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.

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...

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.

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%.

Obstacle detection and avoiding of quadcopter

NASA Astrophysics Data System (ADS)

Wang, Dizhong; Lin, Jiajian

2017-10-01

Recent years, the flight control technology over quadcopter has been boosted vigorously and acquired the comprehensive application in a variety of industries. However, it is prominent for there to be problems existed in the stable and secure flight with the development of its autonomous flight. Through comparing with the characteristics of ultrasonic ranging and laser Time-of-Flight(abbreviated to ToF) distance as well as vision measurement and its related sensors, the obstacle detection and identification sensors need to be installed in order to effectively enhance the safety flying for aircraft, which is essential for avoiding the dangers around the surroundings. That the major sensors applied to objects perception at present are distance measuring instruments which based on the principle and application of non-contact detection technology . Prior to acknowledging the general principles of flight and obstacle avoiding, the aerodynamics modeling of the quadcopter and its object detection means has been initially determined on this paper. Based on such premise, this article emphasized on describing and analyzing the research on obstacle avoiding technology and its application status, and making an expectation for the trend of its development after analyzing the primary existing problems concerning its accuracy object avoidance.

Obstacle penetrating dynamic radar imaging system

DOEpatents

Romero, Carlos E [Livermore, CA; Zumstein, James E [Livermore, CA; Chang, John T [Danville, CA; Leach, Jr Richard R. [Castro Valley, CA

2006-12-12

An obstacle penetrating dynamic radar imaging system for the detection, tracking, and imaging of an individual, animal, or object comprising a multiplicity of low power ultra wideband radar units that produce a set of return radar signals from the individual, animal, or object, and a processing system for said set of return radar signals for detection, tracking, and imaging of the individual, animal, or object. The system provides a radar video system for detecting and tracking an individual, animal, or object by producing a set of return radar signals from the individual, animal, or object with a multiplicity of low power ultra wideband radar units, and processing said set of return radar signals for detecting and tracking of the individual, animal, or object.

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.

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.

DeepAnomaly: Combining Background Subtraction and Deep Learning for Detecting Obstacles and Anomalies in an Agricultural Field.

PubMed

Christiansen, Peter; Nielsen, Lars N; Steen, Kim A; Jørgensen, Rasmus N; Karstoft, Henrik

2016-11-11

Convolutional neural network (CNN)-based systems are increasingly used in autonomous vehicles for detecting obstacles. CNN-based object detection and per-pixel classification (semantic segmentation) algorithms are trained for detecting and classifying a predefined set of object types. These algorithms have difficulties in detecting distant and heavily occluded objects and are, by definition, not capable of detecting unknown object types or unusual scenarios. The visual characteristics of an agriculture field is homogeneous, and obstacles, like people, animals and other obstacles, occur rarely and are of distinct appearance compared to the field. This paper introduces DeepAnomaly, an algorithm combining deep learning and anomaly detection to exploit the homogenous characteristics of a field to perform anomaly detection. We demonstrate DeepAnomaly as a fast state-of-the-art detector for obstacles that are distant, heavily occluded and unknown. DeepAnomaly is compared to state-of-the-art obstacle detectors including "Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks" (RCNN). In a human detector test case, we demonstrate that DeepAnomaly detects humans at longer ranges (45-90 m) than RCNN. RCNN has a similar performance at a short range (0-30 m). However, DeepAnomaly has much fewer model parameters and (182 ms/25 ms =) a 7.28-times faster processing time per image. Unlike most CNN-based methods, the high accuracy, the low computation time and the low memory footprint make it suitable for a real-time system running on a embedded GPU (Graphics Processing Unit).

DeepAnomaly: Combining Background Subtraction and Deep Learning for Detecting Obstacles and Anomalies in an Agricultural Field

PubMed Central

Christiansen, Peter; Nielsen, Lars N.; Steen, Kim A.; Jørgensen, Rasmus N.; Karstoft, Henrik

2016-01-01

Convolutional neural network (CNN)-based systems are increasingly used in autonomous vehicles for detecting obstacles. CNN-based object detection and per-pixel classification (semantic segmentation) algorithms are trained for detecting and classifying a predefined set of object types. These algorithms have difficulties in detecting distant and heavily occluded objects and are, by definition, not capable of detecting unknown object types or unusual scenarios. The visual characteristics of an agriculture field is homogeneous, and obstacles, like people, animals and other obstacles, occur rarely and are of distinct appearance compared to the field. This paper introduces DeepAnomaly, an algorithm combining deep learning and anomaly detection to exploit the homogenous characteristics of a field to perform anomaly detection. We demonstrate DeepAnomaly as a fast state-of-the-art detector for obstacles that are distant, heavily occluded and unknown. DeepAnomaly is compared to state-of-the-art obstacle detectors including “Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks” (RCNN). In a human detector test case, we demonstrate that DeepAnomaly detects humans at longer ranges (45–90 m) than RCNN. RCNN has a similar performance at a short range (0–30 m). However, DeepAnomaly has much fewer model parameters and (182 ms/25 ms =) a 7.28-times faster processing time per image. Unlike most CNN-based methods, the high accuracy, the low computation time and the low memory footprint make it suitable for a real-time system running on a embedded GPU (Graphics Processing Unit). PMID:27845717

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.

Awareness and Detection of Traffic and Obstacles Using Synthetic and Enhanced Vision Systems

NASA Technical Reports Server (NTRS)

Bailey, Randall E.

2012-01-01

Research literature are reviewed and summarized to evaluate the awareness and detection of traffic and obstacles when using Synthetic Vision Systems (SVS) and Enhanced Vision Systems (EVS). The study identifies the critical issues influencing the time required, accuracy, and pilot workload associated with recognizing and reacting to potential collisions or conflicts with other aircraft, vehicles and obstructions during approach, landing, and surface operations. This work considers the effect of head-down display and head-up display implementations of SVS and EVS as well as the influence of single and dual pilot operations. The influences and strategies of adding traffic information and cockpit alerting with SVS and EVS were also included. Based on this review, a knowledge gap assessment was made with recommendations for ground and flight testing to fill these gaps and hence, promote the safe and effective implementation of SVS/EVS technologies for the Next Generation Air Transportation System

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.

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

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.

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.

Performance Characterization of Obstacle Detection Algorithms for Aircraft Navigation

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia; Coraor, Lee; Gandhi, Tarak; Hartman, Kerry; Yang, Mau-Tsuen

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.

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.

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.

Obstacle-avoiding navigation system

DOEpatents

Borenstein, Johann; Koren, Yoram; Levine, Simon P.

1991-01-01

A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complex trigonometric functions. A further array of grid cells is fixed with respect to the vehicle form a conceptual active window which overlies the incremented grid cells. Thus, when the cells in the active window overly grid cell having values which are indicative of the presence of obstacles, the value therein is used as a multiplier of the precomputed vectorial values. The resulting plurality of vectorial values are summed vectorially in one embodiment of the invention to produce a virtual composite repulsive vector which is then summed vectorially with a target-directed vector for producing a resultant vector for guiding the vehicle. In an alternative embodiment, a plurality of vectors surrounding the vehicle are computed, each having a value corresponding to obstacle density. In such an embodiment, target location information is used to select between alternative directions of travel having low associated obstacle densities.

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.

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.

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.

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.

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.

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

A Neural Network Approach for Building An Obstacle Detection Model by Fusion of Proximity Sensors Data

PubMed Central

Peralta, Emmanuel; Vargas, Héctor; Hermosilla, Gabriel

2018-01-01

Proximity sensors are broadly used in mobile robots for obstacle detection. The traditional calibration process of this kind of sensor could be a time-consuming task because it is usually done by identification in a manual and repetitive way. The resulting obstacles detection models are usually nonlinear functions that can be different for each proximity sensor attached to the robot. In addition, the model is highly dependent on the type of sensor (e.g., ultrasonic or infrared), on changes in light intensity, and on the properties of the obstacle such as shape, colour, and surface texture, among others. That is why in some situations it could be useful to gather all the measurements provided by different kinds of sensor in order to build a unique model that estimates the distances to the obstacles around the robot. This paper presents a novel approach to get an obstacles detection model based on the fusion of sensors data and automatic calibration by using artificial neural networks. PMID:29495338

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.

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.

Ultrasonic Array for Obstacle Detection Based on CDMA with Kasami Codes

PubMed Central

Diego, Cristina; Hernández, Álvaro; Jiménez, Ana; Álvarez, Fernando J.; Sanz, Rebeca; Aparicio, Joaquín

2011-01-01

This paper raises the design of an ultrasonic array for obstacle detection based on Phased Array (PA) techniques, which steers the acoustic beam through the environment by electronics rather than mechanical means. The transmission of every element in the array has been encoded, according to Code Division for Multiple Access (CDMA), which allows multiple beams to be transmitted simultaneously. All these features together enable a parallel scanning system which does not only improve the image rate but also achieves longer inspection distances in comparison with conventional PA techniques. PMID:22247675

Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications

PubMed Central

Wang, Tao; Zheng, Nanning; Xin, Jingmin; Ma, Zheng

2011-01-01

This paper presents a systematic scheme for fusing millimeter wave (MMW) radar and a monocular vision sensor for on-road obstacle detection. As a whole, a three-level fusion strategy based on visual attention mechanism and driver’s visual consciousness is provided for MMW radar and monocular vision fusion so as to obtain better comprehensive performance. Then an experimental method for radar-vision point alignment for easy operation with no reflection intensity of radar and special tool requirements is put forward. Furthermore, a region searching approach for potential target detection is derived in order to decrease the image processing time. An adaptive thresholding algorithm based on a new understanding of shadows in the image is adopted for obstacle detection, and edge detection is used to assist in determining the boundary of obstacles. The proposed fusion approach is verified through real experimental examples of on-road vehicle/pedestrian detection. In the end, the experimental results show that the proposed method is simple and feasible. PMID:22164117

Integrating millimeter wave radar with a monocular vision sensor for on-road obstacle detection applications.

PubMed

Wang, Tao; Zheng, Nanning; Xin, Jingmin; Ma, Zheng

2011-01-01

This paper presents a systematic scheme for fusing millimeter wave (MMW) radar and a monocular vision sensor for on-road obstacle detection. As a whole, a three-level fusion strategy based on visual attention mechanism and driver's visual consciousness is provided for MMW radar and monocular vision fusion so as to obtain better comprehensive performance. Then an experimental method for radar-vision point alignment for easy operation with no reflection intensity of radar and special tool requirements is put forward. Furthermore, a region searching approach for potential target detection is derived in order to decrease the image processing time. An adaptive thresholding algorithm based on a new understanding of shadows in the image is adopted for obstacle detection, and edge detection is used to assist in determining the boundary of obstacles. The proposed fusion approach is verified through real experimental examples of on-road vehicle/pedestrian detection. In the end, the experimental results show that the proposed method is simple and feasible.

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.

Stereo and photometric image sequence interpretation for detecting negative obstacles using active gaze control and performing an autonomous jink

NASA Astrophysics Data System (ADS)

Hofmann, Ulrich; Siedersberger, Karl-Heinz

2003-09-01

Driving cross-country, the detection and state estimation relative to negative obstacles like ditches and creeks is mandatory for safe operation. Very often, ditches can be detected both by different photometric properties (soil vs. vegetation) and by range (disparity) discontinuities. Therefore, algorithms should make use of both the photometric and geometric properties to reliably detect obstacles. This has been achieved in UBM's EMS-Vision System (Expectation-based, Multifocal, Saccadic) for autonomous vehicles. The perception system uses Sarnoff's image processing hardware for real-time stereo vision. This sensor provides both gray value and disparity information for each pixel at high resolution and framerates. In order to perform an autonomous jink, the boundaries of an obstacle have to be measured accurately for calculating a safe driving trajectory. Especially, ditches are often very extended, so due to the restricted field of vision of the cameras, active gaze control is necessary to explore the boundaries of an obstacle. For successful measurements of image features the system has to satisfy conditions defined by the perception expert. It has to deal with the time constraints of the active camera platform while performing saccades and to keep the geometric conditions defined by the locomotion expert for performing a jink. Therefore, the experts have to cooperate. This cooperation is controlled by a central decision unit (CD), which has knowledge about the mission and the capabilities available in the system and of their limitations. The central decision unit reacts dependent on the result of situation assessment by starting, parameterizing or stopping actions (instances of capabilities). The approach has been tested with the 5-ton van VaMoRs. Experimental results will be shown for driving in a typical off-road scenario.

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

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.

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.

Obstacle detection by recognizing binary expansion patterns

NASA Technical Reports Server (NTRS)

Baram, Yoram; Barniv, Yair

1993-01-01

This paper describes a technique for obstacle detection, based on the expansion of the image-plane projection of a textured object, as its distance from the sensor decreases. Information is conveyed by vectors whose components represent first-order temporal and spatial derivatives of the image intensity, which are related to the time to collision through the local divergence. Such vectors may be characterized as patterns corresponding to 'safe' or 'dangerous' situations. We show that essential information is conveyed by single-bit vector components, representing the signs of the relevant derivatives. We use two recently developed, high capacity classifiers, employing neural learning techniques, to recognize the imminence of collision from such patterns.

Railway obstacle detection algorithm using neural network

NASA Astrophysics Data System (ADS)

Yu, Mingyang; Yang, Peng; Wei, Sen

2018-05-01

Aiming at the difficulty of detection of obstacle in outdoor railway scene, a data-oriented method based on neural network to obtain image objects is proposed. First, we mark objects of images(such as people, trains, animals) acquired on the Internet. and then use the residual learning units to build Fast R-CNN framework. Then, the neural network is trained to get the target image characteristics by using stochastic gradient descent algorithm. Finally, a well-trained model is used to identify an outdoor railway image. if it includes trains and other objects, it will issue an alert. Experiments show that the correct rate of warning reached 94.85%.

Detection of obstacles on runway using Ego-Motion compensation and tracking of significant features

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar (Principal Investigator); Camps, Octavia (Principal Investigator); Gandhi, Tarak; Devadiga, Sadashiva

1996-01-01

This report describes a method for obstacle detection on a runway for autonomous navigation and landing of an aircraft. Detection is done in the presence of extraneous features such as tiremarks. Suitable features are extracted from the image and warping using approximately known camera and plane parameters is performed in order to compensate ego-motion as far as possible. Residual disparity after warping is estimated using an optical flow algorithm. Features are tracked from frame to frame so as to obtain more reliable estimates of their motion. Corrections are made to motion parameters with the residual disparities using a robust method, and features having large residual disparities are signaled as obstacles. Sensitivity analysis of the procedure is also studied. Nelson's optical flow constraint is proposed to separate moving obstacles from stationary ones. A Bayesian framework is used at every stage so that the confidence in the estimates can be determined.

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.

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.

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.

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.

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.

Landmark navigation and autonomous landing approach with obstacle detection for aircraft

NASA Astrophysics Data System (ADS)

Fuerst, Simon; Werner, Stefan; Dickmanns, Dirk; Dickmanns, Ernst D.

1997-06-01

A machine perception system for aircraft and helicopters using multiple sensor data for state estimation is presented. By combining conventional aircraft sensor like gyros, accelerometers, artificial horizon, aerodynamic measuring devices and GPS with vision data taken by conventional CCD-cameras mounted on a pan and tilt platform, the position of the craft can be determined as well as the relative position to runways and natural landmarks. The vision data of natural landmarks are used to improve position estimates during autonomous missions. A built-in landmark management module decides which landmark should be focused on by the vision system, depending on the distance to the landmark and the aspect conditions. More complex landmarks like runways are modeled with different levels of detail that are activated dependent on range. A supervisor process compares vision data and GPS data to detect mistracking of the vision system e.g. due to poor visibility and tries to reinitialize the vision system or to set focus on another landmark available. During landing approach obstacles like trucks and airplanes can be detected on the runway. The system has been tested in real-time within a hardware-in-the-loop simulation. Simulated aircraft measurements corrupted by noise and other characteristic sensor errors have been fed into the machine perception system; the image processing module for relative state estimation was driven by computer generated imagery. Results from real-time simulation runs are given.

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.

Obstacle Avoidance On Roadways Using Range Data

NASA Astrophysics Data System (ADS)

Dunlay, R. Terry; Morgenthaler, David G.

1987-02-01

This report describes range data based obstacle avoidance techniques developed for use on an autonomous road-following robot vehicle. The purpose of these techniques is to detect and locate obstacles present in a road environment for navigation of a robot vehicle equipped with an active laser-based range sensor. Techniques are presented for obstacle detection, obstacle location, and coordinate transformations needed in the construction of Scene Models (symbolic structures representing the 3-D obstacle boundaries used by the vehicle's Navigator for path planning). These techniques have been successfully tested on an outdoor robotic vehicle, the Autonomous Land Vehicle (ALV), at speeds up to 3.5 km/hour.

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.

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.

Indoor Navigation from Point Clouds: 3d Modelling and Obstacle Detection

NASA Astrophysics Data System (ADS)

Díaz-Vilariño, L.; Boguslawski, P.; Khoshelham, K.; Lorenzo, H.; Mahdjoubi, L.

2016-06-01

In the recent years, indoor modelling and navigation has become a research of interest because many stakeholders require navigation assistance in various application scenarios. The navigational assistance for blind or wheelchair people, building crisis management such as fire protection, augmented reality for gaming, tourism or training emergency assistance units are just some of the direct applications of indoor modelling and navigation. Navigational information is traditionally extracted from 2D drawings or layouts. Real state of indoors, including opening position and geometry for both windows and doors, and the presence of obstacles is commonly ignored. In this work, a real indoor-path planning methodology based on 3D point clouds is developed. The value and originality of the approach consist on considering point clouds not only for reconstructing semantically-rich 3D indoor models, but also for detecting potential obstacles in the route planning and using these for readapting the routes according to the real state of the indoor depictured by the laser scanner.

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

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.

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.

Validation of vision-based obstacle detection algorithms for low-altitude helicopter flight

NASA Technical Reports Server (NTRS)

Suorsa, Raymond; Sridhar, Banavar

1991-01-01

A validation facility being used at the NASA Ames Research Center is described which is aimed at testing vision based obstacle detection and range estimation algorithms suitable for low level helicopter flight. The facility is capable of processing hundreds of frames of calibrated multicamera 6 degree-of-freedom motion image sequencies, generating calibrated multicamera laboratory images using convenient window-based software, and viewing range estimation results from different algorithms along with truth data using powerful window-based visualization software.

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.

Automatic detection and classification of obstacles with applications in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Ponomaryov, Volodymyr I.; Rosas-Miranda, Dario I.

