Computer vision techniques for rotorcraft low altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar

1990-01-01

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

Democratic Communities of Inquiry: Creating Opportunities to Develop Citizenship

ERIC Educational Resources Information Center

Zaphir, Luke

2018-01-01

One of the most significant obstacles to inquiry and deliberation is citizenship education. There are few mechanisms for the development of citizens' democratic character within most societies, and greater opportunities need to be made to ensure our democracies are epistemically justifiable. The character and quality of citizens' interactions are…

The Challenge of Grounding Planning in Simulation with an Interactive Model Development Environment

NASA Technical Reports Server (NTRS)

Clement, Bradley J.; Frank, Jeremy D.; Chachere, John M.; Smith, Tristan B.; Swanson, Keith J.

2011-01-01

A principal obstacle to fielding automated planning systems is the difficulty of modeling. Physical systems are modeled conventionally based on specification documents and the modeler's understanding of the system. Thus, the model is developed in a way that is disconnected from the system's actual behavior and is vulnerable to manual error. Another obstacle to fielding planners is testing and validation. For a space mission, generated plans must be validated often by translating them into command sequences that are run in a simulation testbed. Testing in this way is complex and onerous because of the large number of possible plans and states of the spacecraft. Though, if used as a source of domain knowledge, the simulator can ease validation. This paper poses a challenge: to ground planning models in the system physics represented by simulation. A proposed, interactive model development environment illustrates the integration of planning and simulation to meet the challenge. This integration reveals research paths for automated model construction and validation.

Influences of periodic mechanical deformation on pinned spiral waves

NASA Astrophysics Data System (ADS)

Chen, Jiang-Xing; Peng, Liang; Zheng, Qiang; Zhao, Ye-Hua; Ying, He-Ping

2014-09-01

In a generic model of excitable media, we study the behavior of spiral waves interacting with obstacles and their dynamics under the influences of simple periodic mechanical deformation (PMD). Depending on the characteristics of the obstacles, i.e., size and excitability, the rotation of a pinned spiral wave shows different scenarios, e.g., embedding into or anchoring on an obstacle. Three different drift phenomena induced by PMD are observed: scattering on small partial-excitable obstacles, meander-induced unpinning on big partial-excitable obstacles, and drifting around small unexcitable obstacles. Their underlying mechanisms are discussed. The dependence of the threshold amplitude of PMD on the characteristics of the obstacles to successfully remove pinned spiral waves on big partial-excitable obstacles is studied.

SABRINA - an interactive geometry modeler for MCNP

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

West, J.T.; Murphy, J.

One of the most difficult tasks when analyzing a complex three-dimensional system with Monte Carlo is geometry model development. SABRINA attempts to make the modeling process more user-friendly and less of an obstacle. It accepts both combinatorial solid bodies and MCNP surfaces and produces MCNP cells. The model development process in SABRINA is highly interactive and gives the user immediate feedback on errors. Users can view their geometry from arbitrary perspectives while the model is under development and interactively find and correct modeling errors. An example of a SABRINA display is shown. It represents a complex three-dimensional shape.

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.

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

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.

Development of an integrated BEM approach for hot fluid structure interaction

NASA Technical Reports Server (NTRS)

Dargush, G. F.; Banerjee, P. K.

1989-01-01

The progress made toward the development of a boundary element formulation for the study of hot fluid-structure interaction in Earth-to-Orbit engine hot section components is reported. The convective viscous integral formulation was derived and implemented in the general purpose computer program GP-BEST. The new convective kernel functions, in turn, necessitated the development of refined integration techniques. As a result, however, since the physics of the problem is embedded in these kernels, boundary element solutions can now be obtained at very high Reynolds number. Flow around obstacles can be solved approximately with an efficient linearized boundary-only analysis or, more exactly, by including all of the nonlinearities present in the neighborhood of the obstacle. The other major accomplishment was the development of a comprehensive fluid-structure interaction capability within GP-BEST. This new facility is implemented in a completely general manner, so that quite arbitrary geometry, material properties and boundary conditions may be specified. Thus, a single analysis code (GP-BEST) can be used to run structures-only problems, fluids-only problems, or the combined fluid-structure problem. In all three cases, steady or transient conditions can be selected, with or without thermal effects. Nonlinear analyses can be solved via direct iteration or by employing a modified Newton-Raphson approach.

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.

Improving Student Readiness to Overcome IT-Related Obstacles during Pedagogical Interaction in Post-Soviet Education

ERIC Educational Resources Information Center

Luchaninov, Dmitry; Bazhenov, Ruslan; Shtepa, Yuliya; Nikolaeva, Natalia; Tcytcarev, Andrey; Kuimova, Marina

2017-01-01

The relevance of the study deals with the importance of improvement of student readiness to overcome IT-related obstacles in post-Soviet social studies education. In this regard, this paper aims at identifying the concept of pedagogical interaction in the information and educational environment and revealing the effective use of pedagogical…

Teaching Chromatography Using Virtual Laboratory Exercises

ERIC Educational Resources Information Center

Stone, David C.

2007-01-01

Though deceptively simple to teach, chromatography presents many nuances and complex interactions that challenge both student and instructor. Time and instrumentation provide major obstacles to a thorough examination of these details in the laboratory. Modern chromatographic method-development software provides an opportunity to overcome this,…

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

Interactions of bluff-body obstacles with turbulent airflows affecting evaporative fluxes from porous surfaces

NASA Astrophysics Data System (ADS)

Haghighi, Erfan; Or, Dani

2015-11-01

Bluff-body obstacles interacting with turbulent airflows are common in many natural and engineering applications (from desert pavement and shrubs over natural surfaces to cylindrical elements in compact heat exchangers). Even with obstacles of simple geometry, their interactions within turbulent airflows result in a complex and unsteady flow field that affects surface drag partitioning and transport of scalars from adjacent evaporating surfaces. Observations of spatio-temporal thermal patterns on evaporating porous surfaces adjacent to bluff-body obstacles depict well-defined and persistent zonation of evaporation rates that were used to construct a simple mechanistic model for surface-turbulence interactions. Results from evaporative drying of sand surfaces with isolated cylindrical elements (bluff bodies) subjected to constant turbulent airflows were in good agreement with model predictions for localized exchange rates. Experimental and theoretical results show persistent enhancement of evaporative fluxes from bluff-rough surfaces relative to smooth flat surfaces under similar conditions. The enhancement is attributed to formation of vortices that induce a thinner boundary layer over part of the interacting surface footprint. For a practical range of air velocities (0.5-4.0 m/s), low-aspect ratio cylindrical bluff elements placed on evaporating sand surfaces enhanced evaporative mass losses (relative to a flat surface) by up to 300% for high density of elements and high wind velocity, similar to observations reported in the literature. Concepts from drag partitioning were used to generalize the model and upscale predictions to evaporation from surfaces with multiple obstacles for potential applications to natural bluff-rough surfaces.

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.

Accelerating confined premixed flames using a transverse slot jet

NASA Astrophysics Data System (ADS)

Richter, Joseph P.

2011-12-01

An experimental study of the transient interaction of a premixed laminar methane-air flame propagating into a transverse fluidic obstacle is considered. The de agration-to-detonation transition (DDT) mechanism for use in pulse detonation engines (PDE) is the main but not only motivation for this study. When DDT is initiated through the use of solid obstacles, the system incurs a drag penalty and subsequent total pressure losses due to the physical obstacle impeding on the flow. This study utilizes a fluidic obstacle to generate flame acceleration without the subsequent penalties associated with form drag of a solid obstacle. The experimental setup was designed specifically for non-intrusive optical measurement techniques such as schlieren, CH* chemiluminescence and digital particle image velocimetry (DPIV). The channel utilizes a length to width aspect ratio of L/W = 6, and was chosen along with the fuel (CH4) to guarantee the impossibility of excessive overpressures associated with unanticipated detonations. The mixture is ignited in the center of the closed end of the channel, and the flame propagates towards the obstacle located at 3.1H. The medium emitted from the slot-jet orifice is the same methane-air mixture used to fill the channel and is released post ignition to allow an interaction with the laminar propagating flame. A comparison of this transverse fluidic slot jet obstacle is made to four different solid obstacle geometries at various blockage ratios (BR) and at stoichiometric and lean (φ = 0:88) equivalence ratios. The results of this study show that a transverse slot jet is capable of increasing heat release, flame surface area and subsequently flame speed compared to that of any tested solid obstacle with similar maximum flame deflection over an obstacle.

A study of transient flow turbulence generation during flame/wall interactions in explosions

NASA Astrophysics Data System (ADS)

Hargrave, G. K.; Jarvis, S.; Williams, T. C.

2002-07-01

Experimental data are presented for the turbulent velocity field generated during flame/solid wall interactions in explosions. The presence of turbulence in a flammable gas mixture can wrinkle a flame front, increasing the flame surface area and enhancing the burning rate. In congested process plant, any flame propagating through an accidental release of flammable mixture will encounter obstructions in the form of walls, pipe-work or storage vessels. The interaction between the gas movement and the obstacle creates turbulence by vortex shedding and local wake/recirculation, whereby the flame can be wrapped in on itself, increasing the surface area available for combustion. Particle image velocimetry (PIV) was used to characterize the turbulent flow field in the wake of the obstacles placed in the path of propagating flames. This allowed the quantification of the interaction of the propagating flame and the generated turbulent flow field. Due to the accelerating nature of the explosion flow field, the wake flows develop `transient' turbulent fields and PIV provided data to define the spatial and temporal variation of the velocity field ahead of the propagating flame, providing an understanding of the direct interaction between flow and flame.

Constructing a Multimedia Mobile Classroom Using a Novel Feedback System

ERIC Educational Resources Information Center

Huang, Wen-Chen; Chen, Ching-Wen; Weng, Richard

2015-01-01

In the conventional classroom, many obstacles hinder interaction between an instructor and students, such as limited class hours, fixed seating, and inadequate time for meetings after class. This work develops a novel multimedia mobile classroom feedback system (MMCFS) that instantly displays students' responses, such as class-related questions or…

How Can International Students Overcome Their Biggest Obstacle in an American University?

ERIC Educational Resources Information Center

White, Waneen Aden; Rosado, Caleb

2014-01-01

This paper focuses on an interdisciplinary project using an innovative teaching methodology developed to generate substantive interaction between international students and mainstream students on American campuses. The process was created after asking international students from a variety of countries the question, "What is the biggest…

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

Web-based training and interrater reliability testing for scoring the Hamilton Depression Rating Scale.

PubMed

Rosen, Jules; Mulsant, Benoit H; Marino, Patricia; Groening, Christopher; Young, Robert C; Fox, Debra

2008-10-30

Despite the importance of establishing shared scoring conventions and assessing interrater reliability in clinical trials in psychiatry, these elements are often overlooked. Obstacles to rater training and reliability testing include logistic difficulties in providing live training sessions, or mailing videotapes of patients to multiple sites and collecting the data for analysis. To address some of these obstacles, a web-based interactive video system was developed. It uses actors of diverse ages, gender and race to train raters how to score the Hamilton Depression Rating Scale and to assess interrater reliability. This system was tested with a group of experienced and novice raters within a single site. It was subsequently used to train raters of a federally funded multi-center clinical trial on scoring conventions and to test their interrater reliability. The advantages and limitations of using interactive video technology to improve the quality of clinical trials are discussed.

Training a Network of Electronic Neurons for Control of a Mobile Robot

NASA Astrophysics Data System (ADS)

Vromen, T. G. M.; Steur, E.; Nijmeijer, H.

An adaptive training procedure is developed for a network of electronic neurons, which controls a mobile robot driving around in an unknown environment while avoiding obstacles. The neuronal network controls the angular velocity of the wheels of the robot based on the sensor readings. The nodes in the neuronal network controller are clusters of neurons rather than single neurons. The adaptive training procedure ensures that the input-output behavior of the clusters is identical, even though the constituting neurons are nonidentical and have, in isolation, nonidentical responses to the same input. In particular, we let the neurons interact via a diffusive coupling, and the proposed training procedure modifies the diffusion interaction weights such that the neurons behave synchronously with a predefined response. The working principle of the training procedure is experimentally validated and results of an experiment with a mobile robot that is completely autonomously driving in an unknown environment with obstacles are presented.

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.

Turning Miscommunication Events into Opportunities for Developing Interactional Competence

ERIC Educational Resources Information Center

Victoria, Mabelle Paderez

2012-01-01

Many studies have explored the difficulties faced by foreign language learners when they begin the learning journey from survival to advanced level. Most of these investigations, however, tend to focus on what makes the road to fluency strewn with obstacles and challenges; no significant attention has been paid to what makes the journey…

When and Where You Want It: Continuing Education from a Distance

ERIC Educational Resources Information Center

Shade, Stacy Deck; Barber, Gerard M.

2004-01-01

Online technology is increasingly being used as a tool for delivery of continuing education to health care professionals. This paper discusses key lessons learned in developing a distance-learning program. It provides practical information on ways to enhance interactivity and overcome obstacles. Preliminary outcomes for learners in a four-state…

Consideration of the oxide particle-dislocation interaction in 9Cr-ODS steel

NASA Astrophysics Data System (ADS)

Ijiri, Yuta; Oono, N.; Ukai, S.; Yu, Hao; Ohtsuka, S.; Abe, Y.; Matsukawa, Y.

2017-05-01

The interaction between oxide particles and dislocations in a 9Cr-ODS ferritic steel is investigated by both static and in situ TEM observation under dynamic straining conditions and room temperature. The measured obstacle strength (?) of the oxide particles was no greater than 0.80 and the average was 0.63. The dislocation loops around some coarsened particles were also observed. The calculated obstacle strength by a stress formula of the Orowan interaction is nearly equaled to the average experimental value. Not only cross-slip system but also the Orowan interaction should be considered as the main interaction mechanism between oxide particles and dislocation in 9CrODS ferritic steel.

The effects of bound state motion on macromolecular diffusion

NASA Astrophysics Data System (ADS)

Hough, Loren; Stefferson, Michael; Norris, Samantha; Maguire, Laura; Vernerey, Franck; Betterton, Meredith

The diffusion of macromolecules is modified in crowded environments by both inert obstacles and interaction sites. Molecules are generally slowed in their movement inducing transient anomalous subdiffusion. Obstacles also modify the kinetics and equilibrium behavior of interaction between mobile proteins. In some biophysical contexts, bound molecules can still experience mobility, for example transcription factors sliding along DNA, membrane proteins with some entry and diffusion within lipid domains, or proteins that can enter into non-membrane bound compartments such as the nucleolus. We used lattice and continuum models to study the diffusive behavior of tracer particles which bind to obstacles and can diffuse within them. We show that binding significantly alters the motion of tracers. The type and degree of motion while bound is a key determinant of the tracer mobility. Our work has implications for protein-protein movement and interactions within living cells, including those involving intrinsically disordered proteins.

Dynamic interaction of two-phase debris flow with pyramidal defense structures: An optimal strategy to efficiently protecting the desired area

NASA Astrophysics Data System (ADS)

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

2017-04-01

In this work we analyze the dynamic interaction of two phase debris flows with pyramidal obstacles. To simulate the dynamic interaction of two-phase debris flow (a mixture of solid particles and viscous fluid) with obstacles of different dimensions and orientations, we employ the general two-phase mass flow model (Pudasaini, 2012). The model consists of highly non-linear partial differential equations representing the mass and momentum conservations for both solid and fluid. Besides buoyancy, the model includes some dominant physical aspects of the debris flows such as generalized drag, virtual mass and non-Newtonian viscous stress as induced by the gradient of solid-volume-fraction. Simulations are performed with high-resolution numerical schemes to capture essential dynamics, including the strongly re-directed flow with multiple stream lines, mass arrest and debris-vacuum generation when the rapidly cascading debris mass suddenly encounters the obstacle. The solid and fluid phases show fundamentally different interactions with obstacles, flow spreading and dispersions, run-out dynamics, and deposition morphology. A forward-facing pyramid deflects the mass wider, and a rearward-facing pyramid arrests a portion of solid-mass at its front. Our basic study reveals that appropriately installed obstacles, their dimensions and orientations have a significant influence on the flow dynamics, material redistribution and redirection. The precise knowledge of the change in dynamics is of great importance for the optimal and effective protection of designated areas along the mountain slopes and the runout zones. Further important results are, that specific installations lead to redirect either solid, or fluid, or both, in the desired amounts and directions. The present method of the complex interactions of real two-phase mass flows with the obstacles may help us to construct defense structures and to design advanced and physics-based engineering solutions for the prevention and mitigation of natural hazards caused by geophysical mass flows. References: Pudasaini, S. P. (2012): A general two-phase debris flow model. J. Geophys. Res. 117, F03010, doi: 10.1029/ 2011JF002186.

Modal element method for potential flow in non-uniform ducts: Combining closed form analysis with CFD

NASA Technical Reports Server (NTRS)

Baumeister, Kenneth J.; Baumeister, Joseph F.

1994-01-01

An analytical procedure is presented, called the modal element method, that combines numerical grid based algorithms with eigenfunction expansions developed by separation of variables. A modal element method is presented for solving potential flow in a channel with two-dimensional cylindrical like obstacles. The infinite computational region is divided into three subdomains; the bounded finite element domain, which is characterized by the cylindrical obstacle and the surrounding unbounded uniform channel entrance and exit domains. The velocity potential is represented approximately in the grid based domain by a finite element solution and is represented analytically by an eigenfunction expansion in the uniform semi-infinite entrance and exit domains. The calculated flow fields are in excellent agreement with exact analytical solutions. By eliminating the grid surrounding the obstacle, the modal element method reduces the numerical grid size, employs a more precise far field boundary condition, as well as giving theoretical insight to the interaction of the obstacle with the mean flow. Although the analysis focuses on a specific geometry, the formulation is general and can be applied to a variety of problems as seen by a comparison to companion theories in aeroacoustics and electromagnetics.

Automated Analysis of Fluorescence Microscopy Images to Identify Protein-Protein Interactions

DOE PAGES

Venkatraman, S.; Doktycz, M. J.; Qi, H.; ...

2006-01-01

The identification of protein interactions is important for elucidating biological networks. One obstacle in comprehensive interaction studies is the analyses of large datasets, particularly those containing images. Development of an automated system to analyze an image-based protein interaction dataset is needed. Such an analysis system is described here, to automatically extract features from fluorescence microscopy images obtained from a bacterial protein interaction assay. These features are used to relay quantitative values that aid in the automated scoring of positive interactions. Experimental observations indicate that identifying at least 50% positive cells in an image is sufficient to detect a protein interaction.more » Based on this criterion, the automated system presents 100% accuracy in detecting positive interactions for a dataset of 16 images. Algorithms were implemented using MATLAB and the software developed is available on request from the authors.« less

Two dimensional numerical analysis of snow avalanche interaction with structures

NASA Astrophysics Data System (ADS)

Bovet, Eloïse; Chiaia, Bernardino; Preziosi, Luigi

2010-05-01

The purpose of this work, within the Project "DynAval - Dynamique des avalanches: départ et interactions écoulement/obstacles" - European Territorial Cooperation objective Italy - France (Alps), is to analyse the snow avalanche and structure interaction, through a numerical analysis. The avalanche behaviour, considered as an incompressible fluid, is described by a two-dimensional, in the avalanche slope, Navier-Stokes equations to which an advection equation is coupled to take into account the shape variation. The model allows to describe the velocity and the pressure at every point, representing important features for the structural design. The simulations are carried using a FEM Multiphysics software. For a such problem different analysis can be carried. Firstly, changing the obstacle shape (circle, square, triangle) and its dimension in relation to the avalanche size, the drag coefficient Cd can be evaluated. The obtained results are then compared with the values indicated by the procedures, concerning the avalanches, available in the literature. This study is realized for different Froude numbers too. Secondarily the pressure acting on the different parts of the obstacle (up-wind, down-wind, lateral) is studied. The first investigation concerns the evaluation of the Cp coefficient and on its comparison with the wind effects. The second analysis allows to evaluates, by an integration process, the total load exerted by the avalanche on the obstacle. A practical example of a building design is presented, taking into account the results of the simulations. Thirdly the study is focused on the characterization of the two dead zones created up-wind and down-wind the obstacle. The dependence of the dead zone on the obstacle characteristics, such as dimension and shape, and on the avalanche features, such as density and velocity, is analysed. The results obtained are compared with the data available in the literature concerning snow or granular material interaction with obstacle. In addition the dead zone is studied using a two dimensional model in the avalanche section too. In this way, in fact, the jet length created in the impact, for instance with a dam, can be measured and compared with the laws proposed in the literature. Fourthly the evolution in time of the pressure during the impact is investigated, showing a peak in the first times steps of the interaction. The time and the intensity of this maximum value is related with the flow and the obstacle characteristics. In conclusion, the fan of the analysis carried recovers different and very important features that represent the starting point for reliable design of the structures in avalanche-risk zones. In addition it shows the capabilities and the deficiencies of the model proposed and, finally, it introduces some aspects that will should be furtherer experimentally studied and validated.

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

Socio-Technical Perspective on Interdisciplinary Interactions During the Development of Complex Engineered Systems

NASA Technical Reports Server (NTRS)

McGowan, Anna-Maria R.; Daly, Shanna; Baker, Wayne; Papalambros, panos; Seifert, Colleen

2013-01-01

This study investigates interdisciplinary interactions that take place during the research, development, and early conceptual design phases in the design of large-scale complex engineered systems (LaCES) such as aerospace vehicles. These interactions, that take place throughout a large engineering development organization, become the initial conditions of the systems engineering process that ultimately leads to the development of a viable system. This paper summarizes some of the challenges and opportunities regarding social and organizational issues that emerged from a qualitative study using ethnographic and survey data. The analysis reveals several socio-technical couplings between the engineered system and the organization that creates it. Survey respondents noted the importance of interdisciplinary interactions and their benefits to the engineered system as well as substantial challenges in interdisciplinary interactions. Noted benefits included enhanced knowledge and problem mitigation and noted obstacles centered on organizational and human dynamics. Findings suggest that addressing the social challenges may be a critical need in enabling interdisciplinary interactions

Still Images for Written English Communication (Part 3). Students' Photographs as a Stimulus for Interaction and Essay Production

ERIC Educational Resources Information Center

Wood, David John

2015-01-01

Despite the stream of directives about improving students' English communicative ability from the Japanese Education Ministry since 2003 [1-4] significant development has remained elusive. One obstacle to communication (as an individual and a cooperative faculty) is the inflexible "one-size-fits-all" philosophy of commercial textbooks…

Immersion Education and Cognitive Strategies: Can the Obstacle Be the Advantage in a Multilingual Society?

ERIC Educational Resources Information Center

Maillat, Didier; Serra, Cecilia

2009-01-01

This paper focusses on the teaching of non-linguistic subject matters in a second or third language through bilingual education. We investigate how this specific educational framework influences the development of linguistic competence as well as disciplinary knowledge. Based on a large-scale corpus of classroom interactions collected in bilingual…

Reciprocal Dialogue between Educational Decision Makers and Students of Color: Opportunities and Obstacles

ERIC Educational Resources Information Center

Bertrand, Melanie

2014-01-01

Purpose: This article explores the possibilities for reciprocal dialogue between educational decision makers and Students of Color. Such dialogue--defined as interactions in which participants build on each other's words--may provide the means to develop creative ways to address manifestations of systemic racism in education. The article uses…

Play It Again, Sam! Adapting Common Games into Multimedia Models Used for Student Reviews.

ERIC Educational Resources Information Center

Metcalf, Karen K.; Barlow, Amy; Hudson, Lisa; Jones, Elizabeth; Lyons, Dennis; Piersall, James; Munfus, Laureen

1998-01-01

Provides guidelines on how to adapt common games such as checkers, tic tac toe, obstacle courses, and memory joggers into interactive games in multimedia courseware. Emphasizes creating generic games that can be recycled and used for multiple topics to save development time and keep costs low. Discusses topic themes, game structure, and…

A Hands-On Freshman Survey Course to Steer Undergraduates into Microsystems Coursework and Research

ERIC Educational Resources Information Center

Eddings, M. A.; Stephenson, J. C.; Harvey, I. R.

2009-01-01

Full class loads and inflexible schedules can be a significant obstacle in the implementation of freshman survey courses designed to guide engineering students into emerging research areas such as micro- and nanosystems. A hands-on, interactive course was developed to excite freshmen early in their engineering program to pursue research and…

Clarity in Multimedia: The Role of Interactive Media in Teaching Political Science Theories

ERIC Educational Resources Information Center

Cunningham, Alan

2010-01-01

The field of political science has encountered a unique obstacle in its development. Contemporary political theory has diverged in opposite paths, becoming more conceptual and abstract as well as focused and concrete. The unfortunate result of this has been a lack of clarity in communicating political theory to a new generation of political…

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…

Cooperative breakups induced by drop-to-drop interactions in one-dimensional flows of drops against micro-obstacles.

PubMed

Schmit, Alexandre; Salkin, Louis; Courbin, Laurent; Panizza, Pascal

2015-03-28

Depending on the capillary number at play and the parameters of the flow geometry, a drop may or may not break when colliding with an obstacle in a microdevice. Modeling the flow of one-dimensional trains of monodisperse drops impacting a micro-obstacle, we show numerically that complex dynamics may arise through drop-to-drop hydrodynamic interactions: we observe sequences of breakup events in which the size of the daughter drops created upon breaking mother ones becomes a periodic function of time. We demonstrate the existence of numerous bifurcations between periodic breakup regimes and we establish diagrams mapping the possible breakup dynamics as a function of the governing (physicochemical, hydrodynamic, and geometric) parameters. Microfluidic experiments validate our model as they concur very well with predictions.

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.

Using a patterned grating structure to create lipid bilayer platforms insensitive to air bubbles.

PubMed

Han, Chung-Ta; Chao, Ling

2015-01-07

Supported lipid bilayers (SLBs) have been used for various biosensing applications. The bilayer structure enables embedded lipid membrane species to maintain their native orientation, and the two-dimensional fluidity is crucial for numerous biomolecular interactions to occur. The platform integrated with a microfluidic device for reagent transport and exchange has great potential to be applied with surface analytical tools. However, SLBs can easily be destroyed by air bubbles during assay reagent transport and exchange. Here, we created a patterned obstacle grating structured surface in a microfluidic channel to protect SLBs from being destroyed by air bubbles. Unlike all of the previous approaches using chemical modification or adding protection layers to strengthen lipid bilayers, the uniqueness of this approach is that it uses the patterned obstacles to physically trap water above the bilayers to prevent the air-water interface from directly coming into contact with and peeling the bilayers. We showed that our platform with certain grating geometry criteria can provide promising protection to SLBs from air bubbles. The required obstacle distance was found to decrease when we increased the air-bubble movement speed. In addition, the interaction assay results from streptavidin and biotinylated lipids in the confined SLBs suggested that receptors at the SLBs retained the interaction ability after air-bubble treatment. The results showed that the developed SLB platform can preserve both high membrane fluidity and high accessibility to the outside environment, which have never been simultaneously achieved before. Incorporating the built platforms with some surface analytical tools could open the bottleneck of building highly robust in vitro cell-membrane-related bioassays.

Reaching Beijing to the grassroots.

PubMed

1996-01-01

India's Working Women's Forum (WWF) adopted a training strategy that allows participants to share their own experiences, identify the obstacles to their development, and devise strategies to overcome these obstacles. In order to improve the outcome of the Fourth World Conference on Women (FWCW), the WWF established communication links throughout its vast membership to facilitate the quick transmission of issues and ideas during the FWCW preparatory process and the postconference implementation process. To solidify these links, the WWF holds participatory workshops to foster interaction, disseminate ideas, and develop traditional communication materials to increase awareness and change attitudes in grassroots communities. Issues of concern aired at a recent workshop include the commercialization of the fishing industry that has eroded the livelihood of fisher women, the government policy of direct exportation of yarn needed by the traditional hand-loom sector, the status of the girl child, and prevention of female infanticide.

Ground Reaction Forces of the Lead and Trail Limbs when Stepping Over an Obstacle

PubMed Central

Bovonsunthonchai, Sunee; Khobkhun, Fuengfa; Vachalathiti, Roongtiwa

2015-01-01

Background Precise force generation and absorption during stepping over different obstacles need to be quantified for task accomplishment. This study aimed to quantify how the lead limb (LL) and trail limb (TL) generate and absorb forces while stepping over obstacle of various heights. Material/Methods Thirteen healthy young women participated in the study. Force data were collected from 2 force plates when participants stepped over obstacles. Two limbs (right LL and left TL) and 4 conditions of stepping (no obstacle, stepping over 5 cm, 20 cm, and 30 cm obstacle heights) were tested for main effect and interaction effect by 2-way ANOVA. Paired t-test and 1-way repeated-measure ANOVA were used to compare differences of variables between limbs and among stepping conditions, respectively. The main effects on the limb were found in first peak vertical force, minimum vertical force, propulsive peak force, and propulsive impulse. Results Significant main effects of condition were found in time to minimum force, time to the second peak force, time to propulsive peak force, first peak vertical force, braking peak force, propulsive peak force, vertical impulse, braking impulse, and propulsive impulse. Interaction effects of limb and condition were found in first peak vertical force, propulsive peak force, braking impulse, and propulsive impulse. Conclusions Adaptations of force generation in the LL and TL were found to involve adaptability to altered external environment during stepping in healthy young adults. PMID:26169293

Factors Related to Teachers' Attitudes towards the Inclusive Education of Students with Severe Intellectual Disabilities in Riyadh, Saudi

ERIC Educational Resources Information Center

Alquraini, Turki A.

2012-01-01

In Saudi Arabia, the majority of students with severe intellectual disabilities are still educated in special schools that do not meet their unique needs for interaction with their typically developing peers in public schools settings where they could improve social, communication and academic skills. One of the most significant obstacles to…

Advanced patient transfer assist device with intuitive interaction control.

PubMed

Humphreys, Heather C; Choi, Young Mi; Book, Wayne J

2017-10-24

This research aims to improve patient transfers by developing a new type of advanced robotic assist device. It has multiple actuated degrees of freedom and a powered steerable base to maximize maneuverability around obstacles. An intuitive interface and control strategy allows the caregiver to simply push on the machine in the direction of desired patient motion. The control integrates measurements of both force and proximity to mitigate any potential large collision forces and provides operators information about obstacles with a form of haptic feedback. Electro-hydraulic pump controlled actuation provides high force density for the actuation. Nineteen participants performed tests to compare transfer operations (transferring a 250-lb mannequin between a wheelchair, chair, bed, and floor) and interaction control of a prototype device with a commercially available patient lift. The testing included a time study of the transfer operations and subjective rating of device performance. The results show that operators perform transfer tasks significantly faster and rate performance higher using the prototype patient transfer assist device than with a current market patient lift. With further development, features of the new patient lift can help facilitate patient transfers that are safer, easier, and more efficient for caregivers.

Ready, willing, and able to divorce: an economic and cultural history of divorce in twentieth-century Sweden.

PubMed

Simonsson, Per; Sandström, Glenn

2011-01-01

This study outlines a long history of divorce in Sweden, recognizing the importance of considering both economic and cultural factors in the analysis of marital dissolution. Following Ansley Coale, the authors examine how a framework of multiple theoretical constructs, in interaction, can be applied to the development toward mass divorce. Applying a long historical perspective, the authors argue that an analysis of gendered aspects of the interaction between culture and economics is crucial for the understanding of the rise of mass divorce. The empirical analysis finds support for a marked decrease in legal and cultural obstacles to divorce already during the first decades of the twentieth century. However, economic structures remained a severe obstacle that prohibited significant increases in divorce rate prior to World War II. It was only during the 1940s and 1960s, when cultural change was complemented by marked decreases in economic interdependence between spouses, that the divorce rate exhibited significant increases. The authors find that there are advantages to looking at the development of divorce as a history in which multiple empirical factors are examined in conjunction, recognizing that these factors played different roles during different time periods.

Investigation of shock-wave phenomena in composite materials

NASA Astrophysics Data System (ADS)

Afanas'eva, S. A.; Belov, N. N.; Biryukov, Yu. A.; Burkin, V. V.; Zakharov, V. M.; Ishchenko, A. N.; Skosyrskii, A. V.; Tabachenko, A. N.; Khorev, I. E.; Yugov, N. T.

2011-01-01

We propose a complex experimental-theoretical approach to the investigation and development of high-energy and composite materials for the conditions of high-velocity throwing and interaction with the application of nanotechnologies. We have obtained data on the character of the high-velocity interaction of strikers made from tungsten composites by different technologies with a steel obstacle. A nanostructured material based on copper with higher strength characteristics has been developed. The conditions for increasing the muzzle velocity of a barrel throwing installation due to the application of nanocomposite fuels have been investigated and realized. A computing-experimental method for investigating the processes of high-velocity collision of bodies has been elaborated.

Hierarchical Shared Control of Cane-Type Walking-Aid Robot

PubMed Central

Tao, Chunjing

2017-01-01

A hierarchical shared-control method of the walking-aid robot for both human motion intention recognition and the obstacle emergency-avoidance method based on artificial potential field (APF) is proposed in this paper. The human motion intention is obtained from the interaction force measurements of the sensory system composed of 4 force-sensing registers (FSR) and a torque sensor. Meanwhile, a laser-range finder (LRF) forward is applied to detect the obstacles and try to guide the operator based on the repulsion force calculated by artificial potential field. An obstacle emergency-avoidance method which comprises different control strategies is also assumed according to the different states of obstacles or emergency cases. To ensure the user's safety, the hierarchical shared-control method combines the intention recognition method with the obstacle emergency-avoidance method based on the distance between the walking-aid robot and the obstacles. At last, experiments validate the effectiveness of the proposed hierarchical shared-control method. PMID:29093805

Laboratory Study on Disconnection Events in Comets

NASA Astrophysics Data System (ADS)

Li, Yan-Fei; Li, Yu-Tong; Wang, Wei-Min; Yuan, Da-Wei; et al.

2018-01-01

When comets interacting with solar wind, straight and narrow plasma tails will be often formed. The most remarkable phenomenon of the plasma tails is the disconnection event, in which a plasma tail is uprooted from the comet's head and moves away from the comet. In this paper, the interaction process between a comet and solar wind is simulated by using a laser-driven plasma cloud to hit a cylinder obstacle. A disconnected plasma tail is observed behind the obstacle by optical shadowgraphy and interferometry. Our particle-in-cell simulations show that the diference in thermal velocity between ions and electrons induces an electrostatic field behind the obstacle. This field can lead to the convergence of ions to the central region, resulting in a disconnected plasma tail. This electrostatic field-induced model may be a possible explanation for the disconnection events of cometary tails.

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.

Characterisation of the Interaction between Toroidal Vortex Structures and Flame Front Propagation

NASA Astrophysics Data System (ADS)

Long, E. J.; Hargrave, G. K.; Jarvis, S.; Justham, T.; Halliwell, N.

2006-07-01

Experimental laser diagnostic data is presented for flame characterisation during interactions with toroidal vortices generated in the wake of an annular obstacle. A novel twin section combustion chamber has been utilised to allow the controlled formation of stable eddy structures into which a flame front can propagate. High speed laser sheet visualisation was employed to record the flow field and flame front temporal development and high-speed digital particle image velocimetry was used to quantify the velocity field of the unburnt mixture ahead of the flame front. Results provide characterisation of the toroidal vortex/flame front interaction for a range of vortex scales of and recirculation strengths.

Computerized Biomechanical Man-Model

DTIC Science & Technology

1976-07-01

Force Systems Command Wright-Patterson AFB, Ohio ABSTRACT The COMputerized BIomechanical MAN-Model (called COMBIMAN) is a computer interactive graphics...concept was to build a mock- The use of mock-ups for biomechanical evalua- up which permitted the designer to visualize the tion has long been a tool...of the can become an obstacle to design change. Aerospace Medical Research Laboratory, we are developing a computerized biomechanical man-model

Development of a computational model for predicting solar wind flows past nonmagnetic terrestrial planets

NASA Technical Reports Server (NTRS)

Stahara, S. S.; Spreiter, J. R.

1983-01-01

A computational model for the determination of the detailed plasma and magnetic field properties of the global interaction of the solar wind with nonmagnetic terrestrial planetary obstacles is described. The theoretical method is based on an established single fluid, steady, dissipationless, magnetohydrodynamic continuum model, and is appropriate for the calculation of supersonic, super-Alfvenic solar wind flow past terrestrial ionospheres.

Microalgae Scatter off Solid Surfaces by Hydrodynamic and Contact Forces.

PubMed

Contino, Matteo; Lushi, Enkeleida; Tuval, Idan; Kantsler, Vasily; Polin, Marco

2015-12-18

Interactions between microorganisms and solid boundaries play an important role in biological processes, such as egg fertilization, biofilm formation, and soil colonization, where microswimmers move within a structured environment. Despite recent efforts to understand their origin, it is not clear whether these interactions can be understood as being fundamentally of hydrodynamic origin or hinging on the swimmer's direct contact with the obstacle. Using a combination of experiments and simulations, here we study in detail the interaction of the biflagellate green alga Chlamydomonas reinhardtii, widely used as a model puller microorganism, with convex obstacles, a geometry ideally suited to highlight the different roles of steric and hydrodynamic effects. Our results reveal that both kinds of forces are crucial for the correct description of the interaction of this class of flagellated microorganisms with boundaries.

Is It Because of Partners or Partnerships?: An Investigation into the Main Obstacles of Developing International Partnerships in Four UK Universities

ERIC Educational Resources Information Center

Ayoubi, Rami M.; Massoud, Hiba

2012-01-01

Purpose: The main aim of the current study is to explore and model the major obstacles that UK universities encounter when developing international partnerships with overseas universities. Design/methodology/approach: Focusing on the obstacles to developing international partnerships, the study results are developed from 24 interviews with senior…

Robust obstacle detection for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Qin, Yueming; Zhang, Xiuzhi

2018-03-01

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

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

Shape-assisted body reorientation enhances trafficability through cluttered terrain

NASA Astrophysics Data System (ADS)

Li, Chen; Pullin, Andrew; Haldane, Duncan; Fearing, Ronald; Full, Robert

2014-11-01

Many birds and fishes have slender, streamlined bodies that reduce fluid dynamic drag and allow fast and efficient locomotion. Similarly, numerous terrestrial animals run through cluttered terrain where 3-D, multi-component obstacles like grass, bushes, trees, walls, doors, and pillars also resist motion, but it is unknown whether their body shape plays a major role. Here, we challenged discoid cockroaches that possess a rounded, thin, nearly ellipsoidal body to run through tall, narrowly spaced, grass-like beams. The animals primarily rolled their body to the side to maneuver through the obstacle gaps. Reduction of body roundness by artificial shells inhibited this side roll maneuver, resulting in a lower traversal probability and a longer traversal time (P < 0.001, ANOVA). Inspired by this discovery, we added a cockroach-like, rounded exoskeleton shell to a legged robot of a nearly cuboidal body. The rounded shell enabled the robot to use passive side rolling to maneuver through beams. To explain the mechanism, we developed a simple physics model to construct an energy landscape of the body-terrain interaction, which allowed estimation of body forces and torques exerted by the beams. Our model revealed that, by passive interaction with the terrain, a rounded body (ellipsoid) rolled more easily than an angular body (cuboid) to access energy valleys between energy barriers caused by obstacles. Our study is the first to demonstrate that a terradynamically ``streamlined'' shape can reduce terrain resistance and enhance trafficability by assisting body reorientation.

