study the obstacle-detection capability of a soft mobile robot. In this paper, we develop a soft mobile robot capable of high mobility and self-sensing for obstacle detection and avoidance. This robot, consisting of a dielectric elastomer actuator as the robot body and four electroadhesion actuators as the robot feet, can generate 2D mobility, i.e. translations and turning in a 2D plane, by programming the actuation sequence of the robot body and feet. Furthermore, we develop a self-sensing method which models the robot body as a deformable capacitor. By measuring the real-time capacitance of the robot body, the robot can detect an obstacle when the peak capacitance drops suddenly. This sensing method utilizes the robot body itself instead of external sensors to achieve detection of obstacles, which greatly reduces the weight and complexity of the robot system. The 2D mobility and self-sensing capability ensure the success of obstacle detection and avoidance, which paves the way for the development of lightweight and intelligent soft mobile robots.

Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

PubMed Central

2015-01-01

For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system. PMID:26089863

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

Negative obstacle detection by thermal signature

NASA Technical Reports Server (NTRS)

Matthies, Larry; Rankin, A.

2003-01-01

Detecting negative obstacles (ditches, potholes, and other depressions) is one of the most difficult problems in perception for autonomous, off-road navigation. Past work has largely relied on range imagery, because that is based on the geometry of the obstacle, is largely insensitive to illumination variables, and because there have not been other reliable alternatives. However, the visible aspect of negative obstacles shrinks rapidly with range, making them impossible to detect in time to avoid them at high speed. To relive this problem, we show that the interiors of negative obstacles generally remain warmer than the surrounding terrain throughout the night, making thermal signature a stable property for night-time negative obstacle detection. Experimental results to date have achieved detection distances 45% greater by using thermal signature than by using range data alone. Thermal signature is the first known observable with potential to reveal a deep negative obstacle without actually seeing far into it. Modeling solar illumination has potential to extend the usefulness of thermal signature through daylight hours.

Early Obstacle Detection and Avoidance for All to All Traffic Pattern in Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Huc, Florian; Jarry, Aubin; Leone, Pierre; Moraru, Luminita; Nikoletseas, Sotiris; Rolim, Jose

This paper deals with early obstacles recognition in wireless sensor networks under various traffic patterns. In the presence of obstacles, the efficiency of routing algorithms is increased by voluntarily avoiding some regions in the vicinity of obstacles, areas which we call dead-ends. In this paper, we first propose a fast convergent routing algorithm with proactive dead-end detection together with a formal definition and description of dead-ends. Secondly, we present a generalization of this algorithm which improves performances in all to many and all to all traffic patterns. In a third part we prove that this algorithm produces paths that are optimal up to a constant factor of 2π + 1. In a fourth part we consider the reactive version of the algorithm which is an extension of a previously known early obstacle detection algorithm. Finally we give experimental results to illustrate the efficiency of our algorithms in different scenarios.

C1,1 regularity for degenerate elliptic obstacle problems

NASA Astrophysics Data System (ADS)

Daskalopoulos, Panagiota; Feehan, Paul M. N.

2016-03-01

The Heston stochastic volatility process is a degenerate diffusion process where the degeneracy in the diffusion coefficient is proportional to the square root of the distance to the boundary of the half-plane. The generator of this process with killing, called the elliptic Heston operator, is a second-order, degenerate-elliptic partial differential operator, where the degeneracy in the operator symbol is proportional to the distance to the boundary of the half-plane. In mathematical finance, solutions to the obstacle problem for the elliptic Heston operator correspond to value functions for perpetual American-style options on the underlying asset. With the aid of weighted Sobolev spaces and weighted Hölder spaces, we establish the optimal C 1 , 1 regularity (up to the boundary of the half-plane) for solutions to obstacle problems for the elliptic Heston operator when the obstacle functions are sufficiently smooth.

A biologically inspired neural net for trajectory formation and obstacle avoidance.

PubMed

Glasius, R; Komoda, A; Gielen, S C

1996-06-01

In this paper we present a biologically inspired two-layered neural network for trajectory formation and obstacle avoidance. The two topographically ordered neural maps consist of analog neurons having continuous dynamics. The first layer, the sensory map, receives sensory information and builds up an activity pattern which contains the optimal solution (i.e. shortest path without collisions) for any given set of current position, target positions and obstacle positions. Targets and obstacles are allowed to move, in which case the activity pattern in the sensory map will change accordingly. The time evolution of the neural activity in the second layer, the motor map, results in a moving cluster of activity, which can be interpreted as a population vector. Through the feedforward connections between the two layers, input of the sensory map directs the movement of the cluster along the optimal path from the current position of the cluster to the target position. The smooth trajectory is the result of the intrinsic dynamics of the network only. No supervisor is required. The output of the motor map can be used for direct control of an autonomous system in a cluttered environment or for control of the actuators of a biological limb or robot manipulator. The system is able to reach a target even in the presence of an external perturbation. Computer simulations of a point robot and a multi-joint manipulator illustrate the theory.

Flight test of a low-altitude helicopter guidance system with obstacle avoidance capability

NASA Technical Reports Server (NTRS)

Zelenka, Richard E.; Clark, Raymond F.; Branigan, Robert G.

1995-01-01

Military aircraft regularly conduct missions that include low-atltitude, near-terrain flight in order to increase covertness and payload effectiveness. Civilian applications include airborne fire fighting, police surveillance, search and rescue, and helicopter emergency medical service. Several fixed-wing aircraft now employ terrain elevation maps and forward-pointed radars to achieve automated terrain following or terrain avoidance flight. Similar systems specialized to helicopters and their flight regime have not received as much attention. A helicopter guidance system relying on digitized terrain elevation maps has been developed that employs airborne navigation, mission requirements, aircraft performance limits, and radar altimeter returns to generate a valley-seeking, low-altitude trajectory between waypoints. The guidance trajectory is symbolically presented to the pilot on a helmet mounted display. This system has been flight tested to 150 ft (45.7 m) above ground level altitude at 80 kts, and is primarily limited by the ability of the pilot to perform manual detection and avoidance of unmapped hazards. In this study, a wide field of view laser radar sensor has been incorporated into this guidance system to assist the pilot in obstacle detection and avoidance, while expanding the system's operational flight envelope. The results from early flight tests of this system are presented. Low-altitude missions to 100 ft (30.5 m) altitude at 80n kts in the presence of unmapped natural and man-made obstacles were demonstrated while the pilot maintained situational awareness and tracking of the guidance trajectory. Further reductions in altitude are expected with continued flight testing.

Obstacle Avoidance, Visual Detection Performance, and Eye-Scanning Behavior of Glaucoma Patients in a Driving Simulator: A Preliminary Study

PubMed Central

Prado Vega, Rocío; van Leeuwen, Peter M.; Rendón Vélez, Elizabeth; Lemij, Hans G.; de Winter, Joost C. F.

2013-01-01

The objective of this study was to evaluate differences in driving performance, visual detection performance, and eye-scanning behavior between glaucoma patients and control participants without glaucoma. Glaucoma patients (n = 23) and control participants (n = 12) completed four 5-min driving sessions in a simulator. The participants were instructed to maintain the car in the right lane of a two-lane highway while their speed was automatically maintained at 100 km/h. Additional tasks per session were: Session 1: none, Session 2: verbalization of projected letters, Session 3: avoidance of static obstacles, and Session 4: combined letter verbalization and avoidance of static obstacles. Eye-scanning behavior was recorded with an eye-tracker. Results showed no statistically significant differences between patients and control participants for lane keeping, obstacle avoidance, and eye-scanning behavior. Steering activity, number of missed letters, and letter reaction time were significantly higher for glaucoma patients than for control participants. In conclusion, glaucoma patients were able to avoid objects and maintain a nominal lane keeping performance, but applied more steering input than control participants, and were more likely than control participants to miss peripherally projected stimuli. The eye-tracking results suggest that glaucoma patients did not use extra visual search to compensate for their visual field loss. Limitations of the study, such as small sample size, are discussed. PMID:24146975

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

Collision-free optimal motion and trajectory planning for robotic manipulators are solved by a method of sequential gradient restoration algorithm. Numerical examples of a two degree-of-freedom (DOF) robotic manipulator are demonstrated to show the excellence of the optimization technique and obstacle avoidance scheme. The obstacle is put on the midway, or even further inward on purpose, of the previous no-obstacle optimal trajectory. For the minimum-time purpose, the trajectory grazes by the obstacle and the minimum-time motion successfully avoids the obstacle. The minimum-time is longer for the obstacle avoidance cases than the one without obstacle. The obstacle avoidance scheme can deal with multiple obstacles in any ellipsoid forms by using artificial potential fields as penalty functions via distance functions. The method is promising in solving collision-free optimal control problems for robotics and can be applied to any DOF robotic manipulators with any performance indices and mobile robots as well. Since this method generates optimum solution based on Pontryagin Extremum Principle, rather than based on assumptions, the results provide a benchmark against which any optimization techniques can be measured.

Obstacle avoidance locomotor tasks: adaptation, memory and skill transfer.

PubMed

Kloter, Evelyne; Dietz, Volker

2012-05-01

The aim of this study was to explore the neural basis of adaptation, memory and skill transfer during human stepping over obstacles. Whilst walking on a treadmill, subjects had to perform uni- and bilateral obstacle steps. Acoustic feedback information about foot clearance was provided. Non-noxious electrical stimuli were applied to the right tibial nerve during the mid-stance phase of the right leg, i.e. 'prior' to the right or 'during' the left leg swing over the obstacle. The electromyogram (EMG) responses evoked by these stimuli in arm and leg muscles are known to reflect the neural coordination during normal and obstacle steps. The leading and trailing legs rapidly adapted foot clearance during obstacle steps with small further changes when the same obstacle condition was repeated. This adaptation was associated with a corresponding decrease in arm and leg muscle reflex EMG responses. Arm (but not leg) muscle EMG responses were greater when the stimulus was applied 'during' obstacle crossing by the left leg leading compared with stimulation 'prior' to right leg swing over the obstacle. A corresponding difference existed in arm muscle background EMG. The results indicate that, firstly, the somatosensory information gained by the performance and adaptation of uni- and bilateral obstacle stepping becomes transferred to the trailing leg in a context-specific manner. Secondly, EMG activity in arm and leg muscles parallels biomechanical adaptation of foot clearance. Thirdly, a consistently high EMG activity in the arm muscles during swing over the obstacle is required for equilibrium control. Thus, such a precision locomotor task is achieved by a context-specific, coordinated activation of arm and leg muscles for performance and equilibrium control that includes adaptation, memory and skill transfer. © 2012 The Authors. European Journal of Neuroscience © 2012 Federation of European Neuroscience Societies and Blackwell Publishing Ltd.

Energy dissipation by submarine obstacles during landslide impact on reservoir - potentially avoiding catastrophic dam collapse

NASA Astrophysics Data System (ADS)

Kafle, Jeevan; Kattel, Parameshwari; Mergili, Martin; Fischer, Jan-Thomas; Tuladhar, Bhadra Man; Pudasaini, Shiva P.

2017-04-01

Dense geophysical mass flows such as landslides, debris flows and debris avalanches may generate super tsunami waves as they impact water bodies such as the sea, hydraulic reservoirs or mountain lakes. Here, we apply a comprehensive and general two-phase, physical-mathematical mass flow model (Pudasaini, 2012) that consists of non-linear and hyperbolic-parabolic partial differential equations for mass and momentum balances, and present novel, high-resolution simulation results for two-phase flows, as a mixture of solid grains and viscous fluid, impacting fluid reservoirs with obstacles. The simulations demonstrate that due to the presence of different obstacles in the water body, the intense flow-obstacle-interaction dramatically reduces the flow momentum resulting in the rapid energy dissipation around the obstacles. With the increase of obstacle height overtopping decreases but, the deflection and capturing (holding) of solid mass increases. In addition, the submarine solid mass is captured by the multiple obstacles and the moving mass decreases both in amount and speed as each obstacle causes the flow to deflect into two streams and also captures a portion of it. This results in distinct tsunami and submarine flow dynamics with multiple surface water and submarine debris waves. This novel approach can be implemented in open source GIS modelling framework r.avaflow, and be applied in hazard mitigation, prevention and relevant engineering or environmental tasks. This might be in particular for process chains, such as debris impacts in lakes and subsequent overtopping. So, as the complex flow-obstacle-interactions strongly and simultaneously dissipate huge energy at impact such installations potentially avoid great threat against the integrity of the dam. References: Pudasaini, S. P. (2012): A general two-phase debris flow model. J. Geophys. Res. 117, F03010, doi: 10.1029/ 2011JF002186.

Effectiveness and driver acceptance of a semi-autonomous forward obstacle collision avoidance system.

PubMed

Itoh, Makoto; Horikome, Tatsuya; Inagaki, Toshiyuki

2013-09-01

This paper proposes a semi-autonomous collision avoidance system for the prevention of collisions between vehicles and pedestrians and objects on a road. The system is designed to be compatible with the human-centered automation principle, i.e., the decision to perform a maneuver to avoid a collision is made by the driver. However, the system is partly autonomous in that it turns the steering wheel independently when the driver only applies the brake, indicating his or her intent to avoid the obstacle. With a medium-fidelity driving simulator, we conducted an experiment to investigate the effectiveness of this system for improving safety in emergency situations, as well as its acceptance by drivers. The results indicate that the system effectively improves safety in emergency situations, and the semi-autonomous characteristic of the system was found to be acceptable to drivers. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Reflexive obstacle avoidance for kinematically-redundant manipulators

NASA Technical Reports Server (NTRS)

Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Vold, Havard I.

1989-01-01

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Speeded Reaching Movements around Invisible Obstacles

PubMed Central

Hudson, Todd E.; Wolfe, Uta; Maloney, Laurence T.

2012-01-01

We analyze the problem of obstacle avoidance from a Bayesian decision-theoretic perspective using an experimental task in which reaches around a virtual obstacle were made toward targets on an upright monitor. Subjects received monetary rewards for touching the target and incurred losses for accidentally touching the intervening obstacle. The locations of target-obstacle pairs within the workspace were varied from trial to trial. We compared human performance to that of a Bayesian ideal movement planner (who chooses motor strategies maximizing expected gain) using the Dominance Test employed in Hudson et al. (2007). The ideal movement planner suffers from the same sources of noise as the human, but selects movement plans that maximize expected gain in the presence of that noise. We find good agreement between the predictions of the model and actual performance in most but not all experimental conditions. PMID:23028276

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

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

Echolocation behaviour of the big brown bat (Eptesicus fuscus) in an obstacle avoidance task of increasing difficulty.

PubMed

Sändig, Sonja; Schnitzler, Hans-Ulrich; Denzinger, Annette

2014-08-15

Four big brown bats (Eptesicus fuscus) were challenged in an obstacle avoidance experiment to localize vertically stretched wires requiring progressively greater accuracy by diminishing the wire-to-wire distance from 50 to 10 cm. The performance of the bats decreased with decreasing gap size. The avoidance task became very difficult below a wire separation of 30 cm, which corresponds to the average wingspan of E. fuscus. Two of the bats were able to pass without collisions down to a gap size of 10 cm in some of the flights. The other two bats only managed to master gap sizes down to 20 and 30 cm, respectively. They also performed distinctly worse at all other gap sizes. With increasing difficulty of the task, the bats changed their flight and echolocation behaviour. Especially at gap sizes of 30 cm and below, flight paths increased in height and flight speed was reduced. In addition, the bats emitted approach signals that were arranged in groups. At all gap sizes, the largest numbers of pulses per group were observed in the last group before passing the obstacle. The more difficult the obstacle avoidance task, the more pulses there were in the groups and the shorter the within-group pulse intervals. In comparable situations, the better-performing bats always emitted groups with more pulses than the less well-performing individuals. We hypothesize that the accuracy of target localization increases with the number of pulses per group and that each group is processed as a package. © 2014. Published by The Company of Biologists Ltd.

Vision-based obstacle avoidance

DOEpatents

Galbraith, John [Los Alamos, NM

2006-07-18

A method for allowing a robot to avoid objects along a programmed path: first, a field of view for an electronic imager of the robot is established along a path where the electronic imager obtains the object location information within the field of view; second, a population coded control signal is then derived from the object location information and is transmitted to the robot; finally, the robot then responds to the control signal and avoids the detected object.

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.

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.

Pigeon interaction mode switch-based UAV distributed flocking control under obstacle environments.

PubMed

Qiu, Huaxin; Duan, Haibin

2017-11-01

Unmanned aerial vehicle (UAV) flocking control is a serious and challenging problem due to local interactions and changing environments. In this paper, a pigeon flocking model and a pigeon coordinated obstacle-avoiding model are proposed based on a behavior that pigeon flocks will switch between hierarchical and egalitarian interaction mode at different flight phases. Owning to the similarity between bird flocks and UAV swarms in essence, a distributed flocking control algorithm based on the proposed pigeon flocking and coordinated obstacle-avoiding models is designed to coordinate a heterogeneous UAV swarm to fly though obstacle environments with few informed individuals. The comparative simulation results are elaborated to show the feasibility, validity and superiority of our proposed algorithm. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Mechanical energy assessment of adult with Down syndrome during walking with obstacle avoidance.

PubMed

Salami, Firooz; Vimercati, Sara Laura; Rigoldi, Chiara; Taebi, Amirtaha; Albertini, Giorgio; Galli, Manuela

2014-08-01

The aim of this study is analyzing the differences between plane walking and stepping over an obstacle for two groups of healthy people and people with Down syndrome and then, evaluating the movement efficiency between the groups by comprising of their mechanical energy exchanges. 39 adults including two groups of 21 people with Down syndrome (age: 21.6 ± 7 years) and 18 healthy people (age: 25.1 ± 2.4 years) participated in this research. The test has been done in two conditions, first in plane walking and second in walking with an obstacle (10% of the subject's height). The gait data were acquired using quantitative movement analysis, composed of an optoelectronic system (Elite2002, BTS) with eight infrared cameras. Mechanical energy exchanges are computed by dedicated software and finally the data including spatiotemporal parameters, mechanical energy parameters and energy recovery of gait cycle are analyzed by statistical software to find significant differences. Regards to spatiotemporal parameters velocity and step length are lower in people with Down syndrome. Mechanical energy parameters particularly energy recovery does not change from healthy people to people with Down syndrome. However, there are some differences in inter-group through plane walking to obstacle avoidance and it means people with Down syndrome probably use their residual abilities in the most efficient way to achieve the main goal of an efficient energy recovery. Copyright © 2014 Elsevier Ltd. All rights reserved.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor.

PubMed

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-09-28

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

PubMed Central

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-01-01

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically. PMID:28956839

Dual tasking negatively impacts obstacle avoidance abilities in post-stroke individuals with visuospatial neglect: Task complexity matters!

PubMed

Aravind, Gayatri; Lamontagne, Anouk

2017-01-01

Persons with perceptual-attentional deficits due to visuospatial neglect (VSN) after a stroke are at a risk of collisions while walking in the presence of moving obstacles. The attentional burden of performing a dual-task may further compromise their obstacle avoidance performance, putting them at a greater risk of collisions. The objective of this study was to compare the ability of persons with (VSN+) and without VSN (VSN-) to dual task while negotiating moving obstacles. Twenty-six stroke survivors (13 VSN+, 13 VSN-) were assessed on their ability to (a) negotiate moving obstacles while walking (locomotor single task); (b) perform a pitch-discrimination task (cognitive single task) and (c) simultaneously perform the walking and cognitive tasks (dual task). We compared the groups on locomotor (collision rates, minimum distance from obstacle and onset of strategies) and cognitive (error rates) outcomes. For both single and dual task walking, VSN+ individuals showed higher collision rates compared to VSN- individuals. Dual tasking caused deterioration of locomotor (more collisions, delayed onset and smaller minimum distances) and cognitive performances (higher error rate) in VSN+ individuals. Contrastingly, VSN- individuals maintained collision rates, increased minimum distance, but showed more cognitive errors, prioritizing their locomotor performance. Individuals with VSN demonstrate cognitive-locomotor interference under dual task conditions, which could severely compromise safety when ambulating in community environments and may explain the poor recovery of independent community ambulation in these individuals.

Learning Impasses in Problem Solving

NASA Technical Reports Server (NTRS)

Hodgson, J. P. E.

1992-01-01

Problem Solving systems customarily use backtracking to deal with obstacles that they encounter in the course of trying to solve a problem. This paper outlines an approach in which the possible obstacles are investigated prior to the search for a solution. This provides a solution strategy that avoids backtracking.

Overcoming an Obstacle in Expanding a UMLS Semantic Type Extent

PubMed Central

Chen, Yan; Gu, Huanying; Perl, Yehoshua; Geller, James

2011-01-01

This paper strives to overcome a major problem encountered by a previous expansion methodology for discovering concepts highly likely to be missing a specific semantic type assignment in the UMLS. This methodology is the basis for an algorithm that presents the discovered concepts to a human auditor for review and possible correction. We analyzed the problem of the previous expansion methodology and discovered that it was due to an obstacle constituted by one or more concepts assigned the UMLS Semantic Network semantic type Classification. A new methodology was designed that bypasses such an obstacle without a combinatorial explosion in the number of concepts presented to the human auditor for review. The new expansion methodology with obstacle avoidance was tested with the semantic type Experimental Model of Disease and found over 500 concepts missed by the previous methodology that are in need of this semantic type assignment. Furthermore, other semantic types suffering from the same major problem were discovered, indicating that the methodology is of more general applicability. The algorithmic discovery of concepts that are likely missing a semantic type assignment is possible even in the face of obstacles, without an explosion in the number of processed concepts. PMID:21925287

Radar-based collision avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Zhuang, Jia-yuan; Zhang, Lei; Zhao, Shi-qi; Cao, Jian; Wang, Bo; Sun, Han-bing

2016-12-01

Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV's heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.

Cosine Kuramoto Based Distribution of a Convoy with Limit-Cycle Obstacle Avoidance Through the Use of Simulated Agents

NASA Astrophysics Data System (ADS)

Howerton, William

This thesis presents a method for the integration of complex network control algorithms with localized agent specific algorithms for maneuvering and obstacle avoidance. This method allows for successful implementation of group and agent specific behaviors. It has proven to be robust and will work for a variety of vehicle platforms. Initially, a review and implementation of two specific algorithms will be detailed. The first, a modified Kuramoto model was developed by Xu [1] which utilizes tools from graph theory to efficiently perform the task of distributing agents. The second algorithm developed by Kim [2] is an effective method for wheeled robots to avoid local obstacles using a limit-cycle navigation method. The results of implementing these methods on a test-bed of wheeled robots will be presented. Control issues related to outside disturbances not anticipated in the original theory are then discussed. A novel method of using simulated agents to separate the task of distributing agents from agent specific velocity and heading commands has been developed and implemented to address these issues. This new method can be used to combine various behaviors and is not limited to a specific control algorithm.

Strategies for handling ethical problems in end of life care: obstacles and possibilities.

PubMed

Rejnö, Åsa; Berg, Linda

2015-11-01

In end of life care, ethical problems often come to the fore. Little research is performed on ways or strategies for handling those problems and even less on obstacles to and possibilities of using such strategies. A previous study illuminated stroke team members' experiences of ethical problems and how the teams managed the situation when caring for patients faced with sudden and unexpected death from stroke. These findings have been further explored in this study. The aim of the study was to illuminate obstacles and possibilities perceived by stroke team members in using strategies for handling ethical problems when caring for patients afflicted by sudden and unexpected death caused by stroke. A qualitative method with combined deductive and inductive content analysis was utilized. Data were collected through individual interviews with 15 stroke team members working in stroke units of two associated county hospitals in western Sweden. The study was approved by the Regional Ethics Review Board, Gothenburg, Sweden. Permission was also obtained from the director of each stroke unit. All the studied strategies for handling of ethical problems were found to have both obstacles and possibilities. Uncertainty is shown as a major obstacle and unanimity as a possibility in the use of the strategies. The findings also illuminate the value of the concept "the patient's best interests" as a starting point for the carers' ethical reasoning. The concept "the patient's best interests" used as a starting point for ethical reasoning among the carers is not explicitly defined yet, which might make this value difficult to use both as a universal concept and as an argument for decisions. Carers therefore need to strengthen their argumentation and reflect on and use ethically grounded arguments and defined ethical values like dignity in their clinical work and decisions. © The Author(s) 2014.

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

NASA Technical Reports Server (NTRS)

Kyriakopoulos, K. J.; Saridis, G. N.

1993-01-01

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

Overcoming an obstacle in expanding a UMLS semantic type extent.

PubMed

Chen, Yan; Gu, Huanying; Perl, Yehoshua; Geller, James

2012-02-01

This paper strives to overcome a major problem encountered by a previous expansion methodology for discovering concepts highly likely to be missing a specific semantic type assignment in the UMLS. This methodology is the basis for an algorithm that presents the discovered concepts to a human auditor for review and possible correction. We analyzed the problem of the previous expansion methodology and discovered that it was due to an obstacle constituted by one or more concepts assigned the UMLS Semantic Network semantic type Classification. A new methodology was designed that bypasses such an obstacle without a combinatorial explosion in the number of concepts presented to the human auditor for review. The new expansion methodology with obstacle avoidance was tested with the semantic type Experimental Model of Disease and found over 500 concepts missed by the previous methodology that are in need of this semantic type assignment. Furthermore, other semantic types suffering from the same major problem were discovered, indicating that the methodology is of more general applicability. The algorithmic discovery of concepts that are likely missing a semantic type assignment is possible even in the face of obstacles, without an explosion in the number of processed concepts. Copyright © 2011 Elsevier Inc. All rights reserved.

Dynamic clearance measure to evaluate locomotor and perceptuo-motor strategies used for obstacle circumvention in a virtual environment.

PubMed

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2015-04-01

Circumvention around an obstacle entails a dynamic interaction with the obstacle to maintain a safe clearance. We used a novel mathematical interpolation method based on the modified Shepard's method of Inverse Distance Weighting to compute dynamic clearance that reflected this interaction as well as minimal clearance. This proof-of-principle study included seven young healthy, four post-stroke and four healthy age-matched individuals. A virtual environment designed to assess obstacle circumvention was used to administer a locomotor (walking) and a perceptuo-motor (navigation with a joystick) task. In both tasks, participants were asked to navigate towards a target while avoiding collision with a moving obstacle that approached from either head-on, or 30° left or right. Among young individuals, dynamic clearance did not differ significantly between obstacle approach directions in both tasks. Post-stroke individuals maintained larger and smaller dynamic clearance during the locomotor and the perceptuo-motor task respectively as compared to age-matched controls. Dynamic clearance was larger than minimal distance from the obstacle irrespective of the group, task and obstacle approach direction. Also, in contrast to minimal distance, dynamic clearance can respond differently to different avoidance behaviors. Such a measure can be beneficial in contrasting obstacle avoidance behaviors in different populations with mobility problems. Copyright © 2015 Elsevier B.V. All rights reserved.

An Obstacle Problem for Conical Deformations of Thin Elastic Sheets

NASA Astrophysics Data System (ADS)

Figalli, Alessio; Mooney, Connor

2018-05-01

A developable cone ("d-cone") is the shape made by an elastic sheet when it is pressed at its center into a hollow cylinder by a distance {ɛ}. Starting from a nonlinear model depending on the thickness h > 0 of the sheet, we prove a {Γ} -convergence result as {h → 0} to a fourth-order obstacle problem for curves in {S^2}. We then describe the exact shape of minimizers of the limit problem when {ɛ} is small. In particular, we rigorously justify previous results in the physics literature.

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.

A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments

NASA Astrophysics Data System (ADS)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2018-06-01

This paper presents a nonlinear model predictive control (MPC) formulation for obstacle avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre of gravity (CoG) that operate in unstructured environments, such as military vehicles. The term 'unstructured' in this context denotes that there are no lanes or traffic rules to follow. Existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a new nonlinear MPC formulation is developed to navigate an AGV from its initial position to a target position at high-speed safely. First, a new cost function formulation is used that aims to find the shortest path to the target position, since no reference trajectory exists in unstructured environments. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms the obstacle-free region can assume due to the presence of multiple obstacles in the prediction horizon in an unstructured environment. Third, the no-wheel-lift-off condition, which is the major dynamical safety concern for high-speed, high-CoG AGVs, is ensured by limiting the steering angle within a range obtained offline using a 14 degrees-of-freedom vehicle dynamics model. Thus, a safe, high-speed navigation is enabled in an unstructured environment. Simulations of an AGV approaching multiple obstacles are provided to demonstrate the effectiveness of the algorithm.

Obstacles Related to Structuring for Mathematization Encountered by Students When Solving Physics Problems

ERIC Educational Resources Information Center

Niss, Martin

2017-01-01

This paper studies the cognitive obstacles related to one aspect of mathematization in physics problem-solving, namely, what might be called "structuring for mathematization," where the problem situation is structured in such a way that a translation to a mathematical universe can be done. We report the results of an analysis of four…

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.

Using Thermal Radiation in Detection of Negative Obstacles

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.

2009-01-01

A method of automated detection of negative obstacles (potholes, ditches, and the like) ahead of ground vehicles at night involves processing of imagery from thermal-infrared cameras aimed at the terrain ahead of the vehicles. The method is being developed as part of an overall obstacle-avoidance scheme for autonomous and semi-autonomous offroad robotic vehicles. The method could also be applied to help human drivers of cars and trucks avoid negative obstacles -- a development that may entail only modest additional cost inasmuch as some commercially available passenger cars are already equipped with infrared cameras as aids for nighttime operation.

Laser range measurement for a satellite navigation scheme and mid-range path selection and obstacle avoidance. M.S. Thesis

NASA Technical Reports Server (NTRS)

Zuraski, G. D.

1972-01-01

The functions of a laser rangefinder on board an autonomous Martian roving vehicle are discussed. The functions are: (1) navigation by means of a passive satellite and (2) mid-range path selection and obstacle avoidance. The feasibility of using a laser to make the necessary range measurements is explored and a preliminary design is presented. The two uses of the rangefinder dictate widely different operating parameters making it impossible to use the same system for both functions.

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

NASA Technical Reports Server (NTRS)

Kyriakopoulos, K. J.; Saridis, G. N.

1991-01-01

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

Does practicing a wide range of joint angle configurations lead to higher flexibility in a manual obstacle-avoidance target-pointing task?

PubMed Central

Bootsma, Reinoud J.; Schoemaker, Marina M.; Otten, Egbert; Mouton, Leonora J.; Bongers, Raoul M.

2017-01-01

Flexibility in motor actions can be defined as variability in the use of degrees of freedom (e.g., joint angles in the arm) over repetitions while keeping performance (e.g., fingertip position) stabilized. We examined whether flexibility can be increased through enlarging the joint angle range during practice in a manual obstacle-avoidance target-pointing task. To establish differences in flexibility we partitioned the variability in joint angles over repetitions in variability within (GEV) and variability outside the solution space (NGEV). More GEV than NGEV reflects flexibility; when the ratio of the GEV and NGEV is higher, flexibility is higher. The pretest and posttest consisted of 30 repetitions of manual pointing to a target while moving over a 10 cm high obstacle. To enlarge the joint angle range during practice participants performed 600 target-pointing movements while moving over obstacles of different heights (5–9 cm, 11–15 cm). The results indicated that practicing movements over obstacles of different heights led participants to use enlarged range of joint angles compared to the range of joint angles used in movements over the 10 cm obstacle in the pretest. However, for each individual obstacle neither joint angle variance nor flexibility were higher during practice. We also did not find more flexibility after practice. In the posttest, joint angle variance was in fact smaller than before practice, primarily in GEV. The potential influences of learning effects and the task used that could underlie the results obtained are discussed. We conclude that with this specific type of practice in this specific task, enlarging the range of joint angles does not lead to more flexibility. PMID:28700695

Avoidance as an obstacle to preventing depression among urban women at high risk for violent trauma.

PubMed

Silverstein, Michael; Kistin, Caroline; Bair-Merritt, Megan; Wiltsey-Stirman, Shannon; Feinberg, Emily; Diaz-Linhart, Yaminette; Sandler, Jenna; Chen, Ning; Cabral, Howard

2016-02-01

The impact of depression interventions is often attenuated in women who have experienced trauma. We explored whether psychological avoidance could explain this phenomenon. We synthesized two pilot randomized trials of problem-solving education (PSE) among a total of 93 urban mothers. Outcomes included depressive symptoms and perceived stress. Mothers with avoidant coping styles experienced an average 1.25 episodes of moderately severe depressive symptoms over 3 months of follow-up, compared to 0.40 episodes among those with non-avoidant coping (adjusted incident rate ratio [aIRR] 2.18; 95 % CI 1.06, 4.48). PSE tended to perform better among mothers with non-avoidant coping. Among mothers with non-avoidant coping, PSE mothers experienced an average 0.24 episodes, compared to 0.58 episodes among non-avoidant controls (aIRR 0.27; 95 % CI 0.05, 1.34). Among mothers with avoidant coping, PSE mothers experienced an average 1.26 episodes, compared to 1.20 episodes among avoidant controls (aIRR 0.76; 95 % CI 0.44, 1.33). This trend toward differential impact persisted when avoidance was measured as a problem-solving style and among traumatized mothers with and without avoidant PTSD symptoms. Further research is warranted to explore the hypothesis that psychological avoidance could explain why certain depression treatment and prevention strategies break down in the presence of trauma.

Aviation obstacle auto-extraction using remote sensing information

NASA Astrophysics Data System (ADS)

Zimmer, N.; Lugsch, W.; Ravenscroft, D.; Schiefele, J.

2008-10-01

An Obstacle, in the aviation context, may be any natural, man-made, fixed or movable object, permanent or temporary. Currently, the most common way to detect relevant aviation obstacles from an aircraft or helicopter for navigation purposes and collision avoidance is the use of merged infrared and synthetic information of obstacle data. Several algorithms have been established to utilize synthetic and infrared images to generate obstacle information. There might be a situation however where the system is error-prone and may not be able to consistently determine the current environment. This situation can be avoided when the system knows the true position of the obstacle. The quality characteristics of the obstacle data strongly depends on the quality of the source data such as maps and official publications. In some countries such as newly industrializing and developing countries, quality and quantity of obstacle information is not available. The aviation world has two specifications - RTCA DO-276A and ICAO ANNEX 15 Ch. 10 - which describe the requirements for aviation obstacles. It is essential to meet these requirements to be compliant with the specifications and to support systems based on these specifications, e.g. 3D obstacle warning systems where accurate coordinates based on WGS-84 is a necessity. Existing aerial and satellite or soon to exist high quality remote sensing data makes it feasible to think about automated aviation obstacle data origination. This paper will describe the feasibility to auto-extract aviation obstacles from remote sensing data considering limitations of image and extraction technologies. Quality parameters and possible resolution of auto-extracted obstacle data will be discussed and presented.

Safe Maritime Navigation with COLREGS Using Velocity Obstacles

NASA Technical Reports Server (NTRS)

Kuwata, Yoshiaki; Wolf, Michael T.; Zarzhitsky, Dimitri; Huntsberger, Terrance L.

2011-01-01

This paper presents a motion planning algorithm for Unmanned Surface Vehicles (USVs) to navigate safely in dynamic, cluttered environments. The proposed algorithm not only addresses Hazard Avoidance (HA) for stationary and moving hazards but also applies the International Regulations for Preventing Collisions at Sea (known as COLREGs). The COLREG rules specify, for example, which vessel is responsible for giving way to the other and to which side of the "stand-on" vessel to maneuver. The three primary COLREG rules were considered in this paper: crossing, overtaking, and head-on situations. For USVs to be safely deployed in environments with other traffic boats, it is imperative that the USV's navigation algorithm obey COLREGs. Note also that if other boats disregard their responsibility under COLREGs, the USV will still apply its HA algorithms to avoid a collision. The proposed approach is based on Velocity Obstacles, which generates a cone-shaped obstacle in the velocity space. Because Velocity Obstacles also specify which side of the obstacle the vehicle will pass during the avoidance maneuver, COLREGs are encoded in the velocity space in a natural way. The algorithm is demonstrated via both simulation and on-water tests.

[Relationship Between Child Behavior and Emotional Problems and School Based Effort Avoidance].

PubMed

Weber, Hanna Maria; Büttner, Peter; Rücker, Stefan; Petermann, Franz

2015-01-01

The present study has examined the relationship between school based effort avoidance tendencies and problem behavior in children aged 9 to 16 years. Effort avoidance tendencies were assessed in 367 children with and without child care. Teachers and social workers rated children on behavioral and emotional problems with the Strengths and Difficulties Questionnaire (SDQ). Results confirmed significant but low correlations between teacher ratings of behavior and emotional problems in children and selected subscales of self-reported effort avoidance in school, especially for children in child care institutions. For them "conduct problems" were significantly correlated with three of the four subscales and the total sum score of effort avoidance whereas "hyperactivity" was the only scale which was significantly associated with the fourth subscale. In the school sample only "hyperactivity" and "peer problems" were significantly correlated with one subscale of school-based effort avoidance. The findings suggest that more problem behavior is in relation to more school based effort avoidance tendencies.

Real-time obstacle and collision avoidance system for fixed wing unmanned aerial systems

NASA Astrophysics Data System (ADS)

Esposito, Julien F.

The first original contribution of this research is the Advanced Mapping and Waypoint Generator (AMWG), a piece of software which processes publicly available elevation data in order to only retain the information necessary for a given altitude-specific flight mission. The AMWG is what makes systematic offline trajectory possible. The AMWG first creates altitude groups in order to discard elevations points which are not relevant to a specific mission because of the altitude flown at. Those groups referred to as altitude layers can in turn be reused if the original layer becomes unsafe for the altitude range in use, and the other layers are used for altitude re-scheduling in order to update the current altitude layer to a safer layer. Each layer is bounded by a lower and higher altitude, within which terrain contours are considered constant according to a conservative approach involving the principle of natural erosion. The AMWG then proceeds to obstacle contours extraction using threshold and edge detection vision algorithms. A simplification of those obstacle contours and their corresponding free space zones counterparts is performed using a fixed -tolerance Douglas-Peucker algorithm. This simplification allows free space zones to be described by vectors instead of point clouds, which enables UAS point location. The final product of the AWMG is a network of connected free space trapezoidal cells with embedded connectivity information referred to as the Synthetic Terrain Avoidance (STA network). The walls of the trapezoidal cells are then extruded as the AWMG essentially approximates a three-dimensional world by considering it as a stratification of two-dimensional layers, but the real-time phase needs 3D support. Using the graph conceptual view and the depth first search algorithm, all the connected cell sequences joining the departure to the arrival cell can be listed, a capability which is used during aircraft rerouting. By connecting two adjacent cells

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

Orbital navigation, docking and obstacle avoidance as a form of three dimensional model-based image understanding

NASA Technical Reports Server (NTRS)

Beyer, J.; Jacobus, C.; Mitchell, B.

1987-01-01

Range imagery from a laser scanner can be used to provide sufficient information for docking and obstacle avoidance procedures to be performed automatically. Three dimensional model-based computer vision algorithms in development can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous location points). Roll, pitch and yaw of the vehicle can be taken into account as image scanning takes place, so that these can be corrected when the image is converted from egocentric to world coordinates. Other attributes of the sensor, such as the registered reflectence and texture channels, provide additional data sources for algorithm robustness. Temporal fusion of sensor immages can take place in the work coordinate domain, allowing for the building of complex maps in three dimensional space.

Integrated Collision Avoidance System for Air Vehicle

NASA Technical Reports Server (NTRS)

Lin, Ching-Fang (Inventor)

2013-01-01

Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

Obstacle avoidance and concealed target detection using the Army Research Lab ultra-wideband synchronous impulse reconstruction (UWB SIRE) forward imaging radar

NASA Astrophysics Data System (ADS)

Nguyen, Lam; Wong, David; Ressler, Marc; Koenig, Francois; Stanton, Brian; Smith, Gregory; Sichina, Jeffrey; Kappra, Karl

2007-04-01

The U.S. Army Research Laboratory (ARL), as part of a mission and customer funded exploratory program, has developed a new low-frequency, ultra-wideband (UWB) synthetic aperture radar (SAR) for forward imaging to support the Army's vision of an autonomous navigation system for robotic ground vehicles. These unmanned vehicles, equipped with an array of imaging sensors, will be tasked to help detect man-made obstacles such as concealed targets, enemy minefields, and booby traps, as well as other natural obstacles such as ditches, and bodies of water. The ability of UWB radar technology to help detect concealed objects has been documented in the past and could provide an important obstacle avoidance capability for autonomous navigation systems, which would improve the speed and maneuverability of these vehicles and consequently increase the survivability of the U. S. forces on the battlefield. One of the primary features of the radar is the ability to collect and process data at combat pace in an affordable, compact, and lightweight package. To achieve this, the radar is based on the synchronous impulse reconstruction (SIRE) technique where several relatively slow and inexpensive analog-to-digital (A/D) converters are used to sample the wide bandwidth of the radar signals. We conducted an experiment this winter at Aberdeen Proving Ground (APG) to support the phenomenological studies of the backscatter from positive and negative obstacles for autonomous robotic vehicle navigation, as well as the detection of concealed targets of interest to the Army. In this paper, we briefly describe the UWB SIRE radar and the test setup in the experiment. We will also describe the signal processing and the forward imaging techniques used in the experiment. Finally, we will present imagery of man-made obstacles such as barriers, concertina wires, and mines.

Optimal motion planning for collision avoidance of mobile robots in non-stationary environments

NASA Technical Reports Server (NTRS)

Kyriakopoulos, K. J.; Saridis, G. N.

1992-01-01

An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the object is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

Virtual obstacle crossing: Reliability and differences in stroke survivors who prospectively experienced falls or no falls.

PubMed

Punt, Michiel; Bruijn, Sjoerd M; Wittink, Harriet; van de Port, Ingrid G; Wubbels, Gijs; van Dieën, Jaap H

2017-10-01

Stroke survivors often fall during walking. To reduce fall risk, gait testing and training with avoidance of virtual obstacles is gaining popularity. However, it is unknown whether and how virtual obstacle crossing is associated with fall risk. The present study assessed whether obstacle crossing characteristics are reliable and assessed differences in stroke survivors who prospectively experienced falls or no falls. We recruited twenty-nine community dwelling chronic stroke survivors. Participants crossed five virtual obstacles with increasing lengths. After a break, the test was repeated to assess test-retest reliability. For each obstacle length and trial, we determined; success rate, leading limb preference, pre and post obstacle distance, margins of stability, toe clearance, and crossing step length and speed. Subsequently, fall incidence was monitored using a fall calendar and monthly phone calls over a six-month period. Test-retest reliability was poor, but improved with increasing obstacle-length. Twelve participants reported at least one fall. No association of fall incidence with any of the obstacle crossing characteristics was found. Given the absence of height of the virtual obstacles, obstacle avoidance may have been relatively easy, allowing participants to cross obstacles in multiple ways, increasing variability of crossing characteristics and reducing the association with fall risk. These finding cast some doubt on current protocols for testing and training of obstacle avoidance in stroke rehabilitation. Copyright © 2017 Elsevier B.V. All rights reserved.

A biomimetic, energy-harvesting, obstacle-avoiding, path-planning algorithm for UAVs

NASA Astrophysics Data System (ADS)

Gudmundsson, Snorri

This dissertation presents two new approaches to energy harvesting for Unmanned Aerial Vehicles (UAV). One method is based on the Potential Flow Method (PFM); the other method seeds a wind-field map based on updraft peak analysis and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one with the minimum energy cost is selected. The dissertation concludes by using the developed theory and modeling tools to simulate the flight paths of two small Unmanned Aerial Vehicles (sUAV) in the 500 kg and 250 kg class. The results show that, in mountainous regions, substantial energy can be recovered, depending on topography and wind characteristics. For the examples presented, as much as 50% of the energy was recovered for a complex, multi-heading, multi-altitude, 170 km mission in an average wind speed of 9 m/s. The algorithms constitute a Generic Intelligent Control Algorithm (GICA) for autonomous unmanned aerial vehicles that enables an extraction of atmospheric energy while completing a mission trajectory. At the same time, the algorithm. automatically adjusts the flight path in order to avoid obstacles, in a fashion not unlike what one would expect from living organisms, such as birds and insects. This multi-disciplinary approach renders the approach biomimetic, i.e. it constitutes a synthetic system that “mimics the formation and function of biological mechanisms and processes.”.

Demonstration of obstacle avoidance system (OASYS) symbology in full mission simulation

NASA Astrophysics Data System (ADS)

Sharkey, Thomas J.

1994-06-01

The U. S. Army Aeroflightdynamics Directorate's (AFDD) Crew Station Research and Development Branch (CSRDB) conducted a multiphase effort to develop symbology displaying information from the Obstacle Avoidance System (OASYS) on the Aviator's Night Vision System (ANVIS) Head Up Display (HUD). The first phase of this program used static symbology displayed on a workstation to identify the types of information required from OASYS by the pilot. The second phase used a low-fidelity, pilot-in-the-loop simulation to evaluate fourteen different symbology-drive law combinations. Based on the results of phases 1 and 2 three candidate symbologies were selected, along with the baseline symbology developed by the OASYS contractor, for evaluation in full mission simulation. In addition, a full-daylight, full field-of-view condition and Night Vision Goggle (NVG) condition, both without OASYS symbology, were used as control conditions. The environmental conditions (e.g., ambient illumination, visual range) and task requirements (e.g., altitude and airspeed) used in the simulation were selected to severely tax the symbology. Reliable differences in performance between symbology conditions were found. Two of the symbologies developed during the earlier phases of this program resulted in reduced frequencies of ground strikes compared to OASYS baseline and NVG only conditions. The frequency of close approaches to wires was lower with the symbology developed in this program than with the baseline symbology. All OASYS symbologies improved performance relative to the NVG control condition. It is recommended that the OASYS symbology and drive laws developed during this program be used during OASYS flight tests.