2016-04-01

Hardware implementation of an automatic detection and classification of objects that can represent an obstacle for an autonomous mobile robot using stereo vision algorithms is presented. We propose and evaluate a new method to detect and classify objects for a mobile robot in outdoor conditions. This method is divided in two parts, the first one is the object detection step based on the distance from the objects to the camera and a BLOB analysis. The second part is the classification step that is based on visuals primitives and a SVM classifier. The proposed method is performed in GPU in order to reduce the processing time values. This is performed with help of hardware based on multi-core processors and GPU platform, using a NVIDIA R GeForce R GT640 graphic card and Matlab over a PC with Windows 10.

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

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.

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

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.

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.

Obstacle Avoidance for Quadcopter using Ultrasonic Sensor

NASA Astrophysics Data System (ADS)

Fazlur Rahman, Muhammad; Adhy Sasongko, Rianto

2018-04-01

An obstacle avoidance system is being proposed. The system will combine available flight controller with a proposed avoidance method as a proof of concept. Quadcopter as a UAV is integrated with the system which consist of several modes in order to do avoidance. As the previous study, obstacle will be determined using ultrasonic sensor and servo. As result, the quadcopter will move according to its mode and successfully avoid obstacle.

Effect of cane length and swing arc width on drop-off and obstacle detection with the long cane

PubMed Central

Kim, Dae Shik; Emerson, Robert Wall; Naghshineh, Koorosh

2017-01-01

A repeated-measures design with block randomization was used for the study, in which 15 adults with visual impairments attempted to detect the drop-offs and obstacles with the canes of different lengths, swinging the cane in different widths (narrow vs wide). Participants detected the drop-offs significantly more reliably with the standard-length cane (79.5% ± 6.5% of the time) than with the extended-length cane (67.6% ± 9.1%), p <.001. The drop-off detection threshold of the standard-length cane (4.1 ± 1.1 cm) was also significantly smaller than that of the extended-length cane (6.5±1.8cm), p <.001. In addition, participants detected drop-offs at a significantly higher percentage when they swung the cane approximately 3 cm beyond the widest part of the body (78.6% ± 7.6%) than when they swung it substantially wider (30 cm; 68.5% ± 8.3%), p <.001. In contrast, neither cane length (p =.074) nor cane swing arc width (p =.185) had a significant effect on obstacle detection performance. The findings of the study may help orientation and mobility specialists recommend appropriate cane length and cane swing arc width to visually impaired cane users. PMID:29276326

Effect of cane length and swing arc width on drop-off and obstacle detection with the long cane.

PubMed

Kim, Dae Shik; Emerson, Robert Wall; Naghshineh, Koorosh

2017-09-01

A repeated-measures design with block randomization was used for the study, in which 15 adults with visual impairments attempted to detect the drop-offs and obstacles with the canes of different lengths, swinging the cane in different widths (narrow vs wide). Participants detected the drop-offs significantly more reliably with the standard-length cane (79.5% ± 6.5% of the time) than with the extended-length cane (67.6% ± 9.1%), p <.001. The drop-off detection threshold of the standard-length cane (4.1 ± 1.1 cm) was also significantly smaller than that of the extended-length cane (6.5±1.8cm), p <.001. In addition, participants detected drop-offs at a significantly higher percentage when they swung the cane approximately 3 cm beyond the widest part of the body (78.6% ± 7.6%) than when they swung it substantially wider (30 cm; 68.5% ± 8.3%), p <.001. In contrast, neither cane length ( p =.074) nor cane swing arc width ( p =.185) had a significant effect on obstacle detection performance. The findings of the study may help orientation and mobility specialists recommend appropriate cane length and cane swing arc width to visually impaired cane users.

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.

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.

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.

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

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.

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.

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.

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

Blindness enhances auditory obstacle circumvention: Assessing echolocation, sensory substitution, and visual-based navigation.

PubMed

Kolarik, Andrew J; 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.

An Algorithm for Autonomous Formation Obstacle Avoidance

NASA Astrophysics Data System (ADS)

Cruz, Yunior I.

The level of human interaction with Unmanned Aerial Systems varies greatly from remotely piloted aircraft to fully autonomous systems. In the latter end of the spectrum, the challenge lies in designing effective algorithms to dictate the behavior of the autonomous agents. A swarm of autonomous Unmanned Aerial Vehicles requires collision avoidance and formation flight algorithms to negotiate environmental challenges it may encounter during the execution of its mission, which may include obstacles and chokepoints. In this work, a simple algorithm is developed to allow a formation of autonomous vehicles to perform point to point navigation while avoiding obstacles and navigating through chokepoints. Emphasis is placed on maintaining formation structures. Rather than breaking formation and individually navigating around the obstacle or through the chokepoint, vehicles are required to assemble into appropriately sized/shaped sub-formations, bifurcate around the obstacle or negotiate the chokepoint, and reassemble into the original formation at the far side of the obstruction. The algorithm receives vehicle and environmental properties as inputs and outputs trajectories for each vehicle from start to the desired ending location. Simulation results show that the algorithm safely routes all vehicles past the obstruction while adhering to the aforementioned requirements. The formation adapts and successfully negotiates the obstacles and chokepoints in its path while maintaining proper vehicle separation.

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.

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments.

PubMed

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-02-02

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle's irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.

Optimal consensus algorithm integrated with obstacle avoidance

NASA Astrophysics Data System (ADS)

Wang, Jianan; Xin, Ming

2013-01-01

This article proposes a new consensus algorithm for the networked single-integrator systems in an obstacle-laden environment. A novel optimal control approach is utilised to achieve not only multi-agent consensus but also obstacle avoidance capability with minimised control efforts. Three cost functional components are defined to fulfil the respective tasks. In particular, an innovative nonquadratic obstacle avoidance cost function is constructed from an inverse optimal control perspective. The other two components are designed to ensure consensus and constrain the control effort. The asymptotic stability and optimality are proven. In addition, the distributed and analytical optimal control law only requires local information based on the communication topology to guarantee the proposed behaviours, rather than all agents' information. The consensus and obstacle avoidance are validated through simulations.

Research on UAV Intelligent Obstacle Avoidance Technology During Inspection of Transmission Line

NASA Astrophysics Data System (ADS)

Wei, Chuanhu; Zhang, Fei; Yin, Chaoyuan; Liu, Yue; Liu, Liang; Li, Zongyu; Wang, Wanguo

Autonomous obstacle avoidance of unmanned aerial vehicle (hereinafter referred to as UAV) in electric power line inspection process has important significance for operation safety and economy for UAV intelligent inspection system of transmission line as main content of UAV intelligent inspection system on transmission line. In the paper, principles of UAV inspection obstacle avoidance technology of transmission line are introduced. UAV inspection obstacle avoidance technology based on particle swarm global optimization algorithm is proposed after common obstacle avoidance technologies are studied. Stimulation comparison is implemented with traditional UAV inspection obstacle avoidance technology which adopts artificial potential field method. Results show that UAV inspection strategy of particle swarm optimization algorithm, adopted in the paper, is prominently better than UAV inspection strategy of artificial potential field method in the aspects of obstacle avoidance effect and the ability of returning to preset inspection track after passing through the obstacle. An effective method is provided for UAV inspection obstacle avoidance of transmission line.

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.

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments

PubMed Central

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-01-01

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle’s irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal. PMID:29393915

Online optimal obstacle avoidance for rotary-wing autonomous unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Kang, Keeryun

This thesis presents an integrated framework for online obstacle avoidance of rotary-wing unmanned aerial vehicles (UAVs), which can provide UAVs an obstacle field navigation capability in a partially or completely unknown obstacle-rich environment. The framework is composed of a LIDAR interface, a local obstacle grid generation, a receding horizon (RH) trajectory optimizer, a global shortest path search algorithm, and a climb rate limit detection logic. The key feature of the framework is the use of an optimization-based trajectory generation in which the obstacle avoidance problem is formulated as a nonlinear trajectory optimization problem with state and input constraints over the finite range of the sensor. This local trajectory optimization is combined with a global path search algorithm which provides a useful initial guess to the nonlinear optimization solver. Optimization is the natural process of finding the best trajectory that is dynamically feasible, safe within the vehicle's flight envelope, and collision-free at the same time. The optimal trajectory is continuously updated in real time by the numerical optimization solver, Nonlinear Trajectory Generation (NTG), which is a direct solver based on the spline approximation of trajectory for dynamically flat systems. In fact, the overall approach of this thesis to finding the optimal trajectory is similar to the model predictive control (MPC) or the receding horizon control (RHC), except that this thesis followed a two-layer design; thus, the optimal solution works as a guidance command to be followed by the controller of the vehicle. The framework is implemented in a real-time simulation environment, the Georgia Tech UAV Simulation Tool (GUST), and integrated in the onboard software of the rotary-wing UAV test-bed at Georgia Tech. Initially, the 2D vertical avoidance capability of real obstacles was tested in flight. The flight test evaluations were extended to the benchmark tests for 3D avoidance

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.

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

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

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping

2018-04-01

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance

Sensorimotor Model of Obstacle Avoidance in Echolocating Bats

PubMed Central

Vanderelst, Dieter; Holderied, Marc W.; Peremans, Herbert

2015-01-01

Bat echolocation is an ability consisting of many subtasks such as navigation, prey detection and object recognition. Understanding the echolocation capabilities of bats comes down to isolating the minimal set of acoustic cues needed to complete each task. For some tasks, the minimal cues have already been identified. However, while a number of possible cues have been suggested, little is known about the minimal cues supporting obstacle avoidance in echolocating bats. In this paper, we propose that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train are sufficient cues for obstacle avoidance. We describe a simple control algorithm based on the use of these cues in combination with alternating ear positions modeled after the constant frequency bat Rhinolophus rouxii. Using spatial simulations (2D and 3D), we show that simple phonotaxis can steer a bat clear from obstacles without performing a reconstruction of the 3D layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance validated in complex simulated environments. Based on additional simulations modelling the FM bat Phyllostomus discolor, we conjecture that the proposed cues can be exploited by constant frequency (CF) bats and frequency modulated (FM) bats alike. We hypothesize that using a low level yet robust cue for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour. PMID:26502063

Millimeter-wave data acquisition for terrain mapping, obstacle detection, and dust penetrating capability testing

NASA Astrophysics Data System (ADS)

Schmerwitz, S.; Doehler, H.-U.; Ellis, K.; Jennings, S.

2011-06-01

The DLR project ALLFlight (Assisted Low Level Flight and Landing on Unprepared Landing Sites) is devoted to demonstrating and evaluating the characteristics of sensors for helicopter operations in degraded visual environments. Millimeter wave radar is one of the many sensors considered for use in brown-out. It delivers a lower angular resolution compared to other sensors, however it may provide the best dust penetration capabilities. In cooperation with the NRC, flight tests on a Bell 205 were conducted to gather sensor data from a 35 GHz pencil beam radar for terrain mapping, obstacle detection and dust penetration. In this paper preliminary results from the flight trials at NRC are presented and a description of the radars general capability is shown. Furthermore, insight is provided into the concept of multi-sensor fusion as attempted in the ALLFlight project.

Strategies for obstacle avoidance during walking in the cat.

PubMed

Chu, Kevin M I; Seto, Sandy H; Beloozerova, Irina N; Marlinski, Vladimir

2017-08-01

Avoiding obstacles is essential for successful navigation through complex environments. This study aimed to clarify what strategies are used by a typical quadruped, the cat, to avoid obstacles during walking. Four cats walked along a corridor 2.5 m long and 25 or 15 cm wide. Obstacles, small round objects 2.5 cm in diameter and 1 cm in height, were placed on the floor in various locations. Movements of the paw were recorded with a motion capture and analysis system (Visualeyez, PTI). During walking in the wide corridor, cats' preferred strategy for avoiding a single obstacle was circumvention, during which the stride direction changed while stride duration and swing-to-stride duration ratio were preserved. Another strategy, stepping over the obstacle, was used during walking in the narrow corridor, when lateral deviations of walking trajectory were restricted. Stepping over the obstacle involved changes in two consecutive strides. The stride preceding the obstacle was shortened, and swing-to-stride ratio was reduced. The obstacle was negotiated in the next stride of increased height and normal duration and swing-to-stride ratio. During walking on a surface with multiple obstacles, both strategies were used. To avoid contact with the obstacle, cats placed the paw away from the object at a distance roughly equal to the diameter of the paw. During obstacle avoidance cats prefer to alter muscle activities without altering the locomotor rhythm. We hypothesize that a choice of the strategy for obstacle avoidance is determined by minimizing the complexity of neuro-motor processes required to achieve the behavioral goal. NEW & NOTEWORTHY In a study of feline locomotor behavior we found that the preferred strategy to avoid a small obstacle is circumvention. During circumvention, stride direction changes but length and temporal structure are preserved. Another strategy, stepping over the obstacle, is used in narrow walkways. During overstepping, two strides adjust. A stride

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

PubMed Central

Zhang, Wei; Wei, Shilin; Teng, Yanbin; Zhang, Jianku; Wang, Xiufang; Yan, Zheping

2017-01-01

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment. PMID:29186878

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

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.

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.

Biomechanical risk factors for tripping during obstacle--Crossing with the trailing limb in patients with type II diabetes mellitus.

PubMed

Hsu, Wei-Chun; Liu, Ming-Wei; Lu, Tung-Wu

2016-03-01

People with type II diabetes mellitus (DM) are at a high risk of falling especially during more challenging locomotor tasks such as obstacle-crossing. The current study aimed to identify the risk factors for tripping in these patients during trailing-limb obstacle-crossing. Fourteen patients with type II DM with or without mild peripheral neuropathy (PN) and 14 healthy controls walked and crossed obstacles of three different heights while their motion data were measured using a motion capture system and two forceplates. The DM group was found to cross obstacles with significantly reduced trailing toe clearance (p<0.05), increasing the probability of the foot hitting the obstacle, and thus the risk of tripping. This altered end-point control was associated with significantly reduced knee flexion and hip adduction of the trailing swing limb (p<0.05), as well as significantly increased ankle plantarflexor moments in the leading stance limb (p<0.05). Therefore, reduced knee flexion and hip adduction of the swing limb are identified as risk factors for tripping during obstacle-crossing. Increased mechanical demands on the ankle plantarflexors suggest that weakness of these muscles may further reduce the already compromised performance of obstacle-crossing in these patients. The current results showed that obstacle-crossing can be used to detect gait deviations and to identify the associated risk of tripping in patients with type II DM without or at an early stage of PN. Copyright © 2016 Elsevier B.V. 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.

Computer-aided system for detecting runway incursions

NASA Astrophysics Data System (ADS)

Sridhar, Banavar; Chatterji, Gano B.

1994-07-01

A synthetic vision system for enhancing the pilot's ability to navigate and control the aircraft on the ground is described. The system uses the onboard airport database and images acquired by external sensors. Additional navigation information needed by the system is provided by the Inertial Navigation System and the Global Positioning System. The various functions of the system, such as image enhancement, map generation, obstacle detection, collision avoidance, guidance, etc., are identified. The available technologies, some of which were developed at NASA, that are applicable to the aircraft ground navigation problem are noted. Example images of a truck crossing the runway while the aircraft flies close to the runway centerline are described. These images are from a sequence of images acquired during one of the several flight experiments conducted by NASA to acquire data to be used for the development and verification of the synthetic vision concepts. These experiments provide a realistic database including video and infrared images, motion states from the Inertial Navigation System and the Global Positioning System, and camera parameters.

Identifying Obstacles to Adoption in New York State's Out-of-Home Care System.

ERIC Educational Resources Information Center

Avery, Rosemary J.

1999-01-01

This study queried caseworkers for 77 New York children in out-of-home care still waiting for placement to determine obstacles to permanent adoption. Questionnaires sought demographics, placement efforts, and caseworker opinions. Findings indicated several obstacles, including the following: child's strong emotional ties to family (foster or…

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

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.

An object detection and tracking system for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Yang, Jian; Xiao, Yang; Fang, Zhiwen; Zhang, Naiwen; Wang, Li; Li, Tao

2017-10-01

Object detection and tracking are critical parts of unmanned surface vehicles(USV) to achieve automatic obstacle avoidance. Off-the-shelf object detection methods have achieved impressive accuracy in public datasets, though they still meet bottlenecks in practice, such as high time consumption and low detection quality. In this paper, we propose a novel system for USV, which is able to locate the object more accurately while being fast and stable simultaneously. Firstly, we employ Faster R-CNN to acquire several initial raw bounding boxes. Secondly, the image is segmented to a few superpixels. For each initial box, the superpixels inside will be grouped into a whole according to a combination strategy, and a new box is thereafter generated as the circumscribed bounding box of the final superpixel. Thirdly, we utilize KCF to track these objects after several frames, Faster-RCNN is again used to re-detect objects inside tracked boxes to prevent tracking failure as well as remove empty boxes. Finally, we utilize Faster R-CNN to detect objects in the next image, and refine object boxes by repeating the second module of our system. The experimental results demonstrate that our system is fast, robust and accurate, which can be applied to USV in practice.

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

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

PubMed Central

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

2017-01-01

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

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.

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.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. V.; Yerazunis, S. W.

1973-01-01

Problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars are reported. Problem areas include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis, terrain modeling and path selection; and chemical analysis of specimens. These tasks are summarized: vehicle model design, mathematical model of vehicle dynamics, experimental vehicle dynamics, obstacle negotiation, electrochemical controls, remote control, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, and chromatograph model evaluation and improvement.

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 negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

NASA Astrophysics Data System (ADS)

Zheng, Li; Yi, Ruan

2009-11-01

Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

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.

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

Analysis and design of a capsule landing system and surface vehicle control system for Mars exporation

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1972-01-01

The problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars were investigated. Problem areas receiving attention include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis; navigation, terrain modeling and path selection; and chemical analysis of specimens. The following specific tasks were studied: vehicle model design, mathematical modeling of dynamic vehicle, experimental vehicle dynamics, obstacle negotiation, electromechanical controls, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, chromatograph model evaluation and improvement and transport parameter evaluation.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1972-01-01

Investigation of problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars has been undertaken. Problem areas receiving attention include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis; terrain modeling and path selection; and chemical analysis of specimens. The following specific tasks have been under study: vehicle model design, mathematical modeling of a dynamic vehicle, experimental vehicle dynamics, obstacle negotiation, electromechanical controls, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer sybsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, chromatograph model evaluation and improvement.

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

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.

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.

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

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.

Occupancy change detection system and method

DOEpatents

Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

2009-09-01

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.