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

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

Novel design and fabrication of a geometrical obstacle-embedded micromixer with notched wall

NASA Astrophysics Data System (ADS)

Wu, Shih-Jeh; Hsu, Hsiang-Chen; Feng, Wen-Jui

2014-09-01

A microfluidic embedded MEMS mixer with a Y-junction type channel and cylindrical obstructions was designed and fabricated for improving the fluid mixing mechanism under low Reynolds number (\\mathit{Re}) condition. The flow field was simulated numerically by software (COMSOL multiphysics®) first. The design was then realized through casting the device in PDMS by lithographed SU-8 photo-resistive mold on silicon wafer. Parametric experimental studies were conducted for optimal design. Two different fluids were pumped into the two legs of the Y-junction channel, and the fluids were broken-up by an embedded cylindrical obstacle in the middle of the tapered micro-channel. The chaotic convection took place in the mixing channel behind the embedded cylindrical obstacles. The flow motion was observed under CCD camera and analyzed by grey level. The developed micromixer in this study can enhance the fluid mixing by the interaction of diffusion and convection for wide range of Reynolds numbers (0.01 < \\mathit{Re} < 100). Experimental results showed that the mixing index reached the required value at 0.1 within 0.024 seconds when the inlet fluid velocity is 0.499 m/s (i.e., at 1200 µl/min flow rate) for merely four cylindrical obstacles. A shorter mixing distance can be accomplished compared to the current devices reported due to faster mixing and shorter mixing time.

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.

Modular Neuronal Assemblies Embodied in a Closed-Loop Environment: Toward Future Integration of Brains and Machines

PubMed Central

Tessadori, Jacopo; Bisio, Marta; Martinoia, Sergio; Chiappalone, Michela

2012-01-01

Behaviors, from simple to most complex, require a two-way interaction with the environment and the contribution of different brain areas depending on the orchestrated activation of neuronal assemblies. In this work we present a new hybrid neuro-robotic architecture based on a neural controller bi-directionally connected to a virtual robot implementing a Braitenberg vehicle aimed at avoiding obstacles. The robot is characterized by proximity sensors and wheels, allowing it to navigate into a circular arena with obstacles of different sizes. As neural controller, we used hippocampal cultures dissociated from embryonic rats and kept alive over Micro Electrode Arrays (MEAs) for 3–8 weeks. The developed software architecture guarantees a bi-directional exchange of information between the natural and the artificial part by means of simple linear coding/decoding schemes. We used two different kinds of experimental preparation: “random” and “modular” populations. In the second case, the confinement was assured by a polydimethylsiloxane (PDMS) mask placed over the surface of the MEA device, thus defining two populations interconnected via specific microchannels. The main results of our study are: (i) neuronal cultures can be successfully interfaced to an artificial agent; (ii) modular networks show a different dynamics with respect to random culture, both in terms of spontaneous and evoked electrophysiological patterns; (iii) the robot performs better if a reinforcement learning paradigm (i.e., a tetanic stimulation delivered to the network following each collision) is activated, regardless of the modularity of the culture; (iv) the robot controlled by the modular network further enhances its capabilities in avoiding obstacles during the short-term plasticity trial. The developed paradigm offers a new framework for studying, in simplified model systems, neuro-artificial bi-directional interfaces for the development of new strategies for brain-machine interaction. PMID:23248586

Terrain mapping and control of unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Kang, Yeonsik

In this thesis, methods for terrain mapping and control of unmanned aerial vehicles (UAVs) are proposed. First, robust obstacle detection and tracking algorithm are introduced to eliminate the clutter noise uncorrelated with the real obstacle. This is an important problem since most types of sensor measurements are vulnerable to noise. In order to eliminate such noise, a Kalman filter-based interacting multiple model (IMM) algorithm is employed to effectively detect obstacles and estimate their positions precisely. Using the outcome of the IMM-based obstacle detection algorithm, a new method of building a probabilistic occupancy grid map is proposed based on Bayes rule in probability theory. Since the proposed map update law uses the outputs of the IMM-based obstacle detection algorithm, simultaneous tracking of moving targets and mapping of stationary obstacles are possible. This can be helpful especially in a noisy outdoor environment where different types of obstacles exist. Another feature of the algorithm is its capability to eliminate clutter noise as well as measurement noise. The proposed algorithm is simulated in Matlab using realistic sensor models. The results show close agreement with the layout of real obstacles. An efficient method called "quadtree" is used to process massive geographical information in a convenient manner. The algorithm is evaluated in a realistic simulation environment called RIPTIDE, which the NASA Ames Research Center developed to access the performance of complicated software for UAVs. Supposing that a UAV is equipped with abovementioned obstacle detection and mapping algorithm, the control problem of a small fixed-wing UAV is studied. A Nonlinear Model Predictive Control (NMPC is designed as a high level controller for the fixed-wing UAV using a kinematic model of the UAV. The kinematic model is employed because of the assumption that there exist low level controls on the UAV. The UAV dynamics are nonlinear with input constraints which is the main challenge explored in this thesis. The control objective of the NMPC is determined to track a desired line, and the analysis of the designed NMPC's stability is followed to find the conditions that can assure stability. Then, the control objective is extended to track adjoined multiple line segments with obstacle avoidance capability. In simulation, the performance of the NMPC is superb with fast convergence and small overshoot. The computation time is not a burden for a fixed-wing UAV controller with a Pentium level on-board computer that provides a reasonable control update rate.

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.

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

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.

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

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

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

2015-07-15

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

Lift on side by side intruders of various geometries within a granular flow

NASA Astrophysics Data System (ADS)

Acevedo-Escalante, M. F.; Caballero-Robledo, G. A.

2017-06-01

Obstacles within fluids have been widely used in engineering and in physics to study hydrodynamic interactions. In granular matter, objects within a granular flow have helped to understand fundamental features of drag and lift forces. In our group, we have studied numerically the flow mediated interaction between two static disks within a vertical granular flow in a two-dimensional container where the flow velocity and the distance between obstacles were varied. Attractive and repulsive forces were found depending on flow velocity and separation between intruders. The simulations evidenced a relationship between the average flow velocity in a specific section ahead of the obstacles and the attractive-repulsive lift. On the other hand, it was showed that the lift force on an object dragged within a granular medium depends on the shape of the intruder. Here we present experimental results of the interaction between two side-by-side intruders of different shapes within a vertical granular flow. We built a quasi-two-dimensional container in which we placed the intruders and using load cells we measured lift and drag forces during the discharge process for different flow velocities.

Mobility Performance Algorithms for Small Unmanned Ground Vehicles

DTIC Science & Technology

2009-05-01

obstacles need to be developed; specifically, models and data for wheeled vehicle skid steering, interior building floor and roof surfaces, and stair ...an 80-lb SUGV; PackBot® at 50 lb, and GatorTM at 2500 lb. Additionally, the FCS projects that 40% of the military fleet may eventually be robotic ...sensor input analysis and decision-making time. Fields (2002a) discusses representing interaction of humans and robots in the OneSAF Testbed Baseline

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.

Random walk of passive tracers among randomly moving obstacles.

PubMed

Gori, Matteo; Donato, Irene; Floriani, Elena; Nardecchia, Ilaria; Pettini, Marco

2016-04-14

This study is mainly motivated by the need of understanding how the diffusion behavior of a biomolecule (or even of a larger object) is affected by other moving macromolecules, organelles, and so on, inside a living cell, whence the possibility of understanding whether or not a randomly walking biomolecule is also subject to a long-range force field driving it to its target. By means of the Continuous Time Random Walk (CTRW) technique the topic of random walk in random environment is here considered in the case of a passively diffusing particle among randomly moving and interacting obstacles. The relevant physical quantity which is worked out is the diffusion coefficient of the passive tracer which is computed as a function of the average inter-obstacles distance. The results reported here suggest that if a biomolecule, let us call it a test molecule, moves towards its target in the presence of other independently interacting molecules, its motion can be considerably slowed down.

Connectivity, passability and heterogeneity interact to determine fish population persistence in river networks

PubMed Central

Samia, Yasmine; Lutscher, Frithjof; Hastings, Alan

2015-01-01

The movement of fish in watersheds is frequently inhibited by human-made migration barriers such as dams or culverts. The resulting lack of connectivity of spatial subpopulations is often cited as a cause for observed population decline. We formulate a matrix model for a spatially distributed fish population in a watershed, and we investigate how location and other characteristics of a single movement barrier impact the asymptotic growth rate of the population. We find that while population growth rate often decreases with the introduction of a movement obstacle, it may also increase due to a ‘retention effect’. Furthermore, obstacle mortality greatly affects population growth rate. In practice, different connectivity indices are used to predict population effects of migration barriers, but the relation of these indices to population growth rates in demographic models is often unclear. When comparing our results with the dentritic connectivity index, we see that the index captures neither the retention effect nor the influences of obstacle mortality. We argue that structural indices cannot entirely replace more detailed demographic models to understand questions of persistence and extinction. We advocate the development of novel functional indices and characteristics. PMID:26311313

Connectivity, passability and heterogeneity interact to determine fish population persistence in river networks.

PubMed

Samia, Yasmine; Lutscher, Frithjof; Hastings, Alan

2015-09-06

The movement of fish in watersheds is frequently inhibited by human-made migration barriers such as dams or culverts. The resulting lack of connectivity of spatial subpopulations is often cited as a cause for observed population decline. We formulate a matrix model for a spatially distributed fish population in a watershed, and we investigate how location and other characteristics of a single movement barrier impact the asymptotic growth rate of the population. We find that while population growth rate often decreases with the introduction of a movement obstacle, it may also increase due to a 'retention effect'. Furthermore, obstacle mortality greatly affects population growth rate. In practice, different connectivity indices are used to predict population effects of migration barriers, but the relation of these indices to population growth rates in demographic models is often unclear. When comparing our results with the dentritic connectivity index, we see that the index captures neither the retention effect nor the influences of obstacle mortality. We argue that structural indices cannot entirely replace more detailed demographic models to understand questions of persistence and extinction. We advocate the development of novel functional indices and characteristics. © 2015 The Author(s).

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

NASA Astrophysics Data System (ADS)

Bogoyavlenskiy, Vladislav A.; Cotts, Eric J.

2007-09-01

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

MMP Inhibitors: Past, present and future.

PubMed

Cathcart, Jillian M; Cao, Jian

2015-06-01

  Development of inhibitors of matrix metalloproteinases (MMPs) has been fraught with challenges. Early compounds largely failed due to poor selectivity and bioavailability. Dose-limiting side effects, off-target interactions, and improperly designed clinical trials significantly impeded clinical success. As information becomes available and technology evolves, tools to combat these obstacles have been developed. Improved methods for high throughput screening and drug design have led to identification of compounds exhibiting high potency, binding affinity, and favorable pharmacokinetic profiles. Current research into MMP inhibitors employs innovative approaches for drug delivery methods and allosteric inhibitors. Such innovation is key for development of clinically successful compounds.

The influence of underlying topography on lava channel networks and flow behavior (Invited)

NASA Astrophysics Data System (ADS)

Dietterich, H. R.; Cashman, K. V.; Rust, A.

2013-12-01

New high resolution mapping of historical lava flows in Hawai';i reveals complex topographically controlled channel networks. Network morphologies range from distributary systems dominated by branching around local obstacles, to tributary systems constricted by topographic confinement. Because channel networks govern the distribution of lava within the flow, they can dramatically alter the effective volumetric flux, which affects both flow length and advance rate. The influence of flow bifurcations is evidenced by (1) channelized flows from Pu';u ';O';o episodes 1-20 at Kilauea Volcano, where flow front velocities decreased by approximately half each time a flow split, and (2) the length of confined flows, such as the Mauna Loa 1859 flow, which traveled twice as far as the distributary Mauna Loa 1984 flow, despite similar effusion rates and durations. To study the underlying controls on flow bifurcations, we have undertaken a series of analogue experiments with golden syrup (a Newtonian fluid) to better understand the physics of obstacle interaction and its influence on flow behavior and morphology. Controlling the effusion rate and surface slope, we extrude flows onto a surface with a cylindrical or V-shaped obstacle of variable angle. When the flow is sufficiently fast, a stationary wave forms upslope of the obstacle; if the stationary wave is sufficiently high, the flow can overtop, rather than split around, the obstacle. The stationary wave height increases with flow velocity and with the effective obstacle width. Evidence for stationary waves in Hawaiian lava flows comes from both photographs of active flows and waveforms frozen into solidified flows. We have also performed a preliminary set of similar experiments with molten basalt to identify the effect of cooling and investigate flow merging. In these experiments, a stationary wave develops upslope of the obstacle, which allows the surface to cool and thicken. After splitting, the syrup experiments show minimal impact of the split on flow advance, except in cases where the flow is very thin, and surface tension controls the flow behavior. In contrast, the experiments with molten basalt slow markedly, as measured by both flow front and surface velocities. This difference demonstrates the effect of cooling and crust formation on flowing lava. Crust formation also controls the ability of split flows to merge below an obstacle, such that flows can converge only at high flow rates, which limits time for crust formation, and at narrow obstacle angles, which limits the lateral spreading required for convergence. Our experiments qualitatively support theoretical descriptions of crustal controls on flow spreading and levee development, but our poor knowledge of the appropriate parameter values, particularly that of the strength of the viscoelastic crust, prevents a quantitative comparison. These experiments, and our observations from natural systems, have significant implications for predicting lava flow behavior and inform efforts to mitigate flow hazards with diversion barriers.

Laser development for optimal helicopter obstacle warning system LADAR performance

NASA Astrophysics Data System (ADS)

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

2005-04-01

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

Sheaths: A Comparison of Magnetospheric, ICME, and Heliospheric Sheaths

NASA Technical Reports Server (NTRS)

Sibeck, D. G.; Richardson, J. D.; Liu, W.

2007-01-01

When a supersonic flow encounters an obstacles, shocks form to divert the flow around the obstacle. The region between the shock and the obstacle is the sheath, where the supersonic flow is compressed, heated, decelerated, and deflected. Supersonic flows, obstacles, and thus sheaths are observed on many scales throughout the Universe. We compare three examples seen in the heliosphere, illustrating the interaction of the solar wind with obstacles of three very different scales lengths. Magnetosheaths form behind planetary bow shocks on scales ranging from tens to 100 planetary radii. ICME sheath form behind shocks driven by solar disturbances on scale lengths of a few to tens of AU. The heliosheath forms behind the termination shock due to the obstacle presented by the interstellar medium on scale lengths of tens to a hundred AU. Despite this range in scales some common features have been observed. Magnetic holes, possibly due to mirror mode waves, have been observed in all three of these sheaths. Plasma depletion layers are observed in planetary and ICME sheaths. Other features observed in some sheaths are wave activity (ion cyclotron, plasma), energetic particles, transmission of Alfven waves/shocks, tangential discontinuities turbulence behind quasi-parallel shocks, standing slow mode waves, and reconnection on the obstacle boundary. We compare these sheath regions, discussing similarities and differences and how these may relate to the scale lengths of these regions.

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.

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%.

U.S. Army/FRG Army Mobility Symposium Proceedings held in April 1975

DTIC Science & Technology

1975-11-01

widths, etC.--and their interactions with soil strength, tree stems of various sizes and spacings, approach angles in ditches and streams, etc. At the...provides for their specific identification and user control so that the effects of various levels of driver motivation, associated with combat or...prevailing in the areal unit (braking-visility limit). d. Maneuvering to avoid trees and/or obstacles. e. Acceleration and deceleration between obstacles

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.

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

A fast plasma analyser for the study of the solar wind interaction with Mars

NASA Astrophysics Data System (ADS)

James, Adrian Martin

This thesis describes the design and development of the FONEMA instrument to be flown aboard the Russian mission to Mars in 1996. Many probes have flown to Mars yet despite this many mysteries still remain, among them the nature of the interaction of the solar wind with the planetary obstacle. In this thesis I will present some of the results from earlier spacecraft and the models of the interaction that they suggest paying particular attention to the contribution of ion analysers. From these results it will become clear that a fast ion sensor is needed to resolve many of the questions about the magnetosphere of Mars. The FONEMA instrument was designed for this job making use of a novel electrostatic mirror and particle collimator combined with parallel magnetic and electrostatic fields to resolve the ions into mass and energy bins. Development and production of the individual elements is discussed in detail.

Diffusion, subdiffusion, and localization of active colloids in random post lattices

NASA Astrophysics Data System (ADS)

Morin, Alexandre; Lopes Cardozo, David; Chikkadi, Vijayakumar; Bartolo, Denis

2017-10-01

Combining experiments and theory, we address the dynamics of self-propelled particles in crowded environments. We first demonstrate that motile colloids cruising at constant speed through random lattices undergo a smooth transition from diffusive to subdiffusive to localized dynamics upon increasing the obstacle density. We then elucidate the nature of these transitions by performing extensive simulations constructed from a detailed analysis of the colloid-obstacle interactions. We evidence that repulsion at a distance and hard-core interactions both contribute to slowing down the long-time diffusion of the colloids. In contrast, the localization transition stems solely from excluded-volume interactions and occurs at the void-percolation threshold. Within this critical scenario, equivalent to that of the random Lorentz gas, genuine asymptotic subdiffusion is found only at the critical density where the motile particles explore a fractal maze.

A study of the vortex structures around circular cylinder mounted on vertical heated plate

NASA Astrophysics Data System (ADS)

Malah, Hamid; Chumakov, Yurii S.; Levchenya, Alexander M.

2018-05-01

In recent years, studies of natural convection boundary layer interacting with obstacles draw much of attention, because of its practical applications. Pressure gradient resulting from this interaction leads to separation of the boundary layer. The formation of vortex structure around obstacle is characteristic to any kind of convection flow. In this paper, we describe the formation of three-dimensional vortex structure for the case of natural convection flow around the circular cylinder mounted on vertical heated plate. Navier-Stokes equations were used for numerical computations. The results proved the presence of a horseshoe vortex system in the case of natural convection flow as in the forced convection flow.

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.

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.

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Coordinating complex decision support activities across distributed applications

NASA Technical Reports Server (NTRS)

Adler, Richard M.

1994-01-01

Knowledge-based technologies have been applied successfully to automate planning and scheduling in many problem domains. Automation of decision support can be increased further by integrating task-specific applications with supporting database systems, and by coordinating interactions between such tools to facilitate collaborative activities. Unfortunately, the technical obstacles that must be overcome to achieve this vision of transparent, cooperative problem-solving are daunting. Intelligent decision support tools are typically developed for standalone use, rely on incompatible, task-specific representational models and application programming interfaces (API's), and run on heterogeneous computing platforms. Getting such applications to interact freely calls for platform independent capabilities for distributed communication, as well as tools for mapping information across disparate representations. Symbiotics is developing a layered set of software tools (called NetWorks! for integrating and coordinating heterogeneous distributed applications. he top layer of tools consists of an extensible set of generic, programmable coordination services. Developers access these services via high-level API's to implement the desired interactions between distributed applications.

Toward flexible and wearable human-interactive health-monitoring devices.

PubMed

Takei, Kuniharu; Honda, Wataru; Harada, Shingo; Arie, Takayuki; Akita, Seiji

2015-03-11

This Progress Report introduces flexible wearable health-monitoring devices that interact with a person by detecting from and stimulating the body. Interactive health-monitoring devices should be highly flexible and attach to the body without awareness like a bandage. This type of wearable health-monitoring device will realize a new class of electronics, which will be applicable not only to health monitoring, but also to other electrical devices. However, to realize wearable health-monitoring devices, many obstacles must be overcome to economically form the active electrical components on a flexible substrate using macroscale fabrication processes. In particular, health-monitoring sensors and curing functions need to be integrated. Here recent developments and advancements toward flexible health-monitoring devices are presented, including conceptual designs of human-interactive devices. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Interaction of Interstellar Shocks with Dense Obstacles: Formation of ``Bullets''

NASA Astrophysics Data System (ADS)

Gvaramadze, V. V.

The so-called cumulative effect take place in converging conical shock waves arising behind dense obstacles overtaken by incident interstellar shock. A significant part of energy of converging flow of matter swept-up by a radiative conical shock can be transferred to a dense jet-like ejection (``bullet'') directed along the cone axis. Possible applications of this effect for star-forming regions (e.g., OMC-1) and supernova remnants (e.g., Vela SNR) are discussed.

Establishing support groups for HIV-infected women: using experiences to develop guiding principles for project implementation.

PubMed

Visser, Maretha J; Mundell, Jonathan P

2008-07-01

HIV-infected women need support to deal with their diagnosis as well as with the stigma attached to HIV. As part of their practical training, Master's-level psychology students negotiated with the staff of four clinics in townships in Tshwane, South Africa, to establish support groups for HIV+ women and offered to assist them in facilitating the groups. This study aimed to understand why the implementation of groups was successful in one clinic and not other clinics. The student reports on their experiences and interaction with clinic staff and clients were used as sources of data. Using qualitative data analysis, different dynamics and factors that could affect project implementation were identified in each clinic. The socio-ecological and systems theories were used to understand implementation processes and obstacles in implementation. The metaphor of building a bridge over a gorge was used to describe the different phases in and obstacles to the implementation of the intervention. Valuable lessons were learnt, resulting in the development of guiding principles for the implementation of support groups in community settings.

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 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.

Diverting lava flows in the lab

USGS Publications Warehouse

Dietterich, Hannah; Cashman, Katharine V.; Rust, Alison C.; Lev, Einat

2015-01-01

Recent volcanic eruptions in Hawai'i, Iceland and Cape Verde highlight the challenges of mitigating hazards when lava flows threaten infrastructure. Diversion barriers are the most common form of intervention, but historical attempts to divert lava flows have met with mixed success and there has been little systematic analysis of optimal barrier design. We examine the interaction of viscous flows of syrup and molten basalt with barriers in the laboratory. We find that flows thicken immediately upslope of an obstacle, forming a localized bow wave that can overtop barriers. Larger bow waves are generated by faster flows and by obstacles oriented at a high angle to the flow direction. The geometry of barriers also influences flow behaviour. Barriers designed to split or dam flows will slow flow advance, but cause the flow to widen, whereas oblique barriers can effectively divert flows, but may also accelerate flow advance. We argue that to be successful, mitigation of lava-flow hazards must incorporate the dynamics of lava flow–obstacle interactions into barrier design. The same generalizations apply to the effect of natural topographic features on flow geometry and advance rates.

Interactive Learning with Java Applets: Using Interactive, Web-Based Java Applets to Present Science in a Concrete, Meaningful Manner

ERIC Educational Resources Information Center

Corder, Greg

2005-01-01

Science teachers face challenges that affect the quality of instruction. Tight budgets, limited resources, school schedules, and other obstacles limit students' opportunities to experience science that is visual and interactive. Incorporating web-based Java applets into science instruction offers a practical solution to these challenges. The…

Computer vision techniques for rotorcraft low-altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Cheng, Victor H. L.

1988-01-01

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

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…

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...

Turbulence between two inline hemispherical obstacles under wave-current interactions

NASA Astrophysics Data System (ADS)

Barman, K.; Debnath, K.; Mazumder, B. S.

2016-02-01

This paper reports an experimental investigation of open channel turbulent flow between two inline surface mounted hemispherical obstacles in tandem arrangement. A series of experiments are performed under combined wave-current interaction with seven relative spacing L/h, where L is center to center spacing distance and h is the obstacle height for Reynolds number Re = 5.88 × 104. The observations are particularly focused on the changes induced in the mean velocity components, turbulence intensities and Reynolds shear stress due to superposition of surface waves on the ambient flow, and are compared to that of flat-surface and a single hemisphere. The paper also investigates the dominant turbulent bursting events that contribute to the Reynolds shear stress for different relative depth influenced by hemispheres. It is observed that the contributions to the total shear stress due to ejection and sweep are dominant at the wake region for single and double hemisphere near the bed, while towards the surface outward and inward interactions show significant effect for wave-current interactions which is largely different from that over the flat-surface case. Spectral analysis of the observed velocity fluctuations reveals the existence of two distinct power law scaling regime near the bed. At high frequency, an inertial sub-range of turbulence with -5/3 Kolmogorov scaling is observed for the flat-surface. The spectral slope is calculated to show the shifting of standard Kolmogorov scale for both only current and wave-induced tests.

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.

Mass loading in the solar wind interaction with Venus and Mars

NASA Astrophysics Data System (ADS)

Breus, T. K.; Bauer, S. J.; Krymskii, A. M.; Mitnitskii, V. Ya.

1989-03-01

An analysis of available experimental data and theoretical concepts indicates that the interaction of the solar wind (SW) on the subsolar side with Venus, which has no intrinsic magnetic field, and with Mars, which has a small intrinsic magnetic field, is determined by the solar wind dynamic pressure with a contribution from the neutral planetary atmosphere to this interaction. The pattern of the SW interaction with these planets is different in principle for high and low dynamic pressures of the SW and is related to the varying intensity of ion formation processes (the SW Mass loading effect) in the vicinity of the SW obstacle boundary, which moves for different SW dynamic pressures into regions of different neutral atmosphere density. For moderate or high SW dynamic pressures, the subsolar Martian magnetosphere is also affected by this process. Results of numerical simulations of the SW-Mars interaction for a magnetospheric obstacle boundary at an altitude of 300 km are presented. To estimate the relative role of photoionization and charge exchange processes and their effect on the shock front position, different versions of the mass loading effect were separately calculated.

Forging the Basis for Developing Protein-Ligand Interaction Scoring Functions.

PubMed

Liu, Zhihai; Su, Minyi; Han, Li; Liu, Jie; Yang, Qifan; Li, Yan; Wang, Renxiao

2017-02-21

In structure-based drug design, scoring functions are widely used for fast evaluation of protein-ligand interactions. They are often applied in combination with molecular docking and de novo design methods. Since the early 1990s, a whole spectrum of protein-ligand interaction scoring functions have been developed. Regardless of their technical difference, scoring functions all need data sets combining protein-ligand complex structures and binding affinity data for parametrization and validation. However, data sets of this kind used to be rather limited in terms of size and quality. On the other hand, standard metrics for evaluating scoring function used to be ambiguous. Scoring functions are often tested in molecular docking or even virtual screening trials, which do not directly reflect the genuine quality of scoring functions. Collectively, these underlying obstacles have impeded the invention of more advanced scoring functions. In this Account, we describe our long-lasting efforts to overcome these obstacles, which involve two related projects. On the first project, we have created the PDBbind database. It is the first database that systematically annotates the protein-ligand complexes in the Protein Data Bank (PDB) with experimental binding data. This database has been updated annually since its first public release in 2004. The latest release (version 2016) provides binding data for 16 179 biomolecular complexes in PDB. Data sets provided by PDBbind have been applied to many computational and statistical studies on protein-ligand interaction and various subjects. In particular, it has become a major data resource for scoring function development. On the second project, we have established the Comparative Assessment of Scoring Functions (CASF) benchmark for scoring function evaluation. Our key idea is to decouple the "scoring" process from the "sampling" process, so scoring functions can be tested in a relatively pure context to reflect their quality. In our latest work on this track, i.e. CASF-2013, the performance of a scoring function was quantified in four aspects, including "scoring power", "ranking power", "docking power", and "screening power". All four performance tests were conducted on a test set containing 195 high-quality protein-ligand complexes selected from PDBbind. A panel of 20 standard scoring functions were tested as demonstration. Importantly, CASF is designed to be an open-access benchmark, with which scoring functions developed by different researchers can be compared on the same grounds. Indeed, it has become a popular choice for scoring function validation in recent years. Despite the considerable progress that has been made so far, the performance of today's scoring functions still does not meet people's expectations in many aspects. There is a constant demand for more advanced scoring functions. Our efforts have helped to overcome some obstacles underlying scoring function development so that the researchers in this field can move forward faster. We will continue to improve the PDBbind database and the CASF benchmark in the future to keep them as useful community resources.

Motion of a Rigid Body in a Special Lorentz Gas: Loss of Memory Effect

NASA Astrophysics Data System (ADS)

Koike, Kai

2018-06-01

Linear motion of a rigid body in a special kind of Lorentz gas is mathematically analyzed. The rigid body moves against gas drag according to Newton's equation. The gas model is a special Lorentz gas consisting of gas molecules and background obstacles, which was introduced in Tsuji and Aoki (J Stat Phys 146:620-645, 2012). The specular boundary condition is imposed on the resulting kinetic equation. This study complements the numerical study by Tsuji and Aoki cited above—although the setting in this paper is slightly different from theirs, qualitatively the same asymptotic behavior is proved: The velocity V(t) of the rigid body decays exponentially if the obstacles undergo thermal motion; if the obstacles are motionless, then the velocity V(t) decays algebraically with a rate t^{- 5} independent of the spatial dimension. This demonstrates the idea that interaction of the molecules with the background obstacles destroys the memory effect due to recollision.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

A stereo vision-based obstacle detection system in vehicles

NASA Astrophysics Data System (ADS)

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

2008-02-01

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

Interactive ESL In-Service Teacher Training via Distance Education.

ERIC Educational Resources Information Center

Power, Michael A.

The Hawaii State Department of Education offers university credit courses in English-as-a-Second-Language (ESL) techniques to all public school teachers, but the scarcity of trainers and the distance between schools and training sites constitute substantial obstacles. With the cooperation of the University of Hawaii's interactive television…

Didactical Design Material Units of Distance and Speed to Developed Mathematical Connection in Elementary School

NASA Astrophysics Data System (ADS)

Jannah, R. R.; Apriliya, S.; Karlimah

2017-03-01

This study aims to develop alternative instructional design based of barriers learning which identified by developing mathematical connection capabilities to the material unit of distance and speed. The research was conducted in the fifth grade elementary school Instructional design is complemented with a hypothetical learning trajectory in the form of a pedagogical didactic anticipation. The method used is descriptive method with qualitative approach. Techniques data collection used were observation, interviews, and documentation. The instrument used the researchers themselves are equipped with an instrument written test. The data were analyzed qualitatively to determine the student learning obstacles, then arrange hypothetical learning trajectory and pedagogical didactic anticipation. Learning obstacle are identified, it is learning obstacle related the connections between mathematical topics, learning obstacle related with other disciplines, and learning obstacle related with everyday life. The results of this research are improvement and development of didactic design in mathematics which has activities mathematical connection to the material unit of distance and speed in elementary school. The learning activities are carried out is using varied methods include method lectures, demonstrations, practice and exercise, as well as using the modified instructional media.

The site of the bite: Leishmania interaction with macrophages, neutrophils and the extracellular matrix in the dermis.

PubMed

de Menezes, Juliana Perrone; Saraiva, Elvira M; da Rocha-Azevedo, Bruno

2016-05-04

Leishmania spp., the causative agents of leishmaniasis, are intracellular parasites, transmitted to humans via the bite of their sand fly vectors. Once inoculated, the promastigotes are exposed to the dermis, which is composed of extracellular matrix (ECM), growth factors and its resident cells. Promastigote forms are phagocytosed by macrophages recruited to the site of the sand fly bite, either directly or after interaction with neutrophils. Since Leishmania is an intracellular parasite, its interaction with the host ECM has been neglected as well as the immediate steps after the sand fly bite. However, promastigotes must overcome the obstacles presented by the dermis ECM in order to establish the infection. Thus, the study of the interaction between Leishmania promastigotes and ECM components as well as the earliest stages of infection are important steps to understand the establishment of the disease, and could contribute in the future to new drug developments towards leishmaniasis.

Head-mounted eye tracking: a new method to describe infant looking.

PubMed

Franchak, John M; Kretch, Kari S; Soska, Kasey C; Adolph, Karen E

2011-01-01

Despite hundreds of studies describing infants' visual exploration of experimental stimuli, researchers know little about where infants look during everyday interactions. The current study describes the first method for studying visual behavior during natural interactions in mobile infants. Six 14-month-old infants wore a head-mounted eye-tracker that recorded gaze during free play with mothers. Results revealed that infants' visual exploration is opportunistic and depends on the availability of information and the constraints of infants' own bodies. Looks to mothers' faces were rare following infant-directed utterances but more likely if mothers were sitting at infants' eye level. Gaze toward the destination of infants' hand movements was common during manual actions and crawling, but looks toward obstacles during leg movements were less frequent. © 2011 The Authors. Child Development © 2011 Society for Research in Child Development, Inc.

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

NASA Astrophysics Data System (ADS)

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

2005-06-01

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

Optimal Navigation of Self-Propelled Colloids in Microstructured Mazes

NASA Astrophysics Data System (ADS)

Yang, Yuguang; Bevan, Michael

Controlling navigation of self-propelled microscopic `robots' subject to random Brownian motion in complex microstructured environments (e.g., porous media, tumor vasculature) is important to many emerging applications (e.g., enhanced oil recovery, drug delivery). In this work, we design an optimal feedback policy to navigate an active self-propelled colloidal rod in complex mazes with various obstacle types. Actuation of the rods is modelled based on a light-controlled osmotic flow mechanism, which produces different propulsion velocities along the rod's long axis. Actuator-parameterized Langevin equations, with soft rod-obstacle repulsive interactions, are developed to describe the system dynamics. A Markov decision process (MDP) framework is used for optimal policy calculations with design goals of colloidal rods reaching target end points in minimum time. Simulations show that optimal MDP-based policies are able to control rod trajectories to reach target regions order-of-magnitudes faster than uncontrolled rods, which diverges as maze complexity increases. An efficient multi-graph based implementation for MDP is also presented, which scales linearly with the maze dimension.

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.

Swarmathon 2018

NASA Image and Video Library

2018-04-18

In the Swarmathon competition at the Kennedy Space Center Visitor Complex, students were asked to develop computer code for the small robots, programming them to look for "resources" in the form of AprilTag cubes, similar to barcodes. To add to the challenge, obstacles in the form of simulated rocks were placed in the completion arena. Teams developed search algorithms for the Swarmies to operate autonomously, communicating and interacting as a collective swarm similar to ants foraging for food. In the spaceport's third annual Swarmathon, 23 teams represented 24 minority serving universities and community colleges were invited to develop software code to operate these innovative robots known as "Swarmies" to help find resources when astronauts explore distant locations, such as the Moon or Mars.

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 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.

An Observational Study of the Interactions of Socially Withdrawn/Anxious Early Adolescents and Their Friends

ERIC Educational Resources Information Center

Schneider, Barry H.

2009-01-01

Background: The friendships of socially withdrawn/anxious children and early adolescents have been found to lack critical rewarding qualities. Observational research may help elucidate the obstacles they face in forming and maintaining high-quality friendships with sociable peers. Method: We observed the interactions of 38 socially withdrawn early…

Managing multi-ungulate systems in disturbance-adapted forest ecosystems in North America

Treesearch

Martin Vavra; Robert A. Riggs

2010-01-01

Understanding how interactions among ungulate populations and their environmental dynamics play out across scales of time and space is a principal obstacle to managing ungulates in western North America. Morphological similarity, forage-base homogeneity and increasing animal density each enhance the likelihood of competitive interactions among sympatric populations....

Mutually Beneficial Foreign Language Learning: Creating Meaningful Interactions through Video-Synchronous Computer-Mediated Communication

ERIC Educational Resources Information Center

Kato, Fumie; Spring, Ryan; Mori, Chikako

2016-01-01

Providing learners of a foreign language with meaningful opportunities for interactions, specifically with native speakers, is especially challenging for instructors. One way to overcome this obstacle is through video-synchronous computer-mediated communication tools such as Skype software. This study reports quantitative and qualitative data from…

Interactive-rate Motion Planning for Concentric Tube Robots.

PubMed

Torres, Luis G; Baykal, Cenk; Alterovitz, Ron

2014-05-01

Concentric tube robots may enable new, safer minimally invasive surgical procedures by moving along curved paths to reach difficult-to-reach sites in a patient's anatomy. Operating these devices is challenging due to their complex, unintuitive kinematics and the need to avoid sensitive structures in the anatomy. In this paper, we present a motion planning method that computes collision-free motion plans for concentric tube robots at interactive rates. Our method's high speed enables a user to continuously and freely move the robot's tip while the motion planner ensures that the robot's shaft does not collide with any anatomical obstacles. Our approach uses a highly accurate mechanical model of tube interactions, which is important since small movements of the tip position may require large changes in the shape of the device's shaft. Our motion planner achieves its high speed and accuracy by combining offline precomputation of a collision-free roadmap with online position control. We demonstrate our interactive planner in a simulated neurosurgical scenario where a user guides the robot's tip through the environment while the robot automatically avoids collisions with the anatomical obstacles.

3D Hybrid Simulations of Interactions of High-Velocity Plasmoids with Obstacles

NASA Astrophysics Data System (ADS)

Omelchenko, Y. A.; Weber, T. E.; Smith, R. J.

2015-11-01

Interactions of fast plasma streams and objects with magnetic obstacles (dipoles, mirrors, etc) lie at the core of many space and laboratory plasma phenomena ranging from magnetoshells and solar wind interactions with planetary magnetospheres to compact fusion plasmas (spheromaks and FRCs) to astrophysics-in-lab experiments. Properly modeling ion kinetic, finite-Larmor radius and Hall effects is essential for describing large-scale plasma dynamics, turbulence and heating in complex magnetic field geometries. Using an asynchronous parallel hybrid code, HYPERS, we conduct 3D hybrid (particle-in-cell ion, fluid electron) simulations of such interactions under realistic conditions that include magnetic flux coils, ion-ion collisions and the Chodura resistivity. HYPERS does not step simulation variables synchronously in time but instead performs time integration by executing asynchronous discrete events: updates of particles and fields carried out as frequently as dictated by local physical time scales. Simulations are compared with data from the MSX experiment which studies the physics of magnetized collisionless shocks through the acceleration and subsequent stagnation of FRC plasmoids against a strong magnetic mirror and flux-conserving boundary.

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.

[Visually-impaired adolescents' interpersonal relationships at school].

