Sample records for obstacle scattering problem

  1. 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.

  2. Inverse obstacle problem for the scalar Helmholtz equation

    NASA Astrophysics Data System (ADS)

    Crosta, Giovanni F.

    1994-07-01

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

  3. Numerical computations on one-dimensional inverse scattering problems

    NASA Technical Reports Server (NTRS)

    Dunn, M. H.; Hariharan, S. I.

    1983-01-01

    An approximate method to determine the index of refraction of a dielectric obstacle is presented. For simplicity one dimensional models of electromagnetic scattering are treated. The governing equations yield a second order boundary value problem, in which the index of refraction appears as a functional parameter. The availability of reflection coefficients yield two additional boundary conditions. The index of refraction by a k-th order spline which can be written as a linear combination of B-splines is approximated. For N distinct reflection coefficients, the resulting N boundary value problems yield a system of N nonlinear equations in N unknowns which are the coefficients of the B-splines.

  4. C1,1 regularity for degenerate elliptic obstacle problems

    NASA Astrophysics Data System (ADS)

    Daskalopoulos, Panagiota; Feehan, Paul M. N.

    2016-03-01

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

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

    NASA Astrophysics Data System (ADS)

    Qu, Fenglong; Yang, Jiaqing; Zhang, Bo

    2018-01-01

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

  6. Acoustic Scattering from Corners, Edges and Circular Cones

    NASA Astrophysics Data System (ADS)

    Elschner, Johannes; Hu, Guanghui

    2018-05-01

    Consider the time-harmonic acoustic scattering from a bounded penetrable obstacle imbedded in an isotropic homogeneous medium. The obstacle is supposed to possess a circular conic point or an edge point on the boundary in three dimensions and a planar corner point in two dimensions. The opening angles of cones and edges are allowed to be any number in {(0,2π)π}. We prove that such an obstacle scatters any incoming wave non-trivially (that is, the far field patterns cannot vanish identically), leading to the absence of real non-scattering wavenumbers. Local and global uniqueness results for the inverse problem of recovering the shape of penetrable scatterers are also obtained using a single incoming wave. Our approach relies on the singularity analysis of the inhomogeneous Laplace equation in a cone.

  7. Complete Sets of Radiating and Nonradiating Parts of a Source and Their Fields with Applications in Inverse Scattering Limited-Angle Problems

    PubMed Central

    Louis, A. K.

    2006-01-01

    Many algorithms applied in inverse scattering problems use source-field systems instead of the direct computation of the unknown scatterer. It is well known that the resulting source problem does not have a unique solution, since certain parts of the source totally vanish outside of the reconstruction area. This paper provides for the two-dimensional case special sets of functions, which include all radiating and all nonradiating parts of the source. These sets are used to solve an acoustic inverse problem in two steps. The problem under discussion consists of determining an inhomogeneous obstacle supported in a part of a disc, from data, known for a subset of a two-dimensional circle. In a first step, the radiating parts are computed by solving a linear problem. The second step is nonlinear and consists of determining the nonradiating parts. PMID:23165060

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

    PubMed

    Rejnö, Åsa; Berg, Linda

    2015-11-01

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

  9. Analytical optical scattering in clouds

    NASA Technical Reports Server (NTRS)

    Phanord, Dieudonne D.

    1989-01-01

    An analytical optical model for scattering of light due to lightning by clouds of different geometry is being developed. The self-consistent approach and the equivalent medium concept of Twersky was used to treat the case corresponding to outside illumination. Thus, the resulting multiple scattering problem is transformed with the knowledge of the bulk parameters, into scattering by a single obstacle in isolation. Based on the size parameter of a typical water droplet as compared to the incident wave length, the problem for the single scatterer equivalent to the distribution of cloud particles can be solved either by Mie or Rayleigh scattering theory. The super computing code of Wiscombe can be used immediately to produce results that can be compared to the Monte Carlo computer simulation for outside incidence. A fairly reasonable inverse approach using the solution of the outside illumination case was proposed to model analytically the situation for point sources located inside the thick optical cloud. Its mathematical details are still being investigated. When finished, it will provide scientists an enhanced capability to study more realistic clouds. For testing purposes, the direct approach to the inside illumination of clouds by lightning is under consideration. Presently, an analytical solution for the cubic cloud will soon be obtained. For cylindrical or spherical clouds, preliminary results are needed for scattering by bounded obstacles above or below a penetrable surface interface.

  10. High-order boundary integral equation solution of high frequency wave scattering from obstacles in an unbounded linearly stratified medium

    NASA Astrophysics Data System (ADS)

    Barnett, Alex H.; Nelson, Bradley J.; Mahoney, J. Matthew

    2015-09-01

    We apply boundary integral equations for the first time to the two-dimensional scattering of time-harmonic waves from a smooth obstacle embedded in a continuously-graded unbounded medium. In the case we solve, the square of the wavenumber (refractive index) varies linearly in one coordinate, i.e. (Δ + E +x2) u (x1 ,x2) = 0 where E is a constant; this models quantum particles of fixed energy in a uniform gravitational field, and has broader applications to stratified media in acoustics, optics and seismology. We evaluate the fundamental solution efficiently with exponential accuracy via numerical saddle-point integration, using the truncated trapezoid rule with typically 102 nodes, with an effort that is independent of the frequency parameter E. By combining with a high-order Nyström quadrature, we are able to solve the scattering from obstacles 50 wavelengths across to 11 digits of accuracy in under a minute on a desktop or laptop.

  11. 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.

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

    ERIC Educational Resources Information Center

    Niss, Martin

    2017-01-01

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

  13. Hierarchical optimization for neutron scattering problems

    DOE PAGES

    Bao, Feng; Archibald, Rick; Bansal, Dipanshu; ...

    2016-03-14

    In this study, we present a scalable optimization method for neutron scattering problems that determines confidence regions of simulation parameters in lattice dynamics models used to fit neutron scattering data for crystalline solids. The method uses physics-based hierarchical dimension reduction in both the computational simulation domain and the parameter space. We demonstrate for silicon that after a few iterations the method converges to parameters values (interatomic force-constants) computed with density functional theory simulations.

  14. Hierarchical optimization for neutron scattering problems

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

    Bao, Feng; Archibald, Rick; Bansal, Dipanshu

    In this study, we present a scalable optimization method for neutron scattering problems that determines confidence regions of simulation parameters in lattice dynamics models used to fit neutron scattering data for crystalline solids. The method uses physics-based hierarchical dimension reduction in both the computational simulation domain and the parameter space. We demonstrate for silicon that after a few iterations the method converges to parameters values (interatomic force-constants) computed with density functional theory simulations.

  15. Negative obstacle detection by thermal signature

    NASA Technical Reports Server (NTRS)

    Matthies, Larry; Rankin, A.

    2003-01-01

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

  16. Riemann–Hilbert problem approach for two-dimensional flow inverse scattering

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

    Agaltsov, A. D., E-mail: agalets@gmail.com; Novikov, R. G., E-mail: novikov@cmap.polytechnique.fr; IEPT RAS, 117997 Moscow

    2014-10-15

    We consider inverse scattering for the time-harmonic wave equation with first-order perturbation in two dimensions. This problem arises in particular in the acoustic tomography of moving fluid. We consider linearized and nonlinearized reconstruction algorithms for this problem of inverse scattering. Our nonlinearized reconstruction algorithm is based on the non-local Riemann–Hilbert problem approach. Comparisons with preceding results are given.

  17. A fixed energy fixed angle inverse scattering in interior transmission problem

    NASA Astrophysics Data System (ADS)

    Chen, Lung-Hui

    2017-06-01

    We study the inverse acoustic scattering problem in mathematical physics. The problem is to recover the index of refraction in an inhomogeneous medium by measuring the scattered wave fields in the far field. We transform the problem to the interior transmission problem in the study of the Helmholtz equation. We find an inverse uniqueness on the scatterer with a knowledge of a fixed interior transmission eigenvalue. By examining the solution in a series of spherical harmonics in the far field, we can determine uniquely the perturbation source for the radially symmetric perturbations.

  18. 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

  19. 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.

  20. 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

  1. 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.

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

    PubMed

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

    2017-01-01

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

  3. Use of the Wigner representation in scattering problems

    NASA Technical Reports Server (NTRS)

    Bemler, E. A.

    1975-01-01

    The basic equations of quantum scattering were translated into the Wigner representation, putting quantum mechanics in the form of a stochastic process in phase space, with real valued probability distributions and source functions. The interpretative picture associated with this representation is developed and stressed and results used in applications published elsewhere are derived. The form of the integral equation for scattering as well as its multiple scattering expansion in this representation are derived. Quantum corrections to classical propagators are briefly discussed. The basic approximation used in the Monte-Carlo method is derived in a fashion which allows for future refinement and which includes bound state production. Finally, as a simple illustration of some of the formalism, scattering is treated by a bound two body problem. Simple expressions for single and double scattering contributions to total and differential cross-sections as well as for all necessary shadow corrections are obtained.

  4. 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

  5. Fresnel diffraction by spherical obstacles

    NASA Technical Reports Server (NTRS)

    Hovenac, Edward A.

    1989-01-01

    Lommel functions were used to solve the Fresnel-Kirchhoff diffraction integral for the case of a spherical obstacle. Comparisons were made between Fresnel diffraction theory and Mie scattering theory. Fresnel theory is then compared to experimental data. Experiment and theory typically deviated from one another by less than 10 percent. A unique experimental setup using mercury spheres suspended in a viscous fluid significantly reduced optical noise. The major source of error was due to the Gaussian-shaped laser beam.

  6. 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.

  7. a Proposed Benchmark Problem for Scatter Calculations in Radiographic Modelling

    NASA Astrophysics Data System (ADS)

    Jaenisch, G.-R.; Bellon, C.; Schumm, A.; Tabary, J.; Duvauchelle, Ph.

    2009-03-01

    Code Validation is a permanent concern in computer modelling, and has been addressed repeatedly in eddy current and ultrasonic modeling. A good benchmark problem is sufficiently simple to be taken into account by various codes without strong requirements on geometry representation capabilities, focuses on few or even a single aspect of the problem at hand to facilitate interpretation and to avoid that compound errors compensate themselves, yields a quantitative result and is experimentally accessible. In this paper we attempt to address code validation for one aspect of radiographic modeling, the scattered radiation prediction. Many NDT applications can not neglect scattered radiation, and the scatter calculation thus is important to faithfully simulate the inspection situation. Our benchmark problem covers the wall thickness range of 10 to 50 mm for single wall inspections, with energies ranging from 100 to 500 keV in the first stage, and up to 1 MeV with wall thicknesses up to 70 mm in the extended stage. A simple plate geometry is sufficient for this purpose, and the scatter data is compared on a photon level, without a film model, which allows for comparisons with reference codes like MCNP. We compare results of three Monte Carlo codes (McRay, Sindbad and Moderato) as well as an analytical first order scattering code (VXI), and confront them to results obtained with MCNP. The comparison with an analytical scatter model provides insights into the application domain where this kind of approach can successfully replace Monte-Carlo calculations.

  8. 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.

  9. Rotational superradiant scattering in a vortex flow

    NASA Astrophysics Data System (ADS)

    Torres, Theo; Patrick, Sam; Coutant, Antonin; Richartz, Maurício; Tedford, Edmund W.; Weinfurtner, Silke

    2017-09-01

    When an incident wave scatters off of an obstacle, it is partially reflected and partially transmitted. In theory, if the obstacle is rotating, waves can be amplified in the process, extracting energy from the scatterer. Here we describe in detail the first laboratory detection of this phenomenon, known as superradiance. We observed that waves propagating on the surface of water can be amplified after being scattered by a draining vortex. The maximum amplification measured was 14% +/- 8%, obtained for 3.70 Hz waves, in a 6.25-cm-deep fluid, consistent with the superradiant scattering caused by rapid rotation. We expect our experimental findings to be relevant to black-hole physics, since shallow water waves scattering on a draining fluid constitute an analogue of a black hole, as well as to hydrodynamics, due to the close relation to over-reflection instabilities.

  10. 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.

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

    PubMed Central

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

    2017-01-01

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

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

    PubMed

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

    2017-07-01

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

  13. Speeded Reaching Movements around Invisible Obstacles

    PubMed Central

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

    2012-01-01

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

  14. The hydrogen anomaly problem in neutron Compton scattering

    NASA Astrophysics Data System (ADS)

    Karlsson, Erik B.

    2018-03-01

    Neutron Compton scattering (also called ‘deep inelastic scattering of neutrons’, DINS) is a method used to study momentum distributions of light atoms in solids and liquids. It has been employed extensively since the start-up of intense pulsed neutron sources about 25 years ago. The information lies primarily in the width and shape of the Compton profile and not in the absolute intensity of the Compton peaks. It was therefore not immediately recognized that the relative intensities of Compton peaks arising from scattering on different isotopes did not always agree with values expected from standard neutron cross-section tables. The discrepancies were particularly large for scattering on protons, a phenomenon that became known as ‘the hydrogen anomaly problem’. The present paper is a review of the discovery, experimental tests to prove or disprove the existence of the hydrogen anomaly and discussions concerning its origin. It covers a twenty-year-long history of experimentation, theoretical treatments and discussions. The problem is of fundamental interest, since it involves quantum phenomena on the subfemtosecond time scale, which are not visible in conventional thermal neutron scattering but are important in Compton scattering where neutrons have two orders of magnitude times higher energy. Different H-containing systems show different cross-section deficiencies and when the scattering processes are followed on the femtosecond time scale the cross-section losses disappear on different characteristic time scales for each H-environment. The last section of this review reproduces results from published papers based on quantum interference in scattering on identical particles (proton or deuteron pairs or clusters), which have given a quantitative theoretical explanation both regarding the H-cross-section reduction and its time dependence. Some new explanations are added and the concluding chapter summarizes the conditions for observing the specific quantum

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

    PubMed

    Guan, Xin; Wu, Huayang; Bi, Shujun

    2011-01-01

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

  16. Geometric capture and escape of a microswimmer colliding with an obstacle.

    PubMed

    Spagnolie, Saverio E; Moreno-Flores, Gregorio R; Bartolo, Denis; Lauga, Eric

    2015-05-07

    Motivated by recent experiments, we consider the hydrodynamic capture of a microswimmer near a stationary spherical obstacle. Simulations of model equations show that a swimmer approaching a small spherical colloid is simply scattered. In contrast, when the colloid is larger than a critical size it acts as a passive trap: the swimmer is hydrodynamically captured along closed trajectories and endlessly orbits around the colloidal sphere. In order to gain physical insight into this hydrodynamic scattering problem, we address it analytically. We provide expressions for the critical trapping radius, the depth of the "basin of attraction," and the scattering angle, which show excellent agreement with our numerical findings. We also demonstrate and rationalize the strong impact of swimming-flow symmetries on the trapping efficiency. Finally, we give the swimmer an opportunity to escape the colloidal traps by considering the effects of Brownian, or active, diffusion. We show that in some cases the trapping time is governed by an Ornstein-Uhlenbeck process, which results in a trapping time distribution that is well-approximated as inverse-Gaussian. The predictions again compare very favorably with the numerical simulations. We envision applications of the theory to bioremediation, microorganism sorting techniques, and the study of bacterial populations in heterogeneous or porous environments.

  17. Passive detection of subpixel obstacles for flight safety

    NASA Astrophysics Data System (ADS)

    Nixon, Matthew D.; Loveland, Rohan C.

    2001-12-01

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

  18. Sound field reproduction as an equivalent acoustical scattering problem.

    PubMed

    Fazi, Filippo Maria; Nelson, Philip A

    2013-11-01

    Given a continuous distribution of acoustic sources, the determination of the source strength that ensures the synthesis of a desired sound field is shown to be identical to the solution of an equivalent acoustic scattering problem. The paper begins with the presentation of the general theory that underpins sound field reproduction with secondary sources continuously arranged on the boundary of the reproduction region. The process of reproduction by a continuous source distribution is modeled by means of an integral operator (the single layer potential). It is then shown how the solution of the sound reproduction problem corresponds to that of an equivalent scattering problem. Analytical solutions are computed for two specific instances of this problem, involving, respectively, the use of a secondary source distribution in spherical and planar geometries. The results are shown to be the same as those obtained with analyses based on High Order Ambisonics and Wave Field Synthesis, respectively, thus bringing to light a fundamental analogy between these two methods of sound reproduction. Finally, it is shown how the physical optics (Kirchhoff) approximation enables the derivation of a high-frequency simplification for the problem under consideration, this in turn being related to the secondary source selection criterion reported in the literature on Wave Field Synthesis.

  19. Review of the inverse scattering problem at fixed energy in quantum mechanics

    NASA Technical Reports Server (NTRS)

    Sabatier, P. C.

    1972-01-01

    Methods of solution of the inverse scattering problem at fixed energy in quantum mechanics are presented. Scattering experiments of a beam of particles at a nonrelativisitic energy by a target made up of particles are analyzed. The Schroedinger equation is used to develop the quantum mechanical description of the system and one of several functions depending on the relative distance of the particles. The inverse problem is the construction of the potentials from experimental measurements.

  20. Finite element methods on supercomputers - The scatter-problem

    NASA Technical Reports Server (NTRS)

    Loehner, R.; Morgan, K.

    1985-01-01

    Certain problems arise in connection with the use of supercomputers for the implementation of finite-element methods. These problems are related to the desirability of utilizing the power of the supercomputer as fully as possible for the rapid execution of the required computations, taking into account the gain in speed possible with the aid of pipelining operations. For the finite-element method, the time-consuming operations may be divided into three categories. The first two present no problems, while the third type of operation can be a reason for the inefficient performance of finite-element programs. Two possibilities for overcoming certain difficulties are proposed, giving attention to a scatter-process.

  1. 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.

  2. Obstacles in Qualitative Research: Possible Solutions

    ERIC Educational Resources Information Center

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

    2005-01-01

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

  3. Application of Dynamic Logic Algorithm to Inverse Scattering Problems Related to Plasma Diagnostics

    NASA Astrophysics Data System (ADS)

    Perlovsky, L.; Deming, R. W.; Sotnikov, V.

    2010-11-01

    In plasma diagnostics scattering of electromagnetic waves is widely used for identification of density and wave field perturbations. In the present work we use a powerful mathematical approach, dynamic logic (DL), to identify the spectra of scattered electromagnetic (EM) waves produced by the interaction of the incident EM wave with a Langmuir soliton in the presence of noise. The problem is especially difficult since the spectral amplitudes of the noise pattern are comparable with the amplitudes of the scattered waves. In the past DL has been applied to a number of complex problems in artificial intelligence, pattern recognition, and signal processing, resulting in revolutionary improvements. Here we demonstrate its application to plasma diagnostic problems. [4pt] Perlovsky, L.I., 2001. Neural Networks and Intellect: using model-based concepts. Oxford University Press, New York, NY.

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

    NASA Astrophysics Data System (ADS)

    Focardi, Matteo; Spadaro, Emanuele

    2018-04-01

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

  5. 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.

  6. Women’s orgasm obstacles: A qualitative study

    PubMed Central

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

    2017-01-01

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

  7. Overcoming an Obstacle in Expanding a UMLS Semantic Type Extent

    PubMed Central

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

    2011-01-01

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

  8. Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

    ERIC Educational Resources Information Center

    Thagard, Paul; Findlay, Scott

    2010-01-01

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

  9. Adaptive eigenspace method for inverse scattering problems in the frequency domain

    NASA Astrophysics Data System (ADS)

    Grote, Marcus J.; Kray, Marie; Nahum, Uri

    2017-02-01

    A nonlinear optimization method is proposed for the solution of inverse scattering problems in the frequency domain, when the scattered field is governed by the Helmholtz equation. The time-harmonic inverse medium problem is formulated as a PDE-constrained optimization problem and solved by an inexact truncated Newton-type iteration. Instead of a grid-based discrete representation, the unknown wave speed is projected to a particular finite-dimensional basis of eigenfunctions, which is iteratively adapted during the optimization. Truncating the adaptive eigenspace (AE) basis at a (small and slowly increasing) finite number of eigenfunctions effectively introduces regularization into the inversion and thus avoids the need for standard Tikhonov-type regularization. Both analytical and numerical evidence underpins the accuracy of the AE representation. Numerical experiments demonstrate the efficiency and robustness to missing or noisy data of the resulting adaptive eigenspace inversion method.

  10. Applying nonlinear diffusion acceleration to the neutron transport k-Eigenvalue problem with anisotropic scattering

    DOE PAGES

    Willert, Jeffrey; Park, H.; Taitano, William

    2015-11-01

    High-order/low-order (or moment-based acceleration) algorithms have been used to significantly accelerate the solution to the neutron transport k-eigenvalue problem over the past several years. Recently, the nonlinear diffusion acceleration algorithm has been extended to solve fixed-source problems with anisotropic scattering sources. In this paper, we demonstrate that we can extend this algorithm to k-eigenvalue problems in which the scattering source is anisotropic and a significant acceleration can be achieved. Lastly, we demonstrate that the low-order, diffusion-like eigenvalue problem can be solved efficiently using a technique known as nonlinear elimination.

  11. Overcoming an obstacle in expanding a UMLS semantic type extent.

    PubMed

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

    2012-02-01

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

  12. Small-inclusion asymptotic of misfit functionals for inverse problems in acoustics

    NASA Astrophysics Data System (ADS)

    Guzina, Bojan B.; Bonnet, Marc

    2006-10-01

    The aim of this study is an extension and employment of the concept of topological derivative as it pertains to the nucleation of infinitesimal inclusions in a reference (i.e. background) acoustic medium. The developments are motivated by the need to develop a preliminary indicator functional that would aid the solution of inverse scattering problems in terms of a rational initial 'guess' about the geometry and material characteristics of a hidden (finite) obstacle; an information that is often required by iterative minimization algorithms. To this end the customary definition of topological derivative, which quantifies the sensitivity of a given cost functional with respect to the creation of an infinitesimal hole, is adapted to permit the nucleation of a dissimilar acoustic medium. On employing the Green's function for the background domain, computation of topological sensitivity for the three-dimensional Helmholtz equation is reduced to the solution of a reference, Laplace transmission problem. Explicit formulae are given for the nucleating inclusions of spherical and ellipsoidal shapes. For generality the developments are also presented in an alternative, adjoint-field setting that permits nucleation of inclusions in an infinite, semi-infinite or finite background medium. Through numerical examples, it is shown that the featured topological sensitivity could be used, in the context of inverse scattering, as an effective obstacle indicator through an assembly of sampling points where it attains pronounced negative values. On varying a material characteristic (density) of the nucleating obstacle, it is also shown that the proposed methodology can be used as a preparatory tool for both geometric and material identification.

  13. 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.

  14. 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.

  15. Real-time obstacle avoidance using harmonic potential functions

    NASA Technical Reports Server (NTRS)

    Kim, Jin-Oh; Khosla, Pradeep K.

    1992-01-01

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

  16. 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.

  17. 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.

  18. Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

    NASA Astrophysics Data System (ADS)

    Thagard, Paul; Findlay, Scott

    2010-06-01

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

  19. 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

  20. Mature red blood cells: from optical model to inverse light-scattering problem.

    PubMed

    Gilev, Konstantin V; Yurkin, Maxim A; Chernyshova, Ekaterina S; Strokotov, Dmitry I; Chernyshev, Andrei V; Maltsev, Valeri P

    2016-04-01

    We propose a method for characterization of mature red blood cells (RBCs) morphology, based on measurement of light-scattering patterns (LSPs) of individual RBCs with the scanning flow cytometer and on solution of the inverse light-scattering (ILS) problem for each LSP. We considered a RBC shape model, corresponding to the minimal bending energy of the membrane with isotropic elasticity, and constructed an analytical approximation, which allows rapid simulation of the shape, given the diameter and minimal and maximal thicknesses. The ILS problem was solved by the nearest-neighbor interpolation using a preliminary calculated database of 250,000 theoretical LSPs. For each RBC in blood sample we determined three abovementioned shape characteristics and refractive index, which also allows us to calculate volume, surface area, sphericity index, spontaneous curvature, hemoglobin concentration and content.

  1. Mature red blood cells: from optical model to inverse light-scattering problem

    PubMed Central

    Gilev, Konstantin V.; Yurkin, Maxim A.; Chernyshova, Ekaterina S.; Strokotov, Dmitry I.; Chernyshev, Andrei V.; Maltsev, Valeri P.

    2016-01-01

    We propose a method for characterization of mature red blood cells (RBCs) morphology, based on measurement of light-scattering patterns (LSPs) of individual RBCs with the scanning flow cytometer and on solution of the inverse light-scattering (ILS) problem for each LSP. We considered a RBC shape model, corresponding to the minimal bending energy of the membrane with isotropic elasticity, and constructed an analytical approximation, which allows rapid simulation of the shape, given the diameter and minimal and maximal thicknesses. The ILS problem was solved by the nearest-neighbor interpolation using a preliminary calculated database of 250,000 theoretical LSPs. For each RBC in blood sample we determined three abovementioned shape characteristics and refractive index, which also allows us to calculate volume, surface area, sphericity index, spontaneous curvature, hemoglobin concentration and content. PMID:27446656

  2. Use of edge-based finite elements for solving three dimensional scattering problems

    NASA Technical Reports Server (NTRS)

    Chatterjee, A.; Jin, J. M.; Volakis, John L.

    1991-01-01

    Edge based finite elements are free from drawbacks associated with node based vectorial finite elements and are, therefore, ideal for solving 3-D scattering problems. The finite element discretization using edge elements is checked by solving for the resonant frequencies of a closed inhomogeneously filled metallic cavity. Great improvements in accuracy are observed when compared to the classical node based approach with no penalty in terms of computational time and with the expected absence of spurious modes. A performance comparison between the edge based tetrahedra and rectangular brick elements is carried out and tetrahedral elements are found to be more accurate than rectangular bricks for a given storage intensity. A detailed formulation for the scattering problem with various approaches for terminating the finite element mesh is also presented.

