Aggregate assesment and durability evaluation of optimized graded concrete in the state of Oklahoma

NASA Astrophysics Data System (ADS)

Ghaeezadeh, Ashkan

This research is a part of a larger project that emphasizes on creating a more scientific approach to designing concrete mixtures for concrete pavements that use less cement and more aggregate which is called optimized graded concrete. The most challenging obstacle in optimized mixtures is reaching enough workability so that one doesn't have to add more cement or super-plasticizer to reach the desired level of flowability. Aggregate gradation and characteristics have found to be very important when it comes to the workabaility of optimized graded concrete. In this research a new automated method of aggregate assessment was used to compare the shape and the surface of different aggregates as well as their influence on the concrete flowability. At the end, the performance of optimized graded concrete against drying shrinkage and freezing and thawing condition were investigated.

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 expected from complex environments with many obstacles. PMID:26696601

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

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.

Optimizing phase to enhance optical trap stiffness.

PubMed

Taylor, Michael A

2017-04-03

Phase optimization offers promising capabilities in optical tweezers, allowing huge increases in the applied forces, trap stiff-ness, or measurement sensitivity. One key obstacle to potential applications is the lack of an efficient algorithm to compute an optimized phase profile, with enhanced trapping experiments relying on slow programs that would take up to a week to converge. Here we introduce an algorithm that reduces the wait from days to minutes. We characterize the achievable in-crease in trap stiffness and its dependence on particle size, refractive index, and optical polarization. We further show that phase-only control can achieve almost all of the enhancement possible with full wavefront shaping; for instance phase control allows 62 times higher trap stiffness for 10 μm silica spheres in water, while amplitude control and non-trivial polarization further increase this by 1.26 and 1.01 respectively. This algorithm will facilitate future applications in optical trapping, and more generally in wavefront optimization.

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.

Level-set techniques for facies identification in reservoir modeling

NASA Astrophysics Data System (ADS)

Iglesias, Marco A.; McLaughlin, Dennis

2011-03-01

In this paper we investigate the application of level-set techniques for facies identification in reservoir models. The identification of facies is a geometrical inverse ill-posed problem that we formulate in terms of shape optimization. The goal is to find a region (a geologic facies) that minimizes the misfit between predicted and measured data from an oil-water reservoir. In order to address the shape optimization problem, we present a novel application of the level-set iterative framework developed by Burger in (2002 Interfaces Free Bound. 5 301-29 2004 Inverse Problems 20 259-82) for inverse obstacle problems. The optimization is constrained by (the reservoir model) a nonlinear large-scale system of PDEs that describes the reservoir dynamics. We reformulate this reservoir model in a weak (integral) form whose shape derivative can be formally computed from standard results of shape calculus. At each iteration of the scheme, the current estimate of the shape derivative is utilized to define a velocity in the level-set equation. The proper selection of this velocity ensures that the new shape decreases the cost functional. We present results of facies identification where the velocity is computed with the gradient-based (GB) approach of Burger (2002) and the Levenberg-Marquardt (LM) technique of Burger (2004). While an adjoint formulation allows the straightforward application of the GB approach, the LM technique requires the computation of the large-scale Karush-Kuhn-Tucker system that arises at each iteration of the scheme. We efficiently solve this system by means of the representer method. We present some synthetic experiments to show and compare the capabilities and limitations of the proposed implementations of level-set techniques for the identification of geologic facies.

Strategies for Achieving the New SHAPE America Standards and Grade-Level Outcomes: Bringing Obstacle Course Training into Physical Education

ERIC Educational Resources Information Center

Kulik, Keri S.; Brewer, Hannah; Windish, Lance; Carlson, Hollie

2017-01-01

The new SHAPE America standards and grade level outcomes for high-school physical education focus exclusively on physical activities that are suitable for lifelong participation. Some of the fastest-growing physical activities for adults in the United States are non-traditional multi-sport events and obstacle course races. As "Healthy People…

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.

Swim pressure on walls with curves and corners.

PubMed

Smallenburg, Frank; Löwen, Hartmut

2015-09-01

The concept of swim pressure quantifies the average force exerted by microswimmers on confining walls in nonequilibrium. Here we explore how the swim pressure depends on the wall curvature and on the presence of sharp corners in the wall. For active Brownian particles at high dilution, we present a coherent framework which describes the force and torque on passive particles of arbitrary shape, in the limit of large particles compared to the persistence length of the swimmer trajectories. The resulting forces can be used to derive, for example, the activity-induced depletion interaction between two disks, as well as to optimize the shape of a tracer particle for high swimming velocity. Our predictions are verifiable in experiments on passive obstacles exposed to a bath of bacteria or artificial microswimmers.

Swim pressure on walls with curves and corners

NASA Astrophysics Data System (ADS)

Smallenburg, Frank; Löwen, Hartmut

2015-09-01

The concept of swim pressure quantifies the average force exerted by microswimmers on confining walls in nonequilibrium. Here we explore how the swim pressure depends on the wall curvature and on the presence of sharp corners in the wall. For active Brownian particles at high dilution, we present a coherent framework which describes the force and torque on passive particles of arbitrary shape, in the limit of large particles compared to the persistence length of the swimmer trajectories. The resulting forces can be used to derive, for example, the activity-induced depletion interaction between two disks, as well as to optimize the shape of a tracer particle for high swimming velocity. Our predictions are verifiable in experiments on passive obstacles exposed to a bath of bacteria or artificial microswimmers.

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

NASA Astrophysics Data System (ADS)

Poryles, Raphaël; Varas, Germán; Vidal, Valérie

2017-06-01

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

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

NASA Astrophysics Data System (ADS)

Singh, Harkirat; Wahi, Pankaj

2017-08-01

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

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

PubMed Central

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

2018-01-01

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

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

PubMed

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

2018-01-01

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

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…

Optimal path planning for a mobile robot using cuckoo search algorithm

NASA Astrophysics Data System (ADS)

Mohanty, Prases K.; Parhi, Dayal R.

2016-03-01

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

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

Ishii, H.; Fujino, H.; Bian, Z.

In this study, two types of marker-based tracking methods for Augmented Reality have been developed. One is a method which employs line-shaped markers and the other is a method which employs circular-shaped markers. These two methods recognize the markers by means of image processing and calculate the relative position and orientation between the markers and the camera in real time. The line-shaped markers are suitable to be pasted in the buildings such as NPPs where many pipes and tanks exist. The circular-shaped markers are suitable for the case that there are many obstacles and it is difficult to use line-shapedmore » markers because the obstacles hide the part of the line-shaped markers. Both methods can extend the maximum distance between the markers and the camera compared to the legacy marker-based tracking methods. (authors)« less

Brain activation related to the perception of minimal agency cues: the role of the mirror system.

PubMed

Stosic, Marina; Brass, Marcel; Van Hoeck, Nicole; Ma, Ning; Van Overwalle, Frank

2014-02-01

Recent fMRI studies indicate that the posterior superior temporal sulcus (pSTS) and the mirror system are involved in analyzing goal-directed actions performed by non-human objects. However, these studies have some limitations: the animations showed moving shapes that resemble humans and human movement, or showed the interaction of two moving shapes rather than one alone. This may have prompted participants to assume a human agent instead of an object. To avoid this potential confound, in this study, animations showed a small circular shape (agent) jumping toward a bigger circular shape (goal) with an obstacle separating them. We manipulated agency of the small circular shape by showing its movements as self-propelled (Agent condition) or as launched by a lever mechanism (Non-agent condition). The small shape succeeded in avoiding an obstacle and reaching the goal object or failed to do so. Our results showed that goal-directed actions performed by an agentic shape recruited the mirror system (the inferior parietal lobe and the premotor cortex) in comparison with shapes that were launched. Success or failure to avoid the obstacle had no effect on these areas. These results complement and further extend previous findings indicating that the mirror system does not appear to be selective for biological actions and their goals, nor does it require the presence of a human, human body parts or human-made objects. Instead, it seems to play a general role in representing goal-directed actions of agents regardless of their form. © 2013.

Evaluation of the in-service safety performance of safety-shape and vertical concrete barriers.

DOT National Transportation Integrated Search

2011-12-16

Roadside concrete barriers have been widely used to protect errant motorists from hitting : roadside hazards or obstacles. Two concrete barrier profiles, vertical and safety-shape, have been used : for this purpose. The safety-shape profile has been ...

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.

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

PubMed

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

2015-06-22

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

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

NASA Astrophysics Data System (ADS)

Zhao, Ming; Han, Baoling

2016-11-01

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

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

NASA Astrophysics Data System (ADS)

Mandal, A. K.; Wahi, P.

2015-03-01

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

Constrained trajectory optimization for kinematically redundant arms

NASA Technical Reports Server (NTRS)

Carignan, Craig R.; Tarrant, Janice M.

1990-01-01

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

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.

Generic Dynamic Environment Perception Using Smart Mobile Devices.

PubMed

Danescu, Radu; Itu, Razvan; Petrovai, Andra

2016-10-17

The driving environment is complex and dynamic, and the attention of the driver is continuously challenged, therefore computer based assistance achieved by processing image and sensor data may increase traffic safety. While active sensors and stereovision have the advantage of obtaining 3D data directly, monocular vision is easy to set up, and can benefit from the increasing computational power of smart mobile devices, and from the fact that almost all of them come with an embedded camera. Several driving assistance application are available for mobile devices, but they are mostly targeted for simple scenarios and a limited range of obstacle shapes and poses. This paper presents a technique for generic, shape independent real-time obstacle detection for mobile devices, based on a dynamic, free form 3D representation of the environment: the particle based occupancy grid. Images acquired in real time from the smart mobile device's camera are processed by removing the perspective effect and segmenting the resulted bird-eye view image to identify candidate obstacle areas, which are then used to update the occupancy grid. The occupancy grid tracked cells are grouped into obstacles depicted as cuboids having position, size, orientation and speed. The easy to set up system is able to reliably detect most obstacles in urban traffic, and its measurement accuracy is comparable to a stereovision system.

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.

Reactive navigation in extremely dense and highly intricate environments

PubMed Central

2017-01-01

Reactive navigation is a well-known paradigm for controlling an autonomous mobile robot, which suggests making all control decisions through some light processing of the current/recent sensor data. Among the many advantages of this paradigm are: 1) the possibility to apply it to robots with limited and low-priced hardware resources, and 2) the fact of being able to safely navigate a robot in completely unknown environments containing unpredictable moving obstacles. As a major disadvantage, nevertheless, the reactive paradigm may occasionally cause robots to get trapped in certain areas of the environment—typically, these conflicting areas have a large concave shape and/or are full of closely-spaced obstacles. In this last respect, an enormous effort has been devoted to overcome such a serious drawback during the last two decades. As a result of this effort, a substantial number of new approaches for reactive navigation have been put forward. Some of these approaches have clearly improved the way how a reactively-controlled robot can move among densely cluttered obstacles; some other approaches have essentially focused on increasing the variety of obstacle shapes and sizes that could be successfully circumnavigated; etc. In this paper, as a starting point, we choose the best existing reactive approach to move in densely cluttered environments, and we also choose the existing reactive approach with the greatest ability to circumvent large intricate-shaped obstacles. Then, we combine these two approaches in a way that makes the most of them. From the experimental point of view, we use both simulated and real scenarios of challenging complexity for testing purposes. In such scenarios, we demonstrate that the combined approach herein proposed clearly outperforms the two individual approaches on which it is built. PMID:29287078

Political economy challenges in nutrition.

PubMed

Balarajan, Yarlini; Reich, Michael R

2016-11-05

Historically, implementing nutrition policy has confronted persistent obstacles, with many of these obstacles arising from political economy sources. While there has been increased global policy attention to improving nutrition in recent years, the difficulty of translating this policy momentum into results remains. We present key political economy themes emanating from the political economy of nutrition literature. Together, these interrelated themes create a complex web of obstacles to moving nutrition policy forward. From these themes, we frame six political economy challenges facing the implementation of nutrition policy today. Building awareness of the broader political and economic issues that shape nutrition actions and adopting a more systematic approach to political economy analysis may help to mitigate these challenges. Improving nutrition will require managing the political economy challenges that persist in the nutrition field at global, national and subnational levels. We argue that a "mindshift" is required to build greater awareness of the broader political economy factors shaping the global nutrition landscape; and to embed systematic political economy analysis into the work of stakeholders navigating this field. This mindshift may help to improve the political feasibility of efforts to reform nutrition policy and implementation-and ensure that historical legacies do not continue to shape the future.

Generic Dynamic Environment Perception Using Smart Mobile Devices

PubMed Central

Danescu, Radu; Itu, Razvan; Petrovai, Andra

2016-01-01

The driving environment is complex and dynamic, and the attention of the driver is continuously challenged, therefore computer based assistance achieved by processing image and sensor data may increase traffic safety. While active sensors and stereovision have the advantage of obtaining 3D data directly, monocular vision is easy to set up, and can benefit from the increasing computational power of smart mobile devices, and from the fact that almost all of them come with an embedded camera. Several driving assistance application are available for mobile devices, but they are mostly targeted for simple scenarios and a limited range of obstacle shapes and poses. This paper presents a technique for generic, shape independent real-time obstacle detection for mobile devices, based on a dynamic, free form 3D representation of the environment: the particle based occupancy grid. Images acquired in real time from the smart mobile device’s camera are processed by removing the perspective effect and segmenting the resulted bird-eye view image to identify candidate obstacle areas, which are then used to update the occupancy grid. The occupancy grid tracked cells are grouped into obstacles depicted as cuboids having position, size, orientation and speed. The easy to set up system is able to reliably detect most obstacles in urban traffic, and its measurement accuracy is comparable to a stereovision system. PMID:27763501

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

Analytical study on the self-healing property of Bessel beam

NASA Astrophysics Data System (ADS)

Chu, X.

2012-10-01

With the help of Babinet principle, an analytical expression for the self-healing of Bessel beam is derived by using the Gaussian absorption function to describe the obstacle. Based on the analytical expression, the self-healing properties of Bessel beam are studied. It shows that Bessel beam has the ability to reconstruct its beam shape disturbed by an obstacle. However, during the self-healing process, not only the intensity of the beam behind the obstacle but also the other part will be affected by the obstruction. Meanwhile, the highlight spot, which intensity is larger than that without the obstacle will appear, and the size and strength of the highlight spot is determined by the size of the obstacle. From the change of Poynting vector and Babinet principle, the physical interpretations for the self-healing ability, the effects of the obstruction on the other part and the appearance of highlight spot are given.

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

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

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

PubMed

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

2008-01-01

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

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

PubMed

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

2014-07-01

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

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

NASA Technical Reports Server (NTRS)

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

1972-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1972-01-01

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

Two dimensional numerical analysis of snow avalanche interaction with structures

NASA Astrophysics Data System (ADS)

Bovet, Eloïse; Chiaia, Bernardino; Preziosi, Luigi

2010-05-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

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).

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

NASA Astrophysics Data System (ADS)

Wang, Yong; Ma, Jianming; Wang, Ying

2017-05-01

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

Optimized Diffusion of Run-and-Tumble Particles in Crowded Environments

NASA Astrophysics Data System (ADS)

Bertrand, Thibault; Zhao, Yongfeng; Bénichou, Olivier; Tailleur, Julien; Voituriez, Raphaël

2018-05-01

We study the transport of self-propelled particles in dynamic complex environments. To obtain exact results, we introduce a model of run-and-tumble particles (RTPs) moving in discrete time on a d -dimensional cubic lattice in the presence of diffusing hard-core obstacles. We derive an explicit expression for the diffusivity of the RTP, which is exact in the limit of low density of fixed obstacles. To do so, we introduce a generalization of Kac's theorem on the mean return times of Markov processes, which we expect to be relevant for a large class of lattice gas problems. Our results show the diffusivity of RTPs to be nonmonotonic in the tumbling probability for low enough obstacle mobility. These results prove the potential for the optimization of the transport of RTPs in crowded and disordered environments with applications to motile artificial and biological systems.