A linear photodiode array employed in a short range laser triangulation obstacle avoidance sensor. M.S. Thesis; [Martian roving vehicle sensor

NASA Technical Reports Server (NTRS)

Odenthal, J. P.

1980-01-01

An opto-electronic receiver incorporating a multi-element linear photodiode array as a component of a laser-triangulation rangefinder was developed as an obstacle avoidance sensor for a Martian roving vehicle. The detector can resolve the angle of laser return in 1.5 deg increments within a field of view of 30 deg and a range of five meters. A second receiver with a 1024 elements over 60 deg and a 3 meter range is also documented. Design criteria, circuit operation, schematics, experimental results and calibration procedures are discussed.

Do characteristics of a stationary obstacle lead to adjustments in obstacle stepping strategies?

PubMed

Worden, Timothy A; De Jong, Audrey F; Vallis, Lori Ann

2016-01-01

Navigating cluttered and complex environments increases the risk of falling. To decrease this risk, it is important to understand the influence of obstacle visual cues on stepping parameters, however the specific obstacle characteristics that have the greatest influence on avoidance strategies is still under debate. The purpose of the current work is to provide further insight on the relationship between obstacle appearance in the environment and modulation of stepping parameters. Healthy young adults (N=8) first stepped over an obstacle with one visible top edge ("floating"; 8 trials) followed by trials where experimenters randomly altered the location of a ground reference object to one of 7 different positions (8 trials per location), which ranged from 6cm in front of, directly under, or up to 6cm behind the floating obstacle (at 2cm intervals). Mean take-off and landing distance as well as minimum foot clearance values were unchanged across different positions of the ground reference object; a consistent stepping trajectory was observed for all experimental conditions. Contrary to our hypotheses, results of this study indicate that ground based visual cues are not essential for the planning of stepping and clearance strategies. The simultaneous presentation of both floating and ground based objects may have provided critical information that lead to the adoption of a consistent strategy for clearing the top edge of the obstacle. The invariant foot placement observed here may be an appropriate stepping strategy for young adults, however this may not be the case across the lifespan or in special populations. Copyright © 2015 Elsevier B.V. All rights reserved.

The Value of Removing Daily Obstacles via Everyday Problem-Solving Theory: Developing an Applied Novel Procedure to Increase Self-Efficacy for Exercise

PubMed Central

Artistico, Daniele; Pinto, Angela Marinilli; Douek, Jill; Black, Justin; Pezzuti, Lina

2012-01-01

The objective of the study was to develop a novel procedure to increase self-efficacy for exercise. Gains in one’s ability to resolve day-to-day obstacles for entering an exercise routine were expected to cause an increase in self-efficacy for exercise. Fifty-five sedentary participants (did not exercise regularly for at least 4 months prior to the study) who expressed an intention to exercise in the near future were selected for the study. Participants were randomly assigned to one of three conditions: (1) an Experimental Group in which they received a problem-solving training session to learn new strategies for solving day-to-day obstacles that interfere with exercise, (2) a Control Group with Problem-Solving Training which received a problem-solving training session focused on a typical day-to-day problem unrelated to exercise, or (3) a Control Group which did not receive any problem-solving training. Assessment of obstacles to exercise and perceived self-efficacy for exercise were conducted at baseline; perceived self-efficacy for exercise was reassessed post-intervention (1 week later). No differences in perceived challenges posed by obstacles to exercise or self-efficacy for exercise were observed across groups at baseline. The Experimental Group reported greater improvement in self-efficacy for exercise compared to the Control Group with Training and the Control Group. Results of this study suggest that a novel procedure that focuses on removing obstacles to intended planned fitness activities is effective in increasing self-efficacy to engage in exercise among sedentary adults. Implications of these findings for use in applied settings and treatment studies are discussed. PMID:23372560

The Value of Removing Daily Obstacles via Everyday Problem-Solving Theory: Developing an Applied Novel Procedure to Increase Self-Efficacy for Exercise.

PubMed

Artistico, Daniele; Pinto, Angela Marinilli; Douek, Jill; Black, Justin; Pezzuti, Lina

2013-01-01

The objective of the study was to develop a novel procedure to increase self-efficacy for exercise. Gains in one's ability to resolve day-to-day obstacles for entering an exercise routine were expected to cause an increase in self-efficacy for exercise. Fifty-five sedentary participants (did not exercise regularly for at least 4 months prior to the study) who expressed an intention to exercise in the near future were selected for the study. Participants were randomly assigned to one of three conditions: (1) an Experimental Group in which they received a problem-solving training session to learn new strategies for solving day-to-day obstacles that interfere with exercise, (2) a Control Group with Problem-Solving Training which received a problem-solving training session focused on a typical day-to-day problem unrelated to exercise, or (3) a Control Group which did not receive any problem-solving training. Assessment of obstacles to exercise and perceived self-efficacy for exercise were conducted at baseline; perceived self-efficacy for exercise was reassessed post-intervention (1 week later). No differences in perceived challenges posed by obstacles to exercise or self-efficacy for exercise were observed across groups at baseline. The Experimental Group reported greater improvement in self-efficacy for exercise compared to the Control Group with Training and the Control Group. Results of this study suggest that a novel procedure that focuses on removing obstacles to intended planned fitness activities is effective in increasing self-efficacy to engage in exercise among sedentary adults. Implications of these findings for use in applied settings and treatment studies are discussed.

A stereo vision-based obstacle detection system in vehicles

NASA Astrophysics Data System (ADS)

Huh, Kunsoo; Park, Jaehak; Hwang, Junyeon; Hong, Daegun

2008-02-01

Obstacle detection is a crucial issue for driver assistance systems as well as for autonomous vehicle guidance function and it has to be performed with high reliability to avoid any potential collision with the front vehicle. The vision-based obstacle detection systems are regarded promising for this purpose because they require little infrastructure on a highway. However, the feasibility of these systems in passenger car requires accurate and robust sensing performance. In this paper, an obstacle detection system using stereo vision sensors is developed. This system utilizes feature matching, epipoplar constraint and feature aggregation in order to robustly detect the initial corresponding pairs. After the initial detection, the system executes the tracking algorithm for the obstacles. The proposed system can detect a front obstacle, a leading vehicle and a vehicle cutting into the lane. Then, the position parameters of the obstacles and leading vehicles can be obtained. The proposed obstacle detection system is implemented on a passenger car and its performance is verified experimentally.

The Sensitivity Analysis for the Flow Past Obstacles Problem with Respect to the Reynolds Number

PubMed Central

Ito, Kazufumi; Li, Zhilin; Qiao, Zhonghua

2013-01-01

In this paper, numerical sensitivity analysis with respect to the Reynolds number for the flow past obstacle problem is presented. To carry out such analysis, at each time step, we need to solve the incompressible Navier-Stokes equations on irregular domains twice, one for the primary variables; the other is for the sensitivity variables with homogeneous boundary conditions. The Navier-Stokes solver is the augmented immersed interface method for Navier-Stokes equations on irregular domains. One of the most important contribution of this paper is that our analysis can predict the critical Reynolds number at which the vortex shading begins to develop in the wake of the obstacle. Some interesting experiments are shown to illustrate how the critical Reynolds number varies with different geometric settings. PMID:24910780

The Sensitivity Analysis for the Flow Past Obstacles Problem with Respect to the Reynolds Number.

PubMed

Ito, Kazufumi; Li, Zhilin; Qiao, Zhonghua

2012-02-01

In this paper, numerical sensitivity analysis with respect to the Reynolds number for the flow past obstacle problem is presented. To carry out such analysis, at each time step, we need to solve the incompressible Navier-Stokes equations on irregular domains twice, one for the primary variables; the other is for the sensitivity variables with homogeneous boundary conditions. The Navier-Stokes solver is the augmented immersed interface method for Navier-Stokes equations on irregular domains. One of the most important contribution of this paper is that our analysis can predict the critical Reynolds number at which the vortex shading begins to develop in the wake of the obstacle. Some interesting experiments are shown to illustrate how the critical Reynolds number varies with different geometric settings.

The didactic situation in geometry learning based on analysis of learning obstacles and learning trajectory

NASA Astrophysics Data System (ADS)

Sulistyowati, Fitria; Budiyono, Slamet, Isnandar

2017-12-01

This study aims to design a didactic situation based on the analysis of learning obstacles and learning trajectory on prism volume. The type of this research is qualitative and quantitative research with steps: analyzing the learning obstacles and learning trajectory, preparing the didactic situation, applying the didactic situation in the classroom, mean difference test of problem solving ability with t-test statistic. The subjects of the study were 8th grade junior high school students in Magelang 2016/2017 selected randomly from eight existing classes. The result of this research is the design of didactic situations that can be implemented in prism volume learning. The effectiveness of didactic situations that have been designed is shown by the mean difference test that is the problem solving ability of the students after the application of the didactic situation better than before the application. The didactic situation that has been generated is expected to be a consideration for teachers to design lessons that match the character of learners, classrooms and teachers themselves, so that the potential thinking of learners can be optimized to avoid the accumulation of learning obstacles.

Background factors associated with problem avoidance behavior in healthy partners of breast cancer patients.

PubMed

Shiozaki, Mariko; Sanjo, Makiko; Hirai, Kei

2017-08-01

We evaluated avoidance behaviors of healthy partners of breast cancer patients and sought to (1) describe men's perception of their own avoidance behavior and (2) identify the background factors associated with such behavior. An Internet-based survey was conducted, and analysis was performed on the responses of 368 male spouses of female breast cancer patients. Thirty to forty percent of spouses had some type of problem avoidance behavior toward their wives. There was a high correlation (r = 0.70, P < .001) between problem avoidance behavior at the time of diagnosis and subsequent problem behavior (mean follow-up period after diagnosis: 1.3 + 1.1 years). The characteristics of spouses with avoidant behaviors included having wives with recurrence, having wives treated with anticancer drug therapy or total resection, and having their own experience of cancer. Covariance structure analysis revealed 2 factors related to the background of spouses with problem avoidance behavior: (1) having a sense of difficulty in coping (beta = 0.68, P < .001) and (2) having a poor marital relationship (beta = -0.27, P < .001). Our findings suggest that problem avoidance behavior among healthy male partners of breast cancer patients is common and correlates with difficulty coping and a poor marital relationship. It is important to address both the problem avoidance behavior itself and to support couples early, before this behavior surfaces. Copyright © 2016 John Wiley & Sons, Ltd.

Obstacles and problems of ethical leadership from the perspective of nursing leaders: a qualitative content analysis.

PubMed

Barkhordari-Sharifabad, Maasoumeh; Ashktorab, Tahereh; Atashzadeh-Shoorideh, Foroozan

2017-01-01

In the nursing profession, leadership plays a significant role in creating motivation and thus enabling nurses to provide high quality care. Ethics is an essential component of leadership qualifications and the ethical leader can help create an ethical atmosphere, offer ethical guidance, and ensure the occupational satisfaction of personnel through prioritizing moralities. However, some issues prevent the implementation of this type of leadership by nursing leaders. The aim of this study was to identify and describe some problems and obstacles in ethical leadership faced by nursing leaders, and to help them achieve more accurate information and broader perspective in this field. The present study was conducted using a qualitative approach and content analysis. A total of 14 nursing managers and educators were selected purposefully, and deep and semi-structured interviews were conducted with them. Content analysis was performed using an inductive approach. Three main categories were obtained after data analysis: ethical, cultural and managerial problems. "Ethical problems" pertain to doubt in ethical actions, ethical conflicts and ethical distress; "cultural problems" include organizational and social culture; and "managerial problems" are connected to organizational and staff-related issues. Nursing leaders put forth various aspects of the problems associated with ethical leadership in the clinical setting. This style of leadership could be promoted by developing suitable programs and providing clear-cut strategies for removing the current obstacles and correcting the organizational structure. This can lead to ethical improvement in nursing leaders and subsequently the nurses.

Evacuation simulation with consideration of obstacle removal and using game theory

NASA Astrophysics Data System (ADS)

Lin, Guan-Wen; Wong, Sai-Keung

2018-06-01

In this paper, we integrate a cellular automaton model with game theory to simulate crowd evacuation from a room with consideration of obstacle removal. The room has one or more exits, one of which is blocked by obstacles. The obstacles at the exit can be removed by volunteers. We investigate the cooperative and defective behaviors of pedestrians during evacuation. The yielder game and volunteer's dilemma game are employed to resolve interpedestrian conflict. An anticipation floor field is proposed to guide the pedestrians to avoid obstacles that are being removed. We conducted experiments to determine how a variety of conditions affect overall crowd evacuation and volunteer evacuation times. The conditions were the start time of obstacle removal, number of obstacles, placement of obstacles, time spent in obstacle removal, strength of the anticipation floor field, and obstacle visibility distance. We demonstrate how reciprocity can be achieved among pedestrians and increases the efficiency of the entire evacuation process.

Cascading a systolic array and a feedforward neural network for navigation and obstacle avoidance using potential fields

NASA Technical Reports Server (NTRS)

Plumer, Edward S.

1991-01-01

A technique is developed for vehicle navigation and control in the presence of obstacles. A potential function was devised that peaks at the surface of obstacles and has its minimum at the proper vehicle destination. This function is computed using a systolic array and is guaranteed not to have local minima. A feedfoward neural network is then used to control the steering of the vehicle using local potential field information. In this case, the vehicle is a trailer truck backing up. Previous work has demonstrated the capability of a neural network to control steering of such a trailer truck backing to a loading platform, but without obstacles. Now, the neural network was able to learn to navigate a trailer truck around obstacles while backing toward its destination. The network is trained in an obstacle free space to follow the negative gradient of the field, after which the network is able to control and navigate the truck to its target destination in a space of obstacles which may be stationary or movable.

Detecting Negative Obstacles by Use of Radar

NASA Technical Reports Server (NTRS)

Mittskus, Anthony; Lux, James

2006-01-01

Robotic land vehicles would be equipped with small radar systems to detect negative obstacles, according to a proposal. The term "negative obstacles" denotes holes, ditches, and any other terrain features characterized by abrupt steep downslopes that could be hazardous for vehicles. Video cameras and other optically based obstacle-avoidance sensors now installed on some robotic vehicles cannot detect obstacles under adverse lighting conditions. Even under favorable lighting conditions, they cannot detect negative obstacles. A radar system according to the proposal would be of the frequency-modulation/ continuous-wave (FM/CW) type. It would be installed on a vehicle, facing forward, possibly with a downward slant of the main lobe(s) of the radar beam(s) (see figure). It would utilize one or more wavelength(s) of the order of centimeters. Because such wavelengths are comparable to the characteristic dimensions of terrain features associated with negative hazards, a significant amount of diffraction would occur at such features. In effect, the diffraction would afford a limited ability to see corners and to see around corners. Hence, the system might utilize diffraction to detect corners associated with negative obstacles. At the time of reporting the information for this article, preliminary analyses of diffraction at simple negative obstacles had been performed, but an explicit description of how the system would utilize diffraction was not available.

Optimizing Value and Avoiding Problems in Building Schools.

ERIC Educational Resources Information Center

Brevard County School Board, Cocoa, FL.

This report describes school design and construction delivery processes used by the School Board of Brevard County (Cocoa, Florida) that help optimize value, avoid problems, and eliminate the cost of maintaining a large facility staff. The project phases are examined from project definition through design to construction. Project delivery…

Measuring Avoidance and Inflexibility in Weight Related Problems

ERIC Educational Resources Information Center

Lillis, Jason; Hayes, Steven C.

2008-01-01

There is growing evidence that experiential avoidance and psychological inflexibility plays a role in a variety of clinical presentations, including health problems. The present study presents preliminary data on a new measure of these processes in relation to difficult weight-related thoughts, feelings, and actions: The Acceptance and Action…

Obstacle stepping involves spinal anticipatory activity associated with quadrupedal limb coordination.

PubMed

Michel, J; van Hedel, H J A; Dietz, V

2008-04-01

Obstacle avoidance steps are associated with a facilitation of spinal reflexes in leg muscles. Here we have examined the involvement of both leg and arm muscles. Subjects walking with reduced vision on a treadmill were acoustically informed about an approaching obstacle and received feedback about task performance. Reflex responses evoked by tibial nerve stimulation were observed in all arm and leg muscles examined in this study. They were enhanced before the execution of obstacle avoidance compared with normal steps and showed an exponential adaptation in contralateral arm flexor muscles corresponding to the improvement of task performance. This enhancement was absent when the body was partially supported during the task. During the execution of obstacle steps, electromyographic activity in the arm muscles mimicked the preceding reflex behaviour with respect to enhancement and adaptation. Our results demonstrate an anticipatory quadrupedal limb coordination with an involvement of proximal arm muscles in the acquisition and performance of this precision locomotor task. This is presumably achieved by an up-regulated activity of coupled cervico-thoracal interneuronal circuits.

Training toddlers seated on mobile robots to drive indoors amidst obstacles.

PubMed

Chen, Xi; Ragonesi, Christina; Galloway, James C; Agrawal, Sunil K

2011-06-01

Mobility is a causal factor in development. Children with mobility impairments may rely upon power mobility for independence and thus require advanced driving skills to function independently. Our previous studies show that while infants can learn to drive directly to a goal using conventional joysticks in several months of training, they are unable in this timeframe to acquire the advanced skill to avoid obstacles while driving. Without adequate driving training, children are unable to explore the environment safely, the consequences of which may in turn increase their risk for developmental delay. The goal of this research therefore is to train children seated on mobile robots to purposefully and safely drive indoors. In this paper, we present results where ten typically-developing toddlers are trained to drive a robot within an obstacle course. We also report a case study with a toddler with spina-bifida who cannot independently walk. Using algorithms based on artificial potential fields to avoid obstacles, we create force field on the joystick that trains the children to navigate while avoiding obstacles. In this "assist-as-needed" approach, if the child steers the joystick outside a force tunnel centered on the desired direction, the driver experiences a bias force on the hand. Our results suggest that the use of a force-feedback joystick may yield faster learning than the use of a conventional joystick.

Age-related changes in gait adaptability in response to unpredictable obstacles and stepping targets.

PubMed

Caetano, Maria Joana D; Lord, Stephen R; Schoene, Daniel; Pelicioni, Paulo H S; Sturnieks, Daina L; Menant, Jasmine C

2016-05-01

A large proportion of falls in older people occur when walking. Limitations in gait adaptability might contribute to tripping; a frequently reported cause of falls in this group. To evaluate age-related changes in gait adaptability in response to obstacles or stepping targets presented at short notice, i.e.: approximately two steps ahead. Fifty older adults (aged 74±7 years; 34 females) and 21 young adults (aged 26±4 years; 12 females) completed 3 usual gait speed (baseline) trials. They then completed the following randomly presented gait adaptability trials: obstacle avoidance, short stepping target, long stepping target and no target/obstacle (3 trials of each). Compared with the young, the older adults slowed significantly in no target/obstacle trials compared with the baseline trials. They took more steps and spent more time in double support while approaching the obstacle and stepping targets, demonstrated poorer stepping accuracy and made more stepping errors (failed to hit the stepping targets/avoid the obstacle). The older adults also reduced velocity of the two preceding steps and shortened the previous step in the long stepping target condition and in the obstacle avoidance condition. Compared with their younger counterparts, the older adults exhibited a more conservative adaptation strategy characterised by slow, short and multiple steps with longer time in double support. Even so, they demonstrated poorer stepping accuracy and made more stepping errors. This reduced gait adaptability may place older adults at increased risk of falling when negotiating unexpected hazards. Copyright © 2016 Elsevier B.V. All rights reserved.

Understanding and avoiding potential problems in implementing automation

NASA Astrophysics Data System (ADS)

Rouse, W. B.; Morris, N. M.

1985-11-01

Technology-driven efforts to implement automation often encounter problems due to lack of acceptance or begrudging acceptance by the personnel involved. It is argued in this paper that the level of automation perceived by an individual heavily influences whether or not the automation is accepted by that individual. The factors that appear to affect perceived level of automation are discussed. Issues considered include the impact of automation on the system and the individual, correlates of acceptance, problems and risks of automation, and factors influencing alienation. Based on an understanding of these issues, a set of eight guidelines is proposed as a possible means of avoiding problems in implementing automation.

Understanding and avoiding potential problems in implementing automation

NASA Technical Reports Server (NTRS)

Rouse, W. B.; Morris, N. M.

1985-01-01

Technology-driven efforts to implement automation often encounter problems due to lack of acceptance or begrudging acceptance by the personnel involved. It is argued in this paper that the level of automation perceived by an individual heavily influences whether or not the automation is accepted by that individual. The factors that appear to affect perceived level of automation are discussed. Issues considered include the impact of automation on the system and the individual, correlates of acceptance, problems and risks of automation, and factors influencing alienation. Based on an understanding of these issues, a set of eight guidelines is proposed as a possible means of avoiding problems in implementing automation.

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.

Apparent motion perception in lower limb amputees with phantom sensations: "obstacle shunning" and "obstacle tolerance".

PubMed

Saetta, Gianluca; Grond, Ilva; Brugger, Peter; Lenggenhager, Bigna; Tsay, Anthony J; Giummarra, Melita J

2018-03-21

Phantom limbs are the phenomenal persistence of postural and sensorimotor features of an amputated limb. Although immaterial, their characteristics can be modulated by the presence of physical matter. For instance, the phantom may disappear when its phenomenal space is invaded by objects ("obstacle shunning"). Alternatively, "obstacle tolerance" occurs when the phantom is not limited by the law of impenetrability and co-exists with physical objects. Here we examined the link between this under-investigated aspect of phantom limbs and apparent motion perception. The illusion of apparent motion of human limbs involves the perception that a limb moves through or around an object, depending on the stimulus onset asynchrony (SOA) for the two images. Participants included 12 unilateral lower limb amputees matched for obstacle shunning (n = 6) and obstacle tolerance (n = 6) experiences, and 14 non-amputees. Using multilevel linear models, we replicated robust biases for short perceived trajectories for short SOA (moving through the object), and long trajectories (circumventing the object) for long SOAs in both groups. Importantly, however, amputees with obstacle shunning perceived leg stimuli to predominantly move through the object, whereas amputees with obstacle tolerance perceived leg stimuli to predominantly move around the object. That is, in people who experience obstacle shunning, apparent motion perception of lower limbs was not constrained to the laws of impenetrability (as the phantom disappears when invaded by objects), and legs can therefore move through physical objects. Amputees who experience obstacle tolerance, however, had stronger solidity constraints for lower limb apparent motion, perhaps because they must avoid co-location of the phantom with physical objects. Phantom limb experience does, therefore, appear to be modulated by intuitive physics, but not in the same way for everyone. This may have important implications for limb experience post

Inverse obstacle problem for the scalar Helmholtz equation

NASA Astrophysics Data System (ADS)

Crosta, Giovanni F.

1994-07-01

The method presented is aimed at identifying the shape of an axially symmetric, sound soft acoustic scatterer from knowledge of the incident plane wave and of the scattering amplitude. The method relies on the approximate back propagation (ABP) of the estimated far field coefficients to the obstacle boundary and iteratively minimizes a boundary defect, without the addition of any penalty term. The ABP operator owes its structure to the properties of complete families of linearly independent solutions of Helmholtz equation. If the obstacle is known, as it happens in simulations, the theory also provides some independent means of predicting the performance of the ABP method. The ABP algorithm and the related computer code are outlined. Several reconstruction examples are considered, where noise is added to the estimated far field coefficients and other errors are deliberately introduced in the data. Many numerical and graphical results are provided.

Prevention 0f Unwanted Free-Declaration of Static Obstacles in Probability Occupancy Grids

NASA Astrophysics Data System (ADS)

Krause, Stefan; Scholz, M.; Hohmann, R.

2017-10-01

Obstacle detection and avoidance are major research fields in unmanned aviation. Map based obstacle detection approaches often use discrete world representations such as probabilistic grid maps to fuse incremental environment data from different views or sensors to build a comprehensive representation. The integration of continuous measurements into a discrete representation can result in rounding errors which, in turn, leads to differences between the artificial model and real environment. The cause of these deviations is a low spatial resolution of the world representation comparison to the used sensor data. Differences between artificial representations which are used for path planning or obstacle avoidance and the real world can lead to unexpected behavior up to collisions with unmapped obstacles. This paper presents three approaches to the treatment of errors that can occur during the integration of continuous laser measurement in the discrete probabilistic grid. Further, the quality of the error prevention and the processing performance are compared with real sensor data.

Application of Decision Tree on Collision Avoidance System Design and Verification for Quadcopter

NASA Astrophysics Data System (ADS)

Chen, C.-W.; Hsieh, P.-H.; Lai, W.-H.

2017-08-01

The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters.

Stepping over obstacles: gait patterns of healthy young and old adults.

PubMed

Chen, H C; Ashton-Miller, J A; Alexander, N B; Schultz, A B

1991-11-01

Falls associated with tripping over an obstacle can be devastating to elderly individuals, yet little is known about the strategies used for stepping over obstacles by either old or young adults. The gait of gender-matched groups of 24 young and 24 old healthy adults (mean ages 22 and 71 years) was studied during a 4 m approach to and while stepping over obstacles of 0, 25, 51, or 152 mm height and in level obstacle-free walking. Optoelectronic cameras and recorders were used to record approach and obstacle crossing speeds as well as bilateral lower extremity kinematic parameters that described foot placement and movement trajectories relative to the obstacle. The results showed that age had no effect on minimum swing foot clearance (FC) over an obstacle. For the 25 mm obstacle, mean FC was 64 mm, or approximately three times that used in level gait; FC increased nonlinearly with obstacle height for all subjects. Although no age differences were found in obstacle-free gait, old adults exhibited a significantly more conservative strategy when crossing obstacles, with slower crossing speed, shorter step length, and shorter obstacle-heel strike distance. In addition, the old adults crossed the obstacle so that it was 10% further forward in their obstacle-crossing step. Although all subjects successfully avoided the riskiest form of obstacle contact, tripping, 4/24 healthy old adults stepped on an obstacle, demonstrating an increased risk for obstacle contact with age.

Vision Based Obstacle Detection in Uav Imaging

NASA Astrophysics Data System (ADS)

Badrloo, S.; Varshosaz, M.

2017-08-01

Detecting and preventing incidence with obstacles is crucial in UAV navigation and control. Most of the common obstacle detection techniques are currently sensor-based. Small UAVs are not able to carry obstacle detection sensors such as radar; therefore, vision-based methods are considered, which can be divided into stereo-based and mono-based techniques. Mono-based methods are classified into two groups: Foreground-background separation, and brain-inspired methods. Brain-inspired methods are highly efficient in obstacle detection; hence, this research aims to detect obstacles using brain-inspired techniques, which try to enlarge the obstacle by approaching it. A recent research in this field, has concentrated on matching the SIFT points along with, SIFT size-ratio factor and area-ratio of convex hulls in two consecutive frames to detect obstacles. This method is not able to distinguish between near and far obstacles or the obstacles in complex environment, and is sensitive to wrong matched points. In order to solve the above mentioned problems, this research calculates the dist-ratio of matched points. Then, each and every point is investigated for Distinguishing between far and close obstacles. The results demonstrated the high efficiency of the proposed method in complex environments.

The impact of childhood emotional abuse and experiential avoidance on maladaptive problem solving and intimate partner violence.

PubMed

Bell, Kathryn M; Higgins, Lorrin

2015-04-16

The purpose of the current study was to examine the joint influences of experiential avoidance and social problem solving on the link between childhood emotional abuse (CEA) and intimate partner violence (IPV). Experiential avoidance following CEA may interfere with a person's ability to effectively problem solve in social situations, increasing risk for conflict and interpersonal violence. As part of a larger study, 232 women recruited from the community completed measures assessing childhood emotional, physical, and sexual abuse, experiential avoidance, maladaptive social problem solving, and IPV perpetration and victimization. Final trimmed models indicated that CEA was indirectly associated with IPV victimization and perpetration via experiential avoidance and Negative Problem Orientation (NPO) and Impulsivity/Carelessness Style (ICS) social problem solving strategies. Though CEA was related to an Avoidance Style (AS) social problem solving strategy, this strategy was not significantly associated with IPV victimization or perpetration. Experiential avoidance had both a direct and indirect effect, via NPO and ICS social problem solving, on IPV victimization and perpetration. Findings suggest that CEA may lead some women to avoid unwanted internal experiences, which may adversely impact their ability to effectively problem solve in social situations and increase IPV risk.

The Impact of Childhood Emotional Abuse and Experiential Avoidance on Maladaptive Problem Solving and Intimate Partner Violence

PubMed Central

Bell, Kathryn M.; Higgins, Lorrin

2015-01-01

The purpose of the current study was to examine the joint influences of experiential avoidance and social problem solving on the link between childhood emotional abuse (CEA) and intimate partner violence (IPV). Experiential avoidance following CEA may interfere with a person’s ability to effectively problem solve in social situations, increasing risk for conflict and interpersonal violence. As part of a larger study, 232 women recruited from the community completed measures assessing childhood emotional, physical, and sexual abuse, experiential avoidance, maladaptive social problem solving, and IPV perpetration and victimization. Final trimmed models indicated that CEA was indirectly associated with IPV victimization and perpetration via experiential avoidance and Negative Problem Orientation (NPO) and Impulsivity/Carelessness Style (ICS) social problem solving strategies. Though CEA was related to an Avoidance Style (AS) social problem solving strategy, this strategy was not significantly associated with IPV victimization or perpetration. Experiential avoidance had both a direct and indirect effect, via NPO and ICS social problem solving, on IPV victimization and perpetration. Findings suggest that CEA may lead some women to avoid unwanted internal experiences, which may adversely impact their ability to effectively problem solve in social situations and increase IPV risk. PMID:25893570

Childhood trauma and problem behavior: Examining the mediating roles of experiential avoidance and mindfulness processes.

PubMed

Roche, Anne I; Kroska, Emily B; Miller, Michelle L; Kroska, Sydney K; O'Hara, Michael W

2018-03-22

Childhood trauma is associated with a variety of risky, unhealthy, or problem behaviors. The current study aimed to explore experiential avoidance and mindfulness processes as mechanisms through which childhood trauma and problem behavior are linked in a college sample. The sample consisted of college-aged young adults recruited November-December, 2016 (N = 414). Participants completed self-report measures of childhood trauma, current problem behavior, experiential avoidance, and mindfulness processes. Bootstrapped mediation analyses examined the mechanistic associations of interest. Mediation analyses indicated that experiential avoidance was a significant mediator of the association between childhood trauma and problem behavior. Additionally, multiple mediation analyses indicated that specific mindfulness facets-act with awareness and nonjudgment of inner experience-significantly mediated the same association. Interventions for college students who have experienced childhood trauma might profitably target mechanisms such as avoidance and mindfulness in order to minimize engagement in problem behavior.

Women's orgasm obstacles: A qualitative study.

PubMed

Nekoolaltak, Maryam; Keshavarz, Zohreh; Simbar, Masoumeh; Nazari, Ali Mohammad; Baghestani, Ahmad Reza

2017-08-01

Woman's orgasm plays a vital role in sexual compatibility and marital satisfaction. Orgasm in women is a learnable phenomenon that is influenced by several factors. The aim of this study is exploring obstacles to orgasm in Iranian married women. This qualitative study with directed content analysis approach was conducted in 2015-2016, on 20 Iranian married women who were individually interviewed at two medical clinics in Tehran, Iran. Orgasm obstacles were explored in one category, 4 subcategories, and 25 codes. The main category was "Multidimensionality of women's orgasm obstacles". Subcategories and some codes included: Physical obstacles (wife's or husband's boredom, vaginal infection, insufficient vaginal lubrication), psychological obstacles (lack of sexual knowledge, shame, lack of concentration on sex due to household and children problems), relational obstacles (husband's hurry, having a dispute and annoyance with spouse) and contextual obstacles (Irregular sleep hours, lack of privacy and inability to separate children's bedroom from their parents, lack of peace at home). For prevention or treatment of female orgasm disorders, attention to physical factors is not enough. Obtaining a comprehensive history about physical, psychological, relational and contextual dimensions of woman's life is necessary.

Avoidant coping partially mediates the relationship between patient problem behaviors and depressive symptoms in spousal Alzheimer caregivers.

PubMed

Mausbach, Brent T; Aschbacher, Kirstin; Patterson, Thomas L; Ancoli-Israel, Sonia; von Känel, Roland; Mills, Paul J; Dimsdale, Joel E; Grant, Igor

2006-04-01

Caring for a loved one with Alzheimer disease is a highly stressful experience that is associated with significant depressive symptoms. Previous studies indicate a positive association between problem behaviors in patients with Alzheimer disease (e.g., repeating questions, restlessness, and agitation) and depressive symptoms in their caregivers. Moreover, the extant literature indicates a robust negative relationship between escape-avoidance coping (i.e., avoiding people, wishing the situation would go away) and psychiatric well-being. The purpose of this study was to test a mediational model of the associations between patient problem behaviors, escape-avoidance coping, and depressive symptoms in Alzheimer caregivers. Ninety-five spousal caregivers (mean age: 72 years) completed measures assessing their loved ones' frequency of problem behaviors, escape-avoidance coping, and depressive symptoms. A mediational model was tested to determine if escape-avoidant coping partially mediated the relationship between patient problem behaviors and caregiver depressive symptoms. Patient problem behaviors were positively associated with escape-avoidance coping (beta = 0.38, p < 0.01) and depressive symptoms (beta = 0.26, p < 0.05). Escape-avoidance coping was positively associated with depressive symptoms (beta = 0.33, p < 0.01). In a final regression analysis, the impact of problem behaviors on depressive symptoms was less after controlling for escape-avoidance coping. Sobel's test confirmed that escape-avoidance coping significantly mediated the relationship between problem behaviors and depressive symptoms (z = 2.07, p < 0.05). Escape-avoidance coping partially mediates the association between patient problem behaviors and depressive symptoms among elderly caregivers of spouses with dementia. This finding provides a specific target for psychosocial interventions for caregivers.

Research on Collection System Optimal Design of Wind Farm with Obstacles

NASA Astrophysics Data System (ADS)

Huang, W.; Yan, B. Y.; Tan, R. S.; Liu, L. F.

2017-05-01

To the collection system optimal design of offshore wind farm, the factors considered are not only the reasonable configuration of the cable and switch, but also the influence of the obstacles on the topology design of the offshore wind farm. This paper presents a concrete topology optimization algorithm with obstacles. The minimal area rectangle encasing box of the obstacle is obtained by using the method of minimal area encasing box. Then the optimization algorithm combining the advantages of Dijkstra algorithm and Prim algorithm is used to gain the scheme of avoidance obstacle path planning. Finally a fuzzy comprehensive evaluation model based on the analytic hierarchy process is constructed to compare the performance of the different topologies. Case studies demonstrate the feasibility of the proposed algorithm and model.

Nonlinear Geometric and Differential Geometric Guidance of UAVs with Vision Sensing for Reactive Obstacle Avoidance

DTIC Science & Technology

2010-09-29

1 1 1 2 2 2ˆ ˆ ˆ ˆ ˆ ˆˆ ˆ ˆ ˆ0 0 0 0 0 0 0 0 0 0 T r ob ob ob ob ob ob tr tr trX r r rθ φ θ φ θ φ= (3.28) 29...ˆ ˆ ˆ ˆˆ ˆ ˆ0 0 0 0 0 0 0 T r ob ob ob tr tr trX r rθ φ θ φ⎡ ⎤= ⎣ ⎦ (3.29) Since obstacles are assumed to be point obstacles, it

Obstacles and problems of ethical leadership from the perspective of nursing leaders: a qualitative content analysis

PubMed Central

Barkhordari-Sharifabad, Maasoumeh; Ashktorab, Tahereh; Atashzadeh-Shoorideh, Foroozan

2017-01-01

In the nursing profession, leadership plays a significant role in creating motivation and thus enabling nurses to provide high quality care. Ethics is an essential component of leadership qualifications and the ethical leader can help create an ethical atmosphere, offer ethical guidance, and ensure the occupational satisfaction of personnel through prioritizing moralities. However, some issues prevent the implementation of this type of leadership by nursing leaders. The aim of this study was to identify and describe some problems and obstacles in ethical leadership faced by nursing leaders, and to help them achieve more accurate information and broader perspective in this field. The present study was conducted using a qualitative approach and content analysis. A total of 14 nursing managers and educators were selected purposefully, and deep and semi-structured interviews were conducted with them. Content analysis was performed using an inductive approach. Three main categories were obtained after data analysis: ethical, cultural and managerial problems. “Ethical problems” pertain to doubt in ethical actions, ethical conflicts and ethical distress; “cultural problems” include organizational and social culture; and “managerial problems” are connected to organizational and staff-related issues. Nursing leaders put forth various aspects of the problems associated with ethical leadership in the clinical setting. This style of leadership could be promoted by developing suitable programs and providing clear-cut strategies for removing the current obstacles and correcting the organizational structure. This can lead to ethical improvement in nursing leaders and subsequently the nurses. PMID:28523116

Obstacles to the discussion of sexual problems in menopausal women: a qualitative study of healthcare providers.

PubMed

Ghazanfarpour, Masoumeh; Khadivzadeh, Talat; Latifnejad Roudsari, Robab; Mehdi Hazavehei, Seyed Mohammad

2017-07-01

The aim of this study was to explore issues that challenge menopausal women in discussions of their sexual problems with a physician. This was done from the perspective of healthcare providers. In a descriptive exploratory qualitative study, using a semi-structured interview and purposive sampling, a sample set of 12 midwives and 13 general practitioners aged 25-70 years were selected in order to elicit meaning behind their experiences about the subject under study. Data analysis was carried out using qualitative content analysis. Results were used to identify a number of obstacles that hindered women from seeking help for sexual problems from GPs and midwives. These obstacles included the following: (1) traditional and cultural beliefs; (2) religious belief; (3) individuals' beliefs and (4) access to services. More research is needed to explore effective strategies to overcome these problems. Impact statement Current knowledge on the subject: In the literature, many reasons have been identified for the unwillingness of Iranian women to discuss their sexual problems with health providers. These include lack of time, feelings of shame and an expectation that a doctor cannot help. However, no qualitative study has addressed barriers held by menopausal women for seeking treatment for sexual problems. The contribution made by the results of this study: The results of this study add to the growing body of research on reasons that determine why most postmenopausal women rarely visit a doctor unless they were in tremendous physical or emotional pain. Also, menopausal women thought that an unmarried health provider would be less understanding about sexual and marital problems and they felt guilty about sharing such issues with them. Patients' opinions on the nature of menopause (a pathological vs. physiological process) affect the way in which the symptoms of menopause and sexual problems are handled by patient. The implications are of these findings for clinical

Plant root and shoot dynamics during subsurface obstacle interaction

NASA Astrophysics Data System (ADS)

Conn, Nathaniel; Aguilar, Jeffrey; Benfey, Philip; Goldman, Daniel

As roots grow, they must navigate complex underground environments to anchor and retrieve water and nutrients. From gravity sensing at the root tip to pressure sensing along the tip and elongation zone, the complex mechanosensory feedback system of the root allows it to bend towards greater depths and avoid obstacles of high impedance by asymmetrically suppressing cell elongation. Here we investigate the mechanical and physiological responses of roots to rigid obstacles. We grow Maize, Zea mays, plants in quasi-2D glass containers (22cm x 17cm x 1.4cm) filled with photoelastic gel and observe that, regardless of obstacle interaction, smaller roots branch off the primary root when the upward growing shoot (which contains the first leaf) reaches an average length of 40 mm, coinciding with when the first leaf emerges. However, prior to branching, contacts with obstacles result in reduced root growth rates. The growth rate of the root relative to the shoot is sensitive to the angle of the obstacle surface, whereby the relative root growth is greatest for horizontally oriented surfaces. We posit that root growth is prioritized when horizontal obstacles are encountered to ensure anchoring and access to nutrients during later stages of development. NSF Physics of Living Systems.

Performance and three-dimensional kinematics of bipedal lizards during obstacle negotiation.

PubMed

Olberding, Jeffrey P; McBrayer, Lance D; Higham, Timothy E

2012-01-15

Bipedal running is common among lizard species, but although the kinematics and performance of this gait have been well characterized, the advantages in biologically relevant situations are still unclear. Obstacle negotiation is a task that is ecologically relevant to many animals while moving at high speeds, such as during bipedal running, yet little is known about how obstacles impact locomotion and performance. We examined the effects of obstacle negotiation on the kinematics and performance of lizards during bipedal locomotion. We quantified three-dimensional kinematics from high-speed video (500 Hz) of six-lined racerunners (Aspidoscelis sexlineata) running on a 3 m racetrack both with and without an obstacle spanning the width of the track. The lizards did not alter their kinematics prior to contacting the obstacle. Although contact with the obstacle caused changes to the hindlimb kinematics, mean forward speed did not differ between treatments. The deviation of the vertical position of the body center of mass did not differ between treatments, suggesting that in the absence of a cost to overall performance, lizards forgo maintaining normal kinematics while negotiating obstacles in favor of a steady body center of mass height to avoid destabilizing locomotion.

Avoiding potential problems when selling accounts receivable.

PubMed

Ayers, D H; Kincaid, T J

1996-05-01

Accounts receivable financing is a potential tool for managing a provider organization's working capital needs. But before entering into a financing agreement, organizations need to consider and take steps to avoid serious problems that can arise from participation in an accounts receivable financing program. For example, the purchaser may cease purchasing the receivables, leaving the organization without funding needed for operations. Or, the financing program may be inordinately complex and unnecessarily costly to the organization. Sometimes the organization itself may fail to comply with the terms of the agreement under which the accounts receivable were sold, thus necessitating that restitution be made to the purchaser or provoking charges of fraud. These potential problems should be addressed as early as possible--before an organization enters into an accounts receivable financing program--in order to minimize time, effort, and expanse and maximize the benefits of the financing agreement.

Passive detection of subpixel obstacles for flight safety

NASA Astrophysics Data System (ADS)

Nixon, Matthew D.; Loveland, Rohan C.

2001-12-01

Military aircraft fly below 100 ft. above ground level in support of their missions. These aircraft include fixed and rotary wing and may be manned or unmanned. Flying at these low altitudes presents a safety hazard to the aircrew and aircraft, due to the occurrences of obstacles within the aircraft's flight path. The pilot must rely on eyesight and in some cases, infrared sensors to see obstacles. Many conditions can exacerbate visibility creating a situation in which obstacles are essentially invisible, creating a safety hazard, even to an alerted aircrew. Numerous catastrophic accidents have occurred in which aircraft have collided with undetected obstacles. Accidents of this type continue to be a problem for low flying military and commercial aircraft. Unmanned Aerial Vehicles (UAVs) have the same problem, whether operating autonomously or under control of a ground operator. Boeing-SVS has designed a passive, small, low- cost (under $100k) gimbaled, infrared imaging based system with advanced obstacle detection algorithms. Obstacles are detected in the infrared band, and linear features are analyzed by innovative cellular automata based software. These algorithms perform detection and location of sub-pixel linear features. The detection of the obstacles is performed on a frame by frame basis, in real time. Processed images are presented to the aircrew on their display as color enhanced features. The system has been designed such that the detected obstacles are displayed to the aircrew in sufficient time to react and maneuver the aircraft to safety. A patent for this system is on file with the US patent office, and all material herein should be treated accordingly.

Multi-actuators vehicle collision avoidance system - Experimental validation

NASA Astrophysics Data System (ADS)

Hamid, Umar Zakir Abdul; Zakuan, Fakhrul Razi Ahmad; Akmal Zulkepli, Khairul; Zulfaqar Azmi, Muhammad; Zamzuri, Hairi; Rahman, Mohd Azizi Abdul; Aizzat Zakaria, Muhammad

2018-04-01

The Insurance Institute for Highway Safety (IIHS) of the United States of America in their reports has mentioned that a significant amount of the road mishaps would be preventable if more automated active safety applications are adopted into the vehicle. This includes the incorporation of collision avoidance system. The autonomous intervention by the active steering and braking systems in the hazardous scenario can aid the driver in mitigating the collisions. In this work, a real-time platform of a multi-actuators vehicle collision avoidance system is developed. It is a continuous research scheme to develop a fully autonomous vehicle in Malaysia. The vehicle is a modular platform which can be utilized for different research purposes and is denominated as Intelligent Drive Project (iDrive). The vehicle collision avoidance proposed design is validated in a controlled environment, where the coupled longitudinal and lateral motion control system is expected to provide desired braking and steering actuation in the occurrence of a frontal static obstacle. Results indicate the ability of the platform to yield multi-actuators collision avoidance navigation in the hazardous scenario, thus avoiding the obstacle. The findings of this work are beneficial for the development of a more complex and nonlinear real-time collision avoidance work in the future.

Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

NASA Astrophysics Data System (ADS)

Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

2012-01-01

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

Three-dimensional obstacle classification in laser range data

NASA Astrophysics Data System (ADS)

Armbruster, Walter; Bers, Karl-Heinz

1998-10-01

The threat of hostile surveillance and weapon systems require military aircraft to fly under extreme conditions such as low altitude, high speed, poor visibility and incomplete terrain information. The probability of collision with natural and man-made obstacles during such contour missions is high if detection capability is restricted to conventional vision aids. Forward-looking scanning laser rangefinders which are presently being flight tested and evaluated at German proving grounds, provide a possible solution, having a large field of view, high angular and range resolution, a high pulse repetition rate, and sufficient pulse energy to register returns from wires at over 500 m range (depends on the system) with a high hit-and-detect probability. Despite the efficiency of the sensor, acceptance of current obstacle warning systems by test pilots is not very high, mainly due to the systems' inadequacies in obstacle recognition and visualization. This has motivated the development and the testing of more advanced 3d-scene analysis algorithm at FGAN-FIM to replace the obstacle recognition component of current warning systems. The basic ideas are to increase the recognition probability and to reduce the false alarm rate for hard-to-extract obstacles such as wires, by using more readily recognizable objects such as terrain, poles, pylons, trees, etc. by implementing a hierarchical classification procedure to generate a parametric description of the terrain surface as well as the class, position, orientation, size and shape of all objects in the scene. The algorithms can be used for other applications such as terrain following, autonomous obstacle avoidance, and automatic target recognition.