Rules to fly by: pigeons navigating horizontal obstacles limit steering by selecting gaps most aligned to their flight direction.

PubMed

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

2017-02-06

Flying animals must successfully contend with obstacles in their natural environments. Inspired by the robust manoeuvring abilities of flying animals, unmanned aerial systems are being developed and tested to improve flight control through cluttered environments. We previously examined steering strategies that pigeons adopt to fly through an array of vertical obstacles (VOs). Modelling VO flight guidance revealed that pigeons steer towards larger visual gaps when making fast steering decisions. In the present experiments, we recorded three-dimensional flight kinematics of pigeons as they flew through randomized arrays of horizontal obstacles (HOs). We found that pigeons still decelerated upon approach but flew faster through a denser array of HOs compared with the VO array previously tested. Pigeons exhibited limited steering and chose gaps between obstacles most aligned to their immediate flight direction, in contrast to VO navigation that favoured widest gap steering. In addition, pigeons navigated past the HOs with more variable and decreased wing stroke span and adjusted their wing stroke plane to reduce contact with the obstacles. Variability in wing extension, stroke plane and wing stroke path was greater during HO flight. Pigeons also exhibited pronounced head movements when negotiating HOs, which potentially serve a visual function. These head-bobbing-like movements were most pronounced in the horizontal (flight direction) and vertical directions, consistent with engaging motion vision mechanisms for obstacle detection. These results show that pigeons exhibit a keen kinesthetic sense of their body and wings in relation to obstacles. Together with aerodynamic flapping flight mechanics that favours vertical manoeuvring, pigeons are able to navigate HOs using simple rules, with remarkable success.

Rules to fly by: pigeons navigating horizontal obstacles limit steering by selecting gaps most aligned to their flight direction

PubMed Central

Ros, Ivo G.; Bhagavatula, Partha S.; Lin, Huai-Ti

2017-01-01

Flying animals must successfully contend with obstacles in their natural environments. Inspired by the robust manoeuvring abilities of flying animals, unmanned aerial systems are being developed and tested to improve flight control through cluttered environments. We previously examined steering strategies that pigeons adopt to fly through an array of vertical obstacles (VOs). Modelling VO flight guidance revealed that pigeons steer towards larger visual gaps when making fast steering decisions. In the present experiments, we recorded three-dimensional flight kinematics of pigeons as they flew through randomized arrays of horizontal obstacles (HOs). We found that pigeons still decelerated upon approach but flew faster through a denser array of HOs compared with the VO array previously tested. Pigeons exhibited limited steering and chose gaps between obstacles most aligned to their immediate flight direction, in contrast to VO navigation that favoured widest gap steering. In addition, pigeons navigated past the HOs with more variable and decreased wing stroke span and adjusted their wing stroke plane to reduce contact with the obstacles. Variability in wing extension, stroke plane and wing stroke path was greater during HO flight. Pigeons also exhibited pronounced head movements when negotiating HOs, which potentially serve a visual function. These head-bobbing-like movements were most pronounced in the horizontal (flight direction) and vertical directions, consistent with engaging motion vision mechanisms for obstacle detection. These results show that pigeons exhibit a keen kinesthetic sense of their body and wings in relation to obstacles. Together with aerodynamic flapping flight mechanics that favours vertical manoeuvring, pigeons are able to navigate HOs using simple rules, with remarkable success. PMID:28163883

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.

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).

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.

Bionic Vision-Based Intelligent Power Line Inspection System

PubMed Central

Ma, Yunpeng; He, Feijia; Xu, Jinxin

2017-01-01

Detecting the threats of the external obstacles to the power lines can ensure the stability of the power system. Inspired by the attention mechanism and binocular vision of human visual system, an intelligent power line inspection system is presented in this paper. Human visual attention mechanism in this intelligent inspection system is used to detect and track power lines in image sequences according to the shape information of power lines, and the binocular visual model is used to calculate the 3D coordinate information of obstacles and power lines. In order to improve the real time and accuracy of the system, we propose a new matching strategy based on the traditional SURF algorithm. The experimental results show that the system is able to accurately locate the position of the obstacles around power lines automatically, and the designed power line inspection system is effective in complex backgrounds, and there are no missing detection instances under different conditions. PMID:28203269

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 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…

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.

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…

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).

[The most important obstacles of the development of Hungarian psychiatry].

PubMed

Kalmár, Sándor

2015-06-01

A quarter of a century ago the change of the political system in Hungary precipitated a serious value-crisis and caused a lot of harmful effects in nurturing and the development of psychiatry. The author establishes that the attack against psychiatry is more intensive than previously but neither the education and health management nor the psychiatric leadership could cope with these difficulties. It can't be denied that the foundation of lifelong mental health begins in the early life years and about 75% of the first Mental Disorder manifests in adolescence and youth. We are not able to ensure the special rights of every child according to the Hungarian Constitution and the Declaration of the Rights of the Child by the United Nations. The large inequalities within the country, the lack of paramount mental education and nurturing, the lack of essential, consistent eternal values, the lack of required psychiatric care system are huge obstacles of the development of healthy individual and leads to self-destructive behaviour and several, serious physical and mental disorders. The purpose of the author is to call psychiatrists' attention to the main obstacles of the development of Hungarian Psychiatric Care System. The main obstacles of the present psychiatric care system: 1. Unclarified notions, confusion of ideas. 2. Somatic, neurologic, mental, cultural-social and spiritual ignorance. 3. Lack of organization in Mental Education and Psychiatric Care System. 4. Value-crisis in our society despite the fact that the "Council of Wise Men" created a "Scale of the Essential Consistent Eternal Values" for the Hungarian Education System in 2008. 5. Lack of mental health prevention both in education system and health care system. There is no teaching of hygiene lessons in the Hungarian schools. 6. Negligence and selfishness among the population. 7. Disinterest among competent authorities. 8. Leaving the most important possibilities out of consideration. The author establishes

A comparative study on managers', staffs' and clients' viewpoints about organizational and structural obstacles in family planning counseling in health-care centers in Isfahan in 2012.

PubMed

Taheri, Safoura; Ehsanpour, Soheila; Kohan, Shahnaz

2014-03-01

Organizational and structural obstacles are a group of major obstacles in achievement of appropriate family planning counseling. Detection of these obstacles from the viewpoint of managers, staffs and clients who are key members in health services providing system is a major step toward appropriate planning to modify or delete this group of obstacles. The present study was conducted with the goal of comparing managers', staffs' and clients' viewpoints about organizational and structural obstacles in family planning counseling in health-care centers in Isfahan in 2012. This is a cross-sectional one-step three-group comparative descriptive study conducted on 295 subjects including 59 managers, 110 staffs and 126 clients in medical health-care centers in Isfahan in 2012. Managers and the staffs were selected by census sampling and the clients were recruited through convenient random sampling. The date collection tool was a researcher made questionnaire, which was designed in two sections of fertility and personal characteristics and viewpoint measurement. Descriptive and inferential statistical test were used to analyze the data. The obtained results showed no significant difference between mean scores of viewpoints in three groups of managers, staffs and clients concerning organizational and structural obstacles in family planning counseling (P = 0.677). In addition, most of the managers, staffs and clients reported organizational and structural obstacles as the obstacles in the process of family planning in moderate level. The results showed the necessity of health services managers' planning to modify or delete organizational and structural obstacles especially the agreed obstacles from the viewpoint of managers, staffs and clients.

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.

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.

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

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.

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.

Integration of forward-looking infrared (FLIR) and traffic information for moving obstacle detection with integrity

NASA Astrophysics Data System (ADS)

Zhu, Zhen; Vana, Sudha; Bhattacharya, Sumit; Uijt de Haag, Maarten

2009-05-01

This paper discusses the integration of Forward-looking Infrared (FLIR) and traffic information from, for example, the Automatic Dependent Surveillance - Broadcast (ADS-B) or the Traffic Information Service-Broadcast (TIS-B). The goal of this integration method is to obtain an improved state estimate of a moving obstacle within the Field-of-View of the FLIR with added integrity. The focus of the paper will be on the approach phase of the flight. The paper will address methods to extract moving objects from the FLIR imagery and geo-reference these objects using outputs of both the onboard Global Positioning System (GPS) and the Inertial Navigation System (INS). The proposed extraction method uses a priori airport information and terrain databases. Furthermore, state information from the traffic information sources will be extracted and integrated with the state estimates from the FLIR. Finally, a method will be addressed that performs a consistency check between both sources of traffic information. The methods discussed in this paper will be evaluated using flight test data collected with a Gulfstream V in Reno, NV (GVSITE) and simulated ADS-B.

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.

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

A study on obstacle detection method of the frontal view using a camera on highway

NASA Astrophysics Data System (ADS)

Nguyen, Van-Quang; Park, Jeonghyeon; Seo, Changjun; Kim, Heungseob; Boo, Kwangsuck

2018-03-01

In this work, we introduce an approach to detect vehicles for driver assistance, or warning system. For driver assistance system, it must detect both lanes (left and right side lane), and discover vehicles ahead of the test vehicle. Therefore, in this study, we use a camera, it is installed on the windscreen of the test vehicle. Images from the camera are used to detect three lanes, and detect multiple vehicles. In lane detection, line detection and vanishing point estimation are used. For the vehicle detection, we combine the horizontal and vertical edge detection, the horizontal edge is used to detect the vehicle candidates, and then the vertical edge detection is used to verify the vehicle candidates. The proposed algorithm works with of 480 × 640 image frame resolution. The system was tested on the highway in Korea.

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

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.

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.

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.

Sensorimotor integration of vision and proprioception for obstacle crossing in ambulatory individuals with spinal cord injury.

PubMed

Malik, Raza Naseem; Cote, Rachel; Lam, Tania

2017-01-01

Skilled walking, such as obstacle crossing, is an essential component of functional mobility. Sensorimotor integration of visual and proprioceptive inputs is important for successful obstacle crossing. The objective of this study was to understand how proprioceptive deficits affect obstacle-crossing strategies when controlling for variations in motor deficits in ambulatory individuals with spinal cord injury (SCI). Fifteen ambulatory individuals with SCI and 15 able-bodied controls were asked to step over an obstacle scaled to their motor abilities under full and obstructed vision conditions. An eye tracker was used to determine gaze behaviour and motion capture analysis was used to determine toe kinematics relative to the obstacle. Combined, bilateral hip and knee proprioceptive sense (joint position sense and movement detection sense) was assessed using the Lokomat and customized software controls. Combined, bilateral hip and knee proprioceptive sense in subjects with SCI varied and was significantly different from able-bodied subjects. Subjects with greater proprioceptive deficits stepped higher over the obstacle with their lead and trail limbs in the obstructed vision condition compared with full vision. Subjects with SCI also glanced at the obstacle more frequently and with longer fixation times compared with controls, but this was not related to proprioceptive sense. This study indicates that ambulatory individuals with SCI rely more heavily on vision to cross obstacles and show impairments in key gait parameters required for successful obstacle crossing. Our data suggest that proprioceptive deficits need to be considered in rehabilitation programs aimed at improving functional mobility in ambulatory individuals with SCI. This work is unique since it examines the contribution of combined, bilateral hip and knee proprioceptive sense on the recovery of skilled walking function, in addition to characterizing gaze behavior during a skilled walking task in people

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.

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

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.

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.

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.

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.

Identifying Contingency Requirements using Obstacle Analysis on an Unpiloted Aerial Vehicle

NASA Technical Reports Server (NTRS)

Lutz, Robyn R.; Nelson, Stacy; Patterson-Hine, Ann; Frost, Chad R.; Tal, Doron

2005-01-01

This paper describes experience using Obstacle Analysis to identify contingency requirements on an unpiloted aerial vehicle. A contingency is an operational anomaly, and may or may not involve component failure. The challenges to this effort were: ( I ) rapid evolution of the system while operational, (2) incremental autonomy as capabilities were transferred from ground control to software control and (3) the eventual safety-criticality of such systems as they begin to fly over populated areas. The results reported here are preliminary but show that Obstacle Analysis helped (1) identify new contingencies that appeared as autonomy increased; (2) identify new alternatives for handling both previously known and new contingencies; and (3) investigate the continued validity of existing software requirements for contingency handling. Since many mobile, intelligent systems are built using a development process that poses the same challenges, the results appear to have applicability to other similar systems.

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

Obstacle Detection as a Safety Alert in Augmented Reality Models by the Use of Deep Learning Techniques

PubMed Central

Kęsik, Karolina; Książek, Kamil

2017-01-01

Augmented reality (AR) is becoming increasingly popular due to its numerous applications. This is especially evident in games, medicine, education, and other areas that support our everyday activities. Moreover, this kind of computer system not only improves our vision and our perception of the world that surrounds us, but also adds additional elements, modifies existing ones, and gives additional guidance. In this article, we focus on interpreting a reality-based real-time environment evaluation for informing the user about impending obstacles. The proposed solution is based on a hybrid architecture that is capable of estimating as much incoming information as possible. The proposed solution has been tested and discussed with respect to the advantages and disadvantages of different possibilities using this type of vision. PMID:29207564

Obstacle Detection as a Safety Alert in Augmented Reality Models by the Use of Deep Learning Techniques.

PubMed

Połap, Dawid; Kęsik, Karolina; Książek, Kamil; Woźniak, Marcin

2017-12-04

Augmented reality (AR) is becoming increasingly popular due to its numerous applications. This is especially evident in games, medicine, education, and other areas that support our everyday activities. Moreover, this kind of computer system not only improves our vision and our perception of the world that surrounds us, but also adds additional elements, modifies existing ones, and gives additional guidance. In this article, we focus on interpreting a reality-based real-time environment evaluation for informing the user about impending obstacles. The proposed solution is based on a hybrid architecture that is capable of estimating as much incoming information as possible. The proposed solution has been tested and discussed with respect to the advantages and disadvantages of different possibilities using this type of vision.

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.

Range Sensor-Based Efficient Obstacle Avoidance through Selective Decision-Making.

PubMed

Shim, Youngbo; Kim, Gon-Woo

2018-03-29

In this paper, we address a collision avoidance method for mobile robots. Many conventional obstacle avoidance methods have been focused solely on avoiding obstacles. However, this can cause instability when passing through a narrow passage, and can also generate zig-zag motions. We define two strategies for obstacle avoidance, known as Entry mode and Bypass mode. Entry mode is a pattern for passing through the gap between obstacles, while Bypass mode is a pattern for making a detour around obstacles safely. With these two modes, we propose an efficient obstacle avoidance method based on the Expanded Guide Circle (EGC) method with selective decision-making. The simulation and experiment results show the validity of the proposed method.

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.

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.

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.

Turbidity current flow over an erodible obstacle and phases of sediment wave generation

NASA Astrophysics Data System (ADS)

Strauss, Moshe; Glinsky, Michael E.

2012-06-01

We study the flow of particle-laden turbidity currents down a slope and over an obstacle. A high-resolution 2-D computer simulation model is used, based on the Navier-Stokes equations. It includes poly-disperse particle grain sizes in the current and substrate. Particular attention is paid to the erosion and deposition of the substrate particles, including application of an active layer model. Multiple flows are modeled from a lock release that can show the development of sediment waves (SW). These are stream-wise waves that are triggered by the increasing slope on the downstream side of the obstacle. The initial obstacle is completely erased by the resuspension after a few flows leading to self consistent and self generated SW that are weakly dependant on the initial obstacle. The growth of these waves is directly related to the turbidity current being self sustaining, that is, the net erosion is more than the net deposition. Four system parameters are found to influence the SW growth: (1) slope, (2) current lock height, (3) grain lock concentration, and (4) particle diameters. Three phases are discovered for the system: (1) "no SW," (2) "SW buildup," and (3) "SW growth". The second phase consists of a soliton-like SW structure with a preserved shape. The phase diagram of the system is defined by isolating regions divided by critical slope angles as functions of current lock height, grain lock concentration, and particle diameters.

Analysis of the obstacles related to treatment entry, adherence and drop-out among alcoholic patients.

PubMed

Fonsi Elbreder, Márcia; Carvalho De Humerez, Dorisdaia; Laranjeira, Ronaldo

2009-01-01

Alcoholism is a complex syndrome involving social, psychological and individual factors in addition to a series of obstacles regarding treatment entry, adherence, and drop-out. These obstacles contribute negatively to both clinical evolution and prognosis of the patients, affecting their quality of life and raising the social costs. This is a bibliographical study in which we address this theme as well as other experiences observed in our daily practice in the Alcohol and Drug Research Unit (UNIAD) based at the Federal University of São Paulo (UNIFESP). The analysis of the obstacles related to treatment entry, attendance, and drop-out among alcoholic patients shows that systemic, social, cultural, and individual factors are all involved, including the structural ones. Women have more obstacles compared to men, and what is thought to be a barrier to one patient may be a factor motivating another patient to search for help. We conclude that several factors at different levels exist that prevent the patient from overcoming these treatment obstacles.

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.

Wheelchair Navigation System for Disabled and Elderly People

PubMed Central

Kim, Eun Yi

2016-01-01

An intelligent wheelchair (IW) system is developed in order to support safe mobility for disabled or elderly people with various impairments. The proposed IW offers two main functions: obstacle detection and avoidance, and situation recognition. First, through a combination of a vision sensor and eight ultrasonic ones, it detects diverse obstacles and produces occupancy grid maps (OGMs) that describe environmental information, including the positions and sizes of obstacles, which is then given to the learning-based algorithm. By learning the common patterns among OGMs assigned to the same directions, the IW can automatically find paths to prevent collisions with obstacles. Second, it distinguishes a situation whereby the user is standing on a sidewalk, traffic intersection, or roadway through analyzing the texture and shape of the images, which aids in preventing any accidents that would result in fatal injuries to the user, such as collisions with vehicles. From the experiments that were performed in various environments, we can prove the following: (1) the proposed system can recognize different types of outdoor places with 98.3% accuracy; and (2) it can produce paths that avoid obstacles with 92.0% accuracy. PMID:27801852

Computer simulation and evaluation of edge detection algorithms and their application to automatic path selection

NASA Technical Reports Server (NTRS)

Longendorfer, B. A.

1976-01-01

The construction of an autonomous roving vehicle requires the development of complex data-acquisition and processing systems, which determine the path along which the vehicle travels. Thus, a vehicle must possess algorithms which can (1) reliably detect obstacles by processing sensor data, (2) maintain a constantly updated model of its surroundings, and (3) direct its immediate actions to further a long range plan. The first function consisted of obstacle recognition. Obstacles may be identified by the use of edge detection techniques. Therefore, the Kalman Filter was implemented as part of a large scale computer simulation of the Mars Rover. The second function consisted of modeling the environment. The obstacle must be reconstructed from its edges, and the vast amount of data must be organized in a readily retrievable form. Therefore, a Terrain Modeller was developed which assembled and maintained a rectangular grid map of the planet. The third function consisted of directing the vehicle's actions.