PubMed

Bezerra, Camilla Pontes; Pagliuca, Lorita Marlena Freitag

2007-09-01

This study describes the school environment and how interpersonal relationships are conducted in view of the needs of visually handicapped adolescents. Data were collected through observations of the physical environment of two schools in Fortaleza, Ceara, Brazil, with the support of a checklist, in order to analyze the existence of obstacles. Four visually handicapped adolescents from 14 to 20 years of age were interviewed. Conclusions were that the obstacles that hamper the free locomotion, communication, and physical and social interaction of the blind--or people with other eye disorders--during their activities at school are numerous.

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.

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.

Influence of obstacle disturbance in a duct on explosion characteristics of coal gas

NASA Astrophysics Data System (ADS)

Wang, Cheng; Ma, Tianbao; Lu, Jie

2010-02-01

In combination with experimental research, numerical simulation is performed to investigate the influence law of the obstacles in a duct on the explosion flame of premixed coal gas and air. The numerical method uses upwind WENO scheme and two-step chemical reaction model. The interaction mechanism is addressed between the compression wave from reflection on the right end of the duct and flame propagation. The reflected wave is found to result in the decrease of flame velocity. On this basis, we analyze the mechanism of the obstacles on flame as well as the law of flow field variation thus caused. The results suggest that, due to the obstacles, deflagration wave is repeatedly reflected, combustible gas mixture is fully compressed, temperature and pressure rise, chemical reaction speed increases, and hence flame intensity is strengthened. At the same time, a tripe point forms as a result of wall reflection of the deflagration wave from the obstacles and furthermore local flame speed increases. As the triple point propagates forward, the flame speed gradually decreases due to dissipation of energy. These conclusions provide a valuable theoretical foundation for the prediction of explosion field, prevention of fire and explosion and effective control of the combustion speed and flame propagation speed in detonation propulsion.

Gaze Strategies in Skateboard Trick Jumps: Spatiotemporal Constraints in Complex Locomotion.

PubMed

Klostermann, André; Küng, Philip

2017-03-01

This study aimed to further the knowledge on gaze behavior in locomotion by studying gaze strategies in skateboard jumps of different difficulty that had to be performed either with or without an obstacle. Nine experienced skateboarders performed "Ollie" and "Kickflip" jumps either over an obstacle or over a plane surface. The stable gaze at 5 different areas of interest was calculated regarding its relative duration as well as its temporal order. During the approach phase, an interaction between area of interest and obstacle condition, F(3, 24) = 12.91, p <  .05, η p 2  = .62, was found with longer stable-gaze locations at the takeoff area in attempts with an obstacle (p <  .05, η p 2  = .47). In contrast, in attempts over a plane surface, longer stable-gaze locations at the skateboard were revealed (p <  .05, η p 2  = .73). Regarding the trick difficulty factor, the skateboarders descriptively showed longer stable-gaze locations at the skateboard for the "Kickflip" than for the "Ollie" in the no-obstacle condition only (p>.05, d = 0.74). Finally, during the jump phase, neither obstacle condition nor trick difficulty affected gaze behavior differentially. This study underlines the functional adaptability of the visuomotor system to changing demands in highly dynamic situations. As a function of certain constraints, different gaze strategies were observed that can be considered as highly relevant for successfully performing skateboard jumps.

Correlated Errors in the Surface Code

NASA Astrophysics Data System (ADS)

Lopez, Daniel; Mucciolo, E. R.; Novais, E.

2012-02-01

A milestone step into the development of quantum information technology would be the ability to design and operate a reliable quantum memory. The greatest obstacle to create such a device has been decoherence due to the unavoidable interaction between the quantum system and its environment. Quantum Error Correction is therefore an essential ingredient to any quantum computing information device. A great deal of attention has been given to surface codes, since it has very good scaling properties. In this seminar, we discuss the time evolution of a qubit encoded in the logical basis of a surface code. The system is interacting with a bosonic environment at zero temperature. Our results show how much spatial and time correlations can be detrimental to the efficiency of the code.

Physical root-soil interactions

NASA Astrophysics Data System (ADS)

Kolb, Evelyne; Legué, Valérie; Bogeat-Triboulot, Marie-Béatrice

2017-12-01

Plant root system development is highly modulated by the physical properties of the soil and especially by its mechanical resistance to penetration. The interplay between the mechanical stresses exerted by the soil and root growth is of particular interest for many communities, in agronomy and soil science as well as in biomechanics and plant morphogenesis. In contrast to aerial organs, roots apices must exert a growth pressure to penetrate strong soils and reorient their growth trajectory to cope with obstacles like stones or hardpans or to follow the tortuous paths of the soil porosity. In this review, we present the main macroscopic investigations of soil-root physical interactions in the field and combine them with simple mechanistic modeling derived from model experiments at the scale of the individual root apex.

Physical root-soil interactions.

PubMed

Kolb, Evelyne; Legué, Valérie; Bogeat-Triboulot, Marie-Béatrice

2017-11-16

Plant root system development is highly modulated by the physical properties of the soil and especially by its mechanical resistance to penetration. The interplay between the mechanical stresses exerted by the soil and root growth is of particular interest for many communities, in agronomy and soil science as well as in biomechanics and plant morphogenesis. In contrast to aerial organs, roots apices must exert a growth pressure to penetrate strong soils and reorient their growth trajectory to cope with obstacles like stones or hardpans or to follow the tortuous paths of the soil porosity. In this review, we present the main macroscopic investigations of soil-root physical interactions in the field and combine them with simple mechanistic modeling derived from model experiments at the scale of the individual root apex.

Anomalous flow deflection at earth's low-Alfvén-Mach-Number bow shock.

PubMed

Nishino, Masaki N; Fujimoto, Masaki; Phan, Tai-Duc; Mukai, Toshifumi; Saito, Yoshifumi; Kuznetsova, Masha M; Rastätter, Lutz

2008-08-08

Earth's magnetosphere is an obstacle to the supersonic solar wind and the bow shock is formed in the front side of it. In ordinary hydrodynamics, the flow decelerated at the shock is diverted around the obstacle symmetrically about the Earth-Sun line, which is indeed observed in the magnetosheath most of the time. Here we show a case under a very low-density solar wind in which duskward flow was observed in the dawnside magnetosheath. A Rankine-Hugoniot test shows that the magnetic effect is crucial for this "wrong flow" to appear. A full three-dimensional magnetohydrodynamics (MHD) simulation of the situation confirming this interpretation and earlier simulations is also performed. It is illustrated that in addition to the "wrong flow" feature, various peculiar characteristics appear in the global picture of the MHD flow interaction with the obstacle.

An analytical model of sub-Alfvénic moon-plasma interactions with application to the hemisphere coupling effect

NASA Astrophysics Data System (ADS)

Simon, Sven

2015-09-01

We develop a new analytical model of the Alfvén wing that is generated by the interaction between a planetary moon's ionosphere and its magnetospheric environment. While preceding analytical approaches assumed the obstacle's height-integrated ionospheric conductivities to be spatially constant, the model presented here can take into account a continuous conductance profile that follows a power law. The electric potential in the interaction region, determining the electromagnetic fields of the Alfvén wing, can then be calculated from an Euler-type differential equation. In this way, the model allows to include a realistic representation of the "suspension bridge"-like conductance profile expected for the moon's ionosphere. The major drawback of this approach is its restriction to interaction scenarios where the ionospheric Pedersen conductance is large compared to the Hall conductance, and thus, the Alfvénic perturbations are approximately symmetric between the planet-facing and the planet-averted hemispheres of the moon. The model is applied to the hemisphere coupling effect observed at Enceladus, i.e., to the surface currents and the associated magnetic discontinuities that arise from a north-south asymmetry of the obstacle to the plasma flow. We show that the occurrence of this effect is very robust against changes in the conductance profile of Enceladus' plume, and we derive upper limits for the strength of the magnetic field jumps generated by the hemisphere coupling effect. During all 11 reported detections of the hemisphere coupling currents at Enceladus, the observed magnetic field jumps were clearly weaker than the proposed limits. Our findings are also relevant for future in situ studies of putative plumes at the Jovian moon Europa.

A Visual Language for World Marketing.

ERIC Educational Resources Information Center

Vanden Bergh, Bruce G.; Sentell, Gerald D.

A practical solution to many of the communication obstacles found in international markets can be found in the development and widespread adoption of a standardized system of international graphic symbols. Any plan to develop and implement a truly acceptable and universal system of graphic symbols will have to overcome many obstacles that past…

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.

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.

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

Natural frequencies, modeshapes and modal interactions for strings vibrating against an obstacle: Relevance to Sitar and Veena

NASA Astrophysics Data System (ADS)

Mandal, A. K.; Wahi, P.

2015-03-01

We study the vibration characteristics of a string with a smooth unilateral obstacle placed at one of the ends similar to the strings in musical instruments like sitar and veena. In particular, we explore the correlation between the string vibrations and some unique sound characteristics of these instruments like less inharmonicity in the frequencies, a large number of overtones and the presence of both frequency and amplitude modulations. At the obstacle, we have a moving boundary due to the wrapping of the string and an appropriate scaling of the spatial variable leads to a fixed boundary at the cost of introducing nonlinearity in the governing equation. Reduced order system of equations has been obtained by assuming a functional form for the string displacement which satisfies all the boundary conditions and gives the free length of the string in terms of the modal coordinates. To study the natural frequencies and mode-shapes, the nonlinear governing equation is linearized about the static configuration. The natural frequencies have been found to be harmonic and they depend on the shape of the obstacle through the effective free length of the string. Expressions have been obtained for the time-varying mode-shapes as well as the variation of the nodal points. Modal interactions due to coupling have been studied which show the appearance of higher overtones as well as amplitude modulations in our theoretical model akin to the experimental observations. All the obtained results have been verified with an alternate formulation based on the assumed mode method with polynomial shape functions.

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

Vignati, F.; Guardone, A., E-mail: alberto.guardone@polimi.it

Cylindrical converging shock waves interacting with an array of aerodynamic obstacles are investigated numerically for diverse shock strengths and for different obstacle configurations in air in standard conditions. The considered number of obstacles N is 4, 6, 8, 16, and 24. Obstacles are lenticular airfoils with thickness-to-chord ratios t/c of 0.07, 0.14, and 0.21. The distances of the airfoil leading edge from the shock focus point (r{sub LE})/(r{sub LE}{sup ref}) are 1, 2, and 2.5, where r{sub LE}{sup ref}=7 is the dimensionless reference distance from the origin. Considered impinging shock Mach numbers M{sub s} are 2.2, 2.7, and 3.2 atmore » the reference distance from the origin. The reference experimental configuration (N=8,t/c =0.14,r{sub LE}=7,M{sub s}=2.7) was proposed by Kjellander et al. [“Thermal radiation from a converging shock implosion,” Phys. Fluids 22, 046102 (2010)]. Numerical results compare fairly well to available one-dimensional models for shock propagation and to available experimental results in the reference configuration. Local reflection types are in good agreement with the classical criteria for planar shock waves. The main shock reshaping patterns are identified and their dependence on the shock strength and obstacle configuration is exposed. In particular, different shock patterns are observed after the leading edge reflection, which results in polygonal shock wave with N, 2N, 3N, and 4N sides. The largest temperature peak at the origin is obtained for the 8- and the 16-obstacle configurations and for the smallest thickness to length ratio, 0.07, located at distance from the origin of 2r{sub LE}{sup ref}. In terms of compression efficiency at the origin, the 16-obstacle configuration is found to perform slightly better than the reference 8-obstacle configuration—with an efficiency increase of about 2%-3%, which is well within the model accuracy—thus confirming the goodness of the obstacle arrangement proposed by Kjellander and collaborators.« less

Successful Information and Communication Technology Implementation Strategies for Rural Communities: An Investigation of Tech-Based Economic Development Programs

ERIC Educational Resources Information Center

Sullivan, Donna Annette

2009-01-01

Many rural communities across America face several obstacles in the implementation of information and communication technologies (ICTs) initiatives and struggle with the best approaches for leveraging these elements into an economic development strategy. These obstacles include: lack of quality local ICTs infrastructure, funding, inability to…

Group Theoretical Characterization of Wave Equations

NASA Astrophysics Data System (ADS)

Nisticò, Giuseppe

2017-12-01

Group theoretical methods, worked out in particular by Mackey and Wigner, allow to attain the explicit Quantum Theory of a free particle through a purely deductive development based on symmetry principles. The extension of these methods to the case of an interacting particle finds a serious obstacle in the loss of the symmetry condition for the transformations of Galilei's group. The known attempts towards such an extension introduce restrictions which lead to theories empirically too limited. In the present article we show how the difficulties raised by the loss of symmetry can be overcome without the restrictions that affect tha past attempts. According to our results, the different specific forms of the wave equation of an interacting particle are implied by particular first order invariance properties that characterize the interaction with respect to specific sub-groups of galileian transformations. Moreover, the possibility of yet unknown forms of the wave equation is left open.

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.

Helicase promotes replication re-initiation from an RNA transcript.

PubMed

Sun, Bo; Singh, Anupam; Sultana, Shemaila; Inman, James T; Patel, Smita S; Wang, Michelle D

2018-06-13

To ensure accurate DNA replication, a replisome must effectively overcome numerous obstacles on its DNA substrate. After encountering an obstacle, a progressing replisome often aborts DNA synthesis but continues to unwind. However, little is known about how DNA synthesis is resumed downstream of an obstacle. Here, we examine the consequences of a non-replicating replisome collision with a co-directional RNA polymerase (RNAP). Using single-molecule and ensemble methods, we find that T7 helicase interacts strongly with a non-replicating T7 DNA polymerase (DNAP) at a replication fork. As the helicase advances, the associated DNAP also moves forward. The presence of the DNAP increases both helicase's processivity and unwinding rate. We show that such a DNAP, together with its helicase, is indeed able to actively disrupt a stalled transcription elongation complex, and then initiates replication using the RNA transcript as a primer. These observations exhibit T7 helicase's novel role in replication re-initiation.

Understanding reliance on automation: effects of error type, error distribution, age and experience

PubMed Central

Sanchez, Julian; Rogers, Wendy A.; Fisk, Arthur D.; Rovira, Ericka

2015-01-01

An obstacle detection task supported by “imperfect” automation was used with the goal of understanding the effects of automation error types and age on automation reliance. Sixty younger and sixty older adults interacted with a multi-task simulation of an agricultural vehicle (i.e. a virtual harvesting combine). The simulator included an obstacle detection task and a fully manual tracking task. A micro-level analysis provided insight into the way reliance patterns change over time. The results indicated that there are distinct patterns of reliance that develop as a function of error type. A prevalence of automation false alarms led participants to under-rely on the automation during alarm states while over relying on it during non-alarms states. Conversely, a prevalence of automation misses led participants to over-rely on automated alarms and under-rely on the automation during non-alarm states. Older adults adjusted their behavior according to the characteristics of the automation similarly to younger adults, although it took them longer to do so. The results of this study suggest the relationship between automation reliability and reliance depends on the prevalence of specific errors and on the state of the system. Understanding the effects of automation detection criterion settings on human-automation interaction can help designers of automated systems make predictions about human behavior and system performance as a function of the characteristics of the automation. PMID:25642142

Understanding reliance on automation: effects of error type, error distribution, age and experience.

PubMed

Sanchez, Julian; Rogers, Wendy A; Fisk, Arthur D; Rovira, Ericka

2014-03-01

An obstacle detection task supported by "imperfect" automation was used with the goal of understanding the effects of automation error types and age on automation reliance. Sixty younger and sixty older adults interacted with a multi-task simulation of an agricultural vehicle (i.e. a virtual harvesting combine). The simulator included an obstacle detection task and a fully manual tracking task. A micro-level analysis provided insight into the way reliance patterns change over time. The results indicated that there are distinct patterns of reliance that develop as a function of error type. A prevalence of automation false alarms led participants to under-rely on the automation during alarm states while over relying on it during non-alarms states. Conversely, a prevalence of automation misses led participants to over-rely on automated alarms and under-rely on the automation during non-alarm states. Older adults adjusted their behavior according to the characteristics of the automation similarly to younger adults, although it took them longer to do so. The results of this study suggest the relationship between automation reliability and reliance depends on the prevalence of specific errors and on the state of the system. Understanding the effects of automation detection criterion settings on human-automation interaction can help designers of automated systems make predictions about human behavior and system performance as a function of the characteristics of the automation.

Prediction of air blast mitigation in an array of rigid obstacles using smoothed particle hydrodynamics

NASA Astrophysics Data System (ADS)

Prasanna Kumar, S. S.; Patnaik, B. S. V.; Ramamurthi, K.

2018-04-01

The mitigation of blast waves propagating in air and interacting with rigid barriers and obstacles is numerically investigated using the mesh-free smoothed particle hydrodynamics method. A novel virtual boundary particle procedure with a skewed gradient wall boundary treatment is applied at the interfaces between air and rigid bodies. This procedure is validated with closed-form solutions for strong and weak shock reflection from rigid surfaces, supersonic flows over a wedge, formation of reflected, transverse, and Mach stem shocks, and also earlier experiments on interaction of a blast wave with concrete blocks. The mitigation of the overpressure and impulse transmitted to the protected structure due to an array of rigid obstacles of different shapes placed in the path of the blast wave is thereafter determined and discussed in the context of the existing experimental and numerical studies. It is shown that blockages having the shape of a right facing triangle or square placed in tandem or staggered provide better mitigation. The influence of the distance between the blockage array and protected structure is assessed, and the incorporation of a gap in the blockages is shown to improve the mitigation. The mechanisms responsible for the attenuation of air blast are identified through the simulations.

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.

Development of a program for tele-rehabilitation of COPD patients across sectors: co-innovation in a network

PubMed Central

Dinesen, Birthe; Seeman, Janne; Gustafsson, Jeppe

2011-01-01

Introduction The aim of the Telekat project is to prevent re-admissions of patients with chronic obstructive pulmonary disease (COPD) by developing a preventive program of tele-rehabilitation across sectors for COPD patients. The development of the program is based on a co-innovation process between COPD patients, relatives, healthcare professionals and representatives from private firms and universities. This paper discusses the obstacles that arise in the co-innovation process of developing an integrated technique for tele-rehabilitation of COPD patients. Theory Network and innovation theory. Methods The case study was applied. A triangulation of data collection techniques was used: documents, observations (123 hours), qualitative interviews (n=32) and action research. Findings Obstacles were identified in the network context; these obstacles included the mindset of the healthcare professionals, inter-professionals relations, views of technology as a tool and competing visions for the goals of tele-rehabilitation. Conclusion We have identified obstacles that emerge in the co-innovation process when developing a programme for tele-rehabilitation of COPD patients in an inter-organizational context. Action research has been carried out and can have helped to facilitate the co-innovation process. PMID:21637709

Exploring the use of tablet PCs in veterinary medical education: opportunity or obstacle?

PubMed

Wang, Hong; Rush, Bonnie R; Wilkerson, Melinda; van der Merwe, Deon

2014-01-01

A tablet PC is a laptop computer with a touch screen and a digital pen or stylus that can be used for handwritten notes and drawings. The use of tablet PCs has been investigated in many disciplines such as engineering, mathematics, science, and education. The purpose of this article is to explore student and faculty attitudes toward and experiences with tablet PCs 6 years after the implementation of a tablet PC program in the College of Veterinary Medicine (CVM) at Kansas State University (K-State). This study reports that the use of tablet PCs has enhanced students' learning experiences through learner-interface interaction, learner-content interaction, learner-instructor interaction, and learner-learner interaction. This study also identifies digital distraction as the major negative experience with tablet PCs during class time. The tablet PC program provides CVM faculty the potential to pursue technology integration strategies that support expected learning outcomes and provides students the potential to develop self-monitoring and self-discipline skills that support learning with digital technologies.

Magnetic field observations near Mercury: Preliminary results from Mariner 10

NASA Technical Reports Server (NTRS)

Ness, N. F.; Behannon, K. W.; Lepping, R. P.; Whang, Y. C.; Schatten, K. H.

1974-01-01

Results are presented from a preliminary analysis of data obtained near Mercury by the NASA/GSFC Magnetic Field Experiment on Mariner 10. A very well developed, detached bow shock wave, which developed as the super-Alfvenic solar wind interacted with the planet Mercury was observed. A magnetosphere-like region, with maximum field strength of 98 gamma at closest approach (704 km altitude) was also observed, and was contained within boundaries similar to the terrestrial magnetopause. The obstacle deflecting the solar wind flow was global in size, but the origin of the enhanced magnetic field was not established. The most plausible explanation, considering the complete body of data, favored the conclusion that Mercury has an intrinsic magnetic field.

Interactive-rate Motion Planning for Concentric Tube Robots

PubMed Central

Torres, Luis G.; Baykal, Cenk; Alterovitz, Ron

2014-01-01

Concentric tube robots may enable new, safer minimally invasive surgical procedures by moving along curved paths to reach difficult-to-reach sites in a patient’s anatomy. Operating these devices is challenging due to their complex, unintuitive kinematics and the need to avoid sensitive structures in the anatomy. In this paper, we present a motion planning method that computes collision-free motion plans for concentric tube robots at interactive rates. Our method’s high speed enables a user to continuously and freely move the robot’s tip while the motion planner ensures that the robot’s shaft does not collide with any anatomical obstacles. Our approach uses a highly accurate mechanical model of tube interactions, which is important since small movements of the tip position may require large changes in the shape of the device’s shaft. Our motion planner achieves its high speed and accuracy by combining offline precomputation of a collision-free roadmap with online position control. We demonstrate our interactive planner in a simulated neurosurgical scenario where a user guides the robot’s tip through the environment while the robot automatically avoids collisions with the anatomical obstacles. PMID:25436176

On the dayside mantle region around those nonmagnetic solar system bodies which have ionosphere

NASA Astrophysics Data System (ADS)

Szego, K.; Sagdeev, R. Z.; Shapiro, V. D.; Shevchenko, V. I.

1992-08-01

The properties of the plasma environments close to the dayside obstacle boundary of nonmagnetic planets with ionospheres are compared to study the effects of turbulent wave-particle processes. Data are examined from Pioneer-Venus, Phobos-2, and Giotto/Vega data regarding Venus, Mars, and Comet P/Halley, respectively. The equivalent of the MHD obstacle boundary on the dayside is investigated with attention given to the wave-particle processes. A magnetic cavity is found to exist in observations and theory within the magnetosphere where the solar-wind magnetic field does not penetrate. The ionosphere penetrates the boundary, and a region is defined where the solar wind and the planetary/cometary plasma overlap. The region is called a mantle region in which: (1) the solar wind decelerates and the magnetic field piles up; (2) two counterstreaming ion populations exist; and (3) solar wind and body ions interact via wave-particle interaction.

Observations at Mercury encounter by the plasma science experiment on Mariner 10

NASA Technical Reports Server (NTRS)

Ogilvie, K. W.; Scudder, J. D.; Hartle, R. E.; Siscoe, G. L.; Bridge, H. S.; Lazarus, A. J.; Asbridge, J. R.; Bame, S. J.; Yeates, C. M.

1974-01-01

A fully developed bow shock and magnetosheath were observed near Mercury, providing unambiguous evidence for a strong interaction between Mercury and the solar wind. Inside the sheath there is a distinct region analogous to the magnetosphere or magnetotail of earth, populated by electrons with lower density and higher temperature than the electrons observed in the solar wind or magnetosheath. At the time of encounter, conditions were such that a perpendicular shock was observed on the inbound leg and a parallel shock was observed on the outbound leg of the trajectory, and energetic plasma electron events were detected upstream from the outbound shock crossing. The interaction is most likely not atmospheric, but the data clearly indicate that the obstacle to solar wind flow is magnetic, either intrinsic or induced.

Clonal cooperativity in heterogenous cancers

PubMed Central

Zhou, Hengbo; Neelakantan, Deepika; Ford, Heide L.

2016-01-01

Tumor heterogeneity is a major obstacle to the development of effective therapies and is thus an important focus of cancer research. Genetic and epigenetic alterations, as well as altered tumor microenvironments, result in tumors made up of diverse subclones with different genetic and phenotypic characteristics. Intratumor heterogeneity enables competition, but also supports clonal cooperation via cell-cell contact or secretion of factors, resulting in enhanced tumor progression. Here, we summarize recent findings related to interclonal interactions within a tumor and the therapeutic implications of such interactions, with an emphasis on how different subclones collaborate with each other to promote proliferation, metastasis and therapy-resistance. Furthermore, we propose that disruption of clonal cooperation by targeting key factors (such as Wnt and Hedgehog, amongst others) can be an alternative approach to improving clinical outcomes. PMID:27582427

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.

Functionalized graphene sheets for polymer nanocomposites.

PubMed

Ramanathan, T; Abdala, A A; Stankovich, S; Dikin, D A; Herrera-Alonso, M; Piner, R D; Adamson, D H; Schniepp, H C; Chen, X; Ruoff, R S; Nguyen, S T; Aksay, I A; Prud'Homme, R K; Brinson, L C

2008-06-01

Polymer-based composites were heralded in the 1960s as a new paradigm for materials. By dispersing strong, highly stiff fibres in a polymer matrix, high-performance lightweight composites could be developed and tailored to individual applications. Today we stand at a similar threshold in the realm of polymer nanocomposites with the promise of strong, durable, multifunctional materials with low nanofiller content. However, the cost of nanoparticles, their availability and the challenges that remain to achieve good dispersion pose significant obstacles to these goals. Here, we report the creation of polymer nanocomposites with functionalized graphene sheets, which overcome these obstacles and provide superb polymer-particle interactions. An unprecedented shift in glass transition temperature of over 40 degrees C is obtained for poly(acrylonitrile) at 1 wt% functionalized graphene sheet, and with only 0.05 wt% functionalized graphene sheet in poly(methyl methacrylate) there is an improvement of nearly 30 degrees C. Modulus, ultimate strength and thermal stability follow a similar trend, with values for functionalized graphene sheet- poly(methyl methacrylate) rivaling those for single-walled carbon nanotube-poly(methyl methacrylate) composites.

Precision medicine at the crossroads.

PubMed

Olson, Maynard V

2017-10-11

There are bioethical, institutional, economic, legal, and cultural obstacles to creating the robust-precompetitive-data resource that will be required to advance the vision of "precision medicine," the ability to use molecular data to target therapies to patients for whom they offer the most benefit at the least risk. Creation of such an "information commons" was the central recommendation of the 2011 report Toward Precision Medicine issued by a committee of the National Research Council of the USA (Committee on a Framework for Development of a New Taxonomy of Disease; National Research Council. Toward precision medicine: building a knowledge network for biomedical research and a new taxonomy of disease. 2011). In this commentary, I review the rationale for creating an information commons and the obstacles to doing so; then, I endorse a path forward based on the dynamic consent of research subjects interacting with researchers through trusted mediators. I assert that the advantages of the proposed system overwhelm alternative ways of handling data on the phenotypes, genotypes, and environmental exposures of individual humans; hence, I argue that its creation should be the central policy objective of early efforts to make precision medicine a reality.

Toward Novel Vaccines Against Tuberculosis: Current Hopes and Obstacles

PubMed Central

Thaiss, Christoph A.; Kaufmann, Stefan H.E.

2010-01-01

Approximately 2 million people die of tuberculosis (TB) each year. The current vaccine, Bacille Calmette-Guérin (BCG), albeit widely employed, does not protect against adult pulmonary disease, and new vaccines are urgently needed to reduce the incidence of TB worldwide. New insights into the cellular and molecular mechanisms that underlie the interactions between Mycobacterium tuberculosis and its host have been exploited to develop novel vaccine candidates that recently have entered clinical trials. This review provides a brief overview of different approaches toward a new vaccination strategy and summarizes major challenges for the next decade. PMID:21165340

Data acquisition and path selection decision making for an autonomous roving vehicle

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data.

History of electroweak symmetry breaking

NASA Astrophysics Data System (ADS)

Kibble, T. W. B.

2015-07-01

In this talk, I recall the history of the development of the unified electroweak theory, incorporating the symmetry-breaking Higgs mechanism, as I saw it from my standpoint as a member of Abdus Salam's group at Imperial College. I start by describing the state of physics in the years after the Second World War, explain how the goal of a unified gauge theory of weak and electromagnetic interactions emerged, the obstacles encountered, in particular the Goldstone theorem, and how they were overcome, followed by a brief account of more recent history, culminating in the historic discovery of the Higgs boson in 2012.

Training under Fire: The Relationship between Obstacles Facing Training and SMEs Development in Palestine

ERIC Educational Resources Information Center

AlMadhoun, Mohammed

2006-01-01

Purpose: The main objective of this paper is to discuss the relationship between obstacles and weaknesses facing the development of MTPs and SMEs. In recent years many management training programmes (MTPs) of an off-the-job nature have been established in Palestine, after the peace agreement, in order to find a solution for apparent lack of…

Research on the Design of Visually Impaired Interactive Accessibility in Large Urban Public Transport System

NASA Astrophysics Data System (ADS)

Zhang, Weiru

2017-12-01

In medieval times, due to people’s reliance on belief, public space of Christianity came into being. With the rise of secularization, religion gradually turned into private belief, and accordingly public space returned to private space. In the 21st century, due to people’s reliance on intelligent devices, information-interactive public space emerges, and as information interaction is constantly constraining the visually impaired, public space regressed to the exclusive space of limited people[1]. Modernity is marked by technical rationality, but an ensuing basic problem lies in the separation between human action, ethics and public space. When technology fails to overcome obstacles for a particular group, the gap between the burgeoning intelligent phenomena and the increasing ratio of visually impaired is also expanding, ultimately resulting in a growing number of “blind spots” in information-interactive space. Technological innovation not only promotes the development of the information industry, but also promotes the rapid development of the transportation industry. Traffic patterns are diversifying and diverging nowadays, but it’s a fatal blow for people with visually disabilities, Because they still can only experience the most traditional mode of transportation, sometimes even not go out. How to guarantee their interactive accessibility in large urban public transport system right, currently, is a very important research direction.

Obstacles to Innovation in Brazil: The Lack of Qualified Individuals to Implement Innovation and Establish University-Firm Interactions

ERIC Educational Resources Information Center

Rapini, Marcia Siqueira; Chiarini, Tulio; Bittencourt, Pablo Felipe

2017-01-01

Through an investigation of data available from the Brazilian Innovation Survey (Pesquisa de Inovação) of the Brazilian Institute of Geography and Statistics (Instituto Brasileiro de Geografia e Estatística) and from a national survey on university-firm interactions (the BR Survey), the authors show that Brazilian industrial firms lack qualified…

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.

Middle East respiratory syndrome: obstacles and prospects for vaccine development

PubMed Central

Papaneri, Amy B.; Johnson, Reed F.; Wada, Jiro; Bollinger, Laura; Jahrling, Peter B.; Kuhn, Jens H.

2016-01-01

Summary The recent emergence of Middle East respiratory syndrome (MERS) highlights the need to engineer new methods for expediting vaccine development against emerging diseases. However, several obstacles prevent pursuit of a licensable MERS vaccine. First, the lack of a suitable animal model for MERS complicates in vivo testing of candidate vaccines. Second, due to the low number of MERS cases, pharmaceutical companies have little incentive to pursue MERS vaccine production as the costs of clinical trials are high. In addition, the timeline from bench research to approved vaccine use is 10 years or longer. Using novel methods and cost-saving strategies, genetically engineered vaccines can be produced quickly and cost-effectively. Along with progress in MERS animal model development, these obstacles can be circumvented or at least mitigated. PMID:25864502

Access and barriers to health care delivery in Arab countries: a review.

PubMed

Kronfol, N M

2012-12-01

This paper reviews some of the main obstacles encountered by the population (or rather by different social groups) in accessing health services in Arab countries. These obstacles can be social and cultural, administrative and organizational or financial and may impact on gender and ethnic groups to different degrees. Governments are urged to address the health inequalities that result from these obstacles and promote equity, solidarity and fairness through social policies that enhance social and national development.

An intelligent rollator for mobility impaired persons, especially stroke patients.

PubMed

Hellström, Thomas; Lindahl, Olof; Bäcklund, Tomas; Karlsson, Marcus; Hohnloser, Peter; Bråndal, Anna; Hu, Xiaolei; Wester, Per

2016-07-01

An intelligent rollator (IRO) was developed that aims at obstacle detection and guidance to avoid collisions and accidental falls. The IRO is a retrofit four-wheeled rollator with an embedded computer, two solenoid brakes, rotation sensors on the wheels and IR-distance sensors. The value reported by each distance sensor was compared in the computer to a nominal distance. Deviations indicated a present obstacle and caused activation of one of the brakes in order to influence the direction of motion to avoid the obstacle. The IRO was tested by seven healthy subjects with simulated restricted and blurred sight and five stroke subjects on a standardised indoor track with obstacles. All tested subjects walked faster with intelligence deactivated. Three out of five stroke patients experienced more detected obstacles with intelligence activated. This suggests enhanced safety during walking with IRO. Further studies are required to explore the full value of the IRO.

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.

Effect of visuospatial neglect on spatial navigation and heading after stroke.

PubMed

Aravind, Gayatri; Lamontagne, Anouk

2017-06-09

Visuospatial neglect (VSN) impairs the control of locomotor heading in post-stroke individuals, which may affect their ability to safely avoid moving objects while walking. We aimed to compare VSN+ and VSN- stroke individuals in terms of changes in heading and head orientation in space while avoiding obstacles approaching from different directions and reorienting toward the final target. Stroke participants with VSN (VSN+) and without VSN (VSN-) walked in a virtual environment avoiding obstacles that approached contralesionally, head-on or ipsilesionally. Measures of obstacle avoidance (onset-of-heading change, maximum mediolateral deviation) and target alignment (heading and head-rotation errors with respect to target) were compared across groups and obstacle directions. In total, 26 participants with right-hemisphere stroke participated (13 VSN+ and 13 VSN-; 24 males; mean age 60.3 years, range 48 to 72 years). A larger proportion of VSN+ (75%) than VSN- (38%) participants collided with contralesional and head-on obstacles. For VSN- participants, deviating to the same side as the obstacle was a safe strategy to avoid diagonal obstacles and deviating to the opposite-side led to occasional collisions. VSN+ participants deviated ipsilesionally, displaying same-side and opposite-side strategies for ipsilesional and contralesional obstacles, respectively. Overall, VSN+ participants showed greater distances at onset-of-heading change, smaller maximum mediolateral deviation and larger errors in target alignment as compared with VSN- participants. The ipsilesional bias arising from VSN influences the modulation of heading in response to obstacles and, along with the adoption of the "riskier" strategies, contribute to the higher number colliders and poor goal-directed walking abilities in stroke survivors with VSN. Future research should focus on developing assessment and training tools for complex locomotor tasks such as obstacle avoidance in this population. Copyright © 2017 Elsevier Masson SAS. All rights reserved.

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.

Effective Brownian ratchet separation by a combination of molecular filtering and a self-spreading lipid bilayer system.

PubMed

Motegi, Toshinori; Nabika, Hideki; Fu, Yingqiang; Chen, Lili; Sun, Yinlu; Zhao, Jianwei; Murakoshi, Kei

2014-07-01

A new molecular manipulation method in the self-spreading lipid bilayer membrane by combining Brownian ratchet and molecular filtering effects is reported. The newly designed ratchet obstacle was developed to effectively separate dye-lipid molecules. The self-spreading lipid bilayer acted as both a molecular transport system and a manipulation medium. By controlling the size and shape of ratchet obstacles, we achieved a significant increase in the separation angle for dye-lipid molecules compared to that with the previous ratchet obstacle. A clear difference was observed between the experimental results and the simple random walk simulation that takes into consideration only the geometrical effect of the ratchet obstacles. This difference was explained by considering an obstacle-dependent local decrease in molecular diffusivity near the obstacles, known as the molecular filtering effect at nanospace. Our experimental findings open up a novel controlling factor in the Brownian ratchet manipulation that allow the efficient separation of molecules in the lipid bilayer based on the combination of Brownian ratchet and molecular filtering effects.

Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain.

PubMed

Li, Chen; Pullin, Andrew O; Haldane, Duncan W; Lam, Han K; Fearing, Ronald S; Full, Robert J

2015-06-22

Many animals, modern aircraft, and underwater vehicles use fusiform, streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through cluttered terrain where three-dimensional, multi-component obstacles like grass, shrubs, vines, and leaf litter also resist motion, but it is unknown whether their body shape plays a major role in traversal. Few ground vehicles or terrestrial robots have used body shape to more effectively traverse environments such as cluttered terrain. Here, we challenged forest-floor-dwelling discoid cockroaches (Blaberus discoidalis) possessing a thin, rounded body to traverse tall, narrowly spaced, vertical, grass-like compliant beams. Animals displayed high traversal performance (79 ± 12% probability and 3.4 ± 0.7 s time). Although we observed diverse obstacle traversal strategies, cockroaches primarily (48 ± 9% probability) used a novel roll maneuver, a form of natural parkour, allowing them to rapidly traverse obstacle gaps narrower than half their body width (2.0 ± 0.5 s traversal time). Reduction of body roundness by addition of artificial shells nearly inhibited roll maneuvers and decreased traversal performance. Inspired by this discovery, we added a thin, rounded exoskeletal shell to a legged robot with a nearly cuboidal body, common to many existing terrestrial robots. Without adding sensory feedback or changing the open-loop control, the rounded shell enabled the robot to traverse beam obstacles with gaps narrower than shell width via body roll. Such terradynamically 'streamlined' shapes can reduce terrain resistance and enhance traversability by assisting effective body reorientation via distributed mechanical feedback. Our findings highlight the need to consider body shape to improve robot mobility in real-world terrain often filled with clutter, and to develop better locomotor-ground contact models to understand interaction with 3D, multi-component terrain.

Anomalous behaviors during infiltration into heterogeneous porous media

NASA Astrophysics Data System (ADS)

Aarão Reis, F. D. A.; Bolster, D.; Voller, V. R.

2018-03-01

Flow and transport in heterogeneous porous media often exhibit anomalous behavior. A physical analog example is the uni-directional infiltration of a viscous liquid into a horizontal oriented Hele-Shaw cell containing through thickness flow obstacles; a system designed to mimic a gravel/sand medium with impervious inclusions. When there are no obstacles present or the obstacles form a multi-repeating pattern, the change of the length of infiltration F with time t tends to follow a Fickian like scaling, F ∼t1/2 . In the presence of obstacle fields laid out as Sierpinski carpet fractals, infiltration is anomalous, i.e., F ∼ tn, n ≠ 1/2. Here, we study infiltration into such Hele-Shaw cells. First we investigate infiltration into a square cell containing one fractal carpet and make the observation that it is possible to generate both sub (n < 1/2) and super (n > 1/2) diffusive behaviors within identical heterogeneity configurations. We show that this can be explained in terms of a scaling analysis developed from results of random-walk simulations in fractal obstacles; a result indicating that the nature of the domain boundary controls the exponent n of the resulting anomalous transport. Further, we investigate infiltration into a rectangular cell containing several repeats of a given Sierpinski carpet. At very early times, before the liquid encounters any obstacles, the infiltration is Fickian. When the liquid encounters the first (smallest scale) obstacle the infiltration sharply transitions to sub-diffusive. Subsequently, around the time where the liquid has sampled all of the heterogeneity length scales in the system, there is a rapid transition back to Fickian behavior. An explanation for this second transition is obtained by developing a simplified infiltration model based on the definition of a representative averaged hydraulic conductivity.