Fast obstacle detection based on multi-sensor information fusion

NASA Astrophysics Data System (ADS)

Lu, Linli; Ying, Jie

2014-11-01

Obstacle detection is one of the key problems in areas such as driving assistance and mobile robot navigation, which cannot meet the actual demand by using a single sensor. A method is proposed to realize the real-time access to the information of the obstacle in front of the robot and calculating the real size of the obstacle area according to the mechanism of the triangle similarity in process of imaging by fusing datum from a camera and an ultrasonic sensor, which supports the local path planning decision. In the part of image analyzing, the obstacle detection region is limited according to complementary principle. We chose ultrasonic detection range as the region for obstacle detection when the obstacle is relatively near the robot, and the travelling road area in front of the robot is the region for a relatively-long-distance detection. The obstacle detection algorithm is adapted from a powerful background subtraction algorithm ViBe: Visual Background Extractor. We extracted an obstacle free region in front of the robot in the initial frame, this region provided a reference sample set of gray scale value for obstacle detection. Experiments of detecting different obstacles at different distances respectively, give the accuracy of the obstacle detection and the error percentage between the calculated size and the actual size of the detected obstacle. Experimental results show that the detection scheme can effectively detect obstacles in front of the robot and provide size of the obstacle with relatively high dimensional accuracy.

Obstacles in Qualitative Research: Possible Solutions

ERIC Educational Resources Information Center

Poggenpoel, M.; Myburgh, C. P. H.

2005-01-01

In conducting research, the identified problem in the field will determine the research strategies chosen to address the problem. When a qualitative research strategy is deemed as the most appropriate strategy to get answers to research questions, the researcher should be aware of obstacles that can be encountered in the research process. If the…

On the Measure and the Structure of the Free Boundary of the Lower Dimensional Obstacle Problem

NASA Astrophysics Data System (ADS)

Focardi, Matteo; Spadaro, Emanuele

2018-04-01

We provide a thorough description of the free boundary for the lower dimensional obstacle problem in R^{n+1} up to sets of null H^{n-1} measure. In particular, we prove (i) local finiteness of the (n-1)-dimensional Hausdorff measure of the free boundary, (ii) H^{n-1}-rectifiability of the free boundary, (iii) classification of the frequencies up to a set of Hausdorff dimension at most (n-2) and classification of the blow-ups at H^{n-1} almost every free boundary point.

Through the eyes of a bird: modelling visually guided obstacle flight

PubMed Central

Lin, Huai-Ti; Ros, Ivo G.; Biewener, Andrew A.

2014-01-01

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted their flight path only approximately 1.5 m from the forest entry, suggesting a reactive mode of path planning. Combining flight trajectories with obstacle pole positions, we reconstructed the visual experience of the pigeons throughout obstacle flights. Assuming proportional–derivative control with a constant delay, we searched the relevant parameter space of steering gains and visuomotor delays that best explained the observed steering. We found that a pigeon's steering resembles proportional control driven by the error angle between the flight direction and the desired opening, or gap, between obstacles. Using this pigeon steering controller, we simulated obstacle flights and showed that pigeons do not simply steer to the nearest opening in the direction of flight or destination. Pigeons bias their flight direction towards larger visual gaps when making fast steering decisions. The proposed behavioural modelling method converts the obstacle avoidance behaviour into a (piecewise) target-aiming behaviour, which is better defined and understood. This study demonstrates how such an approach decomposes open-loop free-flight behaviours into components that can be independently evaluated. PMID:24812052

Through the eyes of a bird: modelling visually guided obstacle flight.

PubMed

Lin, Huai-Ti; Ros, Ivo G; Biewener, Andrew A

2014-07-06

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted their flight path only approximately 1.5 m from the forest entry, suggesting a reactive mode of path planning. Combining flight trajectories with obstacle pole positions, we reconstructed the visual experience of the pigeons throughout obstacle flights. Assuming proportional-derivative control with a constant delay, we searched the relevant parameter space of steering gains and visuomotor delays that best explained the observed steering. We found that a pigeon's steering resembles proportional control driven by the error angle between the flight direction and the desired opening, or gap, between obstacles. Using this pigeon steering controller, we simulated obstacle flights and showed that pigeons do not simply steer to the nearest opening in the direction of flight or destination. Pigeons bias their flight direction towards larger visual gaps when making fast steering decisions. The proposed behavioural modelling method converts the obstacle avoidance behaviour into a (piecewise) target-aiming behaviour, which is better defined and understood. This study demonstrates how such an approach decomposes open-loop free-flight behaviours into components that can be independently evaluated.

Women’s orgasm obstacles: A qualitative study

PubMed Central

Nekoolaltak, Maryam; Keshavarz, Zohreh; Simbar, Masoumeh; Nazari, Ali Mohammad; Baghestani, Ahmad Reza

2017-01-01

Background: Woman’s orgasm plays a vital role in sexual compatibility and marital satisfaction. Orgasm in women is a learnable phenomenon that is influenced by several factors. Objective: The aim of this study is exploring obstacles to orgasm in Iranian married women. Materials and Methods: This qualitative study with directed content analysis approach was conducted in 2015-2016, on 20 Iranian married women who were individually interviewed at two medical clinics in Tehran, Iran. Results: Orgasm obstacles were explored in one category, 4 subcategories, and 25 codes. The main category was “Multidimensionality of women’s orgasm obstacles”. Subcategories and some codes included: Physical obstacles (wife’s or husband’s boredom, vaginal infection, insufficient vaginal lubrication), psychological obstacles (lack of sexual knowledge, shame, lack of concentration on sex due to household and children problems), relational obstacles (husband’s hurry, having a dispute and annoyance with spouse) and contextual obstacles (Irregular sleep hours, lack of privacy and inability to separate children’s bedroom from their parents, lack of peace at home). Conclusion: For prevention or treatment of female orgasm disorders, attention to physical factors is not enough. Obtaining a comprehensive history about physical, psychological, relational and contextual dimensions of woman’s life is necessary. PMID:29082366

A problem of collision avoidance

NASA Technical Reports Server (NTRS)

Vincent, T. L.; Cliff, E. M.; Grantham, W. J.; Peng, W. Y.

1972-01-01

Collision avoidance between two vehicles of constant speed with limited turning radii, moving in a horizontal plane is investigated. Collision avoidance is viewed as a game by assuming that the operator of one vehicle has perfect knowledge of the state of the other, whereas the operator of the second vehicle is unaware of any impending danger. The situation envisioned is that of an encounter between a commercial aircraft and a small light aircraft. This worse case situation is examined to determine the conditions under which the commercial aircraft should execute a collision avoidance maneuver. Three different zones of vulnerability are defined and the boundaries, or barriers, between these zones are determined for a typical aircraft encounter. A discussion of the methods used to obtain the results as well as some of the salient features associated with the resultant barriers is included.

Understanding the Effects of Spaceflight on Head-trunk Coordination during Walking and Obstacle Avoidance

NASA Technical Reports Server (NTRS)

Madansingh, S.; Bloomberg, J.

2013-01-01

Prolonged exposure to spaceflight conditions results in a battery of physiological changes, some of which contribute to sensorimotor and neurovestibular deficits. Upon return to Earth, functional performance changes are tested using the Functional Task Test (FTT), which includes an obstacle course to observe post-flight balance and postural stability, specifically during turning. Aims: To quantify changes in movement strategies during turning events by observing the latency between head-andtrunk coordinated movement. Hypothesis: It is hypothesized that subjects experiencing neurovestibular adaptations will exhibit head-to-trunk locking ('en bloc' movement) during turning, exhibited by a decrease in latency between head and trunk movement. Sample: FTT data samples were collected from Shuttle and ISS missions. Samples were analyzed three times pre exposure, immediately post-exposure (0 or 1 day post) and 2-to-3 times during recovery from the microgravity environment. Methods: Two 3D inertial measurements units (XSens MTx) were attached to subjects, one on the head and one on the upper back. This study focused primarily on the yaw movements about the subject's center of rotation. Time differences (latency) between head and trunk movement were calculated at two points: the first turn (Fturn) to enter the obstacle course (approximately 90° turn) and averaged across a slalom obstacle portion, consisting of three turns (approximately three 90° turns). Results: Preliminary analysis of the data shows a trend toward decreasing head-to-trunk movement latency during post-flight ambulation, after reintroduction to Earth gravity in Shuttle and ISS astronauts. Conclusion: It is clear that changes in movement strategies are adopted during exposure to the microgravity environment and upon reintroduction to a gravity environment. Some subjects exhibit symptoms of neurovestibular neuropathy ('en bloc movement') that may impact their ability to perform post-flight functional tasks.

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

ERIC Educational Resources Information Center

Thagard, Paul; Findlay, Scott

2010-01-01

Darwin's theory of evolution by natural selection is central to modern biology, but is resisted by many people. This paper discusses the major psychological obstacles to accepting Darwin's theory. Cognitive obstacles to adopting evolution by natural selection include conceptual difficulties, methodological issues, and coherence problems that…

Recovering an elastic obstacle containing embedded objects by the acoustic far-field measurements

NASA Astrophysics Data System (ADS)

Qu, Fenglong; Yang, Jiaqing; Zhang, Bo

2018-01-01

Consider the inverse scattering problem of time-harmonic acoustic waves by a 3D bounded elastic obstacle which may contain embedded impenetrable obstacles inside. We propose a novel and simple technique to show that the elastic obstacle can be uniquely recovered by the acoustic far-field pattern at a fixed frequency, disregarding its contents. Our method is based on constructing a well-posed modified interior transmission problem on a small domain and makes use of an a priori estimate for both the acoustic and elastic wave fields in the usual H 1-norm. In the case when there is no obstacle embedded inside the elastic body, our method gives a much simpler proof for the uniqueness result obtained previously in the literature (Natroshvili et al 2000 Rend. Mat. Serie VII 20 57-92 Monk and Selgas 2009 Inverse Problems Imaging 3 173-98).

The Effects of Shoe Traction and Obstacle Height on Lower Extremity Coordination Dynamics during Walking

PubMed Central

Decker, Leslie; Houser, Jeremy J.; Noble, John M.; Karst, Gregory M.; Stergiou, Nicholas

2009-01-01

This study aims to investigate the effects of shoe traction and obstacle height on lower extremity relative phase dynamics (analysis of intralimb coordination) during walking to better understand the mechanisms employed to avoid slippage following obstacle clearance. Ten participants walked at a self-selected pace during eight conditions: four obstacle heights (0%, 10%, 20%, and 40% of limb length) while wearing two pairs of shoes (low and high traction). A coordination analysis was used and phasing relationships between lower extremity segments were examined. The results demonstrated that significant behavioral changes were elicited under varied obstacle heights and frictional conditions. Both decreasing shoe traction and increasing obstacle height resulted in a more in-phase relationship between the interacting lower limb segments. The higher the obstacle and the lower the shoe traction, the more unstable the system became. These changes in phasing relationship and variability are indicators of alterations in coordinative behavior, which if pushed further may have lead to falling. PMID:19187929

Any way you look at it, successful obstacle negotiation needs visually guided on-line foot placement regulation during the approach phase.

PubMed

Patla, Aftab E; Greig, Michael

In the two experiments discussed in this paper we quantified obstacle avoidance performance characteristics carried out open loop (without vision) but with different initial visual sampling conditions and compared it to the full vision condition. The initial visual sampling conditions included: static vision (SV), vision during forward walking for three steps and stopping (FW), vision during forward walking for three steps and not stopping (FW-NS), and vision during backward walking for three steps and stopping (BW). In experiment 1, we compared performance during SV, FW and BW with full vision condition, while in the second experiment we compared performance during FW and FW-NS conditions. The questions we wanted to address are: Is ecologically valid dynamic visual sampling of the environment superior to static visual sampling for open loop obstacle avoidance task? What are the reasons for failure in performing open loop obstacle avoidance task? The results showed that irrespective of the initial visual sampling condition when open loop control is initiated from a standing posture, the success rate was only approximately 50%. The main reason for the high failure rates was not inappropriate limb elevation, but incorrect foot placement before the obstacle. The second experiment showed that it is not the nature of visual sampling per se that influences success rate, but the fact that the open loop obstacle avoidance task is initiated from a standing posture. The results of these two experiments clearly demonstrate the importance of on-line visual information for adaptive human locomotion.

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.

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.

Velodyne HDL-64E lidar for unmanned surface vehicle obstacle detection

NASA Astrophysics Data System (ADS)

Halterman, Ryan; Bruch, Michael

2010-04-01

The Velodyne HDL-64E is a 64 laser 3D (360×26.8 degree) scanning LIDAR. It was designed to fill perception needs of DARPA Urban Challenge vehicles. As such, it was principally intended for ground use. This paper presents the performance of the HDL-64E as it relates to the marine environment for unmanned surface vehicle (USV) obstacle detection and avoidance. We describe the sensor's capacity for discerning relevant objects at sea- both through subjective observations of the raw data and through a rudimentary automated obstacle detection algorithm. We also discuss some of the complications that have arisen with the sensor.

Active avoidance: escape and dodging behaviors for reactive control

NASA Astrophysics Data System (ADS)

Arkin, Ronald C.; Carter, William M.

1992-03-01

New methods for producing avoidance behavior among moving obstacles within the context of reactive robotic control are described. These specifically include escape and dodging behaviors. Dodging is concerned with the avoidance of a ballistic projectile while escape is more useful within the context of chase. The motivation and formulation of these new reactive behaviors are presented. Simulation results of a robot in a cluttered and moving world are also provided.

Study and realization of an obstacle detection infrared system for automotive use

NASA Astrophysics Data System (ADS)

Alaouiamine, Mohammed

1991-08-01

The main technological options available in the field of obstacle detection are presented. Ultrasound, microwave, and infrared detection systems are reviewed. The reasons for choosing an infrared solution are outlined. The problems involved in developing an obstacle detection system in the near infrared are discussed. Weather condition effects, interference limitations due to multiple onboard sensors, and range detection influence are some of the problems studied. A collimated, mechanically scanned, and pulsed infrared beam is proposed to overcome some of these problems. Performances of a first and second prototype made using this system are presented.

Does physical exercise improve obstacle negotiation in the elderly? A systematic review.

PubMed

Guadagnin, Eliane C; da Rocha, Emmanuel S; Duysens, Jacques; Carpes, Felipe P

2016-01-01

Physical exercise improves walking in the elderly but much less is known about its effect on more challenged gait, such as obstacle negotiation. We conducted a systematic review to discuss the effects of regular physical exercise on kinematics and kinetics of obstacle negotiation in the elderly. A comprehensive literature search revealed 859 citations for review, whereof 206 studies entered the full-text analysis. After application of inclusion and exclusion criteria, 13 studies were included in this systematic review. Most of them presented a reasonable quality (average 0.68) but none of them reached the level of a randomized control trial. Interventions were heterogeneous, with training periods lasting from 5 days to 10 months. Studies assessed obstacle negotiation basically considering 3 types of testing paradigm, namely a walkway with either a single obstacle crossing, or with multiple obstacles, or else a treadmill with an obstacle avoidance task under time pressure. In general, longer training programs had better results and very short ones were not effective. A weekly frequency of 2-3 times was the most common among the studies showing positive effects. Regardless of exercises types performed, most of them were effective and so far, there is no consensus about the best exercise for improving obstacle negotiation. A lack of studies on this topic still is evident. Including a record of fall score can further help in deciding which programs are to be preferred. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Obstacle detectors for automated transit vehicles: A technoeconomic and market analysis

NASA Technical Reports Server (NTRS)

Lockerby, C. E.

1979-01-01

A search was conducted to identify the technical and economic characteristics of both NASA and nonNASA obstacle detectors. The findings, along with market information were compiled and analyzed for consideration by DOT and NASA in decisions about any future automated transit vehicle obstacle detector research, development, or applications project. Currently available obstacle detectors and systems under development are identified by type (sonic, capacitance, infrared/optical, guided radar, and probe contact) and compared with the three NASA devices selected as possible improvements or solutions to the problems in existing obstacle detection systems. Cost analyses and market forecasts individually for the AGT and AMTV markets are included.

Evaluation of a Portable Collision Warning Device for Patients With Peripheral Vision Loss in an Obstacle Course.

PubMed

Pundlik, Shrinivas; Tomasi, Matteo; Luo, Gang

2015-04-01

A pocket-sized collision warning device equipped with a video camera was developed to predict impending collisions based on time to collision rather than proximity. A study was conducted in a high-density obstacle course to evaluate the effect of the device on collision avoidance in people with peripheral field loss (PFL). The 41-meter-long loop-shaped obstacle course consisted of 46 stationary obstacles from floor to head level and oncoming pedestrians. Twenty-five patients with tunnel vision (n = 13) or hemianopia (n = 12) completed four consecutive loops with and without the device, while not using any other habitual mobility aid. Walking direction and device usage order were counterbalanced. Number of collisions and preferred percentage of walking speed (PPWS) were compared within subjects. Collisions were reduced significantly by approximately 37% (P < 0.001) with the device (floor-level obstacles were excluded because the device was not designed for them). No patient had more collisions when using the device. Although the PPWS were also reduced with the device from 52% to 49% (P = 0.053), this did not account for the lower number of collisions, as the changes in collisions and PPWS were not correlated (P = 0.516). The device may help patients with a wide range of PFL avoid collisions with high-level obstacles while barely affecting their walking speed.

Visually guided gait modifications for stepping over an obstacle: a bio-inspired approach.

PubMed

Silva, Pedro; Matos, Vitor; Santos, Cristina P

2014-02-01

There is an increasing interest in conceiving robotic systems that are able to move and act in an unstructured and not predefined environment, for which autonomy and adaptability are crucial features. In nature, animals are autonomous biological systems, which often serve as bio-inspiration models, not only for their physical and mechanical properties, but also their control structures that enable adaptability and autonomy-for which learning is (at least) partially responsible. This work proposes a system which seeks to enable a quadruped robot to online learn to detect and to avoid stumbling on an obstacle in its path. The detection relies in a forward internal model that estimates the robot's perceptive information by exploring the locomotion repetitive nature. The system adapts the locomotion in order to place the robot optimally before attempting to step over the obstacle, avoiding any stumbling. Locomotion adaptation is achieved by changing control parameters of a central pattern generator (CPG)-based locomotion controller. The mechanism learns the necessary alterations to the stride length in order to adapt the locomotion by changing the required CPG parameter. Both learning tasks occur online and together define a sensorimotor map, which enables the robot to learn to step over the obstacle in its path. Simulation results show the feasibility of the proposed approach.

Recognition of an obstacle in a flow using artificial neural networks.

PubMed

Carrillo, Mauricio; Que, Ulices; González, José A; López, Carlos

2017-08-01

In this work a series of artificial neural networks (ANNs) has been developed with the capacity to estimate the size and location of an obstacle obstructing the flow in a pipe. The ANNs learn the size and location of the obstacle by reading the profiles of the dynamic pressure q or the x component of the velocity v_{x} of the fluid at a certain distance from the obstacle. Data to train the ANN were generated using numerical simulations with a two-dimensional lattice Boltzmann code. We analyzed various cases varying both the diameter and the position of the obstacle on the y axis, obtaining good estimations using the R^{2} coefficient for the cases under study. Although the ANN showed problems with the classification of very small obstacles, the general results show a very good capacity for prediction.

Peritoneal dialysis catheter implantation: avoiding problems and optimizing outcomes.

PubMed

Crabtree, John H

2015-01-01

The success of peritoneal dialysis (PD) as renal replacement therapy is dependent upon the patient having a functional long-term peritoneal access. There are a number of identified best practices that must be adhered to during PD catheter placement to achieve a durable and infection-resistant access. The clinical setting, available resources, and the employed catheter insertion method may not always permit complete adherence to these practices; however, an attempt should be made to comply with them as closely as possible. Although omission of any one of the practices can lead to catheter loss, departures from some are committed more frequently, manifesting as commonly occurring clinical problems, such as drain pain, catheter tip migration, omental entrapment, pericatheter leaks and hernias, and poor exit-site location. Understanding the technical pitfalls in PD catheter placement that lead to these problems, enable the provider to modify practice habits to avoid them and optimize outcomes. © 2014 Wiley Periodicals, Inc.

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

NASA Astrophysics Data System (ADS)

Thagard, Paul; Findlay, Scott

2010-06-01

Darwin’s theory of evolution by natural selection is central to modern biology, but is resisted by many people. This paper discusses the major psychological obstacles to accepting Darwin’s theory. Cognitive obstacles to adopting evolution by natural selection include conceptual difficulties, methodological issues, and coherence problems that derive from the intuitiveness of alternative theories. The main emotional obstacles to accepting evolution are its apparent conflict with valued beliefs about God, souls, and morality. We draw on the philosophy of science and on a psychological theory of cognitive and emotional belief revision to make suggestions about what can be done to improve acceptance of Darwinian ideas.

On Algorithms for Nonlinear Minimax and Min-Max-Min Problems and Their Efficiency

DTIC Science & Technology

2011-03-01

dissertation is complete, I can finally stay home after dinner to play Wii with you. LET’S GO Mario and Yellow Mushroom... xv THIS PAGE INTENTIONALLY... balance the accuracy of the approximation with problem ill-conditioning. The sim- plest smoothing algorithm creates an accurate smooth approximating...sizing in electronic circuit boards (Chen & Fan, 1998), obstacle avoidance for robots (Kirjner- Neto & Polak, 1998), optimal design centering

Passivity-based control with collision avoidance for a hub-beam spacecraft

NASA Astrophysics Data System (ADS)

Wen, Hao; Chen, Ti; Jin, Dongping; Hu, Haiyan

2017-01-01

For the application of robotically assembling large space structures, a feedback control law is synthesized for transitional and rotational maneuvers of a 'tug' spacecraft in order to transport a flexible element to a desired position without colliding with other space bodies. The flexible element is treated as a long beam clamped to the 'tug' spacecraft modelled as a rigid hub. First, the physical property of passivity of Euler-Lagrange system is exploited to design the position and attitude controllers by taking a simpler obstacle-free control problem into account. To reduce sensing and actuating requirements, the vibration modes of the beam appendage are supposed to be not directly measured and actuated on. Besides, the requirements of measuring velocities are removed with the aid of a dynamic extension technique. Second, the bounding boxes in the form of super-quadric surfaces are exploited to enclose the maximal extents of the obstacles and the hub-beam spacecraft. The collision avoidance between bounding boxes is achieved by applying additional repulsive force and torque to the spacecraft based on the method of artificial potential field. Finally, the effectiveness of proposed control scheme is numerically demonstrated via case studies.

Obstacles and challenges following the partial decriminalisation of abortion in Colombia.

PubMed

Amado, Eduardo Díaz; Calderón García, Maria Cristina; Cristancho, Katherine Romero; Salas, Elena Prada; Hauzeur, Eliane Barreto

2010-11-01

During a highly contested process, abortion was partially decriminalised in Colombia in 2006 by the Constitutional Court: when the pregnancy threatens a woman's life or health, in cases of severe fetal malformations incompatible with life, and in cases of rape, incest or unwanted insemination. However, Colombian women still face obstacles to accessing abortion services. This is illustrated by 36 cases of women who in 2006-08 were denied the right to a lawful termination of pregnancy, or had unjustified obstacles put in their path which delayed the termination, which are analysed in this article. We argue that the obstacles resulted from fundamental disagreements about abortion and misunderstandings regarding the ethical, legal and medical requirements arising from the Court's decision. In order to avoid obstacles such as demands for a judge's authorisation, institutional claims of conscientious objection, rejection of a claim of rape, or refusal of health insurance coverage for a legal termination, which constitute discrimination against women, three main strategies are suggested: public ownership of the Court's decision by all Colombian citizens, a professional approach by those involved in the provision of services in line with the law, and monitoring of its implementation by governmental and non-governmental organisations. Copyright © 2010 Reproductive Health Matters. Published by Elsevier Ltd. All rights reserved.

Stochastic performance modeling and evaluation of obstacle detectability with imaging range sensors

NASA Technical Reports Server (NTRS)

Matthies, Larry; Grandjean, Pierrick

1993-01-01

Statistical modeling and evaluation of the performance of obstacle detection systems for Unmanned Ground Vehicles (UGVs) is essential for the design, evaluation, and comparison of sensor systems. In this report, we address this issue for imaging range sensors by dividing the evaluation problem into two levels: quality of the range data itself and quality of the obstacle detection algorithms applied to the range data. We review existing models of the quality of range data from stereo vision and AM-CW LADAR, then use these to derive a new model for the quality of a simple obstacle detection algorithm. This model predicts the probability of detecting obstacles and the probability of false alarms, as a function of the size and distance of the obstacle, the resolution of the sensor, and the level of noise in the range data. We evaluate these models experimentally using range data from stereo image pairs of a gravel road with known obstacles at several distances. The results show that the approach is a promising tool for predicting and evaluating the performance of obstacle detection with imaging range sensors.

Organizational factors in fire prevention: roles, obstacles, and recommendations

Treesearch

John R. Christiansen; William S. Folkman; Keith W. Warner; Michael L. Woolcott

1976-01-01

Problems being encountered in implementing fire prevention programs were explored by studying the organization for fire prevention at the Fish Lake, Uinta, and Wasatch National Forests in Utah. The study focused on role congruency in fire prevention activities and on the social and organizational obstacles to effective programs. The problems identified included lack of...

Functional Assessment of Problem Behavior: Dispelling Myths, Overcoming Implementation Obstacles, and Developing New Lore

PubMed Central

2012-01-01

Hundreds of studies have shown the efficacy of treatments for problem behavior based on an understanding of its function. Assertions regarding the legitimacy of different types of functional assessment vary substantially across published articles, and best practices regarding the functional assessment process are sometimes difficult to cull from the empirical literature or from published discussions of the behavioral assessment process. A number of myths regarding the functional assessment process, which appear to be pervasive within different behavior-analytic research and practice communities, will be reviewed in the context of an attempt to develop new lore regarding the functional assessment process. Frequently described obstacles to implementing a critical aspect of the functional assessment process, the functional analysis, will be reviewed in the context of solutions for overcoming them. Finally, the aspects of the functional assessment process that should be exported to others versus those features that should remain the sole technological property of behavior analysts will be discussed. PMID:23326630

A classical Perron method for existence of smooth solutions to boundary value and obstacle problems for degenerate-elliptic operators via holomorphic maps

NASA Astrophysics Data System (ADS)

Feehan, Paul M. N.

2017-09-01

We prove existence of solutions to boundary value problems and obstacle problems for degenerate-elliptic, linear, second-order partial differential operators with partial Dirichlet boundary conditions using a new version of the Perron method. The elliptic operators considered have a degeneracy along a portion of the domain boundary which is similar to the degeneracy of a model linear operator identified by Daskalopoulos and Hamilton [9] in their study of the porous medium equation or the degeneracy of the Heston operator [21] in mathematical finance. Existence of a solution to the partial Dirichlet problem on a half-ball, where the operator becomes degenerate on the flat boundary and a Dirichlet condition is only imposed on the spherical boundary, provides the key additional ingredient required for our Perron method. Surprisingly, proving existence of a solution to this partial Dirichlet problem with ;mixed; boundary conditions on a half-ball is more challenging than one might expect. Due to the difficulty in developing a global Schauder estimate and due to compatibility conditions arising where the ;degenerate; and ;non-degenerate boundaries; touch, one cannot directly apply the continuity or approximate solution methods. However, in dimension two, there is a holomorphic map from the half-disk onto the infinite strip in the complex plane and one can extend this definition to higher dimensions to give a diffeomorphism from the half-ball onto the infinite ;slab;. The solution to the partial Dirichlet problem on the half-ball can thus be converted to a partial Dirichlet problem on the slab, albeit for an operator which now has exponentially growing coefficients. The required Schauder regularity theory and existence of a solution to the partial Dirichlet problem on the slab can nevertheless be obtained using previous work of the author and C. Pop [16]. Our Perron method relies on weak and strong maximum principles for degenerate-elliptic operators, concepts of

Collective strategy for obstacle navigation during cooperative transport by ants.

PubMed

McCreery, Helen F; Dix, Zachary A; Breed, Michael D; Nagpal, Radhika

2016-11-01

Group cohesion and consensus have primarily been studied in the context of discrete decisions, but some group tasks require making serial decisions that build on one another. We examine such collective problem solving by studying obstacle navigation during cooperative transport in ants. In cooperative transport, ants work together to move a large object back to their nest. We blocked cooperative transport groups of Paratrechina longicornis with obstacles of varying complexity, analyzing groups' trajectories to infer what kind of strategy the ants employed. Simple strategies require little information, but more challenging, robust strategies succeed with a wider range of obstacles. We found that transport groups use a stochastic strategy that leads to efficient navigation around simple obstacles, and still succeeds at difficult obstacles. While groups navigating obstacles preferentially move directly toward the nest, they change their behavior over time; the longer the ants are obstructed, the more likely they are to move away from the nest. This increases the chance of finding a path around the obstacle. Groups rapidly changed directions and rarely stalled during navigation, indicating that these ants maintain consensus even when the nest direction is blocked. Although some decisions were aided by the arrival of new ants, at many key points, direction changes were initiated within the group, with no apparent external cause. This ant species is highly effective at navigating complex environments, and implements a flexible strategy that works for both simple and more complex obstacles. © 2016. Published by The Company of Biologists Ltd.

Fusion of 3D laser scanner and depth images for obstacle recognition in mobile applications

NASA Astrophysics Data System (ADS)

Budzan, Sebastian; Kasprzyk, Jerzy

2016-02-01

The problem of obstacle detection and recognition or, generally, scene mapping is one of the most investigated problems in computer vision, especially in mobile applications. In this paper a fused optical system using depth information with color images gathered from the Microsoft Kinect sensor and 3D laser range scanner data is proposed for obstacle detection and ground estimation in real-time mobile systems. The algorithm consists of feature extraction in the laser range images, processing of the depth information from the Kinect sensor, fusion of the sensor information, and classification of the data into two separate categories: road and obstacle. Exemplary results are presented and it is shown that fusion of information gathered from different sources increases the effectiveness of the obstacle detection in different scenarios, and it can be used successfully for road surface mapping.

Nonlinear water waves generated by impulsive motion of submerged obstacle

NASA Astrophysics Data System (ADS)

Makarenko, N.; Kostikov, V.

2012-04-01

The fully nonlinear problem on generation of unsteady water waves by impulsively moving obstacle is studied analytically. The method involves the reduction of basic Euler equations to the integral-differential system for the wave elevation together with normal and tangential fluid velocities at the free surface. Exact model equations are derived in explicit form when the isolated obstacle is presented by totally submerged circular- or elliptic cylinder. Small-time asymptotic solution is constructed for the cylinder which starts moving with constant acceleration from rest. It is demonstrated that the leading-order solution terms describe several wave regimes such as the formation of non-stationary splash jets by vertical rising or vertical submersion of the obstacle, as well as the generation of diverging waves by horizontal- and combined motion of the obstacle under free surface. This work was supported by RFBR (grant No 10-01-00447) and by Research Program of the Russian Government (grant No 11.G34.31.0035).

A Probabilistic-Numerical Approximation for an Obstacle Problem Arising in Game Theory

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

Gruen, Christine, E-mail: christine.gruen@univ-brest.fr

We investigate a two-player zero-sum stochastic differential game in which one of the players has more information on the game than his opponent. We show how to construct numerical schemes for the value function of this game, which is given by the solution of a quasilinear partial differential equation with obstacle.

A novel artificial immune algorithm for spatial clustering with obstacle constraint and its applications.

PubMed

Sun, Liping; Luo, Yonglong; Ding, Xintao; Zhang, Ji

2014-01-01

An important component of a spatial clustering algorithm is the distance measure between sample points in object space. In this paper, the traditional Euclidean distance measure is replaced with innovative obstacle distance measure for spatial clustering under obstacle constraints. Firstly, we present a path searching algorithm to approximate the obstacle distance between two points for dealing with obstacles and facilitators. Taking obstacle distance as similarity metric, we subsequently propose the artificial immune clustering with obstacle entity (AICOE) algorithm for clustering spatial point data in the presence of obstacles and facilitators. Finally, the paper presents a comparative analysis of AICOE algorithm and the classical clustering algorithms. Our clustering model based on artificial immune system is also applied to the case of public facility location problem in order to establish the practical applicability of our approach. By using the clone selection principle and updating the cluster centers based on the elite antibodies, the AICOE algorithm is able to achieve the global optimum and better clustering effect.

Obstacles to Gender Parity in Engineering Education

ERIC Educational Resources Information Center

Rohatynskyj, Marta; Davidson, Valerie; Stiver, Warren; Hayward, Maren

2008-01-01

Low rates of women's enrolment in engineering programs has been identified as a global problem within the general concern to enable women to attain parity in education in all areas. A Western women in engineering meta-narrative is identified which contains a complex of obstacles that typify the situation of Western women. The question is asked…

Exploring the Relationship between Experiential Avoidance, Alcohol Use Disorders, and Alcohol-Related Problems among First-Year College Students

ERIC Educational Resources Information Center

Levin, Michael E.; Lillis, Jason; Seeley, John; Hayes, Steven C.; Pistorello, Jacqueline; Biglan, Anthony

2012-01-01

Objective: This study explored the relationship of experiential avoidance (eg, the tendency to avoid, suppress, or otherwise control internal experiences even when doing so causes behavioral harm) to alcohol use disorders and alcohol-related problems. Participants: Cross-sectional data were collected from 240 undergraduate college students in…

Neural correlates of obstacle negotiation in older adults: An fNIRS study.

PubMed

Chen, Michelle; Pillemer, Sarah; England, Sarah; Izzetoglu, Meltem; Mahoney, Jeannette R; Holtzer, Roee

2017-10-01

Older adults are less efficient at avoiding obstacles compared to young adults, especially under attention-demanding conditions. Using functional near-infrared-spectroscopy (fNIRS), recent studies implicated the prefrontal cortex (PFC) in cognitive control of locomotion, notably under dual-task walking conditions. The neural substrates underlying Obstacle Negotiation (ON), however, have not been established. The current study determined the role of the PFC in ON during walking in seniors. Non-demented older adults (n=90; mean age=78.1±5.5years; %female=51) underwent fNIRS acquisition to assess changes in hemodynamic activity in the PFC during normal-walk [NW] and walk-while-talk [WWT] conditions with and without obstacles. Obstacles were presented as red elliptical shapes using advanced laser technology, which resemble potholes. Linear mixed effects models were used to determine differences in oxygenated hemoglobin (HbO 2 ) levels among the four task conditions. The presence of slow gait, a risk factor for dementia and falls, served as a predictor hypothesized to moderate the effect of obstacles on PFC HbO 2 levels. PFC HbO 2 levels were significantly higher in WWT compared to NW (p<0.001) irrespective of ON. Slow gait moderated the effect of obstacles on HbO 2 levels across task conditions. Specifically, compared to participants with normal gait, PFC HbO 2 levels were significantly increased in ON-NW relative to NW (p=0.017) and ON-WWT relative to WWT (p<0.001) among individuals with slow gait. Consistent with Compensatory Reallocation, ON required greater PFC involvement among individuals with mobility limitations. Copyright © 2017 Elsevier B.V. All rights reserved.

Experiential avoidance mediates the association between thought suppression and mindfulness with problem gambling.

PubMed

Riley, Ben

2014-03-01

Experiential avoidance (EA) has been shown to be an important etiological and maintenance factor in a wide range psychopathology that includes addictive, anxiety, depressive and impulse control disorders. One common form of EA is thought suppression. Problem gambling causes enormous problems for afflicted individuals and has major social costs for their families and the community. Despite increasing interest in the contribution of EA to a broad range of psychological problems, its association with problem gambling has not previously been empirically investigated. The purpose of this cross-sectional study was to investigate the relationship between EA, thought suppression, and mindfulness among a group of 103 treatment seeking problem gamblers. Of particular interest was the extent to which EA accounted for the relationships between problem gambling and the two theoretically opposing constructs: thought suppression and mindfulness. Results showed EA was predictive of problem gambling. Thought suppression was positively associated and mindfulness negatively associated with problem gambling, and these relationships were mediated by EA. Directions for future research are suggested which include the application of treatments for problem gambling that undermine EA, such as acceptance and mindfulness based therapies.

Feeling the force: how pollen tubes deal with obstacles.

PubMed

Burri, Jan T; Vogler, Hannes; Läubli, Nino F; Hu, Chengzhi; Grossniklaus, Ueli; Nelson, Bradley J

2018-06-15

Physical forces are involved in the regulation of plant development and morphogenesis by translating mechanical stress into the modification of physiological processes, which, in turn, can affect cellular growth. Pollen tubes respond rapidly to external stimuli and provide an ideal system to study the effect of mechanical cues at the single-cell level. Here, pollen tubes were exposed to mechanical stress while monitoring the reconfiguration of their growth and recording the generated forces in real-time. We combined a lab-on-a-chip device with a microelectromechanical systems (MEMS)-based capacitive force sensor to mimic and quantify the forces that are involved in pollen tube navigation upon confronting mechanical obstacles. Several stages of obstacle avoidance were identified, including force perception, growth adjustment and penetration. We have experimentally determined the perceptive force threshold, which is the force threshold at which the pollen tube reacts to an obstacle, for Lilium longiflorum and Arabidopsis thaliana. In addition, the method we developed provides a way to calculate turgor pressure based on force and optical data. Pollen tubes sense physical barriers and actively adjust their growth behavior to overcome them. Furthermore, our system offers an ideal platform to investigate intracellular activity during force perception and growth adaption in tip growing cells. © 2018 The Authors. New Phytologist © 2018 New Phytologist Trust.

Avoiding Problems in Evaluation.

ERIC Educational Resources Information Center

Tallmadge, G. Kasten

1979-01-01

Discusses the need for awareness of real and potential problems in educational evaluation approaches, kinds of problems there are with true experimental designs and with quasi-experimental designs, and the criteria applied by the Joint Dissemination Review Panel to its review of educational programs. (MF)

Common Problems with Pyrometry at Shock Physics Experiments and How to Avoid Them

NASA Astrophysics Data System (ADS)

Seifter, Achim; Obst, Andrew; Holtkamp, David

2007-06-01

Temperature is not only one of the most prominent parameters in shock physics experiments but also very hard to determine experimentally. Only a few techniques are available because of difficulties due to the short timescale and often very low temperatures. Pyrometry is the most portable of these techniques but has to deal with some problems which give rise to uncertainties. Only if the experiment is designed very carefully some of these difficulties like background radiation from high explosive burn products, muzzle flash or laser light can be avoided. Other problems like spatial temperature non-uniformities or thermal radiation from a transparent anvil are inherent to the experiment and cannot be avoided. By choosing the proper spectral range covered by the pyrometer and fitting the obtained spectral radiance traces with appropriate models meaningful results can be obtained. In this paper we will describe the most important points to be taken into account when designing the experiment, present considerations for choosing the wavelength range of the pyrometer and show data where spatial non uniformities or radiation from hot anvils occurred and temperature data could still be obtained.

Overcoming obstacles to implementation: addressing political, institutional and behavioral problems in earthquake hazard mitigation policies

NASA Astrophysics Data System (ADS)

Alesch, Daniel J.; Petak, William J.

2002-06-01

This project is aimed at bridging the three planes, from basic research, through enabling processes, to engineered systems. At the basic research plane, we have been working to improve our collective understanding about obstacles to implementing mitigation practices, owner decision processes (in connection with other MCEER projects), and public policy processes. At the level of enabling processes, we have been seeking to develop an understanding of how obstacles to greater mitigation can be overcome by improved policy design and processes. At the engineered systems plane, our work is intended to result in practical guidelines for devising policies and programs with appropriate motivation and incentives for implementing policies and programs once adopted. This phase of the research has been aimed, first, at a thorough, multidisciplinary review of the literature concerning obstacles to implementation. Second, the research has focused on advancing the state of the art by developing means for integrating the insights offered by diverse perspectives on the implementation process from the several social, behavioral, and decision sciences. The research establishes a basis for testing our understanding of these processes in the case of hospital retrofit decisions.

How do walkers avoid a mobile robot crossing their way?

PubMed

Vassallo, Christian; Olivier, Anne-Hélène; Souères, Philippe; Crétual, Armel; Stasse, Olivier; Pettré, Julien

2017-01-01

Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction. Copyright © 2016 Elsevier B.V. All rights reserved.

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.

Understanding the Effects of Spaceflight on Head-trunk Coordination During Walking and Obstacle Avoidance

NASA Technical Reports Server (NTRS)

Madansingh, S.; Bloomberg, J. J.

2014-01-01

Prolonged exposure to spaceflight conditions results in a battery of physiological changes, some of which contribute to sensorimotor and neurovestibular deficits. Upon return to Earth, functional performance changes are tested using the Functional Task Test (FTT), which includes an obstacle course to observe post-flight balance and postural stability, specifically during turning. The goal of this study was to quantify changes in movement strategies during turning events by observing the latency between head-and-trunk coordinated movements. It was hypothesized that subjects experiencing neurovestibular adaptations would exhibit head-to-trunk locking ('en bloc' movement) during turning, exhibited by a decrease in latency between head and trunk movement. FTT data samples were collected from 13 ISS astronauts and 26 male 70-day head down tilt bed rest subjects, including bed rest controls (10 BRC) and bed rest exercisers (16 BRE). Samples were analyzed three times pre-exposure, immediately post-exposure (0 or 1 day post) and 2-to-3 times during recovery from the unloading environment. Two 3D inertial measurements units (XSens MTx) were attached to subjects, one on the head and one on the upper back. This study focused primarily on the yaw movements about the subject's center of rotation. Time differences (latency) between head and trunk movement were averaged across a slalom obstacle portion, consisting of three turns (approximately three 60° turns). All participants were grouped as 'decreaser' or 'increaser,' relating to their change in head-to-trunk movement latency between pre- and post- environmental adaptation measures. Space flight unloading (ISS) showed a bimodal response between the 'increaser' and 'decreaser' group, while both bed rest control (BRC) and bed rest exercise (BRE) populations showed increased preference towards a 'decreaser' categorization, displaying greater head-trunk locking. It is clear that changes in movement strategies are adopted during

Robust obstacle detection for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Qin, Yueming; Zhang, Xiuzhi

2018-03-01

Obstacle detection is of essential importance for Unmanned Surface Vehicles (USV). Although some obstacles (e.g., ships, islands) can be detected by Radar, there are many other obstacles (e.g., floating pieces of woods, swimmers) which are difficult to be detected via Radar because these obstacles have low radar cross section. Therefore, detecting obstacle from images taken onboard is an effective supplement. In this paper, a robust vision-based obstacle detection method for USVs is developed. The proposed method employs the monocular image sequence captured by the camera on the USVs and detects obstacles on the sea surface from the image sequence. The experiment results show that the proposed scheme is efficient to fulfill the obstacle detection task.

Effects of aging on whole body and segmental control while obstacle crossing under impaired sensory conditions.

PubMed

Novak, Alison C; Deshpande, Nandini

2014-06-01

The ability to safely negotiate obstacles is an important component of independent mobility, requiring adaptive locomotor responses to maintain dynamic balance. This study examined the effects of aging and visual-vestibular interactions on whole-body and segmental control during obstacle crossing. Twelve young and 15 older adults walked along a straight pathway and stepped over one obstacle placed in their path. The task was completed under 4 conditions which included intact or blurred vision, and intact or perturbed vestibular information using galvanic vestibular stimulation (GVS). Global task performance significantly increased under suboptimal vision conditions. Vision also significantly influenced medial-lateral center of mass displacement, irrespective of age and GVS. Older adults demonstrated significantly greater trunk pitch and head roll angles under suboptimal vision conditions. Similar to whole-body control, no GVS effect was found for any measures of segmental control. The results indicate a significant reliance on visual but not vestibular information for locomotor control during obstacle crossing. The lack of differences in GVS effects suggests that vestibular information is not up-regulated for obstacle avoidance. This is not differentially affected by aging. In older adults, insufficient visual input appears to affect ability to minimize anterior-posterior trunk movement despite a slower obstacle crossing time and walking speed. Combined with larger medial-lateral deviation of the body COM with insufficient visual information, the older adults may be at a greater risk for imbalance or inability to recover from a possible trip when stepping over an obstacle. Copyright © 2014 Elsevier B.V. All rights reserved.

Longitudinal kinematic and kinetic adaptations to obstacle crossing in recent lower limb amputees.