A numerical study of a vertical solar air collector with obstacle

NASA Astrophysics Data System (ADS)

Moumeni, A.; Bouchekima, B.; Lati, M.

2016-07-01

Because of the lack of heat exchange obtained by a solar air between the fluid and the absorber, the introduction of obstacles arranged in rows overlapping in the ducts of these systems improves heat transfer. In this work, a numerical study using the finite volume methods is made to model the dynamic and thermal behavior of air flow in a vertical solar collector with baffles destined for integration in building. We search essentially to compare between three air collectors models with different inclined obstacles angle. The first kind with 90° shows a good performance energetic and turbulent.

Embedded DSP-based telehealth radar system for remote in-door fall detection.

PubMed

Garripoli, Carmine; Mercuri, Marco; Karsmakers, Peter; Jack Soh, Ping; Crupi, Giovanni; Vandenbosch, Guy A E; Pace, Calogero; Leroux, Paul; Schreurs, Dominique

2015-01-01

Telehealth systems and applications are extensively investigated nowadays to enhance the quality-of-care and, in particular, to detect emergency situations and to monitor the well-being of elderly people, allowing them to stay at home independently as long as possible. In this paper, an embedded telehealth system for continuous, automatic, and remote monitoring of real-time fall emergencies is presented and discussed. The system, consisting of a radar sensor and base station, represents a cost-effective and efficient healthcare solution. The implementation of the fall detection data processing technique, based on the least-square support vector machines, through a digital signal processor and the management of the communication between radar sensor and base station are detailed. Experimental tests, for a total of 65 mimicked fall incidents, recorded with 16 human subjects (14 men and two women) that have been monitored for 320 min, have been used to validate the proposed system under real circumstances. The subjects' weight is between 55 and 90 kg with heights between 1.65 and 1.82 m, while their age is between 25 and 39 years. The experimental results have shown a sensitivity to detect the fall events in real time of 100% without reporting false positives. The tests have been performed in an area where the radar's operation was not limited by practical situations, namely, signal power, coverage of the antennas, and presence of obstacles between the subject and the antennas.

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.

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

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…

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.

Impact of Performance Obstacles on Intensive Care Nurses‘ Workload, Perceived Quality and Safety of Care, and Quality of Working Life

PubMed Central

Gurses, Ayse P; Carayon, Pascale; Wall, Melanie

2009-01-01

Objectives To study the impact of performance obstacles on intensive care nurses‘ workload, quality and safety of care, and quality of working life (QWL). Performance obstacles are factors that hinder nurses‘ capacity to perform their job and that are closely associated with their immediate work system. Data Sources/Study Setting Data were collected from 265 nurses in 17 intensive care units (ICUs) between February and August 2004 via a structured questionnaire, yielding a response rate of 80 percent. Study Design A cross-sectional study design was used. Data were analyzed by correlation analyses and structural equation modeling. Principal Findings Performance obstacles were found to affect perceived quality and safety of care and QWL of ICU nurses. Workload mediated the impact of performance obstacles with the exception of equipment-related issues on perceived quality and safety of care as well as QWL. Conclusions Performance obstacles in ICUs are a major determinant of nursing workload, perceived quality and safety of care, and QWL. In general, performance obstacles increase nursing workload, which in turn negatively affect perceived quality and safety of care and QWL. Redesigning the ICU work system to reduce performance obstacles may improve nurses‘ work. PMID:19207589

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.

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.

Algorithms for detection of objects in image sequences captured from an airborne imaging system

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia; Tang, Yuan-Liang; Devadiga, Sadashiva; Gandhi, Tarak

1995-01-01

This research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.

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.

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.

Rapid overt airborne reconnaissance (ROAR) for mines and obstacles in very shallow water, surf zone, and beach

NASA Astrophysics Data System (ADS)

Moran, Steven E.; Austin, William L.; Murray, James T.; Roddier, Nicolas A.; Bridges, Robert; Vercillo, Richard; Stettner, Roger; Phillips, Dave; Bisbee, Al; Witherspoon, Ned H.

2003-09-01

Under the Office of Naval Research's Organic Mine Countermeasures Future Naval Capabilities (OMCM FNC) program, Lite Cycles, Inc. is developing an innovative and highly compact airborne active sensor system for mine and obstacle detection in very shallow water (VSW), through the surf-zone (SZ) and onto the beach. The system uses an innovative LCI proprietary integrated scanner, detector, and telescope (ISDT) receiver architecture. The ISD tightly couples all receiver components and LIDAR electronics to achieve the system compaction required for tactical UAVintegration while providing a large aperture. It also includes an advanced compact multifunction laser transmitter; an industry-first high-resolution, compact 3-D camera, a scanning function for wide area search, and temporally displaced multiple looks on the fly over the ocean surface for clutter reduction. Additionally, the laser will provide time-multiplexed multi-color output to perform day/night multispectral imaging for beach surveillance. New processing algorithms for mine detection in the very challenging surf-zone clutter environment are under development, which offer the potential for significant processing gains in comparison to the legacy approaches. This paper reviews the legacy system approaches, describes the mission challenges, and provides an overview of the ROAR system architecture.

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.

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

UAV formation control design with obstacle avoidance in dynamic three-dimensional environment.

PubMed

Chang, Kai; Xia, Yuanqing; Huang, Kaoli

2016-01-01

This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the target. It drives the leader to track the target based on the relative position of them. The other UAVs in the formation are controlled to follow the leader by the attractive control force. The repulsive force affects among the UAVs to avoid collisions and distribute the UAVs evenly on the spherical surface whose center is the leader-UAV. Specific orders or positions of the UAVs are not required. The trajectories of avoidance obstacle can be obtained through two kinds of potential field with rotation vectors. Every UAV can choose the optimal trajectory to avoid the obstacle and reconfigure the formation after passing the obstacle. Simulations study on UAV are presented to demonstrate the effectiveness of proposed method.

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…

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.

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.

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

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

Role of curvatures in determining the characteristics of a string vibrating against a doubly curved obstacle

NASA Astrophysics Data System (ADS)

Singh, Harkirat; Wahi, Pankaj

2017-08-01

The motion of a string in the presence of a doubly curved obstacle is investigated. A mathematical model has been developed for a general shape of the obstacle. However, detailed analysis has been performed for a shape relevant to the Indian stringed musical instruments like Tanpura and Sitar. In particular, we explore the effect of obstacle's curvature in the plane perpendicular to the string axis on its motion. This geometrical feature of the obstacle introduces a coupling between motions in mutually perpendicular directions over and above the coupling due to the stretching nonlinearity. We find that only one planar motion is possible for our system. Small amplitude planar motions are stable to perturbations in the perpendicular direction resulting in non-whirling motions while large amplitude oscillations lead to whirling motions. The critical amplitude of oscillations, across which there is a transition in the qualitative behavior of the non-planar trajectories, is determined using Floquet theory. Our analysis reveals that a small obstacle curvature in a direction perpendicular to the string axis leads to a considerable reduction in the critical amplitudes required for initiation of whirling motions. Hence, this obstacle curvature has a destabilizing effect on the planar motions in contrast to the curvature along the string axis which stabilizes planar motions.

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.

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.

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

Collision-based energetic comparison of rolling and hopping over obstacles

PubMed Central

Iida, Fumiya

2018-01-01

Locomotion of machines and robots operating in rough terrain is strongly influenced by the mechanics of the ground-machine interactions. A rolling wheel in terrain with obstacles is subject to collisional energy losses, which is governed by mechanics comparable to hopping or walking locomotion. Here we investigate the energetic cost associated with overcoming an obstacle for rolling and hopping locomotion, using a simple mechanics model. The model considers collision-based interactions with the ground and the obstacle, without frictional losses, and we quantify, analyse, and compare the sources of energetic costs for three locomotion strategies. Our results show that the energetic advantages of the locomotion strategies are uniquely defined given the moment of inertia and the Froude number associated with the system. We find that hopping outperforms rolling at larger Froude numbers and vice versa. The analysis is further extended for a comparative study with animals. By applying size and inertial properties through an allometric scaling law of hopping and trotting animals to our models, we found that the conditions at which hopping becomes energetically advantageous to rolling roughly corresponds to animals’ preferred gait transition speeds. The energetic collision losses as predicted by the model are largely verified experimentally. PMID:29538459

[Development of child mental health services in Lithuania: achievements and obstacles].

PubMed

Pūras, Dainius

2002-01-01

In 1990, political, economic and social changes in Lithuania introduced the possibility to develop for the first time in nations's history an effective and modern system of child mental health services. During the period between 1990 and 1995 a new model of services was developed in the Department of Social pediatrics and child psychiatry of Vilnius University. The model included development of child and adolescent psychiatric services, as well as early intervention services for infants and preschool children with developmental disabilities. The emphasis, following recommendations of WHO and existing international standards, was made on deinstitutionalization and development of family-oriented and community-based services, which have been ignored by previous system. In the first half of 90's of 20th century, new training programs for professionals were introduced, more than 50 methods of assessment, treatment and rehabilitation, new for Lithuanian clinical practice, were implemented, and a new model of services, including primary, secondary and tertiary level of prevention, was introduced in demonstration sites. However, during next phase of development, in 1997-2001, serious obstacles for replicating new approaches across the country, have been identified, which threatened successful implementation of the new model of services into everyday clinical practice. Analysis of obstacles, which are blocking development of new approaches in the field of child mental health, is presented in the article. The main obstacles, identified during analysis of socioeconomic context, planning and utilization of resources, running of the system of services and evaluation of outcomes, are as follows: lack of intersectorial cooperation between health, education and social welfare systems; strong tradition of discrimination of psychosocial interventions in funding schemes of health services; societal attitudes, which tend to discriminate and stigmatize marginal groups, including

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.

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.

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

Comparison of results of an obstacle resolving microscale model with wind tunnel data

NASA Astrophysics Data System (ADS)

Grawe, David; Schlünzen, K. Heinke; Pascheke, Frauke

2013-11-01

The microscale transport and stream model MITRAS has been improved and a new technique has been implemented to improve numerical stability for complex obstacle configurations. Results of the updated version have been compared with wind tunnel data using an evaluation method that has been established for simple obstacle configurations. MITRAS is a part of the M-SYS model system for the assessment of ambient air quality. A comparison of model results for the flow field against quality ensured wind tunnel data has been carried out for both idealised and realistic test cases. Results of the comparison show a very good agreement of the wind field for most test cases and identify areas of possible improvement of the model. The evaluated MITRAS results can be used as input data for the M-SYS microscale chemistry model MICTM. This paper describes how such a comparison can be carried out for simple as well as realistic obstacle configurations and what difficulties arise.

78 FR 32088 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-05-29

...This rule establishes, amends, suspends, or revokes Standard Instrument Approach Procedures (SIAPs) and associated Takeoff Minimums and Obstacle Departure Procedures for operations at certain airports. These regulatory actions are needed because of the adoption of new or revised criteria, or because of changes occurring in the National Airspace System, such as the commissioning of new navigational facilities, adding new obstacles, or changing air traffic requirements. These changes are designed to provide safe and efficient use of the navigable airspace and to promote safe flight operations under instrument flight rules at the affected airports.

75 FR 69331 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-12

...This establishes, amends, suspends, or revokes Standard Instrument Approach Procedures (SIAPs) and associated Takeoff Minimums and Obstacle Departure Procedures for operations at certain airports. These regulatory actions are needed because of the adoption of new or revised criteria, or because of changes occurring in the National Airspace System, such as the commissioning of new navigational facilities, adding new obstacles, or changing air traffic requirements. These changes are designed to provide safe and efficient use of the navigable airspace and to promote safe flight operations under instrument flight rules at the affected airports.

77 FR 12454 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-01

...This rule establishes, amends, suspends, or revokes Standard Instrument Approach Procedures (SIAPs) and associated Takeoff Minimums and Obstacle Departure Procedures for operations at certain airports. These regulatory actions are needed because of the adoption of new or revised criteria, or because of changes occurring in the National Airspace System, such as the commissioning of new navigational facilities, adding new obstacles, or changing air traffic requirements. These changes are designed to provide safe and efficient use of the navigable airspace and to promote safe flight operations under instrument flight rules at the affected airports.

Spike Train Similarity Space (SSIMS) Method Detects Effects of Obstacle Proximity and Experience on Temporal Patterning of Bat Biosonar

PubMed Central

Accomando, Alyssa W.; Vargas-Irwin, Carlos E.; Simmons, James A.

2018-01-01

Bats emit biosonar pulses in complex temporal patterns that change to accommodate dynamic surroundings. Efforts to quantify these patterns have included analyses of inter-pulse intervals, sonar sound groups, and changes in individual signal parameters such as duration or frequency. Here, the similarity in temporal structure between trains of biosonar pulses is assessed. The spike train similarity space (SSIMS) algorithm, originally designed for neural activity pattern analysis, was applied to determine which features of the environment influence temporal patterning of pulses emitted by flying big brown bats, Eptesicus fuscus. In these laboratory experiments, bats flew down a flight corridor through an obstacle array. The corridor varied in width (100, 70, or 40 cm) and shape (straight or curved). Using a relational point-process framework, SSIMS was able to discriminate between echolocation call sequences recorded from flights in each of the corridor widths. SSIMS was also able to tell the difference between pulse trains recorded during flights where corridor shape through the obstacle array matched the previous trials (fixed, or expected) as opposed to those recorded from flights with randomized corridor shape (variable, or unexpected), but only for the flight path shape in which the bats had previous training. The results show that experience influences the temporal patterns with which bats emit their echolocation calls. It is demonstrated that obstacle proximity to the bat affects call patterns more dramatically than flight path shape. PMID:29472848

Spike Train Similarity Space (SSIMS) Method Detects Effects of Obstacle Proximity and Experience on Temporal Patterning of Bat Biosonar.

PubMed

Accomando, Alyssa W; Vargas-Irwin, Carlos E; Simmons, James A

2018-01-01

Bats emit biosonar pulses in complex temporal patterns that change to accommodate dynamic surroundings. Efforts to quantify these patterns have included analyses of inter-pulse intervals, sonar sound groups, and changes in individual signal parameters such as duration or frequency. Here, the similarity in temporal structure between trains of biosonar pulses is assessed. The spike train similarity space (SSIMS) algorithm, originally designed for neural activity pattern analysis, was applied to determine which features of the environment influence temporal patterning of pulses emitted by flying big brown bats, Eptesicus fuscus . In these laboratory experiments, bats flew down a flight corridor through an obstacle array. The corridor varied in width (100, 70, or 40 cm) and shape (straight or curved). Using a relational point-process framework, SSIMS was able to discriminate between echolocation call sequences recorded from flights in each of the corridor widths. SSIMS was also able to tell the difference between pulse trains recorded during flights where corridor shape through the obstacle array matched the previous trials (fixed, or expected) as opposed to those recorded from flights with randomized corridor shape (variable, or unexpected), but only for the flight path shape in which the bats had previous training. The results show that experience influences the temporal patterns with which bats emit their echolocation calls. It is demonstrated that obstacle proximity to the bat affects call patterns more dramatically than flight path shape.

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.

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.

Non-universal tracer diffusion in crowded media of non-inert obstacles.

PubMed

Ghosh, Surya K; Cherstvy, Andrey G; Metzler, Ralf

2015-01-21

We study the diffusion of a tracer particle, which moves in continuum space between a lattice of excluded volume, immobile non-inert obstacles. In particular, we analyse how the strength of the tracer-obstacle interactions and the volume occupancy of the crowders alter the diffusive motion of the tracer. From the details of partitioning of the tracer diffusion modes between trapping states when bound to obstacles and bulk diffusion, we examine the degree of localisation of the tracer in the lattice of crowders. We study the properties of the tracer diffusion in terms of the ensemble and time averaged mean squared displacements, the trapping time distributions, the amplitude variation of the time averaged mean squared displacements, and the non-Gaussianity parameter of the diffusing tracer. We conclude that tracer-obstacle adsorption and binding triggers a transient anomalous diffusion. From a very narrow spread of recorded individual time averaged trajectories we exclude continuous type random walk processes as the underlying physical model of the tracer diffusion in our system. For moderate tracer-crowder attraction the motion is found to be fully ergodic, while at stronger attraction strength a transient disparity between ensemble and time averaged mean squared displacements occurs. We also put our results into perspective with findings from experimental single-particle tracking and simulations of the diffusion of tagged tracers in dense crowded suspensions. Our results have implications for the diffusion, transport, and spreading of chemical components in highly crowded environments inside living cells and other structured liquids.

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.

A computational study for investigating acoustic streaming and tissue heating during high intensity focused ultrasound through blood vessel with an obstacle

NASA Astrophysics Data System (ADS)

Parvin, Salma; Sultana, Aysha

2017-06-01

The influence of High Intensity Focused Ultrasound (HIFU) on the obstacle through blood vessel is studied numerically. A three-dimensional acoustics-thermal-fluid coupling model is employed to compute the temperature field around the obstacle through blood vessel. The model construction is based on the linear Westervelt and conjugate heat transfer equations for the obstacle through blood vessel. The system of equations is solved using Finite Element Method (FEM). We found from this three-dimensional numerical study that the rate of heat transfer is increasing from the obstacle and both the convective cooling and acoustic streaming can considerably change the temperature field.

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.

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.

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.

Real-time obstacle avoidance using harmonic potential functions

NASA Technical Reports Server (NTRS)

Kim, Jin-Oh; Khosla, Pradeep K.

1992-01-01

This paper presents a new formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment. Previous formulations of artificial potentials for obstacle avoidance have exhibited local minima in a cluttered environment. To build an artificial potential field, harmonic functions that completely eliminate local minima even for a cluttered environment are used. The panel method is employed to represent arbitrarily shaped obstacles and to derive the potential over the whole space. Based on this potential function, an elegant control strategy is proposed for the real-time control of a robot. The harmonic potential, the panel method, and the control strategy are tested with a bar-shaped mobile robot and a three-degree-of-freedom planar redundant manipulator.