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.

Using distributed partial memories to improve self-organizing collective movements.

PubMed

Winder, Ransom; Reggia, James A

2004-08-01

Past self-organizing models of collectively moving "particles" (simulated bird flocks, fish schools, etc.) have typically been based on purely reflexive agents that have no significant memory of past movements. We hypothesized that giving such individual particles a limited distributed memory of past obstacles they encountered could lead to significantly faster travel between goal destinations. Systematic computational experiments using six terrains that had different arrangements of obstacles demonstrated that, at least in some domains, this conjecture is true. Furthermore, these experiments demonstrated that improved performance over time came not only from the avoidance of previously seen obstacles, but also (surprisingly) immediately after first encountering obstacles due to decreased delays in circumventing those obstacles. Simulations also showed that, of the four strategies we tested for removal of remembered obstacles when memory was full and a new obstacle was to be saved, none was better than random selection. These results may be useful in interpreting future experimental research on group movements in biological populations, and in improving existing methodologies for control of collective movements in computer graphics, robotic teams, particle swarm optimization, and computer games.

Research on Flow Field Perception Based on Artificial Lateral Line Sensor System.

PubMed

Liu, Guijie; Wang, Mengmeng; Wang, Anyi; Wang, Shirui; Yang, Tingting; Malekian, Reza; Li, Zhixiong

2018-03-11

In nature, the lateral line of fish is a peculiar and important organ for sensing the surrounding hydrodynamic environment, preying, escaping from predators and schooling. In this paper, by imitating the mechanism of fish lateral canal neuromasts, we developed an artificial lateral line system composed of micro-pressure sensors. Through hydrodynamic simulations, an optimized sensor structure was obtained and the pressure distribution models of the lateral surface were established in uniform flow and turbulent flow. Carrying out the corresponding underwater experiment, the validity of the numerical simulation method is verified by the comparison between the experimental data and the simulation results. In addition, a variety of effective research methods are proposed and validated for the flow velocity estimation and attitude perception in turbulent flow, respectively and the shape recognition of obstacles is realized by the neural network algorithm.

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.

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

PubMed Central

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

2015-01-01

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

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

PubMed

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

2015-05-01

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

Improvement of quality of 3D printed objects by elimination of microscopic structural defects in fused deposition modeling.

PubMed

Gordeev, Evgeniy G; Galushko, Alexey S; Ananikov, Valentine P

2018-01-01

Additive manufacturing with fused deposition modeling (FDM) is currently optimized for a wide range of research and commercial applications. The major disadvantage of FDM-created products is their low quality and structural defects (porosity), which impose an obstacle to utilizing them in functional prototyping and direct digital manufacturing of objects intended to contact with gases and liquids. This article describes a simple and efficient approach for assessing the quality of 3D printed objects. Using this approach it was shown that the wall permeability of a printed object depends on its geometric shape and is gradually reduced in a following series: cylinder > cube > pyramid > sphere > cone. Filament feed rate, wall geometry and G-code-defined wall structure were found as primary parameters that influence the quality of 3D-printed products. Optimization of these parameters led to an overall increase in quality and improvement of sealing properties. It was demonstrated that high quality of 3D printed objects can be achieved using routinely available printers and standard filaments.

Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

PubMed Central

Farvardin, Amirhossein; Grupp, Robert; Murphy, Ryan J.; Taylor, Russell H.; Iordachita, Iulian

2016-01-01

Dexterous continuum manipulators (DCMs) can largely increase the reachable region and steerability for minimally and less invasive surgery. Many such procedures require the DCM to be capable of producing large deflections. The real-time control of the DCM shape requires sensors that accurately detect and report large deflections. We propose a novel, large deflection, shape sensor to track the shape of a 35 mm DCM designed for a less invasive treatment of osteolysis. Two shape sensors, each with three fiber Bragg grating sensing nodes is embedded within the DCM, and the sensors’ distal ends fixed to the DCM. The DCM centerline is computed using the centerlines of each sensor curve. An experimental platform was built and different groups of experiments were carried out, including free bending and three cases of bending with obstacles. For each experiment, the DCM drive cable was pulled with a precise linear slide stage, the DCM centerline was calculated, and a 2D camera image was captured for verification. The reconstructed shape created with the shape sensors is compared with the ground truth generated by executing a 2D–3D registration between the camera image and 3D DCM model. Results show that the distal tip tracking accuracy is 0.40 ± 0.30 mm for the free bending and 0.61 ± 0.15 mm, 0.93 ± 0.05 mm and 0.23 ± 0.10 mm for three cases of bending with obstacles. The data suggest FBG arrays can accurately characterize the shape of large-deflection DCMs. PMID:27761103

The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm.

PubMed

Han, Gaining; Fu, Weiping; Wang, Wen

2016-01-01

In the behavior dynamics model, behavior competition leads to the shock problem of the intelligent vehicle navigation path, because of the simultaneous occurrence of the time-variant target behavior and obstacle avoidance behavior. Considering the safety and real-time of intelligent vehicle, the particle swarm optimization (PSO) algorithm is proposed to solve these problems for the optimization of weight coefficients of the heading angle and the path velocity. Firstly, according to the behavior dynamics model, the fitness function is defined concerning the intelligent vehicle driving characteristics, the distance between intelligent vehicle and obstacle, and distance of intelligent vehicle and target. Secondly, behavior coordination parameters that minimize the fitness function are obtained by particle swarm optimization algorithms. Finally, the simulation results show that the optimization method and its fitness function can improve the perturbations of the vehicle planning path and real-time and reliability.

The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm

PubMed Central

Han, Gaining; Fu, Weiping; Wang, Wen

2016-01-01

In the behavior dynamics model, behavior competition leads to the shock problem of the intelligent vehicle navigation path, because of the simultaneous occurrence of the time-variant target behavior and obstacle avoidance behavior. Considering the safety and real-time of intelligent vehicle, the particle swarm optimization (PSO) algorithm is proposed to solve these problems for the optimization of weight coefficients of the heading angle and the path velocity. Firstly, according to the behavior dynamics model, the fitness function is defined concerning the intelligent vehicle driving characteristics, the distance between intelligent vehicle and obstacle, and distance of intelligent vehicle and target. Secondly, behavior coordination parameters that minimize the fitness function are obtained by particle swarm optimization algorithms. Finally, the simulation results show that the optimization method and its fitness function can improve the perturbations of the vehicle planning path and real-time and reliability. PMID:26880881

Experimental and LES investigation of premixed methane/air flame propagating in a tube with a thin obstacle

NASA Astrophysics Data System (ADS)

Chen, Peng; Guo, Shilong; Li, Yanchao; Zhang, Yutao

2017-03-01

In this paper, an experimental and numerical investigation of premixed methane/air flame dynamics in a closed combustion vessel with a thin obstacle is described. In the experiment, high-speed video photography and a pressure transducer are used to study the flame shape changes and pressure dynamics. In the numerical simulation, four sub-grid scale viscosity models and three sub-grid scale combustion models are evaluated for their individual prediction compared with the experimental data. High-speed photographs show that the flame propagation process can be divided into five stages: spherical flame, finger-shaped flame, jet flame, mushroom-shaped flame and bidirectional propagation flame. Compared with the other sub-grid scale viscosity models and sub-grid scale combustion models, the dynamic Smagorinsky-Lilly model and the power-law flame wrinkling model are better able to predict the flame behaviour, respectively. Thus, coupling the dynamic Smagorinsky-Lilly model and the power-law flame wrinkling model, the numerical results demonstrate that flame shape change is a purely hydrodynamic phenomenon, and the mushroom-shaped flame and bidirectional propagation flame are the result of flame-vortex interaction. In addition, the transition from "corrugated flamelets" to "thin reaction zones" is observed in the simulation.

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.

Optimal path planning for video-guided smart munitions via multitarget tracking

NASA Astrophysics Data System (ADS)

Borkowski, Jeffrey M.; Vasquez, Juan R.

2006-05-01

An advent in the development of smart munitions entails autonomously modifying target selection during flight in order to maximize the value of the target being destroyed. A unique guidance law can be constructed that exploits both attribute and kinematic data obtained from an onboard video sensor. An optimal path planning algorithm has been developed with the goals of obstacle avoidance and maximizing the value of the target impacted by the munition. Target identification and classification provides a basis for target value which is used in conjunction with multi-target tracks to determine an optimal waypoint for the munition. A dynamically feasible trajectory is computed to provide constraints on the waypoint selection. Results demonstrate the ability of the autonomous system to avoid moving obstacles and revise target selection in flight.

Wheelchair Navigation System for Disabled and Elderly People

PubMed Central

Kim, Eun Yi

2016-01-01

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

Path Planning Method in Multi-obstacle Marine Environment

NASA Astrophysics Data System (ADS)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

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

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.

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

Shape-assisted body reorientation enhances trafficability through cluttered terrain

NASA Astrophysics Data System (ADS)

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

2014-11-01

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

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.

Control Algorithms for a Shape-shifting Tracked Robotic Vehicle Climbing Obstacles

DTIC Science & Technology

2008-12-01

robot be- havioural skills. The Swiss Federal Institute of Technology is developing the shape-shifting robotic platform Octopus [6] (Figure l(b...and traverse steep (a) Lurker (b) Octopus (c) NUGV (d) Chaos (e) STRV Figure 1: Shape-shifting robotic vehicles in different research labs. DRDC...situations. The system is assumed stuck when vv?; + v~ + v’i) < 0.01 mls or Vx < O. Only forward movements are considered in this work, for this reason

Clogging and depinning of ballistic active matter systems in disordered media

NASA Astrophysics Data System (ADS)

Reichhardt, C.; Reichhardt, C. J. O.

2018-05-01

We numerically examine ballistic active disks driven through a random obstacle array. Formation of a pinned or clogged state occurs at much lower obstacle densities for the active disks than for passive disks. As a function of obstacle density, we identify several distinct phases including a depinned fluctuating cluster state, a pinned single-cluster or jammed state, a pinned multicluster state, a pinned gel state, and a pinned disordered state. At lower active disk densities, a drifting uniform liquid forms in the absence of obstacles, but when even a small number of obstacles are introduced, the disks organize into a pinned phase-separated cluster state in which clusters nucleate around the obstacles, similar to a wetting phenomenon. We examine how the depinning threshold changes as a function of disk or obstacle density and find a crossover from a collectively pinned cluster state to a disordered plastic depinning transition as a function of increasing obstacle density. We compare this to the behavior of nonballistic active particles and show that as we vary the activity from completely passive to completely ballistic, a clogged phase-separated state appears in both the active and passive limits, while for intermediate activity, a readily flowing liquid state appears and there is an optimal activity level that maximizes the flux through the sample.

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.

Bioinspired morphing wings for extended flight envelope and roll control of small drones.

PubMed

Di Luca, M; Mintchev, S; Heitz, G; Noca, F; Floreano, D

2017-02-06

Small-winged drones can face highly varied aerodynamic requirements, such as high manoeuvrability for flight among obstacles and high wind resistance for constant ground speed against strong headwinds that cannot all be optimally addressed by a single aerodynamic profile. Several bird species solve this problem by changing the shape of their wings to adapt to the different aerodynamic requirements. Here, we describe a novel morphing wing design composed of artificial feathers that can rapidly modify its geometry to fulfil different aerodynamic requirements. We show that a fully deployed configuration enhances manoeuvrability while a folded configuration offers low drag at high speeds and is beneficial in strong headwinds. We also show that asymmetric folding of the wings can be used for roll control of the drone. The aerodynamic performance of the morphing wing is characterized in simulations, in wind tunnel measurements and validated in outdoor flights with a small drone.

Research on Flow Field Perception Based on Artificial Lateral Line Sensor System

PubMed Central

Wang, Anyi; Wang, Shirui; Yang, Tingting

2018-01-01

In nature, the lateral line of fish is a peculiar and important organ for sensing the surrounding hydrodynamic environment, preying, escaping from predators and schooling. In this paper, by imitating the mechanism of fish lateral canal neuromasts, we developed an artificial lateral line system composed of micro-pressure sensors. Through hydrodynamic simulations, an optimized sensor structure was obtained and the pressure distribution models of the lateral surface were established in uniform flow and turbulent flow. Carrying out the corresponding underwater experiment, the validity of the numerical simulation method is verified by the comparison between the experimental data and the simulation results. In addition, a variety of effective research methods are proposed and validated for the flow velocity estimation and attitude perception in turbulent flow, respectively and the shape recognition of obstacles is realized by the neural network algorithm. PMID:29534499

Bioinspired morphing wings for extended flight envelope and roll control of small drones

PubMed Central

Heitz, G.; Noca, F.; Floreano, D.

2017-01-01

Small-winged drones can face highly varied aerodynamic requirements, such as high manoeuvrability for flight among obstacles and high wind resistance for constant ground speed against strong headwinds that cannot all be optimally addressed by a single aerodynamic profile. Several bird species solve this problem by changing the shape of their wings to adapt to the different aerodynamic requirements. Here, we describe a novel morphing wing design composed of artificial feathers that can rapidly modify its geometry to fulfil different aerodynamic requirements. We show that a fully deployed configuration enhances manoeuvrability while a folded configuration offers low drag at high speeds and is beneficial in strong headwinds. We also show that asymmetric folding of the wings can be used for roll control of the drone. The aerodynamic performance of the morphing wing is characterized in simulations, in wind tunnel measurements and validated in outdoor flights with a small drone. PMID:28163882

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.

Reducing Stator Current Harmonics for a Doubly-Fed Induction Generator Connected to a Distorted Grid

DTIC Science & Technology

2013-09-01

electric grid voltage harmonics, which is a potential obstacle for implementing stable wind -energy systems. Two existing rotor voltage controllers...electric grid voltage harmonics, which is a potential obstacle for implementing stable wind -energy systems. Two existing rotor voltage controllers...speed of the DFIG can be adjusted to optimize turbine efficiency for given wind conditions. A common method for controlling the operating speed is

Jig-Shape Optimization of a Low-Boom Supersonic Aircraft

NASA Technical Reports Server (NTRS)

Pak, Chan-Gi

2018-01-01

A simple approach for optimizing the jig-shape is proposed in this study. This simple approach is based on an unconstrained optimization problem and applied to a low-boom supersonic aircraft. In this study, the jig-shape optimization is performed using the two-step approach. First, starting design variables are computed using the least-squares surface fitting technique. Next, the jig-shape is further tuned using a numerical optimization procedure based on an in-house object-oriented optimization tool. During the numerical optimization procedure, a design jig-shape is determined by the baseline jig-shape and basis functions. A total of 12 symmetric mode shapes of the cruise-weight configuration, rigid pitch shape, rigid left and right stabilator rotation shapes, and a residual shape are selected as sixteen basis functions. After three optimization runs, the trim shape error distribution is improved, and the maximum trim shape error of 0.9844 inches of the starting configuration becomes 0.00367 inch by the end of the third optimization run.

Load sharing in the growth of bundled biopolymers

PubMed Central

Wang, Ruizhe; Carlsson, A. E.