PubMed

Barnett, Cleveland T; Polman, Remco C J; Vanicek, Natalie

2014-12-01

Obstacle crossing is an important activity of daily living, necessary to avoid tripping or falling, although it is not fully understood how transtibial amputees adapt to performing this activity of daily living following discharge from rehabilitation. The objective of this study was to investigate the longitudinal adaptations in obstacle crossing in transtibial amputees post-discharge from rehabilitation. Longitudinal repeated measures. Seven unilateral transtibial amputees crossed an obstacle 0.1m high positioned along a walkway while kinematic and kinetic data were recorded at 1, 3 and 6 months post-discharge. At 6 months post-discharge, walking velocity had increased (0.17 m.s(-1)) with most participants self-selecting an intact lead limb preference. During swing phase, peak knee flexion (p = 0.03) and peak knee power absorption (K4; p = 0.01) were greater with an intact versus affected lead limb preference. Having crossed the obstacle, intact limb peak ankle power generation in pre-swing (A2; p = 0.01) and knee power absorption (K3; p = 0.05) during stance phase were greater when compared to the affected limb. Obstacle crossing improved, although a greater reliance on intact limb function was highlighted. Results suggested that further improvements to locomotor performance may be obtained by increasing affected limb knee range of motion and concentric and eccentric strength of the knee extensors and flexors. The novel objective data from this study establish an understanding of how recent transtibial amputees adapt to performing obstacle crossing following discharge from rehabilitation. This allows for evidence-based clinical interventions to be developed, aimed at optimising biomechanical function, thus improving overall locomotor performance and perhaps subsequent quality of life. © The International Society for Prosthetics and Orthotics 2013.

Obstacle crossing with dual tasking is a danger for individuals with Alzheimer's disease and for healthy older people.

PubMed

Simieli, Lucas; Barbieri, Fabio Augusto; Orcioli-Silva, Diego; Lirani-Silva, Ellen; Stella, Florindo; Gobbi, Lilian Teresa Bucken

2015-01-01

The aim of this study was to analyze the effects of dual tasking on obstacle crossing during walking by individuals with Alzheimer's disease (AD) and by healthy older people. Thirty four elderly individuals (16 healthy subjects and 18 individuals with AD) were recruited to participate in this study. Three AD individuals and one control participant were excluded due to exclusion criteria. The participants were instructed to walk barefoot at their own speed along an 8 m long pathway. Each participant performed five trials for each condition (unobstructed walking, unobstructed walking with dual tasking, and obstacle crossing during walking with dual tasking). The trials were completely randomized for each participant. The mid-pathway stride was measured in the unobstructed walking trials and the stride that occurred during the obstacle avoidance was measured in the trials that involved obstacle crossing. The behavior of the healthy elderly subjects and individuals with AD was similar for obstacle crossing during walking with dual tasking. Both groups used the "posture first" strategy to prioritize stability and showed decreased attention to executive tasking while walking. Additionally, AD had a strong influence on the modifications that are made by the elderly while walking under different walking conditions.

Assistive obstacle detection and navigation devices for vision-impaired users.

PubMed

Ong, S K; Zhang, J; Nee, A Y C

2013-09-01

Quality of life for the visually impaired is an urgent worldwide issue that needs to be addressed. Obstacle detection is one of the most important navigation tasks for the visually impaired. In this research, a novel range sensor placement scheme is proposed in this paper for the development of obstacle detection devices. Based on this scheme, two prototypes have been developed targeting at different user groups. This paper discusses the design issues, functional modules and the evaluation tests carried out for both prototypes. Implications for Rehabilitation Visual impairment problem is becoming more severe due to the worldwide ageing population. Individuals with visual impairment require assistance from assistive devices in daily navigation tasks. Traditional assistive devices that assist navigation may have certain drawbacks, such as the limited sensing range of a white cane. Obstacle detection devices applying the range sensor technology can identify road conditions with a higher sensing range to notify the users of potential dangers in advance.

Bi-stability in cooperative transport by ants in the presence of obstacles

PubMed Central

Pinkoviezky, Itai; Feinerman, Ofer

2018-01-01

To cooperatively carry large food items to the nest, individual ants conform their efforts and coordinate their motion. Throughout this expedition, collective motion is driven both by internal interactions between the carrying ants and a response to newly arrived informed ants that orient the cargo towards the nest. During the transport process, the carrying group must overcome obstacles that block their path to the nest. Here, we investigate the dynamics of cooperative transport, when the motion of the ants is frustrated by a linear obstacle that obstructs the motion of the cargo. The obstacle contains a narrow opening that serves as the only available passage to the nest, and through which single ants can pass but not with the cargo. We provide an analytical model for the ant-cargo system in the constrained environment that predicts a bi-stable dynamic behavior between an oscillatory mode of motion along the obstacle and a convergent mode of motion near the opening. Using both experiments and simulations, we show how for small cargo sizes, the system exhibits spontaneous transitions between these two modes of motion due to fluctuations in the applied force on the cargo. The bi-stability provides two possible problem solving strategies for overcoming the obstacle, either by attempting to pass through the opening, or take large excursions to circumvent the obstacle. PMID:29746457

Bi-stability in cooperative transport by ants in the presence of obstacles.

PubMed

Ron, Jonathan E; Pinkoviezky, Itai; Fonio, Ehud; Feinerman, Ofer; Gov, Nir S

2018-05-01

To cooperatively carry large food items to the nest, individual ants conform their efforts and coordinate their motion. Throughout this expedition, collective motion is driven both by internal interactions between the carrying ants and a response to newly arrived informed ants that orient the cargo towards the nest. During the transport process, the carrying group must overcome obstacles that block their path to the nest. Here, we investigate the dynamics of cooperative transport, when the motion of the ants is frustrated by a linear obstacle that obstructs the motion of the cargo. The obstacle contains a narrow opening that serves as the only available passage to the nest, and through which single ants can pass but not with the cargo. We provide an analytical model for the ant-cargo system in the constrained environment that predicts a bi-stable dynamic behavior between an oscillatory mode of motion along the obstacle and a convergent mode of motion near the opening. Using both experiments and simulations, we show how for small cargo sizes, the system exhibits spontaneous transitions between these two modes of motion due to fluctuations in the applied force on the cargo. The bi-stability provides two possible problem solving strategies for overcoming the obstacle, either by attempting to pass through the opening, or take large excursions to circumvent the obstacle.

Japan’s Rearmament Dilemma: Obstacles to Rearmament.

DTIC Science & Technology

1980-01-01

aircraft carrier Enterprise, and the problems with the first Japanese nuclear -powered ship , the Mutsu , have continued to keep the issue of nuclear weapons...4 Formation of the Psychology. .. ............... 4 Nuclear Allergy .. .................... 7 Self-Defense Force .. ................... 10 ARTICLE 9... nuclear weapons, would elicit a strong reaction from the U.S. This specter of the U.S. reaction is another obstacle to rearmament. While most scholars

Math Avoidance: A Barrier to American Indian Science Education and Science Careers.

ERIC Educational Resources Information Center

Green, Rayna

1978-01-01

For American Indian students, math anxiety and math avoidance are the most serious obstacles to general education and to the choice of scientific careers. Indian students interviewed generally exhibited fear and loathing of mathematics and a major lack of basic skills which were caused by a missing or negative impression of the mathematics…

Factors Affecting Female Teachers' Attitudes toward Help-Seeking or Help-Avoidance in Coping with Behavioral Problems

ERIC Educational Resources Information Center

Inbar-Furst, Hagit; Gumpel, Thomas P.

2015-01-01

Questionnaires were given to 392 elementary school teachers to examine help-seeking or help-avoidance in dealing with classroom behavioral problems. Scale validity was examined through a series of exploratory and confirmatory factor analyses. Using a series of multivariate regression analyses and structural equation modeling, we identified…

Flow through a very porous obstacle in a shallow channel.

PubMed

Creed, M J; Draper, S; Nishino, T; Borthwick, A G L

2017-04-01

A theoretical model, informed by numerical simulations based on the shallow water equations, is developed to predict the flow passing through and around a uniform porous obstacle in a shallow channel, where background friction is important. This problem is relevant to a number of practical situations, including flow through aquatic vegetation, the performance of arrays of turbines in tidal channels and hydrodynamic forces on offshore structures. To demonstrate this relevance, the theoretical model is used to (i) reinterpret core flow velocities in existing laboratory-based data for an array of emergent cylinders in shallow water emulating aquatic vegetation and (ii) reassess the optimum arrangement of tidal turbines to generate power in a tidal channel. Comparison with laboratory-based data indicates a maximum obstacle resistance (or minimum porosity) for which the present theoretical model is valid. When the obstacle resistance is above this threshold the shallow water equations do not provide an adequate representation of the flow, and the theoretical model over-predicts the core flow passing through the obstacle. The second application of the model confirms that natural bed resistance increases the power extraction potential for a partial tidal fence in a shallow channel and alters the optimum arrangement of turbines within the fence.

Flow through a very porous obstacle in a shallow channel

PubMed Central

Draper, S.; Nishino, T.; Borthwick, A. G. L.

2017-01-01

A theoretical model, informed by numerical simulations based on the shallow water equations, is developed to predict the flow passing through and around a uniform porous obstacle in a shallow channel, where background friction is important. This problem is relevant to a number of practical situations, including flow through aquatic vegetation, the performance of arrays of turbines in tidal channels and hydrodynamic forces on offshore structures. To demonstrate this relevance, the theoretical model is used to (i) reinterpret core flow velocities in existing laboratory-based data for an array of emergent cylinders in shallow water emulating aquatic vegetation and (ii) reassess the optimum arrangement of tidal turbines to generate power in a tidal channel. Comparison with laboratory-based data indicates a maximum obstacle resistance (or minimum porosity) for which the present theoretical model is valid. When the obstacle resistance is above this threshold the shallow water equations do not provide an adequate representation of the flow, and the theoretical model over-predicts the core flow passing through the obstacle. The second application of the model confirms that natural bed resistance increases the power extraction potential for a partial tidal fence in a shallow channel and alters the optimum arrangement of turbines within the fence. PMID:28484321

An Obstacle-Tolerant Path Planning Algorithm for Mobile-Anchor-Node-Assisted Localization

PubMed Central

Tsai, Rong-Guei

2018-01-01

The location information obtained using a sensor is a critical requirement in wireless sensor networks. Numerous localization schemes have been proposed, among which mobile-anchor-node-assisted localization (MANAL) can reduce costs and overcome environmental constraints. A mobile anchor node (MAN) provides its own location information to assist the localization of sensor nodes. Numerous path planning schemes have been proposed for MANAL, but most scenarios assume the absence of obstacles in the environment. However, in a realistic environment, sensor nodes cannot be located because the obstacles block the path traversed by the MAN, thereby rendering the sensor incapable of receiving sufficient three location information from the MAN. This study proposes the obstacle-tolerant path planning (OTPP) approach to solve the sensor location problem owing to obstacle blockage. OTPP can approximate the optimum beacon point number and path planning, thereby ensuring that all the unknown nodes can receive the three location information from the MAN and reduce the number of MAN broadcast packet times. Experimental results demonstrate that OTPP performs better than Z-curves because it reduces the total number of beacon points utilized and is thus more suitable in an obstacle-present environment. Compared to the Z-curve, OTPP can reduce localization error and improve localization coverage. PMID:29547582

Mandatory Reporting and School Counselors: Reporting Laws, Obstacles, and Solutions

ERIC Educational Resources Information Center

Valkyrie, Karena T.; Creamer, D. Andrew; Vaughn, Leila

2008-01-01

Child abuse and neglect is a serious problem across our nation, and the consequences can be far reaching. Laws were enacted to address child abuse and identify mandatory reporters, including school counselors. In the literature, school counselors regularly report systemic and personal obstacles that influence their compliance with the mandatory…

Assessing the ground vibrations produced by a heavy vehicle traversing a traffic obstacle.

PubMed

Ducarne, Loïc; Ainalis, Daniel; Kouroussis, Georges

2018-01-15

Despite advancements in alternative transport networks, road transport remains the dominant mode in many modern and developing countries. The ground-borne motions produced by the passage of a heavy vehicle over a geometric obstacle (e.g. speed hump, train tracks) pose a fundamental problem in transport annoyance in urban areas. In order to predict the ground vibrations generated by the passage of a heavy vehicle over a geometric obstacle, a two-step numerical model is developed. The first step involves simulating the dynamic loads generated by the heavy vehicle using a multibody approach, which includes the tyre-obstacle-ground interaction. The second step involves the simulation of the ground wave propagation using a three dimensional finite element model. The simulation is able to be decoupled due to the large difference in stiffness between the vehicle's tyres and the road. First, the two-step model is validated using an experimental case study available in the literature. A sensitivity analysis is then presented, examining the influence of various factors on the generated ground vibrations. Factors investigated include obstacle shape, obstacle dimensions, vehicle speed, and tyre stiffness. The developed model can be used as a tool in the early planning stages to predict the ground vibrations generated by the passage of a heavy vehicle over an obstacle in urban areas. Copyright © 2017 Elsevier B.V. All rights reserved.

Exploring performance obstacles of intensive care nurses.

PubMed

Gurses, Ayse P; Carayon, Pascale

2009-05-01

High nursing workload, poor patient safety, and poor nursing quality of working life (QWL) are major issues in intensive care units (ICUs). Characteristics of the ICU and performance obstacles may contribute to these issues. The goal of this study was to comprehensively identify the performance obstacles perceived by ICU nurses. We used a qualitative research design and conducted semi-structured interviews with 15 ICU nurses of a medical-surgical ICU. Based on this qualitative study and a previously reported quantitative study, we identified seven main types of performance obstacles experienced by ICU nurses. Obstacles related to the physical environment (e.g., noise, amount of space), family relations (e.g., distractions caused by family, lack of time to spend with family), and equipment (e.g., unavailability, misplacement) were the most frequently experienced performance obstacles. The qualitative interview data provided rich information regarding the factors contributing to the performance obstacles. Overall, ICU nurses experience a variety of performance obstacles in their work on a daily basis. Future research is needed to understand the impact of performance obstacles on nursing workload, nursing QWL, and quality and safety of care.

Perception and Selection of Information Sources by Undergraduate Students: Effects of Avoidant Style, Confidence, and Personal Control in Problem-Solving

ERIC Educational Resources Information Center

Kim, Kyung-Sun; Sin, Sei-Ching Joanna

2007-01-01

A survey of undergraduate students examined how students' beliefs about their problem-solving styles and abilities (including avoidant style, confidence, and personal control in problem-solving) influenced their perception and selection of sources, as reflected in (1) perceived characteristics of sources, (2) source characteristics considered…

Pathological demand avoidance: exploring the behavioural profile.

PubMed

O'Nions, Elizabeth; Viding, Essi; Greven, Corina U; Ronald, Angelica; Happé, Francesca

2014-07-01

'Pathological Demand Avoidance' is a term increasingly used by practitioners in the United Kingdom. It was coined to describe a profile of obsessive resistance to everyday demands and requests, with a tendency to resort to 'socially manipulative' behaviour, including outrageous or embarrassing acts. Pathological demand avoidance is thought to share aspects of social impairment with autism spectrum disorders, but autism spectrum disorder-appropriate strategies, such as routine and repetition, are described as unhelpful. Outrageous acts and lack of concern for their effects draw parallels with conduct problems and callous-unemotional traits. However, reward-based techniques, effective with conduct problems and callous-unemotional traits, seem not to work in pathological demand avoidance. Despite increasing interest and controversy over the pathological demand avoidance label, there is only one published study to date. We present the first systematic comparison of the behavioural profile of children receiving the term pathological demand avoidance (N = 25) to children with autism spectrum disorders (N = 39) or conduct problems and callous-unemotional traits (N = 28), using parent-report indices of psychopathology. The pathological demand avoidance group displayed comparable levels of autistic traits and peer problems to the autism spectrum disorders group and anti-social traits approaching those seen in the conduct problems and callous-unemotional traits group. Emotional symptoms in pathological demand avoidance exceeded both comparison groups. Findings highlight the extreme behavioural impairment associated with pathological demand avoidance and the need to explore whether behavioural overlap reflects a similar neurocognitive basis to existing groups. © The Author(s) 2013.

Dynamics of spiral waves rotating around an obstacle and the existence of a minimal obstacle

NASA Astrophysics Data System (ADS)

Gao, Xiang; Feng, Xia; Li, Teng-Chao; Qu, Shixian; Wang, Xingang; Zhang, Hong

2017-05-01

Pinning of vortices by obstacles plays an important role in various systems. In the heart, anatomical reentry is created when a vortex, also known as the spiral wave, is pinned to an anatomical obstacle, leading to a class of physiologically very important arrhythmias. Previous analyses of its dynamics and instability provide fine estimates in some special circumstances, such as large obstacles or weak excitabilities. Here, to expand theoretical analyses to all circumstances, we propose a general theory whose results quantitatively agree with direct numerical simulations. In particular, when obstacles are small and pinned spiral waves are destabilized, an accurate explanation of the instability in two-dimensional media is provided by the usage of a mapping rule and dimension reduction. The implications of our results are to better understand the mechanism of arrhythmia and thus improve its early prevention.

Critical Care Nurses' Perceptions of End-of-Life Care Obstacles: Comparative 17-Year Data.

PubMed

Beckstrand, Renea L; Lamoreaux, Nicole; Luthy, Karlen E; Macintosh, Janelle L B

Nurses working in intensive care units (ICUs) frequently care for patients and their families at the end of life (EOL). Providing high-quality EOL care is important for both patients and families, yet ICU nurses face many obstacles that hinder EOL care. Researchers have identified various ICU nurse-perceived obstacles, but no studies have been found addressing the progress that has been made for the last 17 years. The aims of this study were to determine the most common and current obstacles in EOL care as perceived by ICU nurses and then to evaluate whether meaningful changes have occurred since data were first gathered in 1998. A quantitative-qualitative mixed methods design was used. A random, geographically dispersed sample of 2000 members of the American Association of Critical-Care Nurses was surveyed. Five obstacle items increased in mean score and rank as compared with 1999 data including (1) family not understanding what the phrase "lifesaving measures" really means, (2) providing lifesaving measures at families' requests despite patient's advance directive listing no such care, (3) family not accepting patient's poor prognosis, (4) family members fighting about the use of life support, and (5) not enough time to provide EOL care because the nurse is consumed with lifesaving measures attempting to save the patient's life. Five obstacle items decreased in mean score and rank compared with 1999 data including (1) physicians differing in opinion about care of the patient, (2) family and friends who continually call the nurse rather than calling the designated family member, (3) physicians who are evasive and avoid families, (4) nurses having to deal with angry families, and (5) nurses not knowing their patient's wishes regarding continuing with tests and treatments. Obstacles in EOL care, as perceived by critical care nurses, still exist. Family-related obstacles have increased over time. Obstacles related to families may not be easily overcome as each family

Epistemological Obstacles on the Topic of Ratio and Proportion among Junior High School Students

NASA Astrophysics Data System (ADS)

Wahyuningrum, A. S.; Suryadi, D.; Turmudi

2017-09-01

This study intends to investigate how students’ understanding of ratio and proportion concept indicates epistemological obstacles. It was part of Didactical Design Research which was conducted to 72 students of 8th grade who ever learned about ratio and proportion. Data were collected through the students’ answers and interview in solving ratio and proportion problems. The results show that students’ conception, the ways of applying other mathematical concepts, the ways of using the rules, and variety of contexts are factors influencing epistemological obstacles in teaching and learning of ratio and proportion. These conditions can affect the students’ understanding o f related mathematics topics. Based on analysis of the results, this study is expected to overcome or minimize the epistemological obstacles.

Surface obstacles in pulsatile flow

NASA Astrophysics Data System (ADS)

Carr, Ian A.; Plesniak, Michael W.

2017-11-01

Flows past obstacles mounted on flat surfaces have been widely studied due to their ubiquity in nature and engineering. For nearly all of these studies, the freestream flow over the obstacle was steady, i.e., constant velocity, unidirectional flow. Unsteady, pulsatile flows occur frequently in biology, geophysics, biomedical engineering, etc. Our study is aimed at extending the comprehensive knowledge base that exists for steady flows to considerably more complex pulsatile flows. Characterizing the vortex and wake dynamics of flows around surface obstacles embedded in pulsatile flows can provide insights into the underlying physics in all wake and junction flows. In this study, we experimentally investigate the wake of two canonical obstacles: a cube and a circular cylinder with an aspect ratio of unity. Our previous studies of a surface-mounted hemisphere in pulsatile flow are used as a baseline for these two new, more complex geometries. Phase-averaged PIV and hot-wire anemometry are used to characterize the dynamics of coherent structures in the wake and at the windward junction of the obstacles. Complex physics occur during the deceleration phase of the pulsatile inflow. We propose a framework for understanding these physics based on self-induced vortex propagation, similar to the phenomena exhibited by vortex rings.

Avoidance of Phycomyces in a controlled environment.

PubMed Central

Meyer, P W; Matus, I J; Berg, H C

1987-01-01

The sporangiophore of the fungus Phycomyces bends away from nearby objects without ever touching them. It has been thought that these objects act as aerodynamic obstacles that damp random winds, thereby generating asymmetric distributions of a growth-promoting gas emitted by the growth zone. In the interest of testing this hypothesis, we studied avoidance in an environmental chamber in which convection was suppressed by a shallow thermal gradient. We also controlled pressure, temperature, and relative humidity of the air, electrostatic charge, and ambient light. A protocol was established that yielded avoidance rates constant from sporangiophore to sporangiophore to within +/- 10%. We found that avoidance occurred at normal rates in the complete absence of random winds. The rates were smaller at 100% than at lower values of relative humidity, but not by much. Remarkably, at a distance as great as 0.5 mm, avoidance from a 30-micron diam glass fiber (aligned parallel to the sporangiophore) was about the same as that from a planar glass sheet. However, the rate for the fiber fell more rapidly with distance. The rate for the sheet remained nearly constant out to approximately 4 mm. We conclude that avoidance depends either on adsorption by the barrier of a growth-inhibiting substance or emission by the barrier of a growth-promoting substance; it cannot occur by passive reflection. Models that can explain these effects are analyzed in the Appendix. PMID:3567313

Obstacles for Teachers to Integrate Technology with Instruction

ERIC Educational Resources Information Center

Alenezi, Abdullah

2017-01-01

This paper covers type one and two educational obstacles in using technology in the classrooms, and considering those obstacles tries to find the answer to the following overarching research question which can help to gauge some obstacles for the educational technology integration for elementary and high school education: What obstacles do…

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.

Supersonic flows past an obstacle in Yukawa liquids

NASA Astrophysics Data System (ADS)

Charan, Harish; Ganesh, Rajaraman

2018-04-01

Shock formation, when a supersonic flow passes a stationary obstacle, is ubiquitous in nature. Considering particles mediating via a Yukawa-type interaction as a prototype for a strongly coupled complex plasma, characterized by coupling strength (Γ, ratio of the average potential to kinetic energy per particle) and screening parameter (κ, ratio of the mean inter-particle distance to the shielding length), we address the fundamental problem of supersonic fluid flow U0, past a stationary obstacle immersed in this strongly coupled system. We here report the results on the bow shocks formed in Yukawa liquids when the liquid flows at speeds larger than the speed of sound in the system. Depending on the values of Mach number MC L=U/0 CL , where CL is the longitudinal speed of sound in the system, the bow shocks are found to be either traveling or localized. We find that for the transonic flows (0.8 ≲ MC L≲ 1.2), the bow shocks travel in the upstream direction opposite to the incoming fluid. The phase velocity of the traveling bow shocks is found to be a non-monotonous function of κ, varying as ∝1 /k1.11 at a fixed value of Γ, and is found to be independent of Γ at a fixed value of κ. It is observed that for the flow values with MC L>1.5 , the shock waves do not travel in the upstream direction but instead form a stationary arc like structure around the obstacle. For the fluid flows with 1 ≲ MC L≲ 2.6 , secondary bow shocks are seen to emerge behind the stationary obstacle which travel in the downstream direction, and the phase velocity of these secondary bow shocks is found to be equal to that of the primary bow shocks.

Planning Process Obstacles and Opportunities.

ERIC Educational Resources Information Center

Doyle, Patricia C.

1997-01-01

Argues that obstacles exist in the Public Library Association (PLA) planning process that can be resolved by developing relationships between materials in the collection and PLA roles. Proposes changes to help reduce conflict in the PLA planning process and discusses process obstacles, relationships as the key providing better service, and…

Avoid, Control, Succumb, or Balance: Engineering Students' Approaches to a Wicked Sustainability Problem

NASA Astrophysics Data System (ADS)

Lönngren, Johanna; Ingerman, Åke; Svanström, Magdalena

2017-08-01

Wicked sustainability problems (WSPs) are an important and particularly challenging type of problem. Science and engineering education can play an important role in preparing students to deal with such problems, but current educational practice may not adequately prepare students to do so. We address this gap by providing insights related to students' abilities to address WSPs. Specifically, we aim to (I) describe key constituents of engineering students' approaches to a WSP, (II) evaluate these approaches in relation to the normative context of education for sustainable development (ESD), and (III) identify relevant aspects of learning related to WSPs. Aim I is addressed through a phenomenographic study, while aims II and III are addressed by relating the results to research literature about human problem solving, sustainable development, and ESD. We describe four qualitatively different ways of approaching a specific WSP, as the outcome of the phenomenographic study: A. Simplify and avoid, B. Divide and control, C. Isolate and succumb, and D. Integrate and balance. We identify approach D as the most appropriate approach in the context of ESD, while A and C are not. On this basis, we identify three learning objectives related to students' abilities to address WSPs: learn to use a fully integrative approach, distinguish WSPs from tame and well-structured problems, and understand and consider the normative context of SD. Finally, we provide recommendations for how these learning objectives can be used to guide the design of science and engineering educational activities.

Surface obstacles in pulsatile flow

NASA Astrophysics Data System (ADS)

Carr, Ian A.; Plesniak, Michael W.

2016-11-01

Flows past obstacles mounted on flat surfaces have been widely studied due to their ubiquity in nature and engineering. For nearly all of these studies, the freestream flow over the obstacle was steady, i.e. constant velocity unidirectional flow. Unsteady, pulsatile flows occur frequently in biology, geophysics, biomedical engineering, etc. Our study is aimed at extending the comprehensive knowledge base that exists for steady flows to considerably more complex pulsatile flows. Beyond the important practical applications, characterizing the vortex and wake dynamics of flows around surface obstacles embedded in pulsatile flows can provide insights into the underlying physics in all wake and junction flows. In this study, we experimentally investigated the wake of four canonical surface obstacles: hemisphere, cube, and circular cylinders with aspect ratio of 1:1 and 2:1. Phase-averaged PIV and hot-wire anemometry are used to characterize the dynamics of coherent structures in the wake and at the windward junction of the obstacles. Complex physics occur during the deceleration phase of the pulsatile inflow. We propose a framework for understanding these physics based on self-induced vortex propagation, similar to the phenomena exhibited by vortex rings. This material is based in part upon work supported by the National Science Foundation under Grant Number CBET-1236351, and GW Centeor Biomimetics and Bioinspired Engineering (COBRE).

Inertial navigation sensor integrated obstacle detection system

NASA Technical Reports Server (NTRS)

Bhanu, Bir (Inventor); Roberts, Barry A. (Inventor)

1992-01-01

A system that incorporates inertial sensor information into optical flow computations to detect obstacles and to provide alternative navigational paths free from obstacles. The system is a maximally passive obstacle detection system that makes selective use of an active sensor. The active detection typically utilizes a laser. Passive sensor suite includes binocular stereo, motion stereo and variable fields-of-view. Optical flow computations involve extraction, derotation and matching of interest points from sequential frames of imagery, for range interpolation of the sensed scene, which in turn provides obstacle information for purposes of safe navigation.

REDUCING AMBIGUITY IN THE FUNCTIONAL ASSESSMENT OF PROBLEM BEHAVIOR

PubMed Central

Rooker, Griffin W.; DeLeon, Iser G.; Borrero, Carrie S. W.; Frank-Crawford, Michelle A.; Roscoe, Eileen M.

2015-01-01

Severe problem behavior (e.g., self-injury and aggression) remains among the most serious challenges for the habilitation of persons with intellectual disabilities and is a significant obstacle to community integration. The current standard of behavior analytic treatment for problem behavior in this population consists of a functional assessment and treatment model. Within that model, the first step is to assess the behavior–environment relations that give rise to and maintain problem behavior, a functional behavioral assessment. Conventional methods of assessing behavioral function include indirect, descriptive, and experimental assessments of problem behavior. Clinical investigators have produced a rich literature demonstrating the relative effectiveness for each method, but in clinical practice, each can produce ambiguous or difficult-to-interpret outcomes that may impede treatment development. This paper outlines potential sources of variability in assessment outcomes and then reviews the evidence on strategies for avoiding ambiguous outcomes and/or clarifying initially ambiguous results. The end result for each assessment method is a set of best practice guidelines, given the available evidence, for conducting the initial assessment. PMID:26236145

Shock interaction behind a pair of cylindrical obstacles

NASA Astrophysics Data System (ADS)

Liu, Heng; Mazumdar, Raoul; Eliasson, Veronica

2014-11-01

The body of work focuses on two-dimensional numerical simulations of shock interaction with a pair of cylindrical obstacles, varying the obstacle separation and incident shock strength. With the shock waves propagating parallel to the center-line between the two cylindrical obstacles, the shock strengths simulated vary from a Mach of 1.4 to a Mach of 2.4, against a wide range of obstacle separation distance to their diameters. These cases are simulated via a software package called Overture, which is used to solve the inviscid Euler equations of gas dynamics on overlapping grids with adaptive mesh refinement. The goal of these cases is to find a so-called ``safe'' region for obstacle spacing and varying shock Mach numbers, such that the pressure in the ``safe'' region is reduced downstream of the obstacles. The benefits apply to both building and armor design for the purpose of shock wave mitigation to keep humans and equipment safe. The results obtained from the simulations confirm that the length of the ``safe'' region and the degree of shock wave attenuation depend on the ratio of obstacle separation distance to obstacle diameter. The influence of various Mach number is also discussed.

Reactive Collision Avoidance Algorithm

NASA Technical Reports Server (NTRS)

Scharf, Daniel; Acikmese, Behcet; Ploen, Scott; Hadaegh, Fred

2010-01-01

The reactive collision avoidance (RCA) algorithm allows a spacecraft to find a fuel-optimal trajectory for avoiding an arbitrary number of colliding spacecraft in real time while accounting for acceleration limits. In addition to spacecraft, the technology can be used for vehicles that can accelerate in any direction, such as helicopters and submersibles. In contrast to existing, passive algorithms that simultaneously design trajectories for a cluster of vehicles working to achieve a common goal, RCA is implemented onboard spacecraft only when an imminent collision is detected, and then plans a collision avoidance maneuver for only that host vehicle, thus preventing a collision in an off-nominal situation for which passive algorithms cannot. An example scenario for such a situation might be when a spacecraft in the cluster is approaching another one, but enters safe mode and begins to drift. Functionally, the RCA detects colliding spacecraft, plans an evasion trajectory by solving the Evasion Trajectory Problem (ETP), and then recovers after the collision is avoided. A direct optimization approach was used to develop the algorithm so it can run in real time. In this innovation, a parameterized class of avoidance trajectories is specified, and then the optimal trajectory is found by searching over the parameters. The class of trajectories is selected as bang-off-bang as motivated by optimal control theory. That is, an avoiding spacecraft first applies full acceleration in a constant direction, then coasts, and finally applies full acceleration to stop. The parameter optimization problem can be solved offline and stored as a look-up table of values. Using a look-up table allows the algorithm to run in real time. Given a colliding spacecraft, the properties of the collision geometry serve as indices of the look-up table that gives the optimal trajectory. For multiple colliding spacecraft, the set of trajectories that avoid all spacecraft is rapidly searched on

New spatial clustering-based models for optimal urban facility location considering geographical obstacles

NASA Astrophysics Data System (ADS)

Javadi, Maryam; Shahrabi, Jamal

2014-03-01

The problems of facility location and the allocation of demand points to facilities are crucial research issues in spatial data analysis and urban planning. It is very important for an organization or governments to best locate its resources and facilities and efficiently manage resources to ensure that all demand points are covered and all the needs are met. Most of the recent studies, which focused on solving facility location problems by performing spatial clustering, have used the Euclidean distance between two points as the dissimilarity function. Natural obstacles, such as mountains and rivers, can have drastic impacts on the distance that needs to be traveled between two geographical locations. While calculating the distance between various supply chain entities (including facilities and demand points), it is necessary to take such obstacles into account to obtain better and more realistic results regarding location-allocation. In this article, new models were presented for location of urban facilities while considering geographical obstacles at the same time. In these models, three new distance functions were proposed. The first function was based on the analysis of shortest path in linear network, which was called SPD function. The other two functions, namely PD and P2D, were based on the algorithms that deal with robot geometry and route-based robot navigation in the presence of obstacles. The models were implemented in ArcGIS Desktop 9.2 software using the visual basic programming language. These models were evaluated using synthetic and real data sets. The overall performance was evaluated based on the sum of distance from demand points to their corresponding facilities. Because of the distance between the demand points and facilities becoming more realistic in the proposed functions, results indicated desired quality of the proposed models in terms of quality of allocating points to centers and logistic cost. Obtained results show promising

Obstacle Recognition Based on Machine Learning for On-Chip LiDAR Sensors in a Cyber-Physical System

PubMed Central

Beruvides, Gerardo

2017-01-01

Collision avoidance is an important feature in advanced driver-assistance systems, aimed at providing correct, timely and reliable warnings before an imminent collision (with objects, vehicles, pedestrians, etc.). The obstacle recognition library is designed and implemented to address the design and evaluation of obstacle detection in a transportation cyber-physical system. The library is integrated into a co-simulation framework that is supported on the interaction between SCANeR software and Matlab/Simulink. From the best of the authors’ knowledge, two main contributions are reported in this paper. Firstly, the modelling and simulation of virtual on-chip light detection and ranging sensors in a cyber-physical system, for traffic scenarios, is presented. The cyber-physical system is designed and implemented in SCANeR. Secondly, three specific artificial intelligence-based methods for obstacle recognition libraries are also designed and applied using a sensory information database provided by SCANeR. The computational library has three methods for obstacle detection: a multi-layer perceptron neural network, a self-organization map and a support vector machine. Finally, a comparison among these methods under different weather conditions is presented, with very promising results in terms of accuracy. The best results are achieved using the multi-layer perceptron in sunny and foggy conditions, the support vector machine in rainy conditions and the self-organized map in snowy conditions. PMID:28906450

Obstacle Recognition Based on Machine Learning for On-Chip LiDAR Sensors in a Cyber-Physical System.

PubMed

Castaño, Fernando; Beruvides, Gerardo; Haber, Rodolfo E; Artuñedo, Antonio

2017-09-14

Collision avoidance is an important feature in advanced driver-assistance systems, aimed at providing correct, timely and reliable warnings before an imminent collision (with objects, vehicles, pedestrians, etc.). The obstacle recognition library is designed and implemented to address the design and evaluation of obstacle detection in a transportation cyber-physical system. The library is integrated into a co-simulation framework that is supported on the interaction between SCANeR software and Matlab/Simulink. From the best of the authors' knowledge, two main contributions are reported in this paper. Firstly, the modelling and simulation of virtual on-chip light detection and ranging sensors in a cyber-physical system, for traffic scenarios, is presented. The cyber-physical system is designed and implemented in SCANeR. Secondly, three specific artificial intelligence-based methods for obstacle recognition libraries are also designed and applied using a sensory information database provided by SCANeR. The computational library has three methods for obstacle detection: a multi-layer perceptron neural network, a self-organization map and a support vector machine. Finally, a comparison among these methods under different weather conditions is presented, with very promising results in terms of accuracy. The best results are achieved using the multi-layer perceptron in sunny and foggy conditions, the support vector machine in rainy conditions and the self-organized map in snowy conditions.

[Catatonia in childhood and adolescence: obstacles to diagnosis and treatment].

PubMed

Spysschaert, Y; Dhossche, D; Sienaert, P

2016-01-01

Catatonia in children and adolescents is the same as it is for adults; in other words it is a recognisable psychomotor syndrome that follows a characteristic course and responds favourably to treatment with benzodiazepines and/or ect. Therefore, one would not expect to encumber many obstacles to diagnosis and treatment. In fact, the obstacles are fairly numerous. To explore the obstacles that can hinder a simple approach to diagnosis and treatment and to provide support for the clinicians involved. We studied the literature systematically using Limo and keywords. For several decades, particularly in the literature, catatonia was defined as a subtype of schizophrenia. This exclusive link to schizophrenia led to the under-diagnosis of catatonia in patients with other psychiatric conditions and to delays in the administration of the correct treatment. Not only this historical error but also other important problems are complicating the approach to catatonia even today. Among other factors hindering diagnosis and treatment are the belief that catatonia is a rare illness, often denied by family members and some clinicians, the use of neuroleptics and the stigmatisation of benzodiazepines and/or ect. Controversy about catatonia continues. Although diagnosis and treatment are clearly defined, catatonia is still putting professionals to the test. In our essay we offer some practical guidance and advice.

Collision avoidance for aircraft in abort landing

NASA Astrophysics Data System (ADS)

Mathwig, Jarret

We study the collision avoidance between two aircraft flying in the same vertical plane: a host aircraft on a glide path and an intruder aircraft on a horizontal trajectory below that of the host aircraft and heading in the opposite direction. Assuming that the intruder aircraft is uncooperative, the host aircraft executes an optimal abort landing maneuver: it applies maximum thrust setting and maximum angle of attack lifting the flight path over the original path, thereby increasing the timewise minimum distance between the two aircraft and, in this way, avoiding the potential collision. In the presence of weak constraints on the aircraft and/or the environment, the angle of attack must be brought to the maximum value and kept there until the maximin point is reached. On the other hand, in the presence of strong constraints on the aircraft and the environment, desaturation of the angle of attack might have to take place before the maximin point is reached. This thesis includes four parts. In the first part, after an introduction and review of the available literature, we reformulate and solve the one-subarc Chebyshev maximin problem as a two-subarc Bolza-Pontryagin problem in which the avoidance and the recovery maneuvers are treated simultaneously. In the second part, we develop a guidance scheme (gamma guidance) capable of approximating the optimal trajectory in real time. In the third part, we present the algorithms employed to solve the one-subarc and two-subarc problems. In the fourth part, we decompose the two-subarc Bolza-Pontryagin problem into two one-subarc problems: the avoidance problem and the recovery problem, to be solved in sequence; remarkably, for problems where the ratio of total maneuver time to avoidance time is sufficiently large (≥5), this simplified procedure predicts accurately the location of the maximin point as well as the maximin distance.

Two-dimensional supersonic nonlinear Schrödinger flow past an extended obstacle

NASA Astrophysics Data System (ADS)

El, G. A.; Kamchatnov, A. M.; Khodorovskii, V. V.; Annibale, E. S.; Gammal, A.

2009-10-01

Supersonic flow of a superfluid past a slender impenetrable macroscopic obstacle is studied in the framework of the two-dimensional (2D) defocusing nonlinear Schrödinger (NLS) equation. This problem is of fundamental importance as a dispersive analog of the corresponding classical gas-dynamics problem. Assuming the oncoming flow speed is sufficiently high, we asymptotically reduce the original boundary-value problem for a steady flow past a slender body to the one-dimensional dispersive piston problem described by the nonstationary NLS equation, in which the role of time is played by the stretched x coordinate and the piston motion curve is defined by the spatial body profile. Two steady oblique spatial dispersive shock waves (DSWs) spreading from the pointed ends of the body are generated in both half planes. These are described analytically by constructing appropriate exact solutions of the Whitham modulation equations for the front DSW and by using a generalized Bohr-Sommerfeld quantization rule for the oblique dark soliton fan in the rear DSW. We propose an extension of the traditional modulation description of DSWs to include the linear “ship-wave” pattern forming outside the nonlinear modulation region of the front DSW. Our analytic results are supported by direct 2D unsteady numerical simulations and are relevant to recent experiments on Bose-Einstein condensates freely expanding past obstacles.

Obstacles to nutrition labeling in restaurants.

PubMed

Almanza, B A; Nelson, D; Chai, S

1997-02-01

This study determined the major obstacles that foodservices face regarding nutrition labeling. Survey questionnaire was conducted in May 1994. In addition to demographic questions, the directors were asked questions addressing willingness, current practices, and perceived obstacles related to nutrition labeling. Sixty-eight research and development directors of the largest foodservice corporations as shown in Restaurants & Institutions magazine's list of the top 400 largest foodservices (July 1993). P tests were used to determine significance within a group for the number of foodservices that were currently using nutrition labeling, perceived impact of nutrition labeling on sales, and perceived responsibility to add nutrition labels. Regression analysis was used to determine the importance of factors on willingness to label. Response rate was 45.3%. Most companies were neutral about their willingness to use nutrition labeling. Two thirds of the respondents were not currently using nutrition labels. Only one third thought that it was the foodservice's responsibility to provide such information. Several companies perceived that nutrition labeling would have a potentially negative effect on annual sales volume. Major obstacles were identified as menu or personnel related, rather than cost related. Menu-related obstacles included too many menu variations, limited space on the menu for labeling, and loss of flexibility in changing the menu. Personnel-related obstacles included difficulty in training employees to implement nutrition labeling, and not enough time for foodservice personnel to implement nutrition labeling. Numerous opportunities will be created for dietetics professionals in helping foodservices overcome these menu- or personnel-related obstacles.

An enhanced MMW and SMMW/THz imaging system performance prediction and analysis tool for concealed weapon detection and pilotage obstacle avoidance

NASA Astrophysics Data System (ADS)

Murrill, Steven R.; Jacobs, Eddie L.; Franck, Charmaine C.; Petkie, Douglas T.; De Lucia, Frank C.

2015-10-01

The U.S. Army Research Laboratory (ARL) has continued to develop and enhance a millimeter-wave (MMW) and submillimeter- wave (SMMW)/terahertz (THz)-band imaging system performance prediction and analysis tool for both the detection and identification of concealed weaponry, and for pilotage obstacle avoidance. The details of the MATLAB-based model which accounts for the effects of all critical sensor and display components, for the effects of atmospheric attenuation, concealment material attenuation, and active illumination, were reported on at the 2005 SPIE Europe Security and Defence Symposium (Brugge). An advanced version of the base model that accounts for both the dramatic impact that target and background orientation can have on target observability as related to specular and Lambertian reflections captured by an active-illumination-based imaging system, and for the impact of target and background thermal emission, was reported on at the 2007 SPIE Defense and Security Symposium (Orlando). Further development of this tool that includes a MODTRAN-based atmospheric attenuation calculator and advanced system architecture configuration inputs that allow for straightforward performance analysis of active or passive systems based on scanning (single- or line-array detector element(s)) or staring (focal-plane-array detector elements) imaging architectures was reported on at the 2011 SPIE Europe Security and Defence Symposium (Prague). This paper provides a comprehensive review of a newly enhanced MMW and SMMW/THz imaging system analysis and design tool that now includes an improved noise sub-model for more accurate and reliable performance predictions, the capability to account for postcapture image contrast enhancement, and the capability to account for concealment material backscatter with active-illumination- based systems. Present plans for additional expansion of the model's predictive capabilities are also outlined.

Obstacle Characterization in a Geocrowdsourced Accessibility System

NASA Astrophysics Data System (ADS)

Qin, H.; Aburizaiza, A. O.; Rice, R. M.; Paez, F.; Rice, M. T.

2015-08-01

Transitory obstacles - random, short-lived and unpredictable objects - are difficult to capture in any traditional mapping system, yet they have significant negative impacts on the accessibility of mobility- and visually-impaired individuals. These transitory obstacles include sidewalk obstructions, construction detours, and poor surface conditions. To identify these obstacles and assist the navigation of mobility- and visually- impaired individuals, crowdsourced mapping applications have been developed to harvest and analyze the volunteered obstacles reports from local students, faculty, staff, and residents. In this paper, we introduce a training program designed and implemented for recruiting and motivating contributors to participate in our geocrowdsourced accessibility system, and explore the quality of geocrowdsourced data with a comparative analysis methodology.

Relationship between psychological inflexibility and experiential avoidance and internet addiction: Mediating effects of mental health problems.

PubMed

Chou, Wei-Po; Lee, Kun-Hua; Ko, Chih-Hung; Liu, Tai-Ling; Hsiao, Ray C; Lin, Hsiu-Fen; Yen, Cheng-Fang

2017-11-01

Internet addiction became a major mental health problem in college student. Our objective was to examine the relationship between psychological inflexibility and experiential avoidance (PIEA) and Internet addiction (IA) and the mediating effects of mental health problem indicators. 500 college students (238 men and 262 women) participated in this study. The level of PIEA was examined using the Acceptance and Action Questionnaire-II. The severity of IA was assessed using the Chen Internet Addiction Scale. The levels of depression, anxiety, interpersonal sensitivity, and hostility were evaluated using the Symptom Checklist-90 item-Revised Scale. The relationship among PIEA, mental health problems, and IA was examined using structural equation modeling. The severity of PIEA was positively associated with the severity of IA as well as positively associated with the severity of mental health problems. In addition, the severity of mental health problem indicators was positively associated with the severity of IA. These results provide the severity of PIEA is directly related to the severity of IA and indirectly related to the severity of IA through increasing the severity of mental health problems. The PIEA should be one of the target objectives when administer cognitive-behavioral therapy to college students with IA and mental health problems. Copyright © 2017 Elsevier B.V. All rights reserved.

Method for six-legged robot stepping on obstacles by indirect force estimation

NASA Astrophysics Data System (ADS)

Xu, Yilin; Gao, Feng; Pan, Yang; Chai, Xun

2016-07-01

Adaptive gaits for legged robots often requires force sensors installed on foot-tips, however impact, temperature or humidity can affect or even damage those sensors. Efforts have been made to realize indirect force estimation on the legged robots using leg structures based on planar mechanisms. Robot Octopus III is a six-legged robot using spatial parallel mechanism(UP-2UPS) legs. This paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel mechanism. The direct kinematics model and the inverse kinematics model are established. The force Jacobian matrix is derived based on the kinematics model. Thus, the indirect force estimation model is established. Then, the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is described. Furthermore, an adaptive tripod static gait is designed. The robot alters its leg trajectory to step on obstacles by using the proposed adaptive gait. Both the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control system. An experiment is carried out to validate the indirect force estimation model. The adaptive gait is tested in another experiment. Experiment results show that the robot can successfully step on a 0.2 m-high obstacle. This paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot's foot tips.