Identification and analysis of obstacles in bioterrorism preparedness and response

NASA Astrophysics Data System (ADS)

Sincavage, Suzanne Michele

The focus of this study was to identify and analyze the obstacles to bioterrorism preparedness and response facing emergency management agencies and public authorities. In order to establish the limits of this discussion, the obstacles will examine a combined conceptual framework of public health, environmental security and social response. The interdisciplinary characteristics of this framework are ideal for addressing the issue of bioterrorism because of its simultaneous impact, which encompasses the complex interrelationships that pertain to public health and national security and social response. Based on a review of literature, the obstacles presented range from the absence of an effective surveillance system for biological terrorism related diseases to the inadequate training of first responders in bioterrorism preparedness and the difficult challenges of a mass casualty situation and the intense pressures associated with the crisis response. Furthermore, the impending reality of bioterrorism will further illustrate a close examination of the characteristics and management of three major biowarfare agents---anthrax, plague and smallpox. Finally, to provide a realistic understanding of the impact of bioterrorism, three case studies of actual events and two hypothetical scenarios will be discussed. Specifically, the discussion will provide the following three unconventional terrorist attacks: the recent anthrax attacks of 2001, the Aum Shinrikyo's attack of the Tokyo subway in 1995, and the Rajneeshees' use of salmonella poisoning in 1994. The inclusion of the hypothetical scenarios of two massive outbreaks of smallpox and anthrax will be presented to illuminate the seriousness and magnitude of the threat of bioterrorism and the probable consequences of failing to overcome the obstacles presented in this study. The importance of this research cannot be overemphasized, the threat is undeniably serious, and the potential for biological agents to cause devastating

Emergent oscillations assist obstacle negotiation during ant cooperative transport.

PubMed

Gelblum, Aviram; Pinkoviezky, Itai; Fonio, Ehud; Gov, Nir S; Feinerman, Ofer

2016-12-20

Collective motion by animal groups is affected by internal interactions, external constraints, and the influx of information. A quantitative understanding of how these different factors give rise to different modes of collective motion is, at present, lacking. Here, we study how ants that cooperatively transport a large food item react to an obstacle blocking their path. Combining experiments with a statistical physics model of mechanically coupled active agents, we show that the constraint induces a deterministic collective oscillatory mode that facilitates obstacle circumvention. We provide direct experimental evidence, backed by theory, that this motion is an emergent group effect that does not require any behavioral changes at the individual level. We trace these relaxation oscillations to the interplay between two forces; informed ants pull the load toward the nest whereas uninformed ants contribute to the motion's persistence along the tangential direction. The model's predictions that oscillations appear above a critical system size, that the group can spontaneously transition into its ordered phase, and that the system can exhibit complete rotations are all verified experimentally. We expect that similar oscillatory modes emerge in collective motion scenarios where the structure of the environment imposes conflicts between individually held information and the group's tendency for cohesiveness.

Emergent oscillations assist obstacle negotiation during ant cooperative transport

PubMed Central

Gelblum, Aviram; Pinkoviezky, Itai; Fonio, Ehud; Gov, Nir S.; Feinerman, Ofer

2016-01-01

Collective motion by animal groups is affected by internal interactions, external constraints, and the influx of information. A quantitative understanding of how these different factors give rise to different modes of collective motion is, at present, lacking. Here, we study how ants that cooperatively transport a large food item react to an obstacle blocking their path. Combining experiments with a statistical physics model of mechanically coupled active agents, we show that the constraint induces a deterministic collective oscillatory mode that facilitates obstacle circumvention. We provide direct experimental evidence, backed by theory, that this motion is an emergent group effect that does not require any behavioral changes at the individual level. We trace these relaxation oscillations to the interplay between two forces; informed ants pull the load toward the nest whereas uninformed ants contribute to the motion’s persistence along the tangential direction. The model’s predictions that oscillations appear above a critical system size, that the group can spontaneously transition into its ordered phase, and that the system can exhibit complete rotations are all verified experimentally. We expect that similar oscillatory modes emerge in collective motion scenarios where the structure of the environment imposes conflicts between individually held information and the group’s tendency for cohesiveness. PMID:27930304

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.

A game theory-based obstacle avoidance routing protocol for wireless sensor networks.

PubMed

Guan, Xin; Wu, Huayang; Bi, Shujun

2011-01-01

The obstacle avoidance problem in geographic forwarding is an important issue for location-based routing in wireless sensor networks. The presence of an obstacle leads to several geographic routing problems such as excessive energy consumption and data congestion. Obstacles are hard to avoid in realistic environments. To bypass obstacles, most routing protocols tend to forward packets along the obstacle boundaries. This leads to a situation where the nodes at the boundaries exhaust their energy rapidly and the obstacle area is diffused. In this paper, we introduce a novel routing algorithm to solve the obstacle problem in wireless sensor networks based on a game-theory model. Our algorithm forms a concave region that cannot forward packets to achieve the aim of improving the transmission success rate and decreasing packet transmission delays. We consider the residual energy, out-degree and forwarding angle to determine the forwarding probability and payoff function of forwarding candidates. This achieves the aim of load balance and reduces network energy consumption. Simulation results show that based on the average delivery delay, energy consumption and packet delivery ratio performances our protocol is superior to other traditional schemes.

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.

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.

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.

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.

Autonomous navigation system and method

DOEpatents

Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

2009-09-08

A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

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.

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...

Obstacles to TQM success in health care systems.

PubMed

Mosadeghrad, Ali Mohammad

2013-01-01

Many healthcare organisations have found it difficult to implement total quality management (TQM) successfully. The aim of this paper is to explore the barriers to TQM successful implementation in the healthcare sector. This paper reports a literature review exploring the major reasons for the failure of TQM programmes in healthcare organisations. TQM implementation and its impact depend heavily on the ability of managers to adopt and adapt its values and concepts in professional healthcare organisations. Unsuccessful TQM efforts in healthcare organisations can be attributed to the strongly departmentalised, bureaucratic and hierarchical structure, professional autonomy, tensions between managers and professionals and the difficulties involved in evaluating healthcare processes and outcomes. Other obstacles to TQM success include lack of consistent managers' and employees' commitment to and involvement in TQM implementation, poor leadership and management, lack of a quality-oriented culture, insufficient training, and inadequate resources. The review was limited to empirical articles written in the English language during the past 30 years (1980-2010). The findings of this article provide policy makers and managers with a practical understanding of the factors that are likely to obstruct TQM implementation in the healthcare sector. Understanding the factors that obstruct TQM implementation would enable managers to develop more effective strategies for implementing TQM successfully in healthcare organisations.

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…

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…

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…

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.

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.

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

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.

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.

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

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.

Three-camera stereo vision for intelligent transportation systems

NASA Astrophysics Data System (ADS)

Bergendahl, Jason; Masaki, Ichiro; Horn, Berthold K. P.

1997-02-01

A major obstacle in the application of stereo vision to intelligent transportation system is high computational cost. In this paper, a PC based three-camera stereo vision system constructed with off-the-shelf components is described. The system serves as a tool for developing and testing robust algorithms which approach real-time performance. We present an edge based, subpixel stereo algorithm which is adapted to permit accurate distance measurements to objects in the field of view using a compact camera assembly. Once computed, the 3D scene information may be directly applied to a number of in-vehicle applications, such as adaptive cruise control, obstacle detection, and lane tracking. Moreover, since the largest computational costs is incurred in generating the 3D scene information, multiple applications that leverage this information can be implemented in a single system with minimal cost. On-road applications, such as vehicle counting and incident detection, are also possible. Preliminary in-vehicle road trial results are presented.

Collective effects in force generation by multiple cytoskeletal filaments pushing an obstacle

NASA Astrophysics Data System (ADS)

Aparna, J. S.; Das, Dipjyoti; Padinhateeri, Ranjith; Das, Dibyendu

2015-09-01

We report here recent findings that multiple cytoskeletal filaments (assumed rigid) pushing an obstacle typically generate more force than just the sum of the forces due to individual ones. This interesting phenomenon, due to the hydrolysis process being out of equilibrium, escaped attention in previous experimental and theoretical literature. We first demonstrate this numerically within a constant force ensemble, for a well known model of cytoskeletal filament dynamics with random mechanism of hydrolysis. Two methods of detecting the departure from additivity of the collective stall force, namely from the force-velocity curve in the growing phase, and from the average collapse time versus force curve in the bounded phase, is discussed. Since experiments have already been done for a similar system of multiple microtubules in a harmonic optical trap, we study the problem theoretically under harmonic force. We show that within the varying harmonic force ensemble too, the mean collective stall force of N filaments is greater than N times the mean stall force due to a single filament; the actual extent of departure is a function of the monomer concentration.

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.

Nucleic acid detection system and method for detecting influenza

DOEpatents

Cai, Hong; Song, Jian

2015-03-17

The invention provides a rapid, sensitive and specific nucleic acid detection system which utilizes isothermal nucleic acid amplification in combination with a lateral flow chromatographic device, or DNA dipstick, for DNA-hybridization detection. The system of the invention requires no complex instrumentation or electronic hardware, and provides a low cost nucleic acid detection system suitable for highly sensitive pathogen detection. Hybridization to single-stranded DNA amplification products using the system of the invention provides a sensitive and specific means by which assays can be multiplexed for the detection of multiple target sequences.

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.

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.

[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.

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.

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.

Portable modular detection system

DOEpatents

Brennan, James S [Rodeo, CA; Singh, Anup [Danville, CA; Throckmorton, Daniel J [Tracy, CA; Stamps, James F [Livermore, CA

2009-10-13

Disclosed herein are portable and modular detection devices and systems for detecting electromagnetic radiation, such as fluorescence, from an analyte which comprises at least one optical element removably attached to at least one alignment rail. Also disclosed are modular detection devices and systems having an integrated lock-in amplifier and spatial filter and assay methods using the portable and modular detection devices.

Learning robotic eye-arm-hand coordination from human demonstration: a coupled dynamical systems approach.

PubMed

Lukic, Luka; Santos-Victor, José; Billard, Aude

2014-04-01

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials. These experiments suggest that reaching with obstacle avoidance is organized in a sequential manner, where the obstacle acts as an intermediary target. Furthermore, we demonstrate that the notion of workspace travelled by the hand is embedded explicitly in a forward planning scheme, which is actively involved in detecting obstacles on the way when performing reaching. We find that the gaze proactively coordinates the pattern of eye-arm motion during obstacle avoidance. This study provides also a quantitative assessment of the coupling between the eye-arm-hand motion. We show that the coupling follows regular phase dependencies and is unaltered during obstacle avoidance. These observations provide a basis for the design of a computational model. Our controller extends the coupled dynamical systems framework and provides fast and synchronous control of the eyes, the arm and the hand within a single and compact framework, mimicking similar control system found in humans. We validate our model for visuomotor control of a humanoid robot.

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.

Microcontroller based driver alertness detection systems to detect drowsiness

NASA Astrophysics Data System (ADS)

Adenin, Hasibah; Zahari, Rahimi; Lim, Tiong Hoo

2018-04-01

The advancement of embedded system for detecting and preventing drowsiness in a vehicle is a major challenge for road traffic accident systems. To prevent drowsiness while driving, it is necessary to have an alert system that can detect a decline in driver concentration and send a signal to the driver. Studies have shown that traffc accidents usually occur when the driver is distracted while driving. In this paper, we have reviewed a number of detection systems to monitor the concentration of a car driver and propose a portable Driver Alertness Detection System (DADS) to determine the level of concentration of the driver based on pixelated coloration detection technique using facial recognition. A portable camera will be placed at the front visor to capture facial expression and the eye activities. We evaluate DADS using 26 participants and have achieved 100% detection rate with good lighting condition and a low detection rate at night.

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.

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.

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.

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.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. Y.

1975-01-01

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission.

Generalized Detectability for Discrete Event Systems

PubMed Central

Shu, Shaolong; Lin, Feng

2011-01-01

In our previous work, we investigated detectability of discrete event systems, which is defined as the ability to determine the current and subsequent states of a system based on observation. For different applications, we defined four types of detectabilities: (weak) detectability, strong detectability, (weak) periodic detectability, and strong periodic detectability. In this paper, we extend our results in three aspects. (1) We extend detectability from deterministic systems to nondeterministic systems. Such a generalization is necessary because there are many systems that need to be modeled as nondeterministic discrete event systems. (2) We develop polynomial algorithms to check strong detectability. The previous algorithms are based on observer whose construction is of exponential complexity, while the new algorithms are based on a new automaton called detector. (3) We extend detectability to D-detectability. While detectability requires determining the exact state of a system, D-detectability relaxes this requirement by asking only to distinguish certain pairs of states. With these extensions, the theory on detectability of discrete event systems becomes more applicable in solving many practical problems. PMID:21691432

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.

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

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

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.

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.

System for measuring the coordinates of tire surfaces in transient conditions when rolling over obstacles: description of the system and performance analysis.

PubMed

Castellini, Paolo; Di Giuseppe, Andrea

2008-06-01

This paper describes the development of a system for measuring surface coordinates (commonly known as "shape measurements") which is able to give the temporal evolution of the position of the tire sidewall in transient conditions (such as during braking, when there are potholes or when the road surface is uneven) which may or may not be reproducible. The system is based on the well-known technique of projecting and observing structured light using a digital camera with an optical axis which is slanted with respect to the axis of the projector. The transient nature of the phenomenon has led to the development of specific innovative solutions as regards image processing algorithms. This paper briefly describes the components which make up the measuring system and presents the results of the measurements carried out on the drum bench. It then analyses the performance of the measuring system and the sources of uncertainty which led to the development of the system for a specific dynamic application: impact with an obstacle (cleat test). The measuring system guaranteed a measurement uncertainty of 0.28 mm along the Z axis (the axial direction of the tire) with a measurement range of 250(X) x 80(Y) x 25(Z) mm(3), with the tire rolling at a speed of up to 30 km/h.

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…

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

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.

Design and Development of a Mobile Sensor Based the Blind Assistance Wayfinding System

NASA Astrophysics Data System (ADS)

Barati, F.; Delavar, M. R.

2015-12-01

The blind and visually impaired people are facing a number of challenges in their daily life. One of the major challenges is finding their way both indoor and outdoor. For this reason, routing and navigation independently, especially in urban areas are important for the blind. Most of the blind undertake route finding and navigation with the help of a guide. In addition, other tools such as a cane, guide dog or electronic aids are used by the blind. However, in some cases these aids are not efficient enough in a wayfinding around obstacles and dangerous areas for the blind. As a result, the need to develop effective methods as decision support using a non-visual media is leading to improve quality of life for the blind through their increased mobility and independence. In this study, we designed and implemented an outdoor mobile sensor-based wayfinding system for the blind. The objectives of this study are to guide the blind for the obstacle recognition and the design and implementation of a wayfinding and navigation mobile sensor system for them. In this study an ultrasonic sensor is used to detect obstacles and GPS is employed for positioning and navigation in the wayfinding. This type of ultrasonic sensor measures the interval between sending waves and receiving the echo signals with respect to the speed of sound in the environment to estimate the distance to the obstacles. In this study the coordinates and characteristics of all the obstacles in the study area are already stored in a GIS database. All of these obstacles were labeled on the map. The ultrasonic sensor designed and constructed in this study has the ability to detect the obstacles in a distance of 2cm to 400cm. The implementation and the results obtained from the interview of a number of blind persons who employed the sensor verified that the designed mobile sensor system for wayfinding was very satisfactory.

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…

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.

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.

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.

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.

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

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

Political Obstacles to Regionalization of the SUS: perceptions of Municipal Health Secretaries with seat in the Bipartite Interagency Commissions.

PubMed

Moreira, Marcelo Rasga; Ribeiro, José Mendes; Ouverney, Assis Mafort

2017-04-01

This paper aims to identify and analyze the political obstacles to the implementation of Organizational Contract of Public Action (COAP) based on the perceptions of municipal health secretaries of Bipartite Interagency Commissions (CIB). For this purpose, we interviewed 195 secretaries (92% of the total) from October 2015 to August 2016. Based on the approach of policy analysis, the main hurdles identified were, in short, a traditional obstacle (lack of resources), one that has been gaining strength in recent years (judicialization of politics) and another, perhaps unheard of: the party-political system and the State Executive Branch are the great absentees in the coalitions in support of SUS regionalization policies. We can conclude that such obstacles indicate an extremely negative setting for the implementation of the COAP and other SUS regionalization policies. Thus, it is incumbent upon those involved to reflect, negotiate and build consensus on improving the health of the population and overcome such obstacles if, of course, they embrace the authors' concept that regionalization is fundamental for the SUS.

Cooperative Environment Scans Based on a Multi-Robot System

PubMed Central

Kwon, Ji-Wook

2015-01-01

This paper proposes a cooperative environment scan system (CESS) using multiple robots, where each robot has low-cost range finders and low processing power. To organize and maintain the CESS, a base robot monitors the positions of the child robots, controls them, and builds a map of the unknown environment, while the child robots with low performance range finders provide obstacle information. Even though each child robot provides approximated and limited information of the obstacles, CESS replaces the single LRF, which has a high cost, because much of the information is acquired and accumulated by a number of the child robots. Moreover, the proposed CESS extends the measurement boundaries and detects obstacles hidden behind others. To show the performance of the proposed system and compare this with the numerical models of the commercialized 2D and 3D laser scanners, simulation results are included. PMID:25789491

Robotic guarded motion system and method

DOEpatents

Bruemmer, David J.

2010-02-23

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

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.

Venus and Mars Obstacles in the Solar Wind

NASA Astrophysics Data System (ADS)

Luhmann, J. G.; Mitchell, D. L.; Acuna, M. H.; Russell, C. T.; Brecht, S. H.; Lyon, J. G.

2000-10-01

Comparisons of the magnetosheaths of Venus and Mars contrast the relative simplicity of the Venus solar wind interaction and the ``Jekyll and Hyde" nature of the Mars interaction. Magnetometer observations from Mars Global Surveyor during the elliptical science phasing orbits and Pioneer Venus Orbiter in its normally elliptical orbit are compared, with various models used to compensate for the different near-polar periapsis of MGS and near-equator periapsis of PVO. Gasdynamic or MHD fluid models of flow around a conducting sphere provide a remarkably good desciption of the Venus case, and the Mars case when the strong Martian crustal magnetic anomalies are in the flow wake. In the case of Venus, large magnetosheath field fluctuations can be reliably tied to occurrence of a subsolar quasiparallel bow shock resulting from a small interplanetary field cone angle (angle between flow and field) upstream. At Mars one must also contend with such large fluctuations from the bow shock, but also from unstable solar wind proton distributions due to finite ion gyroradius effects, and from the complicated obstacle presented to the solar wind when the crustal magnetic anomalies are on the ram face or terminator. We attempt to distinguish between these factors at Mars, which are important for interpretation of the upcoming NOZOMI and Mars Express mission measurements. The results also provide more insights into a uniquely complex type of solar system solar wind interaction involving crustal fields akin to the Moon's, combined with a Venus-like ionospheric obstacle.