  3. Studying time of flight imaging through scattering media across multiple size scales (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Velten, Andreas

    2017-05-01

    Light scattering is a primary obstacle to optical imaging in a variety of different environments and across many size and time scales. Scattering complicates imaging on large scales when imaging through the atmosphere when imaging from airborne or space borne platforms, through marine fog, or through fog and dust in vehicle navigation, for example in self driving cars. On smaller scales, scattering is the major obstacle when imaging through human tissue in biomedical applications. Despite the large variety of participating materials and size scales, light transport in all these environments is usually described with very similar scattering models that are defined by the same small set of parameters, including scattering and absorption length and phase function. We attempt a study of scattering and methods of imaging through scattering across different scales and media, particularly with respect to the use of time of flight information. We can show that using time of flight, in addition to spatial information, provides distinct advantages in scattering environments. By performing a comparative study of scattering across scales and media, we are able to suggest scale models for scattering environments to aid lab research. We also can transfer knowledge and methodology between different fields.

  4. 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.

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

    Treesearch

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

    1976-01-01

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

  6. 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

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

    PubMed Central

    2012-01-01

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

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

    NASA Astrophysics Data System (ADS)

    Feehan, Paul M. N.

    2017-09-01

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

  9. Collective strategy for obstacle navigation during cooperative transport by ants.

    PubMed

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

    2016-11-01

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

  10. Bim-Based Indoor Path Planning Considering Obstacles

    NASA Astrophysics Data System (ADS)

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

    2017-09-01

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

  11. Prize for Industrial Applications of Physics Talk: The Inverse Scattering Problem and the role of measurements in its solution

    NASA Astrophysics Data System (ADS)

    Wyatt, Philip

    2009-03-01

    The electromagnetic inverse scattering problem suggests that if a homogeneous and non-absorbing object be illuminated with a monochromatic light source and if the far field scattered light intensity is known at sufficient scattering angles, then, in principle, one could derive the dielectric structure of the scattering object. In general, this is an ill-posed problem and methods must be developed to regularize the search for unique solutions. An iterative procedure often begins with a model of the scattering object, solves the forward scattering problem using this model, and then compares these calculated results with the measured values. Key to any such solution is instrumentation capable of providing adequate data. To this end, the development of the first laser based absolute light scattering photometers is described together with their continuing evolution and some of the remarkable discoveries made with them. For particles much smaller than the wavelength of the incident light (e.g. macromolecules), the inverse scattering problems are easily solved. Among the many solutions derived with this instrumentation are the in situ structure of bacterial cells, new drug delivery mechanisms, the development of new vaccines and other biologicals, characterization of wines, the possibility of custom chemotherapy, development of new polymeric materials, identification of protein crystallization conditions, and a variety discoveries concerning protein interactions. A new form of the problem is described to address bioterrorist threats. Over the many years of development and refinement, one element stands out as essential for the successes that followed: the R and D teams were always directed and executed by physics trained theorists and experimentalists. 14 Ph. D. physicists each made his/her unique contribution to the development of these evolving instruments and the interpretation of their results.

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

    NASA Astrophysics Data System (ADS)

    Budzan, Sebastian; Kasprzyk, Jerzy

    2016-02-01

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

  13. Nonlinear water waves generated by impulsive motion of submerged obstacle

    NASA Astrophysics Data System (ADS)

    Makarenko, N.; Kostikov, V.

    2012-04-01

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

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

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

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

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

  15. Milne problem for non-absorbing medium with extremely anisotropic scattering kernel in the case of specular and diffuse reflecting boundaries

    NASA Astrophysics Data System (ADS)

    Güleçyüz, M. Ç.; Şenyiğit, M.; Ersoy, A.

    2018-01-01

    The Milne problem is studied in one speed neutron transport theory using the linearly anisotropic scattering kernel which combines forward and backward scatterings (extremely anisotropic scattering) for a non-absorbing medium with specular and diffuse reflection boundary conditions. In order to calculate the extrapolated endpoint for the Milne problem, Legendre polynomial approximation (PN method) is applied and numerical results are tabulated for selected cases as a function of different degrees of anisotropic scattering. Finally, some results are discussed and compared with the existing results in literature.

  16. 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.

  17. Obstacles to Gender Parity in Engineering Education

    ERIC Educational Resources Information Center

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

    2008-01-01

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

  18. 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

  19. 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

  20. A Least-Squares Finite Element Method for Electromagnetic Scattering Problems

    NASA Technical Reports Server (NTRS)

    Wu, Jie; Jiang, Bo-nan

    1996-01-01

    The least-squares finite element method (LSFEM) is applied to electromagnetic scattering and radar cross section (RCS) calculations. In contrast to most existing numerical approaches, in which divergence-free constraints are omitted, the LSFF-M directly incorporates two divergence equations in the discretization process. The importance of including the divergence equations is demonstrated by showing that otherwise spurious solutions with large divergence occur near the scatterers. The LSFEM is based on unstructured grids and possesses full flexibility in handling complex geometry and local refinement Moreover, the LSFEM does not require any special handling, such as upwinding, staggered grids, artificial dissipation, flux-differencing, etc. Implicit time discretization is used and the scheme is unconditionally stable. By using a matrix-free iterative method, the computational cost and memory requirement for the present scheme is competitive with other approaches. The accuracy of the LSFEM is verified by several benchmark test problems.

  1. Object classification for obstacle avoidance

    NASA Astrophysics Data System (ADS)

    Regensburger, Uwe; Graefe, Volker

    1991-03-01

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

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

    PubMed Central

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

    2017-01-01

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

  3. Resolvent approach for two-dimensional scattering problems. Application to the nonstationary Schrödinger problem and the KPI equation

    NASA Astrophysics Data System (ADS)

    Boiti, M.; Pempinelli, F.; Pogrebkov, A. K.; Polivanov, M. C.

    1992-11-01

    The resolvent operator of the linear problem is determined as the full Green function continued in the complex domain in two variables. An analog of the known Hilbert identity is derived. We demonstrate the role of this identity in the study of two-dimensional scattering. Considering the nonstationary Schrödinger equation as an example, we show that all types of solutions of the linear problems, as well as spectral data known in the literature, are given as specific values of this unique function — the resolvent function. A new form of the inverse problem is formulated.

  4. 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.

  5. On the spin- 1/2 Aharonov–Bohm problem in conical space: Bound states, scattering and helicity nonconservation

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

    Andrade, F.M., E-mail: fmandrade@uepg.br; Silva, E.O., E-mail: edilbertoo@gmail.com; Pereira, M., E-mail: marciano@uepg.br

    2013-12-15

    In this work the bound state and scattering problems for a spin- 1/2 particle undergone to an Aharonov–Bohm potential in a conical space in the nonrelativistic limit are considered. The presence of a δ-function singularity, which comes from the Zeeman spin interaction with the magnetic flux tube, is addressed by the self-adjoint extension method. One of the advantages of the present approach is the determination of the self-adjoint extension parameter in terms of physics of the problem. Expressions for the energy bound states, phase-shift and S matrix are determined in terms of the self-adjoint extension parameter, which is explicitly determinedmore » in terms of the parameters of the problem. The relation between the bound state and zero modes and the failure of helicity conservation in the scattering problem and its relation with the gyromagnetic ratio g are discussed. Also, as an application, we consider the spin- 1/2 Aharonov–Bohm problem in conical space plus a two-dimensional isotropic harmonic oscillator. -- Highlights: •Planar dynamics of a spin- 1/2 neutral particle. •Bound state for Aharonov–Bohm systems. •Aharonov–Bohm scattering. •Helicity nonconservation. •Determination of the self-adjoint extension parameter.« less

  6. Solution of cavity resonance and waveguide scattering problems using the eigenmode projection technique

    NASA Astrophysics Data System (ADS)

    Nasr, Mamdouh H.; Othman, Mohamed A. K.; Eshrah, Islam A.; Abuelfadl, Tamer M.

    2017-04-01

    New developments in the eigenmode projection technique (EPT) are introduced in solving problems of electromagnetic resonance in closed cavities as well as scattering from discontinuities in guided-wave structures. The EPT invokes the eigenmodes of a canonical predefined cavity in the solution procedure and uses the expansion of these eigenmodes to solve Maxwell's equations, in conjunction with a convenient choice of port boundary conditions. For closed cavities, a new spurious-mode separation method is developed, showing robust and efficient spurious-mode separation. This has been tested using more complex and practical examples demonstrating the powerful use of the presented approach. For waveguide scattering problems, convergence studies are being performed showing stable solutions for a relatively small number of expansion modes, and the proposed method has advantages over conventional solvers in analyzing electromagnetic problems with inhomogeneous materials. These convergence studies also lead to an efficient rule-of-thumb for the number of modes to be used in the simulation. The ability to handle closed and open structures is presented in a unified framework that highlights the generality of the EPT which could be used to analyze and design a variety of microwave components.

  7. High-order integral equation methods for problems of scattering by bumps and cavities on half-planes.

    PubMed

    Pérez-Arancibia, Carlos; Bruno, Oscar P

    2014-08-01

    This paper presents high-order integral equation methods for the evaluation of electromagnetic wave scattering by dielectric bumps and dielectric cavities on perfectly conducting or dielectric half-planes. In detail, the algorithms introduced in this paper apply to eight classical scattering problems, namely, scattering by a dielectric bump on a perfectly conducting or a dielectric half-plane, and scattering by a filled, overfilled, or void dielectric cavity on a perfectly conducting or a dielectric half-plane. In all cases field representations based on single-layer potentials for appropriately chosen Green functions are used. The numerical far fields and near fields exhibit excellent convergence as discretizations are refined-even at and around points where singular fields and infinite currents exist.

  8. Learning Impasses in Problem Solving

    NASA Technical Reports Server (NTRS)

    Hodgson, J. P. E.

    1992-01-01

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

  9. 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.

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

    PubMed

    Qiu, Huaxin; Duan, Haibin

    2017-11-01

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

  11. 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.

  12. The inverse problem of acoustic wave scattering by an air-saturated poroelastic cylinder.

    PubMed

    Ogam, Erick; Fellah, Z E A; Baki, Paul

    2013-03-01

    The efficient use of plastic foams in a diverse range of structural applications like in noise reduction, cushioning, and sleeping mattresses requires detailed characterization of their permeability and deformation (load-bearing) behavior. The elastic moduli and airflow resistance properties of foams are often measured using two separate techniques, one employing mechanical vibration methods and the other, flow rates of fluids based on fluid mechanics technology, respectively. A multi-parameter inverse acoustic scattering problem to recover airflow resistivity (AR) and mechanical properties of an air-saturated foam cylinder is solved. A wave-fluid saturated poroelastic structure interaction model based on the modified Biot theory and plane-wave decomposition using orthogonal cylindrical functions is employed to solve the inverse problem. The solutions to the inverse problem are obtained by constructing the objective functional given by the total square of the difference between predictions from the model and scattered acoustic field data acquired in an anechoic chamber. The value of the recovered AR is in good agreement with that of a slab sample cut from the cylinder and characterized using a method employing low frequency transmitted and reflected acoustic waves in a long waveguide developed by Fellah et al. [Rev. Sci. Instrum. 78(11), 114902 (2007)].

  13. 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

  14. 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.

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

    PubMed

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

    2016-01-01

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

  16. FOREWORD: Special section on electromagnetic characterization of buried obstacles

    NASA Astrophysics Data System (ADS)

    Lesselier, Dominique; Chew, Weng Cho

    2004-12-01

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

  17. Japan’s Rearmament Dilemma: Obstacles to Rearmament.

    DTIC Science & Technology

    1980-01-01

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

  18. 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.

  19. 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

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

    PubMed Central

    Tsai, Rong-Guei

    2018-01-01

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

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

    ERIC Educational Resources Information Center

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

    2008-01-01

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

  2. Music algorithm for imaging of a sound-hard arc in limited-view inverse scattering problem

    NASA Astrophysics Data System (ADS)

    Park, Won-Kwang

    2017-07-01

    MUltiple SIgnal Classification (MUSIC) algorithm for a non-iterative imaging of sound-hard arc in limited-view inverse scattering problem is considered. In order to discover mathematical structure of MUSIC, we derive a relationship between MUSIC and an infinite series of Bessel functions of integer order. This structure enables us to examine some properties of MUSIC in limited-view problem. Numerical simulations are performed to support the identified structure of MUSIC.

  3. Microcavity Enhanced Raman Scattering

    NASA Astrophysics Data System (ADS)

    Petrak, Benjamin J.

    Raman scattering can accurately identify molecules by their intrinsic vibrational frequencies, but its notoriously weak scattering efficiency for gases presents a major obstacle to its practical application in gas sensing and analysis. This work explores the use of high finesse (≈50 000) Fabry-Perot microcavities as a means to enhance Raman scattering from gases. A recently demonstrated laser ablation method, which carves out a micromirror template on fused silica--either on a fiber tip or bulk substrates-- was implemented, characterized, and optimized to fabricate concave micromirror templates ˜10 mum diameter and radius of curvature. The fabricated templates were coated with a high-reflectivity dielectric coating by ion-beam sputtering and were assembled into microcavities ˜10 mum long and with a mode volume ˜100 mum 3. A novel gas sensing technique that we refer to as Purcell enhanced Raman scattering (PERS) was demonstrated using the assembled microcavities. PERS works by enhancing the pump laser's intensity through resonant recirculation at one longitudinal mode, while simultaneously, at a second mode at the Stokes frequency, the Purcell effect increases the rate of spontaneous Raman scattering by a change to the intra-cavity photon density of states. PERS was shown to enhance the rate of spontaneous Raman scattering by a factor of 107 compared to the same volume of sample gas in free space scattered into the same solid angle subtended by the cavity. PERS was also shown capable of resolving several Raman bands from different isotopes of CO2 gas for application to isotopic analysis. Finally, the use of the microcavity to enhance coherent anti-Stokes Raman scattering (CARS) from CO2 gas was demonstrated.

  4. A Two-Dimensional Helmholtz Equation Solution for the Multiple Cavity Scattering Problem

    DTIC Science & Technology

    2013-02-01

    obtained by using the block Gauss – Seidel iterative meth- od. To show the convergence of the iterative method, we define the error between two...models to the general multiple cavity setting. Numerical examples indicate that the convergence of the Gauss – Seidel iterative method depends on the...variational approach. A block Gauss – Seidel iterative method is introduced to solve the cou- pled system of the multiple cavity scattering problem, where

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

    NASA Technical Reports Server (NTRS)

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

    2004-01-01

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

  6. Obstacle-avoiding navigation system

    DOEpatents

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

    1991-01-01

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

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

    PubMed

    Ducarne, Loïc; Ainalis, Daniel; Kouroussis, Georges

    2018-01-15

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

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

    PubMed

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

    2018-03-21

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

  9. 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.

  10. Scattering by randomly oriented ellipsoids: Application to aerosol and cloud problems

    NASA Technical Reports Server (NTRS)

    Asano, S.; Sato, M.; Hansen, J. E.

    1979-01-01

    A program was developed for computing the scattering and absorption by arbitrarily oriented and randomly oriented prolate and oblate spheroids. This permits examination of the effect of particle shape for cases ranging from needles through spheres to platelets. Applications of this capability to aerosol and cloud problems are discussed. Initial results suggest that the effect of nonspherical particle shape on transfer of radiation through aerosol layers and cirrus clouds, as required for many climate studies, can be readily accounted for by defining an appropriate effective spherical particle radius.

  11. Electromagnetic cloak to restore the antenna radiation patterns affected by nearby scatter

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

    Teperik, Tatiana V., E-mail: tatiana.teperik@u-psud.fr; Donostia International Physics Center, Aptdo. 1072, 20080 San Sebastian; Lustrac, André de

    We have theoretically verified the feasibility of the concept of mantle cloak for very high frequency (VHF) antenna communications. While the applicability of the concept has been demonstrated for an infinitely long cylindrical obstacle and infinitely long electric source [Y.R. Padooru, A.B. Yakovlev, and P.-Y. Chen and Andrea Alù, J. Appl. Phys., 112, 104902, (2012)], the use of this cloak in realistic conditions is not straightforward. In this paper as an electric source we consider a typical VHF monopole antenna mounted on ground plane together with a metallic cylindrical obstacle. The both ground plane and obstacle affect the antenna radiationmore » scattering. Nevertheless, we could show that the mantle cloak can bee successfully applied to restore the radiation patterns of antenna even when the source, the cylindrical metallic obstacle, and the ground plane have finite length. We have studied the antenna adaptation in the presence of the cloaked obstacle and found that the complete radiation system is still functional in the bandwidth that is reduced only by 11%.« less

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

    NASA Astrophysics Data System (ADS)

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

    2017-05-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2017-09-01

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

  14. 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.

  15. Surface obstacles in pulsatile flow

    NASA Astrophysics Data System (ADS)

    Carr, Ian A.; Plesniak, Michael W.

    2017-11-01

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

  16. In situ realization of particlelike scattering states in a microwave cavity

    NASA Astrophysics Data System (ADS)

    Böhm, Julian; Brandstötter, Andre; Ambichl, Philipp; Rotter, Stefan; Kuhl, Ulrich

    2018-02-01

    We realize scattering states in a lossy and chaotic two-dimensional microwave cavity which follow bundles of classical particle trajectories. To generate such particlelike scattering states, we measure the system's complex transmission matrix and apply an adapted Wigner-Smith time-delay formalism to it. The necessary shaping of the incident wave is achieved in situ using phase- and amplitude-regulated microwave antennas. Our experimental findings pave the way for establishing spatially confined communication channels that avoid possible intruders or obstacles in wave-based communication systems.

  17. Acoustic scattering reduction using layers of elastic materials

    NASA Astrophysics Data System (ADS)

    Dutrion, Cécile; Simon, Frank

    2017-02-01

    Making an object invisible to acoustic waves could prove useful for military applications or measurements in confined space. Different passive methods have been proposed in recent years to avoid acoustic scattering from rigid obstacles. These techniques are exclusively based on acoustic phenomena, and use for instance multiple resonators or scatterers. This paper examines the possibility of designing an acoustic cloak using a bi-layer elastic cylindrical shell to eliminate the acoustic field scattered from a rigid cylinder hit by plane waves. This field depends on the dimensional and mechanical characteristics of the elastic layers. It is computed by a semi-analytical code modelling the vibrations of the coating under plane wave excitation. Optimization by genetic algorithm is performed to determine the characteristics of a bi-layer material minimizing the scattering. Considering an external fluid consisting of air, realistic configurations of elastic coatings emerge, composed of a thick internal orthotopic layer and a thin external isotropic layer. These coatings are shown to enable scattering reduction at a precise frequency or over a larger frequency band.

  18. 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.

  19. 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…

  20. On the use of variable coherence in inverse scattering problems

    NASA Astrophysics Data System (ADS)

    Baleine, Erwan

    Even though most of the properties of optical fields, such as wavelength, polarization, wavefront curvature or angular spectrum, have been commonly manipulated in a variety of remote sensing procedures, controlling the degree of coherence of light did not find wide applications until recently. Since the emergence of optical coherence tomography, a growing number of scattering techniques have relied on temporal coherence gating which provides efficient target selectivity in a way achieved only by bulky short pulse measurements. The spatial counterpart of temporal coherence, however, has barely been exploited in sensing applications. This dissertation examines, in different scattering regimes, a variety of inverse scattering problems based on variable spatial coherence gating. Within the framework of the radiative transfer theory, this dissertation demonstrates that the short range correlation properties of a medium under test can be recovered by varying the size of the coherence volume of an illuminating beam. Nonetheless, the radiative transfer formalism does not account for long range correlations and current methods for retrieving the correlation function of the complex susceptibility require cumbersome cross-spectral density measurements. Instead, a variable coherence tomographic procedure is proposed where spatial coherence gating is used to probe the structural properties of single scattering media over an extended volume and with a very simple detection system. Enhanced backscattering is a coherent phenomenon that survives strong multiple scattering. The variable coherence tomography approach is extended in this context to diffusive media and it is demonstrated that specific photon trajectories can be selected in order to achieve depth-resolved sensing. Probing the scattering properties of shallow and deeper layers is of considerable interest in biological applications such as diagnosis of skin related diseases. The spatial coherence properties of an

  1. 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.

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

    PubMed

    Chang, Kai; Xia, Yuanqing; Huang, Kaoli

    2016-01-01

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

  3. 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…

  4. Surface obstacles in pulsatile flow

    NASA Astrophysics Data System (ADS)

    Carr, Ian A.; Plesniak, Michael W.

    2016-11-01

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

  5. Inverse Scattering Problem For The Schrödinger Equation With An Additional Quadratic Potential On The Entire Axis

    NASA Astrophysics Data System (ADS)

    Guseinov, I. M.; Khanmamedov, A. Kh.; Mamedova, A. F.

    2018-04-01

    We consider the Schrödinger equation with an additional quadratic potential on the entire axis and use the transformation operator method to study the direct and inverse problems of the scattering theory. We obtain the main integral equations of the inverse problem and prove that the basic equations are uniquely solvable.

  6. Solution of electromagnetic scattering and radiation problems using a spectral domain approach - A review

    NASA Technical Reports Server (NTRS)

    Mittra, R.; Ko, W. L.; Rahmat-Samii, Y.

    1979-01-01

    This paper presents a brief review of some recent developments on the use of the spectral-domain approach for deriving high-frequency solutions to electromagnetics scattering and radiation problems. The spectral approach is not only useful for interpreting the well-known Keller formulas based on the geometrical theory of diffraction (GTD), it can also be employed for verifying the accuracy of GTD and other asymptotic solutions and systematically improving the results when such improvements are needed. The problem of plane wave diffraction by a finite screen or a strip is presented as an example of the application of the spectral-domain approach.

  7. Analysis of forward scattering of an acoustical zeroth-order Bessel beam from rigid complicated (aspherical) structures

    NASA Astrophysics Data System (ADS)

    Li, Wei; Chai, Yingbin; Gong, Zhixiong; Marston, Philip L.

    2017-10-01

    The forward scattering from rigid spheroids and endcapped cylinders with finite length (even with a large aspect ratio) immersed in a non-viscous fluid under the illumination of an idealized zeroth-order acoustical Bessel beam (ABB) with arbitrary angles of incidence is calculated and analyzed in the implementation of the T-matrix method (TTM). Based on the present method, the incident coefficients of expansion for the incident ABB are derived and simplifying methods are proposed for the numerical accuracy and computational efficiency according to the geometrical symmetries. A home-made MATLAB software package is constructed accordingly, and then verified and validated for the ABB scattering from rigid aspherical obstacles. Several numerical examples are computed for the forward scattering from both rigid spheroids and finite cylinder, with particular emphasis on the aspect ratios, the half-cone angles of ABBs, the incident angles and the dimensionless frequencies. The rectangular patterns of target strength in the (β, θs) domain (where β is the half-cone angle of the ABB and θs is the scattered polar angle) and local/total forward scattering versus dimensionless frequency are exhibited, which could provide new insights into the physical mechanisms of Bessel beam scattering by rigid spheroids and finite cylinders. The ray diagrams in geometrical models for the scattering in the forward half-space and the optical cross-section theorem help to interpret the scattering mechanisms of ABBs. This research work may provide an alternative for the partial wave series solution under certain circumstances interacting with ABBs for complicated obstacles and benefit some related works in optics and electromagnetics.

  8. Inertial navigation sensor integrated obstacle detection system

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

  9. Shock interaction behind a pair of cylindrical obstacles

    NASA Astrophysics Data System (ADS)

    Liu, Heng; Mazumdar, Raoul; Eliasson, Veronica

    2014-11-01

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

  10. Detecting Negative Obstacles by Use of Radar

    NASA Technical Reports Server (NTRS)

    Mittskus, Anthony; Lux, James

    2006-01-01

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

  11. 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

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

    NASA Astrophysics Data System (ADS)

    Javadi, Maryam; Shahrabi, Jamal

    2014-03-01

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

  13. A multiwave range test for obstacle reconstructions with unknown physical properties

    NASA Astrophysics Data System (ADS)

    Potthast, Roland; Schulz, Jochen

    2007-08-01

    We develop a new multiwave version of the range test for shape reconstruction in inverse scattering theory. The range test [R. Potthast, et al., A `range test' for determining scatterers with unknown physical properties, Inverse Problems 19(3) (2003) 533-547] has originally been proposed to obtain knowledge about an unknown scatterer when the far field pattern for only one plane wave is given. Here, we extend the method to the case of multiple waves and show that the full shape of the unknown scatterer can be reconstructed. We further will clarify the relation between the range test methods, the potential method [A. Kirsch, R. Kress, On an integral equation of the first kind in inverse acoustic scattering, in: Inverse Problems (Oberwolfach, 1986), Internationale Schriftenreihe zur Numerischen Mathematik, vol. 77, Birkhauser, Basel, 1986, pp. 93-102] and the singular sources method [R. Potthast, Point sources and multipoles in inverse scattering theory, Habilitation Thesis, Gottingen, 1999]. In particular, we propose a new version of the Kirsch-Kress method using the range test and a new approach to the singular sources method based on the range test and potential method. Numerical examples of reconstructions for all four methods are provided.

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

    NASA Astrophysics Data System (ADS)

    Sulistyowati, Fitria; Budiyono, Slamet, Isnandar

    2017-12-01

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

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

    PubMed

    Spysschaert, Y; Dhossche, D; Sienaert, P

    2016-01-01

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

  16. Two-dimensional supersonic nonlinear Schrödinger flow past an extended obstacle

    NASA Astrophysics Data System (ADS)

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

    2009-10-01

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

  17. 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.

  18. 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.

  19. Obstacle Avoidance for Quadcopter using Ultrasonic Sensor

    NASA Astrophysics Data System (ADS)

    Fazlur Rahman, Muhammad; Adhy Sasongko, Rianto

    2018-04-01

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

  20. 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.