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.

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.

Development of a frequency-modulated ultrasonic sensor inspired by bat echolocation

NASA Astrophysics Data System (ADS)

Kepa, Krzysztof; Abaid, Nicole

2015-03-01

Bats have evolved to sense using ultrasonic signals with a variety of different frequency signatures which interact with their environment. Among these signals, those with time-varying frequencies may enable the animals to gather more complex information for obstacle avoidance and target tracking. Taking inspiration from this system, we present the development of a sonar sensor capable of generating frequency-modulated ultrasonic signals. The device is based on a miniature mobile computer, with on board data capture and processing capabilities, which is designed for eventual autonomous operation in a robotic swarm. The hardware and software components of the sensor are detailed, as well their integration. Preliminary results for target detection using both frequency-modulated and constant frequency signals are discussed.

Application of advanced computational procedures for modeling solar-wind interactions with Venus: Theory and computer code

NASA Technical Reports Server (NTRS)

Stahara, S. S.; Klenke, D.; Trudinger, B. C.; Spreiter, J. R.

1980-01-01

Computational procedures are developed and applied to the prediction of solar wind interaction with nonmagnetic terrestrial planet atmospheres, with particular emphasis to Venus. The theoretical method is based on a single fluid, steady, dissipationless, magnetohydrodynamic continuum model, and is appropriate for the calculation of axisymmetric, supersonic, super-Alfvenic solar wind flow past terrestrial planets. The procedures, which consist of finite difference codes to determine the gasdynamic properties and a variety of special purpose codes to determine the frozen magnetic field, streamlines, contours, plots, etc. of the flow, are organized into one computational program. Theoretical results based upon these procedures are reported for a wide variety of solar wind conditions and ionopause obstacle shapes. Plasma and magnetic field comparisons in the ionosheath are also provided with actual spacecraft data obtained by the Pioneer Venus Orbiter.

Robust mobility in human-populated environments

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

Automated path planning of the Payload Inspection and Processing System

NASA Technical Reports Server (NTRS)

Byers, Robert M.

1994-01-01

The Payload Changeout Room Inspection and Processing System (PIPS) is a highly redundant manipulator intended for performing tasks in the crowded and sensitive environment of the Space Shuttle Orbiter payload bay. Its dexterity will be exploited to maneuver the end effector in a workspace populated with obstacles. A method is described by which the end effector of a highly redundant manipulator is directed toward a target via a Lyapunov stability function. A cost function is constructed which represents the distance from the manipulator links to obstacles. Obstacles are avoided by causing the vector of joint parameters to move orthogonally to the gradient of the workspace cost function. A C language program implements the algorithm to generate a joint history. The resulting motion is graphically displayed using the Interactive Graphical Robot Instruction Program (IGRIP) produced by Deneb Robotics. The graphical simulation has the potential to be a useful tool in path planning for the PIPS in the Shuttle Payload Bay environment.

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

NASA Astrophysics Data System (ADS)

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

2009-05-01

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

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.

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.

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.

Transition operators in electromagnetic-wave diffraction theory - General theory

NASA Technical Reports Server (NTRS)

Hahne, G. E.

1992-01-01

A formal theory is developed for the scattering of time-harmonic electromagnetic waves from impenetrable immobile obstacles with given linear, homogeneous, and generally nonlocal boundary conditions of Leontovich (impedance) type for the wave of the obstacle's surface. The theory is modeled on the complete Green's function and the transition (T) operator in time-independent formal scattering theory of nonrelativistic quantum mechanics. An expression for the differential scattering cross section for plane electromagnetic waves is derived in terms of certain matrix elements of the T operator for the obstacle.

Identifying Keystone Species in the Human Gut Microbiome from Metagenomic Timeseries Using Sparse Linear Regression

PubMed Central

Fisher, Charles K.; Mehta, Pankaj

2014-01-01

Human associated microbial communities exert tremendous influence over human health and disease. With modern metagenomic sequencing methods it is now possible to follow the relative abundance of microbes in a community over time. These microbial communities exhibit rich ecological dynamics and an important goal of microbial ecology is to infer the ecological interactions between species directly from sequence data. Any algorithm for inferring ecological interactions must overcome three major obstacles: 1) a correlation between the abundances of two species does not imply that those species are interacting, 2) the sum constraint on the relative abundances obtained from metagenomic studies makes it difficult to infer the parameters in timeseries models, and 3) errors due to experimental uncertainty, or mis-assignment of sequencing reads into operational taxonomic units, bias inferences of species interactions due to a statistical problem called “errors-in-variables”. Here we introduce an approach, Learning Interactions from MIcrobial Time Series (LIMITS), that overcomes these obstacles. LIMITS uses sparse linear regression with boostrap aggregation to infer a discrete-time Lotka-Volterra model for microbial dynamics. We tested LIMITS on synthetic data and showed that it could reliably infer the topology of the inter-species ecological interactions. We then used LIMITS to characterize the species interactions in the gut microbiomes of two individuals and found that the interaction networks varied significantly between individuals. Furthermore, we found that the interaction networks of the two individuals are dominated by distinct “keystone species”, Bacteroides fragilis and Bacteroided stercosis, that have a disproportionate influence on the structure of the gut microbiome even though they are only found in moderate abundance. Based on our results, we hypothesize that the abundances of certain keystone species may be responsible for individuality in the human gut microbiome. PMID:25054627

Studies on the interaction of water with three granular biopesticide formulations

USDA-ARS?s Scientific Manuscript database

Two obstacles for biopesticide commercialization, long shelf-life and reliable efficacy, are both affected by moisture availability or more specifically, water activity. In the present study, the moisture sorption isotherms of three clay-based biopesticide delivery systems denoted as TRE-G, Pesta, ...

Modal analysis of dislocation vibration and reaction attempt frequency

DOE PAGES

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

2017-02-04

Transition state theory is a fundamental approach for temporal coarse-graining. It estimates the reaction rate for a transition processes by quantifying the activation free energy and attempt frequency for the unit process. To calculate the transition rate of a gliding dislocation, the attempt frequency is often obtained from line tension estimates of dislocation vibrations, a highly simplified model of dislocation behavior. This work revisits the calculation of attempt frequency for a dislocation bypassing an obstacle, in this case a self-interstitial atom (SIA) loop. First, a direct calculation of the vibrational characteristics of a finite pinned dislocation segment is compared tomore » line tension estimates before moving to the more complex case of dislocation-obstacle bypass. The entropic factor associated with the attempt frequency is calculated for a finite dislocation segment and for an infinite glide dislocation interacting with an SIA loop. Lastly, it is found to be dislocation length independent for three cases of dislocation-self interstitial atom (SIA) loop interactions.« less

Genetic variation in arthropod vectors of disease-causing organisms: obstacles and opportunities.

PubMed Central

Gooding, R H

1996-01-01

An overview of the genetic variation in arthropods that transmit pathogens to vertebrates is presented, emphasizing the genetics of vector-pathogen relationships and the biochemical genetics of vectors. Vector-pathogen interactions are reviewed briefly as a prelude to a discussion of the genetics of susceptibility and refractoriness in vectors. Susceptibility to pathogens is controlled by maternally inherited factors, sex-linked dominant alleles, and dominant and recessive autosomal genes. There is widespread interpopulation (including intercolony) and temporal variation in susceptibility to pathogens. The amount of biochemical genetic variation in vectors is similar to that found in other invertebrates. However, the amount varies widely among species, among populations within species, and temporally within populations. Biochemical genetic studies show that there is considerable genetic structuring of many vectors at the local, regional, and global levels. It is argued that genetic variation in vectors is critical in understanding vector-pathogen interactions and that genetic variation in vectors creates both obstacles to and opportunities for application of genetic techniques to the control of vectors. PMID:8809462

Experiments and theory of undulatory locomotion in a simple structured medium

PubMed Central

Majmudar, Trushant; Keaveny, Eric E.; Zhang, Jun; Shelley, Michael J.

2012-01-01

Undulatory locomotion of micro-organisms through geometrically complex, fluidic environments is ubiquitous in nature and requires the organism to negotiate both hydrodynamic effects and geometrical constraints. To understand locomotion through such media, we experimentally investigate swimming of the nematode Caenorhabditis elegans through fluid-filled arrays of micro-pillars and conduct numerical simulations based on a mechanical model of the worm that incorporates hydrodynamic and contact interactions with the lattice. We show that the nematode's path, speed and gait are significantly altered by the presence of the obstacles and depend strongly on lattice spacing. These changes and their dependence on lattice spacing are captured, both qualitatively and quantitatively, by our purely mechanical model. Using the model, we demonstrate that purely mechanical interactions between the swimmer and obstacles can produce complex trajectories, gait changes and velocity fluctuations, yielding some of the life-like dynamics exhibited by the real nematode. Our results show that mechanics, rather than biological sensing and behaviour, can explain some of the observed changes in the worm's locomotory dynamics. PMID:22319110

Concept development of automatic guidance for rotorcraft obstacle avoidance

NASA Technical Reports Server (NTRS)

Cheng, Victor H. L.

1990-01-01

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

USE OF INTEGRATED PLANNING TOOLS FOR REVITALIZATION: SMARTE (U.S.) AND START-UP PLAN (GERMANY)

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...

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

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia; Coraor, Lee

2000-01-01

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

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.

Determination of Misconceptions Belonging to the "Solar System and Beyond: Space Puzzle" Unit in 7th Grade Science and Technology Curriculum with Two-Tier Diagnostic Tests

ERIC Educational Resources Information Center

Töman, Ögr. Gör. Ufuk; Ergen, Yusuf

2014-01-01

Today's World is in period of rapid development of science and technology. There is science and technology education that not based on rote, practical on the basis of development in science and technology. Misconceptions are a major obstacle in order to take the desired efficiency. Because concepts that learned wrong obstacle attainment of right…

Collision avoidance using neural networks

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Numerical calculations of velocity and pressure distribution around oscillating airfoils

NASA Technical Reports Server (NTRS)

Bratanow, T.; Ecer, A.; Kobiske, M.

1974-01-01

An analytical procedure based on the Navier-Stokes equations was developed for analyzing and representing properties of unsteady viscous flow around oscillating obstacles. A variational formulation of the vorticity transport equation was discretized in finite element form and integrated numerically. At each time step of the numerical integration, the velocity field around the obstacle was determined for the instantaneous vorticity distribution from the finite element solution of Poisson's equation. The time-dependent boundary conditions around the oscillating obstacle were introduced as external constraints, using the Lagrangian Multiplier Technique, at each time step of the numerical integration. The procedure was then applied for determining pressures around obstacles oscillating in unsteady flow. The obtained results for a cylinder and an airfoil were illustrated in the form of streamlines and vorticity and pressure distributions.

A Systematic Study of Sustainable Development Goal (SDG) Interactions

NASA Astrophysics Data System (ADS)

Pradhan, Prajal; Costa, Luís.; Rybski, Diego; Lucht, Wolfgang; Kropp, Jürgen P.

2017-11-01

Sustainable development goals (SDGs) have set the 2030 agenda to transform our world by tackling multiple challenges humankind is facing to ensure well-being, economic prosperity, and environmental protection. In contrast to conventional development agendas focusing on a restricted set of dimensions, the SDGs provide a holistic and multidimensional view on development. Hence, interactions among the SDGs may cause diverging results. To analyze the SDG interactions we systematize the identification of synergies and trade-offs using official SDG indicator data for 227 countries. A significant positive correlation between a pair of SDG indicators is classified as a synergy while a significant negative correlation is classified as a trade-off. We rank synergies and trade-offs between SDGs pairs on global and country scales in order to identify the most frequent SDG interactions. For a given SDG, positive correlations between indicator pairs were found to outweigh the negative ones in most countries. Among SDGs the positive and negative correlations between indicator pairs allowed for the identification of particular global patterns. SDG 1 (No poverty) has synergetic relationship with most of the other goals, whereas SDG 12 (Responsible consumption and production) is the goal most commonly associated with trade-offs. The attainment of the SDG agenda will greatly depend on whether the identified synergies among the goals can be leveraged. In addition, the highlighted trade-offs, which constitute obstacles in achieving the SDGs, need to be negotiated and made structurally nonobstructive by deeper changes in the current strategies.

Induced vibrations facilitate traversal of cluttered obstacles

NASA Astrophysics Data System (ADS)

Thoms, George; Yu, Siyuan; Kang, Yucheng; Li, Chen

When negotiating cluttered terrains such as grass-like beams, cockroaches and legged robots with rounded body shapes most often rolled their bodies to traverse narrow gaps between beams. Recent locomotion energy landscape modeling suggests that this locomotor pathway overcomes the lowest potential energy barriers. Here, we tested the hypothesis that body vibrations induced by intermittent leg-ground contact facilitate obstacle traversal by allowing exploration of locomotion energy landscape to find this lowest barrier pathway. To mimic a cockroach / legged robot pushing against two adjacent blades of grass, we developed an automated robotic system to move an ellipsoidal body into two adjacent beams, and varied body vibrations by controlling an oscillation actuator. A novel gyroscope mechanism allowed the body to freely rotate in response to interaction with the beams, and an IMU and cameras recorded the motion of the body and beams. We discovered that body vibrations facilitated body rolling, significantly increasing traversal probability and reducing traversal time (P <0.0001, ANOVA). Traversal probability increased with and traversal time decreased with beam separation. These results confirmed our hypothesis and support the plausibility of locomotion energy landscapes for understanding the formation of locomotor pathways in complex 3-D terrains.

Science teachers' mission impossible?: a qualitative study of obstacles in assessing students' practical abilities

NASA Astrophysics Data System (ADS)

Sund, Per

2016-09-01

Science teachers regard practical work as important and many claim that it helps students to learn science. Besides theoretical knowledge, such as concepts and formulas, practical work is considered to be an integral and basic part of science education. As practical work is perceived and understood in different ways, comparing the results between classes and schools is difficult. One way of making the results comparable is to develop systematic inquiries to be assessed in national large-scale tests. However, introducing similar testing conditions in a laboratory environment is not always possible. Although the instructions and assessment guides for such tests are detailed, many obstacles need to be overcome if equality in the overall test situation is to be achieved. This empirical case study investigates two secondary school science teachers' assessments of 15-16 years old students in three separate groups in the practical part of a Swedish national test in chemistry. Data are gathered using two video cameras and three pairs of spy camera glasses. The results show that individual and independent assessments are difficult due to the social interactions that take place and the physical sources of errors that occur in this type of setting.

Magnetic Field Observations near Mercury: Preliminary Results from Mariner 10.

PubMed

Ness, N F; Behannon, K W; Lepping, R P; Whang, Y C; Schatten, K H

1974-07-12

Results are presented from a preliminary analysis of data obtained near Mercury on 29 March 1974 by the NASA-GSFC magnetic field experiment on Mariner 10. Rather unexpectedly, a very well-developed, detached bow shock wave, which develops as the super-Alfvénic solar wind interacts with the planet, has been observed. In addition, a magnetosphere-like region, with maximum field strength of 98 gammas at closest approach (704 kilometers altitude), has been observed, contained within boundaries similar to the terrestrial magnetopause. The obstacle deflecting the solar wind flow is global in size, but the origin of the enhanced magnetic field has not yet been uniquely established. The field may be intrinsic to the planet and distorted by interaction with the solar wind. It may also be associated with a complex induction process whereby the planetary interior-atmosphere-ionosphere interacts with the solar wind flow to generate the observed field by a dynamo action. The complete body of data favors the preliminary conclusion that Mercury has an intrinsic magnetic field. If this is correct, it represents a major scientific discovery in planetary magnetism and will have considerable impact on studies of the origin of the solar system.

Students' and teachers' focus of attention in classroom interaction — subtle sources for the reproduction of social disparities

NASA Astrophysics Data System (ADS)

Vogler, Anna-Marietha; Prediger, Susanne; Quasthoff, Uta; Heller, Vivien

2018-01-01

Mathematics classroom interaction has often been described as an important context for involving all students. However, this article shows that teacher-student-interaction is still not really in the focus of teachers' attention. Based on classroom video studies, some authors hypothesize that the implicitness of establishing norms and practices is, among others, an obstacle for students with low socio-economic status. The article intends to put this hypothesis into perspective by investigating teachers' and students' focus of attention on classroom interaction in video-stimulated group discussions (six discussions with 5-6 students, four discussions with 5-9 teachers). The data analysis used inductive procedures of category development, frequency analysis, and deeper qualitative analysis of the transcripts. For students' focus of attention, differential patterns could be extrapolated: Whereas students of high socio-economic status seem to be more attentive to teacher's contextual expectations, the students of low socio-economic status seem to be more focused on general norms without taking into account contextual expectations. For the teachers, the analysis shows that interactive mechanisms of teacher-student exchanges in classrooms are usually not in the teachers' focus of attention. Additionally, the teachers address, but rarely problematize the implicitness by which norms and practices are established. Together with the differential findings on students' attention, these findings are discussed with respect to equity concerns and consequences for professional development of teachers.

Multidisciplinary unmanned technology teammate (MUTT)

NASA Astrophysics Data System (ADS)

Uzunovic, Nenad; Schneider, Anne; Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark

2013-01-01

The U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) held an autonomous robot competition called CANINE in June 2012. The goal of the competition was to develop innovative and natural control methods for robots. This paper describes the winning technology, including the vision system, the operator interaction, and the autonomous mobility. The rules stated only gestures or voice commands could be used for control. The robots would learn a new object at the start of each phase, find the object after it was thrown into a field, and return the object to the operator. Each of the six phases became more difficult, including clutter of the same color or shape as the object, moving and stationary obstacles, and finding the operator who moved from the starting location to a new location. The Robotic Research Team integrated techniques in computer vision, speech recognition, object manipulation, and autonomous navigation. A multi-filter computer vision solution reliably detected the objects while rejecting objects of similar color or shape, even while the robot was in motion. A speech-based interface with short commands provided close to natural communication of complicated commands from the operator to the robot. An innovative gripper design allowed for efficient object pickup. A robust autonomous mobility and navigation solution for ground robotic platforms provided fast and reliable obstacle avoidance and course navigation. The research approach focused on winning the competition while remaining cognizant and relevant to real world applications.

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.

Scientific Research in Jordanian Higher Education Institutions: An Evaluation of the Status and Obstacles

ERIC Educational Resources Information Center

bin Tareef, Atif

2009-01-01

This study aimed at identifying the status and obstacles of scientific research in Jordanian higher education institutions. And defined by being an attempt to increase faculty member's, researcher's and educational leader's attention to the necessity of improving research planning or strategies, professional development, working conditions,…

Obstacles to Developing Digital Literacy on the Internet in Middle School Science Instruction

ERIC Educational Resources Information Center

Colwell, Jamie; Hunt-Barron, Sarah; Reinking, David

2013-01-01

Obstacles, and instructional responses to them, that emerged in two middle school science classes during a formative experiment investigating Internet Reciprocal Teaching (IRT), an instructional intervention aimed at increasing digital literacy on the Internet, are reported in this manuscript. Analysis of qualitative data revealed that IRT enabled…

The Berlin Wall of Language: The Problem and Solution.

ERIC Educational Resources Information Center

Burroughs, Evelyn

1969-01-01

Several obstacles to social and intellectual growth confront the disadvantaged student whose nonstandard dialect is unacceptable to many users of standard English. To help him develop a bidialectalism that minimizes these obstacles, the English teacher needs to guide the student to explore the ways in which language conveys meaning; to experience…

Cognitive Activities in Solving Mathematical Tasks: The Role of a Cognitive Obstacle

ERIC Educational Resources Information Center

Antonijevic, Radovan

2016-01-01

In the process of learning mathematics, students practice various forms of thinking activities aimed to substantially contribute to the development of their different cognitive structures. In this paper, the subject matter is a "cognitive obstacle", a phenomenon that occurs in the procedures of solving mathematical tasks. Each task in…

Membrane Active Antimicrobial Peptides: Translating Mechanistic Insights to Design

PubMed Central

Li, Jianguo; Koh, Jun-Jie; Liu, Shouping; Lakshminarayanan, Rajamani; Verma, Chandra S.; Beuerman, Roger W.

2017-01-01

Antimicrobial peptides (AMPs) are promising next generation antibiotics that hold great potential for combating bacterial resistance. AMPs can be both bacteriostatic and bactericidal, induce rapid killing and display a lower propensity to develop resistance than do conventional antibiotics. Despite significant progress in the past 30 years, no peptide antibiotic has reached the clinic yet. Poor understanding of the action mechanisms and lack of rational design principles have been the two major obstacles that have slowed progress. Technological developments are now enabling multidisciplinary approaches including molecular dynamics simulations combined with biophysics and microbiology toward providing valuable insights into the interactions of AMPs with membranes at atomic level. This has led to increasingly robust models of the mechanisms of action of AMPs and has begun to contribute meaningfully toward the discovery of new AMPs. This review discusses the detailed action mechanisms that have been put forward, with detailed atomistic insights into how the AMPs interact with bacterial membranes. The review further discusses how this knowledge is exploited toward developing design principles for novel AMPs. Finally, the current status, associated challenges, and future directions for the development of AMP therapeutics are discussed. PMID:28261050

MITHRA 1.0: A full-wave simulation tool for free electron lasers

NASA Astrophysics Data System (ADS)

Fallahi, Arya; Yahaghi, Alireza; Kärtner, Franz X.

2018-07-01

Free Electron Lasers (FELs) are a solution for providing intense, coherent and bright radiation in the hard X-ray regime. Due to the low wall-plug efficiency of FEL facilities, it is crucial and additionally very useful to develop complete and accurate simulation tools for better optimizing a FEL interaction. The highly sophisticated dynamics involved in a FEL process was the main obstacle hindering the development of general simulation tools for this problem. We present a numerical algorithm based on finite difference time domain/Particle in cell (FDTD/PIC) in a Lorentz boosted coordinate system which is able to fulfill a full-wave simulation of a FEL process. The developed software offers a suitable tool for the analysis of FEL interactions without considering any of the usual approximations. A coordinate transformation to bunch rest frame makes the very different length scales of bunch size, optical wavelengths and the undulator period transform to values with the same order. Consequently, FDTD/PIC simulations in conjunction with efficient parallelization techniques make the full-wave simulation feasible using the available computational resources. Several examples of free electron lasers are analyzed using the developed software, the results are benchmarked based on standard FEL codes and discussed in detail.

The instrumental genesis process in future primary teachers using Dynamic Geometry Software

NASA Astrophysics Data System (ADS)

Ruiz-López, Natalia

2018-05-01

This paper, which describes a study undertaken with pairs of future primary teachers using GeoGebra software to solve geometry problems, includes a brief literature review, the theoretical framework and methodology used. An analysis of the instrumental genesis process for a pair participating in the case study is also provided. This analysis addresses the techniques and types of dragging used, the obstacles to learning encountered, a description of the interaction between the pair and their interaction with the teacher, and the type of language used. Based on this analysis, possibilities and limitations of the instrumental genesis process are identified for the development of geometric competencies such as conjecture creation, property checking and problem researching. It is also suggested that the methodology used in the analysis of the problem solving process may be useful for those teachers and researchers who want to integrate Dynamic Geometry Software (DGS) in their classrooms.

Observations at mercury encounter by the plasma science experiment on mariner 10.

PubMed

Ogilvie, K W; Scudder, J D; Hartle, R E; Siscoe, G L; Bridge, H S; Lazarus, A J; Asbridge, J R; Bame, S J; Yeates, C M

1974-07-12

A fully developed bow shock and magnetosheath were observed near Mercury, providing unambiguous evidence for a strong interaction between Mercury and the solar wind. Inside the sheath there is a distinct region analogous to the magnetosphere or magnetotail of Earth, populated by electrons with lower density and higher temperature than the electrons observed in the solar wind or magnetosheath. At the time of encounter, conditions were such that a perpendicular shock was observed on the inbound leg and a parallel shock was observed on the outbound leg of the trajectory, and energetic plasma electron events were detected upstream from the outbound shock crossing. The interaction is most likely not atmospheric, but the data clearly indicate that the obstacle to solar wind flow is magnetic, either intrinsic or induced. The particle fluxes and energy spectra showed large variations while the spacecraft was inside the magnetosphere, and these variations could be either spatial or temporal.

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

NASA Technical Reports Server (NTRS)

Pekelsma, Nicholas J.

1988-01-01

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

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

NASA Astrophysics Data System (ADS)

Alaouiamine, Mohammed

1991-08-01

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

The Magsat magnetometer boom

NASA Technical Reports Server (NTRS)

Smola, J. F.; Radford, W. E.; Reitz, M. H.

1980-01-01

A lightweight extendable structure that can precisely position magnetically sensitive instruments safe distances from magnetic sources in a spacecraft is described as well as the major areas of concern that played dominant roles in its development. Weight, packaging volume, thermal distortion, mechanical misalignments, dimensional instability, launch environments, and low temperature functioning were areas that presented some formidable obstacles. The ways in which these obstacles were dealt with are examined for those involving the development of similar aerospace mechanisms with equally restrictive requirements.

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.

Agricultural Education at a Distance: Attitudes and Perceptions of Secondary Teachers.

ERIC Educational Resources Information Center

Miller, Greg

1997-01-01

Responses from 102 of 140 Iowa secondary agriculture teachers revealed attitudes toward the interactive communications network (ICN), a two-way fiber optic telecommunications system. Teachers were concerned about such obstacles as scheduling ICN use and managing laboratory and supervised agricultural experience activities. They were undecided…

Blurring the Lines: A Blended Learning Model in a Graduate Public Administration Program

ERIC Educational Resources Information Center

Schuhmann, Robert A.; Skopek, Tracy A.

2009-01-01

Despite technological and pedagogical improvements, obstacles continue in certain areas of distance education, including a lack of interaction among students and instructors and associated feelings of disconnectedness from the campus community. This article explores the study results of a blended learning, distance education graduate program…

Towards the Goal of Full Employment: Trends, Obstacles and Policies.

ERIC Educational Resources Information Center

Richards, Peter

Expanding upon a report presented to the International Labor Organization (ILO), this book documents the current world employment situation, including how it has fallen short, how current economic policies interact with world employment, and how improvements can be made. Chapter one, "The Commitment to Full Employment," describes how the…

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.

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.

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.

Interaction of vestibular, echolocation, and visual modalities guiding flight by the big brown bat, Eptesicus fuscus.

PubMed

Horowitz, Seth S; Cheney, Cheryl A; Simmons, James A

2004-01-01

The big brown bat (Eptesicus fuscus) is an aerial-feeding insectivorous species that relies on echolocation to avoid obstacles and to detect flying insects. Spatial perception in the dark using echolocation challenges the vestibular system to function without substantial visual input for orientation. IR thermal video recordings show the complexity of bat flights in the field and suggest a highly dynamic role for the vestibular system in orientation and flight control. To examine this role, we carried out laboratory studies of flight behavior under illuminated and dark conditions in both static and rotating obstacle tests while administering heavy water (D2O) to impair vestibular inputs. Eptesicus carried out complex maneuvers through both fixed arrays of wires and a rotating obstacle array using both vision and echolocation, or when guided by echolocation alone. When treated with D2O in combination with lack of visual cues, bats showed considerable decrements in performance. These data indicate that big brown bats use both vision and echolocation to provide spatial registration for head position information generated by the vestibular system.

Soybean Seed Development: Fatty Acid and Phytohormone Metabolism and Their Interactions

PubMed Central

Nguyen, Quoc Thien.; Kisiala, Anna; Andreas, Peter; Neil Emery, R.J.; Narine, Suresh

2016-01-01

Vegetable oil utilization is determined by its fatty acid composition. In soybean and other grain crops, during the seed development oil accumulation is important trait for value in food or industrial applications. Seed development is relatively short and sensitive to unfavorable abiotic conditions. These stresses can lead to a numerous undesirable qualitative as well as quantitative changes in fatty acid production. Fatty acid manipulation which targets a higher content of a specific single fatty acid for food or industrial application has gained more attention. Despite several successes in modifying the ratio of endogenous fatty acids in most domesticated oilseed crops, numerous obstacles in FA manipulation of seed maturation are yet to be overcome. Remarkably, connections with plant hormones have not been well studied despite their critical roles in the regulation and promotion of a plethora of processes in plant growth and development. While activities of phytohormones during the reproductive phase have been partially clarified in seed physiology, the biological role of plant hormones in oil accumulation during seed development has not been investigated. In this review seed development and numerous effects of abiotic stresses are discussed. After describing fatty acid and phytohormone metabolism and their interactions, we postulate that the endogenous plant hormones play important roles in fatty acid production in soybean seeds. PMID:27252591

Numerical solutions of atmospheric flow over semielliptical simulated hills

NASA Technical Reports Server (NTRS)

Shieh, C. F.; Frost, W.

1981-01-01

Atmospheric motion over obstacles on plane surfaces to compute simulated wind fields over terrain features was studied. Semielliptical, two dimensional geometry and numerical simulation of flow over rectangular geometries is also discussed. The partial differential equations for the vorticity, stream function, turbulence kinetic energy, and turbulence length scale were solved by a finite difference technique. The mechanism of flow separation induced by a semiellipse is the same as flow over a gradually sloping surface for which the flow separation is caused by the interaction between the viscous force, the pressure force, and the turbulence level. For flow over bluff bodies, a downstream recirculation bubble is created which increases the aspect ratio and/or the turbulence level results in flow reattachment close behind the obstacle.

Universal Low-energy Behavior in a Quantum Lorentz Gas with Gross-Pitaevskii Potentials

NASA Astrophysics Data System (ADS)

Basti, Giulia; Cenatiempo, Serena; Teta, Alessandro

2018-06-01

We consider a quantum particle interacting with N obstacles, whose positions are independently chosen according to a given probability density, through a two-body potential of the form N 2 V ( N x) (Gross-Pitaevskii potential). We show convergence of the N dependent one-particle Hamiltonian to a limiting Hamiltonian where the quantum particle experiences an effective potential depending only on the scattering length of the unscaled potential and the density of the obstacles. In this sense our Lorentz gas model exhibits a universal behavior for N large. Moreover we explicitely characterize the fluctuations around the limit operator. Our model can be considered as a simplified model for scattering of slow neutrons from condensed matter.

A Versatile Applet to Explore the Wave Behaviour of Particles

ERIC Educational Resources Information Center

Fernandez Palop, J. I.

2009-01-01

A pedagogical tool that consists of a Java applet has been developed so that undergraduate students in physics can explore the wave behaviour of particles. The applet executes a simulation in which a two-dimensional wave packet moves towards a slit and an obstacle with variable widths. By changing three parameters, slit width, obstacle width and…

New Walkers with Down Syndrome Use Cautious but Effective Strategies for Crossing Obstacles

ERIC Educational Resources Information Center

Mulvey, Genna M.; Kubo, Masayoshi; Chang, Chia-Lin; Ulrich, Beverly D.

2011-01-01

Perception of affordances research in children with developmental disabilities has only examined well practiced skills. Ten toddlers with Down syndrome and 10 with typical development walked across a GAITRite mat, with and without an obstacle. We coded the toddlers' behaviors after 1 and 3 months of walking experience when they encountered the…

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

PubMed Central

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

2012-01-01

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

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

PubMed

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

2013-01-01

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

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.

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

PubMed

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

2017-05-28

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

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.

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.

How Effective Is Our Teaching?

NASA Astrophysics Data System (ADS)

Wyckoff, S.

2002-05-01

More than 90% of U.S. university introductory physics courses are taught using lecture methods in spite of the large amount of research indicating that interactive teaching is considerably more effective. A brief overview of physics education research will be given, together with relevant connections with astronomy education research. Large enrollment classrooms have in the past presented obstacles to converting from lecture to interactive teaching. However, classroom communication systems (CCS) now provide a cost-effective way to convert any science classroom into an interactive learning environment. A pretest-posttest study using control groups of ten large enrollment introductory physics courses will be described. A new instrument, the Physics Concept Survey (PCS), developed to measure student understanding of basic concepts will be described, together with a classroom observation instrument, the Reformed Teaching Observation Protocol (RTOP), for measuring the extent that interactive teaching is used in a science classroom. We find that student conceptual understanding was enhanced by a factor of three in the interactive classrooms compared with the traditional lecture (control) courses. Moreover, a correlation between the PCS normalized gains and the RTOP scores is indicative that the interaction in the classrooms is the cause of the students' improved learning of basic physics concepts. This research was funded by the NSF (DUE 9453610).

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.

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

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

CHALLENGES IN PHENOTYPE DEFINITION IN THE WHOLE-GENOME ERA: MULTIVARIATE MODELS OF MEMORY AND INTELLIGENCE

PubMed Central

SABB, F. W.; BURGGREN, A. C.; HIGIER, R. G.; FOX, J.; HE, J.; PARKER, D. S.; POLDRACK, R. A.; CHU, W.; CANNON, T. D.; FREIMER, N. B.; BILDER, R. M.

2009-01-01

Refining phenotypes for the study of neuropsychiatric disorders is of paramount importance in neuroscience. Poor phenotype definition provides the greatest obstacle for making progress in disorders like schizophrenia, bipolar disorder, Attention Deficit/Hyperactivity Disorder (ADHD), and autism. Using freely available informatics tools developed by the Consortium for Neuropsychiatric Phenomics (CNP), we provide a framework for defining and refining latent constructs used in neuroscience research and then apply this strategy to review known genetic contributions to memory and intelligence in healthy individuals. This approach can help us begin to build multi-level phenotype models that express the interactions between constructs necessary to understand complex neuropsychiatric diseases. PMID:19450667

ADAPT: The Agent Development and Prototyping Testbed.

PubMed

Shoulson, Alexander; Marshak, Nathan; Kapadia, Mubbasir; Badler, Norman I

2014-07-01

We present ADAPT, a flexible platform for designing and authoring functional, purposeful human characters in a rich virtual environment. Our framework incorporates character animation, navigation, and behavior with modular interchangeable components to produce narrative scenes. The animation system provides locomotion, reaching, gaze tracking, gesturing, sitting, and reactions to external physical forces, and can easily be extended with more functionality due to a decoupled, modular structure. The navigation component allows characters to maneuver through a complex environment with predictive steering for dynamic obstacle avoidance. Finally, our behavior framework allows a user to fully leverage a character's animation and navigation capabilities when authoring both individual decision-making and complex interactions between actors using a centralized, event-driven model.

Flagella bending affects macroscopic properties of bacterial suspensions

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

Potomkin, M.; Tournus, M.; Berlyand, L. V.

To survive in harsh conditions, motile bacteria swim in complex environments and respond to the surrounding flow. Here, we develop a mathematical model describing how flagella bending affects macroscopic properties of bacterial suspensions. First, we show how the flagella bending contributes to the decrease in the effective viscosity observed in dilute suspension. Our results do not impose tumbling (random reorientation) as was previously done to explain the viscosity reduction. Second, we demonstrate how a bacterium escapes from wall entrapment due to the self-induced buckling of flagella. Our results shed light on the role of flexible bacterial flagella in interactions ofmore » bacteria with shear flow and walls or obstacles.« less

Usefulness of a KT Event to Address Practice and Policy Gaps Related to Integrated Care.

PubMed

Jackson, Karen; Boakye, Omenaa; Wallace, Nicole

2016-02-01

There are limited evaluations of the impact of knowledge translation (KT) activities aimed at addressing practice and policy gaps. We report on the impact of an interactive, end-of-grant KT event. Although action items were developed and key stakeholder support attained, minimal follow-through had occurred three months after the KT event. Several organizational obstacles to transitioning knowledge into action were identified: leadership, program policies, infrastructure, changing priorities, workload and physician engagement. Key messages include: (1) ensure ongoing and facilitated networking opportunities, (2) invest in building implementation capacity, (3) target multi-level implementation activities and (4) focus further research on KT evaluation. Copyright © 2016 Longwoods Publishing.

Using the stepladder technique to facilitate the performance of audioconferencing groups.

PubMed

Rogelberg, Steven G; O'Connor, Matthew S; Sederburg, Matthew

2002-10-01

Organizational workforces are becoming increasingly dispersed. To facilitate communications among individuals or groups of people located in a number of different locations, teleconferencing technologies, such as audioconferencing, have been developed. The authors examined whether a structural group intervention, the stepladder technique, can facilitate the task performance of 4-person groups (n = 52) when using audioconferencing. Consistent with research conducted on face-to-face groups, the stepladder technique was found to facilitate the decision-making performance of groups interacting via audioconference. The authors postulated that certain structural elements of the stepladder technique compensate for obstacles inherent in nonvisual communications. Supplementary analyses examined best member influence and the existence of order of entry effects into the stepladder process.

Topographically driven crustal flow and its implication to the development of pinned oroclines

NASA Technical Reports Server (NTRS)

Hsui, Albert T.; Wilkerson, M. Scott; Marshak, Stephen

1990-01-01

Pinned oroclines, a type of curved orogen which results from lateral pinning of a growing fold-thrust belt, tend to resemble parabolic Newtonian curvature modified by different degrees of flattening at the flow front. It is proposed that such curves can be generated by Newtonian crustal flow driven by topographic variations. In this model, regional topographic differences create a regional flow which produces a parabolic flow front on interaction with lateral bounding obstacles. Local topographic variations modify the parabolic curves and yield more flat-crested, non-Newtonian-type curvatures. A finite-difference thin-skin tectonic simulation demonstrates that both Newtonian and non-Newtonian curved orogens can be produced within a Newtonian crust.