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

Anticipatory Postural Control of Stability during Gait Initiation Over Obstacles of Different Height and Distance Made Under Reaction-Time and Self-Initiated Instructions.

PubMed

Yiou, Eric; Artico, Romain; Teyssedre, Claudine A; Labaune, Ombeline; Fourcade, Paul

2016-01-01

Despite the abundant literature on obstacle crossing in humans, the question of how the central nervous system (CNS) controls postural stability during gait initiation with the goal to clear an obstacle remains unclear. Stabilizing features of gait initiation include anticipatory postural adjustments (APAs) and lateral swing foot placement. To answer the above question, 14 participants initiated gait as fast as possible in three conditions of obstacle height, three conditions of obstacle distance and one obstacle-free (control) condition. Each of these conditions was performed with two levels of temporal pressure: reaction-time (high-pressure) and self-initiated (low-pressure) movements. A mechanical model of the body falling laterally under the influence of gravity and submitted to an elastic restoring force is proposed to assess the effect of initial (foot-off) center-of-mass position and velocity (or "initial center-of-mass set") on the stability at foot-contact. Results showed that the anticipatory peak of mediolateral (ML) center-of-pressure shift, the initial ML center-of-mass velocity and the duration of the swing phase, of gait initiation increased with obstacle height, but not with obstacle distance. These results suggest that ML APAs are scaled with swing duration in order to maintain an equivalent stability across experimental conditions. This statement is strengthened by the results obtained with the mechanical model, which showed how stability would be degraded if there was no adaptation of the initial center-of-mass set to swing duration. The anteroposterior (AP) component of APAs varied also according to obstacle height and distance, but in an opposite way to the ML component. Indeed, results showed that the anticipatory peak of backward center-of-pressure shift and the initial forward center-of-mass set decreased with obstacle height, probably in order to limit the risk to trip over the obstacle, while the forward center-of-mass velocity at foot

Anticipatory Postural Control of Stability during Gait Initiation Over Obstacles of Different Height and Distance Made Under Reaction-Time and Self-Initiated Instructions

PubMed Central

Yiou, Eric; Artico, Romain; Teyssedre, Claudine A.; Labaune, Ombeline; Fourcade, Paul

2016-01-01

Despite the abundant literature on obstacle crossing in humans, the question of how the central nervous system (CNS) controls postural stability during gait initiation with the goal to clear an obstacle remains unclear. Stabilizing features of gait initiation include anticipatory postural adjustments (APAs) and lateral swing foot placement. To answer the above question, 14 participants initiated gait as fast as possible in three conditions of obstacle height, three conditions of obstacle distance and one obstacle-free (control) condition. Each of these conditions was performed with two levels of temporal pressure: reaction-time (high-pressure) and self-initiated (low-pressure) movements. A mechanical model of the body falling laterally under the influence of gravity and submitted to an elastic restoring force is proposed to assess the effect of initial (foot-off) center-of-mass position and velocity (or “initial center-of-mass set”) on the stability at foot-contact. Results showed that the anticipatory peak of mediolateral (ML) center-of-pressure shift, the initial ML center-of-mass velocity and the duration of the swing phase, of gait initiation increased with obstacle height, but not with obstacle distance. These results suggest that ML APAs are scaled with swing duration in order to maintain an equivalent stability across experimental conditions. This statement is strengthened by the results obtained with the mechanical model, which showed how stability would be degraded if there was no adaptation of the initial center-of-mass set to swing duration. The anteroposterior (AP) component of APAs varied also according to obstacle height and distance, but in an opposite way to the ML component. Indeed, results showed that the anticipatory peak of backward center-of-pressure shift and the initial forward center-of-mass set decreased with obstacle height, probably in order to limit the risk to trip over the obstacle, while the forward center-of-mass velocity at foot

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.

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

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…

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.

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…

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).

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.

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.

Mine Safety Detection System (MSDS)

DTIC Science & Technology

2012-09-01

that comes to rest on the bottom in either sea lane will represent a navigation obstacle resulting in lane closure until the wreck can be cleared...order in which the depth layers are searched follows a rational that emulates the analogy of “testing the waters before diving in”. As the oil

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.

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…

System Detects Vibrational Instabilities

NASA Technical Reports Server (NTRS)

Bozeman, Richard J., Jr.

1990-01-01

Sustained vibrations at two critical frequencies trigger diagnostic response or shutdown. Vibration-analyzing electronic system detects instabilities of combustion in rocket engine. Controls pulse-mode firing of engine and identifies vibrations above threshold amplitude at 5.9 and/or 12kHz. Adapted to other detection and/or control schemes involving simultaneous real-time detection of signals above or below preset amplitudes at two or more specified frequencies. Potential applications include rotating machinery and encoders and decoders in security systems.

An automatically tuning intrusion detection system.

PubMed

Yu, Zhenwei; Tsai, Jeffrey J P; Weigert, Thomas

2007-04-01

An intrusion detection system (IDS) is a security layer used to detect ongoing intrusive activities in information systems. Traditionally, intrusion detection relies on extensive knowledge of security experts, in particular, on their familiarity with the computer system to be protected. To reduce this dependence, various data-mining and machine learning techniques have been deployed for intrusion detection. An IDS is usually working in a dynamically changing environment, which forces continuous tuning of the intrusion detection model, in order to maintain sufficient performance. The manual tuning process required by current systems depends on the system operators in working out the tuning solution and in integrating it into the detection model. In this paper, an automatically tuning IDS (ATIDS) is presented. The proposed system will automatically tune the detection model on-the-fly according to the feedback provided by the system operator when false predictions are encountered. The system is evaluated using the KDDCup'99 intrusion detection dataset. Experimental results show that the system achieves up to 35% improvement in terms of misclassification cost when compared with a system lacking the tuning feature. If only 10% false predictions are used to tune the model, the system still achieves about 30% improvement. Moreover, when tuning is not delayed too long, the system can achieve about 20% improvement, with only 1.3% of the false predictions used to tune the model. The results of the experiments show that a practical system can be built based on ATIDS: system operators can focus on verification of predictions with low confidence, as only those predictions determined to be false will be used to tune the detection model.

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.

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.

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).

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.

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.

Holographic particle detection

NASA Technical Reports Server (NTRS)

Bowen, Theodore

1988-01-01

The feasibility was studied of developing a novel particle track detector based on the detection of 1p-1s emission radiation from electron bubbles in liquid helium. The principles, design, construction, and initial testing of the detection system have been described in previous reports. The main obstacle encountered was the construction of the liquid-helium tight infrared windows. Despite numerous efforts in testing and redesigning the windows, the problem of window leakage at low temperature persisted. Due to limited time and resources, attention was switched to investigating the possibility of using room-temperature liquid as the detection medium. A possible mechanism was the detection of de-excitation radiation emitted from localized electrons in common liquids where electrons exhibit low mobilities, as suggested in the previous report. The purity of the liquid is critical in this method as the dissolved impurities (such as oxygen), even in trace amounts, will act as scavengers of electrons. Another mechanism is discussed whereby the formation of the superoxide ions by electron scavenging behavior of dissolved oxygen is exploited to detect the track of ionizing particles. An experiment to measure the ionization current produced in a liquid by a pulsed X-ray beam in order to study propertiies of the ions is also reported.

Intrusion Detection in Database Systems

NASA Astrophysics Data System (ADS)

Javidi, Mohammad M.; Sohrabi, Mina; Rafsanjani, Marjan Kuchaki

Data represent today a valuable asset for organizations and companies and must be protected. Ensuring the security and privacy of data assets is a crucial and very difficult problem in our modern networked world. Despite the necessity of protecting information stored in database systems (DBS), existing security models are insufficient to prevent misuse, especially insider abuse by legitimate users. One mechanism to safeguard the information in these databases is to use an intrusion detection system (IDS). The purpose of Intrusion detection in database systems is to detect transactions that access data without permission. In this paper several database Intrusion detection approaches are evaluated.

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.

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.

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.

Particle detection systems and methods

DOEpatents

Morris, Christopher L.; Makela, Mark F.

2010-05-11

Techniques, apparatus and systems for detecting particles such as muons and neutrons. In one implementation, a particle detection system employs a plurality of drift cells, which can be for example sealed gas-filled drift tubes, arranged on sides of a volume to be scanned to track incoming and outgoing charged particles, such as cosmic ray-produced muons. The drift cells can include a neutron sensitive medium to enable concurrent counting of neutrons. The system can selectively detect devices or materials, such as iron, lead, gold, uranium, plutonium, and/or tungsten, occupying the volume from multiple scattering of the charged particles passing through the volume and can concurrently detect any unshielded neutron sources occupying the volume from neutrons emitted therefrom. If necessary, the drift cells can be used to also detect gamma rays. The system can be employed to inspect occupied vehicles at border crossings for nuclear threat objects.

Solar system fault detection

DOEpatents

Farrington, R.B.; Pruett, J.C. Jr.

1984-05-14

A fault detecting apparatus and method are provided for use with an active solar system. The apparatus provides an indication as to whether one or more predetermined faults have occurred in the solar system. The apparatus includes a plurality of sensors, each sensor being used in determining whether a predetermined condition is present. The outputs of the sensors are combined in a pre-established manner in accordance with the kind of predetermined faults to be detected. Indicators communicate with the outputs generated by combining the sensor outputs to give the user of the solar system and the apparatus an indication as to whether a predetermined fault has occurred. Upon detection and indication of any predetermined fault, the user can take appropriate corrective action so that the overall reliability and efficiency of the active solar system are increased.

Solar system fault detection

DOEpatents

Farrington, Robert B.; Pruett, Jr., James C.

1986-01-01

A fault detecting apparatus and method are provided for use with an active solar system. The apparatus provides an indication as to whether one or more predetermined faults have occurred in the solar system. The apparatus includes a plurality of sensors, each sensor being used in determining whether a predetermined condition is present. The outputs of the sensors are combined in a pre-established manner in accordance with the kind of predetermined faults to be detected. Indicators communicate with the outputs generated by combining the sensor outputs to give the user of the solar system and the apparatus an indication as to whether a predetermined fault has occurred. Upon detection and indication of any predetermined fault, the user can take appropriate corrective action so that the overall reliability and efficiency of the active solar system are increased.

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.

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.

Life detection systems.

NASA Technical Reports Server (NTRS)

Mitz, M. A.

1972-01-01

Some promising newer approaches for detecting microorganisms are discussed, giving particular attention to the integration of different methods into a single instrument. Life detection methods may be divided into biological, chemical, and cytological methods. Biological methods are based on the biological properties of assimilation, metabolism, and growth. Devices for the detection of organic materials are considered, taking into account an instrument which volatilizes, separates, and analyzes a sample sequentially. Other instrumental systems described make use of a microscope and the cytochemical staining principle.

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

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.

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.

77 FR 50014 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-20

... navigational facilities, adding new obstacles, or changing air traffic requirements. These changes are designed.... Intl. 20-Sep-12 TX Houston Sugar Land Rgnl.... 2/8058 7/19/12 TAKEOFF MINIMUMS AND (OBSTACLE) DP, Amdt...

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

Water system virus detection

NASA Technical Reports Server (NTRS)

Fraser, A. S.; Wells, A. F.; Tenoso, H. J.

1975-01-01

A monitoring system developed to test the capability of a water recovery system to reject the passage of viruses into the recovered water is described. A nonpathogenic marker virus, bacteriophage F2, is fed into the process stream before the recovery unit and the reclaimed water is assayed for its presence. Detection of the marker virus consists of two major components, concentration and isolation of the marker virus, and detection of the marker virus. The concentration system involves adsorption of virus to cellulose acetate filters in the presence of trivalent cations and low pH with subsequent desorption of the virus using volumes of high pH buffer. The detection of the virus is performed by a passive immune agglutination test utilizing specially prepared polystyrene particles. An engineering preliminary design was performed as a parallel effort to the laboratory development of the marker virus test system. Engineering schematics and drawings of a fully functional laboratory prototype capable of zero-G operation are presented. The instrument consists of reagent pump/metering system, reagent storage containers, a filter concentrator, an incubation/detector system, and an electronic readout and control system.

Mesoscale Thermodynamic Analysis of Atomic-Scale Dislocation-Obstacle Interactions Simulated by Molecular Dynamics

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

Monet, Giath; Bacon, David J; Osetskiy, Yury N

2010-01-01

Given the time and length scales in molecular dynamics (MD) simulations of dislocation-defect interactions, quantitative MD results cannot be used directly in larger scale simulations or compared directly with experiment. A method to extract fundamental quantities from MD simulations is proposed here. The first quantity is a critical stress defined to characterise the obstacle resistance. This mesoscopic parameter, rather than the obstacle 'strength' designed for a point obstacle, is to be used for an obstacle of finite size. At finite temperature, our analyses of MD simulations allow the activation energy to be determined as a function of temperature. The resultsmore » confirm the proportionality between activation energy and temperature that is frequently observed by experiment. By coupling the data for the activation energy and the critical stress as functions of temperature, we show how the activation energy can be deduced at a given value of the critical stress.« less

78 FR 54564 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-09-05

... Linder Rgnl, Takeoff Minimums and Obstacle DP, Amdt 1 Venice, FL, Venice Muni, RNAV (GPS) RWY 5, Orig Venice, FL, Venice Muni, RNAV (GPS) RWY 23, Orig Venice, FL, Venice Muni, Takeoff Minimums and Obstacle...

46 CFR 108.405 - Fire detection system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Fire detection system. 108.405 Section 108.405 Shipping... EQUIPMENT Fire Extinguishing Systems § 108.405 Fire detection system. (a) Each fire detection system and each smoke detection system on a unit must— (1) Be approved by the Commandant; and (2) Have a visual...

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.

75 FR 72942 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-29

..., Takeoff Minimums and Obstacle DP, Amdt 3 Harvard, NE, Harvard State, RNAV (GPS) RWY 35, Orig Harvard, NE, Harvard State, Takeoff Minimums and Obstacle DP, Orig Harvard, NE, Harvard State, VOR/DME RNAV OR GPS RWY...

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.

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.

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

Thermal activation of dislocations in large scale obstacle bypass

NASA Astrophysics Data System (ADS)

Sobie, Cameron; Capolungo, Laurent; McDowell, David L.; Martinez, Enrique

2017-08-01

Dislocation dynamics simulations have been used extensively to predict hardening caused by dislocation-obstacle interactions, including irradiation defect hardening in the athermal case. Incorporating the role of thermal energy on these interactions is possible with a framework provided by harmonic transition state theory (HTST) enabling direct access to thermally activated reaction rates using the Arrhenius equation, including rates of dislocation-obstacle bypass processes. Moving beyond unit dislocation-defect reactions to a representative environment containing a large number of defects requires coarse-graining the activation energy barriers of a population of obstacles into an effective energy barrier that accurately represents the large scale collective process. The work presented here investigates the relationship between unit dislocation-defect bypass processes and the distribution of activation energy barriers calculated for ensemble bypass processes. A significant difference between these cases is observed, which is attributed to the inherent cooperative nature of dislocation bypass processes. In addition to the dislocation-defect interaction, the morphology of the dislocation segments pinned to the defects play an important role on the activation energies for bypass. A phenomenological model for activation energy stress dependence is shown to describe well the effect of a distribution of activation energies, and a probabilistic activation energy model incorporating the stress distribution in a material is presented.

Effects of soft interactions and bound mobility on diffusion in crowded environments: a model of sticky and slippery obstacles

NASA Astrophysics Data System (ADS)

Stefferson, Michael W.; Norris, Samantha L.; Vernerey, Franck J.; Betterton, Meredith D.; E Hough, Loren

2017-08-01

Crowded environments modify the diffusion of macromolecules, generally slowing their movement and inducing transient anomalous subdiffusion. The presence of obstacles also modifies the kinetics and equilibrium behavior of tracers. While previous theoretical studies of particle diffusion have typically assumed either impenetrable obstacles or binding interactions that immobilize the particle, in many cellular contexts bound particles remain mobile. Examples include membrane proteins or lipids with some entry and diffusion within lipid domains and proteins that can enter into membraneless organelles or compartments such as the nucleolus. Using a lattice model, we studied the diffusive movement of tracer particles which bind to soft obstacles, allowing tracers and obstacles to occupy the same lattice site. For sticky obstacles, bound tracer particles are immobile, while for slippery obstacles, bound tracers can hop without penalty to adjacent obstacles. In both models, binding significantly alters tracer motion. The type and degree of motion while bound is a key determinant of the tracer mobility: slippery obstacles can allow nearly unhindered diffusion, even at high obstacle filling fraction. To mimic compartmentalization in a cell, we examined how obstacle size and a range of bound diffusion coefficients affect tracer dynamics. The behavior of the model is similar in two and three spatial dimensions. Our work has implications for protein movement and interactions within cells.

Portable pathogen detection system

DOEpatents

Colston, Billy W.; Everett, Matthew; Milanovich, Fred P.; Brown, Steve B.; Vendateswaran, Kodumudi; Simon, Jonathan N.

2005-06-14

A portable pathogen detection system that accomplishes on-site multiplex detection of targets in biological samples. The system includes: microbead specific reagents, incubation/mixing chambers, a disposable microbead capture substrate, and an optical measurement and decoding arrangement. The basis of this system is a highly flexible Liquid Array that utilizes optically encoded microbeads as the templates for biological assays. Target biological samples are optically labeled and captured on the microbeads, which are in turn captured on an ordered array or disordered array disposable capture substrate and then optically read.

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.

Creation of a Mental Health Treatment Fears and Obstacles Inventory for College Students

ERIC Educational Resources Information Center

Park, Heather L.; Attenweiler, William J.; Rieck, Stacey M.

2012-01-01

This project concerned the creation of an inventory for college students of treatment fears and obstacles to seeking mental health services. Unlike previous research, undergraduate participants generated a pool of items to measure fears of and obstacles to seeking services. Subsequent rational and statistical refinement resulted in a 29-item scale…

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.

Introduction of frictional and turning function for pedestrian outflow with an obstacle.