  1. Nonlinear Scattering of Acoustic Waves by Vibrating Obstacles.

    DTIC Science & Technology

    1983-06-01

    2xB’(x) - 2(v+l)B(x). (A40) As a first example of this general form, we let f(x) e-X 2 . [This is the usual weighting function used in the orthogonality ... Some examples involving Laguerre functions. We nov consider integrals of the general forim where L,(x) is the Laguerre function of order v, and f(x...phenomena Integrals 20. ABSTRACT (ContiIne an reverse sle if 009000MY and Ideitfy 67 6l4k rom’ ") The problem of the generation of sum- and difference

  2. 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.

  3. Slowly changing potential problems in Quantum Mechanics: Adiabatic theorems, ergodic theorems, and scattering

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

    Fishman, S., E-mail: fishman@physics.technion.ac.il; Soffer, A., E-mail: soffer@math.rutgers.edu

    2016-07-15

    We employ the recently developed multi-time scale averaging method to study the large time behavior of slowly changing (in time) Hamiltonians. We treat some known cases in a new way, such as the Zener problem, and we give another proof of the adiabatic theorem in the gapless case. We prove a new uniform ergodic theorem for slowly changing unitary operators. This theorem is then used to derive the adiabatic theorem, do the scattering theory for such Hamiltonians, and prove some classical propagation estimates and asymptotic completeness.

  4. A necessary condition for applying MUSIC algorithm in limited-view inverse scattering problem

    NASA Astrophysics Data System (ADS)

    Park, Taehoon; Park, Won-Kwang

    2015-09-01

    Throughout various results of numerical simulations, it is well-known that MUltiple SIgnal Classification (MUSIC) algorithm can be applied in the limited-view inverse scattering problems. However, the application is somehow heuristic. In this contribution, we identify a necessary condition of MUSIC for imaging of collection of small, perfectly conducting cracks. This is based on the fact that MUSIC imaging functional can be represented as an infinite series of Bessel function of integer order of the first kind. Numerical experiments from noisy synthetic data supports our investigation.

  5. An accurate boundary element method for the exterior elastic scattering problem in two dimensions

    NASA Astrophysics Data System (ADS)

    Bao, Gang; Xu, Liwei; Yin, Tao

    2017-11-01

    This paper is concerned with a Galerkin boundary element method solving the two dimensional exterior elastic wave scattering problem. The original problem is first reduced to the so-called Burton-Miller [1] boundary integral formulation, and essential mathematical features of its variational form are discussed. In numerical implementations, a newly-derived and analytically accurate regularization formula [2] is employed for the numerical evaluation of hyper-singular boundary integral operator. A new computational approach is employed based on the series expansions of Hankel functions for the computation of weakly-singular boundary integral operators during the reduction of corresponding Galerkin equations into a discrete linear system. The effectiveness of proposed numerical methods is demonstrated using several numerical examples.

  6. Optimal consensus algorithm integrated with obstacle avoidance

    NASA Astrophysics Data System (ADS)

    Wang, Jianan; Xin, Ming

    2013-01-01

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

  7. Application of the Boundary Element Method to Elastic Wave Scattering Problems in Ultrasonic Nondestructive Evaluation.

    NASA Astrophysics Data System (ADS)

    Schafbuch, Paul Jay

    The boundary element method (BEM) is used to numerically simulate the interaction of ultrasonic waves with material defects such as voids, inclusions, and open cracks. The time harmonic formulation is in 3D and therefore allows flaws of arbitrary shape to be modeled. The BEM makes such problems feasible because the underlying boundary integral equation only requires a surface (2D) integration and difficulties associated with the seemingly infinite extent of the host domain are not encountered. The computer code utilized in this work is built upon recent advances in elastodynamic boundary element theory such as a scheme for self adjusting integration order and singular integration regularization. Incident fields may be taken as compressional or shear plane waves or predicted by an approximate Gauss -Hermite beam model. The code is highly optimized for voids and has been coupled with computer aided engineering packages for automated flaw shape definition and mesh generation. Subsequent graphical display of intermediate results supports model refinement and physical interpretation. Final results are typically cast in a nondestructive evaluation (NDE) context as either scattering amplitudes or flaw signals (via a measurement model based on a reciprocity integral). The near field is also predicted which allows for improved physical insight into the scattering process and the evaluation of certain modeling approximations. The accuracy of the BEM approach is first examined by comparing its predictions to those of other models for single, isolated scatterers. The comparisons are with the predictions of analytical solutions for spherical defects and with MOOT and T-matrix calculations for axisymmetric flaws. Experimental comparisons are also made for volumetric shapes with different characteristic dimensions in all three directions, since no other numerical approach has yet produced results of this type. Theoretical findings regarding the fictitious eigenfrequency

  8. Application of the boundary element method to elastic wave scattering problems in ultrasonic nondestructive evaluation

    NASA Astrophysics Data System (ADS)

    Schafbuch, Paul Jay

    1991-02-01

    The boundary element method (BEM) is used to numerically simulate the interaction of ultrasonic waves with material defects such as voids, inclusions, and open cracks. The time harmonic formulation is in 3D and therefore allows flaws of arbitrary shape to be modeled. The BEM makes such problems feasible because the underlying boundary integral equation only requires a surface (2D) integration and difficulties associated with the seemingly infinite extent of the host domain are not encountered. The computer code utilized in this work is built upon recent advances in elastodynamic boundary element theory such as a scheme for self adjusting integration order and singular integration regularization. Incident fields may be taken as compressional or shear plane waves or predicted by an approximate Gauss-Hermite beam model. The code is highly optimized for voids and has been coupled with computer aided engineering packages for automated flaw shape definition and mesh generation. Subsequent graphical display of intermediate results supports model refinement and physical interpretation. Final results are typically cast in a nondestructive evaluation (NDE) context as either scattering amplitudes or flaw signals (via a measurement model based on a reciprocity integral). The near field is also predicted which allows for improved physical insight into the scattering process and the evaluation of certain modeling approximations. The accuracy of the BEM approach is first examined by comparing its predictions to those of other models for single, isolated scatters. The comparisons are with the predictions of analytical solutions for spherical defects and with MOOT and T-matrix calculations for axisymmetric flaws. Experimental comparisons are also made for volumetric shapes with different characteristic dimensions in all three directions, since no other numerical approach has yet produced results of this type. Theoretical findings regarding the fictitious eigenfrequency difficulty

  9. Analysis of MUSIC-type imaging functional for single, thin electromagnetic inhomogeneity in limited-view inverse scattering problem

    NASA Astrophysics Data System (ADS)

    Ahn, Chi Young; Jeon, Kiwan; Park, Won-Kwang

    2015-06-01

    This study analyzes the well-known MUltiple SIgnal Classification (MUSIC) algorithm to identify unknown support of thin penetrable electromagnetic inhomogeneity from scattered field data collected within the so-called multi-static response matrix in limited-view inverse scattering problems. The mathematical theories of MUSIC are partially discovered, e.g., in the full-view problem, for an unknown target of dielectric contrast or a perfectly conducting crack with the Dirichlet boundary condition (Transverse Magnetic-TM polarization) and so on. Hence, we perform further research to analyze the MUSIC-type imaging functional and to certify some well-known but theoretically unexplained phenomena. For this purpose, we establish a relationship between the MUSIC imaging functional and an infinite series of Bessel functions of integer order of the first kind. This relationship is based on the rigorous asymptotic expansion formula in the existence of a thin inhomogeneity with a smooth supporting curve. Various results of numerical simulation are presented in order to support the identified structure of MUSIC. Although a priori information of the target is needed, we suggest a least condition of range of incident and observation directions to apply MUSIC in the limited-view problem.

  10. 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.

  11. Indoor detection of passive targets recast as an inverse scattering problem

    NASA Astrophysics Data System (ADS)

    Gottardi, G.; Moriyama, T.

    2017-10-01

    The wireless local area networks represent an alternative to custom sensors and dedicated surveillance systems for target indoor detection. The availability of the channel state information has opened the exploitation of the spatial and frequency diversity given by the orthogonal frequency division multiplexing. Such a fine-grained information can be used to solve the detection problem as an inverse scattering problem. The goal of the detection is to reconstruct the properties of the investigation domain, namely to estimate if the domain is empty or occupied by targets, starting from the measurement of the electromagnetic perturbation of the wireless channel. An innovative inversion strategy exploiting both the frequency and the spatial diversity of the channel state information is proposed. The target-dependent features are identified combining the Kruskal-Wallis test and the principal component analysis. The experimental validation points out the detection performance of the proposed method when applied to an existing wireless link of a WiFi architecture deployed in a real indoor scenario. False detection rates lower than 2 [%] have been obtained.

  12. 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.

  13. 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

  14. Optimal partial mass transportation and obstacle Monge-Kantorovich equation

    NASA Astrophysics Data System (ADS)

    Igbida, Noureddine; Nguyen, Van Thanh

    2018-05-01

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

  15. Scanning angle Raman spectroscopy: Investigation of Raman scatter enhancement techniques for chemical analysis

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

    Meyer, Matthew W.

    2013-01-01

    This thesis outlines advancements in Raman scatter enhancement techniques by applying evanescent fields, standing-waves (waveguides) and surface enhancements to increase the generated mean square electric field, which is directly related to the intensity of Raman scattering. These techniques are accomplished by employing scanning angle Raman spectroscopy and surface enhanced Raman spectroscopy. A 1064 nm multichannel Raman spectrometer is discussed for chemical analysis of lignin. Extending dispersive multichannel Raman spectroscopy to 1064 nm reduces the fluorescence interference that can mask the weaker Raman scattering. Overall, these techniques help address the major obstacles in Raman spectroscopy for chemical analysis, which include themore » inherently weak Raman cross section and susceptibility to fluorescence interference.« less

  16. Anomalous small-angle scattering as a way to solve the Babinet principle problem

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

    Boiko, M. E., E-mail: m.e.boiko@mail.ioffe.ru; Sharkov, M. D.; Boiko, A. M.

    2013-12-15

    X-ray absorption spectra (XAS) have been used to determine the absorption edges of atoms present in a sample under study. A series of small-angle X-ray scattering (SAXS) measurements using different monochromatic X-ray beams at different wavelengths near the absorption edges is performed to solve the Babinet principle problem. The sizes of clusters containing atoms determined by the method of XAS were defined in SAXS experiments. In contrast to differential X-ray porosimetry, anomalous SAXS makes it possible to determine sizes of clusters of different atomic compositions.

  17. Anomalous small-angle scattering as a way to solve the Babinet principle problem

    NASA Astrophysics Data System (ADS)

    Boiko, M. E.; Sharkov, M. D.; Boiko, A. M.; Bobyl, A. V.

    2013-12-01

    X-ray absorption spectra (XAS) have been used to determine the absorption edges of atoms present in a sample under study. A series of small-angle X-ray scattering (SAXS) measurements using different monochromatic X-ray beams at different wavelengths near the absorption edges is performed to solve the Babinet principle problem. The sizes of clusters containing atoms determined by the method of XAS were defined in SAXS experiments. In contrast to differential X-ray porosimetry, anomalous SAXS makes it possible to determine sizes of clusters of different atomic compositions.

  18. Time of flight imaging through scattering environments (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Le, Toan H.; Breitbach, Eric C.; Jackson, Jonathan A.; Velten, Andreas

    2017-02-01

    Light scattering is a primary obstacle to imaging in many environments. On small scales in biomedical microscopy and diffuse tomography scenarios scattering is caused by tissue. On larger scales scattering from dust and fog provide challenges to vision systems for self driving cars and naval remote imaging systems. We are developing scale models for scattering environments and investigation methods for improved imaging particularly using time of flight transient information. With the emergence of Single Photon Avalanche Diode detectors and fast semiconductor lasers, illumination and capture on picosecond timescales are becoming possible in inexpensive, compact, and robust devices. This opens up opportunities for new computational imaging techniques that make use of photon time of flight. Time of flight or range information is used in remote imaging scenarios in gated viewing and in biomedical imaging in time resolved diffuse tomography. In addition spatial filtering is popular in biomedical scenarios with structured illumination and confocal microscopy. We are presenting a combination analytical, computational, and experimental models that allow us develop and test imaging methods across scattering scenarios and scales. This framework will be used for proof of concept experiments to evaluate new computational imaging methods.

  19. Mathematical Models of Smart Obstacles

    DTIC Science & Technology

    2006-10-01

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

  20. Imaging objects behind small obstacles using axicon lens

    NASA Astrophysics Data System (ADS)

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

    2017-06-01

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

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

    NASA Technical Reports Server (NTRS)

    Reed, M. A.

    1974-01-01

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

  2. Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

    PubMed Central

    Moccia, Antonio

    2014-01-01

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

  3. Obstacle Detection Algorithms for Rotorcraft Navigation

    NASA Technical Reports Server (NTRS)

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

    2001-01-01

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

  4. Foot strike patterns after obstacle clearance during running.

    PubMed

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

    2002-01-01

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

  5. Efficient Solution of Three-Dimensional Problems of Acoustic and Electromagnetic Scattering by Open Surfaces

    NASA Technical Reports Server (NTRS)

    Turc, Catalin; Anand, Akash; Bruno, Oscar; Chaubell, Julian

    2011-01-01

    We present a computational methodology (a novel Nystrom approach based on use of a non-overlapping patch technique and Chebyshev discretizations) for efficient solution of problems of acoustic and electromagnetic scattering by open surfaces. Our integral equation formulations (1) Incorporate, as ansatz, the singular nature of open-surface integral-equation solutions, and (2) For the Electric Field Integral Equation (EFIE), use analytical regularizes that effectively reduce the number of iterations required by iterative linear-algebra solution based on Krylov-subspace iterative solvers.

  6. Obstacle avoidance for redundant robots using configuration control

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

  7. 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.

  8. Investigation of Condensation/Clustering Effects on Rayleigh Scattering Measurements in a Hypersonic Wind Tunnel

    NASA Technical Reports Server (NTRS)

    Tyler, Charles

    1996-01-01

    Rayleigh scattering, a nonintrusive measurement technique for the measurement of density in a hypersonic wind tunnel, is under investigation at Wright Laboratory's Mach 6 wind tunnel. Several adverse effects, i.e., extraneous scatter off walls and windows, hinder Rayleigh scattering measurements. Condensation and clustering of flow constituents also present formidable obstacles. Overcoming some of these difficulties, measurements have been achieved while the Mach 6 test section was pumped down to a vacuum, as well as for actual tunnel operation for various stagnation pressures at fixed stagnation temperatures. Stagnation pressures ranged from 0.69 MPa to 6.9 MPa at fixed stagnation temperatures of 511, 556, and 611 K. Rayleigh scatter results show signal levels much higher than expected for molecular scattering in the wind tunnel. Even with higher than expected signals, scattering measurements have been made in the flowfield of an 8-degree half-angle blunt nose cone with a nose radius of 1.5 cm.

  9. Student Obstacles in Ratio and Proportion Learning

    NASA Astrophysics Data System (ADS)

    Andini, W.; Jupri, Al

    2017-02-01

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

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. Method for surmounting an obstacle by a robot vehicle

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  15. Characterizing Protein Complexes with UV absorption, Light Scattering, and Refractive Index Detection.

    NASA Astrophysics Data System (ADS)

    Trainoff, Steven

    2009-03-01

    Many modern pharmaceuticals and naturally occurring biomolecules consist of complexes of proteins and polyethylene glycol or carbohydrates. In the case of vaccine development, these complexes are often used to induce or amplify immune responses. For protein therapeutics they are used to modify solubility and function, or to control the rate of degradation and elimination of a drug from the body. Characterizing the stoichiometry of these complexes is an important industrial problem that presents a formidable challenge to analytical instrument designers. Traditional analytical methods, such as using florescent tagging, chemical assays, and mass spectrometry perturb the system so dramatically that the complexes are often destroyed or uncontrollably modified by the measurement. A solution to this problem consists of fractionating the samples and then measuring the fractions using sequential non-invasive detectors that are sensitive to different components of the complex. We present results using UV absorption, which is primarily sensitive to the protein fraction, Light Scattering, which measures the total weight average molar mass, and Refractive Index detection, which measures the net concentration. We also present a solution of the problem inter-detector band-broadening problem that has heretofore made this approach impractical. Presented will be instrumentation and an analysis method that overcome these obstacles and make this technique a reliable and robust way of non-invasively characterizing these industrially important compounds.

  16. Solution of electromagnetic scattering problems using time domain techniques

    NASA Technical Reports Server (NTRS)

    Britt, Charles L.

    1989-01-01

    New methods are developed to calculate the electromagnetic diffraction or scattering characteristics of objects of arbitrary material and shape. The methods extend the efforts of previous researchers in the use of finite-difference and pulse response techniques. Examples are given of the scattering from infinite conducting and nonconducting cylinders, open channel, sphere, cone, cone sphere, coated disk, open boxes, and open and closed finite cylinders with axially incident waves.

  17. Graph pyramids as models of human problem solving

    NASA Astrophysics Data System (ADS)

    Pizlo, Zygmunt; Li, Zheng

    2004-05-01

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

  18. 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.

  19. 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.

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

    NASA Technical Reports Server (NTRS)

    Shiller, Zvi; Dubowsky, Steven

    1991-01-01

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

  1. 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

  2. Sediment problems in urban areas

    USGS Publications Warehouse

    Guy, Harold P.

    1970-01-01

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

  3. The problem of scattering in fibre-fed VPH spectrographs and possible solutions

    NASA Astrophysics Data System (ADS)

    Ellis, S. C.; Saunders, Will; Betters, Chris; Croom, Scott

    2014-07-01

    All spectrographs unavoidably scatter light. Scattering in the spectral direction is problematic for sky subtraction, since atmospheric spectral lines are blurred. Scattering in the spatial direction is problematic for fibre fed spectrographs, since it limits how closely fibres can be packed together. We investigate the nature of this scattering and show that the scattering wings have both a Lorentzian component, and a shallower (1/r) component. We investigate the causes of this from a theoretical perspective, and argue that for the spectral PSF the Lorentzian wings are in part due to the profile of the illumination of the pupil of the spectrograph onto the diffraction grating, whereas the shallower component is from bulk scattering. We then investigate ways to mitigate the diffractive scattering by apodising the pupil. In the ideal case of a Gaussian apodised pupil, the scattering can be significantly improved. Finally we look at realistic models of the spectrograph pupils of fibre fed spectrographs with a centrally obstructed telescope, and show that it is possible to apodise the pupil through non-telecentric injection into the fibre.

  4. Nonlinear Waves and Inverse Scattering

    DTIC Science & Technology

    1990-09-18

    to be published Proceedings: conference Chaos in Australia (February 1990). 5. On the Kadomtsev Petviashvili Equation and Associated Constraints by...Scattering Transfoni (IST). IST is a method which alows one to’solve nonlinear wave equations by solving certain related direct and inverse scattering...problems. We use these results to find solutions to nonlinear wave equations much like one uses Fourier analysis for linear problems. Moreover the

  5. The Scatter Search Based Algorithm to Revenue Management Problem in Broadcasting Companies

    NASA Astrophysics Data System (ADS)

    Pishdad, Arezoo; Sharifyazdi, Mehdi; Karimpour, Reza

    2009-09-01

    The problem under question in this paper which is faced by broadcasting companies is how to benefit from a limited advertising space. This problem is due to the stochastic behavior of customers (advertiser) in different fare classes. To address this issue we propose a mathematical constrained nonlinear multi period model which incorporates cancellation and overbooking. The objective function is to maximize the total expected revenue and our numerical method performs it by determining the sales limits for each class of customer to present the revenue management control policy. Scheduling the advertising spots in breaks is another area of concern and we consider it as a constraint in our model. In this paper an algorithm based on Scatter search is developed to acquire a good feasible solution. This method uses simulation over customer arrival and in a continuous finite time horizon [0, T]. Several sensitivity analyses are conducted in computational result for depicting the effectiveness of proposed method. It also provides insight into better results of considering revenue management (control policy) compared to "no sales limit" policy in which sooner demand will served first.

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

    ERIC Educational Resources Information Center

    Williams, Sarah Blackwelder

    2010-01-01

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

  7. Detection of Obstacles in Monocular Image Sequences

    NASA Technical Reports Server (NTRS)

    Kasturi, Rangachar; Camps, Octavia

    1997-01-01

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

  8. Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

    PubMed

    Polanowski, Piotr; Sikorski, Andrzej

    2016-08-04

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

  9. Diffusion amid random overlapping obstacles: Similarities, invariants, approximations

    PubMed Central

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

    2011-01-01

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

  10. An iterative truncation method for unbounded electromagnetic problems using varying order finite elements

    NASA Astrophysics Data System (ADS)

    Paul, Prakash

    2009-12-01

    , different shaped metallic and dielectric obstacles (spheres, ogives, cube, flat plate, multi-layer slab etc.) are used for the scattering problems. For the radiation problems, waveguide excited antennas (horn antenna, waveguide with flange, microstrip patch antenna) are used. Using the AEC the peak reduction in computation time during the iteration is typically a factor of 2, compared to the IABC using the same element orders throughout. In some cases, it can be as high as a factor of 4.

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

    PubMed

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

    2018-01-01

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

  12. Surface Plasmon-Coupled Directional Enhanced Raman Scattering by Means of the Reverse Kretschmann Configuration.

    PubMed

    Huo, Si-Xin; Liu, Qian; Cao, Shuo-Hui; Cai, Wei-Peng; Meng, Ling-Yan; Xie, Kai-Xin; Zhai, Yan-Yun; Zong, Cheng; Yang, Zhi-Lin; Ren, Bin; Li, Yao-Qun

    2015-06-04

    Surface-enhanced Raman scattering (SERS) is a unique analytical technique that provides fingerprint spectra, yet facing the obstacle of low collection efficiency. In this study, we demonstrated a simple approach to measure surface plasmon-coupled directional enhanced Raman scattering by means of the reverse Kretschmann configuration (RK-SPCR). Highly directional and p-polarized Raman scattering of 4-aminothiophenol (4-ATP) was observed on a nanoparticle-on-film substrate at 46° through the prism coupler with a sharp angle distribution (full width at half-maximum of ∼3.3°). Because of the improved collection efficiency, the Raman scattering signal was enhanced 30-fold over the conventional SERS mode; this was consistent with finite-difference time-domain simulations. The effect of nanoparticles on the coupling efficiency of propagated surface plasmons was investigated. Possessing straightforward implementation and directional enhancement of Raman scattering, RK-SPCR is anticipated to simplify SERS instruments and to be broadly applicable to biochemical assays.

  13. Subspace-based optimization method for inverse scattering problems with an inhomogeneous background medium

    NASA Astrophysics Data System (ADS)

    Chen, Xudong

    2010-07-01

    This paper proposes a version of the subspace-based optimization method to solve the inverse scattering problem with an inhomogeneous background medium where the known inhomogeneities are bounded in a finite domain. Although the background Green's function at each discrete point in the computational domain is not directly available in an inhomogeneous background scenario, the paper uses the finite element method to simultaneously obtain the Green's function at all discrete points. The essence of the subspace-based optimization method is that part of the contrast source is determined from the spectrum analysis without using any optimization, whereas the orthogonally complementary part is determined by solving a lower dimension optimization problem. This feature significantly speeds up the convergence of the algorithm and at the same time makes it robust against noise. Numerical simulations illustrate the efficacy of the proposed algorithm. The algorithm presented in this paper finds wide applications in nondestructive evaluation, such as through-wall imaging.

  14. Numerical solution of inverse scattering for near-field optics.

    PubMed

    Bao, Gang; Li, Peijun

    2007-06-01

    A novel regularized recursive linearization method is developed for a two-dimensional inverse medium scattering problem that arises in near-field optics, which reconstructs the scatterer of an inhomogeneous medium located on a substrate from data accessible through photon scanning tunneling microscopy experiments. Based on multiple frequency scattering data, the method starts from the Born approximation corresponding to weak scattering at a low frequency, and each update is obtained by continuation on the wavenumber from solutions of one forward problem and one adjoint problem of the Helmholtz equation.

  15. Localization and Poincaré catastrophe in the problem of a photon scattering on a pair of Rayleigh particles

    NASA Astrophysics Data System (ADS)

    Maksimenko, V. V.; Zagaynov, V. A.; Agranovski, I. E.

    2013-11-01

    It is shown that complexities in a problem of elastic scattering of a photon on a pair of Rayleigh particles (two small metallic spheres) are similar to the complexities of the classic problem of three bodies in celestial mechanics. In the latter problem, as is well known, the phase trajectory of a system becomes a nonanalytical function of its variables. In our problem, the trajectory of a virtual photon at some frequency could be considered such as the well-known Antoine set (Antoine's necklace) or a chain with interlaced sections having zero topological dimension and fractal structure. Such a virtual “zero-dimensional” photon could be localized between the particles of the pair. The topology suppresses the photon's exit to the real world with dimensional equal-to-or-greater-than units. The physical reason for this type of photon localization is related to the “mechanical rigidity” of interlaced sections of the photon trajectory due to a singularity of energy density along these sections. Within the approximations used in this paper, the effect is possible if the frequency of the incident radiation is equal to double the frequency of the dipole surface plasmon in an isolated particle, which is the only character frequency in the problem. This condition and transformation of the photon trajectory to the zero-dimensional Antoine set reminds of some of the simplest variants of Poincaré's catastrophe in the dynamics of some nonintegrable systems. The influence of the localization on elastic light scattering by the pair is investigated.

  16. Scattering of spermatozoa off cylindrical pillars

    NASA Astrophysics Data System (ADS)

    Bukatin, Anton; Lushi, Enkeleida; Kantsler, Vasily

    2017-11-01

    The motion of micro-swimmers in structured environments, even though crucial in processes such as in vivo and in vitro egg fertilization, is still not completely understood. We combine microfluidic experiments with mathematical modeling of 3D swimming near convex surfaces to quantify the dynamics of individual sperm cells in the proximity of cylindrical pillars. Our results show that the hydrodynamic and contact forces that account for the shape asymmetry and flagellar motion, are crucial in correctly describing the dynamics observed in the experiments. Last, we discuss how the size of the cylindrical obstacles determines whether the swimmers scatter off or get trapped circling the pillar.