Improvements in Obstacle Clearance Parameters and Reaction Time Over a Series of Obstacles Revealed After Five Repeated Testing Sessions in Older Adults.

PubMed

Jehu, Deborah A; Lajoie, Yves; Paquet, Nicole

2017-12-21

The purpose of this study was to investigate obstacle clearance and reaction time parameters when crossing a series of six obstacles in older adults. A second aim was to examine the repeated exposure of this testing protocol once per week for 5 weeks. In total, 10 older adults (five females; age: 67.0 ± 6.9 years) walked onto and over six obstacles of varying heights (range: 100-200 mm) while completing no reaction time, simple reaction time, and choice reaction time tasks once per week for 5 weeks. The highest obstacles elicited the lowest toe clearance, and the first three obstacles revealed smaller heel clearance compared with the last three obstacles. Dual tasking negatively impacted obstacle clearance parameters when information processing demands were high. Longer and less consistent time to completion was observed in Session 1 compared with Sessions 2-5. Finally, improvements in simple reaction time were displayed after Session 2, but choice reaction time gradually improved and did not reach a plateau after repeated testing.

Statistics of dislocation pinning at localized obstacles

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

Dutta, A.; Bhattacharya, M., E-mail: mishreyee@vecc.gov.in; Barat, P.

2014-10-14

Pinning of dislocations at nanosized obstacles like precipitates, voids, and bubbles is a crucial mechanism in the context of phenomena like hardening and creep. The interaction between such an obstacle and a dislocation is often studied at fundamental level by means of analytical tools, atomistic simulations, and finite element methods. Nevertheless, the information extracted from such studies cannot be utilized to its maximum extent on account of insufficient information about the underlying statistics of this process comprising a large number of dislocations and obstacles in a system. Here, we propose a new statistical approach, where the statistics of pinning ofmore » dislocations by idealized spherical obstacles is explored by taking into account the generalized size-distribution of the obstacles along with the dislocation density within a three-dimensional framework. Starting with a minimal set of material parameters, the framework employs the method of geometrical statistics with a few simple assumptions compatible with the real physical scenario. The application of this approach, in combination with the knowledge of fundamental dislocation-obstacle interactions, has successfully been demonstrated for dislocation pinning at nanovoids in neutron irradiated type 316-stainless steel in regard to the non-conservative motion of dislocations. An interesting phenomenon of transition from rare pinning to multiple pinning regimes with increasing irradiation temperature is revealed.« less

Optimal partial mass transportation and obstacle Monge-Kantorovich equation

NASA Astrophysics Data System (ADS)

Igbida, Noureddine; Nguyen, Van Thanh

2018-05-01

Optimal partial mass transport, which is a variant of the optimal transport problem, consists in transporting effectively a prescribed amount of mass from a source to a target. The problem was first studied by Caffarelli and McCann (2010) [6] and Figalli (2010) [12] with a particular attention to the quadratic cost. Our aim here is to study the optimal partial mass transport problem with Finsler distance costs including the Monge cost given by the Euclidian distance. Our approach is different and our results do not follow from previous works. Among our results, we introduce a PDE of Monge-Kantorovich type with a double obstacle to characterize active submeasures, Kantorovich potential and optimal flow for the optimal partial transport problem. This new PDE enables us to study the uniqueness and monotonicity results for the active submeasures. Another interesting issue of our approach is its convenience for numerical analysis and computations that we develop in a separate paper [14] (Igbida and Nguyen, 2018).

Mathematical Models of Smart Obstacles

DTIC Science & Technology

2006-10-01

Matematica “G. Castelnuovo” Università di Roma “La Sapienza”, Piazzale Aldo Moro 2 00185 Roma Italy Ph. N. +39-06-49913282, FAX N. +39-06...Dipartimento di Matematica G. Castelnuovo Università di Roma La Sapienza, Piazzale Aldo Moro 2 00185 Roma Italy 8. PERFORMING ORGANIZATION REPORT NUMBER 9... Matematica G. Castelnuovo Università di Roma “La Sapienza” 00185 Roma, Italy 2 Smart (or active) obstacles are obstacles that when illuminated by an

Imaging objects behind small obstacles using axicon lens

NASA Astrophysics Data System (ADS)

Perinchery, Sandeep M.; Shinde, Anant; Murukeshan, V. M.

2017-06-01

Axicon lenses are conical prisms, which are known to focus a light source to a line comprising of multiple points along the optical axis. In this study, we analyze the potential of axicon lenses to view, image and record the object behind opaque obstacles in free space. The advantage of an axicon lens over a regular lens is demonstrated experimentally. Parameters such as obstacle size, object and the obstacle position in the context of imaging behind obstacles are tested using Zemax optical simulation. This proposed concept can be easily adapted to most of the optical imaging methods and microscopy modalities.

Recognition of three dimensional obstacles by an edge detection scheme. [for Mars roving vehicle using laser range finder

NASA Technical Reports Server (NTRS)

Reed, M. A.

1974-01-01

The need for an obstacle detection system on the Mars roving vehicle was assumed, and a practical scheme was investigated and simulated. The principal sensing device on this vehicle was taken to be a laser range finder. Both existing and original algorithms, ending with thresholding operations, were used to obtain the outlines of obstacles from the raw data of this laser scan. A theoretical analysis was carried out to show how proper value of threshold may be chosen. Computer simulations considered various mid-range boulders, for which the scheme was quite successful. The extension to other types of obstacles, such as craters, was considered. The special problems of bottom edge detection and scanning procedure are discussed.

SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

NASA Astrophysics Data System (ADS)

Behboodi, Ahad; Salehi, Seyedmohammad

2017-10-01

In this paper an optimal control approach for nonlinear dynamical systems was proposed based on State Dependent Riccati Equation (SDRE) and its robustness against uncertainties is shown by simulation results. The proposed method was applied on a spatial six-cable suspended robot, which was designed to carry loads or perform different tasks in huge workspaces. Motion planning for cable-suspended robots in such a big workspace is subjected to uncertainties and obstacles. First, we emphasized the ability of SDRE to construct a systematic basis and efficient design of controller for wide variety of nonlinear dynamical systems. Then we showed how this systematic design improved the robustness of the system and facilitated the integration of motion planning techniques with the controller. In particular, obstacle avoidance technique based on artificial potential field (APF) can be easily combined with SDRE controller with efficient performance. Due to difficulties of exact solution for SDRE, an approximation method was used based on power series expansion. The efficiency and robustness of the SDRE controller was illustrated on a six-cable suspended robot with proper simulations.

Critical Care Nurses' Suggestions to Improve End-of-Life Care Obstacles: Minimal Change Over 17 Years.

PubMed

Beckstrand, Renea L; Hadley, Kacie Hart; Luthy, Karlen E; Macintosh, Janelle L B

Critical-care nurses (CCNs) provide end-of-life (EOL) care on a daily basis as 1 in 5 patients dies while in intensive care units. Critical-care nurses overcome many obstacles to perform quality EOL care for dying patients. The purposes of this study were to collect CCNs' current suggestions for improving EOL care and determine if EOL care obstacles have changed by comparing results to data gathered in 1998. A 72-item questionnaire regarding EOL care perceptions was mailed to a national, geographically dispersed, random sample of 2000 members of the American Association of Critical-Care Nurses. One of 3 qualitative questions asked CCNs for suggestions to improve EOL care. Comparative obstacle size (quantitative) data were previously published. Of the 509 returned questionnaires, 322 (63.3%) had 385 written suggestions for improving EOL care. Major themes identified were ensuring characteristics of a good death, improving physician communication with patients and families, adjusting nurse-to-patient ratios to 1:1, recognizing and avoiding futile care, increasing EOL education, physicians who are present and "on the same page," not allowing families to override patients' wishes, and the need for more support staff. When compared with data gathered 17 years previously, major themes remained the same but in a few cases changed in order and possible causation. Critical-care nurses' suggestions were similar to those recommendations from 17 years ago. Although the order of importance changed minimally, the number of similar themes indicated that obstacles to providing EOL care to dying intensive care unit patients continue to exist over time.

Obstacle Detection Algorithms for Rotorcraft Navigation

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia I.; Huang, Ying; Narasimhamurthy, Anand; Pande, Nitin; Ahumada, Albert (Technical Monitor)

2001-01-01

In this research we addressed the problem of obstacle detection for low altitude rotorcraft flight. In particular, the problem of detecting thin wires in the presence of image clutter and noise was studied. Wires present a serious hazard to rotorcrafts. Since they are very thin, their detection early enough so that the pilot has enough time to take evasive action is difficult, as their images can be less than one or two pixels wide. After reviewing the line detection literature, an algorithm for sub-pixel edge detection proposed by Steger was identified as having good potential to solve the considered task. The algorithm was tested using a set of images synthetically generated by combining real outdoor images with computer generated wire images. The performance of the algorithm was evaluated both, at the pixel and the wire levels. It was observed that the algorithm performs well, provided that the wires are not too thin (or distant) and that some post processing is performed to remove false alarms due to clutter.

Foot strike patterns after obstacle clearance during running.

PubMed

Scholten, Shane D; Stergiou, Nicholas; Hreljac, Alan; Houser, Jeremy; Blanke, Daniel; Alberts, L Russell

2002-01-01

Running over obstacles of sufficient height requires heel strike (HS) runners to make a transition in landing strategy to a forefoot (FF) strike, resulting in similar ground reaction force patterns to those observed while landing from a jump. Identification of the biomechanical variables that distinguish between the landing strategies may offer some insight into the reasons that the transition occurs. The purpose of this study was to investigate the difference in foot strike patterns and kinetic parameters of heel strike runners between level running and running over obstacles of various heights. Ten heel strike subjects ran at their self-selected pace under seven different conditions: unperturbed running (no obstacle) and over obstacles of six different heights (10%, 12.5%, 15%, 17.5%, 20%, and 22.5% of their standing height). The obstacle was placed directly before a Kistler force platform. Repeated measures ANOVAs were performed on the subject means of selected kinetic parameters. The statistical analysis revealed significant differences (P < 0.004) for all of the parameters analyzed. The evaluation of the center of pressure and the ground reaction forces indicated that the foot strike patterns were affected by the increased obstacle height. Between the 12.5% and 15% obstacle conditions, the group response changed from a heel strike to a forefoot strike pattern. At height > 15%, the pattern was more closely related to the foot strike patterns found in jumping activities. This strategy change may represent a gait transition effected as a mechanism to protect against increased impact forces. Greater involvement of the ankle and the calf muscles could have assisted in attenuating the increased impact forces while maintaining speed after clearing the obstacle.

Method for detecting and avoiding flight hazards

NASA Astrophysics Data System (ADS)

von Viebahn, Harro; Schiefele, Jens

1997-06-01

Today's aircraft equipment comprise several independent warning and hazard avoidance systems like GPWS, TCAS or weather radar. It is the pilot's task to monitor all these systems and take the appropriate action in case of an emerging hazardous situation. The developed method for detecting and avoiding flight hazards combines all potential external threats for an aircraft into a single system. It is based on an aircraft surrounding airspace model consisting of discrete volume elements. For each element of the volume the threat probability is derived or computed from sensor output, databases, or information provided via datalink. The position of the own aircraft is predicted by utilizing a probability distribution. This approach ensures that all potential positions of the aircraft within the near future are considered while weighting the most likely flight path. A conflict detection algorithm initiates an alarm in case the threat probability exceeds a threshold. An escape manoeuvre is generated taking into account all potential hazards in the vicinity, not only the one which caused the alarm. The pilot gets a visual information about the type, the locating, and severeness o the threat. The algorithm was implemented and tested in a flight simulator environment. The current version comprises traffic, terrain and obstacle hazards avoidance functions. Its general formulation allows an easy integration of e.g. weather information or airspace restrictions.

Student Obstacles in Ratio and Proportion Learning

NASA Astrophysics Data System (ADS)

Andini, W.; Jupri, Al

2017-02-01

Ratio and proportion are mathematics topics that are learned in elementary school. In the learning process, teachers often found students who have difficulties in learning these topics. Analysing the difficulties on the topics is important for teachers, as an attempt to doa reflection of the learning process and as a reference in devising a learning plan, including for anticipation of the possibility of these barriers that might appear in the next learning process. This research used as the qualitative method, and involved 49 students of grade 5 and one teacher. From the analysis of the data, i.e., student test results and observation of the learning, we found some obstacles that faced by students, such as students confused in understanding about ratio and proportion topic, students found it difficult in completing the problem which have different contexts, the learning material of ratio and proportion topic that presented in textbooks are still partial (not depth), and the lack of ability of the teacher in creating problems.

Biologically-inspired adaptive obstacle negotiation behavior of hexapod robots

PubMed Central

Goldschmidt, Dennis; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

Neurobiological studies have shown that insects are able to adapt leg movements and posture for obstacle negotiation in changing environments. Moreover, the distance to an obstacle where an insect begins to climb is found to be a major parameter for successful obstacle negotiation. Inspired by these findings, we present an adaptive neural control mechanism for obstacle negotiation behavior in hexapod robots. It combines locomotion control, backbone joint control, local leg reflexes, and neural learning. While the first three components generate locomotion including walking and climbing, the neural learning mechanism allows the robot to adapt its behavior for obstacle negotiation with respect to changing conditions, e.g., variable obstacle heights and different walking gaits. By successfully learning the association of an early, predictive signal (conditioned stimulus, CS) and a late, reflex signal (unconditioned stimulus, UCS), both provided by ultrasonic sensors at the front of the robot, the robot can autonomously find an appropriate distance from an obstacle to initiate climbing. The adaptive neural control was developed and tested first on a physical robot simulation, and was then successfully transferred to a real hexapod robot, called AMOS II. The results show that the robot can efficiently negotiate obstacles with a height up to 85% of the robot's leg length in simulation and 75% in a real environment. PMID:24523694

Unpinning of spiral waves from rectangular obstacles by stimulated wave trains

NASA Astrophysics Data System (ADS)

Ponboonjaroenchai, Benjamas; Srithamma, Panatda; Kumchaiseemak, Nakorn; Sutthiopad, Malee; Müller, Stefan C.; Luengviriya, Chaiya; Luengviriya, Jiraporn

2017-09-01

Pinned spiral waves are exhibited in many excitable media. In cardiology, lengthened tachycardia correspond to propagating action potential in forms of spiral waves pinned to anatomical obstacles including veins and scares. Thus, elimination such waves is important particularly in medical treatments. We present study of unpinning of a spiral wave by a wave train initiated by periodic stimuli at a given location. The spiral wave is forced to leave the rectangular obstacle when the period of the wave train is shorter than a threshold Tunpin. For small obstacles, Tunpin decreases when the obstacle size is increased. Furthermore, Tunpin depends on the obstacle orientation with respect to the wave train propagation. For large obstacles, Tunpin is independent to the obstacle size. It implies that the orientation of the obstacle plays an important role in the unpinning of the spiral wave, especially for small rectangular obstacles.

Obstacle Detection Algorithms for Aircraft Navigation: Performance Characterization of Obstacle Detection Algorithms for Aircraft Navigation

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia; Coraor, Lee

2000-01-01

The research reported here is a part of NASA's Synthetic Vision System (SVS) project for the development of a High Speed Civil Transport Aircraft (HSCT). One of the components of the SVS is a module for detection of potential obstacles in the aircraft's flight path by analyzing the images captured by an on-board camera in real-time. Design of such a module includes the selection and characterization of robust, reliable, and fast techniques and their implementation for execution in real-time. This report describes the results of our research in realizing such a design. It is organized into three parts. Part I. Data modeling and camera characterization; Part II. Algorithms for detecting airborne obstacles; and Part III. Real time implementation of obstacle detection algorithms on the Datacube MaxPCI architecture. A list of publications resulting from this grant as well as a list of relevant publications resulting from prior NASA grants on this topic are presented.

Method for surmounting an obstacle by a robot vehicle

NASA Technical Reports Server (NTRS)

Wilcox, Brian H. (Inventor); Ohm, Timothy R. (Inventor)

1994-01-01

Surmounting obstacles in the path of a robot vehicle is accomplished by rotating the wheel forks of the vehicle about their transverse axes with respect to the vehicle body so as to shift most of the vehicle weight onto the rear wheels, and then driving the vehicle forward so as to drive the now lightly-loaded front wheels (only) over the obstacle. Then, after the front wheels have either surmounted or completely passed the obstacle (depending upon the length of the obstacle), the forks are again rotated about their transverse axes so as to shift most of the vehicle weight onto the front wheels. Then the vehicle is again driven forward so as to drive the now lightly-loaded rear wheels over the obstacle. Once the obstacle has been completely cleared and the vehicle is again on relatively level terrain, the forks are again rotated so as to uniformly distribute the vehicle weight between the front and rear wheels.

Graph pyramids as models of human problem solving

NASA Astrophysics Data System (ADS)

Pizlo, Zygmunt; Li, Zheng

2004-05-01

Prior theories have assumed that human problem solving involves estimating distances among states and performing search through the problem space. The role of mental representation in those theories was minimal. Results of our recent experiments suggest that humans are able to solve some difficult problems quickly and accurately. Specifically, in solving these problems humans do not seem to rely on distances or on search. It is quite clear that producing good solutions without performing search requires a very effective mental representation. In this paper we concentrate on studying the nature of this representation. Our theory takes the form of a graph pyramid. To verify the psychological plausibility of this theory we tested subjects in a Euclidean Traveling Salesman Problem in the presence of obstacles. The role of the number and size of obstacles was tested for problems with 6-50 cities. We analyzed the effect of experimental conditions on solution time per city and on solution error. The main result is that time per city is systematically affected only by the size of obstacles, but not by their number, or by the number of cities.

Avoiding Cancer Risk Information

PubMed Central

Emanuel, Amber S.; Kiviniemi, Marc T.; Howell, Jennifer L.; Hay, Jennifer L.; Waters, Erika A.; Orom, Heather; Shepperd, James A.

2015-01-01

RATIONALE Perceived risk for health problems such as cancer is a central construct in many models of health decision making and a target for behavior change interventions. However, some portion of the population actively avoids cancer risk information. The prevalence of, explanations for, and consequences of such avoidance are not well understood. OBJECTIVE We examined the prevalence and demographic and psychosocial correlates of cancer risk information avoidance preference in a nationally representative sample. We also examined whether avoidance of cancer risk information corresponds with avoidance of cancer screening. RESULTS Based on our representative sample, 39% of the population indicated that they agreed or strongly agreed that they would “rather not know [their] chance of getting cancer.” This preference was stronger among older participants, female participants, and participants with lower levels of education. Preferring to avoid cancer risk information was stronger among participants who agreed with the beliefs that everything causes cancer, that there’s not much one can do to prevent cancer, and that there are too many recommendations to follow. Finally, the preference to avoid cancer risk information was associated with lower levels of screening for colon cancer. CONCLUSION These findings suggest that cancer risk information avoidance is a multi-determined phenomenon that is associated with demographic characteristics and psychosocial individual differences and also relates to engagement in cancer screening. PMID:26560410

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.

Power mobility with collision avoidance for older adults: user, caregiver, and prescriber perspectives.

PubMed

Wang, Rosalie H; Korotchenko, Alexandra; Hurd Clarke, Laura; Mortenson, W Ben; Mihailidis, Alex

2013-01-01

Collision avoidance technology has the capacity to facilitate safer mobility among older power mobility users with physical, sensory, and cognitive impairments, thus enabling independence for more users. Little is known about consumers' perceptions of collision avoidance. This article draws on interviews (29 users, 5 caregivers, and 10 prescribers) to examine views on design and utilization of this technology. Data analysis identified three themes: "useful situations or contexts," "technology design issues and real-life application," and "appropriateness of collision avoidance technology for a variety of users." Findings support ongoing development of collision avoidance for older adult users. The majority of participants supported the technology and felt that it might benefit current users and users with visual impairments, but might be unsuitable for people with significant cognitive impairments. Some participants voiced concerns regarding the risk for injury with power mobility use and some identified situations where collision avoidance might be beneficial (driving backward, avoiding dynamic obstacles, negotiating outdoor barriers, and learning power mobility use). Design issues include the need for context awareness, reliability, and user interface specifications. User desire to maintain driving autonomy supports development of collaboratively controlled systems. This research lays the groundwork for future development by illustrating consumer requirements for this technology.

Prefrontal cortex activation during obstacle negotiation: What's the effect size and timing?

PubMed

Maidan, Inbal; Shustak, Shiran; Sharon, Topaz; Bernad-Elazari, Hagar; Geffen, Nimrod; Giladi, Nir; Hausdorff, Jeffrey M; Mirelman, Anat

2018-04-01

Obstacle negotiation is a daily activity that requires the integration of sensorimotor and cognitive information. Recent studies provide evidence for the important role of prefrontal cortex during obstacle negotiation. We aimed to explore the effects of obstacle height and available response time on prefrontal activation. Twenty healthy young adults (age: 30.1 ± 1.0 years; 50% women) walked in an obstacle course while negotiating anticipated and unanticipated obstacles at heights of 50 mm and 100 mm. Prefrontal activation was measured using a functional near-infrared spectroscopy system. Kinect cameras measured the obstacle negotiation strategy. Prefrontal activation was defined based on mean level of HbO 2 before, during and after obstacle negotiation and the HbO 2 slope from gait initiation and throughout the task. Changes between types of obstacles were assessed using linear-mix models and partial correlation analyses evaluated the relationship between prefrontal activation and the distance between the feet as the subjects traversed the obstacles. Different obstacle heights showed similar changes in prefrontal activation measures (p > 0.210). However, during unanticipated obstacles, the slope of the HbO 2 response was steeper (p = 0.048), as compared to anticipated obstacles. These changes in prefrontal activation during negotiation of unanticipated obstacles were correlated with greater distance of the leading foot after the obstacles (r = 0.831, p = 0.041). These findings are the first to show that the pattern of prefrontal activation depends on the nature of the obstacle. More specifically, during unanticipated obstacles the recruitment of the prefrontal cortex is faster and greater than during negotiating anticipated obstacles. These results provide evidence of the important role of the prefrontal cortex and the ability of healthy young adults to tailor the activation pattern to different types of obstacles. Copyright © 2018

Sediment problems in urban areas

USGS Publications Warehouse

Guy, Harold P.

1970-01-01

One obstacle to a scientific recognition and an engineering solution to sediment-related environmental problems is that such problems are bound in conflicting and generally undefinable political and institutional restraints. Also, some of the difficulty may involve the fact that the scientist or engineer, because of his relatively narrow field of investigation, cannot always completely envision the less desirable effects of his work and communicate alternative solutions to the public. For example, the highway and motor-vehicle engineers have learned how to provide the means by which one can transport himself from one point to another with such great efficiency that a person's employment in this country is now commonly more than 5 miles from his residence. However, providing such efficient personal transport has created numerous serious environmental problems. Obstacles to recognition of and action to control sediment problems in and around urban areas are akin to other environmental problems with respect to the many scientific, engineering, economic, and social aspects.

Communication Avoiding and Overlapping for Numerical Linear Algebra

DTIC Science & Technology

2012-05-08

future exascale systems, communication cost must be avoided or overlapped. Communication-avoiding 2.5D algorithms improve scalability by reducing...linear algebra problems to future exascale systems, communication cost must be avoided or overlapped. Communication-avoiding 2.5D algorithms improve...will continue to grow relative to the cost of computation. With exascale computing as the long-term goal, the community needs to develop techniques

Investigating the genetic and environmental bases of biases in threat recognition and avoidance in children with anxiety problems

PubMed Central

2012-01-01

Background Adults with anxiety show biased categorization and avoidance of threats. Such biases may emerge through complex interplay between genetics and environments, occurring early in life. Research on threat biases in children has focuses on a restricted range of biases, with insufficient focus on genetic and environmental origins. Here, we explore differences between children with and without anxiety problems in under-studied areas of threat bias. We focused both on associations with anxious phenotype and the underlying gene-environmental correlates for two specific processes: the categorisation of threat faces and avoidance learning. Method Two-hundred and fifty 10-year old MZ and DZ twin pairs (500 individuals) completed tasks assessing accuracy in the labelling of threatening facial expressions and in the acquisition of avoidant responses to a card associated with a masked threatening face. To assess whether participants met criteria for an anxiety disorder, parents of twins completed a self-guided computerized version of the Development and Well-being Assessment (DAWBA). Comparison of MZ and DZ twin correlations using model-fitting were used to compute estimates of genetic, shared and non-shared environmental effects. Results Of the 500 twins assessed, 25 (5%) met diagnostic criteria for a current anxiety disorder. Children with anxiety disorders were more accurate in their ability to recognize disgust faces than those without anxiety disorders, but were commensurate on identifying other threatening face emotions (angry, fearful, sad). Children with anxiety disorders but also more strongly avoided selecting a conditioned stimulus than non-anxious children. While recognition of socially threatening faces was moderately heritable, avoidant responses were heavily influenced by the non-shared environment. Conclusion These data add to other findings on threat biases in anxious children. Specifically, we found biases in the labelling of some negative

Computer vision techniques for rotorcraft low altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar

1990-01-01

Rotorcraft operating in high-threat environments fly close to the earth's surface to utilize surrounding terrain, vegetation, or manmade objects to minimize the risk of being detected by an enemy. Increasing levels of concealment are achieved by adopting different tactics during low-altitude flight. Rotorcraft employ three tactics during low-altitude flight: low-level, contour, and nap-of-the-earth (NOE). The key feature distinguishing the NOE mode from the other two modes is that the whole rotorcraft, including the main rotor, is below tree-top whenever possible. This leads to the use of lateral maneuvers for avoiding obstacles, which in fact constitutes the means for concealment. The piloting of the rotorcraft is at best a very demanding task and the pilot will need help from onboard automation tools in order to devote more time to mission-related activities. The development of an automation tool which has the potential to detect obstacles in the rotorcraft flight path, warn the crew, and interact with the guidance system to avoid detected obstacles, presents challenging problems. Research is described which applies techniques from computer vision to automation of rotorcraft navigtion. The effort emphasizes the development of a methodology for detecting the ranges to obstacles in the region of interest based on the maximum utilization of passive sensors. The range map derived from the obstacle-detection approach can be used as obstacle data for the obstacle avoidance in an automatic guidance system and as advisory display to the pilot. The lack of suitable flight imagery data presents a problem in the verification of concepts for obstacle detection. This problem is being addressed by the development of an adequate flight database and by preprocessing of currently available flight imagery. The presentation concludes with some comments on future work and how research in this area relates to the guidance of other autonomous vehicles.

Problems with vision associated with limitations or avoidance of driving in older populations.

PubMed

Satariano, William A; MacLeod, Kara E; Cohn, Theodore E; Ragland, David R

2004-09-01

This report examines the role of (a) disease processes affecting vision, (b) reported troubles with vision, (c) physical symptoms affecting the eyes, and (d) objective measures in reported driving limitation due to problems with eyesight among older drivers. Data for this study (N = 1,840) were obtained from participants in a community-based study of aging and physical performance in people age 55 or older in the city of Sonoma, California. Each of 16 visual conditions was assessed for impact on reported driving limitation due to eyesight by calculating a "risk" ratio. Then, prevalence of the condition was combined with the ratio to generate an attributable risk for that condition for vision-related limitations in driving. Each condition was significantly associated with reported limitations in driving due to eyesight. "Avoiding physical activity due to vision" (ratio = 3.4) and "trouble seeing steps up/down stairs" (ratio = 2.9) had the strongest association. However, "glasses/contacts required for driving" and "trouble with glare from sun/lights" had the highest attributable risks (35.8 and 29.4). The risk ratio is relevant for evaluating individuals; the attributable risk is relevant to planning countermeasures in populations. Addressing specific problems related to vision should substantially reduce driving limitations due to eyesight.

Student with Asperger's Overcomes Obstacles: Devon's Journey to Independence

ERIC Educational Resources Information Center

Williams, Sarah Blackwelder

2010-01-01

Devon is a bright, engaging 22-year-old with a proud sense of accomplishment. He believes that while people encounter obstacles during their lives, these obstacles can be overcome with motivation and perseverance. Devon says people simply need to identify what they value, set goals and move beyond the obstacles. Devon has been faced with multiple…

Algorithms for Collision Detection Between a Point and a Moving Polygon, with Applications to Aircraft Weather Avoidance

NASA Technical Reports Server (NTRS)

Narkawicz, Anthony; Hagen, George

2016-01-01

This paper proposes mathematical definitions of functions that can be used to detect future collisions between a point and a moving polygon. The intended application is weather avoidance, where the given point represents an aircraft and bounding polygons are chosen to model regions with bad weather. Other applications could possibly include avoiding other moving obstacles. The motivation for the functions presented here is safety, and therefore they have been proved to be mathematically correct. The functions are being developed for inclusion in NASA's Stratway software tool, which allows low-fidelity air traffic management concepts to be easily prototyped and quickly tested.

Detection of Obstacles in Monocular Image Sequences

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia

1997-01-01

The ability to detect and locate runways/taxiways and obstacles in images captured using on-board sensors is an essential first step in the automation of low-altitude flight, landing, takeoff, and taxiing phase of aircraft navigation. Automation of these functions under different weather and lighting situations, can be facilitated by using sensors of different modalities. An aircraft-based Synthetic Vision System (SVS), with sensors of different modalities mounted on-board, complements the current ground-based systems in functions such as detection and prevention of potential runway collisions, airport surface navigation, and landing and takeoff in all weather conditions. In this report, we address the problem of detection of objects in monocular image sequences obtained from two types of sensors, a Passive Millimeter Wave (PMMW) sensor and a video camera mounted on-board a landing aircraft. Since the sensors differ in their spatial resolution, and the quality of the images obtained using these sensors is not the same, different approaches are used for detecting obstacles depending on the sensor type. These approaches are described separately in two parts of this report. The goal of the first part of the report is to develop a method for detecting runways/taxiways and objects on the runway in a sequence of images obtained from a moving PMMW sensor. Since the sensor resolution is low and the image quality is very poor, we propose a model-based approach for detecting runways/taxiways. We use the approximate runway model and the position information of the camera provided by the Global Positioning System (GPS) to define regions of interest in the image plane to search for the image features corresponding to the runway markers. Once the runway region is identified, we use histogram-based thresholding to detect obstacles on the runway and regions outside the runway. This algorithm is tested using image sequences simulated from a single real PMMW image.

Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation

NASA Astrophysics Data System (ADS)

Okubo, Yoichi; Ye, Cang; Borenstein, Johann

2009-05-01

This paper presents a characterization study of the Hokuyo URG-04LX scanning laser rangefinder (LRF). The Hokuyo LRF is similar in function to the Sick LRF, which has been the de-facto standard range sensor for mobile robot obstacle avoidance and mapping applications for the last decade. Problems with the Sick LRF are its relatively large size, weight, and power consumption, allowing its use only on relatively large mobile robots. The Hokuyo LRF is substantially smaller, lighter, and consumes less power, and is therefore more suitable for small mobile robots. The question is whether it performs just as well as the Sick LRF in typical mobile robot applications. In 2002, two of the authors of the present paper published a characterization study of the Sick LRF. For the present paper we used the exact same test apparatus and test procedures as we did in the 2002 paper, but this time to characterize the Hokuyo LRF. As a result, we are in the unique position of being able to provide not only a detailed characterization study of the Hokuyo LRF, but also to compare the Hokuyo LRF with the Sick LRF under identical test conditions. Among the tested characteristics are sensitivity to a variety of target surface properties and incidence angles, which may potentially affect the sensing performance. We also discuss the performance of the Hokuyo LRF with regard to the mixed pixels problem associated with LRFs. Lastly, the present paper provides a calibration model for improving the accuracy of the Hokuyo LRF.

Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

PubMed

Polanowski, Piotr; Sikorski, Andrzej

2016-08-04

In this paper, we investigate the movement of molecules in crowded environments with obstacles undergoing Brownian motion by means of extensive Monte Carlo simulations. Our investigations were performed using the dynamic lattice liquid model, which was based on the cooperative movement concept and allowed to mimic systems at high densities where the motion of all elements (obstacles as well as moving particles) were highly correlated. The crowded environments are modeled on a two-dimensional triangular lattice containing obstacles (particles whose mobility was significantly reduced) moving by a Brownian motion. The subdiffusive motion of both elements in the system was analyzed. It was shown that the percolation transition does not exist in such systems in spite of the cooperative character of the particles' motion. The reduction of the obstacle mobility leads to the longer caging of liquid particles by mobile obstacles.

Diffusion amid random overlapping obstacles: Similarities, invariants, approximations

PubMed Central

Novak, Igor L.; Gao, Fei; Kraikivski, Pavel; Slepchenko, Boris M.

2011-01-01

Efficient and accurate numerical techniques are used to examine similarities of effective diffusion in a void between random overlapping obstacles: essential invariance of effective diffusion coefficients (Deff) with respect to obstacle shapes and applicability of a two-parameter power law over nearly entire range of excluded volume fractions (ϕ), except for a small vicinity of a percolation threshold. It is shown that while neither of the properties is exact, deviations from them are remarkably small. This allows for quick estimation of void percolation thresholds and approximate reconstruction of Deff (ϕ) for obstacles of any given shape. In 3D, the similarities of effective diffusion yield a simple multiplication “rule” that provides a fast means of estimating Deff for a mixture of overlapping obstacles of different shapes with comparable sizes. PMID:21513372

Age-associated changes in obstacle negotiation strategies: Does size and timing matter?

PubMed

Maidan, I; Eyal, S; Kurz, I; Geffen, N; Gazit, E; Ravid, L; Giladi, N; Mirelman, A; Hausdorff, J M

2018-01-01

Tripping over an obstacle is one of the most common causes of falls among older adults. However, the effects of aging, obstacle height and anticipation time on negotiation strategies have not been systematically evaluated. Twenty older adults (ages: 77.7±3.4years; 50% women) and twenty young adults (age: 29.3±3.8years; 50% women) walked through an obstacle course while negotiating anticipated and unanticipated obstacles at heights of 25mm and 75mm. Kinect cameras captured the: (1) distance of the subject's trailing foot before the obstacles, (2) distance of the leading foot after the obstacles, (3) clearance of the leading foot above the obstacles, and (4) clearance of the trailing foot above the obstacles. Linear-mix models assessed changes between groups and conditions. Older adults placed their leading foot closer to the obstacle after landing, compared to young adults (p<0.001). This pattern was enhanced in high obstacles (group*height interaction, p=0.033). Older adults had lower clearance over the obstacles, compared to young adults (p=0.007). This was more pronounced during unanticipated obstacles (group*ART interaction, p=0.003). The distance of the leading foot and clearance of the trailing foot after the obstacles were correlated with motor, cognitive, and functional abilities. These findings suggest that there are age-related changes in obstacle crossing strategies that are dependent on the specific characteristics of the obstacle. The results have important implications for clinical practice, suggesting that functional exercise should include obstacle negotiation training with variable practice of height and available response times. Further studies are needed to better understand the effects of motor and cognitive abilities. Copyright © 2017 Elsevier B.V. All rights reserved.

Road-Following Formation Control of Autonomous Ground Vehicles

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Droge, Greg; Grip, Havard; Toupet, Olivier; Scrapper, Chris; Rahmani, Amir

2015-01-01

This work presents a novel cooperative path planning for formation keeping robots traversing along a road with obstacles and possible narrow passages. A unique challenge in this problem is a requirement for spatial and temporal coordination between vehicles while ensuring collision and obstacle avoidance.

Overcoming obstacles to behavior change in diabetes self-management.

PubMed

Hall, Rosemary F; Joseph, Dayle Hunt; Schwartz-Barcott, Donna

2003-01-01

This study describes how 5 individuals with type 2 diabetes overcame obstacles that interfered with maintaining behavior changes in diet, exercise, and self-monitoring of blood glucose (SMBG). In-depth interviews provided the framework for this descriptive study. During audiotaped, face-to-face, follow-up structured and unstructured interviews, the participants shared their experiences about obstacles encountered and strategies used to overcome them. Each case was examined independently, and all cases were then compared with each other. Obstacles that interfered with maintaining a diet plan were hunger, planned and unplanned meal events, and the desire for new foods. Physical illness and unexpected life events were obstacles to maintaining an exercise and SMBG plan. Health professionals who assist patients who are beginning behavior change or having difficult maintaining changes need to have an understanding of the various obstacles and how patients can maintain behavior changes over time.

Gaming machine addiction: the role of avoidance, accessibility and social support.

PubMed

Thomas, Anna C; Allen, Felicity L; Phillips, James; Karantzas, Gery

2011-12-01

Commonality in etiology and clinical expression plus high comorbidity between pathological gambling and substance use disorders suggest common underlying motives. It is important to understand common motivators and differentiating factors. An overarching framework of addiction was used to examine predictors of problem gambling in current electronic gaming machine (EGM) gamblers. Path analysis was used to examine the relationships between antecedent factors (stressors, coping habits, social support), gambling motivations (avoidance, accessibility, social) and gambling behavior. Three hundred and forty seven (229 females: M = 29.20 years, SD = 14.93; 118 males: M = 29.64 years, SD = 12.49) people participated. Consistent with stress, coping and addiction theory, situational life stressors and general avoidance coping were positively related to avoidance-motivated gambling. In turn, avoidance-motivated gambling was positively related to EGM gambling frequency and problems. Consistent with exposure theory, life stressors were positively related to accessibility-motivated gambling, and accessibility-motivated gambling was positively related to EGM gambling frequency and gambling problems. These findings are consistent with other addiction research and suggest avoidance-motivated gambling is part of a more generalized pattern of avoidance coping with relative accessibility to EGM gambling explaining its choice as a method of avoidance. Findings also showed social support acted as a direct protective factor in relation to gambling frequency and problems and indirectly via avoidance and accessibility gambling motivations. Finally, life stressors were positively related to socially motivated gambling but this motivation was not related to either social support or gambling behavior suggesting it has little direct influence on gambling problems.

Secondary Physical Education Avoidance and Gender: Problems and Antidotes

ERIC Educational Resources Information Center

Ryan, Thomas; Poirier, Yves

2012-01-01

Our goal was to locate and evaluate the barriers that impact and cause females to avoid secondary elective physical education courses. We sought to find answers to stop the further decline of female enrolment in secondary physical education by looking into curricula, program and instructional variables. Anecdotal evidence informed this study which…

Development of collision avoidance system for useful UAV applications using image sensors with laser transmitter

NASA Astrophysics Data System (ADS)

Cheong, M. K.; Bahiki, M. R.; Azrad, S.

2016-10-01

The main goal of this study is to demonstrate the approach of achieving collision avoidance on Quadrotor Unmanned Aerial Vehicle (QUAV) using image sensors with colour- based tracking method. A pair of high definition (HD) stereo cameras were chosen as the stereo vision sensor to obtain depth data from flat object surfaces. Laser transmitter was utilized to project high contrast tracking spot for depth calculation using common triangulation. Stereo vision algorithm was developed to acquire the distance from tracked point to QUAV and the control algorithm was designed to manipulate QUAV's response based on depth calculated. Attitude and position controller were designed using the non-linear model with the help of Optitrack motion tracking system. A number of collision avoidance flight tests were carried out to validate the performance of the stereo vision and control algorithm based on image sensors. In the results, the UAV was able to hover with fairly good accuracy in both static and dynamic collision avoidance for short range collision avoidance. Collision avoidance performance of the UAV was better with obstacle of dull surfaces in comparison to shiny surfaces. The minimum collision avoidance distance achievable was 0.4 m. The approach was suitable to be applied in short range collision avoidance.

FieldSAFE: Dataset for Obstacle Detection in Agriculture.

PubMed

Kragh, Mikkel Fly; Christiansen, Peter; Laursen, Morten Stigaard; Larsen, Morten; Steen, Kim Arild; Green, Ole; Karstoft, Henrik; Jørgensen, Rasmus Nyholm

2017-11-09

In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360 ∘ camera, LiDAR and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present, including humans, mannequin dolls, rocks, barrels, buildings, vehicles and vegetation. All obstacles have ground truth object labels and geographic coordinates.

FieldSAFE: Dataset for Obstacle Detection in Agriculture

PubMed Central

Christiansen, Peter; Larsen, Morten; Steen, Kim Arild; Green, Ole; Karstoft, Henrik

2017-01-01

In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360∘ camera, LiDAR and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present, including humans, mannequin dolls, rocks, barrels, buildings, vehicles and vegetation. All obstacles have ground truth object labels and geographic coordinates. PMID:29120383

Motion Among Random Obstacles on a Hyperbolic Space

NASA Astrophysics Data System (ADS)

Orsingher, Enzo; Ricciuti, Costantino; Sisti, Francesco

2016-02-01

We consider the motion of a particle along the geodesic lines of the Poincaré half-plane. The particle is specularly reflected when it hits randomly-distributed obstacles that are assumed to be motionless. This is the hyperbolic version of the well-known Lorentz Process studied in the Euclidean context. We analyse the limit in which the density of the obstacles increases to infinity and the size of each obstacle vanishes: under a suitable scaling, we prove that our process converges to a Markovian process, namely a random flight on the hyperbolic manifold.

Model Predictive Control considering Reachable Range of Wheels for Leg / Wheel Mobile Robots

NASA Astrophysics Data System (ADS)

Suzuki, Naito; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

Obstacle avoidance is one of the important tasks for mobile robots. In this paper, we study obstacle avoidance control for mobile robots equipped with four legs comprised of three DoF SCARA leg/wheel mechanism, which enables the robot to change its shape adapting to environments. Our previous method achieves obstacle avoidance by model predictive control (MPC) considering obstacle size and lateral wheel positions. However, this method does not ensure existence of joint angles which achieves reference wheel positions calculated by MPC. In this study, we propose a model predictive control considering reachable mobile ranges of wheels positions by combining multiple linear constraints, where each reachable mobile range is approximated as a convex trapezoid. Thus, we achieve to formulate a MPC as a quadratic problem with linear constraints for nonlinear problem of longitudinal and lateral wheel position control. By optimization of MPC, the reference wheel positions are calculated, while each joint angle is determined by inverse kinematics. Considering reachable mobile ranges explicitly, the optimal joint angles are calculated, which enables wheels to reach the reference wheel positions. We verify its advantages by comparing the proposed method with the previous method through numerical simulations.

Power Mobility with Collision Avoidance for Older Adults: User, Caregiver and Prescriber Perspectives

PubMed Central

Wang, Rosalie H; Korotchenko, Alexandra; Clarke, Laura Hurd; Ben Mortenson, W; Mihailidis, Alex

2017-01-01

Collision avoidance technology has the capacity to facilitate safer mobility among older power mobility users with physical, sensory and cognitive impairments, thus enabling independence for more potential users. However, little is known about consumers’ perceptions of collision avoidance. This article draws on interviews with 29 users, five caregivers, and 10 prescribers to examine views on the design and utilization of this technology. Data analysis identified three themes: “useful situations or contexts”, “technology design issues and real life application”, and “appropriateness of collision avoidance technology for a variety of users”. Findings support the ongoing development of collision avoidance for older adult users. The majority of participants were supportive of the technology, and felt that it might benefit current power mobility users and users with visual impairments, but might be unsuitable for people with significant cognitive impairments. Some participants voiced concerns regarding the risk for injury with power mobility use and some identified situations where collision avoidance might be beneficial (driving backwards, avoiding dynamic obstacles, negotiating outdoor barriers, and learning power mobility use). Design issues include the need for context awareness, reliability, and user interface specifications. Furthermore, user desire to maintain driving autonomy indicates the need to develop collaboratively-controlled systems. This research lays the groundwork for future development by identifying and illustrating consumer needs for this technology. PMID:24458968

Self-Tuning Method for Increased Obstacle Detection Reliability Based on Internet of Things LiDAR Sensor Models

PubMed Central

2018-01-01

On-chip LiDAR sensors for vehicle collision avoidance are a rapidly expanding area of research and development. The assessment of reliable obstacle detection using data collected by LiDAR sensors has become a key issue that the scientific community is actively exploring. The design of a self-tuning methodology and its implementation are presented in this paper, to maximize the reliability of LiDAR sensors network for obstacle detection in the ‘Internet of Things’ (IoT) mobility scenarios. The Webots Automobile 3D simulation tool for emulating sensor interaction in complex driving environments is selected in order to achieve that objective. Furthermore, a model-based framework is defined that employs a point-cloud clustering technique, and an error-based prediction model library that is composed of a multilayer perceptron neural network, and k-nearest neighbors and linear regression models. Finally, a reinforcement learning technique, specifically a Q-learning method, is implemented to determine the number of LiDAR sensors that are required to increase sensor reliability for obstacle localization tasks. In addition, a IoT driving assistance user scenario, connecting a five LiDAR sensor network is designed and implemented to validate the accuracy of the computational intelligence-based framework. The results demonstrated that the self-tuning method is an appropriate strategy to increase the reliability of the sensor network while minimizing detection thresholds. PMID:29748521

Self-Tuning Method for Increased Obstacle Detection Reliability Based on Internet of Things LiDAR Sensor Models.