PubMed

Yanagisawa, Daichi; Kimura, Ayako; Tomoeda, Akiyasu; Nishi, Ryosuke; Suma, Yushi; Ohtsuka, Kazumichi; Nishinari, Katsuhiro

2009-09-01

In this paper, two important factors which affect the pedestrian outflow at a bottleneck significantly are studied in detail to analyze the effect of an obstacle setup in front of an exit. One is a conflict at an exit when pedestrians evacuate from a room. We use floor field model for simulating such behavior, which is a well-studied pedestrian model using cellular automata. The conflicts have been taken into account by the friction parameter. However, the friction parameter so far is a constant and does not depend on the number of the pedestrians conflicting at the same time. Thus, we have improved the friction parameter by the frictional function, which is a function of the number of the pedestrians involved in the conflict. Second, we have presented the cost of turning of pedestrians at the exit. Since pedestrians have inertia, their walking speeds decrease when they turn and the pedestrian outflow decreases. The validity of the extended model, which includes the frictional function and the turning function, is supported by the comparison of a mean-field theory and real experiments. We have observed that the pedestrian flow increases when we put an obstacle in front of an exit in our real experiments. The analytical results clearly explains the mechanism of the effect of the obstacle, i.e., the obstacle blocks pedestrians moving to the exit and decreases the average number of pedestrians involved in the conflict. We have also found that an obstacle works more effectively when we shift it from the center since pedestrians go through the exit with less turning.

Levels of Autonomy and Autonomous System Performance Assessment for Intelligent Unmanned Systems

DTIC Science & Technology

2014-04-01

LIDAR and camera sensors that is driven entirely by teleoperation would be AL 0. If that same robot used its LIDAR and camera data to generate a...obstacle detection, mapping, path planning 3 CMMAD semi- autonomous counter- mine system (Few 2010) Talon UGV, camera, LIDAR , metal detector...NCAP framework are performed on individual UMS components and do not require mission level evaluations. For example, bench testing of camera, LIDAR

Manipulating the fidelity of lower extremity visual feedback to identify obstacle negotiation strategies in immersive virtual reality.

PubMed

Kim, Aram; Zhou, Zixuan; Kretch, Kari S; Finley, James M

2017-07-01

The ability to successfully navigate obstacles in our environment requires integration of visual information about the environment with estimates of our body's state. Previous studies have used partial occlusion of the visual field to explore how information about the body and impending obstacles are integrated to mediate a successful clearance strategy. However, because these manipulations often remove information about both the body and obstacle, it remains to be seen how information about the lower extremities alone is utilized during obstacle crossing. Here, we used an immersive virtual reality (VR) interface to explore how visual feedback of the lower extremities influences obstacle crossing performance. Participants wore a head-mounted display while walking on treadmill and were instructed to step over obstacles in a virtual corridor in four different feedback trials. The trials involved: (1) No visual feedback of the lower extremities, (2) an endpoint-only model, (3) a link-segment model, and (4) a volumetric multi-segment model. We found that the volumetric model improved success rate, placed their trailing foot before crossing and leading foot after crossing more consistently, and placed their leading foot closer to the obstacle after crossing compared to no model. This knowledge is critical for the design of obstacle negotiation tasks in immersive virtual environments as it may provide information about the fidelity necessary to reproduce ecologically valid practice environments.

Effects of overweight and obese body mass on motor planning and motor skills during obstacle crossing in children.

PubMed

Gill, Simone V; Hung, Ya-Ching

2014-01-01

Little is known about how obesity relates to motor planning and skills during functional tasks. We collected 3-D kinematics and kinetics as normal weight (n=10) and overweight/obese (n=12) children walked on flat ground and as they crossed low, medium, and high obstacles. We investigated if motor planning and motor skill impairments were evident during obstacle crossing. Baseline conditions showed no group differences (all ps>.05). Increased toe clearance was found on low obstacles (p=.01) for the overweight/obese group and on high obstacles (p=.01) for the normal weight group. With the crossing leg, the overweight/obese group had larger hip abduction angles (p=.01) and medial ground reaction forces (p=.006) on high obstacles and high anterior ground reaction forces on low obstacles (p=.001). With the trailing leg, overweight/obese children had higher vertical ground reaction forces on high obstacles (p=.005) and higher knee angles (p=.01) and anterior acceleration in the center of mass (p=.01) on low obstacles. These findings suggest that differences in motor planning and skills in overweight/obese children may be more apparent during functional activities. Copyright © 2013 Elsevier Ltd. All rights reserved.

Fluorescence detection system for microfluidic droplets

NASA Astrophysics Data System (ADS)

Chen, Binyu; Han, Xiaoming; Su, Zhen; Liu, Quanjun

2018-05-01

In microfluidic detection technology, because of the universality of optical methods in laboratory, optical detection is an attractive solution for microfluidic chip laboratory equipment. In addition, the equipment with high stability and low cost can be realized by integrating appropriate optical detection technology on the chip. This paper reports a detection system for microfluidic droplets. Photomultiplier tubes (PMT) is used as a detection device to improve the sensitivity of detection. This system improves the signal to noise ratio by software filtering and spatial filter. The fluorescence intensity is proportional to the concentration of the fluorescence and intensity of the laser. The fluorescence micro droplets of different concentrations can be distinguished by this system.

Laminar CuO-water nano-fluid flow and heat transfer in a backward-facing step with and without obstacle

NASA Astrophysics Data System (ADS)

Togun, Hussein

2016-03-01

This paper presents a numerical investigate on CuO-water nano-fluid and heat transfer in a backward-facing step with and without obstacle. The range of Reynolds number varied from 75 to 225 with volume fraction on CuO nanoparticles varied from 1 to 4 % at constant heat flux was investigated. Continuity, momentum, and energy equations with finite volume method in two dimensions were employed. Four different configurations of backward-facing step (without obstacle, with obstacle of 1.5 mm, with obstacle of 3 mm, with obstacle of 4.5 mm) were considered to find the best thermal performance. The results show that the maximum augmentation in heat transfer was about 22 % for backward-facing step with obstacle of 4.5 mm and using CuO nanoparticles at Reynolds number of 225 compared with backward-facing step without obstacle. It is also observed that increase in size of recirculation region with increase of height obstacle on the channel wall has remarkable effect on thermal performance. The results also found that increases in Reynolds number, height obstacle, and volume fractions of CuO nanoparticles lead to increase of pressure drop.

Neuroepigenomics: Resources, Obstacles, and Opportunities

PubMed Central

Satterlee, John S.; Beckel-Mitchener, Andrea; Little, Roger; Procaccini, Dena; Rutter, Joni L.; Lossie, Amy C.

2014-01-01

Long-lived post-mitotic cells, such as the majority of human neurons, must respond effectively to ongoing changes in neuronal stimulation or microenvironmental cues through transcriptional and epigenomic regulation of gene expression. The role of epigenomic regulation in neuronal function is of fundamental interest to the neuroscience community, as these types of studies have transformed our understanding of gene regulation in post-mitotic cells. This perspective article highlights many of the resources available to researchers interested in neuroepigenomic investigations and discusses some of the current obstacles and opportunities in neuroepigenomics. PMID:25722961

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…

Portuguese primary school children's conceptions about digestion: identification of learning obstacles

NASA Astrophysics Data System (ADS)

Silva, Rui Graça; Lima, Nelson; Coquet, Eduarda; Clément, Pierre

2004-09-01

A cross-sectional study of Portuguese primary school pupils' conceptions on digestion and the digestive tract was carried out before and after teaching this topic. Pupils of the prior four school years (5/6 to 9/10 year old) drew what happens to a cookie inside their body. In some cases they also wrote a short text or were interviewed. To identify their level of graphic development, they produced a free-hand drawing. The main conceptual changes in explaining digestion were strongly linked to teaching. Children's previous conceptions were not epistemological obstacles to learning about digestion. The main obstacles were of didactical origin, as images of primary school books do not represent (i) the path of food from the intestine into the blood, (associated to the epistemological obstacle of the permeability of the gut wall); (ii) a clear continuous tract from stomach to anus, which causes a specific confusion at the intestine level.

Fusion of local and global detection systems to detect tuberculosis in chest radiographs.

PubMed

Hogeweg, Laurens; Mol, Christian; de Jong, Pim A; Dawson, Rodney; Ayles, Helen; van Ginneken, Bramin

2010-01-01

Automatic detection of tuberculosis (TB) on chest radiographs is a difficult problem because of the diverse presentation of the disease. A combination of detection systems for abnormalities and normal anatomy is used to improve detection performance. A textural abnormality detection system operating at the pixel level is combined with a clavicle detection system to suppress false positive responses. The output of a shape abnormality detection system operating at the image level is combined in a next step to further improve performance by reducing false negatives. Strategies for combining systems based on serial and parallel configurations were evaluated using the minimum, maximum, product, and mean probability combination rules. The performance of TB detection increased, as measured using the area under the ROC curve, from 0.67 for the textural abnormality detection system alone to 0.86 when the three systems were combined. The best result was achieved using the sum and product rule in a parallel combination of outputs.

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.

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.

Obstacles to colorectal screening in general practice: a qualitative study of GPs and patients.

PubMed

Aubin-Auger, Isabelle; Mercier, Alain; Lebeau, Jean-Pierre; Baumann, Laurence; Peremans, Lieve; Van Royen, Paul

2011-12-01

The faecal occult blood test (FOBT) has proven efficiency at screening populations for an average risk of colorectal cancer. Mortality related to this cancer decreases by 15-18% among adults, 50-74 years old, tested every 2 years. A participation rate of at least 50% is desirable. This rate has not yet been reached in most French regions. To explore the obstacles to mass colorectal screening in France. In 2009, five focus groups were conducted in different areas to explore physicians' obstacles to FOBT screening. The patients' obstacles were assessed in semi-structured interviews. A purposive sampling had been carried out for both GPs and patients. The focus groups were coded using Nvivo 8(®) software by three researchers; the interviews manually coded by two researchers. GPs reported insufficient training and some doubted the relevance of screening. They expressed concern of having insufficient time for the test during a consultation, as well as practical and administrative obstacles. Some GPs experienced difficulty persuading patients who had no signs of colorectal disease. Obstacles for patients were mainly difficulties in doing screening themselves and a perception of health care that didn't match with screening. Information and organization were also important points to improve. The screening process was considered complex both by GPs and by patients. Numerous obstacles to colorectal screening, from both the physicians' and the patients' perspectives, were found. The major goal to improve mass screening may be to increase awareness and understanding of both physicians and patients regarding this process.

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…

46 CFR 108.411 - Smoke detection system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Smoke detection system. 108.411 Section 108.411 Shipping... EQUIPMENT Fire Extinguishing Systems § 108.411 Smoke detection system. Each smoke accumulator in a smoke detection system must be located on the overhead of the compartment protected by the system in a location...

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.

Impact of gender-based career obstacles on the working status of women physicians in Japan.

PubMed

Nomura, Kyoko; Gohchi, Kengo

2012-11-01

Research has shown that women physicians work fewer hours and are more likely to become inactive professionally and to switch to part-time labor, compared with their male counterparts. The published literature suggests that a gender disparity still exists in medicine which may decrease work motivation among women physicians. The authors investigated whether the experience and the perception of gender-based career obstacles among women physicians in Japan are associated with their working status (i.e., full-time vs. part-time). The present cross-sectional study is based on surveys of alumnae from 13 private medical schools in Japan conducted between June 2009 and May 2011. Of those who agreed to participate in this study, 1684 completed a self-administered questionnaire (overall response rate 83%). Experience of gender-based obstacles was considered affirmative if a woman physician had been overlooked for opportunities of professional advancement based on gender. Perception of gender-based obstacles referred to the self-reported degree of difficulty of promotion and opportunities for a position in higher education. Approximately 20% of the study participants responded that they experienced gender-based obstacles while 24% answered that they were not sure. The scores for perception of gender-based career obstacles were statistically higher among part-time workers compared with full-time workers (mean difference = 1.20, 95% CI: 0.39-2.00). Adjusting for age, marital status, the presence of children, workplace, board certification, holding a PhD degree, overall satisfaction of being a physician, and household income, stepwise logistic regression models revealed that physicians with the strongest perception of gender-based career obstacles were more likely to work part-time rather than full-time (OR, 0.59; 95% CI: 0.40-0.88). Although the experience of gender-based obstacles was not associated with working status among women physicians, the results demonstrated that a

Development of the navigation system for visually impaired.

PubMed

Harada, Tetsuya; Kaneko, Yuki; Hirahara, Yoshiaki; Yanashima, Kenji; Magatani, Kazushige

2004-01-01

A white cane is a typical support instrument for the visually impaired. They use a white cane for the detection of obstacles while walking. So, the area where they have a mental map, they can walk using white cane without the help of others. However, they cannot walk independently in the unknown area, even if they use a white cane. Because, a white cane is a detecting device for obstacles and not a navigation device for their correct route. Now, we are developing the navigation system for the visually impaired which uses indoor space. In Japan, sometimes colored guide lines to the destination is used for a normal person. These lines are attached on the floor, we can reach the destination, if we walk along one of these line. In our system, a developed new white cane senses one colored guide line, and make notice to an user by vibration. This system recognizes the line of the color stuck on the floor by the optical sensor attached in the white cane. And in order to guide still more smoothly, infrared beacons (optical beacon), which can perform voice guidance, are also used.

Toward detecting deception in intelligent systems

NASA Astrophysics Data System (ADS)

Santos, Eugene, Jr.; Johnson, Gregory, Jr.

2004-08-01

Contemporary decision makers often must choose a course of action using knowledge from several sources. Knowledge may be provided from many diverse sources including electronic sources such as knowledge-based diagnostic or decision support systems or through data mining techniques. As the decision maker becomes more dependent on these electronic information sources, detecting deceptive information from these sources becomes vital to making a correct, or at least more informed, decision. This applies to unintentional disinformation as well as intentional misinformation. Our ongoing research focuses on employing models of deception and deception detection from the fields of psychology and cognitive science to these systems as well as implementing deception detection algorithms for probabilistic intelligent systems. The deception detection algorithms are used to detect, classify and correct attempts at deception. Algorithms for detecting unexpected information rely upon a prediction algorithm from the collaborative filtering domain to predict agent responses in a multi-agent system.

Integrated multisensor perimeter detection systems

NASA Astrophysics Data System (ADS)

Kent, P. J.; Fretwell, P.; Barrett, D. J.; Faulkner, D. A.

2007-10-01

The report describes the results of a multi-year programme of research aimed at the development of an integrated multi-sensor perimeter detection system capable of being deployed at an operational site. The research was driven by end user requirements in protective security, particularly in threat detection and assessment, where effective capability was either not available or prohibitively expensive. Novel video analytics have been designed to provide robust detection of pedestrians in clutter while new radar detection and tracking algorithms provide wide area day/night surveillance. A modular integrated architecture based on commercially available components has been developed. A graphical user interface allows intuitive interaction and visualisation with the sensors. The fusion of video, radar and other sensor data provides the basis of a threat detection capability for real life conditions. The system was designed to be modular and extendable in order to accommodate future and legacy surveillance sensors. The current sensor mix includes stereoscopic video cameras, mmWave ground movement radar, CCTV and a commercially available perimeter detection cable. The paper outlines the development of the system and describes the lessons learnt after deployment in a pilot trial.

46 CFR 108.405 - Fire detection system.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Fire detection system. 108.405 Section 108.405 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems § 108.405 Fire detection system. (a) Each fire detection system and...

46 CFR 108.405 - Fire detection system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Fire detection system. 108.405 Section 108.405 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems § 108.405 Fire detection system. (a) Each fire detection system and...

46 CFR 108.405 - Fire detection system.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 4 2014-10-01 2014-10-01 false Fire detection system. 108.405 Section 108.405 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems § 108.405 Fire detection system. (a) Each fire detection system and...

46 CFR 108.405 - Fire detection system.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Fire detection system. 108.405 Section 108.405 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems § 108.405 Fire detection system. (a) Each fire detection system and...

Computer systems for automatic earthquake detection

USGS Publications Warehouse

Stewart, S.W.

1974-01-01

U.S Geological Survey seismologists in Menlo park, California, are utilizing the speed, reliability, and efficiency of minicomputers to monitor seismograph stations and to automatically detect earthquakes. An earthquake detection computer system, believed to be the only one of its kind in operation, automatically reports about 90 percent of all local earthquakes recorded by a network of over 100 central California seismograph stations. The system also monitors the stations for signs of malfunction or abnormal operation. Before the automatic system was put in operation, all of the earthquakes recorded had to be detected by manually searching the records, a time-consuming process. With the automatic detection system, the stations are efficiently monitored continuously. 

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.

APDS: Autonomous Pathogen Detection System

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

Langlois, R G; Brown, S; Burris, L

An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS,more » a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.« less

Overcoming Obstacles and Academic Hope: An Examination of Factors Promoting Effective Academic Success Strategies

ERIC Educational Resources Information Center

Hansen, Michele Joann; Trujillo, Daniel J.; Boland, Donna L.; MacKinnon, Joyce L.

2014-01-01

The purpose of this qualitative study was to explore the underlying non-cognitive processes and institutional factors that allowed first-year students to enact effective strategies for attaining academic success and persisting despite obstacles. The varying levels of academic preparation and unique obstacles faced by the student participants…

75 FR 32094 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-07

... OBSTACLE DP, ORIG 1-Jul-10 TX DALLAS ADDISON 0/6690 4/21/10 TAKEOFF MINIMUMS AND OBSTACLE DP, AMDT 5 1-Jul.../10 ILS OR LOC RWY 10R, AMDT 3 1-Jul-10 PA LOCK HAVEN WILLIAM T. PIPER 0/9245 5/12/10 RNAV (GPS)-1...

Intrusion Detection in Control Systems using Sequence Characteristics

NASA Astrophysics Data System (ADS)

Kiuchi, Mai; Onoda, Takashi

Intrusion detection is considered effective in control systems. Sequences of the control application behavior observed in the communication, such as the order of the control device to be controlled, are important in control systems. However, most intrusion detection systems do not effectively reflect sequences in the application layer into the detection rules. In our previous work, we considered utilizing sequences for intrusion detection in control systems, and demonstrated the usefulness of sequences for intrusion detection. However, manually writing the detection rules for a large system can be difficult, so using machine learning methods becomes feasible. Also, in the case of control systems, there have been very few observed cyber attacks, so we have very little knowledge of the attack data that should be used to train the intrusion detection system. In this paper, we use an approach that combines CRF (Conditional Random Field) considering the sequence of the system, thus able to reflect the characteristics of control system sequences into the intrusion detection system, and also does not need the knowledge of attack data to construct the detection rules.

Women in academic medicine: perceived obstacles to advancement.