  17. A search game model of the scatter hoarder's problem

    PubMed Central

    Alpern, Steve; Fokkink, Robbert; Lidbetter, Thomas; Clayton, Nicola S.

    2012-01-01

    Scatter hoarders are animals (e.g. squirrels) who cache food (nuts) over a number of sites for later collection. A certain minimum amount of food must be recovered, possibly after pilfering by another animal, in order to survive the winter. An optimal caching strategy is one that maximizes the survival probability, given worst case behaviour of the pilferer. We modify certain ‘accumulation games’ studied by Kikuta & Ruckle (2000 J. Optim. Theory Appl.) and Kikuta & Ruckle (2001 Naval Res. Logist.), which modelled the problem of optimal diversification of resources against catastrophic loss, to include the depth at which the food is hidden at each caching site. Optimal caching strategies can then be determined as equilibria in a new ‘caching game’. We show how the distribution of food over sites and the site-depths of the optimal caching varies with the animal's survival requirements and the amount of pilfering. We show that in some cases, ‘decoy nuts’ are required to be placed above other nuts that are buried further down at the same site. Methods from the field of search games are used. Some empirically observed behaviour can be shown to be optimal in our model. PMID:22012971

  18. Overcoming obstacles to behavior change in diabetes self-management.

    PubMed

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

    2003-01-01

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

  19. Multilevel fast multipole method based on a potential formulation for 3D electromagnetic scattering problems.

    PubMed

    Fall, Mandiaye; Boutami, Salim; Glière, Alain; Stout, Brian; Hazart, Jerome

    2013-06-01

    A combination of the multilevel fast multipole method (MLFMM) and boundary element method (BEM) can solve large scale photonics problems of arbitrary geometry. Here, MLFMM-BEM algorithm based on a scalar and vector potential formulation, instead of the more conventional electric and magnetic field formulations, is described. The method can deal with multiple lossy or lossless dielectric objects of arbitrary geometry, be they nested, in contact, or dispersed. Several examples are used to demonstrate that this method is able to efficiently handle 3D photonic scatterers involving large numbers of unknowns. Absorption, scattering, and extinction efficiencies of gold nanoparticle spheres, calculated by the MLFMM, are compared with Mie's theory. MLFMM calculations of the bistatic radar cross section (RCS) of a gold sphere near the plasmon resonance and of a silica coated gold sphere are also compared with Mie theory predictions. Finally, the bistatic RCS of a nanoparticle gold-silver heterodimer calculated with MLFMM is compared with unmodified BEM calculations.

  20. 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.

  1. FieldSAFE: Dataset for Obstacle Detection in Agriculture.

    PubMed

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

    2017-11-09

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

  2. FieldSAFE: Dataset for Obstacle Detection in Agriculture

    PubMed Central

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

    2017-01-01

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

  3. Motion Among Random Obstacles on a Hyperbolic Space

    NASA Astrophysics Data System (ADS)

    Orsingher, Enzo; Ricciuti, Costantino; Sisti, Francesco

    2016-02-01

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

  4. 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

  5. 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.

  6. On increasing stability in the two dimensional inverse source scattering problem with many frequencies

    NASA Astrophysics Data System (ADS)

    Entekhabi, Mozhgan Nora; Isakov, Victor

    2018-05-01

    In this paper, we will study the increasing stability in the inverse source problem for the Helmholtz equation in the plane when the source term is assumed to be compactly supported in a bounded domain Ω with a sufficiently smooth boundary. Using the Fourier transform in the frequency domain, bounds for the Hankel functions and for scattering solutions in the complex plane, improving bounds for the analytic continuation, and the exact observability for the wave equation led us to our goals which are a sharp uniqueness and increasing stability estimate when the wave number interval is growing.

  7. Plant root and shoot dynamics during subsurface obstacle interaction

    NASA Astrophysics Data System (ADS)

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

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

  8. 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.

  9. Rapidly convergent quasi-periodic Green functions for scattering by arrays of cylinders—including Wood anomalies

    PubMed Central

    Fernandez-Lado, Agustin G.

    2017-01-01

    This paper presents a full-spectrum Green-function methodology (which is valid, in particular, at and around Wood-anomaly frequencies) for evaluation of scattering by periodic arrays of cylinders of arbitrary cross section—with application to wire gratings, particle arrays and reflectarrays and, indeed, general arrays of conducting or dielectric bounded obstacles under both transverse electric and transverse magnetic polarized illumination. The proposed method, which, for definiteness, is demonstrated here for arrays of perfectly conducting particles under transverse electric polarization, is based on the use of the shifted Green-function method introduced in a recent contribution (Bruno & Delourme 2014 J. Computat. Phys. 262, 262–290 (doi:10.1016/j.jcp.2013.12.047)). A certain infinite term arises at Wood anomalies for the cylinder-array problems considered here that is not present in the previous rough-surface case. As shown in this paper, these infinite terms can be treated via an application of ideas related to the Woodbury–Sherman–Morrison formulae. The resulting approach, which is applicable to general arrays of obstacles even at and around Wood-anomaly frequencies, exhibits fast convergence and high accuracies. For example, a few hundreds of milliseconds suffice for the proposed approach to evaluate solutions throughout the resonance region (wavelengths comparable to the period and cylinder sizes) with full single-precision accuracy. PMID:28413346

  10. Rapidly convergent quasi-periodic Green functions for scattering by arrays of cylinders-including Wood anomalies.

    PubMed

    Bruno, Oscar P; Fernandez-Lado, Agustin G

    2017-03-01

    This paper presents a full-spectrum Green-function methodology (which is valid, in particular, at and around Wood-anomaly frequencies) for evaluation of scattering by periodic arrays of cylinders of arbitrary cross section-with application to wire gratings, particle arrays and reflectarrays and, indeed, general arrays of conducting or dielectric bounded obstacles under both transverse electric and transverse magnetic polarized illumination. The proposed method, which, for definiteness, is demonstrated here for arrays of perfectly conducting particles under transverse electric polarization, is based on the use of the shifted Green-function method introduced in a recent contribution (Bruno & Delourme 2014 J. Computat. Phys. 262 , 262-290 (doi:10.1016/j.jcp.2013.12.047)). A certain infinite term arises at Wood anomalies for the cylinder-array problems considered here that is not present in the previous rough-surface case. As shown in this paper, these infinite terms can be treated via an application of ideas related to the Woodbury-Sherman-Morrison formulae. The resulting approach, which is applicable to general arrays of obstacles even at and around Wood-anomaly frequencies, exhibits fast convergence and high accuracies. For example, a few hundreds of milliseconds suffice for the proposed approach to evaluate solutions throughout the resonance region (wavelengths comparable to the period and cylinder sizes) with full single-precision accuracy.

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

    PubMed Central

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

    2015-01-01

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

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

    PubMed

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

    2015-01-01

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

  13. 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.

  14. 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.

  15. Stand-alone scattering optical device using holographic photopolymer (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Park, Jongchan; Lee, KyeoReh; Park, YongKeun

    2016-03-01

    When a light propagates through highly disordered medium, its optical parameters such as amplitude, phase and polarization states are completely scrambled because of multiple scattering events. Since the multiple scattering is a fundamental optical process that contains extremely high degrees of freedom, optical information of a transmitted light is totally mingled. Until recently, the presence of multiple scattering in an inhomogeneous medium is considered as a major obstacle when manipulating a light transmitting through the medium. However, a recent development of wavefront shaping techniques enable us to control the propagation of light through turbid media; a light transmitting through a turbid medium can be effectively controlled by modulating the spatial profile of the incident light using spatial light modulator. In this work, stand-alone scattering optical device is proposed; a holographic photopolymer film, which is much economic compared to the other digital spatial light modulators, is used to record and reconstruct permanent wavefront to generate optical field behind a scattering medium. By employing our method, arbitrary optical field can be generated since the scattering medium completely mixes all the optical parameters which allow us to access all the optical information only by modulating spatial phase profile of the impinging wavefront. The method is experimentally demonstrated in both the far-field and near-field regime where it shows promising fidelity and stability. The proposed stand-alone scattering optical device will opens up new avenues for exploiting the randomness inherent in disordered medium.

  16. Double hard scattering without double counting

    NASA Astrophysics Data System (ADS)

    Diehl, Markus; Gaunt, Jonathan R.; Schönwald, Kay

    2017-06-01

    Double parton scattering in proton-proton collisions includes kinematic regions in which two partons inside a proton originate from the perturbative splitting of a single parton. This leads to a double counting problem between single and double hard scattering. We present a solution to this problem, which allows for the definition of double parton distributions as operator matrix elements in a proton, and which can be used at higher orders in perturbation theory. We show how the evaluation of double hard scattering in this framework can provide a rough estimate for the size of the higher-order contributions to single hard scattering that are affected by double counting. In a numeric study, we identify situations in which these higher-order contributions must be explicitly calculated and included if one wants to attain an accuracy at which double hard scattering becomes relevant, and other situations where such contributions may be neglected.

  17. Joint Doctrine for Barriers, Obstacles, and Mine Warfare

    DTIC Science & Technology

    1999-02-24

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

  18. How Obstacles Perturb Population Fronts and Alter Their Genetic Structure.

    PubMed

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

    2015-12-01

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

  19. 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.

  20. Effect of form of obstacle on speed of crowd evacuation

    NASA Astrophysics Data System (ADS)

    Yano, Ryosuke

    2018-03-01

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

  1. 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

  2. Water waves generated by impulsively moving obstacle

    NASA Astrophysics Data System (ADS)

    Makarenko, Nikolay; Kostikov, Vasily

    2017-04-01

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

  3. 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.

  4. Influence of obstacles on bubbles rising in water-saturated sand

    NASA Astrophysics Data System (ADS)

    Poryles, Raphaël; Varas, Germán; Vidal, Valérie

    2017-06-01

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

  5. 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.

  6. 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.

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

    NASA Astrophysics Data System (ADS)

    Belik, V. D.

    2018-05-01

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

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

    PubMed

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

    2012-01-15

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

  9. 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

  10. Advanced Augmented White Cane with obstacle height and distance feedback.

    PubMed

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

    2013-06-01

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

  11. A single-scattering correction for the seismo-acoustic parabolic equation.

    PubMed

    Collins, Michael D

    2012-04-01

    An efficient single-scattering correction that does not require iterations is derived and tested for the seismo-acoustic parabolic equation. The approach is applicable to problems involving gradual range dependence in a waveguide with fluid and solid layers, including the key case of a sloping fluid-solid interface. The single-scattering correction is asymptotically equivalent to a special case of a single-scattering correction for problems that only have solid layers [Küsel et al., J. Acoust. Soc. Am. 121, 808-813 (2007)]. The single-scattering correction has a simple interpretation (conservation of interface conditions in an average sense) that facilitated its generalization to problems involving fluid layers. Promising results are obtained for problems in which the ocean bottom interface has a small slope.

  12. Interface with weakly singular points always scatter

    NASA Astrophysics Data System (ADS)

    Li, Long; Hu, Guanghui; Yang, Jiansheng

    2018-07-01

    Assume that a bounded scatterer is embedded into an infinite homogeneous isotropic background medium in two dimensions. The refractive index function is supposed to be piecewise constant. If the scattering interface contains a weakly singular point, we prove that the scattered field cannot vanish identically. This implies the absence of non-scattering energies for piecewise analytic interfaces with one singular point. Local uniqueness is obtained for shape identification problems in inverse medium scattering with a single far-field pattern.

  13. Equivalent isotropic scattering formulation for transient short-pulse radiative transfer in anisotropic scattering planar media.

    PubMed

    Guo, Z; Kumar, S

    2000-08-20

    An isotropic scaling formulation is evaluated for transient radiative transfer in a one-dimensional planar slab subject to collimated and/or diffuse irradiation. The Monte Carlo method is used to implement the equivalent scattering and exact simulations of the transient short-pulse radiation transport through forward and backward anisotropic scattering planar media. The scaled equivalent isotropic scattering results are compared with predictions of anisotropic scattering in various problems. It is found that the equivalent isotropic scaling law is not appropriate for backward-scattering media in transient radiative transfer. Even for an optically diffuse medium, the differences in temporal transmittance and reflectance profiles between predictions of backward anisotropic scattering and equivalent isotropic scattering are large. Additionally, for both forward and backward anisotropic scattering media, the transient equivalent isotropic results are strongly affected by the change of photon flight time, owing to the change of flight direction associated with the isotropic scaling technique.

  14. How Obstacles Perturb Population Fronts and Alter Their Genetic Structure

    PubMed Central

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

    2015-01-01

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

  15. Sensorimotor Model of Obstacle Avoidance in Echolocating Bats

    PubMed Central

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

    2015-01-01

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

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

    NASA Astrophysics Data System (ADS)

    Höttecke, Dietmar; Silva, Cibelle Celestino

    2011-03-01

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

  17. 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.

  18. Modal Ring Method for the Scattering of Electromagnetic Waves

    NASA Technical Reports Server (NTRS)

    Baumeister, Kenneth J.; Kreider, Kevin L.

    1993-01-01

    The modal ring method for electromagnetic scattering from perfectly electric conducting (PEC) symmetrical bodies is presented. The scattering body is represented by a line of finite elements (triangular) on its outer surface. The infinite computational region surrounding the body is represented analytically by an eigenfunction expansion. The modal ring method effectively reduces the two dimensional scattering problem to a one-dimensional problem similar to the method of moments. The modal element method is capable of handling very high frequency scattering because it has a highly banded solution matrix.

  19. Modal ring method for the scattering of sound

    NASA Technical Reports Server (NTRS)

    Baumeister, Kenneth J.; Kreider, Kevin L.

    1993-01-01

    The modal element method for acoustic scattering can be simplified when the scattering body is rigid. In this simplified method, called the modal ring method, the scattering body is represented by a ring of triangular finite elements forming the outer surface. The acoustic pressure is calculated at the element nodes. The pressure in the infinite computational region surrounding the body is represented analytically by an eigenfunction expansion. The two solution forms are coupled by the continuity of pressure and velocity on the body surface. The modal ring method effectively reduces the two-dimensional scattering problem to a one-dimensional problem capable of handling very high frequency scattering. In contrast to the boundary element method or the method of moments, which perform a similar reduction in problem dimension, the model line method has the added advantage of having a highly banded solution matrix requiring considerably less computer storage. The method shows excellent agreement with analytic results for scattering from rigid circular cylinders over a wide frequency range (1 is equal to or less than ka is less than or equal to 100) in the near and far fields.

  20. Critical transition in the constrained traveling salesman problem.

    PubMed

    Andrecut, M; Ali, M K

    2001-04-01

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

  1. Gaussian basis functions for highly oscillatory scattering wavefunctions

    NASA Astrophysics Data System (ADS)

    Mant, B. P.; Law, M. M.

    2018-04-01

    We have applied a basis set of distributed Gaussian functions within the S-matrix version of the Kohn variational method to scattering problems involving deep potential energy wells. The Gaussian positions and widths are tailored to the potential using the procedure of Bačić and Light (1986 J. Chem. Phys. 85 4594) which has previously been applied to bound-state problems. The placement procedure is shown to be very efficient and gives scattering wavefunctions and observables in agreement with direct numerical solutions. We demonstrate the basis function placement method with applications to hydrogen atom–hydrogen atom scattering and antihydrogen atom–hydrogen atom scattering.

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

    PubMed

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

    2006-01-01

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

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

    NASA Astrophysics Data System (ADS)

    Cao, Lu; Qiao, Dong; Xu, Jingwen

    2018-02-01

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

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

    PubMed

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

    2016-03-01

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

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

    PubMed Central

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

    2016-01-01

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

  6. Clogging and jamming transitions in periodic obstacle arrays

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

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

    2017-03-29

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

  7. Quantum mechanical generalized phase-shift approach to atom-surface scattering: a Feshbach projection approach to dealing with closed channel effects.

    PubMed

    Maji, Kaushik; Kouri, Donald J

    2011-03-28

    We have developed a new method for solving quantum dynamical scattering problems, using the time-independent Schrödinger equation (TISE), based on a novel method to generalize a "one-way" quantum mechanical wave equation, impose correct boundary conditions, and eliminate exponentially growing closed channel solutions. The approach is readily parallelized to achieve approximate N(2) scaling, where N is the number of coupled equations. The full two-way nature of the TISE is included while propagating the wave function in the scattering variable and the full S-matrix is obtained. The new algorithm is based on a "Modified Cayley" operator splitting approach, generalizing earlier work where the method was applied to the time-dependent Schrödinger equation. All scattering variable propagation approaches to solving the TISE involve solving a Helmholtz-type equation, and for more than one degree of freedom, these are notoriously ill-behaved, due to the unavoidable presence of exponentially growing contributions to the numerical solution. Traditionally, the method used to eliminate exponential growth has posed a major obstacle to the full parallelization of such propagation algorithms. We stabilize by using the Feshbach projection operator technique to remove all the nonphysical exponentially growing closed channels, while retaining all of the propagating open channel components, as well as exponentially decaying closed channel components.

  8. Safe Maritime Navigation with COLREGS Using Velocity Obstacles

    NASA Technical Reports Server (NTRS)

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

    2011-01-01

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

  9. 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.

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

    PubMed

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

    2018-03-15

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

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

    NASA Astrophysics Data System (ADS)

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

    2018-03-01

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

  12. Propagation of spiral waves pinned to circular and rectangular obstacles.

    PubMed

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

    2015-05-01

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

  13. 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.

  14. 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.

  15. Fast data preprocessing with Graphics Processing Units for inverse problem solving in light-scattering measurements

    NASA Astrophysics Data System (ADS)

    Derkachov, G.; Jakubczyk, T.; Jakubczyk, D.; Archer, J.; Woźniak, M.

    2017-07-01

    Utilising Compute Unified Device Architecture (CUDA) platform for Graphics Processing Units (GPUs) enables significant reduction of computation time at a moderate cost, by means of parallel computing. In the paper [Jakubczyk et al., Opto-Electron. Rev., 2016] we reported using GPU for Mie scattering inverse problem solving (up to 800-fold speed-up). Here we report the development of two subroutines utilising GPU at data preprocessing stages for the inversion procedure: (i) A subroutine, based on ray tracing, for finding spherical aberration correction function. (ii) A subroutine performing the conversion of an image to a 1D distribution of light intensity versus azimuth angle (i.e. scattering diagram), fed from a movie-reading CPU subroutine running in parallel. All subroutines are incorporated in PikeReader application, which we make available on GitHub repository. PikeReader returns a sequence of intensity distributions versus a common azimuth angle vector, corresponding to the recorded movie. We obtained an overall ∼ 400 -fold speed-up of calculations at data preprocessing stages using CUDA codes running on GPU in comparison to single thread MATLAB-only code running on CPU.

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

    PubMed Central

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

    2014-01-01

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

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

    PubMed

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

    2014-07-06

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

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

    PubMed

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

    2016-06-01

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

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

    PubMed Central

    Gottlieb, Yoav; Shima, Tal

    2015-01-01

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

  20. 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.

  1. 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.

  2. Research on robot mobile obstacle avoidance control based on visual information

    NASA Astrophysics Data System (ADS)

    Jin, Jiang

    2018-03-01

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

  3. Scattering effect of submarine hull on propeller non-cavitation noise

    NASA Astrophysics Data System (ADS)

    Wei, Yingsan; Shen, Yang; Jin, Shuanbao; Hu, Pengfei; Lan, Rensheng; Zhuang, Shuangjiang; Liu, Dezhi

    2016-05-01

    This paper investigates the non-cavitation noise caused by propeller running in the wake of submarine with the consideration of scattering effect caused by submarine's hull. The computation fluid dynamics (CFD) and acoustic analogy method are adopted to predict fluctuating pressure of propeller's blade and its underwater noise radiation in time domain, respectively. An effective iteration method which is derived in the time domain from the Helmholtz integral equation is used to solve multi-frequency waves scattering due to obstacles. Moreover, to minimize time interpolation caused numerical errors, the pressure and its derivative at the sound emission time is obtained by summation of Fourier series. It is noted that the time averaging algorithm is used to achieve a convergent result if the solution oscillated in the iteration process. Meanwhile, the developed iteration method is verified and applied to predict propeller noise scattered from submarine's hull. In accordance with analysis results, it is summarized that (1) the scattering effect of hull on pressure distribution pattern especially at the frequency higher than blade passing frequency (BPF) is proved according to the contour maps of sound pressure distribution of submarine's hull and typical detecting planes. (2) The scattering effect of the hull on the total pressure is observable in noise frequency spectrum of field points, where the maximum increment is up to 3 dB at BPF, 12.5 dB at 2BPF and 20.2 dB at 3BPF. (3) The pressure scattered from hull is negligible in near-field of propeller, since the scattering effect surrounding analyzed location of propeller on submarine's stern is significantly different from the surface ship. This work shows the importance of submarine's scattering effect in evaluating the propeller non-cavitation noise.

  4. Optimal layout design of obstacles for panic evacuation using differential evolution

    NASA Astrophysics Data System (ADS)

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

    2017-01-01

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

  5. Gendered Obstacles Faced by Historical Women in Physics and Astronomy

    NASA Astrophysics Data System (ADS)

    Jones, Kristen M.

    2007-12-01

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

  6. Obstacle avoidance system with sonar sensing and fuzzy logic

    NASA Astrophysics Data System (ADS)

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

    1997-09-01

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

  7. 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.

  8. Nonlinear Problems in Fluid Dynamics and Inverse Scattering

    DTIC Science & Technology

    1993-05-31

    nonlinear Kadomtsev - Petviashvili (KP) equations , have solutions which will become infinite in finite time. This phenomenon is sometimes referred to as...40 (November 1992). 4 7. Wave Collapse and Instability of Solitary Waves of a Generalized Nonlinear Kaoiomtsev- Petviashvili Equation , X.P. Wang, M.J...words) The inverse scattering of a class of differential-difference equations and multidimensional operators has been constructed. Solutions of nonlinear

  9. Apparatus for obstacle traversion

    DOEpatents

    Borenstein, Johann

    2004-08-10

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

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

    PubMed

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

    2013-01-01

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

  11. New sets of eigenvalues in inverse scattering for inhomogeneous media and their determination from scattering data

    NASA Astrophysics Data System (ADS)

    Audibert, Lorenzo; Cakoni, Fioralba; Haddar, Houssem

    2017-12-01

    In this paper we develop a general mathematical framework to determine interior eigenvalues from a knowledge of the modified far field operator associated with an unknown (anisotropic) inhomogeneity. The modified far field operator is obtained by subtracting from the measured far field operator the computed far field operator corresponding to a well-posed scattering problem depending on one (possibly complex) parameter. Injectivity of this modified far field operator is related to an appropriate eigenvalue problem whose eigenvalues can be determined from the scattering data, and thus can be used to obtain information about material properties of the unknown inhomogeneity. We discuss here two examples of such modification leading to a Steklov eigenvalue problem, and a new type of the transmission eigenvalue problem. We present some numerical examples demonstrating the viability of our method for determining the interior eigenvalues form far field data.

  12. High-energy gravitational scattering and the general relativistic two-body problem

    NASA Astrophysics Data System (ADS)

    Damour, Thibault

    2018-02-01

    A technique for translating the classical scattering function of two gravitationally interacting bodies into a corresponding (effective one-body) Hamiltonian description has been recently introduced [Phys. Rev. D 94, 104015 (2016), 10.1103/PhysRevD.94.104015]. Using this technique, we derive, for the first time, to second-order in Newton's constant (i.e. one classical loop) the Hamiltonian of two point masses having an arbitrary (possibly relativistic) relative velocity. The resulting (second post-Minkowskian) Hamiltonian is found to have a tame high-energy structure which we relate both to gravitational self-force studies of large mass-ratio binary systems, and to the ultra high-energy quantum scattering results of Amati, Ciafaloni and Veneziano. We derive several consequences of our second post-Minkowskian Hamiltonian: (i) the need to use special phase-space gauges to get a tame high-energy limit; and (ii) predictions about a (rest-mass independent) linear Regge trajectory behavior of high-angular-momenta, high-energy circular orbits. Ways of testing these predictions by dedicated numerical simulations are indicated. We finally indicate a way to connect our classical results to the quantum gravitational scattering amplitude of two particles, and we urge amplitude experts to use their novel techniques to compute the two-loop scattering amplitude of scalar masses, from which one could deduce the third post-Minkowskian effective one-body Hamiltonian.

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

    NASA Astrophysics Data System (ADS)

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

    2017-09-01

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

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

    PubMed Central

    Chen, Gui-Qiang; Feldman, Mikhail

    2015-01-01

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

  15. 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...

  16. Nonlinear Waves and Inverse Scattering

    DTIC Science & Technology

    1989-01-01

    transform provides a linearization.’ Well known systems include the Kadomtsev - Petviashvili , Davey-Stewartson and Self-Dual Yang-Mills equations . The d...which employs inverse scattering theory in order to linearize the given nonlinear equation . I.S.T. has led to new developments in both fields: inverse...scattering and nonlinear wave equations . Listed below are some of the problems studied and a short description of results. - Multidimensional

  17. Research on Collection System Optimal Design of Wind Farm with Obstacles

    NASA Astrophysics Data System (ADS)

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

    2017-05-01

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

  18. Ultrasound scatter in heterogeneous 3D microstructures: Parameters affecting multiple scattering

    NASA Astrophysics Data System (ADS)

    Engle, B. J.; Roberts, R. A.; Grandin, R. J.