Interactive film scenes for tutor training in problem-based learning (PBL): dealing with difficult situations

PubMed Central

2010-01-01

Background In problem-based learning (PBL), tutors play an essential role in facilitating and efficiently structuring tutorials to enable students to construct individual cognitive networks, and have a significant impact on students' performance in subsequent assessments. The necessity of elaborate training to fulfil this complex role is undeniable. In the plethora of data on PBL however, little attention has been paid to tutor training which promotes competence in the moderation of specific difficult situations commonly encountered in PBL tutorials. Methods Major interactive obstacles arising in PBL tutorials were identified from prior publications. Potential solutions were defined by an expert group. Video clips were produced addressing the tutor's role and providing exemplary solutions. These clips were embedded in a PBL tutor-training course at our medical faculty combining PBL self-experience with a non-medical case. Trainees provided pre- and post-intervention self-efficacy ratings regarding their PBL-related knowledge, skills, and attitudes, as well as their acceptance and the feasibility of integrating the video clips into PBL tutor-training (all items: 100 = completely agree, 0 = don't agree at all). Results An interactive online tool for PBL tutor training was developed comprising 18 video clips highlighting difficult situations in PBL tutorials to encourage trainees to develop and formulate their own intervention strategies. In subsequent sequences, potential interventions are presented for the specific scenario, with a concluding discussion which addresses unresolved issues. The tool was well accepted and considered worth the time spent on it (81.62 ± 16.91; 62.94 ± 16.76). Tutors considered the videos to prepare them well to respond to specific challenges in future tutorials (75.98 ± 19.46). The entire training, which comprised PBL self-experience and video clips as integral elements, improved tutor's self-efficacy with respect to dealing with problematic situations (pre: 36.47 ± 26.25, post: 66.99 ± 21.01; p < .0001) and significantly increased appreciation of PBL as a method (pre: 61.33 ± 24.84, post: 76.20 ± 20.12; p < .0001). Conclusions The interactive tool with instructional video clips is designed to broaden the view of future PBL tutors in terms of recognizing specific obstacles to functional group dynamics and developing individual intervention strategies. We show that this tool is well accepted and can be successfully integrated into PBL tutor-training. Free access is provided to the entire tool at http://www.medizinische-fakultaet-hd.uni-heidelberg.de/fileadmin/PBLTutorTraining/player.swf. PMID:20604927

Is Accessibility an Issue in the Knowledge Society? Modern Web Applications in the Light of Accessibility

NASA Astrophysics Data System (ADS)

Bártek, Luděk; Ošlejšek, Radek; Pitner, Tomáš

Recent development in Web shows a significant trend towards more user participation, massive use of new devices including portables, and high interactivity. The user participation goes hand in hand with inclusion of all potential user groups - also with special needs. However, we claim that albeit all the effort towards accessibility, it has not yet found an appopriate reflection among stakeholders of the "Top Web Applications" nor their users. This leads to undesired causes - the business-driven Web without all user participation is not a really democratic medium and, actually, does not comply with the original characteristics of Web 2.0. The paper tries to identify perspectives of further development including standardization processes and technical obstacles behind. It also shows ways and techniques to cope with the challenge based on our own research and development in accessible graphics and dialog-based systems.

Progress and Challenges Associated with the Development of Ricin Toxin Subunit Vaccines

PubMed Central

Vance, David J.; Mantis, Nicholas J.

2016-01-01

Summary The past several years have seen major advances in the development of a safe and efficacious ricin toxin vaccine, including the completion of two Phase I clinical trials with two different recombinant A subunit (RTA)-based vaccines: RiVax™ and RVEc™ adsorbed to aluminum salt adjuvant, as well as a non-human primate study demonstrating that parenteral immunization with RiVax elicits a serum antibody response that was sufficient to protect against a lethal dose aerosolized ricin exposure. One of the major obstacles moving forward is assessing vaccine efficacy in humans, when neither ricin-specific serum IgG endpoint titers nor toxin-neutralizing antibody levels are accepted as definitive predictors of protective immunity. In this review we summarize ongoing efforts to leverage recent advances in our understanding of RTA-antibody interactions at the structural level to develop novel assays to predict vaccine efficacy in humans. PMID:26998662

Progress and challenges associated with the development of ricin toxin subunit vaccines.

PubMed

Vance, David J; Mantis, Nicholas J

2016-09-01

The past several years have seen major advances in the development of a safe and efficacious ricin toxin vaccine, including the completion of two Phase I clinical trials with two different recombinant A subunit (RTA)-based vaccines: RiVax™ and RVEc™ adsorbed to aluminum salt adjuvant, as well as a non-human primate study demonstrating that parenteral immunization with RiVax elicits a serum antibody response that was sufficient to protect against a lethal dose aerosolized ricin exposure. One of the major obstacles moving forward is assessing vaccine efficacy in humans, when neither ricin-specific serum IgG endpoint titers nor toxin-neutralizing antibody levels are accepted as definitive predictors of protective immunity. In this review we summarize ongoing efforts to leverage recent advances in our understanding of RTA-antibody interactions at the structural level to develop novel assays to predict vaccine efficacy in humans.

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.

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.

One-Way Particle Transport Using Oscillatory Flow in Asymmetric Traps.

PubMed

Lee, Jaesung; Burns, Mark A

2018-03-01

One challenge of integrating of passive, microparticles manipulation techniques into multifunctional microfluidic devices is coupling the continuous-flow format of most systems with the often batch-type operation of particle separation systems. Here, a passive fluidic technique-one-way particle transport-that can conduct microparticle operations in a closed fluidic circuit is presented. Exploiting pass/capture interactions between microparticles and asymmetric traps, this technique accomplishes a net displacement of particles in an oscillatory flow field. One-way particle transport is achieved through four kinds of trap-particle interactions: mechanical capture of the particle, asymmetric interactions between the trap and the particle, physical collision of the particle with an obstacle, and lateral shift of the particle into a particle-trapping stream. The critical dimensions for those four conditions are found by numerically solving analytical mass balance equations formulated using the characteristics of the flow field in periodic obstacle arrays. Visual observation of experimental trap-particle dynamics in low Reynolds number flow (<0.01) confirms the validity of the theoretical predictions. This technique can transport hundreds of microparticles across trap rows in only a few fluid oscillations (<500 ms per oscillation) and separate particles by their size differences. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Unternehmen in der Verantwortung. Regionaler Strukturwandel anders

NASA Astrophysics Data System (ADS)

Kost, Klaus; Weingarten, Jörg

2016-03-01

Factory closures, relocations and extensive measures to reduce personnel have consequences far beyond the affected employees - the social and economic coherence of the location and region are often negatively affected, too. This presents an interesting and important field for economic and applied geography. Apart from the development and evaluation of concepts of instruments of regional development, geographers can discuss and conceive options and obstacles for compensation and replacement measures after corporate restructuring. This text discusses structural and individual opportunities and obstacles in implementing company-induced economic development measures in the wider context of the corporate responsibility debate.

Mobilizing Disability Experience to Inform Architectural Practice: Lessons Learned from a Field Study

ERIC Educational Resources Information Center

Vermeersch, Peter-Willem; Heylighen, Ann

2015-01-01

Through their bodily interaction with the designed environment, disabled people can detect obstacles and appreciate spatial qualities architects may not be attuned to. While designers in several disciplines acknowledge disabled people as lead or critical users, in architectural practice their embodied experience is hardly recognized as a valuable…

Mainstream Teachers' Experiences of Communicating with Students with Multiple and Severe Disabilities

ERIC Educational Resources Information Center

De Bortoli, Tania; Balandin, Susan; Foreman, Phil; Arthur-Kelly, Michael; Mathisen, Bernice

2012-01-01

The aim of this study was to explore regular teachers' perceptions and experiences of supports and obstacles to communicative interactions for students with multiple and severe disabilities (MSD). Five teachers of students with MSD participated in two in-depth interviews. Interview transcripts were analysed using content analysis. Transcripts were…

Examining Peer Language Use and Investment in a Distinct North American Immersion Context

ERIC Educational Resources Information Center

Ballinger, Susan

2017-01-01

Previous studies have shown that immersion students tend to speak the majority language during peer interactions, regardless of the language of instruction or their dominant language. Researchers have argued that the societal status of the majority language presents an obstacle to providing equitable support for both languages of instruction. To…

Connectivity Thinking, Animism, and the Pursuit of Liveliness

ERIC Educational Resources Information Center

Rose, Deborah Bird

2017-01-01

In this essay, Deborah Bird Rose takes up Val Plumwood's challenge that Western thought needs radical revitalization by pursuing the liveliness of the biosphere and human ontologies of connectivity. The first part looks at obstacles to the West's understanding of Earth as a place of lively, interactive connectivities that promote diversity,…

Leadership and the Force of Love: Six Keys to Motivating with Love.

ERIC Educational Resources Information Center

Hoyle, John R.

Although educators are frequently faced with the challenges of politics, hostility, selfishness, and violence, this book demonstrates that these obstacles can be overcome through vision, teamwork, motivation, empowerment, and communication. By using love as a guiding force in the daily interactions with others, the way one conducts business is…

Conducting Effective Process Groups in the Secondary School.

ERIC Educational Resources Information Center

Bauman, Sheri

Group counseling has been shown to be an efficient use of a school counselor's time and an effective tool for working with students. In process groups, the emphasis is on the process of growth and interaction. Counselors face obstacles they must overcome in order to organize effective group counseling programs in secondary schools. Gaining staff…

Near-Mars space

NASA Astrophysics Data System (ADS)

Luhmann, J. G.; Brace, L. H.

1991-05-01

The prevalent attributes of near-Mars space are described: the ambient interplanetary environment, the ionosphere, the upper atmosphere, and more remote regions that are affected by the presence of Mars. The descriptions are based on existing Martian data and/or models constructed from measurements made near Venus. Specific attention is given to the features of solar wind interaction with magnetospheric and ionospheric obstacles. The high-altitude plasma and field environment, the energetic particle environment, the ionosphere environment, and the neutral upper atmosphere environment are described with extensive graphic information, based on existing measurements collected from nine Martian missions. The ionospheric obstacle is assumed to prevail as a mechanism for describing the scenario. Martian perturbation of solar wind is theorized to be of a relatively small order. A distinctive local energetic particle population of planetary origin is shown to result from the direct interaction of solar wind plasma. This phenomenon is considered evidence of the important scavenging of planetary elements from Mars. The absence of a planetary dipole field around Mars, like its low gravity and distance from the sun, is considered important in determining the environment of this earthlike laboratory.

Atomic-scale mechanisms of helium bubble hardening in iron

DOE PAGES

Osetskiy, Yury N.; Stoller, Roger E.

2015-06-03

Generation of helium due to (n,α) transmutation reactions changes the response of structural materials to neutron irradiation. The whole process of radiation damage evolution is affected by He accumulation and leads to significant changes in the material s properties. A population of nanometric He-filled bubbles affects mechanical properties and the impact can be quite significant because of their high density. Understanding how these basic mechanisms affect mechanical properties is necessary for predicting radiation effects. In this paper we present an extensive study of the interactions between a moving edge dislocation and bubbles using atomic-scale modeling. We focus on the effectmore » of He bubble size and He concentration inside bubbles. Thus, we found that ability of bubbles to act as an obstacle to dislocation motion is close to that of voids when the He-to-vacancy ratio is in the range from 0 to 1. A few simulations made at higher He contents demonstrated that the interaction mechanism is changed for over-pressurized bubbles and they become weaker obstacles. The results are discussed in light of post-irradiation materials testing.« less

Fat-Soluble Vitamins: Clinical Indications and Current Challenges for Chromatographic Measurement

PubMed Central

Albahrani, Ali A.; Greaves, Ronda F.

2016-01-01

Fat-soluble vitamins, including vitamins A, D and E, are required for a wide variety of physiological functions. Over the past two decades, deficiencies of these vitamins have been associated with increased risk of cancer, type II diabetes mellitus and a number of immune system disorders. In addition, there is increasing evidence of interactions between these vitamins, especially between vitamins A and D. As a result of this enhanced clinical association with disease, translational clinical research and laboratory requests for vitamin measurements have significantly increased. These laboratory requests include measurement of 25-OHD (vitamin D), retinol (vitamin A) and α-tocopherol (vitamin E); the most accepted blood indicators for the assessment of body fat-soluble vitamin (FSV) status. There are significant obstacles to precise FSV measurement in blood. These obstacles include their physical and chemical properties, incomplete standardisation of measurement and limitations in the techniques that are currently used for quantification. The aim of this review is to briefly outline the metabolism and interactions of FSV as a prelude to identifying the current challenges for the quantification of blood vitamins A, D and E. PMID:27057076

Fat-Soluble Vitamins: Clinical Indications and Current Challenges for Chromatographic Measurement.

PubMed

Albahrani, Ali A; Greaves, Ronda F

2016-02-01

Fat-soluble vitamins, including vitamins A, D and E, are required for a wide variety of physiological functions. Over the past two decades, deficiencies of these vitamins have been associated with increased risk of cancer, type II diabetes mellitus and a number of immune system disorders. In addition, there is increasing evidence of interactions between these vitamins, especially between vitamins A and D. As a result of this enhanced clinical association with disease, translational clinical research and laboratory requests for vitamin measurements have significantly increased. These laboratory requests include measurement of 25-OHD (vitamin D), retinol (vitamin A) and α-tocopherol (vitamin E); the most accepted blood indicators for the assessment of body fat-soluble vitamin (FSV) status. There are significant obstacles to precise FSV measurement in blood. These obstacles include their physical and chemical properties, incomplete standardisation of measurement and limitations in the techniques that are currently used for quantification. The aim of this review is to briefly outline the metabolism and interactions of FSV as a prelude to identifying the current challenges for the quantification of blood vitamins A, D and E.

A Review of Major Obstacles to Women's Participation in Higher Education in Kenya

ERIC Educational Resources Information Center

Sifuna, Daniel N.

2006-01-01

The paper provides a comprehensive review of the major obstacles that hinder the participation of girls and women in higher education in Kenya. This is on the basis that their low participation in this level of education is a key constraint to the development of the country. While it is reckoned that girls' and women's education is inextricably…

The Humanity of Writing: The NEH Cross-Disciplinary Writing Program at West Chester State College.

ERIC Educational Resources Information Center

Weiss, Robert H.

A pilot project funded by the National Endowment for the Humanities (NEH) and a state college educational trust fund to improve writing in the humanities and across the curriculum is described in this paper. Also presented are the obstacles confronted in establishing the project, a seven-point strategy developed to counter those obstacles, the…

Group Work and the Change of Obstacles over Time: The Influence of Learning Style and Group Composition

ERIC Educational Resources Information Center

Soetanto, Danny; MacDonald, Matthew

2017-01-01

It is through working in groups that students develop cooperative learning skills and experience. However, group work activity often leads students into a difficult experience, especially for first-year students who are not familiar with group work activities at university. This study explores obstacles faced by first-year students during their…

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

ERIC Educational Resources Information Center

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

2009-01-01

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

A Qualitative Study on the Obstacles Preventing the Successful Implementation of Web 2.0 in Corporate Learning

ERIC Educational Resources Information Center

Estrada, Luis

2012-01-01

The purpose of this study was to identify the obstacles to the adoption of Web 2.0 technologies as part of corporate learning solutions and strategies. The study followed a qualitative inquiry approach. The sample consisted of 20 corporate learning professionals who are members of the American Society for Training and Development (ASTD) social…

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.

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.

Editing Wikipedia content by screen reader: easier interaction with the Accessible Rich Internet Applications suite.

PubMed

Buzzi, Marina; Leporini, Barbara

2009-07-01

This study aims to improve Wikipedia usability for the blind and promote the application of standards relating to Web accessibility and usability. First, accessibility and usability of Wikipedia home, search result and edit pages are analysed using the JAWS screen reader; next, suggestions for improving interaction are proposed and a new Wikipedia editing interface built. Most of the improvements were obtained using the Accessible Rich Internet Applications (WAI-ARIA) suite, developed by the World Wide Web Consortium (W3C) within the framework of the Web Accessibility Initiative (WAI). Last, a scenario of use compares interaction of blind people with the original and the modified interfaces. Our study highlights that although all contents are accessible via screen reader, usability issues exist due to the user's difficulties when interacting with the interface. The scenario of use shows how building an editing interface with the W3C WAI-ARIA suite eliminates many obstacles that can prevent blind users from actively contributing to Wikipedia. The modified Wikipedia editing page is simpler to use via a screen reader than the original one because ARIA ensures a page overview, rapid navigation, and total control of what is happening in the interface.

Effect of subseabed salt domes on Tidal Residual currents in the Persian Gulf

NASA Astrophysics Data System (ADS)

Mashayekh Poul, Hossein; Backhaus, Jan; Dehghani, Ali; Huebner, Udo

2016-05-01

Geological studies in the Persian Gulf (PG) have revealed the existence of subseabed salt-domes. With suitable filtering of a high-resolution PG seabed topography, it is seen that the domes leave their signature in the seabed, i.e., numerous hills and valleys with amplitudes of several tens of meters and radii from a few up to tens of kilometers. It was suspected that the "shark skin" of the PG seabed may affect the tidal residual flow. The interaction of tidal dynamics and these obstacles was investigated in a nonlinear hydrodynamic numerical tidal model of the PG. The model was first used to characterize flow patterns of residual currents generated by a tidal wave passing over symmetric, elongated and tilted obstacles. Thereafter it was applied to the entire PG. The model was forced at its open boundary by the four dominant tidal constituents residing in the PG. Each tidal constituent was simulated separately. Results, i.e., tidal residual currents in the PG, as depicted by Lagrangian trajectories reveal a stationary flow that is very rich in eddies. Each eddy can be identified with a topographic obstacle. This confirms that the tidal residual flow field is strongly influenced by the nonlinear interaction of the tidal wave with the bottom relief which, in turn, is deformed by salt-domes beneath the seabed. Different areas of maximum residual current velocities are identified for major tidal constituents. The pattern of trajectories indicates the presence of two main cyclonic gyres and several adjacent gyres rotating in opposite directions and a strong coastal current in the northern PG.

[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 that the elimination of the above mentioned obstacles, the high standard of psychiatric care system, - especially the child psychiatric care system - and paramount mental education are extraordinarily important to prevent most psychiatric disorders and help the development of healthy and happy people. If human individuals are the most important ones in our society, if we eliminate the main obstacles of the development of psychiatry, we ensure to improve Hungarian psychiatry again, we shall be able to say that "the spiritual light is shining through the windows of every house", and our work will not be a quixotic struggle or "tilting at windmills".

In vitro synergistic effect of fluoroquinolone analogues in combination with artemisinin against Plasmodium falciparum; their antiplasmodial action in rodent malaria model.

PubMed

Agarwal, Drishti; Sharma, Manish; Dixit, Sandeep K; Dutta, Roshan K; Singh, Ashok K; Gupta, Rinkoo D; Awasthi, Satish K

2015-02-05

Emergence of drug-resistant parasite strains has surfaced as a major obstacle in attempts to ameliorate malaria. Current treatment regimen of malaria relies on the concept of artemisinin-based combination therapy (ACT). Fluoroquinolone analogues, compounds 10, 12 and 18 were investigated for their anti-malarial interaction in combination with artemisinin in vitro, against Plasmodium falciparum 3D7 strain, employing fixed-ratio combination isobologram method. In addition, the efficacy of these compounds was evaluated intraperitoneally in BALB/c mice infected with chloroquine-resistant Plasmodium berghei ANKA strain in the Peters' four-day suppressive test. Promising results were obtained in the form of synergistic or additive interactions. Compounds 10 and 12 were found to have highly synergistic interactions with artemisinin. Antiplasmodial effect was further verified by the convincing ED50 values of these compounds, which ranged between 2.31 and 3.09 (mg/kg BW). In vivo studies substantiated the potential of the fluoroquinolone derivatives to be developed as synergistic partners for anti-malarial drug combinations.

Computational Analysis of Molecular Interaction Networks Underlying Change of HIV-1 Resistance to Selected Reverse Transcriptase Inhibitors

PubMed Central

Kierczak, Marcin; Dramiński, Michał; Koronacki, Jacek; Komorowski, Jan

2010-01-01

Motivation Despite more than two decades of research, HIV resistance to drugs remains a serious obstacle in developing efficient AIDS treatments. Several computational methods have been developed to predict resistance level from the sequence of viral proteins such as reverse transcriptase (RT) or protease. These methods, while powerful and accurate, give very little insight into the molecular interactions that underly acquisition of drug resistance/hypersusceptibility. Here, we attempt at filling this gap by using our Monte Carlo feature selection and interdependency discovery method (MCFS-ID) to elucidate molecular interaction networks that characterize viral strains with altered drug resistance levels. Results We analyzed a number of HIV-1 RT sequences annotated with drug resistance level using the MCFS-ID method. This let us expound interdependency networks that characterize change of drug resistance to six selected RT inhibitors: Abacavir, Lamivudine, Stavudine, Zidovudine, Tenofovir and Nevirapine. The networks consider interdependencies at the level of physicochemical properties of mutating amino acids, eg,: polarity. We mapped each network on the 3D structure of RT in attempt to understand the molecular meaning of interacting pairs. The discovered interactions describe several known drug resistance mechanisms and, importantly, some previously unidentified ones. Our approach can be easily applied to a whole range of problems from the domain of protein engineering. Availability A portable Java implementation of our MCFS-ID method is freely available for academic users and can be obtained at: http://www.ipipan.eu/staff/m.draminski/software.htm. PMID:21234299

Computational Analysis of Molecular Interaction Networks Underlying Change of HIV-1 Resistance to Selected Reverse Transcriptase Inhibitors.

PubMed

Kierczak, Marcin; Dramiński, Michał; Koronacki, Jacek; Komorowski, Jan

2010-12-12

Despite more than two decades of research, HIV resistance to drugs remains a serious obstacle in developing efficient AIDS treatments. Several computational methods have been developed to predict resistance level from the sequence of viral proteins such as reverse transcriptase (RT) or protease. These methods, while powerful and accurate, give very little insight into the molecular interactions that underly acquisition of drug resistance/hypersusceptibility. Here, we attempt at filling this gap by using our Monte Carlo feature selection and interdependency discovery method (MCFS-ID) to elucidate molecular interaction networks that characterize viral strains with altered drug resistance levels. We analyzed a number of HIV-1 RT sequences annotated with drug resistance level using the MCFS-ID method. This let us expound interdependency networks that characterize change of drug resistance to six selected RT inhibitors: Abacavir, Lamivudine, Stavudine, Zidovudine, Tenofovir and Nevirapine. The networks consider interdependencies at the level of physicochemical properties of mutating amino acids, eg,: polarity. We mapped each network on the 3D structure of RT in attempt to understand the molecular meaning of interacting pairs. The discovered interactions describe several known drug resistance mechanisms and, importantly, some previously unidentified ones. Our approach can be easily applied to a whole range of problems from the domain of protein engineering. A portable Java implementation of our MCFS-ID method is freely available for academic users and can be obtained at: http://www.ipipan.eu/staff/m.draminski/software.htm.

Infusing Software Assurance Research Techniques into Use

NASA Technical Reports Server (NTRS)

Pressburger, Thomas; DiVito, Ben; Feather, Martin S.; Hinchey, Michael; Markosian, Lawrence; Trevino, Luis C.

2006-01-01

Research in the software engineering community continues to lead to new development techniques that encompass processes, methods and tools. However, a number of obstacles impede their infusion into software development practices. These are the recurring obstacles common to many forms of research. Practitioners cannot readily identify the emerging techniques that may benefit them, and cannot afford to risk time and effort evaluating and trying one out while there remains uncertainty about whether it will work for them. Researchers cannot readily identify the practitioners whose problems would be amenable to their techniques, and, lacking feedback from practical applications, are hard-pressed to gauge the where and in what ways to evolve their techniques to make them more likely to be successful. This paper describes an ongoing effort conducted by a software engineering research infusion team established by NASA s Software Engineering Initiative to overcome these obstacles. .

Application of Optical Flow Sensors for Dead Reckoning, Heading Reference, Obstacle Detection, and Obstacle Avoidance

DTIC Science & Technology

2015-09-01

OPTICAL FLOW SENSORS FOR DEAD RECKONING, HEADING REFERENCE, OBSTACLE DETECTION, AND OBSTACLE AVOIDANCE by Tarek M. Nejah September 2015...SENSORS FOR DEAD RECKONING, HEADING REFERENCE, OBSTACLE DETECTION, AND OBSTACLE AVOIDANCE 5. FUNDING NUMBERS 6. AUTHOR(S) Nejah, Tarek M. 7...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) A novel approach for dead reckoning, heading reference, obstacle detection, and obstacle

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.

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

Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review

PubMed Central

Misra, Sarthak; Ramesh, K. T.; Okamura, Allison M.

2009-01-01

Surgical simulators present a safe and potentially effective method for surgical training, and can also be used in robot-assisted surgery for pre- and intra-operative planning. Accurate modeling of the interaction between surgical instruments and organs has been recognized as a key requirement in the development of high-fidelity surgical simulators. Researchers have attempted to model tool-tissue interactions in a wide variety of ways, which can be broadly classified as (1) linear elasticity-based, (2) nonlinear (hyperelastic) elasticity-based finite element (FE) methods, and (3) other techniques that not based on FE methods or continuum mechanics. Realistic modeling of organ deformation requires populating the model with real tissue data (which are difficult to acquire in vivo) and simulating organ response in real time (which is computationally expensive). Further, it is challenging to account for connective tissue supporting the organ, friction, and topological changes resulting from tool-tissue interactions during invasive surgical procedures. Overcoming such obstacles will not only help us to model tool-tissue interactions in real time, but also enable realistic force feedback to the user during surgical simulation. This review paper classifies the existing research on tool-tissue interactions for surgical simulators specifically based on the modeling techniques employed and the kind of surgical operation being simulated, in order to inform and motivate future research on improved tool-tissue interaction models. PMID:20119508

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

PubMed

Pundlik, Shrinivas; Tomasi, Matteo; Luo, Gang

2015-04-01

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

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.

Plasma-based actuators for turbulent boundary layer control in transonic flow

NASA Astrophysics Data System (ADS)

Budovsky, A. D.; Polivanov, P. A.; Vishnyakov, O. I.; Sidorenko, A. A.

2017-10-01

The study is devoted to development of methods for active control of flow structure typical for the aircraft wings in transonic flow with turbulent boundary layer. The control strategy accepted in the study was based on using of the effects of plasma discharges interaction with miniature geometrical obstacles of various shapes. The conceptions were studied computationally using 3D RANS, URANS approaches. The results of the computations have shown that energy deposition can significantly change the flow pattern over the obstacles increasing their influence on the flow in boundary layer region. Namely, one of the most interesting and promising data were obtained for actuators basing on combination of vertical wedge with asymmetrical plasma discharge. The wedge considered is aligned with the local streamlines and protruding in the flow by 0.4-0.8 of local boundary layer thickness. The actuator produces negligible distortion of the flow at the absence of energy deposition. Energy deposition along the one side of the wedge results in longitudinal vortex formation in the wake of the actuator providing momentum exchange in the boundary layer. The actuator was manufactured and tested in wind tunnel experiments at Mach number 1.5 using the model of flat plate. The experimental data obtained by PIV proved the availability of the actuator.

Toward autonomous driving: The CMU Navlab. I - Perception

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

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

Learning through student-authored interactive media: A mixed methods exploration

NASA Astrophysics Data System (ADS)

Sakai-Miller, Sharon (Sam)

2009-12-01

The purpose of this study was to improve student achievement in science and proficiency in information and communication technologies (ICT), which are vital 21st century workforce skills. Instead of isolating the issues, the study proposed an integrated solution that applied the constructivist approach to help students learn about a unit in biology using three software applications to create interactive, self-correcting eModules within a two-week period. Research questions focused on the effectiveness of the instructional strategy, the experience of students authoring eModules, obstacles they encountered, and the role of the teacher. Fifty-one out of the possible 55 eleventh and twelfth grade students in the two Advanced Biology classes consented to participate in the study. A comparison of pre and post-test scores showed an average 547% improvement. Students with low initial scores of 10% or less improved an average of 1229%. Ten students (20%) went from 20% or below on the pre-test to 80% or above on the post-test, and were analyzed as a subgroup called "big gainers." Student journals and exit surveys were explored to understand the process students followed to develop eModules. The majority of student responses in the exit survey (85%) described the overall experience as a positive one. Journals showed how students were able to follow the process of creating a concept map using Inspiration software, converting the outline into a PowerPoint slide show, editing the slides and importing them into Adobe Captivate files, inserting self-correcting questions, completing their eModules, and submitting them to their teacher. Students identified obstacles they encountered to help them to problem solve and provided data for improving the instructional strategy. Addressing technology learning objectives within the context and pacing of a content area class was accomplished, but it required providing a collaborative learning environment, an appropriate task, mediating tools, and assessment. The data analysis suggests that the instructional strategy of student-authored eModules had a positive impact on learning science content and ICT proficiencies. Historically students have been consumers of interactive media or producers of presentational media. This study suggests that they will learn more when they are the authors of interactive media.

Establishing well-being after hip fracture: a systematic review and meta-synthesis.

PubMed

Rasmussen, Birgit; Uhrenfeldt, Lisbeth

2016-12-01

This study aimed to identify, appraise, aggregate and synthesize findings of experiences of self-confidence and well-being after hip fracture. The systematic review followed the Joanna Briggs Institute (JBI) guidelines. A three-step literature search strategy was followed. Included studies were critically appraised using the JBI critical appraisal tool. Data were analyzed into a meta-summary and a meta-synthesis using a hermeneutic approach. Twenty-nine studies were included in the analysis. The category "balancing a new life" was illustrated through older people's "adaptations", "adjustments" and "worries". The second category "striving for interaction with new life possibilities" was built on experiences of "supportive interaction", "missing interaction" and "obstacles". The abstraction of the categories into the meta-synthesis "establishing well-being described the process of older people gradually coming to terms with new life conditions". It was a process of building confidence through cooperation with staff. Experiences of well-being were possible after hip fracture. Self-confidence enhanced adaptations and adjustments. Older people strived for an active everyday life where they had a sense of identity. Health professionals can facilitate the establishing of well-being through supportive interaction being aware of vulnerabilities and possibilities. This study provides information that may help in the development of interventions taking into account what is meaningful for older people. Implications for Rehabilitation Both staff and significant others play a significant role during rehabilitation after hip fracture and can give rise to both well-being and suffering. During rehabilitation, experiences of self-efficacy can be important as they support progress and adaptation towards a new way of living. After hip fracture, older people may have worries and can experience a diversity of obstacles. A sensitivity towards these experiences by health care professionals can be a support for older people striving to establish well-being after hip fracture. To enhance functional ability and experiences of independency, it may be important to consider what it is about activities that are meaningful in the lives of older people after a hip fracture.

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.

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.

Legal obstacles and incentives to the development of small scale hydroelectric power in New Jersey

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

None,

1980-05-01

The legal and institutional obstacles to the development of small-scale hydroelectric energy at the state level in New Jersey are described. The Federal government also exercises extensive regulatory authority in the area. The dual regulatory system from the standpoint of the appropriate legal doctrine, the law of pre-emption, application of the law to the case of hydroelectric development, and an inquiry into the practical use of the doctrine by the FERC is discussed. New Jersey follows the riparian theory of water law. Following an extensive discussion of the New Jersey water law, New Jersey regulatory law and financial considerations regardingmore » hydroelectric power development are discussed.« less

Social networks and expertise development for Australian breast radiologists.

PubMed

Taba, Seyedamir Tavakoli; Hossain, Liaquat; Willis, Karen; Lewis, Sarah

2017-02-11

In this study, we explore the nexus between social networks and expertise development of Australian breast radiologists. Background literature has shown that a lack of appropriate social networks and interaction among certain professional group(s) may be an obstacle for knowledge acquisition, information flow and expertise sharing. To date there have not been any systematic studies investigating how social networks and expertise development are interconnected and whether this leads to improved performance for breast radiologists. This study explores the value of social networks in building expertise alongside with other constructs of performance for the Australian radiology workforce using semi-structured in-depth interviews with 17 breast radiologists. The findings from this study emphasise the influences of knowledge transfer and learning through social networks and interactions as well as knowledge acquisition and development through experience and feedback. The results also show that accessibility to learning resources and a variety of timely feedback on performance through the information and communication technologies (ICT) is likely to facilitate improved performance and build social support. We argue that radiologists' and, in particular, breast radiologists' work performance, needs to be explored not only through individual numerical characteristics but also by analysing the social context and peer support networks in which they operate and we identify multidisciplinary care as a core entity of social learning.

Facilitating researcher use of flight simulators

NASA Technical Reports Server (NTRS)

Russell, C. Ray

1990-01-01

Researchers conducting experiments with flight simulators encounter numerous obstacles in bringing their ideas to the simulator. Research into how these simulators could be used more efficiently is presented. The study involved: (1) analyzing the Advanced Concepts Simulator software architecture, (2) analyzing the interaction between the researchers and simulation programmers, and (3) proposing a documentation tool for the researchers.

Lessons from the History of the Concept of the Ray for Teaching Geometrical Optics

ERIC Educational Resources Information Center

Andreou, C.; Raftopoulos, A.

2011-01-01

There are two indisputable findings in science education research. First, students go to school with some intuitive beliefs about the natural world and physical phenomena that pose an obstacle to the learning of formal science. Second, these beliefs result from the confluence of two factors, namely, their everyday experience as they interact with…

Strategies to Enhance Student Success: A Discourse Analysis of Academic Advice in International Student Handbooks

ERIC Educational Resources Information Center

Romerhausen, Nick J.

2013-01-01

As the population of international students continues to rise at U.S. colleges and universities, multiple academic obstacles pose barriers to success. Research on strategies of intervention has primarily included face-to-face interactions while an exploration of other assistance approaches is minimal in comparison. This study explored the role…

An Interactive Computer Model for Improved Student Understanding of Random Particle Motion and Osmosis

ERIC Educational Resources Information Center

Kottonau, Johannes

2011-01-01

Effectively teaching the concepts of osmosis to college-level students is a major obstacle in biological education. Therefore, a novel computer model is presented that allows students to observe the random nature of particle motion simultaneously with the seemingly directed net flow of water across a semipermeable membrane during osmotic…

Language Policies and Linguistic Super-Diversity in Contemporary Urban Societies: The Case of the City of Southampton, UK

ERIC Educational Resources Information Center

Cadier, Linda; Mar-Molinero, Clare

2012-01-01

Our aim here is to investigate the multilingual "super-diverse" environment of Southampton City's work places, in public and private sector sites, and to observe how speakers interact and use their linguistic competences; whether this facilitates communication and social/professional integration, or whether this produces obstacles and…

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.

Large eddy simulation and experimental study on vented gasoline-air mixture explosions in a semi-confined obstructed pipe.

PubMed

Li, Guoqing; Du, Yang; Wang, Shimao; Qi, Sheng; Zhang, Peili; Chen, Wenzhuo

2017-10-05

In this work, LES simulation coupled with a TFC sub-grid combustion model has been performed in a semi-confined pipe (L/D=10, V=10L) in the presence of four hollow-square obstacles (BR=49.8%) with circular hollow cross-section, in order to study the premixed gasoline-air mixture explosions. The comparisons between simulated results and experimental results have been conducted. It was found that the simulated results were in good agreement with experimental data in terms of flame structures, flame locations and overpressure time histories. Moreover, the interaction between flame propagation process and obstacles, overpressure dynamics were analyzed. In addition, the effects of initial gasoline vapor concentration (lean (ϕ=1.3%), stoichiometric (ϕ=1.7%) and rich (ϕ=2.1%)), and the number of obstacles (from 1 to 4) were also investigated by experiments. Some of the experimental results have been compared with the literature data. It is found that the explosion parameters of gasoline-air mixtures (e.g. the maximum overpressure peaks, average overpressure growth rates, etc.) are different from some other fuels such as hydrogen, methane and LPG, etc. Copyright © 2017. Published by Elsevier B.V.

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.

Legless locomotion in lattices

NASA Astrophysics Data System (ADS)

Schiebel, Perrin; Dai, Jin; Gong, Chaohui; Serrano, Miguel M.; Mendelson, Joseph R., III; Choset, Howie; Goldman, Daniel I.

2015-03-01

By propagating waves from head to tail, limbless organisms like snakes can traverse terrain composed of rocks, foliage, soil and sand. Previous research elucidated how rigid obstacles influence snake locomotion by studying a model terrain-symmetric lattices of pegs placed in hard ground. We want to understand how different substrate-body interaction modes affect performance in desert-adapted snakes during transit of substrates composed of both rigid obstacles and granular media (GM). We tested Chionactis occipitalis, the Mojave shovel-nosed snake, in two laboratory treatments: lattices of 0 . 64 cm diameter obstacles arrayed on both a hard, slick substrate and in a GM of ~ 0 . 3 mm diameter glass particles. For all lattice spacings, d, speed through the hard ground lattices was less than that in GM lattices. However, maximal undulation efficiencies ηu (number of body lengths advanced per undulation cycle) in both treatments were comparable when d was intermediate. For other d, ηu was lower than this maximum in hard ground lattices, while on GM, ηu was insensitive to d. To systematically explore such locomotion, we tested a physical robot model of the snake; performance depended sensitively on base substrate, d and body wave parameters.

Group theoretical derivation of the minimal coupling principle

NASA Astrophysics Data System (ADS)

Nisticò, Giuseppe

2017-04-01

The group theoretical methods worked out by Bargmann, Mackey and Wigner, which deductively establish the Quantum Theory of a free particle for which Galileian transformations form a symmetry group, are extended to the case of an interacting particle. In doing so, the obstacles caused by loss of symmetry are overcome. In this approach, specific forms of the wave equation of an interacting particle, including the equation derived from the minimal coupling principle, are implied by particular first-order invariance properties that characterize the interaction with respect to specific subgroups of Galileian transformations; moreover, the possibility of yet unknown forms of the wave equation is left open.

Abnormal Strain Rate Sensitivity Driven by a Unit Dislocation-Obstacle Interaction in bcc Fe

NASA Astrophysics Data System (ADS)

Bai, Zhitong; Fan, Yue

2018-03-01

The interaction between an edge dislocation and a sessile vacancy cluster in bcc Fe is investigated over a wide range of strain rates from 108 down to 103 s-1 , which is enabled by employing an energy landscape-based atomistic modeling algorithm. It is observed that, at low strain rates regime less than 105 s-1 , such interaction leads to a surprising negative strain rate sensitivity behavior because of the different intermediate microstructures emerged under the complex interplays between thermal activation and applied strain rate. Implications of our findings regarding the previously established global diffusion model are also discussed.

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 capability over the virtual obstacles, and finally it was demonstrated on real obstacles located at the McKenna MOUT site in Fort Benning, Georgia. Simulations and flight test evaluations demonstrate the feasibility of the developed framework for UAV applications involving low-altitude flight in an urban area.

Multi-Section Sensing and Vibrotactile Perception for Walking Guide of Visually Impaired Person.