PubMed

Bennett, N M; Nickerson, K G

1992-01-01

To investigate perceived obstacles to the advancement of women in academic medicine, we sent a questionnaire assessing perceptions of the fairness and supportiveness of the academic environment to the 229 female teaching and research faculty of the School of Physicians & Surgeons at Columbia University. The overall response rate was 85%. Forty-six percent believed that they had not had the same professional opportunities as their male colleagues, 52% believed that salaries were not equivalent for men and women in similar positions, and 50% believed that promotions were awarded in a biased manner. Thirty percent reported that sexist behavior was common and that sexual harassment occurred in the workplace. Eighty-one percent experienced conflicts between their professional and personal lives and most believed that the institution failed to adequately address the needs of women with children. This survey indicates that there are significant perceived obstacles to the advancement of women in academic medicine that must be addressed.

Intruder detection system

NASA Technical Reports Server (NTRS)

Lee, R. D. (Inventor)

1973-01-01

An intruder detection system is described. The system contains a transmitter which sends a frequency modulated and amplitude modulated signal to a remote receiver in response to a geophone detector which responds to seismic impulses created by the intruder. The signal makes it possible for an operator to determine the number of intruders and the manner of movement.

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.

Unsteady flow characteristics in the near-wake of a two-dimensional obstacle

NASA Technical Reports Server (NTRS)

Dyment, A.; Gryson, P.

1984-01-01

The influence of the characteristics of the boundary layer separation on the formation of vortices and alternate paths in the wake of a bidimensional obstacle at high Reynolds numbers was studied by ultra fast visualization system. It is shown that there are alternate paths for laminar and turbulent flows, with similar flow characteristics. It is found that emission of vortices does not change substantially when the flow passes from laminar to turbulent. A film with a time scale change of 10,000 times illustrates some of the discussed phenomena.

Gas Flow Detection System

NASA Technical Reports Server (NTRS)

Moss, Thomas; Ihlefeld, Curtis; Slack, Barry

2010-01-01

This system provides a portable means to detect gas flow through a thin-walled tube without breaking into the tubing system. The flow detection system was specifically designed to detect flow through two parallel branches of a manifold with only one inlet and outlet, and is a means for verifying a space shuttle program requirement that saves time and reduces the risk of flight hardware damage compared to the current means of requirement verification. The prototype Purge Vent and Drain Window Cavity Conditioning System (PVD WCCS) Flow Detection System consists of a heater and a temperature-sensing thermistor attached to a piece of Velcro to be attached to each branch of a WCCS manifold for the duration of the requirement verification test. The heaters and thermistors are connected to a shielded cable and then to an electronics enclosure, which contains the power supplies, relays, and circuit board to provide power, signal conditioning, and control. The electronics enclosure is then connected to a commercial data acquisition box to provide analog to digital conversion as well as digital control. This data acquisition box is then connected to a commercial laptop running a custom application created using National Instruments LabVIEW. The operation of the PVD WCCS Flow Detection System consists of first attaching a heater/thermistor assembly to each of the two branches of one manifold while there is no flow through the manifold. Next, the software application running on the laptop is used to turn on the heaters and to monitor the manifold branch temperatures. When the system has reached thermal equilibrium, the software application s graphical user interface (GUI) will indicate that the branch temperatures are stable. The operator can then physically open the flow control valve to initiate the test flow of gaseous nitrogen (GN2) through the manifold. Next, the software user interface will be monitored for stable temperature indications when the system is again at

A reciprocity formulation for the EM scattering by an obstacle within a large open cavity

NASA Technical Reports Server (NTRS)

Pathak, Prabhakar H.; Burkholder, Robert J.

1993-01-01

A formulation based on a generalized reciprocity theorem is developed for analyzing the external high frequency EM scattering by a complex obstacle inside a relatively arbitrary open-ended waveguide cavity when it is illuminated by an external source. This formulation is also extended to include EM fields whose time dependence may be nonperiodic. A significant advantage of this formulation is that it allows one to break up the analysis into two independent parts; one deals with the waveguide cavity shape alone and the other with the obstacle alone. The external scattered field produced by the obstacle (in the presence of the waveguide cavity structure) is given in terms of a generalized reciprocity integral over a surface S(T) corresponding to the interior waveguide cavity cross section located conveniently but sufficiently close to the obstacle. Furthermore, the fields coupled into the cavity from the source in the exterior region generally need to propagate only one-way via the open front end (which is directly illuminated) to the interior surface S(T) in this approach, and not back, in order to find the external field scattered by the obstacle.

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.

Application of a global solar wind/planetary obstacle interaction computational model: Earth, Venus, Mars, Jupiter and Saturn studies

NASA Technical Reports Server (NTRS)

Stahara, S. S.

1984-01-01

The investigations undertaken in this report relate to studies of various solar wind interaction phenomena with Venus, Earth, Mars, Jupiter and Saturn. A computational model is developed for the determination of the detailed plasma and magnetic field properties associated with various planetary obstacles throughout the solar system.

Flat Surface Damage Detection System (FSDDS)

NASA Technical Reports Server (NTRS)

Williams, Martha; Lewis, Mark; Gibson, Tracy; Lane, John; Medelius, Pedro; Snyder, Sarah; Ciarlariello, Dan; Parks, Steve; Carrejo, Danny; Rojdev, Kristina

2013-01-01

The Flat Surface Damage Detection system (FSDDS} is a sensory system that is capable of detecting impact damages to surfaces utilizing a novel sensor system. This system will provide the ability to monitor the integrity of an inflatable habitat during in situ system health monitoring. The system consists of three main custom designed subsystems: the multi-layer sensing panel, the embedded monitoring system, and the graphical user interface (GUI). The GUI LABVIEW software uses a custom developed damage detection algorithm to determine the damage location based on the sequence of broken sensing lines. It estimates the damage size, the maximum depth, and plots the damage location on a graph. Successfully demonstrated as a stand alone technology during 2011 D-RATS. Software modification also allowed for communication with HDU avionics crew display which was demonstrated remotely (KSC to JSC} during 2012 integration testing. Integrated FSDDS system and stand alone multi-panel systems were demonstrated remotely and at JSC, Mission Operations Test using Space Network Research Federation (SNRF} network in 2012. FY13, FSDDS multi-panel integration with JSC and SNRF network Technology can allow for integration with other complementary damage detection systems.

An FPGA-Based Rapid Wheezing Detection System

PubMed Central

Lin, Bor-Shing; Yen, Tian-Shiue

2014-01-01

Wheezing is often treated as a crucial indicator in the diagnosis of obstructive pulmonary diseases. A rapid wheezing detection system may help physicians to monitor patients over the long-term. In this study, a portable wheezing detection system based on a field-programmable gate array (FPGA) is proposed. This system accelerates wheezing detection, and can be used as either a single-process system, or as an integrated part of another biomedical signal detection system. The system segments sound signals into 2-second units. A short-time Fourier transform was used to determine the relationship between the time and frequency components of wheezing sound data. A spectrogram was processed using 2D bilateral filtering, edge detection, multithreshold image segmentation, morphological image processing, and image labeling, to extract wheezing features according to computerized respiratory sound analysis (CORSA) standards. These features were then used to train the support vector machine (SVM) and build the classification models. The trained model was used to analyze sound data to detect wheezing. The system runs on a Xilinx Virtex-6 FPGA ML605 platform. The experimental results revealed that the system offered excellent wheezing recognition performance (0.912). The detection process can be used with a clock frequency of 51.97 MHz, and is able to perform rapid wheezing classification. PMID:24481034

Educational Pathways of Black Women Physicists: Stories of Experiencing and Overcoming Obstacles in Life

ERIC Educational Resources Information Center

Rosa, Katemari; Mensah, Felicia Moore

2016-01-01

This is an empirical study on the underrepresentation of people of color in scientific careers. Grounded in critical race theory, the paper examines the lived experiences of six Black women physicists and addresses obstacles faced in their career paths and strategies used to overcome these obstacles. Data for this study were collected through…

[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.

Large-eddy simulation of turbulent flow with a surface-mounted two-dimensional obstacle

NASA Technical Reports Server (NTRS)

Yang, Kyung-Soo; Ferziger, Joel H.

1993-01-01

In this paper, we perform a large eddy simulation (LES) of turbulent flow in a channel containing a two-dimensional obstacle on one wall using a dynamic subgrid-scale model (DSGSM) at Re = 3210, based on bulk velocity above the obstacle and obstacle height; the wall layers are fully resolved. The low Re enables us to perform a DNS (Case 1) against which to validate the LES results. The LES with the DSGSM is designated Case 2. In addition, an LES with the conventional fixed model constant (Case 3) is conducted to allow identification of improvements due to the DSGSM. We also include LES at Re = 82,000 (Case 4) using conventional Smagorinsky subgrid-scale model and a wall-layer model. The results will be compared with the experiment of Dimaczek et al.

Detection technique of targets for missile defense system

NASA Astrophysics Data System (ADS)

Guo, Hua-ling; Deng, Jia-hao; Cai, Ke-rong

2009-11-01

Ballistic missile defense system (BMDS) is a weapon system for intercepting enemy ballistic missiles. It includes ballistic-missile warning system, target discrimination system, anti-ballistic-missile guidance systems, and command-control communication system. Infrared imaging detection and laser imaging detection are widely used in BMDS for surveillance, target detection, target tracking, and target discrimination. Based on a comprehensive review of the application of target-detection techniques in the missile defense system, including infrared focal plane arrays (IRFPA), ground-based radar detection technology, 3-dimensional imaging laser radar with a photon counting avalanche photodiode (APD) arrays and microchip laser, this paper focuses on the infrared and laser imaging detection techniques in missile defense system, as well as the trends for their future development.

Formation of collisionless shocks in magnetized plasma interaction with kinetic-scale obstacles

DOE PAGES

Cruz, F.; Alves, E. P.; Bamford, R. A.; ...

2017-02-06

We investigate the formation of collisionless magnetized shocks triggered by the interaction between magnetized plasma flows and miniature-sized (order of plasma kinetic-scales) magnetic obstacles resorting to massively parallel, full particle-in-cell simulations, including the electron kinetics. The critical obstacle size to generate a compressed plasma region ahead of these objects is determined by independently varying the magnitude of the dipolar magnetic moment and the plasma magnetization. Here we find that the effective size of the obstacle depends on the relative orientation between the dipolar and plasma internal magnetic fields, and we show that this may be critical to form a shockmore » in small-scale structures. We also study the microphysics of the magnetopause in different magnetic field configurations in 2D and compare the results with full 3D simulations. Finally, we evaluate the parameter range where such miniature magnetized shocks can be explored in laboratory experiments.« less

Portable Microleak-Detection System

NASA Technical Reports Server (NTRS)

Rivers, H. Kevin; Sikora, Joseph G.; Sankaran, Sankara N.

2007-01-01

The figure schematically depicts a portable microleak-detection system that has been built especially for use in testing hydrogen tanks made of polymer-matrix composite materials. (As used here, microleak signifies a leak that is too small to be detectable by the simple soap-bubble technique.) The system can also be used to test for microleaks in tanks that are made of other materials and that contain gases other than hydrogen. Results of calibration tests have shown that measurement errors are less than 10 percent for leak rates ranging from 0.3 to 200 cm3/min. Like some other microleak-detection systems, this system includes a vacuum pump and associated plumbing for sampling the leaking gas, and a mass spectrometer for analyzing the molecular constituents of the gas. The system includes a flexible vacuum chamber that can be attached to the outer surface of a tank or other object of interest that is to be tested for leakage (hereafter denoted, simply, the test object). The gas used in a test can be the gas or vapor (e.g., hydrogen in the original application) to be contained by the test object. Alternatively, following common practice in leak testing, helium can be used as a test gas. In either case, the mass spectrometer can be used to verify that the gas measured by the system is the test gas rather than a different gas and, hence, that the leak is indeed from the test object.

Radiation detection system

DOEpatents

Nelson, Melvin A.; Davies, Terence J.; Morton, III, John R.

1976-01-01

A radiation detection system which utilizes the generation of Cerenkov light in and the transmission of that light longitudinally through fiber optic wave guides in order to transmit intelligence relating to the radiation to a remote location. The wave guides are aligned with respect to charged particle radiation so that the Cerenkov light, which is generated at an angle to the radiation, is accepted by the fiber for transmission therethrough. The Cerenkov radiation is detected, recorded, and analyzed at the other end of the fiber.

Automated Hydrogen Gas Leak Detection System

NASA Technical Reports Server (NTRS)

1995-01-01

The Gencorp Aerojet Automated Hydrogen Gas Leak Detection System was developed through the cooperation of industry, academia, and the Government. Although the original purpose of the system was to detect leaks in the main engine of the space shuttle while on the launch pad, it also has significant commercial potential in applications for which there are no existing commercial systems. With high sensitivity, the system can detect hydrogen leaks at low concentrations in inert environments. The sensors are integrated with hardware and software to form a complete system. Several of these systems have already been purchased for use on the Ford Motor Company assembly line for natural gas vehicles. This system to detect trace hydrogen gas leaks from pressurized systems consists of a microprocessor-based control unit that operates a network of sensors. The sensors can be deployed around pipes, connectors, flanges, and tanks of pressurized systems where leaks may occur. The control unit monitors the sensors and provides the operator with a visual representation of the magnitude and locations of the leak as a function of time. The system can be customized to fit the user's needs; for example, it can monitor and display the condition of the flanges and fittings associated with the tank of a natural gas vehicle.

78 FR 48800 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-08-12

... 8260-15A. The large number of SIAPs, Takeoff Minimums and ODPs, in addition to their complex nature and..., Takeoff Minimums and Obstacle DP, Amdt 2 Perham, MN, Perham Muni, RNAV (GPS) RWY 13, Orig Perham, MN, Perham Muni, RNAV (GPS) RWY 31, Amdt 1 Perham, MN, Perham Muni, Takeoff Minimums and Obstacle DP, Amdt 1...

77 FR 12452 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-01

... OR LOC Z RWY 8, Amdt 37 Burbank, CA, Bob Hope, LOC Y RWY 8, Amdt 4 Colorado Springs, CO, City of Colorado Springs Muni, Takeoff Minimums and Obstacle DP, Amdt 10 Craig, CO, Craig-Moffat, Takeoff Minimums and Obstacle DP, Amdt 4 Durango, CO, Durango-La Plata County, VOR/DME RWY 3, Amdt 5 Pueblo, CO, Pueblo...

Ferromagnetic Objects Magnetovision Detection System.

PubMed

Nowicki, Michał; Szewczyk, Roman

2013-12-02

This paper presents the application of a weak magnetic fields magnetovision scanning system for detection of dangerous ferromagnetic objects. A measurement system was developed and built to study the magnetic field vector distributions. The measurements of the Earth's field distortions caused by various ferromagnetic objects were carried out. The ability for passive detection of hidden or buried dangerous objects and the determination of their location was demonstrated.

A computational model of amoeboid cell swimming in unbounded medium and through obstacles

NASA Astrophysics Data System (ADS)

Campbell, Eric; Bagchi, Prosenjit

2017-11-01

Pseudopod-driven motility is commonly observed in eukaryotic cells. Pseudopodia are actin-rich protrusions of the cellular membrane which extend, bifurcate, and retract in cycles resulting in amoeboid locomotion. While actin-myosin interactions are responsible for pseudopod generation, cell deformability is crucial concerning pseudopod dynamics. Because pseudopodia are highly dynamic, cells are capable of deforming into complex shapes over time. Pseudopod-driven motility represents a multiscale and complex process, coupling cell deformation, protein biochemistry, and cytoplasmic and extracellular fluid motion. In this work, we present a 3D computational model of amoeboid cell swimming in an extracellular medium (ECM). The ECM is represented as a fluid medium with or without obstacles. The model integrates full cell deformation, a coarse-grain reaction-diffusion system for protein dynamics, and fluid interaction. Our model generates pseudopodia which bifurcate and retract, showing remarkable similarity to experimental observations. Influence of cell deformation, protein diffusivity and cytoplasmic viscosity on the swimming speed is analyzed in terms of altered pseudopod dynamics. Insights into the role of matrix porosity and obstacle size on cell motility are also provided. Funded by NSF CBET 1438255.

Measuring the effects of a visual or auditory Stroop task on dual-task costs during obstacle crossing.

PubMed

Worden, Timothy A; Mendes, Matthew; Singh, Pratham; Vallis, Lori Ann

2016-10-01

Successful planning and execution of motor strategies while concurrently performing a cognitive task has been previously examined, but unfortunately the varied and numerous cognitive tasks studied has limited our fundamental understanding of how the central nervous system successfully integrates and executes these tasks simultaneously. To gain a better understanding of these mechanisms we used a set of cognitive tasks requiring similar central executive function processes and response outputs but requiring different perceptual mechanisms to perform the motor task. Thirteen healthy young adults (20.6±1.6years old) were instrumented with kinematic markers (60Hz) and completed 5 practice, 10 single-task obstacle walking trials and two 40 trial experimental blocks. Each block contained 20 trials of seated (single-task) trials followed by 20 cognitive and obstacle (30% lower leg length) crossing trials (dual-task). Blocks were randomly presented and included either an auditory Stroop task (AST; central interference only) or a visual Stroop task (VST; combined central and structural interference). Higher accuracy rates and shorter response times were observed for the VST versus AST single-task trials (p<0.05). Conversely, for the obstacle stepping performance, larger dual task costs were observed for the VST as compared to the AST for clearance measures (the VST induced larger clearance values for both the leading and trailing feet), indicating VST tasks caused greater interference for obstacle crossing (p<0.05). These results supported the hypothesis that structural interference has a larger effect on motor performance in a dual-task situation compared to cognitive tasks that pose interference at only the central processing stage. Copyright © 2016 Elsevier B.V. All rights reserved.

Fusion of Heterogeneous Intrusion Detection Systems for Network Attack Detection.

PubMed

Kaliappan, Jayakumar; Thiagarajan, Revathi; Sundararajan, Karpagam

2015-01-01

An intrusion detection system (IDS) helps to identify different types of attacks in general, and the detection rate will be higher for some specific category of attacks. This paper is designed on the idea that each IDS is efficient in detecting a specific type of attack. In proposed Multiple IDS Unit (MIU), there are five IDS units, and each IDS follows a unique algorithm to detect attacks. The feature selection is done with the help of genetic algorithm. The selected features of the input traffic are passed on to the MIU for processing. The decision from each IDS is termed as local decision. The fusion unit inside the MIU processes all the local decisions with the help of majority voting rule and makes the final decision. The proposed system shows a very good improvement in detection rate and reduces the false alarm rate.