    2018-04-01

    This paper reports on a computational study of ultrasound propagation in heterogeneous metal microstructures. Random spatial fluctuations in elastic properties over a range of length scales relative to ultrasound wavelength can give rise to scatter-induced attenuation, backscatter noise, and phase front aberration. It is of interest to quantify the dependence of these phenomena on the microstructure parameters, for the purpose of quantifying deleterious consequences on flaw detectability, and for the purpose of material characterization. Valuable tools for estimation of microstructure parameters (e.g. grain size) through analysis of ultrasound backscatter have been developed based on approximate weak-scattering models. While useful, it is understood that these tools display inherent inaccuracy when multiple scattering phenomena significantly contribute to the measurement. It is the goal of this work to supplement weak scattering model predictions with corrections derived through application of an exact computational scattering model to explicitly prescribed microstructures. The scattering problem is formulated as a volume integral equation (VIE) displaying a convolutional Green-function-derived kernel. The VIE is solved iteratively employing FFT-based con-volution. Realizations of random microstructures are specified on the micron scale using statistical property descriptions (e.g. grain size and orientation distributions), which are then spatially filtered to provide rigorously equivalent scattering media on a length scale relevant to ultrasound propagation. Scattering responses from ensembles of media representations are averaged to obtain mean and variance of quantities such as attenuation and backscatter noise levels, as a function of microstructure descriptors. The computational approach will be summarized, and examples of application will be presented.

  19. Counteracting Obstacles with Optimistic Predictions

    ERIC Educational Resources Information Center

    Zhang, Ying; Fishbach, Ayelet

    2010-01-01

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

  20. 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…

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

    PubMed Central

    Mou, Xiaozheng; Wang, Han

    2018-01-01

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

  2. 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.

  3. Applications of Quantum Theory of Atomic and Molecular Scattering to Problems in Hypersonic Flow

    NASA Technical Reports Server (NTRS)

    Malik, F. Bary

    1995-01-01

    The general status of a grant to investigate the applications of quantum theory in atomic and molecular scattering problems in hypersonic flow is summarized. Abstracts of five articles and eleven full-length articles published or submitted for publication are included as attachments. The following topics are addressed in these articles: fragmentation of heavy ions (HZE particles); parameterization of absorption cross sections; light ion transport; emission of light fragments as an indicator of equilibrated populations; quantum mechanical, optical model methods for calculating cross sections for particle fragmentation by hydrogen; evaluation of NUCFRG2, the semi-empirical nuclear fragmentation database; investigation of the single- and double-ionization of He by proton and anti-proton collisions; Bose-Einstein condensation of nuclei; and a liquid drop model in HZE particle fragmentation by hydrogen.

  4. 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.

  5. 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

  6. 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

  7. Multi-frequency subspace migration for imaging of perfectly conducting, arc-like cracks in full- and limited-view inverse scattering problems

    NASA Astrophysics Data System (ADS)

    Park, Won-Kwang

    2015-02-01

    Multi-frequency subspace migration imaging techniques are usually adopted for the non-iterative imaging of unknown electromagnetic targets, such as cracks in concrete walls or bridges and anti-personnel mines in the ground, in the inverse scattering problems. It is confirmed that this technique is very fast, effective, robust, and can not only be applied to full- but also to limited-view inverse problems if a suitable number of incidents and corresponding scattered fields are applied and collected. However, in many works, the application of such techniques is heuristic. With the motivation of such heuristic application, this study analyzes the structure of the imaging functional employed in the subspace migration imaging technique in two-dimensional full- and limited-view inverse scattering problems when the unknown targets are arbitrary-shaped, arc-like perfectly conducting cracks located in the two-dimensional homogeneous space. In contrast to the statistical approach based on statistical hypothesis testing, our approach is based on the fact that the subspace migration imaging functional can be expressed by a linear combination of the Bessel functions of integer order of the first kind. This is based on the structure of the Multi-Static Response (MSR) matrix collected in the far-field at nonzero frequency in either Transverse Magnetic (TM) mode (Dirichlet boundary condition) or Transverse Electric (TE) mode (Neumann boundary condition). The investigation of the expression of imaging functionals gives us certain properties of subspace migration and explains why multi-frequency enhances imaging resolution. In particular, we carefully analyze the subspace migration and confirm some properties of imaging when a small number of incident fields are applied. Consequently, we introduce a weighted multi-frequency imaging functional and confirm that it is an improved version of subspace migration in TM mode. Various results of numerical simulations performed on the far

  8. 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

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

    PubMed

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

    2015-12-01

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

  10. 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

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

    NASA Astrophysics Data System (ADS)

    Jia, Bao-zhi; Zhu, Ming

    2013-12-01

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

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

    PubMed

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

    2016-01-01

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

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

    PubMed

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

    2016-01-01

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

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

    PubMed

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

    2012-12-17

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

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

    PubMed Central

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

    2012-01-01

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

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

    PubMed

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

    2016-10-01

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

  17. 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.

  18. A full-angle Monte-Carlo scattering technique including cumulative and single-event Rutherford scattering in plasmas

    NASA Astrophysics Data System (ADS)

    Higginson, Drew P.

    2017-11-01

    We describe and justify a full-angle scattering (FAS) method to faithfully reproduce the accumulated differential angular Rutherford scattering probability distribution function (pdf) of particles in a plasma. The FAS method splits the scattering events into two regions. At small angles it is described by cumulative scattering events resulting, via the central limit theorem, in a Gaussian-like pdf; at larger angles it is described by single-event scatters and retains a pdf that follows the form of the Rutherford differential cross-section. The FAS method is verified using discrete Monte-Carlo scattering simulations run at small timesteps to include each individual scattering event. We identify the FAS regime of interest as where the ratio of temporal/spatial scale-of-interest to slowing-down time/length is from 10-3 to 0.3-0.7; the upper limit corresponds to Coulomb logarithm of 20-2, respectively. Two test problems, high-velocity interpenetrating plasma flows and keV-temperature ion equilibration, are used to highlight systems where including FAS is important to capture relevant physics.

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

    PubMed

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

    2008-01-01

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

  20. 3D-Sonification for Obstacle Avoidance in Brownout Conditions

    NASA Technical Reports Server (NTRS)

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

    2017-01-01

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

  1. 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.

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

    PubMed

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

    2016-07-01

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

  3. Effects of buried obstacles on penetration resistance in cohesionless soils

    NASA Technical Reports Server (NTRS)

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

    1972-01-01

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

  4. Inverse scattering theory: Inverse scattering series method for one dimensional non-compact support potential

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

    Yao, Jie, E-mail: yjie2@uh.edu; Lesage, Anne-Cécile; Hussain, Fazle

    2014-12-15

    The reversion of the Born-Neumann series of the Lippmann-Schwinger equation is one of the standard ways to solve the inverse acoustic scattering problem. One limitation of the current inversion methods based on the reversion of the Born-Neumann series is that the velocity potential should have compact support. However, this assumption cannot be satisfied in certain cases, especially in seismic inversion. Based on the idea of distorted wave scattering, we explore an inverse scattering method for velocity potentials without compact support. The strategy is to decompose the actual medium as a known single interface reference medium, which has the same asymptoticmore » form as the actual medium and a perturbative scattering potential with compact support. After introducing the method to calculate the Green’s function for the known reference potential, the inverse scattering series and Volterra inverse scattering series are derived for the perturbative potential. Analytical and numerical examples demonstrate the feasibility and effectiveness of this method. Besides, to ensure stability of the numerical computation, the Lanczos averaging method is employed as a filter to reduce the Gibbs oscillations for the truncated discrete inverse Fourier transform of each order. Our method provides a rigorous mathematical framework for inverse acoustic scattering with a non-compact support velocity potential.« less

  5. Middle School Students' Reasoning in Nonlinear Proportional Problems in Geometry

    ERIC Educational Resources Information Center

    Ayan, Rukiye; Isiksal Bostan, Mine

    2018-01-01

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

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

    PubMed

    Zhang, Qi; Wang, Yaxing; Lian, Zhen

    2017-07-15

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

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

    PubMed

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

    2016-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2016-09-01

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

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

    PubMed

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

    2011-01-01

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

  10. Navigation integrity monitoring and obstacle detection for enhanced-vision systems

    NASA Astrophysics Data System (ADS)

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

    2001-08-01

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

  11. Direct and inverse problems of studying the properties of multilayer nanostructures based on a two-dimensional model of X-ray reflection and scattering

    NASA Astrophysics Data System (ADS)

    Khachaturov, R. V.

    2014-06-01

    A mathematical model of X-ray reflection and scattering by multilayered nanostructures in the quasi-optical approximation is proposed. X-ray propagation and the electric field distribution inside the multilayered structure are considered with allowance for refraction, which is taken into account via the second derivative with respect to the depth of the structure. This model is used to demonstrate the possibility of solving inverse problems in order to determine the characteristics of irregularities not only over the depth (as in the one-dimensional problem) but also over the length of the structure. An approximate combinatorial method for system decomposition and composition is proposed for solving the inverse problems.

  12. 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.

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

    NASA Astrophysics Data System (ADS)

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

    1986-04-01

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

  14. Improved obstacle avoidance and navigation for an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

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

    2015-01-01

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

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

    PubMed

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

    2012-11-01

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

  16. Wave scattering in spatially inhomogeneous currents

    NASA Astrophysics Data System (ADS)

    Churilov, Semyon; Ermakov, Andrei; Stepanyants, Yury

    2017-09-01

    We analytically study a scattering of long linear surface waves on stationary currents in a duct (canal) of constant depth and variable width. It is assumed that the background velocity linearly increases or decreases with the longitudinal coordinate due to the gradual variation of duct width. Such a model admits an analytical solution of the problem in hand, and we calculate the scattering coefficients as functions of incident wave frequency for all possible cases of sub-, super-, and transcritical currents. For completeness we study both cocurrent and countercurrent wave propagation in accelerating and decelerating currents. The results obtained are analyzed in application to recent analog gravity experiments and shed light on the problem of hydrodynamic modeling of Hawking radiation.

  17. Obstacle Detection in Indoor Environment for Visually Impaired Using Mobile Camera

    NASA Astrophysics Data System (ADS)

    Rahman, Samiur; Ullah, Sana; Ullah, Sehat

    2018-01-01

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

  18. 76 FR 52239 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-08-22

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

  19. Scattering of elastic waves by a spheroidal inclusion

    NASA Astrophysics Data System (ADS)

    Johnson, Lane R.

    2018-03-01

    An analytical solution is presented for scattering of elastic waves by prolate and oblate spheroidal inclusions. The problem is solved in the frequency domain where separation of variables leads to a solution involving spheroidal wave functions of the angular and radial kind. Unlike the spherical problem, the boundary equations remain coupled with respect to one of the separation indices. Expanding the angular spheroidal wave functions in terms of associated Legendre functions and using their orthogonality properties leads to a set of linear equations that can be solved to simultaneously obtain solutions for all coupled modes of both scattered and interior fields. To illustrate some of the properties of the spheroidal solution, total scattering cross-sections for P, SV and SH plane waves incident at an oblique angle on a prolate spheroid, an oblate spheroid and a sphere are compared. The waveforms of the scattered field exterior to the inclusion are calculated for these same incident waves. The waveforms scattered by a spheroid are strongly dependent upon the angle of incidence, are different for incident SV and SH waves and are asymmetrical about the centre of the spheroid with the asymmetry different for prolate and oblate spheroids.

  20. Obstacles to Scientific Research in Light of a Number of Variables

    ERIC Educational Resources Information Center

    Algadheeb, Nourah A.; Almeqren, Monira A.

    2014-01-01

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

  1. 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

  2. A Stochastic Approach to Path Planning in the Weighted-Region Problem

    DTIC Science & Technology

    1991-03-01

    polynomial time. However, the polyhedrons in this three-dimensional obstacle-avoidance problem are all obstacles (i.e. travel is not permitted within...them). Therefore, optimal paths tend to avoid their vertices, and settle into closest approach tangents across polyhedron edges. So, in a sense...intersection update map database with new vertex for this edge 3. IF (C1 > D) and (C2 > D) THEN edge intersects ellipse at two points OR edge is

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

    NASA Astrophysics Data System (ADS)

    Weichsel, Julian; Schwarz, Ulrich S.

    2013-03-01

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

  4. 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.

  5. 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.

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

    PubMed

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

    2017-01-01

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

  7. Migration of scattered teleseismic body waves

    NASA Astrophysics Data System (ADS)

    Bostock, M. G.; Rondenay, S.

    1999-06-01

    The retrieval of near-receiver mantle structure from scattered waves associated with teleseismic P and S and recorded on three-component, linear seismic arrays is considered in the context of inverse scattering theory. A Ray + Born formulation is proposed which admits linearization of the forward problem and economy in the computation of the elastic wave Green's function. The high-frequency approximation further simplifies the problem by enabling (1) the use of an earth-flattened, 1-D reference model, (2) a reduction in computations to 2-D through the assumption of 2.5-D experimental geometry, and (3) band-diagonalization of the Hessian matrix in the inverse formulation. The final expressions are in a form reminiscent of the classical diffraction stack of seismic migration. Implementation of this procedure demands an accurate estimate of the scattered wave contribution to the impulse response, and thus requires the removal of both the reference wavefield and the source time signature from the raw record sections. An approximate separation of direct and scattered waves is achieved through application of the inverse free-surface transfer operator to individual station records and a Karhunen-Loeve transform to the resulting record sections. This procedure takes the full displacement field to a wave vector space wherein the first principal component of the incident wave-type section is identified with the direct wave and is used as an estimate of the source time function. The scattered displacement field is reconstituted from the remaining principal components using the forward free-surface transfer operator, and may be reduced to a scattering impulse response upon deconvolution of the source estimate. An example employing pseudo-spectral synthetic seismograms demonstrates an application of the methodology.

  8. Obstacles of Teaching Mathematics Faced by the Class Teachers in Jordan

    ERIC Educational Resources Information Center

    Nejem, Khamis Mousa; Muhanna, Waffa

    2013-01-01

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

  9. Time-dependent wave splitting and source separation

    NASA Astrophysics Data System (ADS)

    Grote, Marcus J.; Kray, Marie; Nataf, Frédéric; Assous, Franck

    2017-02-01

    Starting from classical absorbing boundary conditions, we propose a method for the separation of time-dependent scattered wave fields due to multiple sources or obstacles. In contrast to previous techniques, our method is local in space and time, deterministic, and avoids a priori assumptions on the frequency spectrum of the signal. Numerical examples in two space dimensions illustrate the usefulness of wave splitting for time-dependent scattering problems.

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

    PubMed

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

    2008-04-01

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

  11. 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

  12. Multitrace/singletrace formulations and Domain Decomposition Methods for the solution of Helmholtz transmission problems for bounded composite scatterers

    NASA Astrophysics Data System (ADS)

    Jerez-Hanckes, Carlos; Pérez-Arancibia, Carlos; Turc, Catalin

    2017-12-01

    We present Nyström discretizations of multitrace/singletrace formulations and non-overlapping Domain Decomposition Methods (DDM) for the solution of Helmholtz transmission problems for bounded composite scatterers with piecewise constant material properties. We investigate the performance of DDM with both classical Robin and optimized transmission boundary conditions. The optimized transmission boundary conditions incorporate square root Fourier multiplier approximations of Dirichlet to Neumann operators. While the multitrace/singletrace formulations as well as the DDM that use classical Robin transmission conditions are not particularly well suited for Krylov subspace iterative solutions of high-contrast high-frequency Helmholtz transmission problems, we provide ample numerical evidence that DDM with optimized transmission conditions constitute efficient computational alternatives for these type of applications. In the case of large numbers of subdomains with different material properties, we show that the associated DDM linear system can be efficiently solved via hierarchical Schur complements elimination.

  13. Photon scattering from a system of multilevel quantum emitters. I. Formalism

    NASA Astrophysics Data System (ADS)

    Das, Sumanta; Elfving, Vincent E.; Reiter, Florentin; Sørensen, Anders S.

    2018-04-01

    We introduce a formalism to solve the problem of photon scattering from a system of multilevel quantum emitters. Our approach provides a direct solution of the scattering dynamics. As such the formalism gives the scattered fields' amplitudes in the limit of a weak incident intensity. Our formalism is equipped to treat both multiemitter and multilevel emitter systems, and is applicable to a plethora of photon-scattering problems, including conditional state preparation by photodetection. In this paper, we develop the general formalism for an arbitrary geometry. In the following paper (part II) S. Das et al. [Phys. Rev. A 97, 043838 (2018), 10.1103/PhysRevA.97.043838], we reduce the general photon-scattering formalism to a form that is applicable to one-dimensional waveguides and show its applicability by considering explicit examples with various emitter configurations.

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

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

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

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

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

    2016-06-01

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

  16. Scattering theory for graphs isomorphic to a regular tree at infinity

    NASA Astrophysics Data System (ADS)

    Colin de Verdière, Yves; Truc, Françoise

    2013-06-01

    We describe the spectral theory of the adjacency operator of a graph which is isomorphic to a regular tree at infinity. Using some combinatorics, we reduce the problem to a scattering problem for a finite rank perturbation of the adjacency operator on a regular tree. We develop this scattering theory using the classical recipes for Schrödinger operators in Euclidian spaces.

  17. Atom-dimer scattering in a heteronuclear mixture with a finite intraspecies scattering length

    NASA Astrophysics Data System (ADS)

    Gao, Chao; Zhang, Peng

    2018-04-01

    We study the three-body problem of two ultracold identical bosonic atoms (denoted by B ) and one extra atom (denoted by X ), where the scattering length aB X between each bosonic atom and atom X is resonantly large and positive. We calculate the scattering length aad between one bosonic atom and the shallow dimer formed by the other bosonic atom and atom X , and investigate the effect induced by the interaction between the two bosonic atoms. We find that even if this interaction is weak (i.e., the corresponding scattering length aB B is of the same order of the van der Waals length rvdW or even smaller), it can still induce a significant effect for the atom-dimer scattering length aad. Explicitly, an atom-dimer scattering resonance can always occur when the value of aB B varies in the region with | aB B|≲ rvdW . As a result, both the sign and the absolute value of aad, as well as the behavior of the aad-aB X function, depends sensitively on the exact value of aB B. Our results show that, for a good quantitative theory, the intraspecies interaction is required to be taken into account for this heteronuclear system, even if this interaction is weak.

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

    NASA Astrophysics Data System (ADS)

    Higaki, Mitsuo; Maekawa, Yasunori; Nakahara, Yuu

    2018-05-01

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

  19. 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.

  20. 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.

  1. Dark soliton past a finite-size obstacle

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

    Bilas, Nicolas; Pavloff, Nicolas

    2005-09-15

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

  2. Network representations of angular regions for electromagnetic scattering

    PubMed Central

    2017-01-01

    Network modeling in electromagnetics is an effective technique in treating scattering problems by canonical and complex structures. Geometries constituted of angular regions (wedges) together with planar layers can now be approached with the Generalized Wiener-Hopf Technique supported by network representation in spectral domain. Even if the network representations in spectral planes are of great importance by themselves, the aim of this paper is to present a theoretical base and a general procedure for the formulation of complex scattering problems using network representation for the Generalized Wiener Hopf Technique starting basically from the wave equation. In particular while the spectral network representations are relatively well known for planar layers, the network modelling for an angular region requires a new theory that will be developed in this paper. With this theory we complete the formulation of a network methodology whose effectiveness is demonstrated by the application to a complex scattering problem with practical solutions given in terms of GTD/UTD diffraction coefficients and total far fields for engineering applications. The methodology can be applied to other physics fields. PMID:28817573

  3. 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

  4. 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.

  5. Insecurity in the DRC: The Obstacle to Peace and Stability

    DTIC Science & Technology

    2016-12-01

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

  6. Low frequency acoustic and electromagnetic scattering

    NASA Technical Reports Server (NTRS)

    Hariharan, S. I.; Maccamy, R. C.

    1986-01-01

    This paper deals with two classes of problems arising from acoustics and electromagnetics scattering in the low frequency stations. The first class of problem is solving Helmholtz equation with Dirichlet boundary conditions on an arbitrary two dimensional body while the second one is an interior-exterior interface problem with Helmholtz equation in the exterior. Low frequency analysis show that there are two intermediate problems which solve the above problems accurate to 0(k/2/ log k) where k is the frequency. These solutions greatly differ from the zero frequency approximations. For the Dirichlet problem numerical examples are shown to verify the theoretical estimates.

  7. Water in the presence of inert Lennard-Jones obstacles

    NASA Astrophysics Data System (ADS)

    Kurtjak, Mario; Urbic, Tomaz

    2014-04-01

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

  8. A modified Lax-Phillips scattering theory for quantum mechanics

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

    Strauss, Y., E-mail: ystrauss@cs.bgu.ac.il

    The Lax-Phillips scattering theory is an appealing abstract framework for the analysis of scattering resonances. Quantum mechanical adaptations of the theory have been proposed. However, since these quantum adaptations essentially retain the original structure of the theory, assuming the existence of incoming and outgoing subspaces for the evolution and requiring the spectrum of the generator of evolution to be unbounded from below, their range of applications is rather limited. In this paper, it is shown that if we replace the assumption regarding the existence of incoming and outgoing subspaces by the assumption of the existence of Lyapunov operators for themore » quantum evolution (the existence of which has been proved for certain classes of quantum mechanical scattering problems), then it is possible to construct a structure analogous to the Lax-Phillips structure for scattering problems for which the spectrum of the generator of evolution is bounded from below.« less

  9. Inverse problems and coherence

    NASA Astrophysics Data System (ADS)

    Baltes, H. P.; Ferwerda, H. A.

    1981-03-01

    A summary of current inverse problems of statistical optics is presented together with a short guide to the pertinent review-type literature. The retrieval of structural information from the far-zone degree of coherence and the average intensity distribution of radiation scattered by a superposition of random and periodic scatterers is discussed.

  10. The Problem of Democratizing Higher Education in Latin America.

    ERIC Educational Resources Information Center

    Bernheim, Carlos Tunnermann

    1979-01-01

    Investigates obstacles to democratization of higher education in Latin America including inflexible structures at primary and secondary levels, strict social stratification, financial problems of students from poor families, and lack of diversification in postsecondary institutions. (Author/DB)

  11. Obstacles to Disarmament Education. Centre for Peace Studies Occasional Paper No. 6.

    ERIC Educational Resources Information Center

    Reardon, Betty

    Obstacles to disarmament education fall into three general categories: political, perceptual, and pedagogical. At the elementary school level, these obstacles occur because of: (1) a lack of opportunities for cross-cultural experiences; (2) the socialization processes that enforce the belief that a child's culture is superior to and competitive…

  12. Inverse scattering transform for the nonlocal nonlinear Schrödinger equation with nonzero boundary conditions

    NASA Astrophysics Data System (ADS)

    Ablowitz, Mark J.; Luo, Xu-Dan; Musslimani, Ziad H.

    2018-01-01

    In 2013, a new nonlocal symmetry reduction of the well-known AKNS (an integrable system of partial differential equations, introduced by and named after Mark J. Ablowitz, David J. Kaup, and Alan C. Newell et al. (1974)) scattering problem was found. It was shown to give rise to a new nonlocal PT symmetric and integrable Hamiltonian nonlinear Schrödinger (NLS) equation. Subsequently, the inverse scattering transform was constructed for the case of rapidly decaying initial data and a family of spatially localized, time periodic one-soliton solutions was found. In this paper, the inverse scattering transform for the nonlocal NLS equation with nonzero boundary conditions at infinity is presented in four different cases when the data at infinity have constant amplitudes. The direct and inverse scattering problems are analyzed. Specifically, the direct problem is formulated, the analytic properties of the eigenfunctions and scattering data and their symmetries are obtained. The inverse scattering problem, which arises from a novel nonlocal system, is developed via a left-right Riemann-Hilbert problem in terms of a suitable uniformization variable and the time dependence of the scattering data is obtained. This leads to a method to linearize/solve the Cauchy problem. Pure soliton solutions are discussed, and explicit 1-soliton solution and two 2-soliton solutions are provided for three of the four different cases corresponding to two different signs of nonlinearity and two different values of the phase difference between plus and minus infinity. In another case, there are no solitons.

  13. 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%.

  14. Vortex propagation around a wall-mounted obstacle in pulsatile flow

    NASA Astrophysics Data System (ADS)

    Carr, Ian A.; Plesniak, Michael W.

    2015-11-01

    Wall-mounted obstacles are prevalent in nature and engineering applications. Physiological flows observed in human vocal fold pathologies, such as polyps, can be modeled by flow over a wall-mounted protuberance. Despite their prevalence, studies of wall-mounted obstacles have been restricted to steady (constant velocity) freestream flow. In biological and geophysical applications, pulsatile flow is much more common, yet effects of pulsatility on the wake of a wall-mounted obstacle remain to be extensively studied. This study aims to characterize the complex physics produced in this unsteady, separated flow. Experiments were performed in a low-speed wind tunnel with a set of rotating vanes, which produce the pulsatile inflow waveform. Instantaneous and phase-averaged particle image velocimetry (PIV) results acquired around a hemispherical obstacle are presented and compared. A mechanism based on self-induced vortex propagation, analogous to that in vortex rings, is proposed to explain the observed dynamics of coherent structures. Predictions of the propagation velocity based on analytical expressions for vortex rings in a viscous fluid are compared to the experimentally measured propagation velocity. Effects of the unsteady boundary layer on the observed physics are explored. This material is based in part upon work supported by the National Science Foundation under Grant Number CBET-1236351, and GW Center for Biomimetics and Bioinspired Engineering (COBRE).

  15. 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.

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

    PubMed

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

    2017-10-01

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

  17. 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.

  18. Connection of Scattering Principles: A Visual and Mathematical Tour

    ERIC Educational Resources Information Center

    Broggini, Filippo; Snieder, Roel

    2012-01-01

    Inverse scattering, Green's function reconstruction, focusing, imaging and the optical theorem are subjects usually studied as separate problems in different research areas. We show a physical connection between the principles because the equations that rule these "scattering principles" have a similar functional form. We first lead the reader…

  19. 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.