PubMed

Castaño, Fernando; Beruvides, Gerardo; Villalonga, Alberto; Haber, Rodolfo E

2018-05-10

On-chip LiDAR sensors for vehicle collision avoidance are a rapidly expanding area of research and development. The assessment of reliable obstacle detection using data collected by LiDAR sensors has become a key issue that the scientific community is actively exploring. The design of a self-tuning methodology and its implementation are presented in this paper, to maximize the reliability of LiDAR sensors network for obstacle detection in the 'Internet of Things' (IoT) mobility scenarios. The Webots Automobile 3D simulation tool for emulating sensor interaction in complex driving environments is selected in order to achieve that objective. Furthermore, a model-based framework is defined that employs a point-cloud clustering technique, and an error-based prediction model library that is composed of a multilayer perceptron neural network, and k-nearest neighbors and linear regression models. Finally, a reinforcement learning technique, specifically a Q-learning method, is implemented to determine the number of LiDAR sensors that are required to increase sensor reliability for obstacle localization tasks. In addition, a IoT driving assistance user scenario, connecting a five LiDAR sensor network is designed and implemented to validate the accuracy of the computational intelligence-based framework. The results demonstrated that the self-tuning method is an appropriate strategy to increase the reliability of the sensor network while minimizing detection thresholds.

Voluntary community service in medical school: a qualitative study on obstacles faced by student leaders and potential solutions

PubMed Central

Loh, Alvona Zi Hui; Tan, Julia Shi Yu; Lee, Jeannette Jen-Mai; Koh, Gerald Choon-Huat

2015-01-01

Purpose In medical school, students may participate in various community involvement projects (CIP), which serve disadvantaged communities. However, several obstacles may arise during these projects. The authors conducted a qualitative study with the primary aim of understanding the obstacles and corresponding potential solutions when medical students in Singapore participate in local CIP (LCIP) and overseas CIP (OCIP). Design The authors recruited medical students from Yong Loo Lin School of Medicine, National University of Singapore, who were also leaders of a specific community service project done in medical school. Twelve one-to-one interviews were held for the participants from 6 to 8 January 2013. Participants were led in a discussion based on an interview guide. The interviews were audio-recorded and transcribed into free-flow text. Subsequently, content and thematic analyses of the transcripts were performed independently by three researchers. Results The medical students faced many common obstacles during their community service projects. These obstacles include difficulties in recruiting and managing volunteers, attaining recognition or credibility for the project to acquire funding and resources, adjusting to a different culture or language, setting goals, and facing project-specific obstacles. Potential solutions were offered for some obstacles, such as building a strong executive committee for the project, grooming successive batches of leaders, and improving the project's public image, mentorship, reflections, and sustainability plans. Conclusions Mentorship, reflections, and sustainability are potential solutions that have been proposed to tackle the obstacles faced during community service participation in medical school. However, there may still be difficulty in solving some of the problems even after these measures are put into practice. Future research may focus on evaluating the effectiveness of these suggested solutions. PMID:26490690

Voluntary community service in medical school: a qualitative study on obstacles faced by student leaders and potential solutions.

PubMed

Loh, Alvona Zi Hui; Tan, Julia Shi Yu; Lee, Jeannette Jen-Mai; Koh, Gerald Choon-Huat

2015-01-01

In medical school, students may participate in various community involvement projects (CIP), which serve disadvantaged communities. However, several obstacles may arise during these projects. The authors conducted a qualitative study with the primary aim of understanding the obstacles and corresponding potential solutions when medical students in Singapore participate in local CIP (LCIP) and overseas CIP (OCIP). The authors recruited medical students from Yong Loo Lin School of Medicine, National University of Singapore, who were also leaders of a specific community service project done in medical school. Twelve one-to-one interviews were held for the participants from 6 to 8 January 2013. Participants were led in a discussion based on an interview guide. The interviews were audio-recorded and transcribed into free-flow text. Subsequently, content and thematic analyses of the transcripts were performed independently by three researchers. The medical students faced many common obstacles during their community service projects. These obstacles include difficulties in recruiting and managing volunteers, attaining recognition or credibility for the project to acquire funding and resources, adjusting to a different culture or language, setting goals, and facing project-specific obstacles. Potential solutions were offered for some obstacles, such as building a strong executive committee for the project, grooming successive batches of leaders, and improving the project's public image, mentorship, reflections, and sustainability plans. Mentorship, reflections, and sustainability are potential solutions that have been proposed to tackle the obstacles faced during community service participation in medical school. However, there may still be difficulty in solving some of the problems even after these measures are put into practice. Future research may focus on evaluating the effectiveness of these suggested solutions.

Stepping back to see the big picture: when obstacles elicit global processing.

PubMed

Marguc, Janina; Förster, Jens; Van Kleef, Gerben A

2011-11-01

Can obstacles prompt people to look at the "big picture" and open up their minds? Do the cognitive effects of obstacles extend beyond the tasks with which they interfere? These questions were addressed in 6 studies involving both physical and nonphysical obstacles and different measures of global versus local processing styles. Perceptual scope increased after participants solved anagrams in the presence, rather than the absence, of an auditory obstacle (random words played in the background; Study 1), particularly among individuals low in volatility (i.e., those who are inclined to stay engaged and finish what they do; Study 4). It also increased immediately after participants encountered a physical obstacle while navigating a maze (Study 3A) and when compared with doing nothing (Study 3B). Conceptual scope increased after participants solved anagrams while hearing random numbers framed as an "obstacle to overcome" rather than a "distraction to ignore" (Study 2) and after participants navigated a maze with a physical obstacle, compared with a maze without a physical obstacle, but only when trait (Study 5) or state (Study 6) volatility was low. Results suggest that obstacles trigger an "if obstacle, then start global processing" response, primarily when people are inclined to stay engaged and finish ongoing activities. Implications for dealing with life's obstacles and related research are discussed.

Joint Doctrine for Barriers, Obstacles, and Mine Warfare

DTIC Science & Technology

1999-02-24

of explosives. Typical tactical examples are barbed wire obstacles and tank ditches. Operational and strategic barriers and obstacles may also be...total of 10 ocean minesweepers, 9 amphibious ships, 6 fleet tugs, 3 salvage ships, and 19 destroyers. Twenty-four CH-53D Sea Stallions from Marine

How Obstacles Perturb Population Fronts and Alter Their Genetic Structure.

PubMed

Möbius, Wolfram; Murray, Andrew W; Nelson, David R

2015-12-01

As populations spread into new territory, environmental heterogeneities can shape the population front and genetic composition. We focus here on the effects of an important building block of heterogeneous environments, isolated obstacles. With a combination of experiments, theory, and simulation, we show how isolated obstacles both create long-lived distortions of the front shape and amplify the effect of genetic drift. A system of bacteriophage T7 spreading on a spatially heterogeneous Escherichia coli lawn serves as an experimental model system to study population expansions. Using an inkjet printer, we create well-defined replicates of the lawn and quantitatively study the population expansion of phage T7. The transient perturbations of the population front found in the experiments are well described by a model in which the front moves with constant speed. Independent of the precise details of the expansion, we show that obstacles create a kink in the front that persists over large distances and is insensitive to the details of the obstacle's shape. The small deviations between experimental findings and the predictions of the constant speed model can be understood with a more general reaction-diffusion model, which reduces to the constant speed model when the obstacle size is large compared to the front width. Using this framework, we demonstrate that frontier genotypes just grazing the side of an isolated obstacle increase in abundance, a phenomenon we call 'geometry-enhanced genetic drift', complementary to the founder effect associated with spatial bottlenecks. Bacterial range expansions around nutrient-poor barriers and stochastic simulations confirm this prediction. The effect of the obstacle on the genealogy of individuals at the front is characterized by simulations and rationalized using the constant speed model. Lastly, we consider the effect of two obstacles on front shape and genetic composition of the population illuminating the effects expected from

Performance testing of collision-avoidance system for power wheelchairs.

PubMed

Lopresti, Edmund F; Sharma, Vinod; Simpson, Richard C; Mostowy, L Casimir

2011-01-01

The Drive-Safe System (DSS) is a collision-avoidance system for power wheelchairs designed to support people with mobility impairments who also have visual, upper-limb, or cognitive impairments. The DSS uses a distributed approach to provide an add-on, shared-control, navigation-assistance solution. In this project, the DSS was tested for engineering goals such as sensor coverage, maximum safe speed, maximum detection distance, and power consumption while the wheelchair was stationary or driven by an investigator. Results indicate that the DSS provided uniform, reliable sensor coverage around the wheelchair; detected obstacles as small as 3.2 mm at distances of at least 1.6 m; and attained a maximum safe speed of 4.2 km/h. The DSS can drive reliably as close as 15.2 cm from a wall, traverse doorways as narrow as 81.3 cm without interrupting forward movement, and reduce wheelchair battery life by only 3%. These results have implications for a practical system to support safe, independent mobility for veterans who acquire multiple disabilities during Active Duty or later in life. These tests indicate that a system utilizing relatively low cost ultrasound, infrared, and force sensors can effectively detect obstacles in the vicinity of a wheelchair.

Obstacle Detection using Binocular Stereo Vision in Trajectory Planning for Quadcopter Navigation

NASA Astrophysics Data System (ADS)

Bugayong, Albert; Ramos, Manuel, Jr.

2018-02-01

Quadcopters are one of the most versatile unmanned aerial vehicles due to its vertical take-off and landing as well as hovering capabilities. This research uses the Sum of Absolute Differences (SAD) block matching algorithm for stereo vision. A complementary filter was used in sensor fusion to combine obtained quadcopter orientation data from the accelerometer and the gyroscope. PID control was implemented for the motor control and VFH+ algorithm was implemented for trajectory planning. Results show that the quadcopter was able to consistently actuate itself in the roll, yaw and z-axis during obstacle avoidance but was however found to be inconsistent in the pitch axis during forward and backward maneuvers due to the significant noise present in the pitch axis angle outputs compared to the roll and yaw axes.

Effect of form of obstacle on speed of crowd evacuation

NASA Astrophysics Data System (ADS)

Yano, Ryosuke

2018-03-01

This paper investigates the effect of the form of an obstacle on the time that a crowd takes to evacuate a room, using a toy model. Pedestrians are modeled as active soft matter moving toward a point with intended velocities. An obstacle is placed in front of the exit, and it has one of four shapes: a cylindrical column, a triangular prism, a quadratic prism, or a diamond prism. Numerical results indicate that the evacuation-completion time depends on the shape of the obstacle. Obstacles with a circular cylinder (C.C.) shape yield the shortest evacuation-completion time in the proposed model.

Computational extended magneto-hydrodynamical study of shock structure generated by flows past an obstacle

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

Zhao, Xuan, E-mail: xzhao@cylance.com; Seyler, C. E., E-mail: ces7@cornell.edu

2015-07-15

The magnetized shock problem is studied in the context where supersonic plasma flows past a solid obstacle. This problem exhibits interesting and important phenomena such as a bow shock, magnetotail formation, reconnection, and plasmoid formation. This study is carried out using a discontinuous Galerkin method to solve an extended magneto-hydrodynamic model (XMHD). The main goals of this paper are to present a reasonably complete picture of the properties of this interaction using the MHD model and then to compare the results to the XMHD model. The inflow parameters, such as the magnetosonic Mach number M{sub f} and the ratio ofmore » thermal pressure to magnetic pressure β, can significantly affect the physical structures of the flow-obstacle interaction. The Hall effect can also significantly influence the results in the regime in which the ion inertial length is numerically resolved. Most of the results presented are for the two-dimensional case; however, two three-dimensional simulations are presented to make a connection to the important case in which the solar wind interacts with a solid body and to explore the possibility of performing scaled laboratory experiments.« less

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1989-01-01

A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

Water waves generated by impulsively moving obstacle

NASA Astrophysics Data System (ADS)

Makarenko, Nikolay; Kostikov, Vasily

2017-04-01

There are several mechanisms of tsunami-type wave formation such as piston displacement of the ocean floor due to a submarine earthquake, landslides, etc. We consider simplified mathematical formulation which involves non-stationary Euler equations of infinitely deep ideal fluid with submerged compact wave-maker. We apply semi-analytical method [1] based on the reduction of fully nonlinear water wave problem to the integral-differential system for the wave elevation together with normal and tangential fluid velocities at the free surface. Recently, small-time asymptotic solutions were constructed by this method for submerged piston modeled by thin elliptic cylinder which starts with constant acceleration from rest [2,3]. By that, the leading-order solution terms describe several regimes of non-stationary free surface flow such as formation of inertial fluid layer, splash jets and diverging waves over the obstacle. Now we construct asymptotic solution taking into account higher-order nonlinear terms in the case of submerged circular cylinder. The role of non-linearity in the formation mechanism of surface waves is clarified in comparison with linear approximations. This work was supported by RFBR (grant No 15-01-03942). References [1] Makarenko N.I. Nonlinear interaction of submerged cylinder with free surface, JOMAE Trans. ASME, 2003, 125(1), 75-78. [2] Makarenko N.I., Kostikov V.K. Unsteady motion of an elliptic cylinder under a free surface, J. Appl. Mech. Techn. Phys., 2013, 54(3), 367-376. [3] Makarenko N.I., Kostikov V.K. Non-linear water waves generated by impulsive motion of submerged obstacle, NHESS, 2014, 14(4), 751-756.

Strategic obstacle placement reduces drop breakup probability in concentrated emulsion flowing into a constriction

NASA Astrophysics Data System (ADS)

Khor, Jian Wei; Hua, Yu; Bick, Alison; Tang, Sindy

2017-11-01

In this study, we investigate the effect of an obstacle on the breakup probability of droplets within a concentrated emulsion flowing into a constriction. We introduce a concentrated emulsion as a 2D monolayer through a tapered channel into a narrow constriction. This geometry is commonly used for the serial interrogation of droplet content in droplet microfluidics applications. We found that certain drop-drop interactions near the constriction entrance lead to the breakup of these drops at a high flow rates. Such breakup sets the upper limit for the droplet interrogation throughput. Incidentally, previous findings have shown that strategic placement of a circular post near a narrow exit can reduce the conflict from the interactions among living organisms (humans, ants, and sheep) or a cluster of particles when entering a narrow exit. Inspired by these results, we modify the tapered channel by placing a circular post in a strategic location near the constriction entrance in order to reduce catastrophic drop-drop interactions and to avoid breakup. Preliminary work shows that the circular posts can reduce the breakup fraction of drops by up to 17%. The optimization of the location and size of the obstacle is expected to further reduce the breakup fraction.

Collision avoidance using neural networks

NASA Astrophysics Data System (ADS)

Sugathan, Shilpa; Sowmya Shree, B. V.; Warrier, Mithila R.; Vidhyapathi, C. M.

2017-11-01

Now a days, accidents on roads are caused due to the negligence of drivers and pedestrians or due to unexpected obstacles that come into the vehicle’s path. In this paper, a model (robot) is developed to assist drivers for a smooth travel without accidents. It reacts to the real time obstacles on the four critical sides of the vehicle and takes necessary action. The sensor used for detecting the obstacle was an IR proximity sensor. A single layer perceptron neural network is used to train and test all possible combinations of sensors result by using Matlab (offline). A microcontroller (ARM Cortex-M3 LPC1768) is used to control the vehicle through the output data which is received from Matlab via serial communication. Hence, the vehicle becomes capable of reacting to any combination of real time obstacles.

Laser development for optimal helicopter obstacle warning system LADAR performance

NASA Astrophysics Data System (ADS)

Yaniv, A.; Krupkin, V.; Abitbol, A.; Stern, J.; Lurie, E.; German, A.; Solomonovich, S.; Lubashitz, B.; Harel, Y.; Engart, S.; Shimoni, Y.; Hezy, S.; Biltz, S.; Kaminetsky, E.; Goldberg, A.; Chocron, J.; Zuntz, N.; Zajdman, A.

2005-04-01

Low lying obstacles present immediate danger to both military and civilian helicopters performing low-altitude flight missions. A LADAR obstacle detection system is the natural solution for enhancing helicopter safety and improving the pilot situation awareness. Elop is currently developing an advanced Surveillance and Warning Obstacle Ranging and Display (SWORD) system for the Israeli Air Force. Several key factors and new concepts have contributed to system optimization. These include an adaptive FOV, data memorization, autonomous obstacle detection and warning algorithms and the use of an agile laser transmitter. In the present work we describe the laser design and performance and discuss some of the experimental results. Our eye-safe laser is characterized by its pulse energy, repetition rate and pulse length agility. By dynamically controlling these parameters, we are able to locally optimize the system"s obstacle detection range and scan density in accordance with the helicopter instantaneous maneuver.

Influence of obstacles on bubbles rising in water-saturated sand

NASA Astrophysics Data System (ADS)

Poryles, Raphaël; Varas, Germán; Vidal, Valérie

2017-06-01

This work investigates the dynamics of air rising through a water-saturated sand confined in a Hele- Shaw cell in which a circular obstacle is trapped. The air is injected at constant flow rate through a single nozzle at the bottom center of the cell. Without obstacle, in a similar configuration, previous studies pointed out the existence of a fluidized zone generated by the central upward gas motion which entrains two granular convection rolls on its sides. Here, a circular obstacle which diameter is of the order of the central air channel width is trapped at the vertical of the injection nozzle. We analyze the influence of the obstacle location on the size of the fluidized zone and its impact on the morphology of the central air channel. Finally, we quantify the variations of the granular free surface. Two configurations with multiple obstacles are also considered.

Evolutionary programming-based univector field navigation method for past mobile robots.

PubMed

Kim, Y J; Kim, J H; Kwon, D S

2001-01-01

Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two dimensional vector field. The method provides fast moving robots with the desired posture at the target position and obstacle avoidance. To obtain the sub-optimal vector field, a function approximator is used and trained by evolutionary programming. Two kinds of vector fields are trained, one for the final posture acquisition and the other for obstacle avoidance. Computer simulations and real experiments are carried out for a fast moving mobile robot to demonstrate the effectiveness of the proposed scheme.

Novel approaches to helicopter obstacle warning

NASA Astrophysics Data System (ADS)

Seidel, Christian; Samuelis, Christian; Wegner, Matthias; Münsterer, Thomas; Rumpf, Thomas; Schwartz, Ingo

2006-05-01

EADS Germany is the world market leader in commercial Helicopter Laser Radar (HELLAS) Obstacle Warning Systems. The HELLAS-Warning System has been introduced into the market in 2000, is in service at German Border Control (Bundespolizei) and Royal Thai Airforce and is successfully evaluated by the Foreign Comparative Test Program (FCT) of the USSOCOM. Currently the successor system HELLAS-Awareness is in development. It will have extended sensor performance, enhanced realtime data processing capabilities and advanced HMI features. We will give an outline of the new sensor unit concerning detection technology and helicopter integration aspects. The system provides a widespread field of view with additional dynamic line of sight steering and a large detection range in combination with a high frame rate of 3Hz. The workflow of the data processing will be presented with focus on novel filter techniques and obstacle classification methods. As commonly known the former are indispensable due to unavoidable statistical measuring errors and solarisation. The amount of information in the filtered raw data is further reduced by ground segmentation. The remaining raised objects are extracted and classified in several stages into different obstacle classes. We will show the prioritization function which orders the obstacles concerning to their threat potential to the helicopter taking into account the actual flight dynamics. The priority of an object determines the display and provision of warnings to the pilot. Possible HMI representation includes video or FLIR overlay on multifunction displays, audio warnings and visualization of information on helmet mounted displays and digital maps. Different concepts will be presented.

Exact Solution of the Two-Dimensional Problem on an Impact Ideal-Liquid Jet

NASA Astrophysics Data System (ADS)

Belik, V. D.

2018-05-01

The two-dimensional problem on the collision of a potential ideal-liquid jet, outflowing from a reservoir through a nozzle, with an infinite plane obstacle was considered for the case where the distance between the nozzle exit section and the obstacle is finite. An exact solution of this problem has been found using methods of the complex-variable function theory. Simple analytical expressions for the complex velocity of the liquid, its flow rate, and the force of action of the jet on the obstacle have been obtained. The velocity distributions of the liquid at the nozzle exit section, in the region of spreading of the jet, and at the obstacle have been constructed for different distances between the nozzle exit section and the obstacle. Analytical expressions for the thickness of the boundary layer and the Nusselt number at the point of stagnation of the jet have been obtained. A number of distributions of the local friction coefficient and the Nusselt number of the indicated jet are presented.

Obstacles to integrated pest management adoption in developing countries

PubMed Central

Parsa, Soroush; Morse, Stephen; Bonifacio, Alejandro; Chancellor, Timothy C. B.; Condori, Bruno; Crespo-Pérez, Verónica; Hobbs, Shaun L. A.; Kroschel, Jürgen; Ba, Malick N.; Rebaudo, François; Sherwood, Stephen G.; Vanek, Steven J.; Faye, Emile; Herrera, Mario A.; Dangles, Olivier

2014-01-01

Despite its theoretical prominence and sound principles, integrated pest management (IPM) continues to suffer from anemic adoption rates in developing countries. To shed light on the reasons, we surveyed the opinions of a large and diverse pool of IPM professionals and practitioners from 96 countries by using structured concept mapping. The first phase of this method elicited 413 open-ended responses on perceived obstacles to IPM. Analysis of responses revealed 51 unique statements on obstacles, the most frequent of which was “insufficient training and technical support to farmers.” Cluster analyses, based on participant opinions, grouped these unique statements into six themes: research weaknesses, outreach weaknesses, IPM weaknesses, farmer weaknesses, pesticide industry interference, and weak adoption incentives. Subsequently, 163 participants rated the obstacles expressed in the 51 unique statements according to importance and remediation difficulty. Respondents from developing countries and high-income countries rated the obstacles differently. As a group, developing-country respondents rated “IPM requires collective action within a farming community” as their top obstacle to IPM adoption. Respondents from high-income countries prioritized instead the “shortage of well-qualified IPM experts and extensionists.” Differential prioritization was also evident among developing-country regions, and when obstacle statements were grouped into themes. Results highlighted the need to improve the participation of stakeholders from developing countries in the IPM adoption debate, and also to situate the debate within specific regional contexts. PMID:24567400

Advanced Augmented White Cane with obstacle height and distance feedback.

PubMed

Pyun, Rosali; Kim, Yeongmi; Wespe, Pascal; Gassert, Roger; Schneller, Stefan

2013-06-01

The white cane is a widely used mobility aid that helps visually impaired people navigate the surroundings. While it reliably and intuitively extends the detection range of ground-level obstacles and drop-offs to about 1.2 m, it lacks the ability to detect trunk and head-level obstacles. Electronic Travel Aids (ETAs) have been proposed to overcome these limitations, but have found minimal adoption due to limitations such as low information content and low reliability thereof. Although existing ETAs extend the sensing range beyond that of the conventional white cane, most of them do not detect head-level obstacles and drop-offs, nor can they identify the vertical extent of obstacles. Furthermore, some ETAs work independent of the white cane, and thus reliable detection of surface textures and drop-offs is not provided. This paper introduces a novel ETA, the Advanced Augmented White Cane, which detects obstacles at four vertical levels and provides multi-sensory feedback. We evaluated the device in five blindfolded subjects through reaction time measurements following the detection of an obstacle, as well as through the reliability of dropoff detection. The results showed that our aid could help the user successfully detect an obstacle and identify its height, with an average reaction time of 410 msec. Drop-offs were reliably detected with an intraclass correlation > 0.95. This work is a first step towards a low-cost ETA to complement the functionality of the conventional white cane.

How Obstacles Perturb Population Fronts and Alter Their Genetic Structure

PubMed Central

Möbius, Wolfram; Murray, Andrew W.; Nelson, David R.

2015-01-01

As populations spread into new territory, environmental heterogeneities can shape the population front and genetic composition. We focus here on the effects of an important building block of heterogeneous environments, isolated obstacles. With a combination of experiments, theory, and simulation, we show how isolated obstacles both create long-lived distortions of the front shape and amplify the effect of genetic drift. A system of bacteriophage T7 spreading on a spatially heterogeneous Escherichia coli lawn serves as an experimental model system to study population expansions. Using an inkjet printer, we create well-defined replicates of the lawn and quantitatively study the population expansion of phage T7. The transient perturbations of the population front found in the experiments are well described by a model in which the front moves with constant speed. Independent of the precise details of the expansion, we show that obstacles create a kink in the front that persists over large distances and is insensitive to the details of the obstacle’s shape. The small deviations between experimental findings and the predictions of the constant speed model can be understood with a more general reaction-diffusion model, which reduces to the constant speed model when the obstacle size is large compared to the front width. Using this framework, we demonstrate that frontier genotypes just grazing the side of an isolated obstacle increase in abundance, a phenomenon we call ‘geometry-enhanced genetic drift’, complementary to the founder effect associated with spatial bottlenecks. Bacterial range expansions around nutrient-poor barriers and stochastic simulations confirm this prediction. The effect of the obstacle on the genealogy of individuals at the front is characterized by simulations and rationalized using the constant speed model. Lastly, we consider the effect of two obstacles on front shape and genetic composition of the population illuminating the effects

Rape avoidance behavior among Slovak women.

PubMed

Prokop, Pavol

2013-05-28

Rape has been a recurrent adaptive problem for many species, including humans. Rape is costly to women in terms of disease transmission, partner abandonment, and unwanted pregnancy (among other costs). Therefore, behavioral strategies which allow women to avoid coercive men may have been favored by selection. In line with this evolutionary reasoning, the current research documented that physically stronger women and those in a committed romantic relationship reported more rape avoidance behavior. In addition, virgin women tended to perform more rape avoidance behavior compared with their non-virgin counterparts. Women with high conception risk perceived themselves as physically stronger, which may protect them against a potential rapist. Fear of unwanted pregnancy from rape decreased as age increased, reflecting higher fertility among younger participants. However, older women reported more rape avoidance behavior, which contradicts evolutionary predictions. The results provide some support for evolutionary hypotheses of rape avoidance behavior which suggest that woman's perception of rape is influenced by parental investment and perceived physical condition.

Why Implementing History and Philosophy in School Science Education is a Challenge: An Analysis of Obstacles

NASA Astrophysics Data System (ADS)

Höttecke, Dietmar; Silva, Cibelle Celestino

2011-03-01

Teaching and learning with history and philosophy of science (HPS) has been, and continues to be, supported by science educators. While science education standards documents in many countries also stress the importance of teaching and learning with HPS, the approach still suffers from ineffective implementation in school science teaching. In order to better understand this problem, an analysis of the obstacles of implementing HPS into classrooms was undertaken. The obstacles taken into account were structured in four groups: 1. culture of teaching physics, 2. teachers' skills, epistemological and didactical attitudes and beliefs, 3. institutional framework of science teaching, and 4. textbooks as fundamental didactical support. Implications for more effective implementation of HPS are presented, taking the social nature of educational systems into account.

Stepping over obstacles: anticipatory modifications in children with and without Down syndrome.

PubMed

Virji-Babul, Naznin; Brown, Michelle

2004-12-01

The purpose of this study was to explore the mechanism of anticipatory control of gait in relation to the perception of an obstacle. Typically developing (TD) children (4-7 years of age) and children with Down syndrome (5-6 years of age) walked and stepped over obstacles of two different heights-a "subtle" obstacle that was placed at a very low distance from the floor (1% of total body height) and an "obvious" obstacle that was placed at a much higher distance from the floor (15% of total body height). Spatial and temporal measures of the gait cycle were analyzed. TD children showed increased variability in pre-obstacle step lengths only in response to the higher obstacle. Children with DS showed a decrease in variability in response to the higher obstacle and marked qualitative changes in their gait cycle. Both groups of children were able to scale toe clearance with obstacle height. These results show that TD young children can make task-specific anticipatory adjustments by modulating step length and toe clearance. Children with DS show appropriate scaling of toe clearance and are beginning to show the emergence of anticipatory responses under specific environmental conditions.

Critical transition in the constrained traveling salesman problem.

PubMed

Andrecut, M; Ali, M K

2001-04-01

We investigate the finite size scaling of the mean optimal tour length as a function of density of obstacles in a constrained variant of the traveling salesman problem (TSP). The computational experience pointed out a critical transition (at rho(c) approximately 85%) in the dependence between the excess of the mean optimal tour length over the Held-Karp lower bound and the density of obstacles.

A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots.

PubMed

Lee, Tae-Jae; Yi, Dong-Hoon; Cho, Dong-Il Dan

2016-03-01

This paper presents a monocular vision sensor-based obstacle detection algorithm for autonomous robots. Each individual image pixel at the bottom region of interest is labeled as belonging either to an obstacle or the floor. While conventional methods depend on point tracking for geometric cues for obstacle detection, the proposed algorithm uses the inverse perspective mapping (IPM) method. This method is much more advantageous when the camera is not high off the floor, which makes point tracking near the floor difficult. Markov random field-based obstacle segmentation is then performed using the IPM results and a floor appearance model. Next, the shortest distance between the robot and the obstacle is calculated. The algorithm is tested by applying it to 70 datasets, 20 of which include nonobstacle images where considerable changes in floor appearance occur. The obstacle segmentation accuracies and the distance estimation error are quantitatively analyzed. For obstacle datasets, the segmentation precision and the average distance estimation error of the proposed method are 81.4% and 1.6 cm, respectively, whereas those for a conventional method are 57.5% and 9.9 cm, respectively. For nonobstacle datasets, the proposed method gives 0.0% false positive rates, while the conventional method gives 17.6%.

A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots

PubMed Central

Lee, Tae-Jae; Yi, Dong-Hoon; Cho, Dong-Il “Dan”

2016-01-01

This paper presents a monocular vision sensor-based obstacle detection algorithm for autonomous robots. Each individual image pixel at the bottom region of interest is labeled as belonging either to an obstacle or the floor. While conventional methods depend on point tracking for geometric cues for obstacle detection, the proposed algorithm uses the inverse perspective mapping (IPM) method. This method is much more advantageous when the camera is not high off the floor, which makes point tracking near the floor difficult. Markov random field-based obstacle segmentation is then performed using the IPM results and a floor appearance model. Next, the shortest distance between the robot and the obstacle is calculated. The algorithm is tested by applying it to 70 datasets, 20 of which include nonobstacle images where considerable changes in floor appearance occur. The obstacle segmentation accuracies and the distance estimation error are quantitatively analyzed. For obstacle datasets, the segmentation precision and the average distance estimation error of the proposed method are 81.4% and 1.6 cm, respectively, whereas those for a conventional method are 57.5% and 9.9 cm, respectively. For nonobstacle datasets, the proposed method gives 0.0% false positive rates, while the conventional method gives 17.6%. PMID:26938540

Clogging and jamming transitions in periodic obstacle arrays

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

Nguyen, Hong; Reichhardt, Charles; Olson Reichhardt, Cynthia Jane

2017-03-29

We numerically examine clogging transitions for bidisperse disks flowing through a two-dimensional periodic obstacle array. Here, we show that clogging is a probabilistic event that occurs through a transition from a homogeneous flowing state to a heterogeneous or phase-separated jammed state where the disks form dense connected clusters. The probability for clogging to occur during a fixed time increases with increasing particle packing and obstacle number. For driving at different angles with respect to the symmetry direction of the obstacle array, we show that certain directions have a higher clogging susceptibility. It is also possible to have a size-specific cloggingmore » transition in which one disk size becomes completely immobile while the other disk size continues to flow.« less

The effects of multiple obstacles on the locomotor behavior and performance of a terrestrial lizard.

PubMed

Parker, Seth E; McBrayer, Lance D

2016-04-01

Negotiation of variable terrain is important for many small terrestrial vertebrates. Variation in the running surface resulting from obstacles (woody debris, vegetation, rocks) can alter escape paths and running performance. The ability to navigate obstacles likely influences survivorship through predator evasion success and other key ecological tasks (finding mates, acquiring food). Earlier work established that running posture and sprint performance are altered when organisms face an obstacle, and yet studies involving multiple obstacles are limited. Indeed, some habitats are cluttered with obstacles, whereas others are not. For many species, obstacle density may be important in predator escape and/or colonization potential by conspecifics. This study examines how multiple obstacles influence running behavior and locomotor posture in lizards. We predict that an increasing number of obstacles will increase the frequency of pausing and decrease sprint velocity. Furthermore, bipedal running over multiple obstacles is predicted to maintain greater mean sprint velocity compared with quadrupedal running, thereby revealing a potential advantage of bipedalism. Lizards were filmed running through a racetrack with zero, one or two obstacles. Bipedal running posture over one obstacle was significantly faster than quadrupedal posture. Bipedal running trials contained fewer total strides than quadrupedal ones. But on addition of a second obstacle, the number of bipedal strides decreased. Increasing obstacle number led to slower and more intermittent locomotion. Bipedalism provided clear advantages for one obstacle, but was not associated with further benefits for an additional obstacle. Hence, bipedalism helps mitigate obstacle negotiation, but not when numerous obstacles are encountered in succession. © 2016. Published by The Company of Biologists Ltd.

Obstacle evasion in free-space optical communications utilizing Airy beams.

PubMed

Zhu, Guoxuan; Wen, Yuanhui; Wu, Xiong; Chen, Yujie; Liu, Jie; Yu, Siyuan

2018-03-15

A high speed free-space optical communication system capable of self-bending signal transmission around line-of-sight obstacles is proposed and demonstrated. Airy beams are generated and controlled to achieve different propagating trajectories, and the signal transmission characteristics of these beams around the obstacle are investigated. Our results confirm that, by optimizing their ballistic trajectories, Airy beams are able to bypass obstacles with more signal energy and thus improve the communication performance compared with normal Gaussian beams.

Obstacle evasion in free-space optical communications utilizing Airy beams

NASA Astrophysics Data System (ADS)

Zhu, Guoxuan; Wen, Yuanhui; Wu, Xiong; Chen, Yujie; Liu, Jie; Yu, Siyuan

2018-03-01

A high speed free-space optical communication system capable of self-bending signal transmission around line-of-sight obstacles is proposed and demonstrated. Airy beams are generated and controlled to achieve different propagating trajectories, and the signal transmission characteristics of these beams around the obstacle are investigated. Our results confirm that, by optimising their ballistic trajectories, Airy beams are able to bypass obstacles with more signal energy and thus improve the communication performance compared with normal Gaussian beams.

Propagation of spiral waves pinned to circular and rectangular obstacles.

PubMed

Sutthiopad, Malee; Luengviriya, Jiraporn; Porjai, Porramain; Phantu, Metinee; Kanchanawarin, Jarin; Müller, Stefan C; Luengviriya, Chaiya

2015-05-01

We present an investigation of spiral waves pinned to circular and rectangular obstacles with different circumferences in both thin layers of the Belousov-Zhabotinsky reaction and numerical simulations with the Oregonator model. For circular objects, the area always increases with the circumference. In contrast, we varied the circumference of rectangles with equal areas by adjusting their width w and height h. For both obstacle forms, the propagating parameters (i.e., wavelength, wave period, and velocity of pinned spiral waves) increase with the circumference, regardless of the obstacle area. Despite these common features of the parameters, the forms of pinned spiral waves depend on the obstacle shapes. The structures of spiral waves pinned to circles as well as rectangles with the ratio w/h∼1 are similar to Archimedean spirals. When w/h increases, deformations of the spiral shapes are observed. For extremely thin rectangles with w/h≫1, these shapes can be constructed by employing semicircles with different radii which relate to the obstacle width and the core diameter of free spirals.

Assessment of a simple obstacle detection device for the visually impaired.

PubMed

Lee, Cheng-Lung; Chen, Chih-Yung; Sung, Peng-Cheng; Lu, Shih-Yi

2014-07-01

A simple obstacle detection device, based upon an automobile parking sensor, was assessed as a mobility aid for the visually impaired. A questionnaire survey for mobility needs was performed at the start of this study. After the detector was developed, five blindfolded sighted and 15 visually impaired participants were invited to conduct travel experiments under three test conditions: (1) using a white cane only, (2) using the obstacle detector only and (3) using both devices. A post-experiment interview regarding the usefulness of the obstacle detector for the visually impaired participants was performed. The results showed that the obstacle detector could augment mobility performance with the white cane. The obstacle detection device should be used in conjunction with the white cane to achieve the best mobility speed and body protection. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

An assessment of auditory-guided locomotion in an obstacle circumvention task.

PubMed

Kolarik, Andrew J; Scarfe, Amy C; Moore, Brian C J; Pardhan, Shahina

2016-06-01

This study investigated how effectively audition can be used to guide navigation around an obstacle. Ten blindfolded normally sighted participants navigated around a 0.6 × 2 m obstacle while producing self-generated mouth click sounds. Objective movement performance was measured using a Vicon motion capture system. Performance with full vision without generating sound was used as a baseline for comparison. The obstacle's location was varied randomly from trial to trial: it was either straight ahead or 25 cm to the left or right relative to the participant. Although audition provided sufficient information to detect the obstacle and guide participants around it without collision in the majority of trials, buffer space (clearance between the shoulder and obstacle), overall movement times, and number of velocity corrections were significantly (p < 0.05) greater with auditory guidance than visual guidance. Collisions sometime occurred under auditory guidance, suggesting that audition did not always provide an accurate estimate of the space between the participant and obstacle. Unlike visual guidance, participants did not always walk around the side that afforded the most space during auditory guidance. Mean buffer space was 1.8 times higher under auditory than under visual guidance. Results suggest that sound can be used to generate buffer space when vision is unavailable, allowing navigation around an obstacle without collision in the majority of trials.

UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets

PubMed Central

Gottlieb, Yoav; Shima, Tal

2015-01-01

The intertwined task assignment and motion planning problem of assigning a team of fixed-winged unmanned aerial vehicles to a set of prioritized targets in an environment with obstacles is addressed. It is assumed that the targets’ locations and initial priorities are determined using a network of unattended ground sensors used to detect potential threats at restricted zones. The targets are characterized by a time-varying level of importance, and timing constraints must be fulfilled before a vehicle is allowed to visit a specific target. It is assumed that the vehicles are carrying body-fixed sensors and, thus, are required to approach a designated target while flying straight and level. The fixed-winged aerial vehicles are modeled as Dubins vehicles, i.e., having a constant speed and a minimum turning radius constraint. The investigated integrated problem of task assignment and motion planning is posed in the form of a decision tree, and two search algorithms are proposed: an exhaustive algorithm that improves over run time and provides the minimum cost solution, encoded in the tree, and a greedy algorithm that provides a quick feasible solution. To satisfy the target’s visitation timing constraint, a path elongation motion planning algorithm amidst obstacles is provided. Using simulations, the performance of the algorithms is compared, evaluated and exemplified. PMID:26610522

Numerical investigation on layout optimization of obstacles in a three-dimensional passive micromixer.

PubMed

Chen, Xueye; Zhao, Zhongyi

2017-04-29

This paper aims at layout optimization design of obstacles in a three-dimensional T-type micromixer. Numerical analysis shows that the direction of flow velocity change constantly due to the obstacles blocking, which produces the chaotic convection and increases species mixing effectively. The orthogonal experiment method was applied for determining the effects of some key parameters on mixing efficiency. The weights in the order are: height of obstacles > geometric shape > symmetry = number of obstacles. Based on the optimized results, a multi-units obstacle micromixer was designed. Compared with T-type micromixer, the multi-units obstacle micromixer is more efficient, and more than 90% mixing efficiency were obtained for a wide range of peclet numbers. It can be demonstrated that the presented optimal design method of obstacles layout in three-dimensional microchannels is a simple and effective technology to improve species mixing in microfluidic devices. The obstacles layout methodology has the potential for applications in chemical engineering and bioengineering. Copyright © 2017 Elsevier B.V. All rights reserved.

Inflationary magneto-(non)genesis, increasing kinetic couplings, and the strong coupling problem

NASA Astrophysics Data System (ADS)

Bazrafshan Moghaddam, Hossein; McDonough, Evan; Namba, Ryo; Brandenberger, Robert H.

2018-05-01

We study the generation of magnetic fields during inflation making use of a coupling of the inflaton and moduli fields to electromagnetism via the photon kinetic term, and assuming that the coupling is an increasing function of time. We demonstrate that the strong coupling problem of inflationary magnetogenesis can be avoided by incorporating the destabilization of moduli fields after inflation. The magnetic field always dominates over the electric one, and thus the severe constraints on the latter from backreaction, which are the demanding obstacles in the case of a decreasing coupling function, do not apply to the current scenario. However, we show that this loophole to the strong coupling problem comes at a price: the normalization of the amplitude of magnetic fields is determined by this coupling term and is therefore suppressed by a large factor after the moduli destabilization completes. From this we conclude that there is no self-consistent and generic realization of primordial magnetogenesis producing scale-invariant fields in the case of an increasing kinetic coupling.

Reply to ``Comment on `Free surface Hele-Shaw flows around an obstacle: A random walk simulation' ''

NASA Astrophysics Data System (ADS)

Bogoyavlenskiy, Vladislav A.; Cotts, Eric J.

2007-09-01

As pointed out by Vasconcelos in his Comment, our computer simulations of Hele-Shaw flows around series of wedges differ from analytical solutions existing for this problem. We attribute the discrepancy to the notion that these analytical solutions correspond to ideal, steady-state flow regimes which are hardly applicable when a rigid obstacle interacts with a moving liquid-gas interface.

Self-Disclosure Avoidance: Why I Am Afraid to Tell You Who I Am.

ERIC Educational Resources Information Center

Rosenfeld, Lawrence B.

1979-01-01

Reports on research to determine relationships between self-disclosure and self-disclosure avoidance. Generally, males avoid self-disclosure in order to maintain control over their relationships; females avoid self-disclosure in order to avoid personal hurt and problems with their interpersonal relationships. (JMF)

Optimal layout design of obstacles for panic evacuation using differential evolution

NASA Astrophysics Data System (ADS)

Zhao, Yongxiang; Li, Meifang; Lu, Xin; Tian, Lijun; Yu, Zhiyong; Huang, Kai; Wang, Yana; Li, Ting

2017-01-01

To improve the pedestrian outflow in panic situations by suitably placing an obstacle in front of the exit, it is vital to understand the physical mechanism behind the evacuation efficiency enhancement. In this paper, a robust differential evolution is firstly employed to optimize the geometrical parameters of different shaped obstacles in order to achieve an optimal evacuation efficiency. Moreover, it is found that all the geometrical parameters of obstacles could markedly influence the evacuation efficiency of pedestrians, and the best way for achieving an optimal pedestrian outflow is to slightly shift the obstacle from the center of the exit which is consistent with findings of extant literature. Most importantly, by analyzing the profiles of density, velocity and specific flow, as well as the spatial distribution of crowd pressure, we have proven that placing an obstacle in panic situations does not reduce or absorb the pressure in the region of exit, on the contrary, promotes the pressure to a much higher level, hence the physical mechanism behind the evacuation efficiency enhancement is not a pressure decrease in the region of exit, but a significant reduction of high density region by effective separation in space which finally causes the increasing of escape speed and evacuation outflow. Finally, it is clearly demonstrated that the panel-like obstacle is considerably more robust and stable than the pillar-like obstacle to guarantee the enhancement of evacuation efficiency under different initial pedestrian distributions, different initial crowd densities as well as different desired velocities.

Gendered Obstacles Faced by Historical Women in Physics and Astronomy

NASA Astrophysics Data System (ADS)

Jones, Kristen M.

2007-12-01

A gender gap still exists in modern science; this is especially evident in the fields of physics and astronomy. The cause of such a gap is the center of debate. Is this discrepancy the result of inherent ability or socialization? Most studies have focused on modern issues and how women are socialized today. The role of historical gender perspectives and social opinions in creating the field of modern science and any discrepancies within it has not yet been explored in depth. This project investigates the obstacles faced by historical women in physics and astronomy that stem from the officialized gender biases that accompanied the establishment of modern science. Such obstacles are both formal and informal. Four women were chosen to span the three hundred year period between the standardization of the field and the modern day: Laura Bassi, Mary Somerville, Lise Meitner, and Jocelyn Bell Burnell. The investigation reveals that formal obstacles significantly decreased over the time period, while informal obstacles eroded more gradually. Obstacles also reflected historical events such as the World Wars and the Enlightenment. Trends in obstacles faced by four prominent women physicists indicate that education, finances, support networks, and social opinion played a large role in determining success in the field. The applicability to modern day physics issues and the gender gap is discussed. Many thanks to the Pathways Scholars Program and the Ronald E. McNair Post-Baccalaureate Achievement Program for funding for this project.

Apparatus for obstacle traversion

DOEpatents

Borenstein, Johann

2004-08-10

An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of drive track assemblies. The plurality of drive track assemblies cooperate to provide forward propulsion wherever a propulsion member is in contact with any feature of the environment, regardless of how many or which ones of the plurality of drive track assemblies make contact with such environmental feature.

[Obstacles perceived by nurses for evidence-based practice: a qualitative study].

PubMed

Sánchez-García, Inmaculada; López-Medina, Isabel M; Pancorbo-Hidalgo, Pedro L

2013-01-01

To examine the obstacles perceived by nurses to implement an evidence-based clinical practice. A qualitative study through semi-structured interviews conducted in 2010-2011 including 11 nurses purposively selected from public hospitals and community centres in Jaén and Córdoba (Spain). A content analysis was performed, using Miles and Huberman as a reference and comprising the following steps: data reduction, data presentation, and data conclusion/verification. Data saturation was reached in these categories (obstacles). The obstacles perceived by nurses to introduce an evidence-based clinical practice (EBCP) were grouped into 3 major categories: obstacles related with professionals (routine-based practice, unwilling and stagnant attitudes, and lack of training in EBCP), obstacles related to the social context (reluctance from other professionals and from patients or families), and obstacles related to the organization (obsolete cultures that do not promote innovation in nursing care). This study highlights the persistence of various factors that hinder the use of research findings in clinical practice. The results underline the need to change the culture of healthcare organizations, to motivate professionals, and to break some of the resistance attitudes that hinder the implementation of evidence-based practice. Copyright © 2012 Elsevier España, S.L. All rights reserved.