2014-01-01

To elucidate the nature of load sharing in the growth of multiple biopolymers, we perform stochastic simulations of the growth of biopolymer bundles against obstacles under a broad range of conditions and varying assumptions. The obstacle motion due to thermal fluctuations is treated explicitly. We assume the “Perfect Brownian Ratchet” (PBR) model, in which the polymerization rate equals the free-filament rate as soon as the filament-obstacle distance exceeds the monomer size. Accurate closed-form formulas are obtained for the case of a rapidly moving obstacle. We find the following: (1) load sharing is usually sub-perfect in the sense that polymerization is slower than for a single filament carrying the same average force; (2) the sub-perfect behavior becomes significant at a total force proportional to the logarithm or the square root of the number of filaments, depending on the alignment of the filaments; (3) for the special case of slow barrier diffusion and low opposing force, an enhanced obstacle velocity for an increasing number of filaments is possible; (4) the obstacle velocity is very sensitive to the alignment of the filaments in the bundle, with a staggered alignment being an order of magnitude faster than an unstaggered one at forces of only 0.5 pN per filament for 20 filaments; (5) for large numbers of filaments, the power is maximized at a force well below 1 pN per filament; (6) for intermediate values of the obstacle diffusion coefficient, the shape of the force velocity relation is very similar to that for rapid obstacle diffusion. PMID:25489273

Load sharing in the growth of bundled biopolymers.

PubMed

Wang, Ruizhe; Carlsson, A E

2014-11-01

To elucidate the nature of load sharing in the growth of multiple biopolymers, we perform stochastic simulations of the growth of biopolymer bundles against obstacles under a broad range of conditions and varying assumptions. The obstacle motion due to thermal fluctuations is treated explicitly. We assume the "Perfect Brownian Ratchet" (PBR) model, in which the polymerization rate equals the free-filament rate as soon as the filament-obstacle distance exceeds the monomer size. Accurate closed-form formulas are obtained for the case of a rapidly moving obstacle. We find the following: (1) load sharing is usually sub-perfect in the sense that polymerization is slower than for a single filament carrying the same average force; (2) the sub-perfect behavior becomes significant at a total force proportional to the logarithm or the square root of the number of filaments, depending on the alignment of the filaments; (3) for the special case of slow barrier diffusion and low opposing force, an enhanced obstacle velocity for an increasing number of filaments is possible; (4) the obstacle velocity is very sensitive to the alignment of the filaments in the bundle, with a staggered alignment being an order of magnitude faster than an unstaggered one at forces of only 0.5 pN per filament for 20 filaments; (5) for large numbers of filaments, the power is maximized at a force well below 1 pN per filament; (6) for intermediate values of the obstacle diffusion coefficient, the shape of the force velocity relation is very similar to that for rapid obstacle diffusion.

Optimal Navigation of Self-Propelled Colloids in Microstructured Mazes

NASA Astrophysics Data System (ADS)

Yang, Yuguang; Bevan, Michael

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

Depletion forces on circular and elliptical obstacles induced by active matter

NASA Astrophysics Data System (ADS)

Leite, L. R.; Lucena, D.; Potiguar, F. Q.; Ferreira, W. P.

2016-12-01

Depletion forces exerted by self-propelled particles on circular and elliptical passive objects are studied using numerical simulations. We show that a bath of active particles can induce repulsive and attractive forces which are sensitive to the shape and orientation of the passive objects (either horizontal or vertical ellipses). The resultant force on the passive objects due to the active particles is studied as a function of the shape and orientation of the passive objects, magnitude of the angular noise, and distance between the passive objects. By increasing the distance between obstacles the magnitude of the repulsive depletion force increases, as long as such a distance is less than one active particle diameter. For longer distances, the magnitude of the force always decreases with increasing distance. We also found that attractive forces may arise for vertical ellipses at high enough area fraction.

Depletion forces on circular and elliptical obstacles induced by active matter.

PubMed

Leite, L R; Lucena, D; Potiguar, F Q; Ferreira, W P

2016-12-01

Depletion forces exerted by self-propelled particles on circular and elliptical passive objects are studied using numerical simulations. We show that a bath of active particles can induce repulsive and attractive forces which are sensitive to the shape and orientation of the passive objects (either horizontal or vertical ellipses). The resultant force on the passive objects due to the active particles is studied as a function of the shape and orientation of the passive objects, magnitude of the angular noise, and distance between the passive objects. By increasing the distance between obstacles the magnitude of the repulsive depletion force increases, as long as such a distance is less than one active particle diameter. For longer distances, the magnitude of the force always decreases with increasing distance. We also found that attractive forces may arise for vertical ellipses at high enough area fraction.

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.

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

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

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

1990-09-01

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

Dynamic path planning for mobile robot based on particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

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

An efficient approach for inverse kinematics and redundancy resolution scheme of hyper-redundant manipulators

NASA Astrophysics Data System (ADS)

Chembuly, V. V. M. J. Satish; Voruganti, Hari Kumar

2018-04-01

Hyper redundant manipulators have a large number of degrees of freedom (DOF) than the required to perform a given task. Additional DOF of manipulators provide the flexibility to work in highly cluttered environment and in constrained workspaces. Inverse kinematics (IK) of hyper-redundant manipulators is complicated due to large number of DOF and these manipulators have multiple IK solutions. The redundancy gives a choice of selecting best solution out of multiple solutions based on certain criteria such as obstacle avoidance, singularity avoidance, joint limit avoidance and joint torque minimization. This paper focuses on IK solution and redundancy resolution of hyper-redundant manipulator using classical optimization approach. Joint positions are computed by optimizing various criteria for a serial hyper redundant manipulators while traversing different paths in the workspace. Several cases are addressed using this scheme to obtain the inverse kinematic solution while optimizing the criteria like obstacle avoidance, joint limit avoidance.

An Information-Centric Approach to Autonomous Trajectory Planning Utilizing Optimal Control Techniques

DTIC Science & Technology

2009-09-01

to promote one way as the best, but to show there are several ways to define the problem. 107 Figure 71. Final Orientation/Obstacle Scenario...a comparison of the running cost vs. distance from an obstacle for varying values of p. Simulations have shown that for 4p  , the running cost...sliding door example. This scenario shows a major weakness when conducting trajectory planning using snapshots in a dynamic environment

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Determining the standoff distance of the bow shock: Mach number dependence and use of models

NASA Technical Reports Server (NTRS)

Farris, M. H.; Russell, C. T.

1994-01-01

We explore the factors that determine the bow shock standoff distance. These factors include the parameters of the solar wind, as well as the size and shape of the obstacle. In this report we develop a semiempirical Mach number relation for the bow shock standoff distance in order to take into account the shock's behavior at low Mach numbers. This is done by determining which properties of the shock are most important in controlling the standoff distance and using this knowledge to modify the current Mach number relation. While the present relation has proven useful at higher Mach numbers, it has lacked effectiveness at the low Mach number limit. We also analyze the bow shock dependence upon the size and shape of the obstacle, noting that it is most appropriate to compare the standoff distance of the bow shock to the radius of curvature of the obstacle, as opposed to the distance from the focus of the object to the nose. Last, we focus our attention on the use of bow shock models in determining the standoff distance. We note that the physical behavior of the shock must correctly be taken into account, specifically the behavior as a function of solar wind dynamic pressure; otherwise, erroneous results can be obtained for the bow shock standoff distance.

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

PubMed

Pundlik, Shrinivas; Tomasi, Matteo; Luo, Gang

2015-04-01

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

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

NASA Technical Reports Server (NTRS)

Veverka, J.; Thomas, P.

1984-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

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.

C1,1 regularity for degenerate elliptic obstacle problems

NASA Astrophysics Data System (ADS)

Daskalopoulos, Panagiota; Feehan, Paul M. N.

2016-03-01

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

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

DTIC Science & Technology

1991-03-01

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

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

PubMed

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

1996-06-01

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

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.

Mechanical diffraction in a sand-specialist snake

NASA Astrophysics Data System (ADS)

Schiebel, Perrin E.; Rieser, Jennifer M.; Hubbard, Alex M.; Chen, Lillian; Goldman, Daniel I.

Limbless locomotors such as snakes move by pressing the trunk against terrain heterogeneities. Our laboratory studies of the desert-dwelling Mojave Shovel-nosed snake (C. occipitalis, 40cm long, N=9) reveal that these animals use a stereotyped sinusoidal traveling wave of curvature. However, this snake also encounters rigid obstacles in its natural environment, and the tradeoff between using a cyclic, shape controlled gait versus one which changes shape in response to the terrain is not well understood. We challenged individuals to move across a model deformable substrate (carpet) through a row of 6.4 mm diameter force-sensitive pegs, a model of obstacles such as grass, oriented perpendicular to the direction of motion. Instead of forward-directed reaction forces, reaction forces generated by the pegs were more often perpendicular to the direction of motion. Distributions of post-peg travel angles displayed preferred directions revealing a diffraction-like pattern with a central peak at zero and symmetric peaks at 193 ° and 415 °. We observed similar dynamics in a robotic snake using shape-based control. This suggests that this sand-specialist snake adheres to its preferred waveform as opposed to changing in response to heterogeneity.

Experience of the ARGO autonomous vehicle

NASA Astrophysics Data System (ADS)

Bertozzi, Massimo; Broggi, Alberto; Conte, Gianni; Fascioli, Alessandra

1998-07-01

This paper presents and discusses the first results obtained by the GOLD (Generic Obstacle and Lane Detection) system as an automatic driver of ARGO. ARGO is a Lancia Thema passenger car equipped with a vision-based system that allows to extract road and environmental information from the acquired scene. By means of stereo vision, obstacles on the road are detected and localized, while the processing of a single monocular image allows to extract the road geometry in front of the vehicle. The generality of the underlying approach allows to detect generic obstacles (without constraints on shape, color, or symmetry) and to detect lane markings even in dark and in strong shadow conditions. The hardware system consists of a PC Pentium 200 Mhz with MMX technology and a frame-grabber board able to acquire 3 b/w images simultaneously; the result of the processing (position of obstacles and geometry of the road) is used to drive an actuator on the steering wheel, while debug information are presented to the user on an on-board monitor and a led-based control panel.

Search efficiency of biased migration towards stationary or moving targets in heterogeneously structured environments

NASA Astrophysics Data System (ADS)

Azimzade, Youness; Mashaghi, Alireza

2017-12-01

Efficient search acts as a strong selective force in biological systems ranging from cellular populations to predator-prey systems. The search processes commonly involve finding a stationary or mobile target within a heterogeneously structured environment where obstacles limit migration. An open generic question is whether random or directionally biased motions or a combination of both provide an optimal search efficiency and how that depends on the motility and density of targets and obstacles. To address this question, we develop a simple model that involves a random walker searching for its targets in a heterogeneous medium of bond percolation square lattice and used mean first passage time (〈T 〉 ) as an indication of average search time. Our analysis reveals a dual effect of directional bias on the minimum value of 〈T 〉 . For a homogeneous medium, directionality always decreases 〈T 〉 and a pure directional migration (a ballistic motion) serves as the optimized strategy, while for a heterogeneous environment, we find that the optimized strategy involves a combination of directed and random migrations. The relative contribution of these modes is determined by the density of obstacles and motility of targets. Existence of randomness and motility of targets add to the efficiency of search. Our study reveals generic and simple rules that govern search efficiency. Our findings might find application in a number of areas including immunology, cell biology, ecology, and robotics.

Bionic Vision-Based Intelligent Power Line Inspection System

PubMed Central

Ma, Yunpeng; He, Feijia; Xu, Jinxin

2017-01-01

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

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.

A consistent methodology for optimal shape design of graphene sheets to maximize their fundamental frequencies considering topological defects

NASA Astrophysics Data System (ADS)

Shi, Jin-Xing; Ohmura, Keiichiro; Shimoda, Masatoshi; Lei, Xiao-Wen

2018-07-01

In recent years, shape design of graphene sheets (GSs) by introducing topological defects for enhancing their mechanical behaviors has attracted the attention of scholars. In the present work, we propose a consistent methodology for optimal shape design of GSs using a combination of the molecular mechanics (MM) method, the non-parametric shape optimization method, the phase field crystal (PFC) method, Voronoi tessellation, and molecular dynamics (MD) simulation to maximize their fundamental frequencies. At first, we model GSs as continuum frame models using a link between the MM method and continuum mechanics. Then, we carry out optimal shape design of GSs in fundamental frequency maximization problem based on a developed shape optimization method for frames. However, the obtained optimal shapes of GSs only consisting of hexagonal carbon rings are unstable that do not satisfy the principle of least action, so we relocate carbon atoms on the optimal shapes by introducing topological defects using the PFC method and Voronoi tessellation. At last, we perform the structural relaxation through MD simulation to determine the final optimal shapes of GSs. We design two examples of GSs and the optimal results show that the fundamental frequencies of GSs can be significantly enhanced according to the optimal shape design methodology.

Application of particle swarm optimization in path planning of mobile robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

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

Hybrid Motion Planning with Multiple Destinations

NASA Technical Reports Server (NTRS)

Clouse, Jeffery

1998-01-01

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

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.

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

PubMed

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

2018-03-01

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

Optimizing Design Parameters for Sets of Concentric Tube Robots using Sampling-based Motion Planning

PubMed Central

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

2015-01-01

Concentric tube robots are tentacle-like medical robots that can bend around anatomical obstacles to access hard-to-reach clinical targets. The component tubes of these robots can be swapped prior to performing a task in order to customize the robot’s behavior and reachable workspace. Optimizing a robot’s design by appropriately selecting tube parameters can improve the robot’s effectiveness on a procedure-and patient-specific basis. In this paper, we present an algorithm that generates sets of concentric tube robot designs that can collectively maximize the reachable percentage of a given goal region in the human body. Our algorithm combines a search in the design space of a concentric tube robot using a global optimization method with a sampling-based motion planner in the robot’s configuration space in order to find sets of designs that enable motions to goal regions while avoiding contact with anatomical obstacles. We demonstrate the effectiveness of our algorithm in a simulated scenario based on lung anatomy. PMID:26951790

Optimizing Design Parameters for Sets of Concentric Tube Robots using Sampling-based Motion Planning.

PubMed

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

2015-09-28

Concentric tube robots are tentacle-like medical robots that can bend around anatomical obstacles to access hard-to-reach clinical targets. The component tubes of these robots can be swapped prior to performing a task in order to customize the robot's behavior and reachable workspace. Optimizing a robot's design by appropriately selecting tube parameters can improve the robot's effectiveness on a procedure-and patient-specific basis. In this paper, we present an algorithm that generates sets of concentric tube robot designs that can collectively maximize the reachable percentage of a given goal region in the human body. Our algorithm combines a search in the design space of a concentric tube robot using a global optimization method with a sampling-based motion planner in the robot's configuration space in order to find sets of designs that enable motions to goal regions while avoiding contact with anatomical obstacles. We demonstrate the effectiveness of our algorithm in a simulated scenario based on lung anatomy.

General shape optimization capability

NASA Technical Reports Server (NTRS)

Chargin, Mladen K.; Raasch, Ingo; Bruns, Rudolf; Deuermeyer, Dawson

1991-01-01

A method is described for calculating shape sensitivities, within MSC/NASTRAN, in a simple manner without resort to external programs. The method uses natural design variables to define the shape changes in a given structure. Once the shape sensitivities are obtained, the shape optimization process is carried out in a manner similar to property optimization processes. The capability of this method is illustrated by two examples: the shape optimization of a cantilever beam with holes, loaded by a point load at the free end (with the shape of the holes and the thickness of the beam selected as the design variables), and the shape optimization of a connecting rod subjected to several different loading and boundary conditions.

Creating Optimal Learning Environments through Invitational Education: An Alternative to Control Oriented School Reform

ERIC Educational Resources Information Center

Fretz, Joan R.

2015-01-01

Understanding what motivates people to put forth effort, persevere in the face of obstacles, and choose their behaviors is key to creating an optimal learning environment--the type of school that policy makers desire, but are unknowingly sabotaging (Dweck, 2000). Many motivation and self-concept theories provide important insight with regard to…

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.