  20. Statistical properties of gravity-driven granular discharge flow under the influence of an obstacle

    NASA Astrophysics Data System (ADS)

    Endo, Keita; Katsuragi, Hiroaki

    2017-06-01

    Two-dimensional granular discharge flow driven by gravity under the influence of an obstacle is experimentally investigated. A horizontal exit of width W is opened at the bottom of vertical Hele-Shaw cell filled with stainless-steel particles to start the discharge flow. In this experiment, a circular obstacle is placed in front of the exit. Thus, the distance between the exit and obstacle L is also an important parameter. During the discharge, granular-flow state is acquired by a high-speed camera. The bulk discharge-flow rate is also measured by load cell sensors. The obtained high-speed-image data are analyzed to clarify the particle-level granular-flow dynamics. Using the measured data, we find that the obstacle above the exit affects the granular- flow field. Specifically, the existence of obstacle results in large horizontal granular temperature and small packing fraction. This tendency becomes significant when L is smaller than approximately 6Dg when W ≃ 4Dg, where Dg is diameter of particles.

  1. Generalized Rayleigh scattering. I. Basic theory.

    NASA Astrophysics Data System (ADS)

    Ivanov, V. V.

    1995-11-01

    The classsical problem of multiple molecular (in particular, Rayleigh) scattering in plane-parallel atmospheres is considered from a somewhat broader viewpoint than usual. The general approach and ideology are borrowed from non-LTE line formation theory. The main emphasis is on the depth dependence of the corresponding source matrix rather than on the emergent radiation. We study the azimuth-averaged radiation field of polarized radiation in a semi-infinite atmosphere with embedded primary sources. The corresponding 2x2 phase matrix of molecular scattering is P=(1-W) P_I_+W P_R_, where P_I_ and P_R_ are the phase matrices of the scalar isotropic scattering and of the Rayleigh scattering, respectively, and W is the depolarization parameter. Contrary to the usual assumption that W{in}[0,1], we assume W{in} [0,{infinity}) and call this generalized Rayleigh scattering (GRS). Using the factorization of P which is intimately related to its diadic expansion, we reduce the problem to an integral equation for the source matrix S(τ) with a matrix displacement kernel. In operator form this equation is S={LAMBDA}S+S^*^, where {LAMBDA} is the matrix {LAMBDA}-operator and S^*^ is the primary source term. This leads to a new concept, the matrix albedo of single scattering λ =diag(λ_I_,λ_Q_), where λ_I_ is the usual (scalar) single scattering albedo and λ_Q_=0.7Wλ_I_. Its use enables one to formulate matrix equivalents of many of the results of the scalar theory in exactly the same form as in the scalar case. Of crucial importance is the matrix equivalent of the sqrt(ɛ) law of the scalar theory. Another useful new concept is the λ-plane, i.e., the plane with the axes (λ_I_,λ_Q_). Systematic use of the matrix sqrt(ɛ) law and of the λ-plane proved to be a useful instrument in classifying various limiting and particular cases of GRS and in discussing numerical data on the matrix source functions (to be given in Paper II of the series).

  2. Short range laser obstacle detector. [for surface vehicles using laser diode array

    NASA Technical Reports Server (NTRS)

    Kuriger, W. L. (Inventor)

    1973-01-01

    A short range obstacle detector for surface vehicles is described which utilizes an array of laser diodes. The diodes operate one at a time, with one diode for each adjacent azimuth sector. A vibrating mirror a short distance above the surface provides continuous scanning in elevation for all azimuth sectors. A diode laser is synchronized with the vibrating mirror to enable one diode laser to be fired, by pulses from a clock pulse source, a number of times during each elevation scan cycle. The time for a given pulse of light to be reflected from an obstacle and received is detected as a measure of range to the obstacle.

  3. [Spatial-temporal pattern and obstacle factors of cultivated land ecological security in major grain producing areas of northeast China: a case study in Jilin Province].

    PubMed

    Zhao, Hong-Bo; Ma, Yan-Ji

    2014-02-01

    According to the cultivated land ecological security in major grain production areas of Northeast China, this paper selected 48 counties of Jilin Province as the research object. Based on the PSR-EES conceptual framework model, an evaluation index system of cultivated land ecological security was built. By using the improved TOPSIS, Markov chains, GIS spatial analysis and obstacle degree models, the spatial-temporal pattern of cultivated land ecological security and the obstacle factors were analyzed from 1995 to 2011 in Jilin Province. The results indicated that, the composite index of cultivated land ecological security appeared in a rising trend in Jilin Province from 1995 to 2011, and the cultivated land ecological security level changed from being sensitive to being general. There was a pattern of 'Club Convergence' in cultivated land ecological security level in each county and the spatial discrepancy tended to become larger. The 'Polarization' trend of cultivated land ecological security level was obvious. The distributions of sensitive level and critical security level with ribbon patterns tended to be dispersed, the general security level and relative security levels concentrated, and the distributions of security level scattered. The unstable trend of cultivated land ecological security level was more and more obvious. The main obstacle factors that affected the cultivated land ecological security level in Jilin Province were rural net income per capita, economic density, the proportion of environmental protection investment in GDP, degree of machinery cultivation and the comprehensive utilization rate of industrial solid wastes.

  4. Collaborative Learning Practices: Teacher and Student Perceived Obstacles to Effective Student Collaboration

    ERIC Educational Resources Information Center

    Le, Ha; Janssen, Jeroen; Wubbels, Theo

    2018-01-01

    While the educational literature mentions several obstacles affecting the effectiveness of collaborative learning (CL), they have often been investigated through the perceptions of only one actor, either teachers or students. Therefore, some sources of obstacles that teachers and students encounter may not have been revealed. In this study, 19…

  5. State-of-the-art technologies for intrusion and obstacle detection for railroad operations

    DOT National Transportation Integrated Search

    2007-07-01

    This report provides an update on the state-of-the-art technologies with intrusion and obstacle detection capabilities for rail rights of way (ROW) and crossings. A workshop entitled Intruder and Obstacle Detection Systems (IODS) for Railroads Requir...

  6. 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

  7. 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.

  8. 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.

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

    PubMed Central

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

    2017-01-01

    Imbalance and tripping over obstacles as a result of altered gait in older adults, especially in patients with Parkinson’s disease (PD), are one of the most common causes of falls. During obstacle crossing, patients with PD modify their behavior in order to decrease the mechanical demands and enhance dynamic stability. Various descriptions of dynamic traits of gait that have been collected over longer periods, probably better synthesize the underlying structure and pattern of fluctuations in gait and can be more sensitive markers of aging or early neurological dysfunction and increased risk of falls. This confirmation challenges the clinimetric of different protocols and paradigms used for gait analysis up till now, in particular when analyzing obstacle crossing. The authors here present a critical review of current knowledge concerning the interplay between the cognition and gait in aging and PD, emphasizing the differences in gait behavior and adaptability while walking over different and challenging obstacle paradigms, and the implications of obstacle negotiation as a predictor of falls. Some evidence concerning the effectiveness of future rehabilitation protocols on reviving obstacle crossing behavior by trial and error relearning, taking advantage of dual-task paradigms, physical exercise, and virtual reality have been put forward in this article. PMID:29158667

  10. Inverse scattering transform and soliton classification of the coupled modified Korteweg-de Vries equation

    NASA Astrophysics Data System (ADS)

    Wu, Jianping; Geng, Xianguo

    2017-12-01

    The inverse scattering transform of the coupled modified Korteweg-de Vries equation is studied by the Riemann-Hilbert approach. In the direct scattering process, the spectral analysis of the Lax pair is performed, from which a Riemann-Hilbert problem is established for the equation. In the inverse scattering process, by solving Riemann-Hilbert problems corresponding to the reflectionless cases, three types of multi-soliton solutions are obtained. The multi-soliton classification is based on the zero structures of the Riemann-Hilbert problem. In addition, some figures are given to illustrate the soliton characteristics of the coupled modified Korteweg-de Vries equation.

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

    PubMed

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

    2016-05-01

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

  12. Boundary conditions for gas flow problems from anisotropic scattering kernels

    NASA Astrophysics Data System (ADS)

    To, Quy-Dong; Vu, Van-Huyen; Lauriat, Guy; Léonard, Céline

    2015-10-01

    The paper presents an interface model for gas flowing through a channel constituted of anisotropic wall surfaces. Using anisotropic scattering kernels and Chapman Enskog phase density, the boundary conditions (BCs) for velocity, temperature, and discontinuities including velocity slip and temperature jump at the wall are obtained. Two scattering kernels, Dadzie and Méolans (DM) kernel, and generalized anisotropic Cercignani-Lampis (ACL) are examined in the present paper, yielding simple BCs at the wall fluid interface. With these two kernels, we rigorously recover the analytical expression for orientation dependent slip shown in our previous works [Pham et al., Phys. Rev. E 86, 051201 (2012) and To et al., J. Heat Transfer 137, 091002 (2015)] which is in good agreement with molecular dynamics simulation results. More important, our models include both thermal transpiration effect and new equations for the temperature jump. While the same expression depending on the two tangential accommodation coefficients is obtained for slip velocity, the DM and ACL temperature equations are significantly different. The derived BC equations associated with these two kernels are of interest for the gas simulations since they are able to capture the direction dependent slip behavior of anisotropic interfaces.

  13. EDITORIAL: Introduction to the special issue on electromagnetic inverse problems: emerging methods and novel applications Introduction to the special issue on electromagnetic inverse problems: emerging methods and novel applications

    NASA Astrophysics Data System (ADS)

    Dorn, O.; Lesselier, D.

    2010-07-01

    method for inverse scattering problems with an inhomogeneous background medium', illustrates how to address a realistic situation in which the medium containing the unknown obstacles is not homogeneous, via blending a properly developed SOM with a finite-element approach to the required Green's functions. 5. H Egger, M Hanke, C Schneider, J Schöberl and S Zaglmayr, in their contribution `Adjoint-based sampling methods for electromagnetic scattering', show how to efficiently develop sampling methods without explicit knowledge of the dyadic Green's function once an adjoint problem has been solved at much lower computational cost. This is demonstrated by examples in demanding propagative and diffusive situations. 6. Passive sensor arrays can be employed to image reflectors from ambient noise via proper migration of cross-correlation matrices into their embedding medium. This is investigated, and resolution, in particular, is considered in detail, as a function of the characteristics of the sensor array and those of the noise, in the contribution by J Garnier and G Papanicolaou, `Resolution analysis for imaging with noise'. 7. A direct reconstruction technique based on the conformal mapping theorem is proposed and investigated in depth in the contribution by H Haddar and R Kress, `Conformal mapping and impedance tomography'. This paper expands on previous work, with inclusions in homogeneous media, convergence results, and numerical illustrations. 8. The contribution by T Hohage and S Langer, `Acceleration techniques for regularized Newton methods applied to electromagnetic inverse medium scattering problems', focuses on a spectral preconditioner intended to accelerate regularized Newton methods as employed for the retrieval of a local inhomogeneity in a three-dimensional vector electromagnetic case, while also illustrating the implementation of a Lepskiĭ-type stopping rule outsmarting a traditional discrepancy principle. 9. Geophysical applications are a rich source of

  14. On the measurement of Rayleigh scattering by gases at 6328A

    NASA Technical Reports Server (NTRS)

    SHARDANAND; Gupta, S. K.

    1973-01-01

    The problem of laboratory measurements of Rayleigh scattering and depolarization ratio for atoms and molecules in the gaseous state is described. It is shown that, if the scattered radiation measurements are made at two angles, the normal depolarization ratio cannot be determined meaningfully. However, from scattering measurements, the Rayleigh scattering cross sections can be determined accurately. The measurements of Raleigh scattering from He, H2, Ar, O2, and N2 for unpolarized radiation at 6328A are reported and compared with similar measurements at 6943 and 1215.7A.

  15. Pauli Principle and Pion Scattering

    DOE R&D Accomplishments Database

    Bethe, H. A.

    1972-10-01

    It is pointed out that if the Pauli principle is taken into account in the discussion of pion scattering by complex nuclei (as it ought, of course, to be) some rather implausible consequences of some earlier treatments of this problem can be avoided. (auth)

  16. 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.

  17. Micro air vehicle autonomous obstacle avoidance from stereo-vision

    NASA Astrophysics Data System (ADS)

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

    2014-06-01

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

  18. Surface wave scattering from sharp lateral discontinuities

    NASA Astrophysics Data System (ADS)

    Pollitz, Fred F.

    1994-11-01

    The problem of surface wave scattering is re-explored, with quasi-degenerate normal mode coupling as the starting point. For coupling among specified spheroidal and toroidal mode dispersion branches, a set of coupled wave equations is derived in the frequency domain for first-arriving Rayleigh and Love waves. The solutions to these coupled wave equations using linear perturbation theory are surface integrals over the unit sphere covering the lateral distribution of perturbations in Earth structure. For isotropic structural perturbations and surface topographic perturbations, these solutions agree with the Born scattering theory previously obtained by Snieder and Romanowicz. By transforming these surface integrals into line integrals along the boundaries of the heterogeneous regions in the case of sharp discontinuities, and by using uniformly valid Green's functions, it is possible to extend the solution to the case of multiple scattering interactions. The proposed method allows the relatively rapid calculation of exact second order scattered wavefield potentials for scattering by sharp discontinuities, and it has many advantages not realized in earlier treatments. It employs a spherical Earth geometry, uses no far field approximation, and implicitly contains backward as well as forward scattering. Comparisons of asymptotic scattering and an exact solution with single scattering and multiple scattering integral formulations show that the phase perturbation predicted by geometrical optics breaks down for scatterers less than about six wavelengths in diameter, and second-order scattering predicts well both the amplitude and phase pattern of the exact wavefield for sufficiently small scatterers, less than about three wavelengths in diameter for anomalies of a few percent.

  19. Roy-Steiner equations for πN scattering

    NASA Astrophysics Data System (ADS)

    de Elvira, J. Ruiz; Ditsche, C.; Hoferichter, M.; Kubis, B.; Meißner, U.-G.

    2015-10-01

    In this talk, we briefly review our ongoing collaboration to precisely determine the low-energy πN scattering amplitude by means of Roy-Steiner equations. After giving a brief overview of this system of dispersive equations and their application to πN scattering, we proceed to solve for the lower partial waves of the s-channel (πN → πN) and the t-channel l( {π π to bar NN} right) sub-problems.

  20. Energy conservation - A test for scattering approximations

    NASA Technical Reports Server (NTRS)

    Acquista, C.; Holland, A. C.

    1980-01-01

    The roles of the extinction theorem and energy conservation in obtaining the scattering and absorption cross sections for several light scattering approximations are explored. It is shown that the Rayleigh, Rayleigh-Gans, anomalous diffraction, geometrical optics, and Shifrin approximations all lead to reasonable values of the cross sections, while the modified Mie approximation does not. Further examination of the modified Mie approximation for the ensembles of nonspherical particles reveals additional problems with that method.

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

    PubMed

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

    2010-11-01

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

  2. User's manual for three dimensional FDTD version A code for scattering from frequency-independent dielectric materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1992-01-01

    The Penn State Finite Difference Time Domain (FDTD) Electromagnetic Scattering Code Version A is a three dimensional numerical electromagnetic scattering code based on the Finite Difference Time Domain technique. The supplied version of the code is one version of our current three dimensional FDTD code set. The manual provides a description of the code and the corresponding results for the default scattering problem. The manual is organized into 14 sections: introduction, description of the FDTD method, operation, resource requirements, Version A code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include file (COMMONA.FOR), a section briefly discussing radar cross section (RCS) computations, a section discussing the scattering results, a sample problem setup section, a new problem checklist, references, and figure titles.

  3. User's manual for three dimensional FDTD version B code for scattering from frequency-dependent dielectric materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1991-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Scattering Code Version B is a three dimensional numerical electromagnetic scattering code based upon the Finite Difference Time Domain Technique (FDTD). The supplied version of the code is one version of our current three dimensional FDTD code set. This manual provides a description of the code and corresponding results for several scattering problems. The manual is organized into fourteen sections: introduction, description of the FDTD method, operation, resource requirements, Version B code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include file (COMMONB.FOR), a section briefly discussing Radar Cross Section (RCS) computations, a section discussing some scattering results, a sample problem setup section, a new problem checklist, references and figure titles.

  4. Impaired anticipatory control of grasp during obstacle crossing in Parkinson's disease.

    PubMed

    McIsaac, Tara L; Diermayr, Gudrun; Albert, Frederic

    2012-05-16

    During self-paced walking, people with Parkinson's disease maintain anticipatory control during object grasping. However, common functional tasks often include carrying an object while changing step patterns mid-path and maneuvering over obstacles, increasing task complexity and attentional demands. Thus, the present study investigated the effect of Parkinson's disease on the modulation of grasping force changes as a function of gait-related inertial forces. Subjects with Parkinson's disease maintained the ability to scale and to couple over time their grip and inertial forces while walking at irregular step lengths, but were unable to maintain the temporal coupling of grasping forces compared to controls during obstacle crossing. We suggest that this deterioration in anticipatory control is associated with the increased demands of task complexity and attention during obstacle crossing. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

  5. Characterizing Laminar Flame Interactions with Turbulent Fluidic Jets and Solid Obstacles for Turbulence Induction

    NASA Astrophysics Data System (ADS)

    Gerdts, Stephen; Chambers, Jessica; Ahmed, Kareem

    2016-11-01

    A detonation engine's fundamental design concept focuses on enhancing the Deflagration to Detonation Transition (DDT), the process through which subsonic flames accelerate to form a spontaneous detonation wave. Flame acceleration is driven by turbulent interactions that expand the reaction zone and induce mixing of products and reactants. Turbulence in a duct can be generated using solid obstructions, fluidic obstacles, duct angle changes, and wall skin friction. Solid obstacles have been previously explored and offer repeatable turbulence induction at the cost of pressure losses and additional system weight. Fluidic jet obstacles are a novel technique that provide advantages such as the ability to be throttled, allowing for active control of combustion modes. The scope of the present work is to expand the experimental database of varying parameters such as main flow and jet equivalence ratios, fluidic momentum ratios, and solid obstacle blockage ratios. Schlieren flow visualization and particle image velocimetry (PIV) are employed to investigate turbulent flame dynamics throughout the interaction. Optimum conditions that lead to flame acceleration for both solid and fluidic obstacles will be determined. American Chemical Society.

  6. Obstacle Classification and 3D Measurement in Unstructured Environments Based on ToF Cameras

    PubMed Central

    Yu, Hongshan; Zhu, Jiang; Wang, Yaonan; Jia, Wenyan; Sun, Mingui; Tang, Yandong

    2014-01-01

    Inspired by the human 3D visual perception system, we present an obstacle detection and classification method based on the use of Time-of-Flight (ToF) cameras for robotic navigation in unstructured environments. The ToF camera provides 3D sensing by capturing an image along with per-pixel 3D space information. Based on this valuable feature and human knowledge of navigation, the proposed method first removes irrelevant regions which do not affect robot's movement from the scene. In the second step, regions of interest are detected and clustered as possible obstacles using both 3D information and intensity image obtained by the ToF camera. Consequently, a multiple relevance vector machine (RVM) classifier is designed to classify obstacles into four possible classes based on the terrain traversability and geometrical features of the obstacles. Finally, experimental results in various unstructured environments are presented to verify the robustness and performance of the proposed approach. We have found that, compared with the existing obstacle recognition methods, the new approach is more accurate and efficient. PMID:24945679

  7. Problems of older persons using a wheeled walker.

    PubMed

    Lindemann, Ulrich; Schwenk, Michael; Klenk, Jochen; Kessler, Max; Weyrich, Michael; Kurz, Franziska; Becker, Clemens

    2016-04-01

    Wheeled walkers (WWs) are used to improve mobility and for fall prevention in older persons, but not all users are satisfied with the usability of WWs. Intelligent WWs are being developed to improve the usability. The aim of this study was to support the development of intelligent WWs by investigating possible problems of using a WW. This study investigated 22 geriatric in-patients (median age 82 years) with and without their WW while opening a door against the direction of walking and passing through. Other possible problems when using WWs were identified by interview. Walking through the door was faster without than with using the WW (8.71 versus 12.86 s, p < 0.001), while interference between door and WW was documented in 41 of 44 (93 %) cases. Backward walking performance was better when using a WW with regard to gait speed, step width and walk ratio (all p < 0.002). Most referred problems when using a WW were walking downhill (83 %) and uphill (77 %) and obstacle crossing in general (77 %). Problems with opening a door against the direction of walking and the optimization of downhill and uphill walking as well as obstacle crossing should be regarded when developing an intelligent WW.

  8. Incoherent Scatterer in a Luttinger Liquid: A New Paradigmatic Limit

    NASA Astrophysics Data System (ADS)

    Altland, Alexander; Gefen, Yuval; Rosenow, Bernd

    2012-03-01

    We address the problem of a Luttinger liquid with a scatterer that allows for both coherent and incoherent scattering channels. The asymptotic behavior at zero temperature is governed by a new stable fixed point: A Goldstone mode dominates the low energy dynamics, leading to universal behavior. This limit is marked by equal probabilities for forward and backward scattering. Notwithstanding this nontrivial scattering pattern, we find that the shot noise as well as cross-current correlations vanish. We thus present a paradigmatic picture of an impurity in the Luttinger model, alternative to the Kane-Fisher picture.

  9. 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

  10. 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.

  11. Scattering of Femtosecond Laser Pulses on the Negative Hydrogen Ion

    NASA Astrophysics Data System (ADS)

    Astapenko, V. A.; Moroz, N. N.

    2018-05-01

    Elastic scattering of ultrashort laser pulses (USLPs) on the negative hydrogen ion is considered. Results of calculations of the USLP scattering probability are presented and analyzed for pulses of two types: the corrected Gaussian pulse and wavelet pulse without carrier frequency depending on the problem parameters.

  12. Linearized inversion of multiple scattering seismic energy

    NASA Astrophysics Data System (ADS)

    Aldawood, Ali; Hoteit, Ibrahim; Zuberi, Mohammad

    2014-05-01

    Internal multiples deteriorate the quality of the migrated image obtained conventionally by imaging single scattering energy. So, imaging seismic data with the single-scattering assumption does not locate multiple bounces events in their actual subsurface positions. However, imaging internal multiples properly has the potential to enhance the migrated image because they illuminate zones in the subsurface that are poorly illuminated by single scattering energy such as nearly vertical faults. Standard migration of these multiples provides subsurface reflectivity distributions with low spatial resolution and migration artifacts due to the limited recording aperture, coarse sources and receivers sampling, and the band-limited nature of the source wavelet. The resultant image obtained by the adjoint operator is a smoothed depiction of the true subsurface reflectivity model and is heavily masked by migration artifacts and the source wavelet fingerprint that needs to be properly deconvolved. Hence, we proposed a linearized least-square inversion scheme to mitigate the effect of the migration artifacts, enhance the spatial resolution, and provide more accurate amplitude information when imaging internal multiples. The proposed algorithm uses the least-square image based on single-scattering assumption as a constraint to invert for the part of the image that is illuminated by internal scattering energy. Then, we posed the problem of imaging double-scattering energy as a least-square minimization problem that requires solving the normal equation of the following form: GTGv = GTd, (1) where G is a linearized forward modeling operator that predicts double-scattered seismic data. Also, GT is a linearized adjoint operator that image double-scattered seismic data. Gradient-based optimization algorithms solve this linear system. Hence, we used a quasi-Newton optimization technique to find the least-square minimizer. In this approach, an estimate of the Hessian matrix that contains

  13. 77 FR 50014 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-08-20

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

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

    ERIC Educational Resources Information Center

    Avery, Rosemary J.

    1999-01-01

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

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

    PubMed

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

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

  16. 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

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

    NASA Astrophysics Data System (ADS)

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

    2017-10-01

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

  18. User's manual for two dimensional FDTD version TEA and TMA codes for scattering from frequency-independent dielectic materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1991-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Scattering Code Versions TEA and TMA are two dimensional numerical electromagnetic scattering codes based upon the Finite Difference Time Domain Technique (FDTD) first proposed by Yee in 1966. The supplied version of the codes are two versions of our current two dimensional FDTD code set. This manual provides a description of the codes and corresponding results for the default scattering problem. The manual is organized into eleven sections: introduction, Version TEA and TMA code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include files (TEACOM.FOR TMACOM.FOR), a section briefly discussing scattering width computations, a section discussing the scattering results, a sample problem set section, a new problem checklist, references and figure titles.

  19. User's manual for two dimensional FDTD version TEA and TMA codes for scattering from frequency-independent dielectric materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1991-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Scattering Code Versions TEA and TMA are two dimensional electromagnetic scattering codes based on the Finite Difference Time Domain Technique (FDTD) first proposed by Yee in 1966. The supplied version of the codes are two versions of our current FDTD code set. This manual provides a description of the codes and corresponding results for the default scattering problem. The manual is organized into eleven sections: introduction, Version TEA and TMA code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include files (TEACOM.FOR TMACOM.FOR), a section briefly discussing scattering width computations, a section discussing the scattering results, a sample problem setup section, a new problem checklist, references, and figure titles.

  20. Fast inverse scattering solutions using the distorted Born iterative method and the multilevel fast multipole algorithm

    PubMed Central

    Hesford, Andrew J.; Chew, Weng C.

    2010-01-01

    The distorted Born iterative method (DBIM) computes iterative solutions to nonlinear inverse scattering problems through successive linear approximations. By decomposing the scattered field into a superposition of scattering by an inhomogeneous background and by a material perturbation, large or high-contrast variations in medium properties can be imaged through iterations that are each subject to the distorted Born approximation. However, the need to repeatedly compute forward solutions still imposes a very heavy computational burden. To ameliorate this problem, the multilevel fast multipole algorithm (MLFMA) has been applied as a forward solver within the DBIM. The MLFMA computes forward solutions in linear time for volumetric scatterers. The typically regular distribution and shape of scattering elements in the inverse scattering problem allow the method to take advantage of data redundancy and reduce the computational demands of the normally expensive MLFMA setup. Additional benefits are gained by employing Kaczmarz-like iterations, where partial measurements are used to accelerate convergence. Numerical results demonstrate both the efficiency of the forward solver and the successful application of the inverse method to imaging problems with dimensions in the neighborhood of ten wavelengths. PMID:20707438

  1. Generalized pseudopotential approach for electron-atom scattering.

    NASA Technical Reports Server (NTRS)

    Zarlingo, D. G.; Ishihara, T.; Poe, R. T.