PubMed

Jeong, Gu-Young; Yu, Kee-Ho

2016-07-12

Electronic Travel Aids (ETAs) improve the mobility of visually-impaired persons, but it is not easy to develop an ETA satisfying all the factors needed for reliable object detection, effective notification, and actual usability. In this study, the authors developed an easy-to-use ETA having the function of reliable object detection and its successful feedback to the user by tactile stimulation. Seven ultrasonic sensors facing in different directions detect obstacles in the walking path, while vibrators in the tactile display stimulate the hand according to the distribution of obstacles. The detection of ground drop-offs activates the electromagnetic brakes linked to the rear wheels. To verify the feasibility of the developed ETA in the outdoor environment, walking tests by blind participants were performed, and the evaluation of safety to ground drop-offs was carried out. From the experiment, the feasibility of the developed ETA was shown to be sufficient if the sensor ranges for hanging obstacle detection is improved and learning time is provided for the ETA. Finally, the light-weight and low cost ETA designed and assembled based on the evaluation of the developed ETA is introduced to show the improvement of portability and usability, and is compared with the previously developed ETAs.

Multi-Section Sensing and Vibrotactile Perception for Walking Guide of Visually Impaired Person

PubMed Central

Jeong, Gu-Young; Yu, Kee-Ho

2016-01-01

Electronic Travel Aids (ETAs) improve the mobility of visually-impaired persons, but it is not easy to develop an ETA satisfying all the factors needed for reliable object detection, effective notification, and actual usability. In this study, the authors developed an easy-to-use ETA having the function of reliable object detection and its successful feedback to the user by tactile stimulation. Seven ultrasonic sensors facing in different directions detect obstacles in the walking path, while vibrators in the tactile display stimulate the hand according to the distribution of obstacles. The detection of ground drop-offs activates the electromagnetic brakes linked to the rear wheels. To verify the feasibility of the developed ETA in the outdoor environment, walking tests by blind participants were performed, and the evaluation of safety to ground drop-offs was carried out. From the experiment, the feasibility of the developed ETA was shown to be sufficient if the sensor ranges for hanging obstacle detection is improved and learning time is provided for the ETA. Finally, the light-weight and low cost ETA designed and assembled based on the evaluation of the developed ETA is introduced to show the improvement of portability and usability, and is compared with the previously developed ETAs. PMID:27420060

Intuitive and interpretable visual communication of a complex statistical model of disease progression and risk.

PubMed

Jieyi Li; Arandjelovic, Ognjen

2017-07-01

Computer science and machine learning in particular are increasingly lauded for their potential to aid medical practice. However, the highly technical nature of the state of the art techniques can be a major obstacle in their usability by health care professionals and thus, their adoption and actual practical benefit. In this paper we describe a software tool which focuses on the visualization of predictions made by a recently developed method which leverages data in the form of large scale electronic records for making diagnostic predictions. Guided by risk predictions, our tool allows the user to explore interactively different diagnostic trajectories, or display cumulative long term prognostics, in an intuitive and easily interpretable manner.

Avalanches and plastic flow in crystal plasticity: an overview

NASA Astrophysics Data System (ADS)

Papanikolaou, Stefanos; Cui, Yinan; Ghoniem, Nasr

2018-01-01

Crystal plasticity is mediated through dislocations, which form knotted configurations in a complex energy landscape. Once they disentangle and move, they may also be impeded by permanent obstacles with finite energy barriers or frustrating long-range interactions. The outcome of such complexity is the emergence of dislocation avalanches as the basic mechanism of plastic flow in solids at the nanoscale. While the deformation behavior of bulk materials appears smooth, a predictive model should clearly be based upon the character of these dislocation avalanches and their associated strain bursts. We provide here a comprehensive overview of experimental observations, theoretical models and computational approaches that have been developed to unravel the multiple aspects of dislocation avalanche physics and the phenomena leading to strain bursts in crystal plasticity.

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

PubMed

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

2016-08-01

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

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.

Issues in management of artificial intelligence based projects

NASA Technical Reports Server (NTRS)

Kiss, P. A.; Freeman, Michael S.

1988-01-01

Now that Artificial Intelligence (AI) is gaining acceptance, it is important to examine some of the obstacles that still stand in the way of its progress. Ironically, many of these obstacles are related to management and are aggravated by the very characteristcs that make AI useful. The purpose of this paper is to heighten awareness of management issues in AI development and to focus attention on their resolution.

Obstacles of Implementing the Science Curricula of the Basic Stage as Perceived by the Teachers in a Jordanian Town

ERIC Educational Resources Information Center

Ayasra, Ahmad

2015-01-01

This study aimed to investigate obstacles that prevent implementation of science curriculum which was developed within the Education Reform for the Knowledge Economy project (ErfKE). To achieve this, a purposeful sample consisted of four teachers of science for the basic stage in the town located in the north of Jordan in the first semester of the…

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.

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

NASA Technical Reports Server (NTRS)

Badger, Julia; Nguyen, Vienny; Mehling, Joshua; Hambuchen, Kimberly; Diftler, Myron; Luna, Ryan; Baker, William; Joyce, Charles

2016-01-01

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Identifying and Overcoming Obstacles to Point-of-Care Data Collection for Eye Care Professionals

PubMed Central

Lobach, David F.; Silvey, Garry M.; Macri, Jennifer M.; Hunt, Megan; Kacmaz, Roje O.; Lee, Paul P.

2005-01-01

Supporting data entry by clinicians is considered one of the greatest challenges in implementing electronic health records. In this paper we describe a formative evaluation study using three different methodologies through which we identified obstacles to point-of-care data entry for eye care and then used the formative process to develop and test solutions to overcome these obstacles. The greatest obstacles were supporting free text annotation of clinical observations and accommodating the creation of detailed diagrams in multiple colors. To support free text entry, we arrived at an approach that captures an image of a free text note and associates this image with related data elements in an encounter note. The detailed diagrams included a color pallet that allowed changing pen color with a single stroke and also captured the diagrams as an image associated with related data elements. During observed sessions with simulated patients, these approaches satisfied the clinicians’ documentation needs by capturing the full range of clinical complexity that arises in practice. PMID:16779083

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 Elsevier Inc. All rights reserved.

Abdus Salam

NASA Astrophysics Data System (ADS)

Ziman, John

Mr. Vice-Chancellor Only connect! That is the theme that runs through the life and work of Abdus Salam. He has followed the teaching of Islam and has dedicated his life to the principle of unity — the unity of Nature and the unity of Mankind. As a natural philosopher he has seen that the various interactions of the elementary particles must be no more than diverse aspects of a single primary force. As a political and moral leader he has demonstrated that the various interactions of nations and cultures are no obstacle to the brotherhood of Man in science…

Implementation of Parent Child Interaction Therapy Within Foster Care: An Attempt to Translate an Evidence-Based Program Within a Local Child Welfare Agency

PubMed Central

Topitzes, James; Mersky, Joshua P.; McNeil, Cheryl B.

2014-01-01

This paper describes an innovative adaptation of an evidence-based intervention – Parent Child Interaction Therapy or PCIT – to foster parent training services. The authors faced multiple problems that commonly plague translational child welfare research as they developed, implemented and tested their model. The paper discusses how the authors addressed these problems when: 1) specifying the child welfare context in which the intervention model was implemented and tested, choosing an intervention model that responded to child welfare service needs, and tailoring the model for a child welfare context; 2) securing external funding and initiating sustainability plans for model uptake; and 3) forging a university-community partnership to overcome logistical and ethical obstacles. Concluding with a summary of promising preliminary study results, a description of future plans to replicate and spread the model, and a distillation of project lessons, the paper suggests that child welfare translational research with PCIT is very promising. PMID:25729340

Monitoring Ligand-Activated Protein-Protein Interactions Using Bioluminescent Resonance Energy Transfer (BRET) Assay.

PubMed

Coriano, Carlos; Powell, Emily; Xu, Wei

2016-01-01

The bioluminescent resonance energy transfer (BRET) assay has been extensively used in cell-based and in vivo imaging systems for detecting protein-protein interactions in the native environment of living cells. These protein-protein interactions are essential for the functional response of many signaling pathways to environmental chemicals. BRET has been used as a toxicological tool for identifying chemicals that either induce or inhibit these protein-protein interactions. This chapter focuses on describing the toxicological applications of BRET and its optimization as a high-throughput detection system in live cells. Here we review the construction of BRET fusion proteins, describe the BRET methodology, and outline strategies to overcome obstacles that may arise. Furthermore, we describe the advantage of BRET over other resonance energy transfer methods for monitoring protein-protein interactions.

Development and validation of the short version of the diabetes obstacles questionnaire (DOQ-30) in six European countries.

PubMed

Pilv, Liina; Vermeire, Etienne; Rätsep, Anneli; Moreau, Alain; Nikolić, Dragica; Petek, Davorina; Yaman, Hakan; Oona, Marje; Kalda, Ruth

2016-01-01

Patients with type 2 diabetes reveal different obstacles in living with the disease. The EGPRN initiated a qualitative research EUROBSTACLE to create a broadly conceptualized diabetes-related quality of life (DR-QoL) instrument. It led to the development of the diabetes obstacle questionnaire (DOQ), a five-point Likert-scaled measure, consisting of 78 items in eight scales. To develop and validate a short, easy-to-use version of the DOQ. A cross-sectional study with the DOQ was carried out. Participants answered the DOQ and GPs added some clinical data from their medical records. Data of 853 patients from Belgium, France, Estonia, Serbia, Slovenia, and Turkey were included in the analysis. The selection of items for the short version of the DOQ was achieved with exploratory factor analysis (EFA). Construct validity was proved with EFA and Pearson correlations between the DOQ and the new DOQ-30. Internal reliability was established with Cronbach's alpha. DOQ-30 resulted in 30 items in nine subscales. It explained 49.8% of items' variance. It shows a considerable good internal reliability and construct validity. The DOQ-30 is a five-point Likert-scaled broadly conceptualized measure of DR-QoL. It addresses a variety of obstacles, such as social, psychological, cognitive and behavioural. The DOQ-30 is ready for implementation in general practice and research in Europe as a valuable instrument to assess DR-QoL.

Visual control of foot placement when walking over complex terrain.

PubMed

Matthis, Jonathan S; Fajen, Brett R

2014-02-01

The aim of this study was to investigate the role of visual information in the control of walking over complex terrain with irregularly spaced obstacles. We developed an experimental paradigm to measure how far along the future path people need to see in order to maintain forward progress and avoid stepping on obstacles. Participants walked over an array of randomly distributed virtual obstacles that were projected onto the floor by an LCD projector while their movements were tracked by a full-body motion capture system. Walking behavior in a full-vision control condition was compared with behavior in a number of other visibility conditions in which obstacles did not appear until they fell within a window of visibility centered on the moving observer. Collisions with obstacles were more frequent and, for some participants, walking speed was slower when the visibility window constrained vision to less than two step lengths ahead. When window sizes were greater than two step lengths, the frequency of collisions and walking speed were weakly affected or unaffected. We conclude that visual information from at least two step lengths ahead is needed to guide foot placement when walking over complex terrain. When placed in the context of recent research on the biomechanics of walking, the findings suggest that two step lengths of visual information may be needed because it allows walkers to exploit the passive mechanical forces inherent to bipedal locomotion, thereby avoiding obstacles while maximizing energetic efficiency. PsycINFO Database Record (c) 2014 APA, all rights reserved.

Organizational Influences on Interdisciplinary Interactions during Research and Design of Large-Scale Complex Engineered Systems

NASA Technical Reports Server (NTRS)

McGowan, Anna-Maria R.; Seifert, Colleen M.; Papalambros, Panos Y.

2012-01-01

The design of large-scale complex engineered systems (LaCES) such as an aircraft is inherently interdisciplinary. Multiple engineering disciplines, drawing from a team of hundreds to thousands of engineers and scientists, are woven together throughout the research, development, and systems engineering processes to realize one system. Though research and development (R&D) is typically focused in single disciplines, the interdependencies involved in LaCES require interdisciplinary R&D efforts. This study investigates the interdisciplinary interactions that take place during the R&D and early conceptual design phases in the design of LaCES. Our theoretical framework is informed by both engineering practices and social science research on complex organizations. This paper provides preliminary perspective on some of the organizational influences on interdisciplinary interactions based on organization theory (specifically sensemaking), data from a survey of LaCES experts, and the authors experience in the research and design. The analysis reveals couplings between the engineered system and the organization that creates it. Survey respondents noted the importance of interdisciplinary interactions and their significant benefit to the engineered system, such as innovation and problem mitigation. Substantial obstacles to interdisciplinarity are uncovered beyond engineering that include communication and organizational challenges. Addressing these challenges may ultimately foster greater efficiencies in the design and development of LaCES and improved system performance by assisting with the collective integration of interdependent knowledge bases early in the R&D effort. This research suggests that organizational and human dynamics heavily influence and even constrain the engineering effort for large-scale complex systems.

Fast obstacle detection based on multi-sensor information fusion

NASA Astrophysics Data System (ADS)

Lu, Linli; Ying, Jie

2014-11-01

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

Efficiency analysis of a multiple axle vehicle with hydrostatic transmission overcoming obstacles

NASA Astrophysics Data System (ADS)

Comellas, M.; Pijuan, J.; Nogués, M.; Roca, J.

2018-01-01

Transmission configurations in off-road vehicles with multiple driven axles can be a determining factor in the obstacle surmounting capacity and also in the vehicle efficiency. An off-road articulated vehicle with four driven axles, four bogies and two modules has been considered for the global hydrostatic transmission efficiency analysis and for the vehicle functional efficiency analysis. The power flow through the transmission system has been quantified from the combustion engine shaft to each axle of the wheels. It has been done for different the operating conditions and taking into account the wheel-terrain interaction and the transmission configuration, that could lead to a forced slippage of some of the wheels. Results show the influence of the different wheels' requirements, the transmission configuration limitations and the considered control strategy on the global transmission and vehicle functional efficiencies.

Factors Controlling the Position of the Martian Magnetic Pileup Boundary

NASA Technical Reports Server (NTRS)

Crider, D. H.; Acuna, M.; Vignes, D.; Krymskii, A.; Breus, T.; Ness, N.

2003-01-01

The magnetic pileup boundary (MPB) at Mars is the position where the dominant ion of the plasma changes from solar wind protons to heavy ions of planetary origin. As such, it is the obstacle to solar wind ions. We investigate the factors that influence the shape and position of the magnetic pileup boundary at Mars in order to better understand the Martian obstacle to the solar wind. Employing MGS data, we determine how the Martian MPB moves in response to factors including solar wind pressure and crustal magnetic fields. We also study the factors affecting the thickness of the MPB. Further, we compare the magnetic pileup boundary to the magnetic barrier at Venus. Direct comparison aids in our interpretation of the physics involved in the solar wind interaction with planets lacking a significant intrinsic magnetic field.

Temporary microglia-depletion after cosmic radiation modifies phagocytic activity and prevents cognitive deficits.

PubMed

Krukowski, Karen; Feng, Xi; Paladini, Maria Serena; Chou, Austin; Sacramento, Kristen; Grue, Katherine; Riparip, Lara-Kirstie; Jones, Tamako; Campbell-Beachler, Mary; Nelson, Gregory; Rosi, Susanna

2018-05-18

Microglia are the main immune component in the brain that can regulate neuronal health and synapse function. Exposure to cosmic radiation can cause long-term cognitive impairments in rodent models thereby presenting potential obstacles for astronauts engaged in deep space travel. The mechanism/s for how cosmic radiation induces cognitive deficits are currently unknown. We find that temporary microglia depletion, one week after cosmic radiation, prevents the development of long-term memory deficits. Gene array profiling reveals that acute microglia depletion alters the late neuroinflammatory response to cosmic radiation. The repopulated microglia present a modified functional phenotype with reduced expression of scavenger receptors, lysosome membrane protein and complement receptor, all shown to be involved in microglia-synapses interaction. The lower phagocytic activity observed in the repopulated microglia is paralleled by improved synaptic protein expression. Our data provide mechanistic evidence for the role of microglia in the development of cognitive deficits after cosmic radiation exposure.

Political and legal implications of developing and operating a satellite power system

NASA Technical Reports Server (NTRS)

Hazelrigg, G. A., Jr.

1977-01-01

A number of political and legal implications of developing and operating a satellite power system (SPS) are identified and studied in this report. These include the vulnerability of SPS to actions of adversaries, communications impacts, the legality of an SPS in orbit including on-orbit military protection, alleviation of political concerns about deployment and operation of SPS, programmatic planning for SPS and the interaction of SPS with federal regulatory agencies and major departments. In comparing SPS to terrestrial power stations, it is seen that the political problems are neither clearly larger nor clearly smaller--they are clearly different and they are international in nature. If SPS is to become a reality these problems must be dealt with. Five major issues are identified. These must be resolved in order to obtain international acceptance of SPS. However, this study has found no insurmountable obstacles that would clearly prohibit the deployment, operation and protection of an SPS fleet.

Correctional officers' perceptions of a solution-focused training program: potential implications for working with offenders.

PubMed

Pan, Peter Jen Der; Deng, Liang-Yu F; Chang, Shona Shih Hua; Jiang, Karen Jye-Ru

2011-09-01

The purpose of this exploratory study was to explore correctional officers' perceptions and experiences during a solution-focused training program and to initiate development of a modified pattern for correctional officers to use in jails. The study uses grounded theory procedures combined with a follow-up survey. The findings identified six emergent themes: obstacles to doing counseling work in prisons, offenders' amenability to change, correctional officers' self-image, advantages of a solution-focused approach (SFA), potential advantages of applying SFA to offenders, and the need for the consolidation of learning and transformation. Participants perceived the use of solution-focused techniques as appropriate, important, functional, and of only moderate difficulty in interacting with offenders. Finally, a modified pattern was developed for officers to use when working with offenders in jails. Suggestions and recommendations are made for correctional interventions and future studies.

Charting a Course to Earth System Science Literacy

NASA Astrophysics Data System (ADS)

Karsten, J. L.; Koch, L.; Ridky, R.; Wei, M.; Ladue, N.

2008-12-01

Public literacy of fundamental ideas in Earth System Science (ESS) is immensely important, both because of its relevance to the daily lives of individual citizens and the role played by informed policy decisions related to water, energy, climate change, and hazards in securing our Nation's well-being and prosperity. The National Science Education Standards (NRC, 1996) argued that topics which comprise ESS also have tremendous value in providing context and meaning for the teaching of Biology, Chemistry, and Physics concepts and their applications, thereby serving the goals of the America COMPETES Act. Yet, as documented in the 2006 Program for International Student Assessment (PISA) results, the U.S. continues to lag significantly behind other developed nations in science literacy. A major obstacle to improving public ESS literacy, specifically, and strengthening science literacy, in general, is the fact that fewer than 30% of students in U.S. high schools take any courses related to ESS. Often, these courses are taught by teachers with limited preparation in this content area. A new grass-roots movement within the geoscience research and education communities, fueled by interagency collaboration, is seeking to overcome these obstacles and steer a new course for ESS education in the Nation. The Earth System Science Literacy Initiative (ESSLI) builds on recent efforts within portions of the geosciences community to reach consensus on what defines scientific literacy within their fields. Individual literacy frameworks now exist for the ocean, atmospheric science, Earth science, and climate topic areas, and others are under development. The essential principles and fundamental concepts articulated in these frameworks provide consistent core messages that can be delivered and reinforced not only through formal education channels, but also through informal education activities and the media, thereby avoiding the inherent obstacles of the formal education setting. Efforts underway to (1) integrate the individual literacy documents into a coherent, scientifically accurate ESS literacy framework that reflects the interactive complexity of Earth systems and (2) establish a new strategic plan for reforming ESS education in the U.S., in order to achieve such ESS literacy, will be described.

[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 disabled children and dysfunctional families; lack of evidence-based decision making in the process of health care reform and reform of social infrastructure.

Undergraduate Students' Ownership of Musical Learning: Obstacles and Options in One-to-One Teaching

ERIC Educational Resources Information Center

Johansson, Karin

2013-01-01

This paper describes a longitudinal, collaborative case study, made in the framework of the project Students' Ownership of Learning (SOL) during one academic year with one vocal teacher and two female students. The aim of the study was to relate the interaction between the teacher's and the students' intentions and expectations to…

African-American Leaders in the Field of Science: A Template for Overcoming Obstacles

NASA Astrophysics Data System (ADS)

Schmidt, Waweise J.

The purpose of this phenomenological multi-case study and three-person interview, was to discover what select prominent African-American scientists perceived were obstacles to overcome to be successful leaders in their professional lives, and the opportunities that aided in their professional growth. Through the addition of the three-person interview, the researcher discovered commonalities between the perceived obstacles and opportunities of current science, technology, engineering and mathematics (STEM) professionals and the perceptions of selected historically prominent scientists. This study examined documents of the period and relics of prominent African-Americans who were in STEM fields and lived from 1860 to 1968. A description of the setting that influenced how the scientists perceived the phenomenon was written with the approach being anchored in the social constructivist tradition. Commonalities emerged through coding experiences of the individuals, which yielded patterns to help explain the phenomenon. By investigating their perceptions, insight was gained into understanding the attributes, tools and skills, and tailored experiences that encouraged Thomas Burton, Kelly Miller, George Carver, Daniel Williams, Matthew Henson, Ernest Just, Charles Drew, Percy Julian, William Cobb, and Benjamin Peery to achieve success in STEM fields between 1860 and 1968. The significance of the study is multifaceted: understanding the obstacles that African-American scientists had to overcome in their professional lives can result in the development of science educators who are better informed regarding the appropriate types of assistance that can be provided to aid their students in overcoming obstacles. This can hopefully increase their opportunities to succeed within the science field. This study can result in the development of science educators who are more sensitive in addressing the needs of the developing minority student, and can encourage, educate, and enlist more individuals to enter into the dialogue regarding the disparity of minority representation in STEM fields.

Investigation of shock focusing in a cavity with incident shock diffracted by an obstacle

NASA Astrophysics Data System (ADS)

Zhang, Q.; Chen, X.; He, L.-M.; Rong, K.; Deiterding, R.

2017-03-01

Experiments and numerical simulations were carried out in order to investigate the focusing of a shock wave in a test section after the incident shock has been diffracted by an obstacle. A conventional shock tube was used to generate the planar shock. Incident shock Mach numbers of 1.4 and 2.1 were tested. A high-speed camera was employed to obtain schlieren photos of the flow field in the experiments. In the numerical simulations, a weighted essentially non-oscillatory (WENO) scheme of third-order accuracy supplemented with structured dynamic mesh adaptation was adopted to simulate the shock wave interaction. Good agreement between experiments and numerical results is observed. The configurations exhibit shock reflection phenomena, shock-vortex interaction and—in particular—shock focusing. The pressure history in the cavity apex was recorded and compared with the numerical results. A quantitative analysis of the numerically observed shock reflection configurations is also performed by employing a pseudo-steady shock transition boundary calculation technique. Regular reflection, single Mach reflection and transitional Mach reflection phenomena are observed and are found to correlate well with analytic predictions from shock reflection theory.

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Hybrid simulation of the shock wave trailing the Moon

NASA Astrophysics Data System (ADS)

Israelevich, P.; Ofman, L.

2012-04-01

Standing shock wave behind the Moon was predicted be Michel (1967) but never observed nor simulated. We use 1D hybrid code in order to simulate the collapse of the plasma-free cavity behind the Moon and for the first time to model the formation of this shock. Starting immediately downstream of the obstacle we consider the evolution of plasma expansion into the cavity in the frame of reference moving along with the solar wind. Well-known effects as electric charging of the cavity affecting the plasma flow and counter streaming ion beams in the wake are reproduced. Near the apex of the inner Mach cone where the plasma flows from the opposite sides of the obstacle meet, a shock wave arises. The shock is produced by the interaction of oppositely directed proton beams in the plane containing solar wind velocity and interplanetary magnetic field vectors. In the direction across the magnetic field and the solar wind velocity, the shock results from the interaction of the plasma flow with the region of the enhanced magnetic field inside the cavity that plays the role of magnetic barrier. The appearance of the standing shock wave is expected at the distance of ~ 7RM downstream of the Moon.

Nonlinear transport of soft droplets in pore networks

NASA Astrophysics Data System (ADS)

Vernerey, Franck; Benet Cerda, Eduard; Koo, Kanghyeon

A large number of biological and technological processes depend on the transport of soft colloidal particles through porous media; this includes the transport and separation of cells, viruses or drugs through tissues, membranes and microfluidic devices. In these systems, the interactions between soft particles, background fluid and the surrounding pore space yield complex, nonlinear behaviors such as non-Darcy flows, localization and jamming. We devise a computational strategy to investigate the transport of non-wetting and deformable water droplets in a microfluidic device made of a random distribution of cylindrical obstacles. We first derive scaling laws for the entry of the droplet in a single pore and discuss the role of surface tension, contact angle and size in this process. This information is then used to study the transport of multiple droplets in an obstacle network. We find that when the droplet size is close to the pore size, fluid flow and droplet trafficking strongly interact, leading to local redistributions in pressure fields, intermittent clogging and jamming. Importantly, it is found that the overall droplet and fluid transport display three different scaling regimes depending on the forcing pressure, and that these regimes can be related to droplet properties.

The origin of X-ray protrusions in the VELA supernova remnant

NASA Astrophysics Data System (ADS)

Gvaramadze, V. V.

We propose a possible explanation for the formation of X-ray protrusions in the Vela SNR, recently observed by the ROSAT X-ray telescope (Aschenbach, Egger & Trumper, 1995, Nature, 373, 587). We suggest that the highly asymmetric shape of the Vela SNR is the result of the interaction of the SN ejecta/shock with the pre-existing wind-driven shell blown-up in a medium with a density gradient (perpendicular to the Galactic plane). The interaction of the radiative (north-east) half of the remnant, approaching towards the Galactic plane, with dense obstacles (cloudlets or wind zones of stars) can produce X-ray "bullets" radially moving beyond the SNR boundary. These "bullets" originate due to the cooling and condensation of a gas swept-up by converging conical shocks arising behind the dense obstacles overtaken by the SN shock. The X-ray protrusions observed in the western part of the remnant might be explained by outflows of hot gas of the SNR's interior emanating through the gaps in the shell. The origin of the X-ray "jet" (Markwardt & Ogelman, 1995, Nature, 375, 40) in the central part of the Vela SNR is also discussed.

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

PubMed

Yoo, Jeong-Ki; Kim, Jong-Hwan

2012-02-01

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

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

Antigenic variability: Obstacles on the road to vaccines against traditionally difficult targets.

PubMed

Servín-Blanco, R; Zamora-Alvarado, R; Gevorkian, G; Manoutcharian, K

2016-10-02

Despite the impressive impact of vaccines on public health, the success of vaccines targeting many important pathogens and cancers has to date been limited. The burden of infectious diseases today is mainly caused by antigenically variable pathogens (AVPs), which escape immune responses induced by prior infection or vaccination through changes in molecular structures recognized by antibodies or T cells. Extensive genetic and antigenic variability is the major obstacle for the development of new or improved vaccines against "difficult" targets. Alternative, qualitatively new approaches leading to the generation of disease- and patient-specific vaccine immunogens that incorporate complex permanently changing epitope landscapes of intended targets accompanied by appropriate immunomodulators are urgently needed. In this review, we highlight some of the most critical common issues related to the development of vaccines against many pathogens and cancers that escape protective immune responses owing to antigenic variation, and discuss recent efforts to overcome the obstacles by applying alternative approaches for the rational design of new types of immunogens.

The NASA Software Research Infusion Initiative: Successful Technology Transfer for Software Assurance

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Pressburger, Thomas; Markosian, Lawrence; Feather, Martin S.

2006-01-01

New processes, methods and tools are constantly appearing in the field of software engineering. Many of these augur great potential in improving software development processes, resulting in higher quality software with greater levels of assurance. However, there are a number of obstacles that impede their infusion into software development practices. These are the recurring obstacles common to many forms of research. Practitioners cannot readily identify the emerging techniques that may most benefit them, and cannot afford to risk time and effort in evaluating and experimenting with them while there is still uncertainty about whether they will have payoff in this particular context. Similarly, researchers cannot readily identify those practitioners whose problems would be amenable to their techniques and lack the feedback from practical applications necessary to help them to evolve their techniques to make them more likely to be successful. This paper describes an ongoing effort conducted by a software engineering research infusion team, and the NASA Research Infusion Initiative, established by NASA s Software Engineering Initiative, to overcome these obstacles.

Professional development in statistics, technology, and cognitively demanding tasks: classroom implementation and obstacles

NASA Astrophysics Data System (ADS)

Foley, Gregory D.; Bakr Khoshaim, Heba; Alsaeed, Maha; Nihan Er, S.

2012-03-01

Attending professional development programmes can support teachers in applying new strategies for teaching mathematics and statistics. This study investigated (a) the extent to which the participants in a professional development programme subsequently used the techniques they had learned when teaching mathematics and statistics and (b) the obstacles they encountered in enacting cognitively demanding instructional tasks in their classrooms. The programme created an intellectual learning community among the participants and helped them gain confidence as teachers of statistics, and the students of participating teachers became actively engaged in deep mathematical thinking. The participants indicated, however, that time, availability of resources and students' prior achievement critically affected the implementation of cognitively demanding instructional activities.

The solar cycle dependence of the location and shape of the Venus bow shock

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

Zhang, T.L.; Luhmann, J.G.; Russell, C.T.

1990-09-01

From initial Pioneer Venus observations during the maximum of solar cycle 21 it was evident that the position of the Venus bow shock varies with solar activity. The bow shock radius in the terminator plane changed from 2.4 R{sub v} to 2.1 R{sub v} as solar activity went from maximum to minimum and, as activity has increased in cycle 22, it has increased again. The recent studies of the subsolar region show that the altitude of the nose of the bow shock varies from 1,600 km at solar minimum to 2,200 km at intermediate solar activity in concert with themore » terminator altitude so that the shape remains constant and only the size varies during the solar cycle. Using a gas dynamic model and the observed bow shock location, the authors infer the variation in the size of the effective obstacle during the solar cycle. At solar maximum, the effective obstacle is larger than the ionopause as if a magnetic barrier exists in the inner magnetosheath. This magnetic barrier acts as the effective obstacle deflecting the magnetosheath plasma about 500 km above the surface of Venus. However, at solar minimum the effective obstacle is well below the subsolar ionopause, and some absorption of the solar wind plasma by the Venus neutral atmosphere is suggested by these observations. The dependence of the solar cycle variation of the shock position on the orientation of the interplanetary magnetic field reinforces the idea that planetary ion pickup is important in the interaction of the solar wind with Venus.« less

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.

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.

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.

Factors influencing the development and use of interactive video in nursing education. A Delphi study.

PubMed

Rizzolo, M A

1990-01-01

The purpose of this study was to identify factors impeding development and use of interactive video (IAV) in nursing education in order to specify actions that would facilitate its development and use. Nurse educators with experience in development of IAV programs were defined as the experts, and a three-round Delphi study was conducted. Study findings revealed that participants were aware of obstacles to development and were able to suggest some ways to overcome them. Subjects clearly identified content they want in IAV programs, and were especially united on applications for simulations. They agreed on benefits of IAV for students, but were less certain about how it might affect faculty roles, and were undecided about measurable advantages of IAV. Conservative predictions were made about how evolving IAV technology might change the process of nurse education in the future. To promote IAV development and use the author recommends cooperative efforts between nurse educators and developers in the business sector and an educational thrust targeted for specific groups. Moving beyond existing nursing roles and institutional models, the author makes two major suggestions: establishment of a new nursing specialist, the nurse/instructional designer, and the creation of an information center staffed by these new specialists who will design and develop programs, provide education and consultation, maintain a clearinghouse for IAV programs, research, and technology, and take a leadership role in the integration of this powerful instructional delivery system into the entire health field.

Three phase heat and mass transfer model for unsaturated soil freezing process: Part 1 - model development

NASA Astrophysics Data System (ADS)

Xu, Fei; Zhang, Yaning; Jin, Guangri; Li, Bingxi; Kim, Yong-Song; Xie, Gongnan; Fu, Zhongbin

2018-04-01

A three-phase model capable of predicting the heat transfer and moisture migration for soil freezing process was developed based on the Shen-Chen model and the mechanisms of heat and mass transfer in unsaturated soil freezing. The pre-melted film was taken into consideration, and the relationship between film thickness and soil temperature was used to calculate the liquid water fraction in both frozen zone and freezing fringe. The force that causes the moisture migration was calculated by the sum of several interactive forces and the suction in the pre-melted film was regarded as an interactive force between ice and water. Two kinds of resistance were regarded as a kind of body force related to the water films between the ice grains and soil grains, and a block force instead of gravity was introduced to keep balance with gravity before soil freezing. Lattice Boltzmann method was used in the simulation, and the input variables for the simulation included the size of computational domain, obstacle fraction, liquid water fraction, air fraction and soil porosity. The model is capable of predicting the water content distribution along soil depth and variations in water content and temperature during soil freezing process.

In pursuit of photo-induced magnetic and chiral microscopy

NASA Astrophysics Data System (ADS)

Zeng, Jinwei; Kamandi, Mohammad; Darvishzadeh-Varcheie, Mahsa; Albooyeh, Mohammad; Veysi, Mehdi; Guclu, Caner; Hanifeh, Mina; Rajaei, Mohsen; Potma, Eric O.; Wickramasinghe, H. Kumar; Capolino, Filippo

2018-06-01

Light-matter interactions enable the perception of specimen properties such as its shape and dimensions by measuring the subtle differences carried by an illuminating beam after interacting with the sample. However, major obstacles arise when the relevant properties of the specimen are weakly coupled to the incident beam, for example when measuring optical magnetism and chirality. To address this challenge we propose the idea of detecting such weakly-coupled properties of matter through the photo-induced force, aiming at developing photo-induced magnetic or chiral force microscopy. Here we review our pursuit consisting of the following steps: (1) Development of a theoretical blueprint of a magnetic nanoprobe to detect a magnetic dipole oscillating at an optical frequency when illuminated by an azimuthally polarized beam via the photo-induced magnetic force; (2) Conducting an experimental study using an azimuthally polarized beam to probe the near fields and axial magnetism of a Si disk magnetic nanoprobe, based on photo-induced force microscopy; (3) Extending the concept of force microscopy to probe chirality at the nanoscale, enabling enantiomeric detection of chiral molecules. Finally, we discuss difficulties and how they could be overcome, as well as our plans for future work. Invited Paper

Near-infrared photodynamic inactivation of S. pneumoniae and its interaction with RAW 264.7 macrophages.

PubMed

Leite, Ilaiáli S; Geralde, Mariana C; Salina, Ana C G; Medeiros, Alexandra I; Dovigo, Lívia N; Bagnato, Vanderlei S; Inada, Natalia M

2018-01-01

Pneumonia is the main cause of children mortality worldwide, and its major treatment obstacle stems from the microorganisms increasing development of resistance to several antibiotics. Photodynamic therapy has been presenting, for the last decades, promising results for some subtypes of cancer and infections. In this work we aimed to develop a safe and efficient in vitro protocol for photodynamic inactivation of Streptococcus pneumoniae, one of the most commonly found bacteria in pneumonia cases, using two near-infrared light sources and indocyanine green, a FDA approved dye. Photodynamic inactivation experiments with bacteria alone allowed to determine the best parameters for microbial inactivation. Cytotoxicity assays with RAW 264.7 macrophages evaluated the safety of the PDI. To determine if the photodynamic inactivation had a positive or negative effect on the natural killing action of macrophages, we selected and tested fewer indocyanine green concentrations and 10 J/cm 2 on macrophage-S. pneumoniae co-cultures. We concluded that ICG has potential as a photosensitizer for near-infrared photodynamic inactivation of S. pneumoniae, producing minimum negative impact on RAW 264.7 macrophages and having a positive interaction with the immune cell's microbicidal action. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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.

An architectural approach to create self organizing control systems for practical autonomous robots

NASA Technical Reports Server (NTRS)

Greiner, Helen

1991-01-01

For practical industrial applications, the development of trainable robots is an important and immediate objective. Therefore, the developing of flexible intelligence directly applicable to training is emphasized. It is generally agreed upon by the AI community that the fusion of expert systems, neural networks, and conventionally programmed modules (e.g., a trajectory generator) is promising in the quest for autonomous robotic intelligence. Autonomous robot development is hindered by integration and architectural problems. Some obstacles towards the construction of more general robot control systems are as follows: (1) Growth problem; (2) Software generation; (3) Interaction with environment; (4) Reliability; and (5) Resource limitation. Neural networks can be successfully applied to some of these problems. However, current implementations of neural networks are hampered by the resource limitation problem and must be trained extensively to produce computationally accurate output. A generalization of conventional neural nets is proposed, and an architecture is offered in an attempt to address the above problems.

The complexities of malaria disease manifestations with a focus on asymptomatic malaria

PubMed Central

2012-01-01

Malaria is a serious parasitic disease in the developing world, causing high morbidity and mortality. The pathogenesis of malaria is complex, and the clinical presentation of disease ranges from severe and complicated, to mild and uncomplicated, to asymptomatic malaria. Despite a wealth of studies on the clinical severity of disease, asymptomatic malaria infections are still poorly understood. Asymptomatic malaria remains a challenge for malaria control programs as it significantly influences transmission dynamics. A thorough understanding of the interaction between hosts and parasites in the development of different clinical outcomes is required. In this review, the problems and obstacles to the study and control of asymptomatic malaria are discussed. The human and parasite factors associated with differential clinical outcomes are described and the management and treatment strategies for the control of the disease are outlined. Further, the crucial gaps in the knowledge of asymptomatic malaria that should be the focus of future research towards development of more effective malaria control strategies are highlighted. PMID:22289302

[Therapeutic education in pediatric dentistry: analysis of obstacles and levers to the development of programmes in France in 2016].

PubMed

Marquillier, Thomas; Trentesaux, Thomas; Gagnayre, Rémi

2017-01-01

Over recent years, therapeutic patient education has become part of dental medicine. Management of early childhood caries, known to be a very common chronic disease, has evolved to include an educational dimension. The objective of this study was to identify the levers and barriers to the development of formalized therapeutic education programmes and alternatives. A comprehensive exploratory qualitative study was conducted between November 2015 and June 2016 on a targeted sample of 15 people aware of the problem of TPE in dentistry. The study showed that TPE training in dentistry is underdeveloped, despite its numerous benefits: change of the healthcare professional's approach, implementation of structured educational programmes, development of research, etc. There are many obstacles to the development of TPE programmes: insufficient resources, rigid legislation or lack of knowledge of TPE practices. The dental profession is an obstacle itself because of its lack of understanding and variable degrees of integration the medical community. There are multiple levers, but the main ones are changing attitudes of the profession and the provision of resources to develop TPE. Although alternatives to TPE programmes exist (accompanying measures, short educational strategies, connected health), they cannot replace TPE. More educational strategies must be developed in the field of dentistry. However, the framework of TPE must be adapted to the profession to ensure good uptake.

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.