Profile shape optimization in multi-jet impingement cooling of dimpled topologies for local heat transfer enhancement

NASA Astrophysics Data System (ADS)

Negi, Deepchand Singh; Pattamatta, Arvind

2015-04-01

The present study deals with shape optimization of dimples on the target surface in multi-jet impingement heat transfer. Bezier polynomial formulation is incorporated to generate profile shapes for the dimple profile generation and a multi-objective optimization is performed. The optimized dimple shape exhibits higher local Nusselt number values compared to the reference hemispherical dimpled plate optimized shape which can be used to alleviate local temperature hot spots on target surface.

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.

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.

Jig-Shape Optimization of a Low-Boom Supersonic Aircraft

NASA Technical Reports Server (NTRS)

Pak, Chan-gi

2018-01-01

A simple approach for optimizing the jig-shape is proposed in this study. This simple approach is based on an unconstrained optimization problem and applied to a low-boom supersonic aircraft. In this study, the jig-shape optimization is performed using the two-step approach. First, starting design variables are computed using the least squares surface fitting technique. Next, the jig-shape is further tuned using a numerical optimization procedure based on in-house object-oriented optimization tool.

Optimal angle of needle insertion for fluoroscopy-guided transforaminal epidural injection of L5.

PubMed

Ra, In-Hoo; Min, Woo-Kie

2015-06-01

Unlike other sites, there is difficulty in performing TFESI at the L5-S1 level because the iliac crest is an obstacle to needle placement. The objective of this study was to identify the optimal angle of fluoroscopy for insertion and advancement of a needle during L5 TEFSI. We conducted an observational study of patients undergoing fluoroscopy-guided L5 TFESI in the prone position. A total of 80 patients (40 men and 40 women) with radiating pain of lower limbs were enrolled. During TFESI, we measured the angle at which the L5 vertebral body forms a rectangular shape and compared men and women. Then, we measured area of safe triangle in tilting angle of fluoroscopy from 15° to 35° and compared men and women. The mean cephalocaudal angle, where the vertebral body takes the shape of a rectangle, was 11.0° in men and 13.9° in women (P = 0.007). In men, the triangular area was maximal at 18.3 mm² with an oblique view angle of 25°. In women, the area was maximal at 23.6 mm² with an oblique view angle of 30°. At an oblique view angle of 30° and 35°, the area was significantly greater in women (P < 0.05). When TFESI is performed at the L5 region in the prone position, placement of fluoroscopy at a cephalocaudal angle of 11.0° and an oblique angle of 25° in men and cephalocaudal angle of 13.9° and an oblique angle of 30° in women would be most reasonable. © 2014 World Institute of Pain.

Mission-based guidance system design for autonomous UAVs

NASA Astrophysics Data System (ADS)

Moon, Jongki

The advantages of UAVs in the aviation arena have led to extensive research activities on autonomous technology of UAVs to achieve specific mission objectives. This thesis mainly focuses on the development of a mission-based guidance system. Among various missions expected for future needs, autonomous formation flight (AFF) and obstacle avoidance within safe operation limits are investigated. In the design of an adaptive guidance system for AFF, the leader information except position is assumed to be unknown to a follower. Thus, the only measured information related to the leader is the line-of-sight (LOS) range and angle. Adding an adaptive element with neural networks into the guidance system provides a capability to effectively handle leader's velocity changes. Therefore, this method can be applied to the AFF control systems that use a passive sensing method. In this thesis, an adaptive velocity command guidance system and an adaptive acceleration command guidance system are developed and presented. Since relative degrees of the LOS range and angle are different depending on the outputs from the guidance system, the architecture of the guidance system changes accordingly. Simulations and flight tests are performed using the Georgia Tech UAV helicopter, the GTMax, to evaluate the proposed guidance systems. The simulation results show that the neural network (NN) based adaptive element can improve the tracking performance by effectively compensating for the effect of unknown dynamics. It has also been shown that the combination of an adaptive velocity command guidance system and the existing GTMax autopilot controller performs better than the combination of an adaptive acceleration command guidance system and the GTMax autopilot controller. The successful flight evaluation using an adaptive velocity command guidance system clearly shows that the adaptive guidance control system is a promising solution for autonomous formation flight of UAVs. In addition, an integrated approach is proposed to resolve the conflict between aggressive maneuvering needed for obstacle avoidance and the constrained maneuvering needed for envelope protection. A time-optimal problem with obstacle and envelope constraints is used for an integrated approach for obstacle avoidance and envelope protection. The Nonlinear trajectory generator (NTG) is used as a real-time optimization solver. The computational complexity arising from the obstacle constraints is reduced by converting the obstacle constraints into a safe waypoint constraint along with an implicit requirement that the horizontal velocity during the avoidance maneuver must be nonnegative. The issue of when to initiate a time-optimal avoidance maneuver is addressed by including a requirement that the vehicle must maintain its original flight path to the maximum extent possible. The simulation evaluations are preformed for the nominal case, the unsafe avoidance solution case, the multiple safe waypoint case, and the unidentified obstacle size case. Artificial values for the load factor limit and the longitudinal flap angle limit are imposed as safe operational boundaries. Also, simulation results for different limit values and different initial flight speed are compared. Simulation results using a nonlinear model of a rotary wing UAV demonstrate the feasibility of the proposed approach for obstacle avoidance with envelope protection.

What we have here is a failure to communicate: obstacles to optimal care for preterm birth.

PubMed

Iams, Jay D; Donovan, Edward F; Rose, Barbara; Prasad, Mona

2011-09-01

Obstetricians and pediatricians share the common goal of a healthy beginning for every baby, mother, and family. This article asserts that miscommunication between the specialties, fostered by separate definitions, metrics, and outcomes, is an impediment to optimal care. Solutions are suggested for improving communication and outcomes. Copyright © 2011 Elsevier Inc. All rights reserved.

Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps

PubMed Central

Bowen, Chris; Ye, Gu; Alterovitz, Ron

2015-01-01

In unstructured environments in people’s homes and workspaces, robots executing a task may need to avoid obstacles while satisfying task motion constraints, e.g., keeping a plate of food level to avoid spills or properly orienting a finger to push a button. We introduce a sampling-based method for computing motion plans that are collision-free and minimize a cost metric that encodes task motion constraints. Our time-dependent cost metric, learned from a set of demonstrations, encodes features of a task’s motion that are consistent across the demonstrations and, hence, are likely required to successfully execute the task. Our sampling-based motion planner uses the learned cost metric to compute plans that simultaneously avoid obstacles and satisfy task constraints. The motion planner is asymptotically optimal and minimizes the Mahalanobis distance between the planned trajectory and the distribution of demonstrations in a feature space parameterized by the locations of task-relevant objects. The motion planner also leverages the distribution of the demonstrations to significantly reduce plan computation time. We demonstrate the method’s effectiveness and speed using a small humanoid robot performing tasks requiring both obstacle avoidance and satisfaction of learned task constraints. Note to Practitioners Motivated by the desire to enable robots to autonomously operate in cluttered home and workplace environments, this paper presents an approach for intuitively training a robot in a manner that enables it to repeat the task in novel scenarios and in the presence of unforeseen obstacles in the environment. Based on user-provided demonstrations of the task, our method learns features of the task that are consistent across the demonstrations and that we expect should be repeated by the robot when performing the task. We next present an efficient algorithm for planning robot motions to perform the task based on the learned features while avoiding obstacles. We demonstrate the effectiveness of our motion planner for scenarios requiring transferring a powder and pushing a button in environments with obstacles, and we plan to extend our results to more complex tasks in the future. PMID:26279642

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

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

Shape optimization of road tunnel cross-section by simulated annealing

NASA Astrophysics Data System (ADS)

Sobótka, Maciej; Pachnicz, Michał

2016-06-01

The paper concerns shape optimization of a tunnel excavation cross-section. The study incorporates optimization procedure of the simulated annealing (SA). The form of a cost function derives from the energetic optimality condition, formulated in the authors' previous papers. The utilized algorithm takes advantage of the optimization procedure already published by the authors. Unlike other approaches presented in literature, the one introduced in this paper takes into consideration a practical requirement of preserving fixed clearance gauge. Itasca Flac software is utilized in numerical examples. The optimal excavation shapes are determined for five different in situ stress ratios. This factor significantly affects the optimal topology of excavation. The resulting shapes are elongated in the direction of a principal stress greater value. Moreover, the obtained optimal shapes have smooth contours circumscribing the gauge.

Optimal control of build height utilizing optical profilometry in cold spray deposits

NASA Astrophysics Data System (ADS)

Chakraborty, Abhijit; Shishkin, Sergey; Birnkrant, Michael J.

2017-04-01

Part-to-part variability and poor part quality due to failure to maintain geometric specifications pose a challenge for adopting Additive Manufacturing (AM) as a viable manufacturing process. In recent years, In-process Monitoring and Control (InPMC) has received a lot of attention as an approach to overcome these obstacles. The ability to sense geometry of the deposited layers accurately enables effective process monitoring and control of AM application. This paper demonstrates an application of geometry sensing technique for the coating deposition Cold Spray process, where solid powders are accelerated through a nozzle, collides with the substrate and adheres to it. Often the deposited surface has shape irregularities. This paper proposes an approach to suppress the iregularities by controlling the deposition height. An analytical control-oriented model is developed that expresses the resulting height of deposit as an integral function of nozzle velocity and angle. In order to obtain height information at each layer, a Micro-Epsilon laser line scanner was used for surface profiling after each deposition. This surface profile information, specifically the layer height, was then fed back to an optimal control algorithm which manipulated the nozzle speed to control the layer height to a pre specified height. While the problem is heavily nonlinear, we were able to transform it into equivalent Optimal Control problem linear w.r.t. input. That enabled development of two solution methods: one is fast and approximate, while another is more accurate but still efficient.

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

Navigable points estimation for mobile robots using binary image skeletonization

NASA Astrophysics Data System (ADS)

Martinez S., Fernando; Jacinto G., Edwar; Montiel A., Holman

2017-02-01

This paper describes the use of image skeletonization for the estimation of all the navigable points, inside a scene of mobile robots navigation. Those points are used for computing a valid navigation path, using standard methods. The main idea is to find the middle and the extreme points of the obstacles in the scene, taking into account the robot size, and create a map of navigable points, in order to reduce the amount of information for the planning algorithm. Those points are located by means of the skeletonization of a binary image of the obstacles and the scene background, along with some other digital image processing algorithms. The proposed algorithm automatically gives a variable number of navigable points per obstacle, depending on the complexity of its shape. As well as, the way how the algorithm can change some of their parameters in order to change the final number of the resultant key points is shown. The results shown here were obtained applying different kinds of digital image processing algorithms on static scenes.

Compressible flow about symmetrical Joukowski profiles

NASA Technical Reports Server (NTRS)

Kaplan, Carl

1938-01-01

The method of Poggi is employed for the determination of the effects of compressibility upon the flow past an obstacle. A general expression for the velocity increment due to compressibility is obtained. The general result holds whatever the shape of the obstacle; but, in order to obtain the complete solution, it is necessary to know a certain Fourier expansion of the square of the velocity of flow past the obstacle. An application is made to the case flow of a symmetrical Joukowski profile with a sharp trailing edge, fixed in a stream of an arbitrary angle of attack and with the circulation determined by the Kutta condition. The results are obtained in a closed form and are exact insofar as the second approximation to the compressible flow is concerned, the first approximation being the result for the corresponding incompressible flow. Formulas for lift and moment analogous to the Blasius formulas in incompressible flow are developed and are applied to thin symmetrical Joukowski profiles for small angles of attack.

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

PubMed

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

2001-01-01

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

Optimal motion planning using navigation measure

NASA Astrophysics Data System (ADS)

Vaidya, Umesh

2018-05-01

We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.

Non linear predictive control of a LEGO mobile robot

NASA Astrophysics Data System (ADS)

Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.

2014-10-01

Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.

Factors Influencing Talent Development: Stories of Four Hong Kong Elite Sportspersons

ERIC Educational Resources Information Center

Chan, Regina; Yuen, Mantak

2013-01-01

This article reports on a small-scale qualitative study that investigates how intrapersonal and environmental factors shape the beliefs and experiences of four talented Hong Kong sportsperons. Research questions focus on how their talents were identified and developed, obstacles they encountered, and the major influences on their development.…

Drawn and Quartered: Reflections on Violence in Youth's Art Making

ERIC Educational Resources Information Center

Grube, Victoria J.

2012-01-01

Two eleven-year-old boys face a bulletin board, arranging silver thumbtacks into shapes of fighter planes. The boys' play revolves around the action video game, its language, strategies, heroes, villains, obstacles, and continual updates. As an after-school art teacher and student-teacher supervisor, the contact the author has with young artists…

3 CFR 8570 - Proclamation 8570 of September 27, 2010. Family Day, 2010

Code of Federal Regulations, 2011 CFR

2011-01-01

... influences that can lead to dangerous decisions, such as abusing drugs and alcohol. When parents, loved ones... active parents and guardians play a critical role in keeping our children drug-free, and they can... Committed families shape and guide our children, preparing them for every obstacle they may encounter and...

Change through Empowerment Processes: Women's Stories from South Asia and Latin America.

ERIC Educational Resources Information Center

Stacki, Sandra L.; Monkman, Karen

2003-01-01

Uses case studies of a Latin American woman and a South Asian woman to identify obstacles and facilitators that shaped their lives and paths to empowerment. Presents a model for understanding processes of empowerment and change, particularly change facilitating gender equity. Recognizes a dialectic process involving individual subjective…

The solar wind interaction with Mars - Mariner 4, Mars 2, Mars 3, Mars 5, and Phobos 2 observations of bow shock position and shape

NASA Technical Reports Server (NTRS)

Slavin, J. A.; Schwingenschuh, K.; Riedler, W.; Eroshenko, E.

1991-01-01

An aggregate Mars bow shock data set using Mariner 4, Mars 2, Mars 3, Mars 5, and Phobos 2 observations has been analyzed. The results support the earlier conclusion that the mean distance to the subsolar shock at Mars is nearly 1.5 planetary radii, from which gas dynamic models predict an obstacle altitude of 500 km. The Martian bow shock does not appear to vary significantly in shape or altitude with the phase of the solar cycle. The unusually distant dayside bow shock crossings reported by Mars 2 and 3 also appear in the Phobos 3 observations, suggesting that the dayside obstacle can on rare occasions reach altitudes over 1000 km. The Martian bow shock differs from that of Venus in that its mean altitude is greater, it lacks a strong solar cycle variation, and its location is far more variable, including the occurrence of strong bow shocks over the dayside hemisphere at distances at least as great as the orbit of Phobos 2, i.e., 2.8 Mars radii.

Trajectory optimization for lunar soft landing with complex constraints

NASA Astrophysics Data System (ADS)

Chu, Huiping; Ma, Lin; Wang, Kexin; Shao, Zhijiang; Song, Zhengyu

2017-11-01

A unified trajectory optimization framework with initialization strategies is proposed in this paper for lunar soft landing for various missions with specific requirements. Two main missions of interest are Apollo-like Landing from low lunar orbit and Vertical Takeoff Vertical Landing (a promising mobility method) on the lunar surface. The trajectory optimization is characterized by difficulties arising from discontinuous thrust, multi-phase connections, jump of attitude angle, and obstacles avoidance. Here R-function is applied to deal with the discontinuities of thrust, checkpoint constraints are introduced to connect multiple landing phases, attitude angular rate is designed to get rid of radical changes, and safeguards are imposed to avoid collision with obstacles. The resulting dynamic problems are generally with complex constraints. The unified framework based on Gauss Pseudospectral Method (GPM) and Nonlinear Programming (NLP) solver are designed to solve the problems efficiently. Advanced initialization strategies are developed to enhance both the convergence and computation efficiency. Numerical results demonstrate the adaptability of the framework for various landing missions, and the performance of successful solution of difficult dynamic problems.