    1972-01-01

    A generalized many-electron pseudopotential approach is presented for electron-neutral-atom scattering problems. A calculation based on this formulation is carried out for the singlet s-wave and p-wave electron-hydrogen phase shifts with excellent results. We compare the method with other approaches as well as discuss its applications for inelastic and rearrangement collision problems.

  2. 78 FR 54564 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-09-05

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

  3. The Role of Content Knowledge in Ill-Structured Problem Solving for High School Physics Students

    NASA Astrophysics Data System (ADS)

    Milbourne, Jeff; Wiebe, Eric

    2018-02-01

    While Physics Education Research has a rich tradition of problem-solving scholarship, most of the work has focused on more traditional, well-defined problems. Less work has been done with ill-structured problems, problems that are better aligned with the engineering and design-based scenarios promoted by the Next Generation Science Standards. This study explored the relationship between physics content knowledge and ill-structured problem solving for two groups of high school students with different levels of content knowledge. Both groups of students completed an ill-structured problem set, using a talk-aloud procedure to narrate their thought process as they worked. Analysis of the data focused on identifying students' solution pathways, as well as the obstacles that prevented them from reaching "reasonable" solutions. Students with more content knowledge were more successful reaching reasonable solutions for each of the problems, experiencing fewer obstacles. These students also employed a greater variety of solution pathways than those with less content knowledge. Results suggest that a student's solution pathway choice may depend on how she perceives the problem.

  4. Forward and inverse models of electromagnetic scattering from layered media with rough interfaces

    NASA Astrophysics Data System (ADS)

    Tabatabaeenejad, Seyed Alireza

    This work addresses the problem of electromagnetic scattering from layered dielectric structures with rough boundaries and the associated inverse problem of retrieving the subsurface parameters of the structure using the scattered field. To this end, a forward scattering model based on the Small Perturbation Method (SPM) is developed to calculate the first-order spectral-domain bistatic scattering coefficients of a two-layer rough surface structure. SPM requires the boundaries to be slightly rough compared to the wavelength, but to understand the range of applicability of this method in scattering from two-layer rough surfaces, its region of validity is investigated by comparing its output with that of a first principle solver that does not impose roughness restrictions. The Method of Moments (MoM) is used for this purpose. Finally, for retrieval of the model parameters of the layered structure using scattered field, an inversion scheme based on the Simulated Annealing method is investigated and a strategy is proposed to address convergence to local minimum.

  5. 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

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

    PubMed

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

    2009-01-01

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

  7. 75 FR 72942 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-11-29

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

  8. 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.

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

    PubMed

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

    2017-01-01

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

  10. 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.

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

    NASA Astrophysics Data System (ADS)

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

    2017-08-01

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

  12. 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.

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

    PubMed

    Ida, Hirofumi; Mohapatra, Sambit; Aruin, Alexander

    2017-06-01

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

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

    ERIC Educational Resources Information Center

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

    2012-01-01

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

  15. 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.

  16. Scattering features for lung cancer detection in fibered confocal fluorescence microscopy images.

    PubMed

    Rakotomamonjy, Alain; Petitjean, Caroline; Salaün, Mathieu; Thiberville, Luc

    2014-06-01

    To assess the feasibility of lung cancer diagnosis using fibered confocal fluorescence microscopy (FCFM) imaging technique and scattering features for pattern recognition. FCFM imaging technique is a new medical imaging technique for which interest has yet to be established for diagnosis. This paper addresses the problem of lung cancer detection using FCFM images and, as a first contribution, assesses the feasibility of computer-aided diagnosis through these images. Towards this aim, we have built a pattern recognition scheme which involves a feature extraction stage and a classification stage. The second contribution relies on the features used for discrimination. Indeed, we have employed the so-called scattering transform for extracting discriminative features, which are robust to small deformations in the images. We have also compared and combined these features with classical yet powerful features like local binary patterns (LBP) and their variants denoted as local quinary patterns (LQP). We show that scattering features yielded to better recognition performances than classical features like LBP and their LQP variants for the FCFM image classification problems. Another finding is that LBP-based and scattering-based features provide complementary discriminative information and, in some situations, we empirically establish that performance can be improved when jointly using LBP, LQP and scattering features. In this work we analyze the joint capability of FCFM images and scattering features for lung cancer diagnosis. The proposed method achieves a good recognition rate for such a diagnosis problem. It also performs well when used in conjunction with other features for other classical medical imaging classification problems. Copyright © 2014 Elsevier B.V. All rights reserved.

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

    PubMed

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

    2009-09-01

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

  18. Scattering for the 3D Gross-Pitaevskii Equation

    NASA Astrophysics Data System (ADS)

    Guo, Zihua; Hani, Zaher; Nakanishi, Kenji

    2017-11-01

    We study the Cauchy problem for the 3D Gross-Pitaevskii equation. The global well-posedness in the natural energy space was proved by Gérard (Ann. Inst. H. Poincaré Anal. Non Linéaire 23(5):765-779, 2006). In this paper we prove scattering for small data in the same space with some additional angular regularity, and in particular in the radial case we obtain small energy scattering.

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

    PubMed

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

    2017-07-01

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

  20. 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.

  1. Fokker-Planck-Based Acceleration for SN Equations with Highly Forward Peaked Scattering in Slab Geometry

    NASA Astrophysics Data System (ADS)

    Patel, Japan

    Short mean free paths are characteristic of charged particles. High energy charged particles often have highly forward peaked scattering cross sections. Transport problems involving such charged particles are also highly optically thick. When problems simultaneously have forward peaked scattering and high optical thickness, their solution, using standard iterative methods, becomes very inefficient. In this dissertation, we explore Fokker-Planck-based acceleration for solving such problems.

  2. 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.

  3. Neuroepigenomics: Resources, Obstacles, and Opportunities

    PubMed Central

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

    2014-01-01

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

  4. Learn to Avoid or Overcome Leadership Obstacles

    ERIC Educational Resources Information Center

    D'Auria, John

    2015-01-01

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

  5. THE EFFECT OF TWO-MAGNON SCATTERING ON PARALLEL-PUMP INSTABILITY THRESHOLDS.

    DTIC Science & Technology

    Following a general description of the important properties and symmetries of the parallel-pump coupling and of two- magnon scattering, several...theoretical approaches to the problem of the effect of two- magnon scattering on the parallel-pump instability threshold are explored. A successful approach

  6. 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.

  7. User's manual for three dimensional FDTD version B code for scattering from frequency-dependent dielectric materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1992-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Code Version B is a three dimensional numerical electromagnetic scattering code based upon the Finite Difference Time Domain Technique (FDTD). The supplied version of the code is one version of our current three dimensional FDTD code set. This manual provides a description of the code and corresponding results for several scattering problems. The manual is organized into 14 sections: introduction, description of the FDTD method, operation, resource requirements, Version B code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include file, a discussion of radar cross section computations, a discussion of some scattering results, a sample problem setup section, a new problem checklist, references and figure titles.

  8. 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.

  9. On the Mathematical Modeling of Single and Multiple Scattering of Ultrasonic Guided Waves by Small Scatterers: A Structural Health Monitoring Measurement Model

    NASA Astrophysics Data System (ADS)

    Strom, Brandon William

    In an effort to assist in the paradigm shift from schedule based maintenance to conditioned based maintenance, we derive measurement models to be used within structural health monitoring algorithms. Our models are physics based, and use scattered Lamb waves to detect and quantify pitting corrosion. After covering the basics of Lamb waves and the reciprocity theorem, we develop a technique for the scattered wave solution. The first application is two-dimensional, and is employed in two different ways. The first approach integrates a traction distribution and replaces it by an equivalent force. The second approach is higher order and uses the actual traction distribution. We find that the equivalent force version of the solution technique holds well for small pits at low frequencies. The second application is three-dimensional. The equivalent force caused by the scattered wave of an arbitrary equivalent force is calculated. We obtain functions for the scattered wave displacements as a function of equivalent forces, equivalent forces as a function of incident wave, and scattered wave amplitudes as a function of incident amplitude. The third application uses self-consistency to derive governing equations for the scattered waves due to multiple corrosion pits. We decouple the implicit set of equations and solve explicitly by using a recursive series solution. Alternatively, we solve via an undetermined coefficient method which results in an interaction operator and solution via matrix inversion. The general solution is given for N pits including mode conversion. We show that the two approaches are equivalent, and give a solution for three pits. Various approximations are advanced to simplify the problem while retaining the leading order physics. As a final application, we use the multiple scattering model to investigate resonance of Lamb waves. We begin with a one-dimensional problem and progress to a three-dimensional problem. A directed graph enables interpretation of

  10. 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.

  11. Solving the inverse scattering problem in reflection-mode dynamic speckle-field phase microscopy (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Zhou, Renjie; So, Peter T. C.; Yaqoob, Zahid; Jin, Di; Hosseini, Poorya; Kuang, Cuifang; Singh, Vijay Raj; Kim, Yang-Hyo; Dasari, Ramachandra R.

    2017-02-01

    Most of the quantitative phase microscopy systems are unable to provide depth-resolved information for measuring complex biological structures. Optical diffraction tomography provides a non-trivial solution to it by 3D reconstructing the object with multiple measurements through different ways of realization. Previously, our lab developed a reflection-mode dynamic speckle-field phase microscopy (DSPM) technique, which can be used to perform depth resolved measurements in a single shot. Thus, this system is suitable for measuring dynamics in a layer of interest in the sample. DSPM can be also used for tomographic imaging, which promises to solve the long-existing "missing cone" problem in 3D imaging. However, the 3D imaging theory for this type of system has not been developed in the literature. Recently, we have developed an inverse scattering model to rigorously describe the imaging physics in DSPM. Our model is based on the diffraction tomography theory and the speckle statistics. Using our model, we first precisely calculated the defocus response and the depth resolution in our system. Then, we further calculated the 3D coherence transfer function to link the 3D object structural information with the axially scanned imaging data. From this transfer function, we found that in the reflection mode excellent sectioning effect exists in the low lateral spatial frequency region, thus allowing us to solve the "missing cone" problem. Currently, we are working on using this coherence transfer function to reconstruct layered structures and complex cells.

  12. Applying Global Workspace Theory to the Frame Problem

    ERIC Educational Resources Information Center

    Shanahan, Murray; Baars, Bernard

    2005-01-01

    The subject of this article is the frame problem, as conceived by certain cognitive scientists and philosophers of mind, notably Fodor for whom it stands as a fundamental obstacle to progress in cognitive science. The challenge is to explain the capacity of so-called informationally unencapsulated cognitive processes to deal effectively with…

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

    PubMed

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

    2011-12-01

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

  14. Applications of elliptic operator theory to the isotropic interior transmission eigenvalue problem

    NASA Astrophysics Data System (ADS)

    Lakshtanov, E.; Vainberg, B.

    2013-10-01

    The paper concerns the isotropic interior transmission eigenvalue (ITE) problem. This problem is not elliptic, but we show that, using the Dirichlet-to-Neumann map, it can be reduced to an elliptic one. This leads to the discreteness of the spectrum as well as to certain results on a possible location of the transmission eigenvalues. If the index of refraction \\sqrt{n(x)} is real, then we obtain a result on the existence of infinitely many positive ITEs and the Weyl-type lower bound on its counting function. All the results are obtained under the assumption that n(x) - 1 does not vanish at the boundary of the obstacle or it vanishes identically, but its normal derivative does not vanish at the boundary. We consider the classical transmission problem as well as the case when the inhomogeneous medium contains an obstacle. Some results on the discreteness and localization of the spectrum are obtained for complex valued n(x).

  15. A problem of optimal control and observation for distributed homogeneous multi-agent system

    NASA Astrophysics Data System (ADS)

    Kruglikov, Sergey V.

    2017-12-01

    The paper considers the implementation of a algorithm for controlling a distributed complex of several mobile multi-robots. The concept of a unified information space of the controlling system is applied. The presented information and mathematical models of participants and obstacles, as real agents, and goals and scenarios, as virtual agents, create the base forming the algorithmic and software background for computer decision support system. The controlling scheme assumes the indirect management of the robotic team on the basis of optimal control and observation problem predicting intellectual behavior in a dynamic, hostile environment. A basic content problem is a compound cargo transportation by a group of participants in the case of a distributed control scheme in the terrain with multiple obstacles.

  16. ADE-FDTD Scattered-Field Formulation for Dispersive Materials

    PubMed Central

    Kong, Soon-Cheol; Simpson, Jamesina J.; Backman, Vadim

    2009-01-01

    This Letter presents a scattered-field formulation for modeling dispersive media using the finite-difference time-domain (FDTD) method. Specifically, the auxiliary differential equation method is applied to Drude and Lorentz media for a scattered field FDTD model. The present technique can also be applied in a straightforward manner to Debye media. Excellent agreement is achieved between the FDTD-calculated and exact theoretical results for the reflection coefficient in half-space problems. PMID:19844602

  17. ADE-FDTD Scattered-Field Formulation for Dispersive Materials.

    PubMed

    Kong, Soon-Cheol; Simpson, Jamesina J; Backman, Vadim

    2008-01-01

    This Letter presents a scattered-field formulation for modeling dispersive media using the finite-difference time-domain (FDTD) method. Specifically, the auxiliary differential equation method is applied to Drude and Lorentz media for a scattered field FDTD model. The present technique can also be applied in a straightforward manner to Debye media. Excellent agreement is achieved between the FDTD-calculated and exact theoretical results for the reflection coefficient in half-space problems.

  18. Exact solution for an optimal impermeable parachute problem

    NASA Astrophysics Data System (ADS)

    Lupu, Mircea; Scheiber, Ernest

    2002-10-01

    In the paper there are solved direct and inverse boundary problems and analytical solutions are obtained for optimization problems in the case of some nonlinear integral operators. It is modeled the plane potential flow of an inviscid, incompressible and nonlimited fluid jet, witch encounters a symmetrical, curvilinear obstacle--the deflector of maximal drag. There are derived integral singular equations, for direct and inverse problems and the movement in the auxiliary canonical half-plane is obtained. Next, the optimization problem is solved in an analytical manner. The design of the optimal airfoil is performed and finally, numerical computations concerning the drag coefficient and other geometrical and aerodynamical parameters are carried out. This model corresponds to the Helmholtz impermeable parachute problem.

  19. Radiological clinical trials: Proposal of a problem-finding questionnaire to improve study success.

    PubMed

    Valdora, Francesca; Bignotti, Bianca; Calabrese, Massimo; Houssami, Nehmat; Tagliafico, Alberto

    2016-12-26

    To develop a survey to help define the main problems in radiological clinical trials. Since 2006, we have managed seven different radiological clinical trials recruiting patients in academic and non-academic centres. We developed a preliminary questionnaire using a four-round Delphi approach to identify problems occurring in radiological clinical trials run at our centre. We investigated the recruitment experience, involvement of all multi-disciplinary team members and main obstacles to completing the projects. A final round of Delphi processes elucidated solutions to the identified problems. Among 19/20 (95%) respondents, 10 (53%) were young physicians (under 35 years old), and the respondents included non-faculty members, fellows, residents, and undergraduate students. Ninety-four percent (18/19) of respondents showed interest in conducting clinical trials. On a scale of 1 to 10, the problems with higher/worse scores (8-9) were related to technical or communication problems. The most frequent problems across all studies were technical problems related to clinical trial equipment, insufficient willingness to participate, obstacles to understanding the design of electronic-case report form and extra work. The developed questionnaire identified the main recurring problems in radiological clinical trials as perceived by end-users and helped define possible solutions that are mostly related to having dedicated clinical trial research staff.

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

    NASA Astrophysics Data System (ADS)

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

    2012-01-01

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

  1. Photon migration in non-scattering tissue and the effects on image reconstruction

    NASA Astrophysics Data System (ADS)

    Dehghani, H.; Delpy, D. T.; Arridge, S. R.

    1999-12-01

    Photon propagation in tissue can be calculated using the relationship described by the transport equation. For scattering tissue this relationship is often simplified and expressed in terms of the diffusion approximation. This approximation, however, is not valid for non-scattering regions, for example cerebrospinal fluid (CSF) below the skull. This study looks at the effects of a thin clear layer in a simple model representing the head and examines its effect on image reconstruction. Specifically, boundary photon intensities (total number of photons exiting at a point on the boundary due to a source input at another point on the boundary) are calculated using the transport equation and compared with data calculated using the diffusion approximation for both non-scattering and scattering regions. The effect of non-scattering regions on the calculated boundary photon intensities is presented together with the advantages and restrictions of the transport code used. Reconstructed images are then presented where the forward problem is solved using the transport equation for a simple two-dimensional system containing a non-scattering ring and the inverse problem is solved using the diffusion approximation to the transport equation.

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

    PubMed

    Nomura, Kyoko; Gohchi, Kengo

    2012-11-01

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

  3. Using seismic coda waves to resolve intrinsic and scattering attenuation

    NASA Astrophysics Data System (ADS)

    Wang, W.; Shearer, P. M.

    2016-12-01

    Seismic attenuation is caused by two factors, scattering and intrinsic absorption. Characterizing scattering and absorbing properties and the power spectrum of crustal heterogeneity is a fundamental problem for informing strong ground motion estimates at high frequencies, where scattering and attenuation effects are critical. Determining the relative amount of attenuation caused by scattering and intrinsic absorption has been a long-standing problem in seismology. The wavetrain following the direct body wave phases is called the coda, which is caused by scattered energy. Many studies have analyzed the coda of local events to constrain crustal and upper-mantle scattering strength and intrinsic attenuation. Here we examine two popular attenuation inversion methods, the Multiple Lapse Time Window Method (MLTWM) and the Coda Qc Method. First, based on our previous work on California attenuation structure, we apply an efficient and accurate method, the Monte Carlo Approach, to synthesize seismic envelope functions. We use this code to generate a series of synthetic data based on several complex and realistic forward models. Although the MLTWM assumes a uniform whole space, we use the MLTWM to invert for both scattering and intrinsic attenuation from the synthetic data to test how accurately it can recover the attenuation models. Results for the coda Qc method depend on choices for the length and starting time of the coda-wave time window. Here we explore the relation between the inversion results for Qc, the windowing parameters, and the intrinsic and scattering Q structure of our synthetic model. These results should help assess the practicality and accuracy of the Multiple Lapse Time Window Method and Coda Qc Method when applied to realistic crustal velocity and attenuation models.

  4. 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.

  5. Wave multiple scattering by a finite number of unclosed circular cylinders

    NASA Technical Reports Server (NTRS)

    Veliyev, E. I.; Veremey, V. V.

    1984-01-01

    The boundary value problem of plane H-polarized electromagnetic wave multiple scattering by a finite number of unclosed circular cylinders is solved. The solution is obtained by two different methods: the method of successive scattering and the method of partial matrix inversion for simultaneous dual equations. The advantages of the successive scattering method are shown. Computer calculations of the suface currents and the total cross section are presented for the structure of two screens.

  6. User's manual for three dimensional FDTD version C code for scattering from frequency-independent dielectric and magnetic materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1991-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Scattering Code Version C is a three dimensional numerical electromagnetic scattering code based upon the Finite Difference Time Domain Technique (FDTD). The supplied version of the code is one version of our current three dimensional FDTD code set. This manual provides a description of the code and corresponding results for several scattering problems. The manual is organized into fourteen sections: introduction, description of the FDTD method, operation, resource requirements, Version C code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include file (COMMONC.FOR), a section briefly discussing Radar Cross Section (RCS) computations, a section discussing some scattering results, a sample problem setup section, a new problem checklist, references and figure titles.

  7. User's manual for three dimensional FDTD version D code for scattering from frequency-dependent dielectric and magnetic materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1991-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Scattering Code Version D is a three dimensional numerical electromagnetic scattering code based upon the Finite Difference Time Domain Technique (FDTD). The supplied version of the code is one version of our current three dimensional FDTD code set. This manual provides a description of the code and corresponding results for several scattering problems. The manual is organized into fourteen sections: introduction, description of the FDTD method, operation, resource requirements, Version D code capabilities, a brief description of the default scattering geometry, a brief description of each subroutine, a description of the include file (COMMOND.FOR), a section briefly discussing Radar Cross Section (RCS) computations, a section discussing some scattering results, a sample problem setup section, a new problem checklist, references and figure titles.

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

    PubMed Central

    Peralta, Emmanuel; Vargas, Héctor; Hermosilla, Gabriel

    2018-01-01

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

  9. Limiting cases of the small-angle scattering approximation solutions for the propagation of laser beams in anisotropic scattering media

    NASA Technical Reports Server (NTRS)

    Box, M. A.; Deepak, A.

    1981-01-01

    The propagation of photons in a medium with strongly anisotropic scattering is a problem with a considerable history. Like the propagation of electrons in metal foils, it may be solved in the small-angle scattering approximation by the use of Fourier-transform techniques. In certain limiting cases, one may even obtain analytic expressions. This paper presents some of these results in a model-independent form and also illustrates them by the use of four different phase-function models. Sample calculations are provided for comparison purposes

  10. 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.

  11. Scattering Matrix for the Interaction between Solar Acoustic Waves and Sunspots. I. Measurements

    NASA Astrophysics Data System (ADS)

    Yang, Ming-Hsu; Chou, Dean-Yi; Zhao, Hui

    2017-01-01

    Assessing the interaction between solar acoustic waves and sunspots is a scattering problem. The scattering matrix elements are the most commonly used measured quantities to describe scattering problems. We use the wavefunctions of scattered waves of NOAAs 11084 and 11092 measured in the previous study to compute the scattering matrix elements, with plane waves as the basis. The measured scattered wavefunction is from the incident wave of radial order n to the wave of another radial order n‧, for n=0{--}5. For a time-independent sunspot, there is no mode mixing between different frequencies. An incident mode is scattered into various modes with different wavenumbers but the same frequency. Working in the frequency domain, we have the individual incident plane-wave mode, which is scattered into various plane-wave modes with the same frequency. This allows us to compute the scattering matrix element between two plane-wave modes for each frequency. Each scattering matrix element is a complex number, representing the transition from the incident mode to another mode. The amplitudes of diagonal elements are larger than those of the off-diagonal elements. The amplitude and phase of the off-diagonal elements are detectable only for n-1≤slant n\\prime ≤slant n+1 and -3{{Δ }}k≤slant δ {k}x≤slant 3{{Δ }}k, where δ {k}x is the change in the transverse component of the wavenumber and Δk = 0.035 rad Mm-1.

  12. The coupled three-dimensional wave packet approach to reactive scattering

    NASA Astrophysics Data System (ADS)

    Marković, Nikola; Billing, Gert D.

    1994-01-01

    A recently developed scheme for time-dependent reactive scattering calculations using three-dimensional wave packets is applied to the D+H2 system. The present method is an extension of a previously published semiclassical formulation of the scattering problem and is based on the use of hyperspherical coordinates. The convergence requirements are investigated by detailed calculations for total angular momentum J equal to zero and the general applicability of the method is demonstrated by solving the J=1 problem. The inclusion of the geometric phase is also discussed and its effect on the reaction probability is demonstrated.

  13. Multiple scattering contribution to the diffuse light of a night sky: A model which embraces all orders of scattering

    NASA Astrophysics Data System (ADS)

    Kocifaj, Miroslav

    2018-02-01

    The mechanism in which multiple scattering influences the radiance of a night sky has been poorly quantified until recently, or even completely unknown from the theoretical point of view. In this paper, the relative contribution of higher-scattering radiances to the total sky radiance is treated analytically for all orders of scattering, showing that a fast and accurate numerical solution to the problem exists. Unlike a class of ray tracing codes in which CPU requirements increase tremendously with each new scattering mode, the solution developed here requires the same processor time for each scattering mode. This allows for rapid estimation of higher-scattering radiances and residual error that is otherwise unknown if these radiances remain undetermined. Such convergence testing is necessary to guarantee accuracy and the stability of the numerical predictions. The performance of the method developed here is demonstrated in a set of numerical experiments aiming to uncover the relative importance of higher-scattering radiances at different distances from a light source. We have shown, that multiple scattering effects are generally low if distance to the light source is below 30 km. At large distances the multiple scattering can become important at the dark sky elements situated opposite to the light source. However, the brightness at this part of sky is several orders of magnitude smaller than that of a glowing dome of light over a city, so we do not expect that a partial increase or even doubling the radiance of otherwise dark sky elements can noticeably affect astronomical observations or living organisms (including humans). Single scattering is an appropriate approximation to the sky radiance of a night sky in the vast majority of cases.

  14. 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.

  15. A multiple maximum scatter difference discriminant criterion for facial feature extraction.

    PubMed

    Song, Fengxi; Zhang, David; Mei, Dayong; Guo, Zhongwei

    2007-12-01

    Maximum scatter difference (MSD) discriminant criterion was a recently presented binary discriminant criterion for pattern classification that utilizes the generalized scatter difference rather than the generalized Rayleigh quotient as a class separability measure, thereby avoiding the singularity problem when addressing small-sample-size problems. MSD classifiers based on this criterion have been quite effective on face-recognition tasks, but as they are binary classifiers, they are not as efficient on large-scale classification tasks. To address the problem, this paper generalizes the classification-oriented binary criterion to its multiple counterpart--multiple MSD (MMSD) discriminant criterion for facial feature extraction. The MMSD feature-extraction method, which is based on this novel discriminant criterion, is a new subspace-based feature-extraction method. Unlike most other subspace-based feature-extraction methods, the MMSD computes its discriminant vectors from both the range of the between-class scatter matrix and the null space of the within-class scatter matrix. The MMSD is theoretically elegant and easy to calculate. Extensive experimental studies conducted on the benchmark database, FERET, show that the MMSD out-performs state-of-the-art facial feature-extraction methods such as null space method, direct linear discriminant analysis (LDA), eigenface, Fisherface, and complete LDA.