Performance and wake conditions of a rotor located in the wake of an obstacle

NASA Astrophysics Data System (ADS)

Naumov, I. V.; Kabardin, I. K.; Mikkelsen, R. F.; Okulov, V. L.; Sørensen, J. N.

2016-09-01

Obstacles like forests, ridges and hills can strongly affect the velocity profile in front of a wind turbine rotor. The present work aims at quantifying the influence of nearby located obstacles on the performance and wake characteristics of a downstream located wind turbine. Here the influence of an obstacle in the form of a cylindrical disk was investigated experimentally in a water flume. A model of a three-bladed rotor, designed using Glauert's optimum theory at a tip speed ratio λ = 5, was placed in the wake of a disk with a diameter close to the one of the rotor. The distance from the disk to the rotor was changed from 4 to 8 rotor diameters, with the vertical distance from the rotor axis varied 0.5 and 1 rotor diameters. The associated turbulent intensity of the incoming flow to the rotor changed 3 to '6% due to the influence of the disk wake. In the experiment, thrust characteristics and associated pulsations as a function of the incoming flow structures were measured by strain gauges. The flow condition in front of the rotor was measured with high temporal accuracy using LDA and power coefficients were determine as function of tip speed ratio for different obstacle positions. Furthermore, PIV measurements were carried out to study the development of the mean velocity deficit profiles of the wake behind the wind turbine model under the influence of the wake generated by the obstacle. By use of regression techniques to fit the velocity profiles it was possible to determine velocity deficits and estimate length scales of the wake attenuation.

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.

Drug-conjugated polymers as gene carriers for synergistic therapeutic effect.

PubMed

Pofali, P A; Singh, B; Dandekar, P; Jain, R D; Maharjan, S; Choi, Y J; Arote, R B; Cho, C S

2016-05-01

The ability to safely and effectively transfer gene into cells is the fundamental goal of gene delivery. In spite of the best efforts of researchers around the world, gene therapy has limited success. This may be because of several limitations of delivering gene which is one of the greatest technical challenges in the modern medicine. To address these issues, many efforts have been made to bind drugs and genes together by polymers for co-delivery to achieve synergistic effect. Usually, binding interaction of drugs with polymers is either physical or chemical. In case of drug-polymer physical interaction, the efficiency of drugs generally decreases because of separation of drugs from polymers in vivo whenever it comes in contact with charged biofluid/s or cells. While chemical interaction of drug-polymer overcomes the aforementioned obstacle, several problems such as steric hindrance, solubility, and biodegradability hinder it to develop as gene carrier. Considering these benefits and pitfalls, the objective of this review is to discuss the possible extent of drug-conjugated polymers as safe and efficient gene delivery carriers for achieving synergistic effect to combat various genetic disorders. © 2015 Wiley Periodicals, Inc.

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.

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

PubMed Central

Ito, Kazufumi; Li, Zhilin; Qiao, Zhonghua

2013-01-01

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

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

PubMed

Ito, Kazufumi; Li, Zhilin; Qiao, Zhonghua

2012-02-01

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

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

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

An Intelligent Robotic Hospital Bed for Safe Transportation of Critical Neurosurgery Patients Along Crowded Hospital Corridors.

PubMed

Wang, Chao; Savkin, Andrey V; Clout, Ray; Nguyen, Hung T

2015-09-01

We present a novel design of an intelligent robotic hospital bed, named Flexbed, with autonomous navigation ability. The robotic bed is developed for fast and safe transportation of critical neurosurgery patients without changing beds. Flexbed is more efficient and safe during the transportation process comparing to the conventional hospital beds. Flexbed is able to avoid en-route obstacles with an efficient easy-to-implement collision avoidance strategy when an obstacle is nearby and to move towards its destination at maximum speed when there is no threat of collision. We present extensive simulation results of navigation of Flexbed in the crowded hospital corridor environments with moving obstacles. Moreover, results of experiments with Flexbed in the real world scenarios are also presented and discussed.

A Comprehensive Tool for Exploring the Availability, Scalability and Growth Potential of Conventional and Renewable Energy Sources and Technologies

NASA Astrophysics Data System (ADS)

Jack-Scott, E.; Arnott, J. C.; Katzenberger, J.; Davis, S. J.; Delman, E.

2015-12-01

It has been a generational challenge to simultaneously meet the world's energy requirements, while remaining within the bounds of acceptable cost and environmental impact. To this end, substantial research has explored various energy futures on a global scale, leaving decision-makers and the public overwhelmed by information on energy options. In response, this interactive energy table was developed as a comprehensive resource through which users can explore the availability, scalability, and growth potentials of all energy technologies currently in use or development. Extensive research from peer-reviewed papers and reports was compiled and summarized, detailing technology costs, technical considerations, imminent breakthroughs, and obstacles to integration, as well as political, social, and environmental considerations. Energy technologies fall within categories of coal, oil, natural gas, nuclear, solar, wind, hydropower, ocean, geothermal and biomass. In addition to 360 expandable cells of cited data, the interactive table also features educational windows with background information on each energy technology. The table seeks not to advocate for specific energy futures, but to succinctly and accurately centralize peer-reviewed research and information in an interactive, accessible resource. With this tool, decision-makers, researchers and the public alike can explore various combinations of energy technologies and their quantitative and qualitative attributes that can satisfy the world's total primary energy supply (TPES) while making progress towards a near zero carbon future.

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

Ab initio structure determination from prion nanocrystals at atomic resolution by MicroED

PubMed Central

Sawaya, Michael R.; Rodriguez, Jose; Cascio, Duilio; Collazo, Michael J.; Shi, Dan; Reyes, Francis E.; Gonen, Tamir; Eisenberg, David S.

2016-01-01

Electrons, because of their strong interaction with matter, produce high-resolution diffraction patterns from tiny 3D crystals only a few hundred nanometers thick in a frozen-hydrated state. This discovery offers the prospect of facile structure determination of complex biological macromolecules, which cannot be coaxed to form crystals large enough for conventional crystallography or cannot easily be produced in sufficient quantities. Two potential obstacles stand in the way. The first is a phenomenon known as dynamical scattering, in which multiple scattering events scramble the recorded electron diffraction intensities so that they are no longer informative of the crystallized molecule. The second obstacle is the lack of a proven means of de novo phase determination, as is required if the molecule crystallized is insufficiently similar to one that has been previously determined. We show with four structures of the amyloid core of the Sup35 prion protein that, if the diffraction resolution is high enough, sufficiently accurate phases can be obtained by direct methods with the cryo-EM method microelectron diffraction (MicroED), just as in X-ray diffraction. The success of these four experiments dispels the concern that dynamical scattering is an obstacle to ab initio phasing by MicroED and suggests that structures of novel macromolecules can also be determined by direct methods. PMID:27647903

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

The impact of wind energy turbine piles on ocean dynamics

NASA Astrophysics Data System (ADS)

Grashorn, Sebastian; Stanev, Emil V.

2016-04-01

The small- and meso-scale ocean response to wind parks has not been investigated in the southern North Sea until now with the help of high-resolution numerical modelling. Obstacles such as e.g. wind turbine piles may influence the ocean current system and produce turbulent kinetic energy which could affect sediment dynamics in the surrounding area. Two setups of the unstructured-grid model SCHISM (Semi-implicit Cross-scale Hydroscience Integrated System Model) have been developed for an idealized channel including a surface piercing cylindrical obstacle representing the pile and a more realistic test case including four exemplary piles. Experiments using a constant flow around the obstacles and a rotating M2 tidal wave are carried out. The resulting current and turbulence patterns are investigated to estimate the influence of the obstacles on the surrounding ocean dynamics. We demonstrate that using an unstructured ocean model provides the opportunity to embed a high-resolution representation of a wind park turbine pile system into a coarser North Sea setup, which is needed in order to perform a seamless investigation of the resulting geophysical processes.

Dengue vaccine development: strategies and challenges.

PubMed

Ramakrishnan, Lakshmy; Pillai, Madhavan Radhakrishna; Nair, Radhakrishnan R

2015-03-01

Infection with dengue virus may result in dengue fever or a more severe outcome, such as dengue hemorrhagic syndrome/shock. Dengue virus infection poses a threat to endemic regions for four reasons: the presence of four serotypes, each with the ability to cause a similar disease outcome, including fatality; difficulties related to vector control; the lack of specific treatment; and the nonavailability of a suitable vaccine. Vaccine development is considered challenging due to the severity of the disease observed in individuals who have acquired dengue-specific immunity, either passively or actively. Therefore, the presence of vaccine-induced immunity against a particular serotype may prime an individual to severe disease on exposure to dengue virus. Vaccine development strategies include live attenuated vaccines, chimeric, DNA-based, subunit, and inactivated vaccines. Each of the candidates is in various stages of preclinical and clinical development. Issues pertaining to selection pressures, viral interaction, and safety still need to be evaluated in order to induce a complete protective immune response against all four serotypes. This review highlights the various strategies that have been employed in vaccine development, and identifies the obstacles to producing a safe and effective vaccine.

Technical assistance and the transfer of remote sensing technology. [for economic development

NASA Technical Reports Server (NTRS)

Chipman, R.

1977-01-01

The transfer of technology from industrialized countries to the third world is a very complicated process and one that requires a great deal of research and development. The political and social obstacles to this transfer are generally greater than the technical obstacles, but technical assistance programs have neither the competence nor the inclination to deal with these factors adequately. Funding for technical assistance in remote sensing is now expanding rapidly, and there is a growing need for institutions to study and promote the effective use of this technology for economic development. The United Nations, the Food and Agriculture Organization, the World Bank, the United States Agency for International Development and the Canadian technical assistance agencies take different approaches to the problem and deal with the political pressures in different ways.

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…

Actively generated noise liquid flowmeter.

PubMed

Tanisawa, S; Hirose, H; Yoshihisa, N

1994-01-01

A new noise flowmeter with two transducers has been tested experimentally in water. It detects the noises generated by the interaction between artificially introduced air bubbles and a built-in obstacle with a downstream transducer, and differentiates them from the external noises detected by the upstream transducer in a pipe. The system includes processing instrumentation with functions such as averaging and difference-operating for reduction of external noise effects.

Vision Based Obstacle Detection in Uav Imaging

NASA Astrophysics Data System (ADS)

Badrloo, S.; Varshosaz, M.

2017-08-01

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

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 preceding the obstacle decreases in length and duration. The following stride negotiating the obstacle increases in height while retaining normal temporal structure and nearly normal length. Copyright © 2017 the American Physiological Society.

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

NASA Astrophysics Data System (ADS)

Howerton, William

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

Dealing with aggressive behavior within the health care team: a leadership challenge.

PubMed

Hynes, Patricia; Kissoon, Niranjan; Hamielec, Cindy M; Greene, Anne Marie; Simone, Carmine

2006-06-01

During an interdisciplinary Canadian leadership forum [ (click on the Conferences icon)], participants were challenged to develop an approach to a difficult leadership/management situation. In a scenario involving aggressive behavior among health care providers, participants identified that, before responding, an appropriate leader should collect additional information to identify the core problem(s) causing such behavior. Possibilities include stress; lack of clear roles, responsibilities, and standard operating procedures; and, finally, lack of training on important leadership/management skills. As a result of these core problems, several potential solutions are possible, all with potential obstacles to implementation. Additional education around communication and team interaction was felt to be a priority. In summary, clinical leaders probably have a great deal to gain from augmenting their leadership/management skills.

Development and Testing of a Two-UAV Communication Relay System.

PubMed

Li, Boyang; Jiang, Yifan; Sun, Jingxuan; Cai, Lingfeng; Wen, Chih-Yung

2016-10-13

In the development of beyond-line-of-sight (BLOS) Unmanned Aerial Vehicle (UAV) systems, communication between the UAVs and the ground control station (GCS) is of critical importance. The commonly used economical wireless modules are restricted by the short communication range and are easily blocked by obstacles. The use of a communication relay system provides a practical way to solve these problems, improving the performance of UAV communication in BLOS and cross-obstacle operations. In this study, a communication relay system, in which a quadrotor was used to relay radio communication for another quadrotor was developed and tested. First, the UAVs used as the airborne platform were constructed, and the hardware for the communication relay system was selected and built up. Second, a set of software programs and protocol for autonomous mission control, communication relay control, and ground control were developed. Finally, the system was fully integrated into the airborne platform and tested both indoor and in-flight. The Received Signal Strength Indication (RSSI) and noise value in two typical application scenarios were recorded. The test results demonstrated the ability of this system to extend the communication range and build communication over obstacles. This system also shows the feasibility to coordinate multiple UAVs' communication with the same relay structure.

Development and Testing of a Two-UAV Communication Relay System

PubMed Central

Li, Boyang; Jiang, Yifan; Sun, Jingxuan; Cai, Lingfeng; Wen, Chih-Yung

2016-01-01

In the development of beyond-line-of-sight (BLOS) Unmanned Aerial Vehicle (UAV) systems, communication between the UAVs and the ground control station (GCS) is of critical importance. The commonly used economical wireless modules are restricted by the short communication range and are easily blocked by obstacles. The use of a communication relay system provides a practical way to solve these problems, improving the performance of UAV communication in BLOS and cross-obstacle operations. In this study, a communication relay system, in which a quadrotor was used to relay radio communication for another quadrotor was developed and tested. First, the UAVs used as the airborne platform were constructed, and the hardware for the communication relay system was selected and built up. Second, a set of software programs and protocol for autonomous mission control, communication relay control, and ground control were developed. Finally, the system was fully integrated into the airborne platform and tested both indoor and in-flight. The Received Signal Strength Indication (RSSI) and noise value in two typical application scenarios were recorded. The test results demonstrated the ability of this system to extend the communication range and build communication over obstacles. This system also shows the feasibility to coordinate multiple UAVs’ communication with the same relay structure. PMID:27754369

Reduction of User Interaction by Autonomy

NASA Technical Reports Server (NTRS)

Morfopoulos, Arin; McHenry, Michael; Matthies, Larry

2006-01-01

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

Numerical modeling of the interaction of liquid drops and jets with shock waves and gas jets

NASA Astrophysics Data System (ADS)

Surov, V. S.

1993-02-01

The motion of a liquid drop (jet) and of the ambient gas is described, in the general case, by Navier-Stokes equations. An approximate solution to the interaction of a plane shock wave with a single liquid drop is presented. Based on the analysis, the general system of Navier-Stokes equations is reduced to two groups of equations, Euler equations for gas and Navier-Stokes equations for liquid; solutions to these equations are presented. The discussion also covers the modeling of the interaction of a shock wave with a drop screen, interaction of a liquid jet with a counterpropagating supersonic gas flow, and modeling of processes in a shock layer during the impact of a drop against an obstacle in gas flow.

Turbulent Transport of Fast Ions in the Large Plasma Device (LAPD)

NASA Astrophysics Data System (ADS)

Zhou, Shu; Heidbrink, William; McWilliams, Roger; Boehmer, Heinrich; Carter, Troy; Popovich, Pavel; Tripathi, Shreekrishna; Vincena, Steve; Jenko, Frank

2010-11-01

Due to gyroradius averaging and drift-orbit averaging, the transport of fast ions by microturbulence is often smaller than for thermal ions. In this experiment, Strong drift wave turbulence is observed in LAPD on gradients produced by a plate obstacle. Energetic lithium ions orbit through the turbulent region. Scans with a collimated analyzer and with probes give detailed profiles of the fast ion spatial distribution and of the fluctuating fields. The fast-ion transport decreases rapidly with increasing fast-ion gyroradius. Unlike the diffusive transport caused by Coulomb collisions, in this case the turbulent transport is non-diffusive. Analysis and simulation suggest that the fast ions interact ballistically with stationary two-dimensional electrostatic turbulence. The energy dependence of the transport is well explained by gyro-averaging theory. In new experiments, different sources and obstacles alter the drift-wave turbulence to modify the nature of the transport.

Politics, power and poverty: health for all in 2000 in the Third World?

PubMed

Green, R H

1991-01-01

Health for All by 2000 could become a reality in the Third World countries. On present resource allocation, medical professional and political patterns and trends that is unlikely to happen in more than a few countries. For it to happen requires basic priority shifts to universal access primary health care (including preventative). The main obstacles to such a shift are not absolute resource constraints but medical professional conservatism together with its interaction with elite interests and with political priorities based partly on perceived demand and partly on (largely medical) professional advice. These obstacles are surmountable-as illustrated by divergent performances among countries--but only if education, promotion, efficiency in terms of lives saved and healthy years gained, community participation and political activism for Health for All are more carefully analytically based and pursued more seriously and widely than they have been to date.

Can Universities Develop Advanced Technology and Solve Social Problems?

NASA Astrophysics Data System (ADS)

Pérez Ones, Isarelis; Núñez Jover, Jorge

This paper presents case studies on how Cuban universities have increasingly become directly involved with the economic and social development of the country. The paper shows how Cuban universities, from the early 1980s and early 1990s, started reorientation and organization of their scientific research, becoming more directly and intensely involved in the economic and social development of the country. In this way, special reference is made to the case of a research group at the University of Havana: the Laboratory of Synthetic Antigens. This group developed the first synthetic vaccine for human use approved in the world. In the article, public policies involved in this success as well as different obstacles are discussed. These obstacles demonstrate the difficulties and challenges that universities face when carrying out research and innovation activities related to economic and social development.

Efforts toward an autonomous wheelchair - biomed 2011.

PubMed

Barrett, Steven; Streeter, Robert

2011-01-01

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

Optimal Design for the Precise Estimation of an Interaction Threshold: The Impact of Exposure to a Mixture of 18 Polyhalogenated Aromatic Hydrocarbons

PubMed Central

Yeatts, Sharon D.; Gennings, Chris; Crofton, Kevin M.

2014-01-01

Traditional additivity models provide little flexibility in modeling the dose–response relationships of the single agents in a mixture. While the flexible single chemical required (FSCR) methods allow greater flexibility, its implicit nature is an obstacle in the formation of the parameter covariance matrix, which forms the basis for many statistical optimality design criteria. The goal of this effort is to develop a method for constructing the parameter covariance matrix for the FSCR models, so that (local) alphabetic optimality criteria can be applied. Data from Crofton et al. are provided as motivation; in an experiment designed to determine the effect of 18 polyhalogenated aromatic hydrocarbons on serum total thyroxine (T4), the interaction among the chemicals was statistically significant. Gennings et al. fit the FSCR interaction threshold model to the data. The resulting estimate of the interaction threshold was positive and within the observed dose region, providing evidence of a dose-dependent interaction. However, the corresponding likelihood-ratio-based confidence interval was wide and included zero. In order to more precisely estimate the location of the interaction threshold, supplemental data are required. Using the available data as the first stage, the Ds-optimal second-stage design criterion was applied to minimize the variance of the hypothesized interaction threshold. Practical concerns associated with the resulting design are discussed and addressed using the penalized optimality criterion. Results demonstrate that the penalized Ds-optimal second-stage design can be used to more precisely define the interaction threshold while maintaining the characteristics deemed important in practice. PMID:22640366

Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images

PubMed Central

Vrooijink, Gustaaf J.; Abayazid, Momen; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak

2015-01-01

Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimensional (2D) ultrasound images. The needle is steered to a moving target while avoiding moving obstacles in a three-dimensional (3D) non-static environment. Using a 2D ultrasound imaging device, our system accurately tracks the needle tip motion in 3D space in order to estimate the tip pose. The needle tip pose is used by a rapidly exploring random tree-based motion planner to compute a feasible needle path to the target. The motion planner is sufficiently fast such that replanning can be performed repeatedly in a closed-loop manner. This enables the system to correct for perturbations in needle motion, and movement in obstacle and target locations. Our needle steering experiments in a soft-tissue phantom achieves maximum targeting errors of 0.86 ± 0.35 mm (without obstacles) and 2.16 ± 0.88 mm (with a moving obstacle). PMID:26279600

Investigation of obstacle effect to improve conjugate heat transfer in backward facing step channel using fast simulation of incompressible flow

NASA Astrophysics Data System (ADS)

Nouri-Borujerdi, Ali; Moazezi, Arash

2018-01-01

The current study investigates the conjugate heat transfer characteristics for laminar flow in backward facing step channel. All of the channel walls are insulated except the lower thick wall under a constant temperature. The upper wall includes a insulated obstacle perpendicular to flow direction. The effect of obstacle height and location on the fluid flow and heat transfer are numerically explored for the Reynolds number in the range of 10 ≤ Re ≤ 300. Incompressible Navier-Stokes and thermal energy equations are solved simultaneously in fluid region by the upwind compact finite difference scheme based on flux-difference splitting in conjunction with artificial compressibility method. In the thick wall, the energy equation is obtained by Laplace equation. A multi-block approach is used to perform parallel computing to reduce the CPU time. Each block is modeled separately by sharing boundary conditions with neighbors. The developed program for modeling was written in FORTRAN language with OpenMP API. The obtained results showed that using of the multi-block parallel computing method is a simple robust scheme with high performance and high-order accurate. Moreover, the obtained results demonstrated that the increment of Reynolds number and obstacle height as well as decrement of horizontal distance between the obstacle and the step improve the heat transfer.

GLOBAL TRANSITION TO SUSTAINABLE DEVELOPMENT

EPA Science Inventory

Global transition to sustainable development is possible but many obstacles lie in the way and it will require acts of political will on the part of both the developed and developing nations to become a reality. In this paper, sustainable development is defined as continuous prog...

Unexploded Ordnance Clearance: A Coordinated Approach to Requirements and Technology Development.

DTIC Science & Technology

1997-03-25

ID #23) Clear mines and obstacles in a 50-meter-wide lane through the surf H N N N N zone and beach in order to land Landing Craft Air Cushion (LCAC...ID #33) Clear the surf zone (SZ) and beach zone (BZ) of mines and H N L N N obstacles in order to land LCAC during amphibious assaults and...Range Clearance All areas Commercial Off The Shelf (COTS) or military adapted -equipment, EOD technicians, DoD civilians, locally hired service

Body-terrain interaction affects large bump traversal of insects and legged robots.

PubMed

Gart, Sean W; Li, Chen

2018-02-02

Small animals and robots must often rapidly traverse large bump-like obstacles when moving through complex 3D terrains, during which, in addition to leg-ground contact, their body inevitably comes into physical contact with the obstacles. However, we know little about the performance limits of large bump traversal and how body-terrain interaction affects traversal. To address these, we challenged the discoid cockroach and an open-loop six-legged robot to dynamically run into a large bump of varying height to discover the maximal traversal performance, and studied how locomotor modes and traversal performance are affected by body-terrain interaction. Remarkably, during rapid running, both the animal and the robot were capable of dynamically traversing a bump much higher than its hip height (up to 4 times the hip height for the animal and 3 times for the robot, respectively) at traversal speeds typical of running, with decreasing traversal probability with increasing bump height. A stability analysis using a novel locomotion energy landscape model explained why traversal was more likely when the animal or robot approached the bump with a low initial body yaw and a high initial body pitch, and why deflection was more likely otherwise. Inspired by these principles, we demonstrated a novel control strategy of active body pitching that increased the robot's maximal traversable bump height by 75%. Our study is a major step in establishing the framework of locomotion energy landscapes to understand locomotion in complex 3D terrains.

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.

Touch and gravitropic set-point angle interact to modulate gravitropic growth in roots

NASA Technical Reports Server (NTRS)

Massa, G. D.; Gilroy, S.

2003-01-01

Plant roots must sense and respond to a variety of environmental stimuli as they grow through the soil. Touch and gravity represent two of the mechanical signals that roots must integrate to elicit the appropriate root growth patterns and root system architecture. Obstacles such as rocks will impede the general downwardly directed gravitropic growth of the root system and so these soil features must be sensed and this information processed for an appropriate alteration in gravitropic growth to allow the root to avoid the obstruction. We show that primary and lateral roots of Arabidopsis do appear to sense and respond to mechanical barriers placed in their path of growth in a qualitatively similar fashion. Both types of roots exhibited a differential growth response upon contacting the obstacle that directed the main axis of elongation parallel to the barrier. This growth habit was maintained until the obstacle was circumvented, at which point normal gravitropic growth was resumed. Thus, the gravitational set-point angle of the primary and lateral roots prior to encountering the barrier were 95 degrees and 136 degrees respectively and after growing off the end of the obstacle identical set-point angles were reinstated. However, whilst tracking across the barrier, quantitative differences in response were observed between these two classes of roots. The root tip of the primary root maintained an angle of 136 degrees to the horizontal as it traversed the barrier whereas the lateral roots adopted an angle of 154 degrees. Thus, this root tip angle appeared dependent on the gravitropic set-point angle of the root type with the difference in tracking angle quantitatively reflecting differences in initial set-point angle. Concave and convex barriers were also used to analyze the response of the root to tracking along a continuously varying surface. The roots maintained the a fairly fixed angle to gravity on the curved surface implying a constant resetting of this tip angle/tracking response as the curve of the surface changed. We propose that the interaction of touch and gravity sensing/response systems combine to strictly control the tropic growth of the root. Such signal integration is likely a critical part of growth control in the stimulus-rich environment of the soil. c2003 COSPAR. Published by Elsevier Ltd. All rights reserved.

On the role of vegetation in the formation of river anabranching patterns

NASA Astrophysics Data System (ADS)

Crouzy, B.; D'Odorico, P.; Wütrich, D.; Perona, P.

2012-04-01

Part of studies on the couplings between the evolution of riparian vegetation and the river morphodynamics, we investigate the effect of spatial interactions between vegetation located at different positions within the channel. This work generalizes the experimental and theoretical results by Perona et al. and by Crouzy and Perona (both Advances in Water Resources, in Press) on colonization of riverbars by seedlings or large woody debris by relaxing the hypothesis made in those two works of the biomass growth and uprooting being independent on the presence of neighboring plants. While the hypothesis of independent vegetation growth and uprooting is justified for sparse vegetation cover or young seedlings, it fails as soon as the canopy significantly disturbs the flow or changes the sediment stability. Then, flow-mediated interactions between riparian vegetation located at different positions within the channel can be observed. Those interactions are either constructive or destructive. For example, a region favorable to the development of biomass appears on the lee side of a vegetated obstacle (with bleed flow) due to increased deposition of seeds and sediment (Schnauder and Moggridge, 2008) while conversely scouring can be increased laterally due to obstacle-induced flow diversion (Roulund et al., 2005; Melville and Sutherland, 1988; Zong and Nepf, 2008). We focus on the role of vegetation in the formation of the regular vegetated ridge patterns found in ephemeral rivers (see for example the work by Tooth and Nanson, 2004 on anabranching patterns) or as a succession of swales and ridges on the inside of meander bends (scroll bars). From the analysis of aerial images, we obtain the characteristic length scale of the patterns. We show how in the limit where the hydrological (interarrival time of floods) and the biological (germination and growth rates) timescales are comparable the combination between both positive and negative feedbacks between vegetation located at different positions can lead to the spatial organization of the vegetation. Classically, the presence of the anabranches has been ascribed to an optimization of the sediment load transport (Huang and Nanson, 2007) or for the scroll bars to channel migration, without explicitly accounting for the role of vegetation.

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

Combating the Epidemic of Obesity and Cardiovascular Disease: Perspectives from School-aged Children

PubMed Central

Addison, Clifton C.; White, Monique S.; Jenkins, Brenda W.; Young, Lavon

2006-01-01

This study was designed to assess students’ perceptions of the obstacles to positive dietary practices and increased physical activity and to solicit the students’ recommendations for addressing and possibly reducing the negative practices that are associated with the rise in obesity and the development of cardiovascular diseases. Data for the study were obtained from the administration of the 2005 Project Health High School Survey (PHHSS) which measured the students’ perceptions regarding obstacles to eating more nutritious, healthier foods and obstacles to participating in daily physical activity. The reasons for students’ lack of interest in practicing more life-healthy behaviors are ranked and recorded. Some of the students indicated that they usually ate what they liked to eat, and the decision about what to eat was made because of the taste of the food without regard for any health consequence or negative health outcomes. Finding ways to reach these students at their young ages is the key to successfully combating the high prevalence of obesity and the development of other chronic diseases in childhood, as well as in adulthood. PMID:16968973

Combating the epidemic of obesity and cardiovascular disease: perspectives from school-aged children.

PubMed

Addison, Clifton C; White, Monique S; Jenkins, Brenda W; Young, Lavon

2006-09-01

This study was designed to assess students' perceptions of the obstacles to positive dietary practices and increased physical activity and to solicit the students' recommendations for addressing and possibly reducing the negative practices that are associated with the rise in obesity and the development of cardiovascular diseases. Data for the study were obtained from the administration of the 2005 Project Health High School Survey (PHHSS) which measured the students' perceptions regarding obstacles to eating more nutritious, healthier foods and obstacles to participating in daily physical activity. The reasons for students' lack of interest in practicing more life-healthy behaviors are ranked and recorded. Some of the students indicated that they usually ate what they liked to eat, and the decision about what to eat was made because of the taste of the food without regard for any health consequence or negative health outcomes. Finding ways to reach these students at their young ages is the key to successfully combating the high prevalence of obesity and the development of other chronic diseases in childhood, as well as in adulthood.

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

2004-09-01

The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

Space Mechanisms Technology Workshop Proceedings

NASA Technical Reports Server (NTRS)

Fusaro, Robert L. (Editor)

1999-01-01

Over the years, NASA has experienced a number of troublesome mechanism anomalies. Because of this, the NASA Office of Safety and Mission Assurance initiated a workshop to evaluate the current space mechanism state-of-the-art and to determine the obstacles that will have to be met in order to achieve NASA's future missions goals. Seventy experts in the field attended the workshop. The experts identified current and perceived future space mechanisms obstacles. For each obstacle, the participants identified technology deficiencies, the current state-of-the-art, and applicable NASA, DOD, and industry missions. In addition, the participants at the workshop looked at technology needs for current missions, technology needs for future missions, what new technology is needed to improve the reliability of mechanisms, what can be done to improve technology development and the dissemination of information, and what do we do next.

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.

Participation in the Mars data analysis program: Global and regional studies of wind-indicators on the surface of Mars

NASA Technical Reports Server (NTRS)

Veverka, J.; Thomas, P.

1984-01-01

Global and regional patterns on Mars were inferred from surface aeolian features, such as wind streaks and dune deposits, which were visible in Viking Orbiter images. Precise measurements of the dimensions of topographic obstacles, i.e., craters, hills, ridges, on Mars as well as their associated wind streaks were used to determine the aerodynamic shape of an obstacle affects near surface airflow. A classification of Martian wind streaks was developed on the basis of albedo contrast and the presence or absence of either topographic obstacles or sediment deposits at the point of origin of the wind streaks. It was concluded that local meteorological conditions, such as the stability of the atmospheric boundary layer, play a major role in determining why some Martian craters produce depositional wind streaks while others produce erosional ones.

Kelvin-Helmholtz instability of the Dirac fluid of charge carriers on graphene

NASA Astrophysics Data System (ADS)

Coelho, Rodrigo C. V.; Mendoza, Miller; Doria, Mauro M.; Herrmann, Hans J.

2017-11-01

We provide numerical evidence that a Kelvin-Helmholtz instability occurs in the Dirac fluid of electrons in graphene and can be detected in current experiments. This instability appears for electrons in the viscous regime passing though a micrometer-scale obstacle and affects measurements on the time scale of nanoseconds. A possible realization with a needle-shaped obstacle is proposed to produce and detect this instability by measuring the electric potential difference between contact points located before and after the obstacle. We also show that, for our setup, the Kelvin-Helmholtz instability leads to the formation of whirlpools similar to the ones reported in Bandurin et al. [Science 351, 1055 (2016), 10.1126/science.aad0201]. To perform the simulations, we develop a lattice Boltzmann method able to recover the full dissipation in a fluid of massless particles.

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.

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.

Influences of urban fabric on pyroclastic density currents at Pompeii (Italy): 1. Flow direction and deposition

NASA Astrophysics Data System (ADS)

Gurioli, L.; Zanella, E.; Pareschi, M. T.; Lanza, R.

2007-05-01

To assess ways in which the products of explosive eruptions interact with human settlements, we performed volcanological and rock magnetic analyses on the deposits of the A.D. 79 eruption at the Pompeii excavations (Italy). During this eruption the Roman town of Pompeii was covered by 2.5 m of fallout pumice and then partially destroyed by pyroclastic density currents (PDCs). Anisotropy of magnetic susceptibility measurements performed on the fine matrix of the deposits allowed the quantification of the variations in flow direction and emplacement mechanisms of the parental PDCs that entered the town. These results, integrated with volcanological field investigations, revealed that the presence of buildings, still protruding through the fallout deposits, strongly affected the distribution and accumulation of the erupted products. All of the PDCs that entered the town, even the most dilute ones, were density stratified currents in which interaction with the urban fabric occurred in the lower part of the current. The degree of interaction varied mainly as a function of obstacle height and density stratification within the current. For examples, the lower part of the EU4pf current left deposits up to 3 m thick and was able to interact with 2- to 4-m-high obstacles. However, a decrease in thickness and grain size of the deposits across the town indicates that even though the upper portion of the current was able to decouple from the lower portion, enabling it to flow over the town, it was not able to fully restore the sediment supply to the lower portion in order to maintain the deposition observed upon entry into the town.

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 strategy and MIPC control method of space robots.

Participatory design of ehealth solutions for women from vulnerable populations with perinatal depression.

PubMed

Gordon, Mara; Henderson, Rebecca; Holmes, John H; Wolters, Maria K; Bennett, Ian M

2016-01-01

Cultural and health service obstacles affect the quality of pregnancy care that women from vulnerable populations receive. Using a participatory design approach, the Stress in Pregnancy: Improving Results with Interactive Technology group developed specifications for a suite of eHealth applications to improve the quality of perinatal mental health care. We established a longitudinal participatory design group consisting of low-income women with a history of antenatal depression, their prenatal providers, mental health specialists, an app developer, and researchers. The group met 20 times over 24 months. Applications were designed using rapid prototyping. Meetings were documented using field notes. The group achieved high levels of continuity and engagement. Three apps were developed by the group: an app to support high-risk women after discharge from hospital, a screening tool for depression, and a patient decision aid for supporting treatment choice. Longitudinal participatory design groups are a promising, highly feasible approach to developing technology for underserved populations. © The Author 2015. Published by Oxford University Press on behalf of the American Medical Informatics Association. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Crowding of Interacting Fluid Particles in Porous Media through Molecular Dynamics: Breakdown of Universality for Soft Interactions.

PubMed

Schnyder, Simon K; Horbach, Jürgen

2018-02-16

Molecular dynamics simulations of interacting soft disks confined in a heterogeneous quenched matrix of soft obstacles show dynamics which is fundamentally different from that of hard disks. The interactions between the disks can enhance transport when their density is increased, as disks cooperatively help each other over the finite energy barriers in the matrix. The system exhibits a transition from a diffusive to a localized state, but the transition is strongly rounded. Effective exponents in the mean-squared displacement can be observed over three decades in time but depend on the density of the disks and do not correspond to asymptotic behavior in the vicinity of a critical point, thus, showing that it is incorrect to relate them to the critical exponents in the Lorentz model scenario. The soft interactions are, therefore, responsible for a breakdown of the universality of the dynamics.

Crowding of Interacting Fluid Particles in Porous Media through Molecular Dynamics: Breakdown of Universality for Soft Interactions

NASA Astrophysics Data System (ADS)

Schnyder, Simon K.; Horbach, Jürgen

2018-02-01

Molecular dynamics simulations of interacting soft disks confined in a heterogeneous quenched matrix of soft obstacles show dynamics which is fundamentally different from that of hard disks. The interactions between the disks can enhance transport when their density is increased, as disks cooperatively help each other over the finite energy barriers in the matrix. The system exhibits a transition from a diffusive to a localized state, but the transition is strongly rounded. Effective exponents in the mean-squared displacement can be observed over three decades in time but depend on the density of the disks and do not correspond to asymptotic behavior in the vicinity of a critical point, thus, showing that it is incorrect to relate them to the critical exponents in the Lorentz model scenario. The soft interactions are, therefore, responsible for a breakdown of the universality of the dynamics.

Self-propulsion against a moving membrane: Enhanced accumulation and drag force

NASA Astrophysics Data System (ADS)

Marini Bettolo Marconi, U.; Sarracino, A.; Maggi, C.; Puglisi, A.

2017-09-01

Self-propulsion (SP) is a main feature of active particles (AP), such as bacteria or biological micromotors, distinguishing them from passive colloids. A renowned consequence of SP is accumulation at static interfaces, even in the absence of hydrodynamic interactions. Here we address the role of SP in the interaction between AP and a moving semipermeable membrane. In particular, we implement a model of noninteracting AP in a channel crossed by a partially penetrable wall, moving at a constant velocity c . With respect to both the cases of passive colloids with c >0 and AP with c =0 , the AP with finite c show enhancement of accumulation in front of the obstacle and experience a largely increased drag force. This effect is understood in terms of an effective potential localised at the interface between particles and membrane, of height proportional to c τ /ξ , where τ is the AP's reorientation time and ξ the width characterizing the surface's smoothness (ξ →0 for hard core obstacles). An approximate analytical scheme is able to reproduce the observed density profiles and the measured drag force, in very good agreement with numerical simulations. The effects discussed here can be exploited for automatic selection and filtering of AP with desired parameters.

[Determinants of strategic management of a health center].

PubMed

Huard, Pierre; Schaller, Philippe

2014-01-01

The article highlights the value of a strategic approach for the development of a primary care health centre. The method is adapted from corporate strategy: (i) analysis of the situation of the health centre and the obstacles to its development. (ii) selection of relations on which the strategy can be developed. (iii) elaboration of a system of interventions to create a cumulative development process. (iv) Illustration of the method by application to a case. The example illustrates the principles and method and highlights the importance of interpretations and choices in elaboration of a strategy, which is therefore always a unique construction. The strategic approach provides a framework that (i) provides a subject of discussion and negotiation between members of the health centre, (ii) strengthens the consistency of structural decisions, (iii) helps the health centre to overcome obstacles and initiate a development process.

Vision based techniques for rotorcraft low altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Suorsa, Ray; Smith, Philip

1991-01-01

An overview of research in obstacle detection at NASA Ames Research Center is presented. The research applies techniques from computer vision to automation of rotorcraft navigation. The development of a methodology for detecting the range to obstacles based on the maximum utilization of passive sensors is emphasized. The development of a flight and image data base for verification of vision-based algorithms, and a passive ranging methodology tailored to the needs of helicopter flight are discussed. Preliminary results indicate that it is possible to obtain adequate range estimates except at regions close to the FOE. Closer to the FOE, the error in range increases since the magnitude of the disparity gets smaller, resulting in a low SNR.