Unified Strouhal-Reynolds number relationship for laminar vortex streets generated by different-shaped obstacles.

PubMed

Kim, Ildoo; Wu, X L

2015-10-01

A structure-based Strouhal-Reynolds number relationship, St=1/(A+B/Re), has been recently proposed based on observations of laminar vortex shedding from circular cylinders in a flowing soap film. Since the new St-Re relation was derived from a general physical consideration, it raises the possibility that it may be applicable to vortex shedding from bodies other than circular ones. The work presented herein provides experimental evidence that this is the case. Our measurements also show that, in the asymptotic limit (Re→∞), St(∞)=1/A≃0.21 is constant independent of rod shapes, leaving B the only parameter that is shape dependent.

Planning Paths Through Singularities in the Center of Mass Space

NASA Technical Reports Server (NTRS)

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

1998-01-01

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

Laser radar system for obstacle avoidance

NASA Astrophysics Data System (ADS)

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

2005-09-01

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

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

NASA Astrophysics Data System (ADS)

Strauss, Moshe; Glinsky, Michael E.

2012-06-01

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

Matched Behavioral and Neural Adaptations for Low Sound Level Echolocation in a Gleaning Bat, Antrozous pallidus.

PubMed

Measor, Kevin R; Leavell, Brian C; Brewton, Dustin H; Rumschlag, Jeffrey; Barber, Jesse R; Razak, Khaleel A

2017-01-01

In active sensing, animals make motor adjustments to match sensory inputs to specialized neural circuitry. Here, we describe an active sensing system for sound level processing. The pallid bat uses downward frequency-modulated (FM) sweeps as echolocation calls for general orientation and obstacle avoidance. The bat's auditory cortex contains a region selective for these FM sweeps (FM sweep-selective region, FMSR). We show that the vast majority of FMSR neurons are sensitive and strongly selective for relatively low levels (30-60 dB SPL). Behavioral testing shows that when a flying bat approaches a target, it reduces output call levels to keep echo levels between ∼30 and 55 dB SPL. Thus, the pallid bat behaviorally matches echo levels to an optimized neural representation of sound levels. FMSR neurons are more selective for sound levels of FM sweeps than tones, suggesting that across-frequency integration enhances level tuning. Level-dependent timing of high-frequency sideband inhibition in the receptive field shapes increased level selectivity for FM sweeps. Together with previous studies, these data indicate that the same receptive field properties shape multiple filters (sweep direction, rate, and level) for FM sweeps, a sound common in multiple vocalizations, including human speech. The matched behavioral and neural adaptations for low-intensity echolocation in the pallid bat will facilitate foraging with reduced probability of acoustic detection by prey.

Matched Behavioral and Neural Adaptations for Low Sound Level Echolocation in a Gleaning Bat, Antrozous pallidus

PubMed Central

Measor, Kevin R.; Leavell, Brian C.; Brewton, Dustin H.; Rumschlag, Jeffrey; Barber, Jesse R.

2017-01-01

Abstract In active sensing, animals make motor adjustments to match sensory inputs to specialized neural circuitry. Here, we describe an active sensing system for sound level processing. The pallid bat uses downward frequency-modulated (FM) sweeps as echolocation calls for general orientation and obstacle avoidance. The bat’s auditory cortex contains a region selective for these FM sweeps (FM sweep-selective region, FMSR). We show that the vast majority of FMSR neurons are sensitive and strongly selective for relatively low levels (30-60 dB SPL). Behavioral testing shows that when a flying bat approaches a target, it reduces output call levels to keep echo levels between ∼30 and 55 dB SPL. Thus, the pallid bat behaviorally matches echo levels to an optimized neural representation of sound levels. FMSR neurons are more selective for sound levels of FM sweeps than tones, suggesting that across-frequency integration enhances level tuning. Level-dependent timing of high-frequency sideband inhibition in the receptive field shapes increased level selectivity for FM sweeps. Together with previous studies, these data indicate that the same receptive field properties shape multiple filters (sweep direction, rate, and level) for FM sweeps, a sound common in multiple vocalizations, including human speech. The matched behavioral and neural adaptations for low-intensity echolocation in the pallid bat will facilitate foraging with reduced probability of acoustic detection by prey. PMID:28275715

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

NASA Technical Reports Server (NTRS)

Blackmore, Lars

2008-01-01

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

Stellar winds and planetary bodies simulations: Magnetized obstacles in super-Alfvénic and sub-Alfvénic flows

NASA Astrophysics Data System (ADS)

Vernisse, Y.; Riousset, J. A.; Motschmann, U.; Glassmeier, K.-H.

2017-03-01

Most planetary bodies are moving in the solar wind, in a stellar wind, or in a plasma flow within the magnetosphere of a planet. The interaction of the body with the flowing plasma provides us with various interaction types, which mainly depend on the flow speed, the magnetization of the body, its conductivity, the presence of an ionosphere, and the size of the body. We establish two cornerstones representing highly magnetized obstacles embedded in a super-Alfvénic and sub-Alfvénic plasma. Those two cornerstones complete the two cornerstones defined in our previous study on inert obstacles in super-Alfvénic and sub-Alfvénic regimes. Tracking the transitions between these cornerstones enable better understanding of the feedback of the obstacle onto the plasma flow. Each interaction is studied by means of the hybrid model simulation code AIKEF. The results are summarized in three dimensional diagrams showing the current structures, which serve as a basis for our descriptions. We identify the major currents such as telluric, magnetosonic, Chapman-Ferraro, and bow-shock currents as the signatures of the particular state of development of the interaction region. We show that each type of interactions can be identified by studying the shape and the magnitude of its specific currents.

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

Osovizky, A.; Rotem Industries Ltd, Rotem Industrial Park; University of Maryland, College park, Maryland

A Chromatic Analysis Neutron Diffractometer Or Reflectometer (CANDOR) is under development at the NIST Center for Neutron Research (NCNR). The CANDOR neutron sensor will rely on scintillator material for detecting the neutrons scattered by the sample under test. It consists of {sup 6}LiF:ZnS(Ag) scintillator material into which wavelength shifting (WLS) fibers have been embedded. Solid state photo-sensors (silicon photomultipliers) coupled to the WLS fibers are used to detect the light produced by the neutron capture event ({sup 6}Li (n,α) {sup 3}H reaction) and ionization of the ZnS(Ag). This detector configuration has the potential to accomplish the CANDOR performance requirements formore » efficiency of 90% for 5 A (3.35 meV) neutrons with high gamma rejection (10{sup 7}) along with compact design, affordable cost and materials availability. However this novel design includes challenges for precise neutron detection. The recognizing of the neutron signature versus the noise event produce by gamma event cannot be easy overcome by pulse height discrimination obstacle as can be achieved with {sup 3}He gas tube. Furthermore the selection of silicon photomultipliers (SiPM) as the light sensor maintains the obstacle of dark noise that does not exist when a photomultiplier tube is coupled to the scintillator. A proper selection of SiPM should focus on increasing the output signal and reducing the dark noise in order to optimize the detection sensitivity and to provide a clean signal pulse shape discrimination. The main parameters for evaluation are: - Quantum Efficiency (QE) - matching the SiPM peak QE with the peak transmission wavelength emission of the WLS. - Recovery time - a short recovery time is preferred to minimize the pulse width beyond the intrinsic decay time of the scintillator crystal (improves the gamma rejection based output pulse shape (time)). - Diode dimensions -The dark noise is proportional to the diode active area while the signal is provided by the WLS fibers; therefore the diode area should ideally be only minimally larger than fiber bundle area. - Low dark noise - it is desirable to minimize the dark noise during the pulse integration period so as to minimize the background for pulse shape discrimination. - Photon Detection Efficiency - it is desirable to increase the SiPM PDE in order to enhance light collection. This will increase the likelihood of detecting neutron events with lower light production and will present a cleaner raw signal for pulse shape discrimination. We will present the SiPM optimization process and studies of dark noise and gamma and neutron sensitivity as a function of bias voltage and operating temperature that have enabled us to optimize the detector sensitivity and gamma rejection. The gamma rejection performance goal requires to overcome the challenge of discriminating between the light signature accepted by neutron event to the one received by the noise. In addition there is a huge variation between the number of light photons that reaching the WLS fibers for different neutron events caused by the heavy ions energy losses prior to ionizing the ZnS(Ag) and the high light attenuation of the scintillation mixture. This variation in the light signal along with the long decay time of the ZnS(Ag) (tens of microseconds) can cause double counting of the same neutron event in the case of high light output signature or preventing the detection of low sequential light output signature neutron event. We will presents the algorithm developed for {sup 6}LiF:ZnS(Ag) sensor readout and the results achieved by an off-line analysis by Matlab software code that successfully achieved both the high gamma rejection with a sensitive and accurate neutron event detection. (authors)« less

Multi-hop path tracing of mobile robot with multi-range image

NASA Astrophysics Data System (ADS)

Choudhury, Ramakanta; Samal, Chandrakanta; Choudhury, Umakanta

2010-02-01

It is well known that image processing depends heavily upon image representation technique . This paper intends to find out the optimal path of mobile robots for a specified area where obstacles are predefined as well as modified. Here the optimal path is represented by using the Quad tree method. Since there has been rising interest in the use of quad tree, we have tried to use the successive subdivision of images into quadrants from which the quad tree is developed. In the quad tree, obstacles-free area and the partial filled area are represented with different notations. After development of quad tree the algorithm is used to find the optimal path by employing neighbor finding technique, with a view to move the robot from the source to destination. The algorithm, here , permeates through the entire tree, and tries to locate the common ancestor for computation. The computation and the algorithm, aim at easing the ability of the robot to trace the optimal path with the help of adjacencies between the neighboring nodes as well as determining such adjacencies in the horizontal, vertical and diagonal directions. In this paper efforts have been made to determine the movement of the adjacent block in the quad tree and to detect the transition between the blocks equal size and finally generate the result.

Optimizing anaerobic soil disinfestation for soilborne disease control

USDA-ARS?s Scientific Manuscript database

Soilborne disease management without chemical fumigants is a major challenge for strawberry production in California. Current re-registrations and regulations are likely to intensify this obstacle by severely limiting availability of fumigants on a large percentage of strawberry acreage. Anaerobic s...

Autonomous terrain characterization and modelling for dynamic control of unmanned vehicles

NASA Technical Reports Server (NTRS)

Talukder, A.; Manduchi, R.; Castano, R.; Owens, K.; Matthies, L.; Castano, A.; Hogg, R.

2002-01-01

This end-to-end obstacle negotiation system is envisioned to be useful in optimized path planning and vehicle navigation in terrain conditions cluttered with vegetation, bushes, rocks, etc. Results on natural terrain with various natural materials are presented.

Subwavelength elastic joints connecting torsional waveguides to maximize the power transmission coefficient

NASA Astrophysics Data System (ADS)

Lee, Joong Seok; Lee, Il Kyu; Seung, Hong Min; Lee, Jun Kyu; Kim, Yoon Young

2017-03-01

Joints with slowly varying tapered shapes, such as linear or exponential profiles, are known to transmit incident wave power efficiently between two waveguides with dissimilar impedances. This statement is valid only when the considered joint length is longer than the wavelengths of the incident waves. When the joint length is shorter than the wavelengths, however, appropriate shapes of such subwavelength joints for efficient power transmission have not been explored much. In this work, considering one-dimensional torsional wave motion in a cylindrical elastic waveguide system, optimal shapes or radial profiles of a subwavelength joint maximizing the power transmission coefficient are designed by a gradient-based optimization formulation. The joint is divided into a number of thin disk elements using the transfer matrix approach and optimal radii of the disks are determined by iterative shape optimization processes for several single or bands of wavenumbers. Due to the subwavelength constraint, the optimized joint profiles were found to be considerably different from the slowly varying tapered shapes. Specifically, for bands of wavenumbers, peculiar gourd-like shapes were obtained as optimal shapes to maximize the power transmission coefficient. Numerical results from the proposed optimization formulation were also experimentally realized to verify the validity of the present designs.

Meshless methods in shape optimization of linear elastic and thermoelastic solids

NASA Astrophysics Data System (ADS)

Bobaru, Florin

This dissertation proposes a meshless approach to problems in shape optimization of elastic and thermoelastic solids. The Element-free Galerkin (EFG) method is used for this purpose. The ability of the EFG to avoid remeshing, that is normally done in a Finite Element approach to correct highly distorted meshes, is clearly demonstrated by several examples. The shape optimization example of a thermal cooling fin shows a dramatic improvement in the objective compared to a previous FEM analysis. More importantly, the new solution, displaying large shape changes contrasted to the initial design, was completely missed by the FEM analysis. The EFG formulation given here for shape optimization "uncovers" new solutions that are, apparently, unobtainable via a FEM approach. This is one of the main achievements of our work. The variational formulations for the analysis problem and for the sensitivity problems are obtained with a penalty method for imposing the displacement boundary conditions. The continuum formulation is general and this facilitates 2D and 3D with minor differences from one another. Also, transient thermoelastic problems can use the present development at each time step to solve shape optimization problems for time-dependent thermal problems. For the elasticity framework, displacement sensitivity is obtained in the EFG context. Excellent agreements with analytical solutions for some test problems are obtained. The shape optimization of a fillet is carried out in great detail, and results show significant improvement of the EFG solution over the FEM or the Boundary Element Method solutions. In our approach we avoid differentiating the complicated EFG shape functions, with respect to the shape design parameters, by using a particular discretization for sensitivity calculations. Displacement and temperature sensitivities are formulated for the shape optimization of a linear thermoelastic solid. Two important examples considered in this work, the optimization of a thermal fin and of a uniformly loaded thermoelastic beam, reveal new characteristics of the EFG method in shape optimization applications. Among other advantages of the EFG method over traditional FEM treatments of shape optimization problems, some of the most important ones are shown to be: elimination of post-processing for stress and strain recovery that directly gives more accurate results in critical positions (near the boundaries, for example) for shape optimization problems; nodes movement flexibility that permits new, better shapes (previously missed by an FEM analysis) to be discovered. Several new research directions that need further consideration are exposed.

Image segmentation using local shape and gray-level appearance models

NASA Astrophysics Data System (ADS)

Seghers, Dieter; Loeckx, Dirk; Maes, Frederik; Suetens, Paul

2006-03-01

A new generic model-based segmentation scheme is presented, which can be trained from examples akin to the Active Shape Model (ASM) approach in order to acquire knowledge about the shape to be segmented and about the gray-level appearance of the object in the image. Because in the ASM approach the intensity and shape models are typically applied alternately during optimizing as first an optimal target location is selected for each landmark separately based on local gray-level appearance information only to which the shape model is fitted subsequently, the ASM may be misled in case of wrongly selected landmark locations. Instead, the proposed approach optimizes for shape and intensity characteristics simultaneously. Local gray-level appearance information at the landmark points extracted from feature images is used to automatically detect a number of plausible candidate locations for each landmark. The shape information is described by multiple landmark-specific statistical models that capture local dependencies between adjacent landmarks on the shape. The shape and intensity models are combined in a single cost function that is optimized non-iteratively using dynamic programming which allows to find the optimal landmark positions using combined shape and intensity information, without the need for initialization.