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

    ERIC Educational Resources Information Center

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

    2014-01-01

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

  17. 75 FR 32094 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-07

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

  18. Electron elastic scattering off endo-fullerenes

    NASA Astrophysics Data System (ADS)

    Dolmatov, Valeriy

    2017-04-01

    The given presentation highlights the physically transparent, relatively simple, and yet reasonably complete approximation to the problem of low-energy electron elastic scattering off endohedral fullerenes A@CN along with corresponding findings unraveled on its basis. It is believed that, as of today, the highlighted results provide the most complete information about features of e + A @CN elastic scattering brought about by the fullerene-cage-related, correlation-related, and polarization-related impacts of the individual and coupled members of the A@C60 target on the scattering process. Each of the impacts is shown to bring spectacular features into e + A @C60 scattering. A remarkable inherent quality of the developed approximation is its ability to account for mutual coupling between electronic excited configurations of CN with those of the encapsulated atom A without reference to complicated details of the electronic structure of CN itself. Spectacular effects in the scattering process, primarily associated with polarization of A@C60 by an incident electron, are thoughtfully detailed both quantitatively and qualitatively in a physically transparent manner for ease of understanding and convenience of the audience. This study was performed in collaboration with Professors M. Ya. Amusia, L. V. Chernysheva, and UNA undergraduate students. The past support by the NSF Grant PHY-1305085 is acknowledged.

  19. Women in academic medicine: perceived obstacles to advancement.

    PubMed

    Bennett, N M; Nickerson, K G

    1992-01-01

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

  20. User's manual for three dimensional FDTD version D code for scattering from frequency-dependent dielectric and magnetic materials

    NASA Technical Reports Server (NTRS)

    Beggs, John H.; Luebbers, Raymond J.; Kunz, Karl S.

    1992-01-01

    The Penn State Finite Difference Time Domain Electromagnetic Scattering Code version D is a 3-D numerical electromagnetic scattering code based upon the finite difference time domain technique (FDTD). The manual provides a description of the code and corresponding results for several scattering problems. The manual is organized into 14 sections: introduction; description of the FDTD method; operation; resource requirements; version D code capabilities; a brief description of the default scattering geometry; a brief description of each subroutine; a description of the include file; a section briefly discussing Radar Cross Section computations; a section discussing some scattering results; a sample problem setup section; a new problem checklist; references and figure titles. The FDTD technique models transient electromagnetic scattering and interactions with objects of arbitrary shape and/or material composition. In the FDTD method, Maxwell's curl equations are discretized in time-space and all derivatives (temporal and spatial) are approximated by central differences.

  1. 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.

  2. What cognitive strategies do orangutans (Pongo pygmaeus) use to solve a trial-unique puzzle-tube task incorporating multiple obstacles?

    PubMed

    Tecwyn, Emma C; Thorpe, Susannah K S; Chappell, Jackie

    2012-01-01

    Apparently sophisticated behaviour during problem-solving is often the product of simple underlying mechanisms, such as associative learning or the use of procedural rules. These and other more parsimonious explanations need to be eliminated before higher-level cognitive processes such as causal reasoning or planning can be inferred. We presented three Bornean orangutans with 64 trial-unique configurations of a puzzle-tube to investigate whether they were able to consider multiple obstacles in two alternative paths, and subsequently choose the correct direction in which to move a reward in order to retrieve it. We were particularly interested in how subjects attempted to solve the task, namely which behavioural strategies they could have been using, as this is how we may begin to elucidate the cognitive mechanisms underpinning their choices. To explore this, we simulated performance outcomes across the 64 trials for various procedural rules and rule combinations that subjects may have been using based on the configuration of different obstacles. Two of the three subjects solved the task, suggesting that they were able to consider at least some of the obstacles in the puzzle-tube before executing action to retrieve the reward. This is impressive compared with the past performances of great apes on similar, arguably less complex tasks. Successful subjects may have been using a heuristic rule combination based on what they deemed to be the most relevant cue (the configuration of the puzzle-tube ends), which may be a cognitively economical strategy.

  3. Approximating the Helium Wavefunction in Positronium-Helium Scattering

    NASA Technical Reports Server (NTRS)

    DiRienzi, Joseph; Drachman, Richard J.

    2003-01-01

    In the Kohn variational treatment of the positronium- hydrogen scattering problem the scattering wave function is approximated by an expansion in some appropriate basis set, but the target and projectile wave functions are known exactly. In the positronium-helium case, however, a difficulty immediately arises in that the wave function of the helium target atom is not known exactly, and there are several ways to deal with the associated eigenvalue in formulating the variational scattering equations to be solved. In this work we will use the Kohn variational principle in the static exchange approximation to d e t e e the zero-energy scattering length for the Ps-He system, using a suite of approximate target functions. The results we obtain will be compared with each other and with corresponding values found by other approximation techniques.

  4. Resonant states for the scattering of slow particles by screened potentials

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

    Bruk, Yu. M., E-mail: yubruk@gmail.com; Voloshchuk, A. N.

    2016-09-15

    Partial resonant situations for the scattering of slow particles with nonzero angular momenta by short-range screened Yukawa and Buckingham potentials are considered. The problem of electron scattering by a hydrogen atom placed in a plasma medium is discussed. A general scheme of resonances has been constructed in the Pais approximation.

  5. Microscopic theory of linear light scattering from mesoscopic media and in near-field optics.

    PubMed

    Keller, Ole

    2005-08-01

    On the basis of quantum mechanical response theory a microscopic propagator theory of linear light scattering from mesoscopic systems is presented. The central integral equation problem is transferred to a matrix equation problem by discretization in transitions between pairs of (many-body) energy eigenstates. The local-field calculation which appears from this approach is valid down to the microscopic region. Previous theories based on the (macroscopic) dielectric constant concept make use of spatial (geometrical) discretization and cannot in general be trusted on the mesoscopic length scale. The present theory can be applied to light scattering studies in near-field optics. After a brief discussion of the macroscopic integral equation problem a microscopic potential description of the scattering process is established. In combination with the use of microscopic electromagnetic propagators the formalism allows one to make contact to the macroscopic theory of light scattering and to the spatial photon localization problem. The quantum structure of the microscopic conductivity response tensor enables one to establish a clear physical picture of the origin of local-field phenomena in mesoscopic and near-field optics. The Huygens scalar propagator formalism is revisited and its generality in microscopic physics pointed out.

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

    PubMed Central

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

    2017-01-01

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

  7. Identification and analysis of obstacles in bioterrorism preparedness and response

    NASA Astrophysics Data System (ADS)

    Sincavage, Suzanne Michele

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

  8. 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.

  9. Light transport in turbid media with non-scattering, low-scattering and high absorption heterogeneities based on hybrid simplified spherical harmonics with radiosity model

    PubMed Central

    Yang, Defu; Chen, Xueli; Peng, Zhen; Wang, Xiaorui; Ripoll, Jorge; Wang, Jing; Liang, Jimin

    2013-01-01

    Modeling light propagation in the whole body is essential and necessary for optical imaging. However, non-scattering, low-scattering and high absorption regions commonly exist in biological tissues, which lead to inaccuracy of the existing light transport models. In this paper, a novel hybrid light transport model that couples the simplified spherical harmonics approximation (SPN) with the radiosity theory (HSRM) was presented, to accurately describe light transport in turbid media with non-scattering, low-scattering and high absorption heterogeneities. In the model, the radiosity theory was used to characterize the light transport in non-scattering regions and the SPN was employed to handle the scattering problems, including subsets of low-scattering and high absorption. A Neumann source constructed by the light transport in the non-scattering region and formed at the interface between the non-scattering and scattering regions was superposed into the original light source, to couple the SPN with the radiosity theory. The accuracy and effectiveness of the HSRM was first verified with both regular and digital mouse model based simulations and a physical phantom based experiment. The feasibility and applicability of the HSRM was then investigated by a broad range of optical properties. Lastly, the influence of depth of the light source on the model was also discussed. Primary results showed that the proposed model provided high performance for light transport in turbid media with non-scattering, low-scattering and high absorption heterogeneities. PMID:24156077

  10. Light transport in turbid media with non-scattering, low-scattering and high absorption heterogeneities based on hybrid simplified spherical harmonics with radiosity model.

    PubMed

    Yang, Defu; Chen, Xueli; Peng, Zhen; Wang, Xiaorui; Ripoll, Jorge; Wang, Jing; Liang, Jimin

    2013-01-01

    Modeling light propagation in the whole body is essential and necessary for optical imaging. However, non-scattering, low-scattering and high absorption regions commonly exist in biological tissues, which lead to inaccuracy of the existing light transport models. In this paper, a novel hybrid light transport model that couples the simplified spherical harmonics approximation (SPN) with the radiosity theory (HSRM) was presented, to accurately describe light transport in turbid media with non-scattering, low-scattering and high absorption heterogeneities. In the model, the radiosity theory was used to characterize the light transport in non-scattering regions and the SPN was employed to handle the scattering problems, including subsets of low-scattering and high absorption. A Neumann source constructed by the light transport in the non-scattering region and formed at the interface between the non-scattering and scattering regions was superposed into the original light source, to couple the SPN with the radiosity theory. The accuracy and effectiveness of the HSRM was first verified with both regular and digital mouse model based simulations and a physical phantom based experiment. The feasibility and applicability of the HSRM was then investigated by a broad range of optical properties. Lastly, the influence of depth of the light source on the model was also discussed. Primary results showed that the proposed model provided high performance for light transport in turbid media with non-scattering, low-scattering and high absorption heterogeneities.

  11. 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.

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

    ERIC Educational Resources Information Center

    Rosa, Katemari; Mensah, Felicia Moore

    2016-01-01

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

  13. The Cauchy problem for the Pavlov equation

    NASA Astrophysics Data System (ADS)

    Grinevich, P. G.; Santini, P. M.; Wu, D.

    2015-10-01

    Commutation of multidimensional vector fields leads to integrable nonlinear dispersionless PDEs that arise in various problems of mathematical physics and have been intensively studied in recent literature. This report aims to solve the scattering and inverse scattering problem for integrable dispersionless PDEs, recently introduced just at a formal level, concentrating on the prototypical example of the Pavlov equation, and to justify an existence theorem for global bounded solutions of the associated Cauchy problem with small data. An essential part of this work was made during the visit of the three authors to the Centro Internacional de Ciencias in Cuernavaca, Mexico in November-December 2012.

  14. The Aharonov–Bohm effect in scattering theory

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

    Sitenko, Yu.A., E-mail: yusitenko@bitp.kiev.ua; Vlasii, N.D.

    2013-12-15

    The Aharonov–Bohm effect is considered as a scattering event with nonrelativistic charged particles of the wavelength which is less than the transverse size of an impenetrable magnetic vortex. The quasiclassical WKB method is shown to be efficient in solving this scattering problem. We find that the scattering cross section consists of two terms, one describing the classical phenomenon of elastic reflection and another one describing the quantum phenomenon of diffraction; the Aharonov–Bohm effect is manifested as a fringe shift in the diffraction pattern. Both the classical and the quantum phenomena are independent of the choice of a boundary condition atmore » the vortex edge, providing that probability is conserved. We show that a propagation of charged particles can be controlled by altering the flux of a magnetic vortex placed on their way. -- Highlights: •Aharonov–Bohm effect as a scattering event. •Impenetrable magnetic vortex of nonzero transverse size. •Scattering cross section is independent of a self-adjoint extension employed. •Classical phenomenon of elastic reflection and quantum phenomenon of diffraction. •Aharonov–Bohm effect as a fringe shift in the diffraction pattern.« less

  15. 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

  16. Training Interdisciplinary "Wicked Problem" Solvers: Applying Lessons from HERO in Community-Based Research Experiences for Undergraduates

    ERIC Educational Resources Information Center

    Cantor, Alida; DeLauer, Verna; Martin, Deborah; Rogan, John

    2015-01-01

    Management of "wicked problems", messy real-world problems that defy resolution, requires thinkers who can transcend disciplinary boundaries, work collaboratively, and handle complexity and obstacles. This paper explores how educators can train undergraduates in these skills through applied community-based research, using the example of…

  17. ILS Scattering Problem and Signal Detection Model

    DOT National Transportation Integrated Search

    1972-02-01

    The construction of a mathematical model of The Instrument Landing System (ILS) multipath problem was undertaken. This report presents the theoretical basis for any such model, a critique of previous models and newly achieve developments in ILS model...

  18. Numerical techniques in radiative heat transfer for general, scattering, plane-parallel media

    NASA Technical Reports Server (NTRS)

    Sharma, A.; Cogley, A. C.

    1982-01-01

    The study of radiative heat transfer with scattering usually leads to the solution of singular Fredholm integral equations. The present paper presents an accurate and efficient numerical method to solve certain integral equations that govern radiative equilibrium problems in plane-parallel geometry for both grey and nongrey, anisotropically scattering media. In particular, the nongrey problem is represented by a spectral integral of a system of nonlinear integral equations in space, which has not been solved previously. The numerical technique is constructed to handle this unique nongrey governing equation as well as the difficulties caused by singular kernels. Example problems are solved and the method's accuracy and computational speed are analyzed.

  19. A full-angle Monte-Carlo scattering technique including cumulative and single-event Rutherford scattering in plasmas [Theory of cumulative large-angle collisions in plasmas

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

    Higginson, Drew P.

    Here, we describe and justify a full-angle scattering (FAS) method to faithfully reproduce the accumulated differential angular Rutherford scattering probability distribution function (pdf) of particles in a plasma. The FAS method splits the scattering events into two regions. At small angles it is described by cumulative scattering events resulting, via the central limit theorem, in a Gaussian-like pdf; at larger angles it is described by single-event scatters and retains a pdf that follows the form of the Rutherford differential cross-section. The FAS method is verified using discrete Monte-Carlo scattering simulations run at small timesteps to include each individual scattering event.more » We identify the FAS regime of interest as where the ratio of temporal/spatial scale-of-interest to slowing-down time/length is from 10 -3 to 0.3–0.7; the upper limit corresponds to Coulomb logarithm of 20–2, respectively. Two test problems, high-velocity interpenetrating plasma flows and keV-temperature ion equilibration, are used to highlight systems where including FAS is important to capture relevant physics.« less

  20. A full-angle Monte-Carlo scattering technique including cumulative and single-event Rutherford scattering in plasmas [Theory of cumulative large-angle collisions in plasmas

    DOE PAGES

    Higginson, Drew P.

    2017-08-12

    Here, we describe and justify a full-angle scattering (FAS) method to faithfully reproduce the accumulated differential angular Rutherford scattering probability distribution function (pdf) of particles in a plasma. The FAS method splits the scattering events into two regions. At small angles it is described by cumulative scattering events resulting, via the central limit theorem, in a Gaussian-like pdf; at larger angles it is described by single-event scatters and retains a pdf that follows the form of the Rutherford differential cross-section. The FAS method is verified using discrete Monte-Carlo scattering simulations run at small timesteps to include each individual scattering event.more » We identify the FAS regime of interest as where the ratio of temporal/spatial scale-of-interest to slowing-down time/length is from 10 -3 to 0.3–0.7; the upper limit corresponds to Coulomb logarithm of 20–2, respectively. Two test problems, high-velocity interpenetrating plasma flows and keV-temperature ion equilibration, are used to highlight systems where including FAS is important to capture relevant physics.« less

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

    NASA Technical Reports Server (NTRS)

    Yang, Kyung-Soo; Ferziger, Joel H.

    1993-01-01

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

  2. A numerical study of a vertical solar air collector with obstacle

    NASA Astrophysics Data System (ADS)

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

    2016-07-01

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

  3. Evaluation of a Multicomponent, Behaviorally Oriented, Problem-Based "Summer School" Program for Adolescents with Diabetes.

    ERIC Educational Resources Information Center

    Schlundt, David G.; Flannery, Mary Ellen; Davis, Dianne L.; Kinzer, Charles K.; Pichert, James W.

    1999-01-01

    Examines a two-week summer program using problem-based learning and behavior therapy to help adolescents with insulin-dependent diabetes improve their ability to cope with obstacles to dietary management. Improvements were observed in self-efficacy, problem-solving skills, and self-reported coping strategies. No significant changes were observed…

  4. Radiation and scattering by thin-wire structures in the complex frequency domain. [electromagnetic theory for thin-wire antennas

    NASA Technical Reports Server (NTRS)

    Richmond, J. H.

    1974-01-01

    Piecewise-sinusoidal expansion functions and Galerkin's method are employed to formulate a solution for an arbitrary thin-wire configuration in a homogeneous conducting medium. The analysis is performed in the real or complex frequency domain. In antenna problems, the solution determines the current distribution, impedance, radiation efficiency, gain and far-field patterns. In scattering problems, the solution determines the absorption cross section, scattering cross section and the polarization scattering matrix. The electromagnetic theory is presented for thin wires and the forward-scattering theorem is developed for an arbitrary target in a homogeneous conducting medium.

  5. 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

  6. Novel Descattering Approach for Stereo Vision in Dense Suspended Scatterer Environments

    PubMed Central

    Nguyen, Chanh D. Tr.; Park, Jihyuk; Cho, Kyeong-Yong; Kim, Kyung-Soo; Kim, Soohyun

    2017-01-01

    In this paper, we propose a model-based scattering removal method for stereo vision for robot manipulation in indoor scattering media where the commonly used ranging sensors are unable to work. Stereo vision is an inherently ill-posed and challenging problem. It is even more difficult in the case of images of dense fog or dense steam scenes illuminated by active light sources. Images taken in such environments suffer attenuation of object radiance and scattering of the active light sources. To solve this problem, we first derive the imaging model for images taken in a dense scattering medium with a single active illumination close to the cameras. Based on this physical model, the non-uniform backscattering signal is efficiently removed. The descattered images are then utilized as the input images of stereo vision. The performance of the method is evaluated based on the quality of the depth map from stereo vision. We also demonstrate the effectiveness of the proposed method by carrying out the real robot manipulation task. PMID:28629139

  7. On the Forward Scattering of Microwave Breast Imaging

    PubMed Central

    Lui, Hoi-Shun; Fhager, Andreas; Persson, Mikael

    2012-01-01

    Microwave imaging for breast cancer detection has been of significant interest for the last two decades. Recent studies focus on solving the imaging problem using an inverse scattering approach. Efforts have mainly been focused on the development of the inverse scattering algorithms, experimental setup, antenna design and clinical trials. However, the success of microwave breast imaging also heavily relies on the quality of the forward data such that the tumor inside the breast volume is well illuminated. In this work, a numerical study of the forward scattering data is conducted. The scattering behavior of simple breast models under different polarization states and aspect angles of illumination are considered. Numerical results have demonstrated that better data contrast could be obtained when the breast volume is illuminated using cross-polarized components in linear polarization basis or the copolarized components in the circular polarization basis. PMID:22611371

  8. 78 FR 48800 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-08-12

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

  9. 77 FR 12452 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-03-01

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

  10. Potential-splitting approach applied to the Temkin-Poet model for electron scattering off the hydrogen atom and the helium ion

    NASA Astrophysics Data System (ADS)

    Yarevsky, E.; Yakovlev, S. L.; Larson, Å; Elander, N.

    2015-06-01

    The study of scattering processes in few body systems is a difficult problem especially if long range interactions are involved. In order to solve such problems, we develop here a potential-splitting approach for three-body systems. This approach is based on splitting the reaction potential into a finite range core part and a long range tail part. The solution to the Schrödinger equation for the long range tail Hamiltonian is found analytically, and used as an incoming wave in the three body scattering problem. This reformulation of the scattering problem makes it suitable for treatment by the exterior complex scaling technique in the sense that the problem after the complex dilation is reduced to a boundary value problem with zero boundary conditions. We illustrate the method with calculations on the electron scattering off the hydrogen atom and the positive helium ion in the frame of the Temkin-Poet model.

  11. HIV prevention in prisons and jails: obstacles and opportunities.

    PubMed Central

    Polonsky, S; Kerr, S; Harris, B; Gaiter, J; Fichtner, R R; Kennedy, M G

    1994-01-01

    High rates of human immunodeficiency virus (HIV) infection among jail and prison inmates suggest that HIV prevention efforts should focus on incarcerated populations. Overcrowding, the high prevalence of injection drug use, and other high-risk behaviors among inmates create a prime opportunity for public health officials to affect the course of the HIV epidemic if they can remedy these problems. Yet, along with the opportunity, there are certain obstacles that correctional institutions present to public health efforts. The various jurisdictions have differing approaches to HIV prevention and control. Whether testing should be mandatory or voluntary, whether housing should be integrated or segregated by HIV serostatus, and whether condoms, bleach, or clean needles should be made available to the prisoners, are questions hotly debated by public health and correctional officials. Even accurate assessment of risk-taking within the institutions leads to controversy, as asking questions could imply acceptance of the very behaviors correctional officials are trying to prevent. Education and risk-reduction counseling are the least controversial and most widely employed modes of prevention, but the effectiveness of current prevention efforts in reducing HIV transmission in this high-risk population is largely undetermined. PMID:7938381

  12. Bounds on complex polarizabilities and a new perspective on scattering by a lossy inclusion

    NASA Astrophysics Data System (ADS)

    Milton, Graeme W.

    2017-09-01

    Here, we obtain explicit formulas for bounds on the complex electrical polarizability at a given frequency of an inclusion with known volume that follow directly from the quasistatic bounds of Bergman and Milton on the effective complex dielectric constant of a two-phase medium. We also describe how analogous bounds on the orientationally averaged bulk and shear polarizabilities at a given frequency can be obtained from bounds on the effective complex bulk and shear moduli of a two-phase medium obtained by Milton, Gibiansky, and Berryman, using the quasistatic variational principles of Cherkaev and Gibiansky. We also show how the polarizability problem and the acoustic scattering problem can both be reformulated in an abstract setting as "Y problems." In the acoustic scattering context, to avoid explicit introduction of the Sommerfeld radiation condition, we introduce auxiliary fields at infinity and an appropriate "constitutive law" there, which forces the Sommerfeld radiation condition to hold. As a consequence, we obtain minimization variational principles for acoustic scattering that can be used to obtain bounds on the complex backwards scattering amplitude. Some explicit elementary bounds are given.

  13. 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

  14. 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.

  15. Improved scatter correction using adaptive scatter kernel superposition

    NASA Astrophysics Data System (ADS)

    Sun, M.; Star-Lack, J. M.

    2010-11-01

    Accurate scatter correction is required to produce high-quality reconstructions of x-ray cone-beam computed tomography (CBCT) scans. This paper describes new scatter kernel superposition (SKS) algorithms for deconvolving scatter from projection data. The algorithms are designed to improve upon the conventional approach whose accuracy is limited by the use of symmetric kernels that characterize the scatter properties of uniform slabs. To model scatter transport in more realistic objects, nonstationary kernels, whose shapes adapt to local thickness variations in the projection data, are proposed. Two methods are introduced: (1) adaptive scatter kernel superposition (ASKS) requiring spatial domain convolutions and (2) fast adaptive scatter kernel superposition (fASKS) where, through a linearity approximation, convolution is efficiently performed in Fourier space. The conventional SKS algorithm, ASKS, and fASKS, were tested with Monte Carlo simulations and with phantom data acquired on a table-top CBCT system matching the Varian On-Board Imager (OBI). All three models accounted for scatter point-spread broadening due to object thickening, object edge effects, detector scatter properties and an anti-scatter grid. Hounsfield unit (HU) errors in reconstructions of a large pelvis phantom with a measured maximum scatter-to-primary ratio over 200% were reduced from -90 ± 58 HU (mean ± standard deviation) with no scatter correction to 53 ± 82 HU with SKS, to 19 ± 25 HU with fASKS and to 13 ± 21 HU with ASKS. HU accuracies and measured contrast were similarly improved in reconstructions of a body-sized elliptical Catphan phantom. The results show that the adaptive SKS methods offer significant advantages over the conventional scatter deconvolution technique.

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

    NASA Astrophysics Data System (ADS)

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

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

  17. Early history of neutron scattering at oak ridge

    NASA Astrophysics Data System (ADS)

    Wilkinson, M. K.

    1986-03-01

    Most of the early development of neutron scattering techniques utilizing reactor neutrons occurred at the Oak Ridge National Laboratory during the years immediately following World War II. C.G. Shull, E.O. Wollan, and their associates systematically established neutron diffraction as a quantitative research tool and then applied this technique to important problems in nuclear physics, chemical crystallography, and magnetism. This article briefly summarizes the very important research at ORNL during this period, which laid the foundation for the establishment of neutron scattering programs throughout the world.

  18. 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.

  19. Wakes from submerged obstacles in an open channel flow

    NASA Astrophysics Data System (ADS)

    Smith, Geoffrey B.; Marmorino, George; Dong, Charles; Miller, W. D.; Mied, Richard

    2015-11-01

    Wakes from several submerged obstacles are examined via airborne remote sensing. The primary focus will be bathymetric features in the tidal Potomac river south of Washington, DC, but others may be included as well. In the Potomac the water depth is nominally 10 m with an obstacle height of 8 m, or 80% of the depth. Infrared imagery of the water surface reveals thermal structure suitable both for interpretation of the coherent structures and for estimating surface currents. A novel image processing technique is used to generate two independent scenes with a known time offset from a single overpass from the infrared imagery, suitable for velocity estimation. Color imagery of the suspended sediment also shows suitable texture. Both the `mountain wave' regime and a traditional turbulent wake are observed, depending on flow conditions. Results are validated with in-situ ADCP transects. A computational model is used to further interpret the results.

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

    NASA Astrophysics Data System (ADS)

    Halterman, Ryan; Bruch, Michael

    2010-04-01

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