Experimental Semiautonomous Vehicle

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Mishkin, Andrew H.; Litwin, Todd E.; Matthies, Larry H.; Cooper, Brian K.; Nguyen, Tam T.; Gat, Erann; Gennery, Donald B.; Firby, Robert J.; Miller, David P.;

Challenges to the development of complex virtual reality surgical simulations.

PubMed

Seymour, N E; Røtnes, J S

2006-11-01

Virtual reality simulation in surgical training has become more widely used and intensely investigated in an effort to develop safer, more efficient, measurable training processes. The development of virtual reality simulation of surgical procedures has begun, but well-described technical obstacles must be overcome to permit varied training in a clinically realistic computer-generated environment. These challenges include development of realistic surgical interfaces and physical objects within the computer-generated environment, modeling of realistic interactions between objects, rendering of the surgical field, and development of signal processing for complex events associated with surgery. Of these, the realistic modeling of tissue objects that are fully responsive to surgical manipulations is the most challenging. Threats to early success include relatively limited resources for development and procurement, as well as smaller potential for return on investment than in other simulation industries that face similar problems. Despite these difficulties, steady progress continues to be made in these areas. If executed properly, virtual reality offers inherent advantages over other training systems in creating a realistic surgical environment and facilitating measurement of surgeon performance. Once developed, complex new virtual reality training devices must be validated for their usefulness in formative training and assessment of skill to be established.

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.

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.

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

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

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.

Formal and heuristic system decomposition methods in multidisciplinary synthesis. Ph.D. Thesis, 1991

NASA Technical Reports Server (NTRS)

Bloebaum, Christina L.

1991-01-01

The multidisciplinary interactions which exist in large scale engineering design problems provide a unique set of difficulties. These difficulties are associated primarily with unwieldy numbers of design variables and constraints, and with the interdependencies of the discipline analysis modules. Such obstacles require design techniques which account for the inherent disciplinary couplings in the analyses and optimizations. The objective of this work was to develop an efficient holistic design synthesis methodology that takes advantage of the synergistic nature of integrated design. A general decomposition approach for optimization of large engineering systems is presented. The method is particularly applicable for multidisciplinary design problems which are characterized by closely coupled interactions among discipline analyses. The advantage of subsystem modularity allows for implementation of specialized methods for analysis and optimization, computational efficiency, and the ability to incorporate human intervention and decision making in the form of an expert systems capability. The resulting approach is not a method applicable to only a specific situation, but rather, a methodology which can be used for a large class of engineering design problems in which the system is non-hierarchic in nature.

Strategic environmental assessment performance factors and their interaction: An empirical study in China

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

Li, Tianwei, E-mail: li.tianwei@mep.gov.cn; Wang, Huizhi, E-mail: huizhiwangnk@163.com; Deng, Baole, E-mail: dengbaolekobe@126.com

Strategic Environmental Assessment (SEA) has been seen as a preventive and participatory environmental management tool designed to integrate environmental protection into the decision-making process. However, the debate about SEA performance and effectiveness has increased in recent decades. Two main challenges exist in relation to this issue. The first is identifying the key influencing factors that affect SEA effectiveness, and the second is analyzing the relationship between SEA and these influencing factors. In this study, influencing factors were investigated through questionnaire surveys in the Chinese context, and then a Structural Equation Model (SEM) was developed and tested to identify potential linksmore » and causal relationships among factors. The associations between the independent factors were divided into direct and indirect causal associations. The results indicate that the decision-making process and policy context directly affect SEA implementation, while information and data sharing, public participation, expertise and SEA institutions are indirectly related with SEA. The results also suggest that a lack of cooperation between different sectors is an obstacle to the implementation of SEA. These findings could potentially contribute to the future management and implementation of SEA or enhance existing knowledge of SEA. The results show that the proposed model has a degree of feasibility and applicability. - Highlights: • Influencing factors were identified and investigated through questionnaire surveys. • Structural Equation Model (SEM) was developed and tested to identify potential links and causal relationships among factors. • Decision-making process and policy context directly affect SEA implementation. • Lack of cooperation among different sectors is an obstacle to the implementation of SEA. • The proposed model has a degree of feasibility and applicability.« less

Weight loss experiences of obese perimenopausal women with metabolic syndrome.

PubMed

Su, Mei-Chen; Lin, Hung-Ru; Chu, Nain-Feng; Huang, Chih-Hsung; Tsao, Lee-Ing

2015-07-01

To develop a descriptive theory for the weight loss experiences of obese perimenopausal women with metabolic syndrome. Obesity and metabolic syndrome both pose a threat to the health of perimenopausal women; therefore, understanding perimenopausal women's subjective feelings and experiences is beneficial to establishing effective prevention strategies. However, studies have rarely explored these relevant experiences. A qualitative study using the grounded theory method to establish a descriptive theory. Eighteen obese perimenopausal women with metabolic syndrome aged 45-60 years participated in comprehensive interviews. 'Crossing the gaps to making life modifications' was the core category, and 'the awareness of weight gain and health alarm' was the antecedent condition. In the weight loss experience, the following three interaction categories were identified: (1) 'experiencing bad feelings,' (2) 'encountering obstacles' and (3) 'making efforts to transition to a new life.' Some women adhered to new life habits through perceiving social support and by using self-incentives. Finally, women enjoyed and mastered self-monitoring of their health in their new life, and practiced new changes as part of their life. However, some participants felt that making changes to their life was too time-consuming. Therefore, these women chose to live with their abnormal health without making changes. Obese perimenopausal women with metabolic syndrome experienced various gaps in their weight loss process. Although they struggled with many obstacles, these women were able to learn from their experiences and face their health challenges. These findings can guide healthcare professionals to provide appropriate interventions to understand the hidden health problems of this particular group of women. Healthcare professionals should develop a set of plans by which women receive a complete weight loss program and support from professionals and family. © 2015 John Wiley & Sons Ltd.

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.

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.

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

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

Reconstituting the motility of isolated intracellular cargoes.

PubMed

Hendricks, Adam G; Goldman, Yale E; Holzbaur, Erika L F

2014-01-01

Kinesin, dynein, and myosin transport intracellular cargoes including organelles, membrane-bound vesicles, and mRNA along the cytoskeleton. These motor proteins work collectively in teams to transport cargoes over long distances and navigate around obstacles in the cell. In addition, several types of motors often interact on the same cargo to allow bidirectional transport and switching between the actin and microtubule networks. To examine transport of native cargoes in a simplified in vitro system, techniques have been developed to isolate endogenous cargoes and reconstitute their motility. Isolated cargoes can be tracked and manipulated with high precision using total internal reflection fluorescence microscopy and optical trapping. Through use of native cargoes, we can examine vesicular transport in a minimal system while retaining endogenous motor stoichiometry and the biochemical and mechanical characteristics of both motor and cargo. © 2014 Elsevier Inc. All rights reserved.

Metastasis: recent discoveries and novel perioperative treatment strategies with particular interest in the hemostatic compound desmopressin.

PubMed

Alonso, D F; Ripoll, G V; Garona, J; Iannucci, N B; Gomez, D E

2011-11-01

Metastatic disease is responsible for most of cancer lethality. A main obstacle for therapy of advanced cancers is that the outcome of metastasis depends on a complex interplay between malignant and host cells. The perioperative period represents an underutilized window of opportunity for cancer treatment where tumor-host interactions can be modulated, reducing the risk of local recurrences and distant metastases. Blood-saving agents are attractive compounds to be administered during tumor surgery. Desmopressin (DDAVP) is a safe and convenient hemostatic peptide with proved antimetastastic properties in experimental models and veterinary clinical trials. The compound seems to induce a dual angiostatic and antimetastatic effect, breaking the cooperative function of cancer cells and endothelial cells during residual tumor progression. DDAVP is therefore an interesting lead compound to develop novel synthetic peptide analogs with enhanced antitumor properties.

Advancing drug availability-experiences from Africa.

PubMed

Powell, Richard A; Kaye, Richard Mugula; Ddungu, Henry; Mwangi-Powell, Faith

2010-07-01

International health and drug regulatory authorities acknowledge that analgesics (especially opioids) are insufficiently available for pain management in many countries. In Africa, reported morphine consumption is far below the global mean, with multiple factors hampering opioid supply. Since 2006, the African Palliative Care Association has hosted three regional drug availability workshops across the continent to address this issue. Using an interactive format, the workshops have identified country-specific barriers to opioid and other essential medication accessibility before supporting participants to develop action plans to address recognized impediments. Despite multiple challenges, a number of successes have arisen from the implementation of the plans. However, key issues remain, including the introduction of supportive policy environments, effective educational initiatives, and measures to address supply-chain obstacles impeding drug availability. Copyright 2010 U.S. Cancer Pain Relief Committee. Published by Elsevier Inc. All rights reserved.

Analysis of the minimum swerving distance for the development of a motorcycle autonomous braking system.

PubMed

Giovannini, Federico; Savino, Giovanni; Pierini, Marco; Baldanzini, Niccolò

2013-10-01

In the recent years the autonomous emergency brake (AEB) was introduced in the automotive field to mitigate the injury severity in case of unavoidable collisions. A crucial element for the activation of the AEB is to establish when the obstacle is no longer avoidable by lateral evasive maneuvers (swerving). In the present paper a model to compute the minimum swerving distance needed by a powered two-wheeler (PTW) to avoid the collision against a fixed obstacle, named last-second swerving model (Lsw), is proposed. The effectiveness of the model was investigated by an experimental campaign involving 12 volunteers riding a scooter equipped with a prototype autonomous emergency braking, named motorcycle autonomous emergency braking system (MAEB). The tests showed the performance of the model in evasive trajectory computation for different riding styles and fixed obstacles. Copyright © 2013 Elsevier Ltd. All rights reserved.

Mobility aid for the blind

NASA Technical Reports Server (NTRS)

1982-01-01

A project to develop an effective mobility aid for blind pedestrians which acquires consecutive images of the scenes before a moving pedestrian, which locates and identifies the pedestrian's path and potential obstacles in the path, which presents path and obstacle information to the pedestrian, and which operates in real-time is discussed. The mobility aid has three principal components: an image acquisition system, an image interpretation system, and an information presentation system. The image acquisition system consists of a miniature, solid-state TV camera which transforms the scene before the blind pedestrian into an image which can be received by the image interpretation system. The image interpretation system is implemented on a microprocessor which has been programmed to execute real-time feature extraction and scene analysis algorithms for locating and identifying the pedestrian's path and potential obstacles. Identity and location information is presented to the pedestrian by means of tactile coding and machine-generated speech.

Imparting protean behavior to mobile robots accomplishing patrolling tasks in the presence of adversaries.

PubMed

Curiac, Daniel-Ioan; Volosencu, Constantin

2015-10-08

Providing unpredictable trajectories for patrol robots is essential when coping with adversaries. In order to solve this problem we developed an effective approach based on the known protean behavior of individual prey animals-random zig-zag movement. The proposed bio-inspired method modifies the normal robot's path by incorporating sudden and irregular direction changes without jeopardizing the robot's mission. Such a tactic is aimed to confuse the enemy (e.g. a sniper), offering less time to acquire and retain sight alignment and sight picture. This idea is implemented by simulating a series of fictive-temporary obstacles that will randomly appear in the robot's field of view, deceiving the obstacle avoiding mechanism to react. The new general methodology is particularized by using the Arnold's cat map to obtain the timely random appearance and disappearance of the fictive obstacles. The viability of the proposed method is confirmed through an extensive simulation case study.

Natural solution to antibiotic resistance: bacteriophages 'The Living Drugs'.

PubMed

Jassim, Sabah A A; Limoges, Richard G

2014-08-01

Antibiotics have been a panacea in animal husbandry as well as in human therapy for decades. The huge amount of antibiotics used to induce the growth and protect the health of farm animals has lead to the evolution of bacteria that are resistant to the drug's effects. Today, many researchers are working with bacteriophages (phages) as an alternative to antibiotics in the control of pathogens for human therapy as well as prevention, biocontrol, and therapy in animal agriculture. Phage therapy and biocontrol have yet to fulfill their promise or potential, largely due to several key obstacles to their performance. Several suggestions are shared in order to point a direction for overcoming common obstacles in applied phage technology. The key to successful use of phages in modern scientific, farm, food processing and clinical applications is to understand the common obstacles as well as best practices and to develop answers that work in harmony with nature.

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.

Obstacles using amorphous materials for volume applications

NASA Astrophysics Data System (ADS)

Kiessling, Albert; Reininger, Thomas

2012-10-01

This contribution is especially focussed on the attempt to use amorphous or nanocrystalline metals in position sensor applications and to describe the difficulties and obstacles encountered in coherence with the development of appropriate industrial high volume series products in conjunction with the related quality requirements. The main motivation to do these investigations was to beat the generally known sensors especially silicon based Hall-sensors as well as AMR- and GMR-sensors - well known from mobile phones and electronic storage devices like hard discs and others - in terms of cost-effectiveness and functionality.

An Obstacle Problem for Conical Deformations of Thin Elastic Sheets

NASA Astrophysics Data System (ADS)

Figalli, Alessio; Mooney, Connor

2018-05-01

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

Autonomous navigation and obstacle avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Larson, Jacoby; Bruch, Michael; Ebken, John

2006-05-01

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

Trust-based learning and behaviors for convoy obstacle avoidance

NASA Astrophysics Data System (ADS)

Mikulski, Dariusz G.; Karlsen, Robert E.

2015-05-01

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

Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

The Vital Program: Transforming ICT Professional Development

ERIC Educational Resources Information Center

Bradshaw, Pete; Twining, Peter; Walsh, Christopher S.

2012-01-01

Developing a model for effective large-scale continuous professional development (CPD) for teachers remains a significant obstacle for many governments worldwide. This article describes the development and evolution of Vital--a CPD program designed to enhance the teaching of information communication technology in state-funded primary and…

When an object appears unexpectedly: anticipatory movement and object circumvention in individuals with and without Developmental Coordination Disorder.

PubMed

Wilmut, K; Barnett, A L

2017-05-01

Obstacles often appear unexpectedly in our pathway and these require us to make adjustments to avoid collision. Previous research has demonstrated that healthy adults will make anticipatory adjustments to gait where they have been told there is the possibility of an obstacle appearing. One population that may find this type of anticipatory movement difficult is individuals with Developmental Coordination Disorder (DCD). The current study considered how individuals with and without DCD adjust to the possibility of an obstacle appearing which would require circumvention. Fortyfour individuals with DCD and 44 age-matched controls (aged from 7 to 34 years of age) walked down an 11 m walkway under three conditions. Initially they were told this was a clear pathway and nothing in the environment would change (1, no possibility of an obstacle, no obstacle). They then performed a series of trials in which a gate may (2, possibility of an obstacle, obstacle) or may not (3, possibility of an obstacle, no obstacle) partially obstruct their pathway. We found that all participants increased medio-lateral trunk acceleration when there was the possibility of an obstacle but before the obstacle appeared, in addition the typical adults and older children also increased step width. When describing circumvention we found that the younger children showed an increase in trunk velocity and acceleration in all three directions compared to older children and adults. We also found that the individuals with DCD adjusted their path sooner and deviated more than their peers. The degree of adjustment to step width in anticipation of an obstacle was related to later medio-lateral velocity and timing of the deviation. Therefore, the lack of 'readying' the system where there is the possibility of an obstacle appearing seen in the individuals with DCD and the younger typical children may explain the increased medio-lateral velocity seen during circumvention.

Modeling of thin-walled structures interacting with acoustic media as constrained two-dimensional continua

NASA Astrophysics Data System (ADS)

Rabinskiy, L. N.; Zhavoronok, S. I.

2018-04-01

The transient interaction of acoustic media and elastic shells is considered on the basis of the transition function approach. The three-dimensional hyperbolic initial boundary-value problem is reduced to a two-dimensional problem of shell theory with integral operators approximating the acoustic medium effect on the shell dynamics. The kernels of these integral operators are determined by the elementary solution of the problem of acoustic waves diffraction at a rigid obstacle with the same boundary shape as the wetted shell surface. The closed-form elementary solution for arbitrary convex obstacles can be obtained at the initial interaction stages on the background of the so-called “thin layer hypothesis”. Thus, the shell–wave interaction model defined by integro-differential dynamic equations with analytically determined kernels of integral operators becomes hence two-dimensional but nonlocal in time. On the other hand, the initial interaction stage results in localized dynamic loadings and consequently in complex strain and stress states that require higher-order shell theories. Here the modified theory of I.N.Vekua–A.A.Amosov-type is formulated in terms of analytical continuum dynamics. The shell model is constructed on a two-dimensional manifold within a set of field variables, Lagrangian density, and constraint equations following from the boundary conditions “shifted” from the shell faces to its base surface. Such an approach allows one to construct consistent low-order shell models within a unified formal hierarchy. The equations of the N th-order shell theory are singularly perturbed and contain second-order partial derivatives with respect to time and surface coordinates whereas the numerical integration of systems of first-order equations is more efficient. Such systems can be obtained as Hamilton–de Donder–Weyl-type equations for the Lagrangian dynamical system. The Hamiltonian formulation of the elementary N th-order shell theory is here briefly described.

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.

Combinations of biocontrol agents for management of plant-parasitic nematodes and soilborne plant-pathogenic fungi.

PubMed

Meyer, Susan L F; Roberts, Daniel P

2002-03-01

Numerous microbes are antagonistic to plant-parasitic nematodes and soilborne plant-pathogenic fungi, but few of these organisms are commercially available for management of these pathogens. Inconsistent performance of applied biocontrol agents has proven to be a primary obstacle to the development of successful commercial products. One of the strategies for overcoming inconsistent performance is to combine the disease-suppressive activity of two (or more) beneficial microbes in a biocontrol preparation. Such combinations have potential for more extensive colonization of the rhizosphere, more consistent expression of beneficial traits under a broad range of soil conditions, and antagonism to a larger number of plant pests or pathogens than strains applied individually. Conversely, microbes applied in combination also may have antagonistic interactions with each other. Increased, decreased, and unaltered suppression of the target pathogen or pest has been observed when biocontrol microbes have been applied in combination. Unfortunately, the ecological basis for increased or decreased suppression has not been determined in many cases and needs further consideration. The complexity of interactions involved in the application of multiple organisms for biological control has slowed progress toward development of successful formulations. However, this approach has potential for overcoming some of the efficacy problems that occur with application of individual biocontrol agents.

Technology-Enhanced Learning in Science (TELS)

NASA Astrophysics Data System (ADS)

Linn, Marcia

2006-12-01

The overall research question addressed by the NSF-funded echnologyEnhanced Learning in Science (TELS) Center is whether interactive scientific visualizations embedded in high quality instructional units can be used to increase pre-college student learning in science. The research draws on the knowledge integration framework to guide the design of instructional modules, professional development activities, and assessment activities. This talk reports on results from the first year where 50 teachers taught one of the 12 TELS modules in over 200 classes in 16 diverse schools. Assessments scored with the knowledge integration rubric showed that students made progress in learning complex physics topics such as electricity, mechanics, and thermodynamics. Teachers encountered primarily technological obstacles that the research team was able to address prior to implementation. Powerful scientific visualizations required extensive instructional supports to communicate to students. Currently, TELS is refining the modules, professional development, and assessments based on evidence from the first year. Preliminary design principles intended to help research teams build on the findings will be presented for audience feedback and discussion.

Intranasal DNA Vaccine for Protection against Respiratory Infectious Diseases: The Delivery Perspectives

PubMed Central

Xu, Yingying; Yuen, Pak-Wai; Lam, Jenny Ka-Wing

2014-01-01

Intranasal delivery of DNA vaccines has become a popular research area recently. It offers some distinguished advantages over parenteral and other routes of vaccine administration. Nasal mucosa as site of vaccine administration can stimulate respiratory mucosal immunity by interacting with the nasopharyngeal-associated lymphoid tissues (NALT). Different kinds of DNA vaccines are investigated to provide protection against respiratory infectious diseases including tuberculosis, coronavirus, influenza and respiratory syncytial virus (RSV) etc. DNA vaccines have several attractive development potential, such as producing cross-protection towards different virus subtypes, enabling the possibility of mass manufacture in a relatively short time and a better safety profile. The biggest obstacle to DNA vaccines is low immunogenicity. One of the approaches to enhance the efficacy of DNA vaccine is to improve DNA delivery efficiency. This review provides insight on the development of intranasal DNA vaccine for respiratory infections, with special attention paid to the strategies to improve the delivery of DNA vaccines using non-viral delivery agents. PMID:25014738

Mussel adhesion is dictated by time-regulated secretion and molecular conformation of mussel adhesive proteins

NASA Astrophysics Data System (ADS)

Petrone, Luigi; Kumar, Akshita; Sutanto, Clarinda N.; Patil, Navinkumar J.; Kannan, Srinivasaraghavan; Palaniappan, Alagappan; Amini, Shahrouz; Zappone, Bruno; Verma, Chandra; Miserez, Ali

2015-10-01

Interfacial water constitutes a formidable barrier to strong surface bonding, hampering the development of water-resistant synthetic adhesives. Notwithstanding this obstacle, the Asian green mussel Perna viridis attaches firmly to underwater surfaces via a proteinaceous secretion (byssus). Extending beyond the currently known design principles of mussel adhesion, here we elucidate the precise time-regulated secretion of P. viridis mussel adhesive proteins. The vanguard 3,4-dihydroxy-L-phenylalanine (Dopa)-rich protein Pvfp-5 acts as an adhesive primer, overcoming repulsive hydration forces by displacing surface-bound water and generating strong surface adhesion. Using homology modelling and molecular dynamics simulations, we find that all mussel adhesive proteins are largely unordered, with Pvfp-5 adopting a disordered structure and elongated conformation whereby all Dopa residues reside on the protein surface. Time-regulated secretion and structural disorder of mussel adhesive proteins appear essential for optimizing extended nonspecific surface interactions and byssus' assembly. Our findings reveal molecular-scale principles to help the development of wet-resistant adhesives.

Nanomanipulation and Lithography for Carbon Nanotube Based Nondestructive Evaluation Sensor Development

NASA Technical Reports Server (NTRS)

Wincheski, Buzz; Smits, Jan; Namkung, Min; Ingram, JoAnne; Watkins, Neal; Jordan, Jeffrey D.; Louie, Richard

2002-01-01

Carbon nanotubes (CNTs) offer great potential for advanced sensor development due to the unique electronic transport properties of the material. However, a significant obstacle to the realization of practical CNT devices is the formation of reliable and reproducible CNT to metallic contacts. In this work, scanning probe techniques are explored for both fabrication of metallic junctions and positioning of singlewalled CNTs across these junctions. The use of a haptic force feedback interface to a scanning probe microscope is used to enable movement of nanotubes over micron length scales with nanometer precision. In this case, imaging of the surface is performed with light or intermittent contact to the surface. Increased tip-to-sample interaction forces are then applied to either create junctions or position CNTs. The effect of functionalization of substrate surfaces on the movement and tribology of the materials is also studied. The application of these techniques to the fabrication of CNT-based sensors for nondestructive evaluation applications is discussed.

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

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.

Self body-size perception in an insect

NASA Astrophysics Data System (ADS)

Ben-Nun, Amir; Guershon, Moshe; Ayali, Amir

2013-05-01

Animals negotiating complex environments encounter a wide range of obstacles of different shapes and sizes. It is greatly beneficial for the animal to react to such obstacles in a precise, context-specific manner, in order to avoid harm or even simply to minimize energy expenditure. An essential key challenge is, therefore, an estimation of the animal's own physical characteristics, such as body size. A further important aspect of self body-size perception (or SBSP) is the need to update it in accordance with changes in the animal's size and proportions. Despite the major role of SBSP in functional behavior, little is known about if and how it is mediated. Here, we demonstrate that insects are also capable of self perception of body size and that this is a vital factor in allowing them to adjust their behavior following the sudden and dramatic growth associated with periodic molting. We reveal that locusts' SBSP is strongly correlated with their body size. However, we show that the dramatic change in size accompanying adult emergence is not sufficient to create a new and updated SBSP. Rather, this is created and then consolidated only following the individuals' experience and interaction with the physical environment. Behavioral or pharmacological manipulations can both result in maintenance of the old larval SBSP. Our results emphasize the importance of learning and memory-related processes in the development and update of SBSP, and highlight the advantage of insects as good models for a detailed study on the neurobiological and molecular aspects of SBSP.

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.

State estimation for autonomous flight in cluttered environments

NASA Astrophysics Data System (ADS)

Langelaan, Jacob Willem

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

Parasitic nematode interactions with mammals and plants.

PubMed

Jasmer, Douglas P; Goverse, Aska; Smant, Geert

2003-01-01

Parasitic nematodes that infect humans, animals, and plants cause serious diseases that are deleterious to human health and agricultural productivity. Chemical and biological control methods have reduced the impact of these parasites. However, surviving environmental stages lead to persistent reinfection of host species. In addition, development of resistance to nematicides and anthelmintics by these parasites and reduced availability of some nematicides, for environmental protection, pose significant obstacles for current and future prospects of effective parasite control. Due to marked differences in host species, research on animal and plant parasitic nematodes often proceeds independently. Despite the differences between animals and plants, basic cellular properties are shared among these host organisms. Some common properties may be important for mechanisms [homologous or convergent (homoplastic)] by which nematodes successfully infect these diverse hosts or by which animal and plant hosts resist infections by these pathogens. Here we compare host/parasite interactions between plant parasitic nematodes (PPN) and animal parasitic nematodes, with an emphasis on mammalian hosts (MPN). Similarities and differences are considered in the context of progress on molecular dissection of these interactions. A comprehensive coverage is not possible in the space allotted. Instead, an illustrative approach is used to establish examples that, it is hoped, exemplify the value of the comparative approach.

Meshless Modeling of Deformable Shapes and their Motion

PubMed Central

Adams, Bart; Ovsjanikov, Maks; Wand, Michael; Seidel, Hans-Peter; Guibas, Leonidas J.

2010-01-01

We present a new framework for interactive shape deformation modeling and key frame interpolation based on a meshless finite element formulation. Starting from a coarse nodal sampling of an object’s volume, we formulate rigidity and volume preservation constraints that are enforced to yield realistic shape deformations at interactive frame rates. Additionally, by specifying key frame poses of the deforming shape and optimizing the nodal displacements while targeting smooth interpolated motion, our algorithm extends to a motion planning framework for deformable objects. This allows reconstructing smooth and plausible deformable shape trajectories in the presence of possibly moving obstacles. The presented results illustrate that our framework can handle complex shapes at interactive rates and hence is a valuable tool for animators to realistically and efficiently model and interpolate deforming 3D shapes. PMID:24839614

Fluvial islands: First stage of development from nonmigrating (forced) bars and woody-vegetation interactions

NASA Astrophysics Data System (ADS)

Wintenberger, Coraline L.; Rodrigues, Stéphane; Bréhéret, Jean-Gabriel; Villar, Marc

2015-10-01

Fluvial islands can develop from the channel bed by interactions between pioneer trees and bars. Although vegetation recruitment and survival is possible on all bar types, it is easier for trees to survive on nonmigrating bars developed from a change in channel geometry or to the presence of a steady perturbation. This field study details the first stages of development of a vegetated mid-channel, nonmigrating (or forced) bar and its evolution toward an island form. Over six years, analysis of bed topographical changes, vegetation density and roughness, scour and fill depths, sediment grain size and architecture, and excess bed shear stress highlighted a specific signature of trees on topography and grain size segregation. Two depositional processes combining the formation of obstacle marks and upstream-shifting deposition of sediments led to the vertical accretion of the vegetated bar. During the first stage of the bar accretion, bedload sediment supply coming from surrounding channels during floods was identified as a key process modulated by the presence of woody vegetation and a deflection effect induced by the preexisting topography. Grain size segregation between vegetated and bare areas was also highlighted and interpreted as an important process affecting the development of surrounding channels and the degree of disconnection (and hence the speed of development) of a growing island. The heterogeneity of bedload supply can explain why sediment deposition and density of trees are not strictly related. A general conceptual model detailing the first stages of evolution from a bar to an established island is proposed for relatively large lowland rivers.

Supramolecular Interactions in Secondary Plant Cell Walls: Effect of Lignin Chemical Composition Revealed with the Molecular Theory of Solvation.

PubMed

Silveira, Rodrigo L; Stoyanov, Stanislav R; Gusarov, Sergey; Skaf, Munir S; Kovalenko, Andriy

2015-01-02

Plant biomass recalcitrance, a major obstacle to achieving sustainable production of second generation biofuels, arises mainly from the amorphous cell-wall matrix containing lignin and hemicellulose assembled into a complex supramolecular network that coats the cellulose fibrils. We employed the statistical-mechanical, 3D reference interaction site model with the Kovalenko-Hirata closure approximation (or 3D-RISM-KH molecular theory of solvation) to reveal the supramolecular interactions in this network and provide molecular-level insight into the effective lignin-lignin and lignin-hemicellulose thermodynamic interactions. We found that such interactions are hydrophobic and entropy-driven, and arise from the expelling of water from the mutual interaction surfaces. The molecular origin of these interactions is carbohydrate-π and π-π stacking forces, whose strengths are dependent on the lignin chemical composition. Methoxy substituents in the phenyl groups of lignin promote substantial entropic stabilization of the ligno-hemicellulosic matrix. Our results provide a detailed molecular view of the fundamental interactions within the secondary plant cell walls that lead to recalcitrance.

Co-management of Water, Energy, and Food Systems: Where Are We and What Does it Take for Implementation?

NASA Astrophysics Data System (ADS)

Akhbari, M.

2015-12-01

Water, energy, and food are closely bound in consumption and production patterns. To increase resource efficiency and productivity in a sustainable fashion, co-management of water, energy, and food resources is becoming inevitable. These co-management schemes require implementation of nexus-based approaches, which takes the interconnections of water, energy, and food systems into account and considers that development in one area may have major effects on others. While society, economy and environment are the action areas to implement a nexus approach, finance, governance, infrastructure and technology can create solutions. Existing obstacles in the action areas and challenges associated with creating solutions increase the complexities to develop nexus-based approaches and complicate their implementation. This study, identifies existing social, economic, and environmental obstacles, financial demands and constraints, shortcomings in governance, and infrastructure problems in the United States as the main challenges that need to be overcome. Then, it will be discussed how advanced technology could be employed to facilitate implementation of nexus-based approaches, followed by providing some recommendations to enable institutions to employ new technology, overcome existing obstacles, and address challenges in order to implement nexus-based management approaches.

LNG vapor barrier and obstacle evaluation: Wind-tunnel simulation of 1987 Falcon Spill Series. Final report, July 1987-February 1991

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

Shin, S.H.; Meroney, R.N.; Neff, D.E.

1991-03-01

Measurements of the behavior of simulated liquefied natural gas clouds dispersing over small-scale model placed in environmental wind tunnels permits evaluations of the fluid physics of dense cloud movement and dispersion in a controlled environment. A large data base on the interaction of simulated LNG plumes with the Falcon test configuration of vapor barrier fences and vortex generators was obtained. The purpose of the reported test program is to provide post-field-spill wind tunnel experiments to augment the LNG Vapor Fence Field Program data obtained during the Falcon Test Series in 1987. The goal of the program is to determine themore » probable response of a dense LNG Vapor cloud to vortex inducer obstacles and fences, examine the sensitivity of results to various scaling arguments which might augment limit, or extend the value of the field and wind-tunnel tests, and identify important details of the spill behavior which were not predicted during the pretest planning phase.« less

Impacts of initial temperature and cylindrical obstacles on the dispersing flammable limits of accidental methane releases in an LNG bunkering terminal.

PubMed

Choi, Byung Chul; Park, Kweon-Ha; Doh, Deog-Hee

2018-05-16

This paper presents a numerical study on the dispersing flammable limits with respect to the initial methane releases at T CH4,0  = -50 and -150 °C in the crosswind of ambient air according to the arrangement of (a) No Tank, (b) Tank I, (c) Tank II, and (d) Tank I and II on the ground. To provide a better physical insight on the dispersion behaviors of the methane releases, the spatial distributions of the quasi-averaged methane concentration and flow fields were mainly analyzed using 3-D large eddy simulations. Consequently, the results of both the parameters can be summarized in that the vortex characteristics of the rotating direction and vorticity generated by the interactions not only between the crosswind and cylindrical obstacles but also between the crosswind and releasing methane flows played important roles in determining the dispersing flammable limits depending on the mixing characteristics. Copyright © 2018 Elsevier B.V. All rights reserved.

Methacrylate-bonded covalent-organic framework monolithic columns for high performance liquid chromatography.

PubMed

Liu, Li-Hua; Yang, Cheng-Xiong; Yan, Xiu-Ping

2017-01-06

Covalent-organic frameworks (COFs) are a newfangled class of intriguing microporous materials. Considering their unique properties, COFs should be promising as packing materials for high performance liquid chromatography (HPLC). However, the irregular shape and sub-micrometer size of COFs synthesized via the traditional methods render the main obstacles for the application of COFs in HPLC. Herein, we report the preparation of methacrylate-bonded COF monolithic columns for HPLC to overcome the above obstacles. The prepared COF bonded monolithic columns not only show good homogeneity and permeability, but also give high column efficiency, good resolution and precision for HPLC separation of small molecules including polycyclic aromatic hydrocarbons, phenols, anilines, nonsteroidal anti-inflammatory drugs and benzothiophenes. Compared with the bare polymer monolithic column, the COF bonded monolithic columns show enhanced hydrophobic, π-π and hydrogen bond interactions in reverse phase HPLC. The results reveal the great potential of COF bonded monoliths for HPLC and COFs in separation sciences. Copyright © 2016 Elsevier B.V. All rights reserved.

Localizing Global Medicine: Challenges and Opportunities in Cervical Screening in an Indigenous Community in Ecuador.

PubMed

Nugus, Peter; Désalliers, Julie; Morales, Juana; Graves, Lisa; Evans, Andrea; Macaulay, Ann C

2018-04-01

This participatory research study examines the tensions and opportunities in accessing allopathic medicine, or biomedicine, in the context of a cervical cancer screening program in a rural indigenous community of Northern Ecuador. Focusing on the influence of social networks, the article extends research on "re-appropriation" of biomedicine. It does so by recognizing two competing tensions expressed through social interactions: suspicion of allopathic medicine and the desire to maximize one's health. Semistructured individual interviews and focus groups were conducted with 28 women who had previously participated in a government-sponsored cervical screening program. From inductive thematic analysis, the article traces these women's active agency in navigating coherent paths of health. Despite drawing on social networks to overcome formidable challenges, the participants faced enduring system obstacles-the organizational effects of the networks of allopathic medicine. Such obstacles need to be understood to reconcile competing knowledge systems and improve health care access in underresourced communities.

Swimming in a two-dimensional Brinkman fluid: Computational modeling and regularized solutions

NASA Astrophysics Data System (ADS)

Leiderman, Karin; Olson, Sarah D.

2016-02-01

The incompressible Brinkman equation represents the homogenized fluid flow past obstacles that comprise a small volume fraction. In nondimensional form, the Brinkman equation can be characterized by a single parameter that represents the friction or resistance due to the obstacles. In this work, we derive an exact fundamental solution for 2D Brinkman flow driven by a regularized point force and describe the numerical method to use it in practice. To test our solution and method, we compare numerical results with an analytic solution of a stationary cylinder in a uniform Brinkman flow. Our method is also compared to asymptotic theory; for an infinite-length, undulating sheet of small amplitude, we recover an increasing swimming speed as the resistance is increased. With this computational framework, we study a model swimmer of finite length and observe an enhancement in propulsion and efficiency for small to moderate resistance. Finally, we study the interaction of two swimmers where attraction does not occur when the initial separation distance is larger than the screening length.

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

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.

Challenges in Learning to Speak Arabic

ERIC Educational Resources Information Center

Haron, Sueraya Che; Ahmed, Ismaiel Hassanien; Mamat, Arifin; Ahmad, Wan Rusli Wan; Rawash, Fouad Mahmoud M.

2016-01-01

This paper describes a study to investigate the challenges and obstacles to speaking Arabic faced by good and poor Malay speakers of Arabic. The study used individual and focus group interviews with 14 participants to elicit data. The findings revealed 2 types of obstacles, namely, internal and external obstacles. Internal obstacles refer to the…

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.

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

NASA Technical Reports Server (NTRS)

Matthies, Larry; Grandjean, Pierrick

1993-01-01

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

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.

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.

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.

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

The flow across a street canyon of variable width—Part 2:. Scalar dispersion from a street level line source

NASA Astrophysics Data System (ADS)

Simoëns, Serge; Wallace, James M.

As described in Part 1 [Simoëns et al., 2007. The flow across a street canyon of variable width—Part 1: kinematic description. Atmospheric Environment 41, 9002-9017] measurements have been made of the velocity field around and within the canyon formed by two obstacles placed on the wall of a turbulent boundary layer. Here in Part 2 measurements of the scalar dispersion of smoke released from a two-dimensional slot in the wall perpendicular to the mean flow and located parallel to and midway between these two square obstacles are presented. The Reynolds number of the boundary layer at the slot location without the obstacles in place was Rθ≈980. Statistical properties of the concentration field and the scalar fluxes in the streamwise plane are reported here for canyon openings that have been chosen based on characteristics of the kinematic description. These opening widths, expressed as multiples of the obstacle height, are 1 h, 4 h and 8 h. The mean concentration field revealed that the much of the scalar is trapped on the leeward side of the upstream obstacle before some of it escapes the canyon and is entrained on the roof of the upstream obstacle. It then is spread downstream by the turbulence in the wake of this obstacle. Surprisingly, the root mean square (rms) concentration field reveals that high concentration fluctuations exist in a zone where velocity field turbulence is very low. Measured streamwise scalar fluxes were found to be negative above the obstacles, whereas they are mainly positive between the obstacles. The measured wall normal scalar fluxes have an inverse behavior. Within the canyon, the scalar fluxes are greatest in the region between the large primary vortex, evident in the kinematic field, and the secondary vortex located in the corner of the leeward side of the upstream obstacle. In the flow above the obstacle roofs the wake of the upstream obstacle seems to dominate the scalar transport. Between the obstacles in and above the canyon, the existence of intermittent and intense events appear to prevent the modelling of these fluxes with a simple mean concentration gradient model.

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-off increased with obstacle distance, allowing a further step to be taken. These effects of obstacle height and distance were globally similar under low and high-temporal pressure. Collectively, these findings imply that the CNS is able to predict the potential instability elicited by the obstacle clearance and that it scales the spatiotemporal parameters of APAs accordingly.

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-off increased with obstacle distance, allowing a further step to be taken. These effects of obstacle height and distance were globally similar under low and high-temporal pressure. Collectively, these findings imply that the CNS is able to predict the potential instability elicited by the obstacle clearance and that it scales the spatiotemporal parameters of APAs accordingly. PMID:27656138

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.