Anode optimization for miniature electronic brachytherapy X-ray sources using Monte Carlo and computational fluid dynamic codes

PubMed Central

Khajeh, Masoud; Safigholi, Habib

2015-01-01

A miniature X-ray source has been optimized for electronic brachytherapy. The cooling fluid for this device is water. Unlike the radionuclide brachytherapy sources, this source is able to operate at variable voltages and currents to match the dose with the tumor depth. First, Monte Carlo (MC) optimization was performed on the tungsten target-buffer thickness layers versus energy such that the minimum X-ray attenuation occurred. Second optimization was done on the selection of the anode shape based on the Monte Carlo in water TG-43U1 anisotropy function. This optimization was carried out to get the dose anisotropy functions closer to unity at any angle from 0° to 170°. Three anode shapes including cylindrical, spherical, and conical were considered. Moreover, by Computational Fluid Dynamic (CFD) code the optimal target-buffer shape and different nozzle shapes for electronic brachytherapy were evaluated. The characterization criteria of the CFD were the minimum temperature on the anode shape, cooling water, and pressure loss from inlet to outlet. The optimal anode was conical in shape with a conical nozzle. Finally, the TG-43U1 parameters of the optimal source were compared with the literature. PMID:26966563

Three-Dimensional Viscous Alternating Direction Implicit Algorithm and Strategies for Shape Optimization

NASA Technical Reports Server (NTRS)

Pandya, Mohagna J.; Baysal, Oktay

1997-01-01

A gradient-based shape optimization based on quasi-analytical sensitivities has been extended for practical three-dimensional aerodynamic applications. The flow analysis has been rendered by a fully implicit, finite-volume formulation of the Euler and Thin-Layer Navier-Stokes (TLNS) equations. Initially, the viscous laminar flow analysis for a wing has been compared with an independent computational fluid dynamics (CFD) code which has been extensively validated. The new procedure has been demonstrated in the design of a cranked arrow wing at Mach 2.4 with coarse- and fine-grid based computations performed with Euler and TLNS equations. The influence of the initial constraints on the geometry and aerodynamics of the optimized shape has been explored. Various final shapes generated for an identical initial problem formulation but with different optimization path options (coarse or fine grid, Euler or TLNS), have been aerodynamically evaluated via a common fine-grid TLNS-based analysis. The initial constraint conditions show significant bearing on the optimization results. Also, the results demonstrate that to produce an aerodynamically efficient design, it is imperative to include the viscous physics in the optimization procedure with the proper resolution. Based upon the present results, to better utilize the scarce computational resources, it is recommended that, a number of viscous coarse grid cases using either a preconditioned bi-conjugate gradient (PbCG) or an alternating-direction-implicit (ADI) method, should initially be employed to improve the optimization problem definition, the design space and initial shape. Optimized shapes should subsequently be analyzed using a high fidelity (viscous with fine-grid resolution) flow analysis to evaluate their true performance potential. Finally, a viscous fine-grid-based shape optimization should be conducted, using an ADI method, to accurately obtain the final optimized shape.

Quantitative Infrared Spectroscopy in Challenging Environments: Applications to Passive Remote Sensing and Process Monitoring

DTIC Science & Technology

2012-12-01

IR remote sensing o ers a measurement method to detect gaseous species in the outdoor environment. Two major obstacles limit the application of this... method in quantitative analysis : (1) the e ect of both temperature and concentration on the measured spectral intensities and (2) the di culty and...crucial. In this research, particle swarm optimization, a population- based optimization method was applied. Digital ltering and wavelet processing methods

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

NASA Astrophysics Data System (ADS)

Campbell, Eric; Bagchi, Prosenjit

2017-11-01

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

Aerodynamic shape optimization using preconditioned conjugate gradient methods

NASA Technical Reports Server (NTRS)

Burgreen, Greg W.; Baysal, Oktay

1993-01-01

In an effort to further improve upon the latest advancements made in aerodynamic shape optimization procedures, a systematic study is performed to examine several current solution methodologies as applied to various aspects of the optimization procedure. It is demonstrated that preconditioned conjugate gradient-like methodologies dramatically decrease the computational efforts required for such procedures. The design problem investigated is the shape optimization of the upper and lower surfaces of an initially symmetric (NACA-012) airfoil in inviscid transonic flow and at zero degree angle-of-attack. The complete surface shape is represented using a Bezier-Bernstein polynomial. The present optimization method then automatically obtains supercritical airfoil shapes over a variety of freestream Mach numbers. Furthermore, the best optimization strategy examined resulted in a factor of 8 decrease in computational time as well as a factor of 4 decrease in memory over the most efficient strategies in current use.

Neural Architectures for Control

NASA Technical Reports Server (NTRS)

Peterson, James K.

1991-01-01

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

Profile Optimization Method for Robust Airfoil Shape Optimization in Viscous Flow

NASA Technical Reports Server (NTRS)

Li, Wu

2003-01-01

Simulation results obtained by using FUN2D for robust airfoil shape optimization in transonic viscous flow are included to show the potential of the profile optimization method for generating fairly smooth optimal airfoils with no off-design performance degradation.

Dendritic Immunotherapy Improvement for an Optimal Control Murine Model

PubMed Central

Chimal-Eguía, J. C.; Castillo-Montiel, E.

2017-01-01

Therapeutic protocols in immunotherapy are usually proposed following the intuition and experience of the therapist. In order to deduce such protocols mathematical modeling, optimal control and simulations are used instead of the therapist's experience. Clinical efficacy of dendritic cell (DC) vaccines to cancer treatment is still unclear, since dendritic cells face several obstacles in the host environment, such as immunosuppression and poor transference to the lymph nodes reducing the vaccine effect. In view of that, we have created a mathematical murine model to measure the effects of dendritic cell injections admitting such obstacles. In addition, the model considers a therapy given by bolus injections of small duration as opposed to a continual dose. Doses timing defines the therapeutic protocols, which in turn are improved to minimize the tumor mass by an optimal control algorithm. We intend to supplement therapist's experience and intuition in the protocol's implementation. Experimental results made on mice infected with melanoma with and without therapy agree with the model. It is shown that the dendritic cells' percentage that manages to reach the lymph nodes has a crucial impact on the therapy outcome. This suggests that efforts in finding better methods to deliver DC vaccines should be pursued. PMID:28912828

Combined shape and topology optimization for minimization of maximal von Mises stress

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

Lian, Haojie; Christiansen, Asger N.; Tortorelli, Daniel A.

Here, this work shows that a combined shape and topology optimization method can produce optimal 2D designs with minimal stress subject to a volume constraint. The method represents the surface explicitly and discretizes the domain into a simplicial complex which adapts both structural shape and topology. By performing repeated topology and shape optimizations and adaptive mesh updates, we can minimize the maximum von Mises stress using the p-norm stress measure with p-values as high as 30, provided that the stress is calculated with sufficient accuracy.

Combined shape and topology optimization for minimization of maximal von Mises stress

DOE PAGES

Lian, Haojie; Christiansen, Asger N.; Tortorelli, Daniel A.; ...

2017-01-27

Here, this work shows that a combined shape and topology optimization method can produce optimal 2D designs with minimal stress subject to a volume constraint. The method represents the surface explicitly and discretizes the domain into a simplicial complex which adapts both structural shape and topology. By performing repeated topology and shape optimizations and adaptive mesh updates, we can minimize the maximum von Mises stress using the p-norm stress measure with p-values as high as 30, provided that the stress is calculated with sufficient accuracy.

Methodology and Method and Apparatus for Signaling with Capacity Optimized Constellations

NASA Technical Reports Server (NTRS)

Barsoum, Maged F. (Inventor); Jones, Christopher R. (Inventor)

2016-01-01

Design Methodology and Method and Apparatus for Signaling with Capacity Optimized Constellation Abstract Communication systems are described that use geometrically PSK shaped constellations that have increased capacity compared to conventional PSK constellations operating within a similar SNR band. The geometrically shaped PSK constellation is optimized based upon parallel decoding capacity. In many embodiments, a capacity optimized geometrically shaped constellation can be used to replace a conventional constellation as part of a firmware upgrade to transmitters and receivers within a communication system. In a number of embodiments, the geometrically shaped constellation is optimized for an Additive White Gaussian Noise channel or a fading channel. In numerous embodiments, the communication uses adaptive rate encoding and the location of points within the geometrically shaped constellation changes as the code rate changes.

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

PubMed

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

2009-02-01

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

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.

Transient imaging for real-time tracking around a corner

NASA Astrophysics Data System (ADS)

Klein, Jonathan; Laurenzis, Martin; Hullin, Matthias

2016-10-01

Non-line-of-sight imaging is a fascinating emerging area of research and expected to have an impact in numerous application fields including civilian and military sensing. Performance of human perception and situational awareness can be extended by the sensing of shapes and movement around a corner in future scenarios. Rather than seeing through obstacles directly, non-line-of-sight imaging relies on analyzing indirect reflections of light that traveled around the obstacle. In previous work, transient imaging was established as the key mechanic to enable the extraction of useful information from such reflections. So far, a number of different approaches based on transient imaging have been proposed, with back projection being the most prominent one. Different hardware setups were used for the acquisition of the required data, however all of them have severe drawbacks such as limited image quality, long capture time or very high prices. In this paper we propose the analysis of synthetic transient renderings to gain more insights into the transient light transport. With this simulated data, we are no longer bound to the imperfect data of real systems and gain more flexibility and control over the analysis. In a second part, we use the insights of our analysis to formulate a novel reconstruction algorithm. It uses an adapted light simulation to formulate an inverse problem which is solved in an analysis-by-synthesis fashion. Through rigorous optimization of the reconstruction, it then becomes possible to track known objects outside the line of side in real time. Due to the forward formulation of the light transport, the algorithm is easily expandable to more general scenarios or different hardware setups. We therefore expect it to become a viable alternative to the classic back projection approach in the future.

Evaluation of the influence of bottom roughness on parameters of wave flows in channels

NASA Astrophysics Data System (ADS)

Valov, A. O.; Degtyarev, V. V.; Fedorova, N. N.

2018-03-01

In this paper, a comparative analysis of the results of numerical and experimental studies of the parameters of displacement waves in trays of a rectangular cross-sectional shape with different bottom roughness is performed with the "instantaneous" elimination of the obstacle creating the initial level difference. The program ANSYS complex is used in work.

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

NASA Technical Reports Server (NTRS)

Birge, Brian

2013-01-01

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

Pharma and Academia: What We Have Here Is a Failure to Communicate.

PubMed

Birnbaum, Morris J

2016-09-13

In recent years, there has been substantial interest in the potential value of collaboration between academia and the pharmaceutical industry. In this Crosstalk, I discuss obstacles to these relationships being optimally productive. Copyright © 2016 Elsevier Inc. All rights reserved.

Genotyping variability of computationally categorized peach microsatellite markers

USDA-ARS?s Scientific Manuscript database

Numerous expressed sequence tag (EST) simple sequence repeat (SSR) primers can be easily mined out. The obstacle to develop them into usable markers is how to optimally select downsized subsets of the primers for genotyping, which accordingly reduces amplification failure and monomorphism often occu...

A stochastic differential equation model for the foraging behavior of fish schools.

PubMed

Tạ, Tôn Việt; Nguyen, Linh Thi Hoai

2018-03-15

Constructing models of living organisms locating food sources has important implications for understanding animal behavior and for the development of distribution technologies. This paper presents a novel simple model of stochastic differential equations for the foraging behavior of fish schools in a space including obstacles. The model is studied numerically. Three configurations of space with various food locations are considered. In the first configuration, fish swim in free but limited space. All individuals can find food with large probability while keeping their school structure. In the second and third configurations, they move in limited space with one and two obstacles, respectively. Our results reveal that the probability of foraging success is highest in the first configuration, and smallest in the third one. Furthermore, when school size increases up to an optimal value, the probability of foraging success tends to increase. When it exceeds an optimal value, the probability tends to decrease. The results agree with experimental observations.

Underwater Sensor Network Redeployment Algorithm Based on Wolf Search

PubMed Central

Jiang, Peng; Feng, Yang; Wu, Feng

2016-01-01

This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance. PMID:27775659

A stochastic differential equation model for the foraging behavior of fish schools

NASA Astrophysics Data System (ADS)

Tạ, Tôn ệt, Vi; Hoai Nguyen, Linh Thi

2018-05-01

Constructing models of living organisms locating food sources has important implications for understanding animal behavior and for the development of distribution technologies. This paper presents a novel simple model of stochastic differential equations for the foraging behavior of fish schools in a space including obstacles. The model is studied numerically. Three configurations of space with various food locations are considered. In the first configuration, fish swim in free but limited space. All individuals can find food with large probability while keeping their school structure. In the second and third configurations, they move in limited space with one and two obstacles, respectively. Our results reveal that the probability of foraging success is highest in the first configuration, and smallest in the third one. Furthermore, when school size increases up to an optimal value, the probability of foraging success tends to increase. When it exceeds an optimal value, the probability tends to decrease. The results agree with experimental observations.

Shape Optimization for Navier-Stokes Equations with Algebraic Turbulence Model: Existence Analysis

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

Bulicek, Miroslav; Haslinger, Jaroslav; Malek, Josef

2009-10-15

We study a shape optimization problem for the paper machine headbox which distributes a mixture of water and wood fibers in the paper making process. The aim is to find a shape which a priori ensures the given velocity profile on the outlet part. The mathematical formulation leads to an optimal control problem in which the control variable is the shape of the domain representing the header, the state problem is represented by a generalized stationary Navier-Stokes system with nontrivial mixed boundary conditions. In this paper we prove the existence of solutions both to the generalized Navier-Stokes system and tomore » the shape optimization problem.« less

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

Zou, Yun; Zhang, Lehao; Li, Yang

Limitations of strength and formability are the major obstacles to the industrial application of magnesium alloys. Here, we demonstrate, by producing the duplex phases and fine intermetallic particles in composition-optimized superlight Mg-Li-Al alloys, a unique approach to simultaneously improve the comprehensive mechanical properties (a strength-ductility balance). In conclusion, the phase components and microstructures, including the size, morphology, and distribution of precipitated-intermetallic particles can be optimized by tuning the Li content, which strongly influences the work-hardening behavior and tension-compression yield asymmetry.

Methodology and method and appartus for signaling with capacity optimized constellations

NASA Technical Reports Server (NTRS)

Barsoum, Maged F. (Inventor); Jones, Christopher R. (Inventor)

2012-01-01

Communication systems are described that use geometrically shaped constellations that have increased capacity compared to conventional constellations operating within a similar SNR band. In several embodiments, the geometrically shaped is optimized based upon a capacity measure such as parallel decoding capacity or joint capacity. In many embodiments, a capacity optimized geometrically shaped constellation can be used to replace a conventional constellation as part of a firmware upgrade to transmitters and receivers within a communication system. In a number of embodiments, the geometrically shaped constellation is optimized for an Additive White Gaussian Noise channel or a fading channel.

Methodology and Method and Apparatus for Signaling with Capacity Optimized Constellations

NASA Technical Reports Server (NTRS)

Barsoum, Maged F. (Inventor); Jones, Christopher R. (Inventor)

2017-01-01

Communication systems are described that use geometrically shaped constellations that have increased capacity compared to conventional constellations operating within a similar SNR band. In several embodiments, the geometrically shaped is optimized based upon a capacity measure such as parallel decoding capacity or joint capacity. In many embodiments, a capacity optimized geometrically shaped constellation can be used to replace a conventional constellation as part of a firmware upgrade to transmitters and receivers within a communication system. In a number of embodiments, the geometrically shaped constellation is optimized for an Additive White Gaussian Noise channel or a fading channel.

Optimizing coherent anti-Stokes Raman scattering by genetic algorithm controlled pulse shaping

NASA Astrophysics Data System (ADS)

Yang, Wenlong; Sokolov, Alexei

2010-10-01

The hybrid coherent anti-Stokes Raman scattering (CARS) has been successful applied to fast chemical sensitive detections. As the development of femto-second pulse shaping techniques, it is of great interest to find the optimum pulse shapes for CARS. The optimum pulse shapes should minimize the non-resonant four wave mixing (NRFWM) background and maximize the CARS signal. A genetic algorithm (GA) is developed to make a heuristic searching for optimized pulse shapes, which give the best signal the background ratio. The GA is shown to be able to rediscover the hybrid CARS scheme and find optimized pulse shapes for customized applications by itself.