FOREWORD: Special section on electromagnetic characterization of buried obstacles

NASA Astrophysics Data System (ADS)

Lesselier, Dominique; Chew, Weng Cho

2004-12-01

approach in order to reconstruct in an effective fashion pertinent features of actual ordnances as shown from synthetic and measured data. Then, the detection and characterization problem can be made much simpler than the inverse problem. • T J Cui, Y Qin, G-L Wang and W C Chew, in `Low-frequency detection of two-dimensional buried objects using high-order extended Born approximations', develop a full range of higher and higher approximations (starting from the Born one and encompassing the extended Born one, and then pursue beyond them both in a recursive fashion) in order to avoid solving the fully nonlinear problem for large contrasts of the sought obstacles. Then they show how these developments can be employed for such types of objects in lossy media at low enough frequency, yielding reliable images at the moderate computational expense of tackling a properly regularized linear inverse problem and recursively using the high-order approximations thereupon. • A Dubois, K Belkebir and M Saillard, in `Localization and characterization of two-dimensional targets buried in a cluttered environment', counter the clutter problem (so far only in a two-dimensional setting) via a combination of a hybrid iterative minimization—reduced to a modified gradient or to a Newton-type algorithm—and of the DORT (decomposition of the time reversal operator) method—which currently enjoys a number of developments for electromagnetic detection and numbering of buried objects. This novel combination enables one to synthesize waves that are focused onto the scatterers, an appropriate DORT-related objective functional being added or multiplied to the standard one minimized along the course of the iterations. In so doing, strong clutter, which usually tends to shadow the targets and/or produce severe artifacts, is overcome to a suitable extent. • B Duchêne, A Joisel and M Lambert, in `Nonlinear inversions of immersed objects using laboratory-controlled data', discuss the inversion of

Computer vision techniques for rotorcraft low-altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Cheng, Victor H. L.

1988-01-01

A description is given of research that applies techniques from computer vision to automation of rotorcraft navigation. The effort emphasizes the development of a methodology for detecting the ranges to obstacles in the region of interest based on the maximum utilization of passive sensors. The range map derived from the obstacle detection approach can be used as obstacle data for the obstacle avoidance in an automataic guidance system and as advisory display to the pilot. The lack of suitable flight imagery data, however, presents a problem in the verification of concepts for obstacle detection. This problem is being addressed by the development of an adequate flight database and by preprocessing of currently available flight imagery. Some comments are made on future work and how research in this area relates to the guidance of other autonomous vehicles.

Generation of spiral waves pinned to obstacles in a simulated excitable system

NASA Astrophysics Data System (ADS)

Phantu, Metinee; Kumchaiseemak, Nakorn; Porjai, Porramain; Sutthiopad, Malee; Müller, Stefan C.; Luengviriya, Chaiya; Luengviriya, Jiraporn

2017-09-01

Pinning phenomena emerge in many dynamical systems. They are found to stabilize extreme conditions such as superconductivity and super fluidity. The dynamics of pinned spiral waves, whose tips trace the boundary of obstacles, also play an important role in the human health. In heart, such pinned waves cause longer tachycardia. In this article, we present two methods for generating pinned spiral waves in a simulated excitable system. In method A, an obstacle is set in the system prior to an ignition of a spiral wave. This method may be suitable only for the case of large obstacles since it often fails when used for small obstacles. In method B, a spiral wave is generated before an obstacle is placed at the spiral tip. With this method, a pinned spiral wave is always obtained, regardless the obstacle size. We demonstrate that after a transient interval the dynamics of the pinned spiral waves generated by the methods A and B are identical. The initiation of pinned spiral waves in both two- and three-dimensional systems is illustrated.

Free boundary problems in shock reflection/diffraction and related transonic flow problems

PubMed Central

Chen, Gui-Qiang; Feldman, Mikhail

2015-01-01

Shock waves are steep wavefronts that are fundamental in nature, especially in high-speed fluid flows. When a shock hits an obstacle, or a flying body meets a shock, shock reflection/diffraction phenomena occur. In this paper, we show how several long-standing shock reflection/diffraction problems can be formulated as free boundary problems, discuss some recent progress in developing mathematical ideas, approaches and techniques for solving these problems, and present some further open problems in this direction. In particular, these shock problems include von Neumann's problem for shock reflection–diffraction by two-dimensional wedges with concave corner, Lighthill's problem for shock diffraction by two-dimensional wedges with convex corner, and Prandtl-Meyer's problem for supersonic flow impinging onto solid wedges, which are also fundamental in the mathematical theory of multidimensional conservation laws. PMID:26261363

Proceedings of the Image Understanding Workshop (18th) Held in Cambridge, Massachusetts on 6-8 April 1988. Volume 2

DTIC Science & Technology

1988-04-01

solution to a information. There is thus a biological motivation for investi- specific problem, e.g., solving the visual obstacle avoidance gating the...narticular practically motivated aspect of the image, known as the optical flow, does not necessarily the general problem. correspond to the 2-D motion...on (Z Z * "inexact" vision jThom8fi] The obvious motivation stems from a = X tancosa b - Z tan3sina; (1) the fact that an obstacle in relative motion

TOOLS FOR OVERCOMING OBSTACLES TO REVITALIZATION: SMARTE AND START-UP

EPA Science Inventory

In 2001, the US-German Bilateral Working Group (BWG) identified more than 40 obstacles to site revitalization which occurred in both countries. From 2001-2005, the BWG developed tools and techniques for overcoming these obstacles. Five joint workshops were held on the following r...

Neural Mechanisms for Adaptive Learned Avoidance of Mental Effort.

PubMed

Mitsuto Nagase, Asako; Onoda, Keiichi; Clifford Foo, Jerome; Haji, Tomoki; Akaishi, Rei; Yamaguchi, Shuhei; Sakai, Katsuyuki; Morita, Kenji

2018-02-05

Humans tend to avoid mental effort. Previous studies have demonstrated this tendency using various demand-selection tasks; participants generally avoid options associated with higher cognitive demand. However, it remains unclear whether humans avoid mental effort adaptively in uncertain and non-stationary environments, and if so, what neural mechanisms underlie this learned avoidance and whether they remain the same irrespective of cognitive-demand types. We addressed these issues by developing novel demand-selection tasks where associations between choice options and cognitive-demand levels change over time, with two variations using mental arithmetic and spatial reasoning problems (29:4 and 18:2 males:females). Most participants showed avoidance, and their choices depended on the demand experienced on multiple preceding trials. We assumed that participants updated the expected cost of mental effort through experience, and fitted their choices by reinforcement learning models, comparing several possibilities. Model-based fMRI analyses revealed that activity in the dorsomedial and lateral frontal cortices was positively correlated with the trial-by-trial expected cost for the chosen option commonly across the different types of cognitive demand, and also revealed a trend of negative correlation in the ventromedial prefrontal cortex. We further identified correlates of cost-prediction-error at time of problem-presentation or answering the problem, the latter of which partially overlapped with or were proximal to the correlates of expected cost at time of choice-cue in the dorsomedial frontal cortex. These results suggest that humans adaptively learn to avoid mental effort, having neural mechanisms to represent expected cost and cost-prediction-error, and the same mechanisms operate for various types of cognitive demand. SIGNIFICANCE STATEMENT In daily life, humans encounter various cognitive demands, and tend to avoid high-demand options. However, it remains unclear

Stereo-based Collision Avoidance System for Urban Traffic

NASA Astrophysics Data System (ADS)

Moriya, Takashi; Ishikawa, Naoto; Sasaki, Kazuyuki; Nakajima, Masato

2002-11-01

Numerous car accidents occur on urban road. However, researches done so far on driving assistance are subjecting highways whose environment is relatively simple and easy to handle, and new approach for urban settings is required. Our purpose is to extend its support to the following conditions in city traffic: the presence of obstacles such as pedestrians and telephone poles; the lane mark is not always drawn on a road; drivers may lack the sense of awareness of the lane mark. We propose a collision avoidance system, which can be applied to both highways and urban traffic environment. In our system, stereo cameras are set in front of a vehicle and the captured images are processed through a computer. We create a Projected Disparity Map (PDM) from stereo image pair, which is a disparity histogram taken along ordinate direction of obtained disparity image. When there is an obstacle in front, we can detect it by finding a peak appeared in the PDM. With a speed meter and a steering sensor, the stop distance and the radius of curvature of the self-vehicle are calculated, in order to set the observation-required area, which does not depend on lane marks, within a PDM. A danger level will be computed from the distance and the relative speed to the closest approaching object detected within the observation-required area. The method has been tested in urban traffic scenes and has shown to be effective for judging dangerous situation, and gives proper alarm to a driver.

Counteracting Obstacles with Optimistic Predictions

ERIC Educational Resources Information Center

Zhang, Ying; Fishbach, Ayelet

2010-01-01

This research tested for counteractive optimism: a self-control strategy of generating optimistic predictions of future goal attainment in order to overcome anticipated obstacles in goal pursuit. In support of the counteractive optimism model, participants in 5 studies predicted better performance, more time invested in goal activities, and lower…

Development Administration: Obstacles, Theories and Implications for Planning. IIEP Occasional Papers No. 2.

ERIC Educational Resources Information Center

Rodman, Peter W.

In developing countries, public administration is hampered by a number of obstacles foreign to large industrialized nations. Some of these obstacles are shortages of tools and skilled personnel, outmoded organizational structures, political competition, and cultural and attitudinal barriers. The administrative obstacles and their…

Wide-Baseline Stereo-Based Obstacle Mapping for Unmanned Surface Vehicles

PubMed Central

Mou, Xiaozheng; Wang, Han

2018-01-01

This paper proposes a wide-baseline stereo-based static obstacle mapping approach for unmanned surface vehicles (USVs). The proposed approach eliminates the complicated calibration work and the bulky rig in our previous binocular stereo system, and raises the ranging ability from 500 to 1000 m with a even larger baseline obtained from the motion of USVs. Integrating a monocular camera with GPS and compass information in this proposed system, the world locations of the detected static obstacles are reconstructed while the USV is traveling, and an obstacle map is then built. To achieve more accurate and robust performance, multiple pairs of frames are leveraged to synthesize the final reconstruction results in a weighting model. Experimental results based on our own dataset demonstrate the high efficiency of our system. To the best of our knowledge, we are the first to address the task of wide-baseline stereo-based obstacle mapping in a maritime environment. PMID:29617293

Workarounds and obstacles: unexpected source of innovation.

PubMed

Lalley, Cathy

2014-01-01

Nurse leaders are aware that nurses are finding ways to adapt health information technology to patient care activities. Previous literature has presented nurses' response to technology obstacles as a work-around, characterized as a negative behavior. Using narrative inquiry, this article examines 9 direct care nurses' interactions on a medical/surgical/telemetry unit. Specifically, nurses' encounters with technology obstacles will be addressed from a complexity science perspective. Four support staff including the clinical nurse manager, pharmacist, quality nurse, and project manager who is also a nurse were interviewed as part of data collection. Complexity science provides nurse leaders' insight into nurses' behavior where outcomes emerge from tensions in the environment through multidirectional and self-organizing interactions. Innovation was found when nurses responded to health information technology obstacles with self-organizing interactions, sensitivity to initial conditions, and multidirectionality. Their actions were also influenced by many sets of rules. Nurses self-organized with coworkers to find better ways to deliver care to patients when using technology. Opportunities exist for nurse leaders to facilitate interactions among nurses and other members of the organization to realize better use of health information technology that improves the patient experience.

Factors Influencing Obstacle Crossing Performance in Patients with Parkinson's Disease

PubMed Central

Liao, Ying-Yi; Yang, Yea-Ru; Wu, Yih-Ru; Wang, Ray-Yau

2014-01-01

Background Tripping over obstacles is the major cause of falls in community-dwelling patients with Parkinson's disease (PD). Understanding the factors associated with the obstacle crossing behavior may help to develop possible training programs for crossing performance. This study aimed to identify the relationships and important factors determining obstacle crossing performance in patients with PD. Methods Forty-two idiopathic patients with PD (Hoehn and Yahr stages I to III) participated in this study. Obstacle crossing performance was recorded by the Liberty system, a three-dimensional motion capture device. Maximal isometric strength of the lower extremity was measured by a handheld dynamometer. Dynamic balance and sensory integration ability were assessed using the Balance Master system. Movement velocity (MV), maximal excursion (ME), and directional control (DC) were obtained during the limits of stability test to quantify dynamic balance. The sum of sensory organization test (SOT) scores was used to quantify sensory organization ability. Results Both crossing stride length and stride velocity correlated significantly with lower extremity muscle strength, dynamic balance control (forward and sideward), and sum of SOT scores. From the regression model, forward DC and ankle dorsiflexor strength were identified as two major determinants for crossing performance (R2 = .37 to.41 for the crossing stride length, R2 = .43 to.44 for the crossing stride velocity). Conclusions Lower extremity muscle strength, dynamic balance control and sensory integration ability significantly influence obstacle crossing performance. We suggest an emphasis on muscle strengthening exercises (especially ankle dorsiflexors), balance training (especially forward DC), and sensory integration training to improve obstacle crossing performance in patients with PD. PMID:24454723

Malaria: Obstacles and Opportunities.

DTIC Science & Technology

1991-01-01

SUBTITLE S. FUNDING NUMBERS Malaria: Obstacles and Opportunities 89PP9965 62770A 6. AUTHOR(S) 3MI62770A870 AN DA3 46085 Arthur Dennis Long 7. PERFORMING ...ORGANIZATION NAME(S) AND ADORESS(ES) 8. PERFORMING ORGANIZATION REPORT NUMBER Agency for International Development New State Office Building Washignton...Hygiene and Pub- lic Health, Baltimore. \\Maryland JACQUELINE A. CATTANI. Secretary, Steering Committee of the Scientific Working Group on Applied

Obstacle Crossing During Gait in Children With Cerebral Palsy: Cross-Sectional Study With Kinematic Analysis of Dynamic Balance and Trunk Control.

PubMed

Malone, Ailish; Kiernan, Damien; French, Helen; Saunders, Valerie; O'Brien, Timothy

2016-08-01

Balance problems are common in children who have cerebral palsy (CP) but are active and ambulant. Control of the whole-body center of mass is critical in maintaining dynamic stability during challenging mobility tasks, such as clearing an obstacle while walking. The objective of this study was to compare trunk and lower limb kinematics and center-of-mass control in children with CP and those in children with typical development during obstacle crossing. This was a cross-sectional study. Thirty-four children who were 5 to 17 years of age (17 with CP and 17 with typical development) and matched in age and height completed 2 gait trials involving crossing a 10-cm obstacle. Three-dimensional kinematic and kinetic data were captured with a general-purpose 3-dimensional motion tracking system and forceplates. Trunk data were captured with a validated model. All children cleared the obstacle with similar hip and knee kinematics, step length, and single-support duration. In children with CP, step width was increased by 4.81 cm, and center-of-mass velocity was significantly slower at lead limb toe-off (0.31 m/s) and during lead limb clearance (0.2 m/s). Children with CP showed altered trunk and pelvis movement, characterized by significantly greater pelvic obliquity, pelvic tilt, and trunk rotation throughout the task, increased lateral trunk lean during lead limb crossing (3.7°), and greater sagittal trunk movement as the trail limb crossed (5.1°). The study was not powered to analyze differences between children with diplegia and those with hemiplegia. Children with CP required greater adjustments at the trunk and pelvis to achieve successful obstacle crossing. The increase in trunk movement could have been compensatory for reduced stability distally or for a primary problem reflecting poor proximal control. The findings suggest that rehabilitation should focus on both proximal trunk control and distal stability to improve balance. © 2016 American Physical Therapy

On the debate about teleology in biology: the notion of "teleological obstacle".

PubMed

Ribeiro, Manuel Gustavo Leitão; Larentis, Ariane Leites; Caldas, Lúcio Ayres; Garcia, Tomás Coelho; Terra, Letícia Labati; Herbst, Marcelo Hawrylak; Almeida, Rodrigo Volcan

2015-12-01

Among the epistemological obstacles described by Gaston Bachelard, we contend that unitary and pragmatic knowledge is correlated to the teleological categories of Ernst Mayr and is the basis for prevailing debate on the notion of "function" in biology. Given the proximity of the aspects highlighted by these authors, we propose to associate the role of teleological thinking in biology and the notion of unitary and pragmatic knowledge as an obstacle to scientific knowledge. Thus, teleological thinking persists acting as an epistemological obstacle in biology, according to Bachelardian terminology. Our investigation led us to formulate the "teleological obstacle," which we consider important for the future of biology and possibly other sciences.

A method of real-time detection for distant moving obstacles by monocular vision

NASA Astrophysics Data System (ADS)

Jia, Bao-zhi; Zhu, Ming

2013-12-01

In this paper, we propose an approach for detection of distant moving obstacles like cars and bicycles by a monocular camera to cooperate with ultrasonic sensors in low-cost condition. We are aiming at detecting distant obstacles that move toward our autonomous navigation car in order to give alarm and keep away from them. Method of frame differencing is applied to find obstacles after compensation of camera's ego-motion. Meanwhile, each obstacle is separated from others in an independent area and given a confidence level to indicate whether it is coming closer. The results on an open dataset and our own autonomous navigation car have proved that the method is effective for detection of distant moving obstacles in real-time.

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

Obstacle Crossing Differences Between Blind and Blindfolded Subjects After Haptic Exploration.

PubMed

Forner-Cordero, Arturo; Garcia, Valéria D; Rodrigues, Sérgio T; Duysens, Jacques

2016-01-01

Little is known about the ability of blind people to cross obstacles after they have explored haptically their size and position. Long-term absence of vision may affect spatial cognition in the blind while their extensive experience with the use of haptic information for guidance may lead to compensation strategies. Seven blind and 7 sighted participants (with vision available and blindfolded) walked along a flat pathway and crossed an obstacle after a haptic exploration. Blind and blindfolded subjects used different strategies to cross the obstacle. After the first 20 trials the blindfolded subjects reduced the distance between the foot and the obstacle at the toe-off instant, while the blind behaved as the subjects with full vision. Blind and blindfolded participants showed larger foot clearance than participants with vision. At foot landing the hip was more behind the foot in the blindfolded condition, while there were no differences between the blind and the vision conditions. For several parameters of the obstacle crossing task, blind people were more similar to subjects with full vision indicating that the blind subjects were able to compensate for the lack of vision.

Assisting the visually impaired: obstacle detection and warning system by acoustic feedback.

PubMed

Rodríguez, Alberto; Yebes, J Javier; Alcantarilla, Pablo F; Bergasa, Luis M; Almazán, Javier; Cela, Andrés

2012-12-17

The aim of this article is focused on the design of an obstacle detection system for assisting visually impaired people. A dense disparity map is computed from the images of a stereo camera carried by the user. By using the dense disparity map, potential obstacles can be detected in 3D in indoor and outdoor scenarios. A ground plane estimation algorithm based on RANSAC plus filtering techniques allows the robust detection of the ground in every frame. A polar grid representation is proposed to account for the potential obstacles in the scene. The design is completed with acoustic feedback to assist visually impaired users while approaching obstacles. Beep sounds with different frequencies and repetitions inform the user about the presence of obstacles. Audio bone conducting technology is employed to play these sounds without interrupting the visually impaired user from hearing other important sounds from its local environment. A user study participated by four visually impaired volunteers supports the proposed system.

Assisting the Visually Impaired: Obstacle Detection and Warning System by Acoustic Feedback

PubMed Central

Rodríguez, Alberto; Yebes, J. Javier; Alcantarilla, Pablo F.; Bergasa, Luis M.; Almazán, Javier; Cela, Andrés

2012-01-01

The aim of this article is focused on the design of an obstacle detection system for assisting visually impaired people. A dense disparity map is computed from the images of a stereo camera carried by the user. By using the dense disparity map, potential obstacles can be detected in 3D in indoor and outdoor scenarios. A ground plane estimation algorithm based on RANSAC plus filtering techniques allows the robust detection of the ground in every frame. A polar grid representation is proposed to account for the potential obstacles in the scene. The design is completed with acoustic feedback to assist visually impaired users while approaching obstacles. Beep sounds with different frequencies and repetitions inform the user about the presence of obstacles. Audio bone conducting technology is employed to play these sounds without interrupting the visually impaired user from hearing other important sounds from its local environment. A user study participated by four visually impaired volunteers supports the proposed system. PMID:23247413

[A semimicroquality evaluation method on Panax notoginseng and its application in analysis of continuous cropping obstacles research samples].

PubMed

Cao, Yi; Wang, Chao-Qun; Xu, Feng; Jia, Xiu-Hong; Liu, Guang-Xue; Yang, Sheng-Chao; Long, Guang-Qiang; Chen, Zhong-Jian; Wei, Fu-Zhou; Yang, Shao-Zhou; Fukuda, Kozo; Wang, Xuan; Cai, Shao-Qing

2016-10-01

Panax notoginseng is a commonly used traditional Chinese medicine with blood activating effect while has continuous cropping obstacle problem in planting process. In present study, a semimicroextraction method with water-saturated n-butanol on 0.1 g notoginseng sample was established with good repeatability (RSD<2.5%) and 9.6%-20.6% higher extraction efficiency of seven saponins than the conventional method. A total of 16 characteristic peaks were identified by LC-MS-IT-TOF, including eight 20(S)-protopanaxatriol (PPT) type saponins and eight 20(S)-protopanaxadiol (PPD) type saponins. The established method was utilized to evaluate the quality of notoginseng samples cultivated by manual intervened methods to overcome continuous cropping obstacles.As a result, HPLC fingerprint similarity, content of Fa and ratio of notoginsenoside K and notoginsenoside Fa (N-K/Fa) were found out to be as valuatable markers of the quality of samples in continuous cropping obstacle research, of which N-K/Fa could also be applied to the analysis of notoginseng samples with different growth years.Notoginseng samples with continuous cropping obstacle had HPLC fingerprint similarity lower than 0.87, in consistent with normal sample, and had significant lower content of notoginsenoside Fa and significant higher N-K/Fa (2.35-4.74) than normal group (0.45-1.33). All samples in the first group with manual intervention showed high similarity with normal group (>0.87), similar content of common peaks and N-K/Fa (0.42-2.06). The content of notoginsenoside K in the second group with manual intervention was higher than normal group. All samples except two displayed similarity higher than 0.87 and possessed content of 16 saponins close to normal group. The result showed that notoginseng samples with continuous cropping obstacle had lower quality than normal sample. And manual intervened methods could improve their quality in different levels.The method established in this study was simple, fast and

Collective rotations of active particles interacting with obstacles

NASA Astrophysics Data System (ADS)

Mokhtari, Zahra; Aspelmeier, Timo; Zippelius, Annette

2017-10-01

We consider active particles in a heterogeneous medium, modeled by static, random obstacles. In accordance with the known tendency of active particles to cluster, we observe accumulation and crystallization of active particles around the obstacles which serve as nucleation sites. In the limit of high activity, the crystals start to rotate spontaneously, resembling a rotating rigid body. We trace the occurrence of these oscillations to the enhanced attraction of particles whose orientation points along the rotational velocity as compared to those whose orientation points in the opposite direction.

Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance.

PubMed

Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare

2017-12-01

In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.

[Educational obstacles in the everyday living of the nurse teacher's pedagogical practice].

PubMed

Rodrigues, Malvina Thaís Pacheco; Mendes Sobrinho, José Augusto de Carvalho

2008-01-01

University teaching emerges as a theme frequently discussed in the educational scene. This article aims to investigate the educational obstacles emerging in the everyday living of the pedagogical practice of the nurse teacher from the Nursing Graduation Course at UEPSI, wishing to subsidize the elaboration of proposals for overcoming of these obstacles. It is a study of qualitative approach with data collection, questionnaire and semi-structured interview and data analysis through content analysis. According to the analysis, it is clear that the educational obstacles relate to the teacher person, to the students and to the institution. Thus, an establishment of a continuing education program in the action-reflection-action perspective is proposed as a way of overcoming the obstacles.

Avoiding Mathematics Trauma: Alternative Teaching Methods.

ERIC Educational Resources Information Center

Ufuktepe, Unal; Ozel, Claire Thomas

Children in primary education often encounter mathematics having picked up a general fear of mathematics from the society around them. This results in lack of confidence, avoidance of non-standard thought processes, weakness in problem solving strategies, and other negative consequences. This study offers an alternative approach: presenting…

The Use of Affinity Tags to Overcome Obstacles in Recombinant Protein Expression and Purification.

PubMed

Amarasinghe, Chinthaka; Jin, Jian-Ping

2015-01-01

Research and industrial demands for recombinant proteins continue to increase over time for their broad applications in structural and functional studies and as therapeutic agents. These applications often require large quantities of recombinant protein at desirable purity, which highlights the importance of developing and improving production approaches that provide high level expression and readily achievable purity of recombinant protein. E. coli is the most widely used host for the expression of a diverse range of proteins at low cost. However, there are common pitfalls that can severely limit the expression of exogenous proteins, such as stability, low solubility and toxicity to the host cell. To overcome these obstacles, one strategy that has found to be promising is the use of affinity tags or carrier peptide to aid in the folding of the target protein, increase solubility, lower toxicity and increase the level of expression. In the meantime, the tags and fusion proteins can be designed to facilitate affinity purification. Since the fusion protein may not exhibit the native conformation of the target protein, various strategies have been developed to remove the tag during or after purification to avoid potential complications in structural and functional studies and to obtain native biological activities. Despite extensive research and rapid development along these lines, there are unsolved problems and imperfect applications. This focused review compares and contrasts various strategies that employ affinity tags to improve bacterial expression and to facilitate purification of recombinant proteins. The pros and cons of the approaches are discussed for more effective applications and new directions of future improvement.

Soldier-relevant body borne load impacts minimum foot clearance during obstacle negotiation.

PubMed

Brown, T N; Loverro, K L; Schiffman, J M

2016-07-01

Soldiers often trip and fall on duty, resulting in injury. This study examined ten male soldiers' ability to negotiate an obstacle. Participants had lead and trail foot minimum foot clearance (MFC) parameters quantified while crossing a low (305 mm) and high (457 mm) obstacle with (19.4 kg) and without (6 kg) body borne load. To minimize tripping risk, participants increased lead foot MFC (p = 0.028) and reduced lead (p = 0.044) and trail (p = 0.035) foot variability when negotiating an obstacle with body borne load. While obstacle height had no effect on MFC (p = 0.273 and p = 0.126), placing the trail foot closer to the high obstacle when crossing with body borne load, resulted in greater lead (R = 0.640, b = 0.241, p = 0.046) and trail (R = 0.636, b = 0.287, p = 0.048) MFC. Soldiers, when carrying typical military loads, may be able to minimize their risk of tripping over an obstacle by creating a safety margin via greater foot clearance with reduced variability. Published by Elsevier Ltd.

Avoiding (or fixing) problems with lawyers and courts.

PubMed

Reid, William H

2013-03-01

Clinicians who do work for attorneys and courts sometimes encounter problems in defining their roles, with access to records or litigants, with unexpected changes or additions to their tasks, or with being compensated for their work. Understanding the context of the forensic consultation and the processes commonly employed by lawyers and the judiciary can prevent many problems. Be cautious about "informal" requests from attorneys, particularly if they involve your own patients. Maintain solid business practices and make sure your role, relationship, and financial agreement with the person or entity retaining you are clear, ethical, and well documented before you begin work on a case.

Experiential avoidance, self-compassion, self-judgment and coping styles in infertility.

PubMed

Cunha, Marina; Galhardo, Ana; Pinto-Gouveia, José

2016-12-01

This study sought out to explore the existence of differences regarding emotion regulation processes (psychological inflexibility/experiential avoidance, self-judgment and self-compassion) and coping styles (emotional/detached, avoidant and rational) in three different groups of couples: 120 fertile couples (FG), 147 couples with an infertility diagnosis who were pursuing medical treatment for their fertility problem(s) (IG), and 59 couples with infertility applying for adoption (AG). Cross-sectional survey, using the couple as unit of analysis. Participants filled in paper-pencil questionnaires assessing coping styles, psychological inflexibility/experiential avoidance, self-judgment and self-compassion. IG couples, and particularly women, tend to use more experiential avoidance and self-judgment mechanisms and less emotional/detached coping style. When compared to FG couples, IG and AG couples tend to apply more avoidant coping strategies. AG couples showed higher self-compassion. Findings suggest that emotion regulation processes may be an important target in psychological interventions for patients dealing with infertility and with the demands of medical treatment. Copyright © 2016 Elsevier B.V. All rights reserved.

Effects of buried obstacles on penetration resistance in cohesionless soils

NASA Technical Reports Server (NTRS)

Deluca, E. W.; Carrasco, L. H.

1972-01-01

Recent experiments concerning penetration of cohesionless soils in special molds that include solid obstacles embedded within the soil matrix are reported. The relative effects of these obstacles with respect to the soil properties of relative density, texture, and gradation are also discussed. Because lunar soil is fairly cohesionless, special attention was given to the Apollo lunar simulant, AP-12.

Using Rollback Avoidance to Mitigate Failures in Next-Generation Extreme-Scale Systems

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

Levy, Scott N.

2016-05-01

High-performance computing (HPC) systems enable scientists to numerically model complex phenomena in many important physical systems. The next major milestone in the development of HPC systems is the construction of the rst supercomputer capable executing more than an exa op, 10 18 oating point operations per second. On systems of this scale, failures will occur much more frequently than on current systems. As a result, resilience is a key obstacle to building next-generation extremescale systems. Coordinated checkpointing is currently the most widely-used mechanism for handling failures on HPC systems. Although coordinated checkpointing remains e ective on current systems, increasing themore » scale of today's systems to build next-generation systems will increase the cost of fault tolerance as more and more time is taken away from the application to protect against or recover from failure. Rollback avoidance techniques seek to mitigate the cost of checkpoint/restart by allowing an application to continue its execution rather than rolling back to an earlier checkpoint when failures occur. These techniqes include failure prediction and preventive migration, replicated computation, fault-tolerant algorithms, and softwarebased memory fault correction. In this thesis, we examine how rollback avoidance techniques can be used to address failures on extreme-scale systems. Using a combination of analytic modeling and simulation, we evaluate the potential impact of rollback avoidance on these systems. We then present a novel rollback avoidance technique that exploits similarities in application memory. Finally, we examine the feasibility of using this technique to protect against memory faults in kernel memory.« less

Middle School Students' Reasoning in Nonlinear Proportional Problems in Geometry

ERIC Educational Resources Information Center

Ayan, Rukiye; Isiksal Bostan, Mine

2018-01-01

In this study, we investigate sixth, seventh, and eighth grade students' achievement in nonlinear (quadratic or cubic) proportional problems regarding length, area, and volume of enlarged figures. In addition, we examine students' solution strategies for the problems and obstacles that prevent students from answering the problems correctly by…

Explosion hazards of LPG-air mixtures in vented enclosure with obstacles.

PubMed

Zhang, Qi; Wang, Yaxing; Lian, Zhen

2017-07-15

Numerical simulations were performed to study explosion characteristics of liquefied petroleum gas (LPG) explosion in enclosure with a vent. Unlike explosion overpressure and dynamic pressure, explosion temperature of the LPG-air mixture at a given concentration in a vented enclosure has very little variation with obstacle numbers for a given blockage ratio. For an enclosure without obstacle, explosion overpressures for the stoichiometric mixtures and the fuel-lean mixtures reach their maximum within the vent and that for fuel-rich mixture reaches its maximum beyond and near the vent. Dynamic pressures produced by an indoor LPG explosion reach their maximum always beyond the vent no matter obstacles are present or not in the enclosure. A LPG explosion in a vented enclosure with built-in obstacles is strong enough to make the brick and mortar wall with a thickness of 370mm damaged. If there is no obstacle in the enclosure, the lower explosion pressure of several kPa can not break the brick and mortar wall with a thickness of 370mm. For a LPG explosion produced in an enclosure with a vent, main hazards, within the vent, are overpressure and high temperature. However main hazards are dynamic pressure, blast wind, and high temperature beyond the vent. Copyright © 2017 Elsevier B.V. All rights reserved.

Fuzzy logic control system to provide autonomous collision avoidance for Mars rover vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1990-01-01

NASA is currently involved with planning unmanned missions to Mars to investigate the terrain and process soil samples in advance of a manned mission. A key issue involved in unmanned surface exploration on Mars is that of supporting autonomous maneuvering since radio communication involves lengthy delays. It is anticipated that specific target locations will be designated for sample gathering. In maneuvering autonomously from a starting position to a target position, the rover will need to avoid a variety of obstacles such as boulders or troughs that may block the shortest path to the target. The physical integrity of the rover needs to be maintained while minimizing the time and distance required to attain the target position. Fuzzy logic lends itself well to building reliable control systems that function in the presence of uncertainty or ambiguity. The following major issues are discussed: (1) the nature of fuzzy logic control systems and software tools to implement them; (2) collision avoidance in the presence of fuzzy parameters; and (3) techniques for adaptation in fuzzy logic control systems.

Coherent-Anomaly Method in Self-Avoiding Walk Problems

NASA Astrophysics Data System (ADS)

Hu, Xiao; Suzuki, Masuo

Self-avoiding walk (SAW), being a nonequilibrium cooperative phenomenon, is investigated with a finite-order-restricted-walk (finite-ORW or FORW) coherent-anomaly method (CAM). The coefficient β1r in the asymptotic form Cnr ≃ βlrλn1r for the total number Cnr of r-ORW's with respect to the step number n is investigated for the first time. An asymptotic form for SAW's is thus obtained from the series of FORW approximants, Cnr ≃ brgμ(1 + a/r)n, as the envelope curve Cn ≃ b(ae/g)gμnng. Numerical results are given by Cn ≃ 1.424n0.27884.1507n and Cn ≃ 1.179n0.158710.005n for the plane triangular lattice and f.c.c. lattice, respectively. A good coincidence of the total numbers estimated from the above simple formulae with exact enumerations for finite-step SAW's implies that the essential nature of SAW (non-Markov process) can be understood from FORW (Markov process) in the CAM framework.

Coherent-anomaly method in self-avoiding walk problems

NASA Astrophysics Data System (ADS)

Hu, Xiao; Suzuki, Masuo

1988-06-01

Self-avoiding walk (SAW), being a nonequilibrium cooperative phenomenon, is investigated with a finite-order-restricted-walk (finite-ORW or FORW) coherent-anomaly method (CAM). The coefficient β 1 r in the asymptotic form C nr≅ β 1 r λ n1 r for the total number C nr of r- ORW's with respect to the step number n is investigated for the first time. An asymptotic form for SAW's is thus obtained form the series of FORW approximants, C nr≅ brgμ n(1 + a/r) n, as the envelope curve C n≅b(ae/g) gμ nn g. Numerical results are given by C n≅1.424 n0.27884.1507 n and C n≅1.179 n0.158710.005 n for the plane triangular lattice and f.c.c. lattice, respectively. A good coincidence of the total numbers estimated from the above simple formulae with exact enumerations for finite-step SAW's implies that the essential nature of SAW (non-Markov process) can be understood from FORW (Markov process) in the CAM framework.

Monte Carlo simulations of protein micropatterning in biomembranes: effects of immobile sticky obstacles

NASA Astrophysics Data System (ADS)

Arnold, Andreas M.; Sevcsik, Eva; Schütz, Gerhard J.

2016-09-01

Single molecule trajectories of lipids and proteins can yield valuable information about the nanoscopic organization of the plasma membrane itself. The interpretation of such trajectories, however, is complicated, as the mobility of molecules can be affected by the presence of immobile obstacles, and the transient binding of the tracers to these obstacles. We have previously developed a micropatterning approach that allows for immobilizing a plasma membrane protein and probing the diffusional behavior of a putative interaction partner in living cells. Here, we provide guidelines on how this micropatterning approach can be extended to quantify interaction parameters between plasma membrane constituents in their natural environment. We simulated a patterned membrane system and evaluated the effect of different surface densities of patterned immobile obstacles on the relative mobility as well as the surface density of diffusing tracers. In the case of inert obstacles, the size of the obstacle can be assessed from its surface density at the percolation threshold, which in turn can be extracted from the diffusion behavior of the tracer. For sticky obstacles, 2D dissociation constants can be determined from the tracer diffusion or surface density.

The effects of situational obstacles and social support on suicide- prevention gatekeeper behaviors.

PubMed

Moore, J Taylor; Cigularov, Konstantin P; Chen, Peter Y; Martinez, Jeremy M; Hindman, Jarrod

2011-01-01

Although the effectiveness of suicide-prevention gatekeeper-training programs in improving knowledge, attitudes, and referral practices has been documented, their effects do not seem to be lasting. This study investigated situational obstacles at work that prevent suicide-prevention gatekeepers from engaging in suicide-prevention behavior and the role of social support in modifying the relationship between situational obstacles and suicide-prevention behaviors. 193 gatekeepers completed an online survey to rate the obstacles they had experienced at work since completing a gatekeeper-training program and the support received from coworkers, supervisors, and the organization. Participants also reported the frequency of suicide-prevention behaviors performed. The results indicated that both situational obstacles and social support predicted the number of suicide-prevention behaviors performed, as expected. There was also a trend that support from supervisors and the organization may alleviate the adverse effect of situational obstacles on suicide-prevention behavior. The cross-sectional nature of the study does not allow for directional, causal conclusions to be drawn. By understanding the roles of situational obstacles faced by trained gatekeepers at their work and the support they receive from supervisors and organizations, appropriate strategies can be identified and applied to facilitate gatekeeper performance.

Navigation integrity monitoring and obstacle detection for enhanced-vision systems

NASA Astrophysics Data System (ADS)

Korn, Bernd; Doehler, Hans-Ullrich; Hecker, Peter

2001-08-01

Typically, Enhanced Vision (EV) systems consist of two main parts, sensor vision and synthetic vision. Synthetic vision usually generates a virtual out-the-window view using databases and accurate navigation data, e. g. provided by differential GPS (DGPS). The reliability of the synthetic vision highly depends on both, the accuracy of the used database and the integrity of the navigation data. But especially in GPS based systems, the integrity of the navigation can't be guaranteed. Furthermore, only objects that are stored in the database can be displayed to the pilot. Consequently, unexpected obstacles are invisible and this might cause severe problems. Therefore, additional information has to be extracted from sensor data to overcome these problems. In particular, the sensor data analysis has to identify obstacles and has to monitor the integrity of databases and navigation. Furthermore, if a lack of integrity arises, navigation data, e.g. the relative position of runway and aircraft, has to be extracted directly from the sensor data. The main contribution of this paper is about the realization of these three sensor data analysis tasks within our EV system, which uses the HiVision 35 GHz MMW radar of EADS, Ulm as the primary EV sensor. For the integrity monitoring, objects extracted from radar images are registered with both database objects and objects (e. g. other aircrafts) transmitted via data link. This results in a classification into known and unknown radar image objects and consequently, in a validation of the integrity of database and navigation. Furthermore, special runway structures are searched for in the radar image where they should appear. The outcome of this runway check contributes to the integrity analysis, too. Concurrent to this investigation a radar image based navigation is performed without using neither precision navigation nor detailed database information to determine the aircraft's position relative to the runway. The performance of our

Anomalous diffusion due to hindering by mobile obstacles undergoing Brownian motion or Orstein-Ulhenbeck processes.

PubMed

Berry, Hugues; Chaté, Hugues

2014-02-01

In vivo measurements of the passive movements of biomolecules or vesicles in cells consistently report "anomalous diffusion," where mean-squared displacements scale as a power law of time with exponent α<1 (subdiffusion). While the detailed mechanisms causing such behaviors are not always elucidated, movement hindrance by obstacles is often invoked. However, our understanding of how hindered diffusion leads to subdiffusion is based on diffusion amidst randomly located immobile obstacles. Here, we have used Monte Carlo simulations to investigate transient subdiffusion due to mobile obstacles with various modes of mobility. Our simulations confirm that the anomalous regimes rapidly disappear when the obstacles move by Brownian motion. By contrast, mobile obstacles with more confined displacements, e.g., Orstein-Ulhenbeck motion, are shown to preserve subdiffusive regimes. The mean-squared displacement of tracked protein displays convincing power laws with anomalous exponent α that varies with the density of Orstein-Ulhenbeck (OU) obstacles or the relaxation time scale of the OU process. In particular, some of the values we observed are significantly below the universal value predicted for immobile obstacles in two dimensions. Therefore, our results show that subdiffusion due to mobile obstacles with OU type of motion may account for the large variation range exhibited by experimental measurements in living cells and may explain that some experimental estimates are below the universal value predicted for immobile obstacles.

Atmospheric dispersion of a heavier-than-air gas near a two-dimensional obstacle

NASA Astrophysics Data System (ADS)

Sutton, S. B.; Brandt, H.; White, B. R.

1986-04-01

Flow over a two-dimensional obstacle and dispersion of a heavier-than-air gas near the obstacle were studied. Two species, one representing air and the other representing the heavier-than-air gas were treated. Equations for mass and momentum were cast in mass-averaged form, with turbulent Reynolds stresses and mass fluxes modeled using eddy-viscosity and diffusivity hypotheses. A two-equation k-ɛ turbulence model was used to determine the effective turbulent viscosity. Streamline curvature and buoyancy corrections were added to the basic turbulence formulation. The model equations were solved using finite difference techniques. An alternating-direction-implicit (ADI) technique was used to solve the parabolic transport equations and a direct matrix solver was used to solve the elliptic pressure equation. Mesh sensitivities were investigated to determine the optimum mesh requirements for the final calculations. It was concluded that at least 10 grid spaces were required across the obstacle width and 15 across the obstacle height to obtain valid solutions. A non-uniform mesh was used to concentrate the grid points at the top of the obstacle. Experimental measurements were made with air flow over a 7.6 by 7.6 cm obstacle in a boundary-layer wind tunnel. Smoke visualization revealed a low-frequency oscillation of the bubble downstream of the obstacle. Hot-wire anemometer data are presented for the mean velocity and turbulent kinetic energy at the mid-plane of the obstacle and the mid-plane of the downstream recirculation bubble. A single hot-wire probe was found to be suitable for determining mean streamwise velocities with an accuracy of 11 %. The downstream recirculation bubble was unsteady and had a length range from 3 to 8 obstacle lengths. The experimental results for flow over the obstacle were compared with numerical calculations to validate the numerical solution procedure. A sensitivity study on the effect of curvature correction and variation of turbulence

Knowing and avoiding plagiarism during scientific writing.

PubMed

Kumar, P Mohan; Priya, N Swapna; Musalaiah, Svvs; Nagasree, M

2014-09-01

Plagiarism has become more common in both dental and medical communities. Most of the writers do not know that plagiarism is a serious problem. Plagiarism can range from simple dishonesty (minor copy paste/any discrepancy) to a more serious problem (major discrepancy/duplication of manuscript) when the authors do cut-copy-paste from the original source without giving adequate credit to the main source. When we search databases like PubMed/MedLine there is a lot of information regarding plagiarism. However, it is still a current topic of interest to all the researchers to know how to avoid plagiarism. It's time to every young researcher to know ethical guidelines while writing any scientific publications. By using one's own ideas, we can write the paper completely without looking at the original source. Specific words from the source can be added by using quotations and citing them which can help in not only supporting your work and amplifying ideas but also avoids plagiarism. It is compulsory to all the authors, reviewers and editors of all the scientific journals to know about the plagiarism and how to avoid it by following ethical guidelines and use of plagiarism detection software while scientific writing.

Knowing and Avoiding Plagiarism During Scientific Writing

PubMed Central

Kumar, P Mohan; Priya, N Swapna; Musalaiah, SVVS; Nagasree, M

2014-01-01

Plagiarism has become more common in both dental and medical communities. Most of the writers do not know that plagiarism is a serious problem. Plagiarism can range from simple dishonesty (minor copy paste/any discrepancy) to a more serious problem (major discrepancy/duplication of manuscript) when the authors do cut-copy-paste from the original source without giving adequate credit to the main source. When we search databases like PubMed/MedLine there is a lot of information regarding plagiarism. However, it is still a current topic of interest to all the researchers to know how to avoid plagiarism. It's time to every young researcher to know ethical guidelines while writing any scientific publications. By using one's own ideas, we can write the paper completely without looking at the original source. Specific words from the source can be added by using quotations and citing them which can help in not only supporting your work and amplifying ideas but also avoids plagiarism. It is compulsory to all the authors, reviewers and editors of all the scientific journals to know about the plagiarism and how to avoid it by following ethical guidelines and use of plagiarism detection software while scientific writing. PMID:25364588

Teachers Avoiding Learners' Avoidance: Is It Possible?

ERIC Educational Resources Information Center

Tadayyon, Maedeh; Zarrinabadi, Nourollah; Ketabi, Saeed

2016-01-01

Dealing with learners who prefer to take the back seat and avoid classroom participation can be every teacher's nightmare. This lack of participation may cause teacher frustration, and possibly the only way to reduce this lack of participation is to access the concept of avoidance strategy. Avoidance strategy is the abandonment of a classroom task…

Obstacle Detection in Indoor Environment for Visually Impaired Using Mobile Camera

NASA Astrophysics Data System (ADS)

Rahman, Samiur; Ullah, Sana; Ullah, Sehat

2018-01-01

Obstacle detection can improve the mobility as well as the safety of visually impaired people. In this paper, we present a system using mobile camera for visually impaired people. The proposed algorithm works in indoor environment and it uses a very simple technique of using few pre-stored floor images. In indoor environment all unique floor types are considered and a single image is stored for each unique floor type. These floor images are considered as reference images. The algorithm acquires an input image frame and then a region of interest is selected and is scanned for obstacle using pre-stored floor images. The algorithm compares the present frame and the next frame and compute mean square error of the two frames. If mean square error is less than a threshold value α then it means that there is no obstacle in the next frame. If mean square error is greater than α then there are two possibilities; either there is an obstacle or the floor type is changed. In order to check if the floor is changed, the algorithm computes mean square error of next frame and all stored floor types. If minimum of mean square error is less than a threshold value α then flour is changed otherwise there exist an obstacle. The proposed algorithm works in real-time and 96% accuracy has been achieved.