Reliability centered maintenance : a case study of railway transit maintenance to achieve optimal performance.

DOT National Transportation Integrated Search

2010-12-01

The purpose of this qualitative case study was to identify the types of obstacles and patterns experienced by a single heavy rail transit agency located in North America that embedded a Reliability Centered Maintenance (RCM) Process. The outcome of t...

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

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Constrained Burn Optimization for the International Space Station

NASA Technical Reports Server (NTRS)

Brown, Aaron J.; Jones, Brandon A.

2017-01-01

In long-term trajectory planning for the International Space Station (ISS), translational burns are currently targeted sequentially to meet the immediate trajectory constraints, rather than simultaneously to meet all constraints, do not employ gradient-based search techniques, and are not optimized for a minimum total deltav (v) solution. An analytic formulation of the constraint gradients is developed and used in an optimization solver to overcome these obstacles. Two trajectory examples are explored, highlighting the advantage of the proposed method over the current approach, as well as the potential v and propellant savings in the event of propellant shortages.

Deterministic diffusion in flower-shaped billiards.

PubMed

Harayama, Takahisa; Klages, Rainer; Gaspard, Pierre

2002-08-01

We propose a flower-shaped billiard in order to study the irregular parameter dependence of chaotic normal diffusion. Our model is an open system consisting of periodically distributed obstacles in the shape of a flower, and it is strongly chaotic for almost all parameter values. We compute the parameter dependent diffusion coefficient of this model from computer simulations and analyze its functional form using different schemes, all generalizing the simple random walk approximation of Machta and Zwanzig. The improved methods we use are based either on heuristic higher-order corrections to the simple random walk model, on lattice gas simulation methods, or they start from a suitable Green-Kubo formula for diffusion. We show that dynamical correlations, or memory effects, are of crucial importance in reproducing the precise parameter dependence of the diffusion coefficent.

Applied optimal shape design

NASA Astrophysics Data System (ADS)

Mohammadi, B.; Pironneau, O.

2002-12-01

This paper is a short survey of optimal shape design (OSD) for fluids. OSD is an interesting field both mathematically and for industrial applications. Existence, sensitivity, correct discretization are important theoretical issues. Practical implementation issues for airplane designs are critical too. The paper is also a summary of the material covered in our recent book, Applied Optimal Shape Design, Oxford University Press, 2001.

Translator for Optimizing Fluid-Handling Components

NASA Technical Reports Server (NTRS)

Landon, Mark; Perry, Ernest

2007-01-01

A software interface has been devised to facilitate optimization of the shapes of valves, elbows, fittings, and other components used to handle fluids under extreme conditions. This software interface translates data files generated by PLOT3D (a NASA grid-based plotting-and- data-display program) and by computational fluid dynamics (CFD) software into a format in which the files can be read by Sculptor, which is a shape-deformation- and-optimization program. Sculptor enables the user to interactively, smoothly, and arbitrarily deform the surfaces and volumes in two- and three-dimensional CFD models. Sculptor also includes design-optimization algorithms that can be used in conjunction with the arbitrary-shape-deformation components to perform automatic shape optimization. In the optimization process, the output of the CFD software is used as feedback while the optimizer strives to satisfy design criteria that could include, for example, improved values of pressure loss, velocity, flow quality, mass flow, etc.

Methodology and Method and Apparatus for Signaling With Capacity Optimized Constellations

NASA Technical Reports Server (NTRS)

Barsoum, Maged F. (Inventor); Jones, Christopher R. (Inventor)

2014-01-01

Communication systems are described that use geometrically shaped constellations that have increased capacity compared to conventional constellations operating within a similar SNR band. In several embodiments, the geometrically shaped is optimized based upon a capacity measure such as parallel decoding capacity or joint capacity. In many embodiments, a capacity optimized geometrically shaped constellation can be used to replace a conventional constellation as part of a firmware upgrade to transmitters and receivers within a communication system. In a number of embodiments, the geometrically shaped constellation is optimized for an Additive White Gaussian Noise channel or a fading channel. In numerous embodiments, the communication uses adaptive rate encoding and the location of points within the geometrically shaped constellation changes as the code rate changes.

Integrated topology and shape optimization in structural design

NASA Technical Reports Server (NTRS)

Bremicker, M.; Chirehdast, M.; Kikuchi, N.; Papalambros, P. Y.

1990-01-01

Structural optimization procedures usually start from a given design topology and vary its proportions or boundary shapes to achieve optimality under various constraints. Two different categories of structural optimization are distinguished in the literature, namely sizing and shape optimization. A major restriction in both cases is that the design topology is considered fixed and given. Questions concerning the general layout of a design (such as whether a truss or a solid structure should be used) as well as more detailed topology features (e.g., the number and connectivities of bars in a truss or the number of holes in a solid) have to be resolved by design experience before formulating the structural optimization model. Design quality of an optimized structure still depends strongly on engineering intuition. This article presents a novel approach for initiating formal structural optimization at an earlier stage, where the design topology is rigorously generated in addition to selecting shape and size dimensions. A three-phase design process is discussed: an optimal initial topology is created by a homogenization method as a gray level image, which is then transformed to a realizable design using computer vision techniques; this design is then parameterized and treated in detail by sizing and shape optimization. A fully automated process is described for trusses. Optimization of two dimensional solid structures is also discussed. Several application-oriented examples illustrate the usefulness of the proposed methodology.

Undocumented Immigrants and State Higher Education Policy: The Politics of In-State Tuition Eligibility in Texas and Arizona

ERIC Educational Resources Information Center

Dougherty, Kevin J.; Nienhusser, H. Kenny; Vega, Blanca E.

2010-01-01

Every year about 65,000 undocumented students graduate from U.S. high schools. A major obstacle to their attending college is not being eligible for in-state tuition. Today, nine states permit it while four prohibit it. Even if the federal DREAM Act passes, state policy decisions will continue to strongly shape college opportunities for…

A Study of the Spelling Errors Committed by Students of English in Saudi Arabia: Exploration and Remedial Measures

ERIC Educational Resources Information Center

Hameed, Paikar Fatima Mazhar

2016-01-01

The craziness of English spelling has undeniably perplexed learners, especially in an EFL context as in the Kingdom of Saudi Arabia. In these situations, among other obstacles, learners also have to tackle the perpetual and unavoidable problem of MT interference. Sadly, this perplexity takes the shape of a real problem in the language classroom…

Finding the optimal shape of the leading-and-trailing car of a high-speed train using design-by-morphing

NASA Astrophysics Data System (ADS)

Oh, Sahuck; Jiang, Chung-Hsiang; Jiang, Chiyu; Marcus, Philip S.

2017-10-01

We present a new, general design method, called design-by-morphing for an object whose performance is determined by its shape due to hydrodynamic, aerodynamic, structural, or thermal requirements. To illustrate the method, we design a new leading-and-trailing car of a train by morphing existing, baseline leading-and-trailing cars to minimize the drag. In design-by-morphing, the morphing is done by representing the shapes with polygonal meshes and spectrally with a truncated series of spherical harmonics. The optimal design is found by computing the optimal weights of each of the baseline shapes so that the morphed shape has minimum drag. As a result of optimization, we found that with only two baseline trains that mimic current high-speed trains with low drag that the drag of the optimal train is reduced by 8.04% with respect to the baseline train with the smaller drag. When we repeat the optimization by adding a third baseline train that under-performs compared to the other baseline train, the drag of the new optimal train is reduced by 13.46% . This finding shows that bad examples of design are as useful as good examples in determining an optimal design. We show that design-by-morphing can be extended to many engineering problems in which the performance of an object depends on its shape.

Finding the optimal shape of the leading-and-trailing car of a high-speed train using design-by-morphing

NASA Astrophysics Data System (ADS)

Oh, Sahuck; Jiang, Chung-Hsiang; Jiang, Chiyu; Marcus, Philip S.

2018-07-01

We present a new, general design method, called design-by-morphing for an object whose performance is determined by its shape due to hydrodynamic, aerodynamic, structural, or thermal requirements. To illustrate the method, we design a new leading-and-trailing car of a train by morphing existing, baseline leading-and-trailing cars to minimize the drag. In design-by-morphing, the morphing is done by representing the shapes with polygonal meshes and spectrally with a truncated series of spherical harmonics. The optimal design is found by computing the optimal weights of each of the baseline shapes so that the morphed shape has minimum drag. As a result of optimization, we found that with only two baseline trains that mimic current high-speed trains with low drag that the drag of the optimal train is reduced by 8.04% with respect to the baseline train with the smaller drag. When we repeat the optimization by adding a third baseline train that under-performs compared to the other baseline train, the drag of the new optimal train is reduced by 13.46%. This finding shows that bad examples of design are as useful as good examples in determining an optimal design. We show that design-by-morphing can be extended to many engineering problems in which the performance of an object depends on its shape.

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

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

Experimental Semiautonomous Vehicle

NASA Technical Reports Server (NTRS)

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

Teaching Elementary Accounting to Non-Accounting Majors

ERIC Educational Resources Information Center

Lloyd, Cynthia B.; Abbey, Augustus

2009-01-01

A central recurring theme in business education is the optimal strategy for improving introductory accounting, the gateway subject of business education. For many students, especially non-accounting majors, who are required to take introductory accounting as a requirement of the curriculum, introductory accounting has become a major obstacle for…

SLJ's 2011 Technology Survey: Things Are Changing. Fast

ERIC Educational Resources Information Center

Kenney, Brian

2011-01-01

Despite the funding challenges nearly all school libraries face, many media specialists are optimistic about the role of technology in the school library, according to "School Library Journal's" ("SLJ") 2011 Technology Survey. But in spite of the general optimism, others point to some significant obstacles: technological innovations are often…

Optical-to-Tactile Translator

NASA Technical Reports Server (NTRS)

Langevin, Maurice L. (Inventor); Moynihan, Philip I. (Inventor)

2000-01-01

An optical-to-tactile translator provides an aid for the visually impaired by translating a near-field scene to a tactile signal corresponding to said near-field scene. An optical sensor using a plurality of active pixel sensors (APS) converts the optical image within the near-field scene to a digital signal. The digital signal is then processed by a microprocessor and a simple shape signal is generated based on the digital signal. The shape signal is then communicated to a tactile transmitter where the shape signal is converted into a tactile signal using a series of contacts. The shape signal may be an outline of the significant shapes determined in the near-field scene, or the shape signal may comprise a simple symbolic representation of common items encountered repeatedly. The user is thus made aware of the unseen near-field scene, including potential obstacles and dangers, through a series of tactile contacts. In a preferred embodiment, a range determining device such as those commonly found on auto-focusing cameras is included to limit the distance that the optical sensor interprets the near-field scene.

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.

An MPC Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles

DTIC Science & Technology

2015-04-24

from this line to the upper left side is caused by aerodynamic drag. The data for estimating the lateral load transfer coefficients is generated by...2013. [13] J. H. Jeon, R. V. Cowlagi, S. C. Peters, S. Karaman, E. Frazzoli, P. Tsiotras, and K. Iagnemma, “Optimal motion planning with the half- car ...Elsevier, 2005. [21] A. Rucco, G. Notarstefano, and J. Hauser, “Optimal control based dynamics exploration of a rigid car with longitudinal load

Optimal Mass Transport for Shape Matching and Comparison

PubMed Central

Su, Zhengyu; Wang, Yalin; Shi, Rui; Zeng, Wei; Sun, Jian; Luo, Feng; Gu, Xianfeng

2015-01-01

Surface based 3D shape analysis plays a fundamental role in computer vision and medical imaging. This work proposes to use optimal mass transport map for shape matching and comparison, focusing on two important applications including surface registration and shape space. The computation of the optimal mass transport map is based on Monge-Brenier theory, in comparison to the conventional method based on Monge-Kantorovich theory, this method significantly improves the efficiency by reducing computational complexity from O(n2) to O(n). For surface registration problem, one commonly used approach is to use conformal map to convert the shapes into some canonical space. Although conformal mappings have small angle distortions, they may introduce large area distortions which are likely to cause numerical instability thus resulting failures of shape analysis. This work proposes to compose the conformal map with the optimal mass transport map to get the unique area-preserving map, which is intrinsic to the Riemannian metric, unique, and diffeomorphic. For shape space study, this work introduces a novel Riemannian framework, Conformal Wasserstein Shape Space, by combing conformal geometry and optimal mass transport theory. In our work, all metric surfaces with the disk topology are mapped to the unit planar disk by a conformal mapping, which pushes the area element on the surface to a probability measure on the disk. The optimal mass transport provides a map from the shape space of all topological disks with metrics to the Wasserstein space of the disk and the pullback Wasserstein metric equips the shape space with a Riemannian metric. We validate our work by numerous experiments and comparisons with prior approaches and the experimental results demonstrate the efficiency and efficacy of our proposed approach. PMID:26440265

Factors Controlling the Position of the Martian Magnetic Pileup Boundary

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

Study of the near field wake of trips generating an artificially thick turbulent boundary layers

NASA Astrophysics Data System (ADS)

Rodriguez Lopez, Eduardo; Bruce, Paul J. K.; Buxton, Oliver R. H.

2015-11-01

The properties of an artificially thick turbulent boundary layer are influenced by its formation mechanism. Previous work has shown that wake or wall-driven mechanisms dominate boundary layer development depending on the trips' aspect ratio. The current study characterizes these two formation mechanisms through the use of high-speed PIV in the near wake of obstacles arrays on a flat plate in a wind tunnel. The time resolved velocity field is studied using Optimal Mode Decomposition (OMD) generating a low order model which captures the representative motions. Results corroborate the original hypothesis and show that these mechanisms are divided in two families: (i) High aspect ratio trips (cylinders) generate vortices with a wall-normal axis which do not transfer information between the wall and the wake of the obstacle. In this case, the boundary layer growth is wall-driven entraining the low-momentum highly turbulent flow above it. (ii) Low aspect ratio trips generate spanwise vorticity increasing the influence of the obstacle's wake in the wall region (wake-driven mechanism). A high level of correlation with the velocity fluctuations at the wall is maintained in case (ii) for the whole wake while in case (i) the correlation vanishes for heights smaller than half obstacle.

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

PubMed

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

2014-02-01

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

Shape and Reinforcement Optimization of Underground Tunnels

NASA Astrophysics Data System (ADS)

Ghabraie, Kazem; Xie, Yi Min; Huang, Xiaodong; Ren, Gang

Design of support system and selecting an optimum shape for the opening are two important steps in designing excavations in rock masses. Currently selecting the shape and support design are mainly based on designer's judgment and experience. Both of these problems can be viewed as material distribution problems where one needs to find the optimum distribution of a material in a domain. Topology optimization techniques have proved to be useful in solving these kinds of problems in structural design. Recently the application of topology optimization techniques in reinforcement design around underground excavations has been studied by some researchers. In this paper a three-phase material model will be introduced changing between normal rock, reinforced rock, and void. Using such a material model both problems of shape and reinforcement design can be solved together. A well-known topology optimization technique used in structural design is bi-directional evolutionary structural optimization (BESO). In this paper the BESO technique has been extended to simultaneously optimize the shape of the opening and the distribution of reinforcements. Validity and capability of the proposed approach have been investigated through some examples.