Incompressibility without tears - How to avoid restrictions of mixed formulation

NASA Technical Reports Server (NTRS)

Zienkiewicz, O. C.; Wu, J.

1991-01-01

Several time-stepping schemes for incompressibility problems are presented which can be solved directly for steady state or iteratively through the time domain. The difficulty of mixed interpolation is avoided by using these schemes. The schemes are applicable to problems of fluid and solid mechanics.

76 FR 52239 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-22

... Minimums & Obstacle DP, Orig-A Red Oak, IA, Red Oak Muni, Takeoff Minimums & Obstacle DP, Amdt 3 Storm Lake, IA, Storm Lake Muni, Takeoff Minimums & Obstacle DP, Orig Dwight, IL, Dwight, Takeoff Minimums..., Florence Rgnl, RNAV (GPS) RWY 9, Orig-A Spearfish, SD, Black Hills-Clydes Ice Field, RNAV (GPS) RWY 13...

Obstacles to Scientific Research in Light of a Number of Variables

ERIC Educational Resources Information Center

Algadheeb, Nourah A.; Almeqren, Monira A.

2014-01-01

The present study aimed to identify the scientific research obstacles facing faculty members in the College of Education at Princess Nora bint Abdul Rahman University (PNU) and to determine the differences in the obstacles according to age, academic rank, scientific specialty, marital status, number of completed studies, and time since the last…

Passive Collision Avoidance System for UAS

DTIC Science & Technology

2008-09-01

feasibility of using SWAP efficient LWIR microbolometers as outlined in the Priest report circa 1998 as a solution to the collision avoidance problems for UASs...81 7.3 LWIR Multispectral Sensor ..........................................................................................84 7.4 LWIR ... LWIR image of the Ultralight. Muffler runs at approximately 1200 F. ......................32 Figure 36: 3D model of LVDS circuit board with L-3

Avoidable costs of comprehensive case management.

PubMed

Issel, L M; Anderson, R A

1999-01-01

Comprehensive case management has become an industry standard and its pervasiveness raises questions about the ubiquitous need for this service. Analyzed from the perspective of transaction cost analysis and access, we argue that in some cases comprehensive case management is an avoidable cost incurred because of system problems that limit access to otherwise eligible clients. Implications are discussed.

Constructing target product profiles (TPPs) to help vaccines overcome post-approval obstacles

PubMed Central

Lee, Bruce Y.; Burke, Donald S.

2012-01-01

As history has demonstrated, post-approval obstacles can impede a vaccine’s use and potentially lead to its withdrawal. Addressing these potential obstacles when changes in a vaccine’s technology can still be easily made may improve a vaccine’s chances of success. Augmented vaccine target product profiles (TPPs) can help vaccine scientists better understand and anticipate these obstacles and galvanize conversations among various vaccine stakeholders (e.g., scientists, marketers, business development managers, policy makers, public health officials, health care workers, third party payors, etc.) earlier in a vaccine’s development. PMID:19782109

Mesoscopic model for filament orientation in growing actin networks: the role of obstacle geometry

NASA Astrophysics Data System (ADS)

Weichsel, Julian; Schwarz, Ulrich S.

2013-03-01

Propulsion by growing actin networks is a universal mechanism used in many different biological systems, ranging from the sheet-like lamellipodium of crawling animal cells to the actin comet tails induced by certain bacteria and viruses in order to move within their host cells. Although the core molecular machinery for actin network growth is well preserved in all of these cases, the geometry of the propelled obstacle varies considerably. During recent years, filament orientation distribution has emerged as an important observable characterizing the structure and dynamical state of the growing network. Here we derive several continuum equations for the orientation distribution of filaments growing behind stiff obstacles of various shapes and validate the predicted steady state orientation patterns by stochastic computer simulations based on discrete filaments. We use an ordinary differential equation approach to demonstrate that for flat obstacles of finite size, two fundamentally different orientation patterns peaked at either ±35° or +70°/0°/ - 70° exhibit mutually exclusive stability, in agreement with earlier results for flat obstacles of very large lateral extension. We calculate and validate phase diagrams as a function of model parameters and show how this approach can be extended to obstacles with piecewise straight contours. For curved obstacles, we arrive at a partial differential equation in the continuum limit, which again is in good agreement with the computer simulations. In all cases, we can identify the same two fundamentally different orientation patterns, but only within an appropriate reference frame, which is adjusted to the local orientation of the obstacle contour. Our results suggest that two fundamentally different network architectures compete with each other in growing actin networks, irrespective of obstacle geometry, and clarify how simulated and electron tomography data have to be analyzed for non-flat obstacle geometries.

Effect of obstacle position in the flow of sheep through a narrow door.

PubMed

Zuriguel, Iker; Olivares, Jorge; Pastor, José M; Martín-Gómez, César; Ferrer, Luis M; Ramos, Juan J; Garcimartín, Angel

2016-09-01

In a recent work [Phys. Rev. E 91, 022808 (2015)PLEEE81539-375510.1103/PhysRevE.91.022808] it was reported that placing an obstacle in front of a gate has a beneficial effect in the flow of sheep through it. Here, we extend such results by implementing three different obstacle positions. We have observed that the flow is improved in two cases, while it worsens in the other one; the last instance happens when the obstacle is too close to the door. In this situation, the outcomes suggest that clogging develops between the doorjamb and the obstacle, contrary to the cases when the obstacle is farther, in which case clogging always occurs at the very door. The effectiveness of the obstacle (a strategy put forward to alleviate clogging in emergency exits) is therefore quite sensitive to its location. In addition, the study of the temporal evolution of the flow rate as the test develops makes evident a steady behavior during the entire duration of the entrance. This result is at odds with recent findings in human evacuation tests where the flow rate varies over time, therefore challenging the fairness of straightforward comparisons between pedestrian behavior and animal experimental observations.

Stability of gas channels in a dense suspension in the presence of obstacles

NASA Astrophysics Data System (ADS)

Poryles, Raphaël; Varas, Germán; Vidal, Valérie

2017-06-01

We investigate experimentally the influence of a fixed obstacle on gas rising in a dense suspension. Air is injected at a constant flow rate by a single nozzle at the bottom center of a Hele-Shaw cell. Without obstacles, previous works have shown that a fluidized zone is formed with a parabolic shape, with a central air channel and two granular convection rolls on its sides. Here, we quantify the influence of the obstacle's shape, size, and height on the location and dynamics of the central air channel. Different regimes are reported: the air channel can simply deviate (stable), or it can switch sides over time (unstable), leading to two signatures not only above the obstacle, but sometimes also below it. This feedback also influences the channel deviation when bypassing the obstacle. A wake of less or no motion is reported above the largest obstacles as well as the maximum probability of gas location, which can be interesting for practical applications. The existence of a critical height hc≃7 cm is discussed and compared with the existence of an air finger that develops from the injection nozzle and is stable in time. A dimensionless number describing the transition between air fingering and fracturing makes it possible to predict the channel's stability.

Different protocols for analyzing behavior and adaptability in obstacle crossing in Parkinson's disease.

PubMed

Mollaei, Nafiseh; Bicho, Estela; Sousa, Nuno; Gago, Miguel Fernandes

2017-01-01

Imbalance and tripping over obstacles as a result of altered gait in older adults, especially in patients with Parkinson's disease (PD), are one of the most common causes of falls. During obstacle crossing, patients with PD modify their behavior in order to decrease the mechanical demands and enhance dynamic stability. Various descriptions of dynamic traits of gait that have been collected over longer periods, probably better synthesize the underlying structure and pattern of fluctuations in gait and can be more sensitive markers of aging or early neurological dysfunction and increased risk of falls. This confirmation challenges the clinimetric of different protocols and paradigms used for gait analysis up till now, in particular when analyzing obstacle crossing. The authors here present a critical review of current knowledge concerning the interplay between the cognition and gait in aging and PD, emphasizing the differences in gait behavior and adaptability while walking over different and challenging obstacle paradigms, and the implications of obstacle negotiation as a predictor of falls. Some evidence concerning the effectiveness of future rehabilitation protocols on reviving obstacle crossing behavior by trial and error relearning, taking advantage of dual-task paradigms, physical exercise, and virtual reality have been put forward in this article.

Obstacles of Teaching Mathematics Faced by the Class Teachers in Jordan

ERIC Educational Resources Information Center

Nejem, Khamis Mousa; Muhanna, Waffa

2013-01-01

The purpose of the study is to investigate the obstacles of teaching mathematics faced by the class teachers in Jordan. To achieve this purpose a study sample of 192 male and female class teachers was selected randomly from government schools. The instrument of the study was a questionnaire used to investigate the obstacles of mathematics…

Sex and age-level differences of walking time in preschool children on an obstacle frame

PubMed Central

2012-01-01

Background Stepping over an obstacle is a kind of compound movement that makes walking more difficult, especially for preschool children. This study examines sex and age-level differences in walking time in preschool children on an obstacle frame. Methods The participants included 324 healthy preschool children: four-year-old boys (51) and girls (51), five-year-old boys (50) and girls (60), and six-year-old boys (62) and girls (50). A 5 cm- or 10 cm-high obstacle (depth 11.5 cm, width 23.5 cm) was set at the halfway point of a 200 cm × 10 cm walking course. Results The participants walked to the end of the course and back as fast as possible under three conditions: no obstacle, low obstacle and high obstacle. Walking time showed age-level differences in all conditions, but there were no differences in sex. Age levels were divided into two groups, with one group within the first six months of their birthday, and the second group within the last six months of that year. Walking time for children in the first half of their fourth year was longer than that of the five- and six-year-old children. In addition, for children in the last half of their fourth year, walking time was longer than both sexes in the last half of their fifth and sixth years. The children in the latter half of their fifth year had a longer walking time in the high obstacle condition than those in the last half of their sixth year. In the four-year-old participants, walking time was shorter with no obstacles than with a high obstacle frame. Conclusions In the above data, obstacle course walking time does not show a gender difference, except that the four-year-old participants needed longer than the five- and six-year-old children. Setting the obstacle 10 cm high also produced a different walking time in the five- and six-year-old participants. The high obstacle step test (10 cm) best evaluated the dynamic balance of preschool children. PMID:22738328

Fast and reliable obstacle detection and segmentation for cross-country navigation

NASA Technical Reports Server (NTRS)

Talukder, A.; Manduchi, R.; Rankin, A.; Matthies, L.

2002-01-01

Obstacle detection is one of the main components of the control system of autonomous vehicles. In the case of indoor/urban navigation, obstacles are typically defined as surface points that are higher than the ground plane. This characterization, however, cannot be used in cross-country and unstructured environments, where the notion of ground plane is often not meaningful.

Age differences in everyday problem-solving effectiveness: older adults select more effective strategies for interpersonal problems.

PubMed

Blanchard-Fields, Fredda; Mienaltowski, Andrew; Seay, Renee Baldi

2007-01-01

Using the Everyday Problem Solving Inventory of Cornelius and Caspi, we examined differences in problem-solving strategy endorsement and effectiveness in two domains of everyday functioning (instrumental or interpersonal, and a mixture of the two domains) and for four strategies (avoidance-denial, passive dependence, planful problem solving, and cognitive analysis). Consistent with past research, our research showed that older adults were more problem focused than young adults in their approach to solving instrumental problems, whereas older adults selected more avoidant-denial strategies than young adults when solving interpersonal problems. Overall, older adults were also more effective than young adults when solving everyday problems, in particular for interpersonal problems.

A Cartesian cut cell method for rarefied flow simulations around moving obstacles

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

Dechristé, G., E-mail: Guillaume.Dechriste@math.u-bordeaux1.fr; CNRS, IMB, UMR 5251, F-33400 Talence; Mieussens, L., E-mail: Luc.Mieussens@math.u-bordeaux1.fr

2016-06-01

For accurate simulations of rarefied gas flows around moving obstacles, we propose a cut cell method on Cartesian grids: it allows exact conservation and accurate treatment of boundary conditions. Our approach is designed to treat Cartesian cells and various kinds of cut cells by the same algorithm, with no need to identify the specific shape of each cut cell. This makes the implementation quite simple, and allows a direct extension to 3D problems. Such simulations are also made possible by using an adaptive mesh refinement technique and a hybrid parallel implementation. This is illustrated by several test cases, including amore » 3D unsteady simulation of the Crookes radiometer.« less

Pleading for the use of biodegradable polymers in favor of marine environments and to avoid an asbestos-like problem for the future.

PubMed

Kubota, Masahisa; Takayama, Katsumi; Namimoto, Daisuke

2005-06-01

Research results about the movement and accumulation of floating marine debris drifting throughout the world's oceans are reviewed in this paper. A mechanism for this accumulation and movement is strongly associated with surface currents consisting of the Ekman drift and the geostrophic current, because all floating marine debris is passive to surface currents. The basic published mechanism for the North Pacific is common across the world's ocean. After marine debris accumulates in the narrow Ekman convergence zone, it is moved to the east by geostrophic currents. The most important thing is that floating marine debris concentrates in some specific regions, independent of the initial quantity of marine debris. In order to resolve this problem and to avoid an asbestos-like problem, the use of biodegradable polymers is important in our daily life.

On Stationary Navier-Stokes Flows Around a Rotating Obstacle in Two-Dimensions

NASA Astrophysics Data System (ADS)

Higaki, Mitsuo; Maekawa, Yasunori; Nakahara, Yuu

2018-05-01

We study the two-dimensional stationary Navier-Stokes equations describing the flows around a rotating obstacle. The unique existence of solutions and their asymptotic behavior at spatial infinity are established when the rotation speed of the obstacle and the given exterior force are sufficiently small.

Residence time of symmetric random walkers in a strip with large reflective obstacles

NASA Astrophysics Data System (ADS)

Ciallella, Alessandro; Cirillo, Emilio N. M.; Sohier, Julien

2018-05-01

We study the effect of a large obstacle on the so-called residence time, i.e., the time that a particle performing a symmetric random walk in a rectangular (two-dimensional, 2D) domain needs to cross the strip. We observe complex behavior: We find out that the residence time does not depend monotonically on the geometric properties of the obstacle, such as its width, length, and position. In some cases, due to the presence of the obstacle, the mean residence time is shorter with respect to the one measured for the obstacle-free strip. We explain the residence time behavior by developing a one-dimensional (1D) analog of the 2D model where the role of the obstacle is played by two defect sites having smaller probability to be crossed with respect to all the other regular sites. The 1D and 2D models behave similarly, but in the 1D case we are able to compute exactly the residence time, finding a perfect match with the Monte Carlo simulations.

Vortex shedding from obstacles: theoretical frequency prediction

NASA Astrophysics Data System (ADS)

Pier, Benoît

2001-11-01

The existence of self-sustained oscillations in spatially developing systems is closely related to the presence of a locally absolutely unstable region. A recent investigation of a ``synthetic wake'' (a wake with no solid obstacle and no reverse flow region) has proved [Pier and Huerre, J. Fluid Mech. 435, 145 (2001)] that the observed Kármán vortex street is a nonlinear elephant global mode. The same criterion is now shown to hold for real obstacles. Local properties are derived from the unperturbed basic flow computed by enforcing a symmetry condition on the central line. Application of the theoretical criterion then yields the expected Strouhal vortex shedding frequency. The thus predicted frequency is in excellent agreement with direct numerical simulations of the complete flow. The use of the frequency selection mechanism to control the vortex shedding will also be discussed.

Dark soliton past a finite-size obstacle

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

Bilas, Nicolas; Pavloff, Nicolas

2005-09-15

We consider the collision of a dark soliton with an obstacle in a quasi-one-dimensional Bose condensate. We show that in many respects the soliton behaves as an effective classical particle of mass twice the mass of a bare particle, evolving in an effective potential which is a convolution of the actual potential describing the obstacle. Radiative effects beyond this approximation are also taken into account. The emitted waves are shown to form two counterpropagating wave packets, both moving at the speed of sound. We determine, at leading order, the total amount of radiation emitted during the collision and compute themore » acceleration of the soliton due to the collisional process. It is found that the radiative process is quenched when the velocity of the soliton reaches the velocity of sound in the system.« less

Identification of Vibrotactile Patterns Encoding Obstacle Distance Information.

PubMed

Kim, Yeongmi; Harders, Matthias; Gassert, Roger

2015-01-01

Delivering distance information of nearby obstacles from sensors embedded in a white cane-in addition to the intrinsic mechanical feedback from the cane-can aid the visually impaired in ambulating independently. Haptics is a common modality for conveying such information to cane users, typically in the form of vibrotactile signals. In this context, we investigated the effect of tactile rendering methods, tactile feedback configurations and directions of tactile flow on the identification of obstacle distance. Three tactile rendering methods with temporal variation only, spatio-temporal variation and spatial/temporal/intensity variation were investigated for two vibration feedback configurations. Results showed a significant interaction between tactile rendering method and feedback configuration. Spatio-temporal variation generally resulted in high correct identification rates for both feedback configurations. In the case of the four-finger vibration, tactile rendering with spatial/temporal/intensity variation also resulted in high distance identification rate. Further, participants expressed their preference for the four-finger vibration over the single-finger vibration in a survey. Both preferred rendering methods with spatio-temporal variation and spatial/temporal/intensity variation for the four-finger vibration could convey obstacle distance information with low workload. Overall, the presented findings provide valuable insights and guidance for the design of haptic displays for electronic travel aids for the visually impaired.

Insecurity in the DRC: The Obstacle to Peace and Stability

DTIC Science & Technology

2016-12-01

neighboring nations since the mid-1990s. In particular, the protected presence of armed groups has been a major obstacle to peace. Based on the best...study of the DRC to analyze four DDR programs initiated in the DRC from 2002 to 2009, with the goal of better understanding why they failed. The...beginning in the mid-1990s. In particular, the protected presence of armed groups has been a major obstacle to peace. Based on the best practices

Collision Avoidance Short Course Part I: Theory

NASA Technical Reports Server (NTRS)

Hejduk, Matthew D.

2017-01-01

Satellite conjunction assessment is perhaps the fastest-growing area in space situational awareness and protection, with military, civil, and commercial satellite owner operators embracing more and more sophisticated processes to avoid the avoidable namely collisions between high-value space assets and orbital debris. NASA and CNES have collaborated to offer an introductory short course on all the major aspects of the conjunction assessment problem. This half-day course will cover satellite conjunction dynamics and theory, JSpOC conjunction data products, major risk assessment parameters and plots, conjunction remediation decision support, and present and future challenges. This briefing represents the NASA portion of the course.

Water in the presence of inert Lennard-Jones obstacles

NASA Astrophysics Data System (ADS)

Kurtjak, Mario; Urbic, Tomaz

2014-04-01

Water confined by the presence of a 'sea' of inert obstacles was examined. In the article, freely mobile two-dimensional Mercedes-Benz (MB) water put to a disordered, but fixed, matrix of Lennard-Jones disks was studied by the Monte Carlo computer simulations. For the MB water molecules in the matrix of Lennard-Jones disks, we explored the structures, hydrogen-bond-network formation and thermodynamics as a function of temperature and size and density of matrix particles. We found that the structure of model water is perturbed by the presence of the obstacles. Density of confined water, which was in equilibrium with the bulk water, was smaller than the density of the bulk water and the temperature dependence of the density of absorbed water did not show the density anomaly in the studied temperature range. The behaviour observed as a consequence of confinement is similar to that of increasing temperature, which can for a matrix lead to a process similar to capillary evaporation. At the same occupancy of space, smaller matrix molecules cause higher destruction effect on the absorbed water molecules than the bigger ones. We have also tested the hypothesis that at low matrix densities the obstacles induce an increased ordering and 'hydrogen bonding' of the MB model molecules, relative to pure fluid, while at high densities the obstacles reduce MB water structuring, as they prevent the fluid to form good 'hydrogen-bonding' networks. However, for the size of matrix molecules similar to that of water, we did not observe this effect.

[Delayed reactions of active avoidance in white rats under conditions of an alternative choice].

PubMed

Ioseliani, T K; Sikharulidze, N I; Kadagishvili, A Ia; Mitashvili, E G

1995-01-01

It was shown that if the rats had been learned and then tested using conventional pain punishment of erroneous choice they were able to solve the problem of alternative choice only in the period of immediate action of conditioned stimuli. If the pain punishment for erroneously chosen compartment had not been applied in animal learning and testing, rats successfully solved the problem of alternative choice even after 5-second delay. Introduction of pain punishment led to the frustration of earlier elaborated delayed avoidance reactions. Analysis of the obtained results allows us to argue that the apparent incapability of white rats for solving the problems of delayed avoidance is caused by simultaneous action of two different mechanisms, i.e., those of the active and passive avoidance rather than short-term memory deficit.

The Problem of Democratizing Higher Education in Latin America.

ERIC Educational Resources Information Center

Bernheim, Carlos Tunnermann

1979-01-01

Investigates obstacles to democratization of higher education in Latin America including inflexible structures at primary and secondary levels, strict social stratification, financial problems of students from poor families, and lack of diversification in postsecondary institutions. (Author/DB)

Obstacles to Disarmament Education. Centre for Peace Studies Occasional Paper No. 6.

ERIC Educational Resources Information Center

Reardon, Betty

Obstacles to disarmament education fall into three general categories: political, perceptual, and pedagogical. At the elementary school level, these obstacles occur because of: (1) a lack of opportunities for cross-cultural experiences; (2) the socialization processes that enforce the belief that a child's culture is superior to and competitive…

Vision-based obstacle recognition system for automated lawn mower robot development

NASA Astrophysics Data System (ADS)

Mohd Zin, Zalhan; Ibrahim, Ratnawati

2011-06-01

Digital image processing techniques (DIP) have been widely used in various types of application recently. Classification and recognition of a specific object using vision system require some challenging tasks in the field of image processing and artificial intelligence. The ability and efficiency of vision system to capture and process the images is very important for any intelligent system such as autonomous robot. This paper gives attention to the development of a vision system that could contribute to the development of an automated vision based lawn mower robot. The works involve on the implementation of DIP techniques to detect and recognize three different types of obstacles that usually exist on a football field. The focus was given on the study on different types and sizes of obstacles, the development of vision based obstacle recognition system and the evaluation of the system's performance. Image processing techniques such as image filtering, segmentation, enhancement and edge detection have been applied in the system. The results have shown that the developed system is able to detect and recognize various types of obstacles on a football field with recognition rate of more 80%.

Vortex propagation around a wall-mounted obstacle in pulsatile flow

NASA Astrophysics Data System (ADS)

Carr, Ian A.; Plesniak, Michael W.

2015-11-01

Wall-mounted obstacles are prevalent in nature and engineering applications. Physiological flows observed in human vocal fold pathologies, such as polyps, can be modeled by flow over a wall-mounted protuberance. Despite their prevalence, studies of wall-mounted obstacles have been restricted to steady (constant velocity) freestream flow. In biological and geophysical applications, pulsatile flow is much more common, yet effects of pulsatility on the wake of a wall-mounted obstacle remain to be extensively studied. This study aims to characterize the complex physics produced in this unsteady, separated flow. Experiments were performed in a low-speed wind tunnel with a set of rotating vanes, which produce the pulsatile inflow waveform. Instantaneous and phase-averaged particle image velocimetry (PIV) results acquired around a hemispherical obstacle are presented and compared. A mechanism based on self-induced vortex propagation, analogous to that in vortex rings, is proposed to explain the observed dynamics of coherent structures. Predictions of the propagation velocity based on analytical expressions for vortex rings in a viscous fluid are compared to the experimentally measured propagation velocity. Effects of the unsteady boundary layer on the observed physics are explored. This material is based in part upon work supported by the National Science Foundation under Grant Number CBET-1236351, and GW Center for Biomimetics and Bioinspired Engineering (COBRE).

Vision based obstacle detection and grouping for helicopter guidance

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Chatterji, Gano

1993-01-01

Electro-optical sensors can be used to compute range to objects in the flight path of a helicopter. The computation is based on the optical flow/motion at different points in the image. The motion algorithms provide a sparse set of ranges to discrete features in the image sequence as a function of azimuth and elevation. For obstacle avoidance guidance and display purposes, these discrete set of ranges, varying from a few hundreds to several thousands, need to be grouped into sets which correspond to objects in the real world. This paper presents a new method for object segmentation based on clustering the sparse range information provided by motion algorithms together with the spatial relation provided by the static image. The range values are initially grouped into clusters based on depth. Subsequently, the clusters are modified by using the K-means algorithm in the inertial horizontal plane and the minimum spanning tree algorithms in the image plane. The object grouping allows interpolation within a group and enables the creation of dense range maps. Researchers in robotics have used densely scanned sequence of laser range images to build three-dimensional representation of the outside world. Thus, modeling techniques developed for dense range images can be extended to sparse range images. The paper presents object segmentation results for a sequence of flight images.

The quality of visual information about the lower extremities influences visuomotor coordination during virtual obstacle negotiation.

PubMed

Kim, Aram; Kretch, Kari S; Zhou, Zixuan; Finley, James M

2018-05-09

Successful negotiation of obstacles during walking relies on the integration of visual information about the environment with ongoing locomotor commands. When information about the body and environment are removed through occlusion of the lower visual field, individuals increase downward head pitch angle, reduce foot placement precision, and increase safety margins during crossing. However, whether these effects are mediated by loss of visual information about the lower extremities, the obstacle, or both remains to be seen. Here, we used a fully immersive, virtual obstacle negotiation task to investigate how visual information about the lower extremities is integrated with information about the environment to facilitate skillful obstacle negotiation. Participants stepped over virtual obstacles while walking on a treadmill with one of three types of visual feedback about the lower extremities: no feedback, end-point feedback, or a link-segment model. We found that absence of visual information about the lower extremities led to an increase in the variability of leading foot placement after crossing. The presence of a visual representation of the lower extremities promoted greater downward head pitch angle during the approach to and subsequent crossing of an obstacle. In addition, having greater downward head pitch was associated with closer placement of the trailing foot to the obstacle, further placement of the leading foot after the obstacle, and higher trailing foot clearance. These results demonstrate that the fidelity of visual information about the lower extremities influences both feed-forward and feedback aspects of visuomotor coordination during obstacle negotiation.

The addition of stripes (a version of the 'horizontal-vertical illusion') increases foot clearance when crossing low-height obstacles.

PubMed

Foster, Richard J; Buckley, John G; Whitaker, David; Elliott, David B

2016-07-01

Trips over obstacles are one of the main causes of falling in older adults, with vision playing an important role in successful obstacle negotiation. We determined whether a horizontal-vertical illusion, superimposed onto low-height obstacles to create a perceived increase in obstacle height, increased foot clearances during obstacle negotiation thus reducing the likelihood of tripping. Eleven adults (mean ± 1 SD: age 27.3 ± 5.1 years) negotiated obstacles of varying heights (3, 5, 7 cm) with four different appearance conditions; two were obstacles with a horizontal-vertical illusion (vertical stripes of different thickness) superimposed on the front, one was a plain obstacle and the fourth a plain obstacle with a horizontal black line painted on the top edge. Foot clearance parameters were compared across conditions. Both illusions led to a significant increase in foot clearance when crossing the obstacle, compared to the plain condition, irrespective of obstacle height. Superimposing a horizontal-vertical illusion onto low-height obstacles can increase foot clearance, and its use on the floor section of a double-glazing door frame for example may reduce the incidence of tripping in the home. Practitioner Summary: Low-height obstacles such as the floor section of a double-glazing door frame are potential tripping hazards. In a gait lab-based study we found that a horizontal-vertical illusion superimposed onto low-height obstacles led to significantly higher foot clearances; indicating their potential as a useful safety measure.

Statistical properties of gravity-driven granular discharge flow under the influence of an obstacle

NASA Astrophysics Data System (ADS)

Endo, Keita; Katsuragi, Hiroaki

2017-06-01

Two-dimensional granular discharge flow driven by gravity under the influence of an obstacle is experimentally investigated. A horizontal exit of width W is opened at the bottom of vertical Hele-Shaw cell filled with stainless-steel particles to start the discharge flow. In this experiment, a circular obstacle is placed in front of the exit. Thus, the distance between the exit and obstacle L is also an important parameter. During the discharge, granular-flow state is acquired by a high-speed camera. The bulk discharge-flow rate is also measured by load cell sensors. The obtained high-speed-image data are analyzed to clarify the particle-level granular-flow dynamics. Using the measured data, we find that the obstacle above the exit affects the granular- flow field. Specifically, the existence of obstacle results in large horizontal granular temperature and small packing fraction. This tendency becomes significant when L is smaller than approximately 6Dg when W ≃ 4Dg, where Dg is diameter of particles.

Avoiding the ensemble decorrelation problem using member-by-member post-processing

NASA Astrophysics Data System (ADS)

Van Schaeybroeck, Bert; Vannitsem, Stéphane

2014-05-01

Forecast calibration or post-processing has become a standard tool in atmospheric and climatological science due to the presence of systematic initial condition and model errors. For ensemble forecasts the most competitive methods derive from the assumption of a fixed ensemble distribution. However, when independently applying such 'statistical' methods at different locations, lead times or for multiple variables the correlation structure for individual ensemble members is destroyed. Instead of reastablishing the correlation structure as in Schefzik et al. (2013) we instead propose a calibration method that avoids such problem by correcting each ensemble member individually. Moreover, we analyse the fundamental mechanisms by which the probabilistic ensemble skill can be enhanced. In terms of continuous ranked probability score, our member-by-member approach amounts to skill gain that extends for lead times far beyond the error doubling time and which is as good as the one of the most competitive statistical approach, non-homogeneous Gaussian regression (Gneiting et al. 2005). Besides the conservation of correlation structure, additional benefits arise including the fact that higher-order ensemble moments like kurtosis and skewness are inherited from the uncorrected forecasts. Our detailed analysis is performed in the context of the Kuramoto-Sivashinsky equation and different simple models but the results extent succesfully to the ensemble forecast of the European Centre for Medium-Range Weather Forecasts (Van Schaeybroeck and Vannitsem, 2013, 2014) . References [1] Gneiting, T., Raftery, A. E., Westveld, A., Goldman, T., 2005: Calibrated probabilistic forecasting using ensemble model output statistics and minimum CRPS estimation. Mon. Weather Rev. 133, 1098-1118. [2] Schefzik, R., T.L. Thorarinsdottir, and T. Gneiting, 2013: Uncertainty Quantification in Complex Simulation Models Using Ensemble Copula Coupling. To appear in Statistical Science 28. [3] Van

Short range laser obstacle detector. [for surface vehicles using laser diode array

NASA Technical Reports Server (NTRS)

Kuriger, W. L. (Inventor)

1973-01-01

A short range obstacle detector for surface vehicles is described which utilizes an array of laser diodes. The diodes operate one at a time, with one diode for each adjacent azimuth sector. A vibrating mirror a short distance above the surface provides continuous scanning in elevation for all azimuth sectors. A diode laser is synchronized with the vibrating mirror to enable one diode laser to be fired, by pulses from a clock pulse source, a number of times during each elevation scan cycle. The time for a given pulse of light to be reflected from an obstacle and received is detected as a measure of range to the obstacle.

Collaborative Learning Practices: Teacher and Student Perceived Obstacles to Effective Student Collaboration

ERIC Educational Resources Information Center

Le, Ha; Janssen, Jeroen; Wubbels, Theo

2018-01-01

While the educational literature mentions several obstacles affecting the effectiveness of collaborative learning (CL), they have often been investigated through the perceptions of only one actor, either teachers or students. Therefore, some sources of obstacles that teachers and students encounter may not have been revealed. In this study, 19…

State-of-the-art technologies for intrusion and obstacle detection for railroad operations

DOT National Transportation Integrated Search

2007-07-01

This report provides an update on the state-of-the-art technologies with intrusion and obstacle detection capabilities for rail rights of way (ROW) and crossings. A workshop entitled Intruder and Obstacle Detection Systems (IODS) for Railroads Requir...

Harnessing atomistic simulations to predict the rate at which dislocations overcome obstacles

NASA Astrophysics Data System (ADS)

Saroukhani, S.; Nguyen, L. D.; Leung, K. W. K.; Singh, C. V.; Warner, D. H.

2016-05-01

Predicting the rate at which dislocations overcome obstacles is key to understanding the microscopic features that govern the plastic flow of modern alloys. In this spirit, the current manuscript examines the rate at which an edge dislocation overcomes an obstacle in aluminum. Predictions were made using different popular variants of Harmonic Transition State Theory (HTST) and compared to those of direct Molecular Dynamics (MD) simulations. The HTST predictions were found to be grossly inaccurate due to the large entropy barrier associated with the dislocation-obstacle interaction. Considering the importance of finite temperature effects, the utility of the Finite Temperature String (FTS) method was then explored. While this approach was found capable of identifying a prominent reaction tube, it was not capable of computing the free energy profile along the tube. Lastly, the utility of the Transition Interface Sampling (TIS) approach was explored, which does not need a free energy profile and is known to be less reliant on the choice of reaction coordinate. The TIS approach was found capable of accurately predicting the rate, relative to direct MD simulations. This finding was utilized to examine the temperature and load dependence of the dislocation-obstacle interaction in a simple periodic cell configuration. An attractive rate prediction approach combining TST and simple continuum models is identified, and the strain rate sensitivity of individual dislocation obstacle interactions is predicted.

Different protocols for analyzing behavior and adaptability in obstacle crossing in Parkinson’s disease

PubMed Central

Mollaei, Nafiseh; Bicho, Estela; Sousa, Nuno; Gago, Miguel Fernandes

2017-01-01

Imbalance and tripping over obstacles as a result of altered gait in older adults, especially in patients with Parkinson’s disease (PD), are one of the most common causes of falls. During obstacle crossing, patients with PD modify their behavior in order to decrease the mechanical demands and enhance dynamic stability. Various descriptions of dynamic traits of gait that have been collected over longer periods, probably better synthesize the underlying structure and pattern of fluctuations in gait and can be more sensitive markers of aging or early neurological dysfunction and increased risk of falls. This confirmation challenges the clinimetric of different protocols and paradigms used for gait analysis up till now, in particular when analyzing obstacle crossing. The authors here present a critical review of current knowledge concerning the interplay between the cognition and gait in aging and PD, emphasizing the differences in gait behavior and adaptability while walking over different and challenging obstacle paradigms, and the implications of obstacle negotiation as a predictor of falls. Some evidence concerning the effectiveness of future rehabilitation protocols on reviving obstacle crossing behavior by trial and error relearning, taking advantage of dual-task paradigms, physical exercise, and virtual reality have been put forward in this article. PMID:29158667

Fresnel diffraction by spherical obstacles

NASA Technical Reports Server (NTRS)

Hovenac, Edward A.

1989-01-01

Lommel functions were used to solve the Fresnel-Kirchhoff diffraction integral for the case of a spherical obstacle. Comparisons were made between Fresnel diffraction theory and Mie scattering theory. Fresnel theory is then compared to experimental data. Experiment and theory typically deviated from one another by less than 10 percent. A unique experimental setup using mercury spheres suspended in a viscous fluid significantly reduced optical noise. The major source of error was due to the Gaussian-shaped laser beam.

Intelligent walkers for the elderly: performance and safety testing of VA-PAMAID robotic walker.

PubMed

Rentschler, Andrew J; Cooper, Rory A; Blasch, Bruce; Boninger, Michael L

2003-01-01

A walker that could help navigate and avoid collisions with obstacles could help reduce health costs and increase the quality of care and independence of thousands of people. This study evaluated the safety and performance of the Veterans Affairs Personal Adaptive Mobility Aid (VA-PAMAID). We performed engineering tests on the VA-PAMAID to determine safety factors, including stability, energy consumption, fatigue life, and sensor and control malfunctions. The VA-PAMAID traveled 10.9 km on a full charge and avoided obstacles while traveling at a speed of up to 1.2 m/s. No failures occurred during static stability, climatic, or fatigue testing. Some problems were encountered during obstacle climbing and sensor and control testing. The VA-PAMAID has good range, has adequate reaction time, and is structurally sound. Clinical trials are planned to compare the device to other low-technical adaptive mobility devices.

Performance Impact of Deflagration to Detonation Transition Enhancing Obstacles

NASA Technical Reports Server (NTRS)

Paxson, Daniel E.; Schauer, Frederick; Hopper, David

2012-01-01

A sub-model is developed to account for the drag and heat transfer enhancement resulting from deflagration-to-detonation (DDT) inducing obstacles commonly used in pulse detonation engines (PDE). The sub-model is incorporated as a source term in a time-accurate, quasi-onedimensional, CFD-based PDE simulation. The simulation and sub-model are then validated through comparison with a particular experiment in which limited DDT obstacle parameters were varied. The simulation is then used to examine the relative contributions from drag and heat transfer to the reduced thrust which is observed. It is found that heat transfer is far more significant than aerodynamic drag in this particular experiment.

The facilitative nature of avoidance coping within sports injury rehabilitation.

PubMed

Carson, F; Polman, R C J

2010-04-01

Avoidance coping has commonly been reported within literature to be a debilitative process. However, in situations where goal attainment is reduced or eradicated avoidance coping strategies appear to have some benefit. The aim of this study was to identify the role of avoidance coping within the sports injury rehabilitation setting. A mixed methodological approach was utilized with four professional male rugby union players, concurrent with their rehabilitation from anterior cruciate ligament (ACL) surgery. Twice monthly interviews were conducted with each player, along with a self-report diary and the Coping with Health, Injuries and Problems (CHIP; Endler & Parker, 2000) inventory. Content analysis showed six higher-order themes split into two general dimensions: (a) behavioral avoidance coping (physical distraction, social interaction, maladaptive behaviors), and (b) cognitive avoidance coping (denial, thought stopping, cognitive distraction). Results suggest avoidance coping strategies facilitate control of short-term emotional states, as well has appearing to have long-term benefits for injured players. Particular benefits were associated with undertaking alternate work within the sports organization.

Impaired anticipatory control of grasp during obstacle crossing in Parkinson's disease.

PubMed

McIsaac, Tara L; Diermayr, Gudrun; Albert, Frederic

2012-05-16

During self-paced walking, people with Parkinson's disease maintain anticipatory control during object grasping. However, common functional tasks often include carrying an object while changing step patterns mid-path and maneuvering over obstacles, increasing task complexity and attentional demands. Thus, the present study investigated the effect of Parkinson's disease on the modulation of grasping force changes as a function of gait-related inertial forces. Subjects with Parkinson's disease maintained the ability to scale and to couple over time their grip and inertial forces while walking at irregular step lengths, but were unable to maintain the temporal coupling of grasping forces compared to controls during obstacle crossing. We suggest that this deterioration in anticipatory control is associated with the increased demands of task complexity and attention during obstacle crossing. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

Characterizing Laminar Flame Interactions with Turbulent Fluidic Jets and Solid Obstacles for Turbulence Induction

NASA Astrophysics Data System (ADS)

Gerdts, Stephen; Chambers, Jessica; Ahmed, Kareem

2016-11-01

A detonation engine's fundamental design concept focuses on enhancing the Deflagration to Detonation Transition (DDT), the process through which subsonic flames accelerate to form a spontaneous detonation wave. Flame acceleration is driven by turbulent interactions that expand the reaction zone and induce mixing of products and reactants. Turbulence in a duct can be generated using solid obstructions, fluidic obstacles, duct angle changes, and wall skin friction. Solid obstacles have been previously explored and offer repeatable turbulence induction at the cost of pressure losses and additional system weight. Fluidic jet obstacles are a novel technique that provide advantages such as the ability to be throttled, allowing for active control of combustion modes. The scope of the present work is to expand the experimental database of varying parameters such as main flow and jet equivalence ratios, fluidic momentum ratios, and solid obstacle blockage ratios. Schlieren flow visualization and particle image velocimetry (PIV) are employed to investigate turbulent flame dynamics throughout the interaction. Optimum conditions that lead to flame acceleration for both solid and fluidic obstacles will be determined. American Chemical Society.

Obstacle Classification and 3D Measurement in Unstructured Environments Based on ToF Cameras

PubMed Central

Yu, Hongshan; Zhu, Jiang; Wang, Yaonan; Jia, Wenyan; Sun, Mingui; Tang, Yandong

2014-01-01

Inspired by the human 3D visual perception system, we present an obstacle detection and classification method based on the use of Time-of-Flight (ToF) cameras for robotic navigation in unstructured environments. The ToF camera provides 3D sensing by capturing an image along with per-pixel 3D space information. Based on this valuable feature and human knowledge of navigation, the proposed method first removes irrelevant regions which do not affect robot's movement from the scene. In the second step, regions of interest are detected and clustered as possible obstacles using both 3D information and intensity image obtained by the ToF camera. Consequently, a multiple relevance vector machine (RVM) classifier is designed to classify obstacles into four possible classes based on the terrain traversability and geometrical features of the obstacles. Finally, experimental results in various unstructured environments are presented to verify the robustness and performance of the proposed approach. We have found that, compared with the existing obstacle recognition methods, the new approach is more accurate and efficient. PMID:24945679

Problems of older persons using a wheeled walker.

PubMed

Lindemann, Ulrich; Schwenk, Michael; Klenk, Jochen; Kessler, Max; Weyrich, Michael; Kurz, Franziska; Becker, Clemens

2016-04-01

Wheeled walkers (WWs) are used to improve mobility and for fall prevention in older persons, but not all users are satisfied with the usability of WWs. Intelligent WWs are being developed to improve the usability. The aim of this study was to support the development of intelligent WWs by investigating possible problems of using a WW. This study investigated 22 geriatric in-patients (median age 82 years) with and without their WW while opening a door against the direction of walking and passing through. Other possible problems when using WWs were identified by interview. Walking through the door was faster without than with using the WW (8.71 versus 12.86 s, p < 0.001), while interference between door and WW was documented in 41 of 44 (93 %) cases. Backward walking performance was better when using a WW with regard to gait speed, step width and walk ratio (all p < 0.002). Most referred problems when using a WW were walking downhill (83 %) and uphill (77 %) and obstacle crossing in general (77 %). Problems with opening a door against the direction of walking and the optimization of downhill and uphill walking as well as obstacle crossing should be regarded when developing an intelligent WW.

Older Women's Sexual Desire Problems: Biopsychosocial Factors Impacting Them and Barriers to Their Clinical Assessment

PubMed Central

Maciel, Michelle; Laganà, Luciana

2014-01-01

Sexual desire is a major component of sexuality at any age, and inhibited desire is one of the main sexual dysfunctions reported by older women. Nonetheless, in medical settings, for a variety of reasons discussed herein, its assessment—as well as the assessment of older women's sexual health in general—is typically avoided or conducted by asking a single sex question. In this paper, we have reviewed the literature (most of which is preliminary in nature) regarding the main psychosocial and health factors that could impact older women's sexual desire, as well as potential obstacles to the assessment and treatment of this geriatric sexual issue. It is certainly advisable that medical care providers who are uncomfortable discussing older women's sexual concerns be prepared to make appropriate referrals to clinicians who possess the proper training to accurately assess and treat sexual challenges (and female sexual interest problems in particular) in this neglected patient population. PMID:24995267

Older women's sexual desire problems: biopsychosocial factors impacting them and barriers to their clinical assessment.

PubMed

Maciel, Michelle; Laganà, Luciana

2014-01-01

Sexual desire is a major component of sexuality at any age, and inhibited desire is one of the main sexual dysfunctions reported by older women. Nonetheless, in medical settings, for a variety of reasons discussed herein, its assessment--as well as the assessment of older women's sexual health in general--is typically avoided or conducted by asking a single sex question. In this paper, we have reviewed the literature (most of which is preliminary in nature) regarding the main psychosocial and health factors that could impact older women's sexual desire, as well as potential obstacles to the assessment and treatment of this geriatric sexual issue. It is certainly advisable that medical care providers who are uncomfortable discussing older women's sexual concerns be prepared to make appropriate referrals to clinicians who possess the proper training to accurately assess and treat sexual challenges (and female sexual interest problems in particular) in this neglected patient population.

Blindness enhances auditory obstacle circumvention: Assessing echolocation, sensory substitution, and visual-based navigation

PubMed Central

Scarfe, Amy C.; Moore, Brian C. J.; Pardhan, Shahina

2017-01-01

Performance for an obstacle circumvention task was assessed under conditions of visual, auditory only (using echolocation) and tactile (using a sensory substitution device, SSD) guidance. A Vicon motion capture system was used to measure human movement kinematics objectively. Ten normally sighted participants, 8 blind non-echolocators, and 1 blind expert echolocator navigated around a 0.6 x 2 m obstacle that was varied in position across trials, at the midline of the participant or 25 cm to the right or left. Although visual guidance was the most effective, participants successfully circumvented the obstacle in the majority of trials under auditory or SSD guidance. Using audition, blind non-echolocators navigated more effectively than blindfolded sighted individuals with fewer collisions, lower movement times, fewer velocity corrections and greater obstacle detection ranges. The blind expert echolocator displayed performance similar to or better than that for the other groups using audition, but was comparable to that for the other groups using the SSD. The generally better performance of blind than of sighted participants is consistent with the perceptual enhancement hypothesis that individuals with severe visual deficits develop improved auditory abilities to compensate for visual loss, here shown by faster, more fluid, and more accurate navigation around obstacles using sound. PMID:28407000