Local pursuit strategy-inspired cooperative trajectory planning algorithm for a class of nonlinear constrained dynamical systems

NASA Astrophysics Data System (ADS)

Xu, Yunjun; Remeikas, Charles; Pham, Khanh

2014-03-01

Cooperative trajectory planning is crucial for networked vehicles to respond rapidly in cluttered environments and has a significant impact on many applications such as air traffic or border security monitoring and assessment. One of the challenges in cooperative planning is to find a computationally efficient algorithm that can accommodate both the complexity of the environment and real hardware and configuration constraints of vehicles in the formation. Inspired by a local pursuit strategy observed in foraging ants, feasible and optimal trajectory planning algorithms are proposed in this paper for a class of nonlinear constrained cooperative vehicles in environments with densely populated obstacles. In an iterative hierarchical approach, the local behaviours, such as the formation stability, obstacle avoidance, and individual vehicle's constraints, are considered in each vehicle's (i.e. follower's) decentralised optimisation. The cooperative-level behaviours, such as the inter-vehicle collision avoidance, are considered in the virtual leader's centralised optimisation. Early termination conditions are derived to reduce the computational cost by not wasting time in the local-level optimisation if the virtual leader trajectory does not satisfy those conditions. The expected advantages of the proposed algorithms are (1) the formation can be globally asymptotically maintained in a decentralised manner; (2) each vehicle decides its local trajectory using only the virtual leader and its own information; (3) the formation convergence speed is controlled by one single parameter, which makes it attractive for many practical applications; (4) nonlinear dynamics and many realistic constraints, such as the speed limitation and obstacle avoidance, can be easily considered; (5) inter-vehicle collision avoidance can be guaranteed in both the formation transient stage and the formation steady stage; and (6) the computational cost in finding both the feasible and optimal solutions is low. In particular, the feasible solution can be computed in a very quick fashion. The minimum energy trajectory planning for a group of robots in an obstacle-laden environment is simulated to showcase the advantages of the proposed algorithms.

The effects of relative food item size on optimal tooth cusp sharpness during brittle food item processing

PubMed Central

Berthaume, Michael A.; Dumont, Elizabeth R.; Godfrey, Laurie R.; Grosse, Ian R.

2014-01-01

Teeth are often assumed to be optimal for their function, which allows researchers to derive dietary signatures from tooth shape. Most tooth shape analyses normalize for tooth size, potentially masking the relationship between relative food item size and tooth shape. Here, we model how relative food item size may affect optimal tooth cusp radius of curvature (RoC) during the fracture of brittle food items using a parametric finite-element (FE) model of a four-cusped molar. Morphospaces were created for four different food item sizes by altering cusp RoCs to determine whether optimal tooth shape changed as food item size changed. The morphospaces were also used to investigate whether variation in efficiency metrics (i.e. stresses, energy and optimality) changed as food item size changed. We found that optimal tooth shape changed as food item size changed, but that all optimal morphologies were similar, with one dull cusp that promoted high stresses in the food item and three cusps that acted to stabilize the food item. There were also positive relationships between food item size and the coefficients of variation for stresses in food item and optimality, and negative relationships between food item size and the coefficients of variation for stresses in the enamel and strain energy absorbed by the food item. These results suggest that relative food item size may play a role in selecting for optimal tooth shape, and the magnitude of these selective forces may change depending on food item size and which efficiency metric is being selected. PMID:25320068

Body shape helps legged robots climb and turn in complex 3-D terrains

NASA Astrophysics Data System (ADS)

Han, Yuanfeng; Wang, Zheliang; Li, Chen

Analogous to streamlined shapes that reduce drag in fluids, insects' ellipsoid-like rounded body shapes were recently discovered to be ``terradynamically streamlined'' and enhance locomotion in cluttered terrain by facilitating body rolling. Here, we hypothesize that there exist more terradynamic shapes that facilitate other modes of locomotion like climbing and turning in complex 3-D terrains by facilitating body pitching and yawing. To test our hypothesis, we modified the body shape of a legged robot by adding an elliptical and a rectangular shell and tested how it negotiated with circular and square vertical pillars. With a rectangular shell the robot always pitched against square pillars in an attempt to climb, whereas with an elliptical shell it always yawed and turned away from circular pillars given a small initial lateral displacement. Square / circular pillars facilitated pitching / yawing, respectively. To begin to reveal the contact physics, we developed a locomotion energy landscape model. Our model revealed that potential energy barriers to transition from pitching to yawing are high for angular locomotor and obstacle shapes (rectangular / square) but vanish for rounded shapes (elliptical / circular). Our study supports the plausibility of locomotion energy landscapes for understanding the rich locomotor transitions in complex 3-D terrains.

On the issue of equifinality in glacial geomorphology

NASA Astrophysics Data System (ADS)

Möller, Per; Dowling, Thomas; Cleland, Carol; Johnson, Mark

2016-04-01

A contemporary trend in glacial geomorphology is the quest for some form of unifying theory for drumlin and/or ribbed moraine formation: there MUST be ONE explanation. The result of this is attempts to apply 'instability theory' to the formation of all drumlinoid and ribbed moraine formation or, as an alternative to this, the 'erodent layer hypothesis' for single processes driven formation. However, based on field geology evidence on internal composition and architecture and the internals relation to the exterior, i.e. the shape of drumlins or ribbed moraine, many glacial sedimentologists would argue that it is instead different processes in their own or in combination that lead to similar form, i.e. look-alike geomorphologic expression or equifinality in spite of different process background for their formation. As expressed by Cleland (2013) from a philosophical point of view of a 'common cause explanation', as exemplified with mass extinctions through geologic time, there is probably a 'common cause explanation' for the K/T boundary extinction (massive meteorite impact on Earth), but this is not a common explanation for every other mass extinction. The parallel to our Quaternary enigma is that there can of course be a single common cause for explaining a specific drumlinoid flow set (a particular case), but that does not have to be the explanation of another flow set showing other sedimentological/structural attributes, in turn suggesting that the particular case cause cannot be used for explaining the general case, i.e. all drumlins over glaciated terrain on the globe. We argue in the case of streamlined terrain, which often have considerable morphologic difference between features at local landscape scale whilst still remaining part of the drumlinoid continuum on regional scale, is a product of different processes or process combinations (erosion/deformation/accumulation) in the subglacial system, tending towards the most efficient obstacle shape and thus bedform for sliding to take place on. The logic for this in the first order is that obstacles enhance sliding speed by increasing melting and plastic flow. However, if an obstacle is too 'rough' the increase in basal drag counteracts this. Therefore the subglacial system finds an efficiency equilibrium whereby an obstacle is shaped so that it enhances flow with a minimum of drag, i.e. the typical streamlined form is the result of a positive feedback cycle that tends towards efficiency. From Swedish geomorphologic data sets we find the dominating rock-cored drumlins to be formed by accumulation around rock obstacles, in some areas with deep drift the streamlined surface expression is due to combinations of excavational and constructive deformation without any 'seed cores', and in some areas with pre-LGM deglacial sediment successions there is erosional carving into drumlinoid forms. In the case of ribbed moraine it is evident from field geology that such are not single-process bedforms but form in a number of ways (i.e. equifinality); examples from the Swedish Quaternary landscape are ribbed moraine formed (i) from melt-out of stagnant ice, (ii) from remoulding of pre-existing landforms and (iii) from subglacial stacking/folding of sediment and lee-side cavity infill.

Fast approximation for joint optimization of segmentation, shape, and location priors, and its application in gallbladder segmentation.

PubMed

Saito, Atsushi; Nawano, Shigeru; Shimizu, Akinobu

2017-05-01

This paper addresses joint optimization for segmentation and shape priors, including translation, to overcome inter-subject variability in the location of an organ. Because a simple extension of the previous exact optimization method is too computationally complex, we propose a fast approximation for optimization. The effectiveness of the proposed approximation is validated in the context of gallbladder segmentation from a non-contrast computed tomography (CT) volume. After spatial standardization and estimation of the posterior probability of the target organ, simultaneous optimization of the segmentation, shape, and location priors is performed using a branch-and-bound method. Fast approximation is achieved by combining sampling in the eigenshape space to reduce the number of shape priors and an efficient computational technique for evaluating the lower bound. Performance was evaluated using threefold cross-validation of 27 CT volumes. Optimization in terms of translation of the shape prior significantly improved segmentation performance. The proposed method achieved a result of 0.623 on the Jaccard index in gallbladder segmentation, which is comparable to that of state-of-the-art methods. The computational efficiency of the algorithm is confirmed to be good enough to allow execution on a personal computer. Joint optimization of the segmentation, shape, and location priors was proposed, and it proved to be effective in gallbladder segmentation with high computational efficiency.

IMPROVED ALGORITHMS FOR RADAR-BASED RECONSTRUCTION OF ASTEROID SHAPES

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

Greenberg, Adam H.; Margot, Jean-Luc

We describe our implementation of a global-parameter optimizer and Square Root Information Filter into the asteroid-modeling software shape. We compare the performance of our new optimizer with that of the existing sequential optimizer when operating on various forms of simulated data and actual asteroid radar data. In all cases, the new implementation performs substantially better than its predecessor: it converges faster, produces shape models that are more accurate, and solves for spin axis orientations more reliably. We discuss potential future changes to improve shape's fitting speed and accuracy.

Coastal management strategy for small island: ecotourism potency development in Karimata Island, West Kalimantan

NASA Astrophysics Data System (ADS)

Rudiastuti, A. W.; Munawaroh; Setyawan, I. E.; Pramono, G. H.

2018-04-01

Sustainable coastal management is playing an important role in coastal resources conservation, particularly on small islands. Karimata archipelago has unique characteristics and great potential to be developed as a tourism object, one of which is Karimata Island as the largest island and also reserve area. The concept of ecotourism focuses on the ecology conservation, economic benefits, and social life. Ecotourism aims to build sustainable tourism that provides economically viable and social benefits to the community. This study aims to develop coastal management strategy based on ecotourism at Karimata Island. Spatial approaching through coastal type was done. Qualitative descriptive analysis and SWOT are used to develop sustainable management strategies for the coast of Karimata Island, where the opportunities and challenges to the development of coastal ecotourism Karimata Island also included. If this potential is optimally utilized, it can be relied as an economic opportunity for local communities. Structurally shaped coast, marine depositional coast and coast build by organism are several of coastal types found at Karimata Island. Coastal ecosystems inhabited Karimata Island are mangroves, coral reefs, and macro-algae. Karimata Island have not been optimally utilized for tourist destinations. The biggest obstacle encountered is the accessibility from Kalimantan or other island at Karimata islands. Several problems related to the utilization of coastal resources were found such as mangrove and coral reef damage, also regulation that less supportive. The results of this study are expected to provide an overview of solutions for the development of coastal tourism potentials in Karimata Island.

Minimizing tooth bending stress in spur gears with simplified shapes of fillet and tool shape determination

NASA Astrophysics Data System (ADS)

Pedersen, N. L.

2015-06-01

The strength of a gear is typically defined relative to durability (pitting) and load capacity (tooth-breakage). Tooth-breakage is controlled by the root shape and this gear part can be designed because there is no contact between gear pairs here. The shape of gears is generally defined by different standards, with the ISO standard probably being the most common one. Gears are manufactured using two principally different tools: rack tools and gear tools. In this work, the bending stress of involute teeth is minimized by shape optimization made directly on the final gear. This optimized shape is then used to find the cutting tool (the gear envelope) that can create this optimized gear shape. A simple but sufficiently flexible root parameterization is applied and emphasis is put on the importance of separating the shape parameterization from the finite element analysis of stresses. Large improvements in the stress level are found.

Safe Operations of Unmanned Systems for Reconnaissance in Complex Environments Army Technology Objective (SOURCE ATO)

DTIC Science & Technology

2011-04-25

must adapt its planning to vehicle size, shape, wheelbase, wheel and axle configuration, the specific obstacle-crossing capabilities of the vehicle...scalability of the ANS is a consequence of making each sensing modality capable of performing reasonable perception tasks while allowing a wider...autonomous system design achieves flexibility by exploiting redundant sensing modalities where possible, and by a decision-making process that

Safer passenger car front shapes for pedestrians: A computational approach to reduce overall pedestrian injury risk in realistic impact scenarios.

PubMed

Li, Guibing; Yang, Jikuang; Simms, Ciaran

2017-03-01

Vehicle front shape has a significant influence on pedestrian injuries and the optimal design for overall pedestrian protection remains an elusive goal, especially considering the variability of vehicle-to-pedestrian accident scenarios. Therefore this study aims to develop and evaluate an efficient framework for vehicle front shape optimization for pedestrian protection accounting for the broad range of real world impact scenarios and their distributions in recent accident data. Firstly, a framework for vehicle front shape optimization for pedestrian protection was developed based on coupling of multi-body simulations and a genetic algorithm. This framework was then applied for optimizing passenger car front shape for pedestrian protection, and its predictions were evaluated using accident data and kinematic analyses. The results indicate that the optimization shows a good convergence and predictions of the optimization framework are corroborated when compared to the available accident data, and the optimization framework can distinguish 'good' and 'poor' vehicle front shapes for pedestrian safety. Thus, it is feasible and reliable to use the optimization framework for vehicle front shape optimization for reducing overall pedestrian injury risk. The results also show the importance of considering the broad range of impact scenarios in vehicle front shape optimization. A safe passenger car for overall pedestrian protection should have a wide and flat bumper (covering pedestrians' legs from the lower leg up to the shaft of the upper leg with generally even contacts), a bonnet leading edge height around 750mm, a short bonnet (<800mm) with a shallow or steep angle (either >17° or <12°) and a shallow windscreen (≤30°). Sensitivity studies based on simulations at the population level indicate that the demands for a safe passenger car front shape for head and leg protection are generally consistent, but partially conflict with pelvis protection. In particular, both head and leg injury risk increase with increasing bumper lower height and depth, and decrease with increasing bonnet leading edge height, while pelvis injury risk increases with increasing bonnet leading edge height. However, the effects of bonnet leading edge height and windscreen design on head injury risk are complex and require further analysis. Copyright © 2017 Elsevier Ltd. All rights reserved.

A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

NASA Technical Reports Server (NTRS)

Hein, C.; Meystel, A.

1994-01-01

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

Wing-section optimization for supersonic viscous flow

NASA Technical Reports Server (NTRS)

Item, Cem C.; Baysal, Oktay (Editor)

1995-01-01

To improve the shape of a supersonic wing, an automated method that also includes higher fidelity to the flow physics is desirable. With this impetus, an aerodynamic optimization methodology incorporating thin-layer Navier-Stokes equations and sensitivity analysis had been previously developed. Prior to embarking upon the wind design task, the present investigation concentrated on testing the feasibility of the methodology, and the identification of adequate problem formulations, by defining two-dimensional, cost-effective test cases. Starting with two distinctly different initial airfoils, two independent shape optimizations resulted in shapes with similar features: slightly cambered, parabolic profiles with sharp leading- and trailing-edges. Secondly, the normal section to the subsonic portion of the leading edge, which had a high normal angle-of-attack, was considered. The optimization resulted in a shape with twist and camber which eliminated the adverse pressure gradient, hence, exploiting the leading-edge thrust. The wing section shapes obtained in all the test cases had the features predicted by previous studies. Therefore, it was concluded that the flowfield analyses and sensitivity coefficients were computed and fed to the present gradient-based optimizer correctly. Also, as a result of the present two-dimensional study, suggestions were made for the problem formulations which should contribute to an effective wing shape optimization.

Intelligent design optimization of a shape-memory-alloy-actuated reconfigurable wing

NASA Astrophysics Data System (ADS)

Lagoudas, Dimitris C.; Strelec, Justin K.; Yen, John; Khan, Mohammad A.

2000-06-01

The unique thermal and mechanical properties offered by shape memory alloys (SMAs) present exciting possibilities in the field of aerospace engineering. When properly trained, SMA wires act as linear actuators by contracting when heated and returning to their original shape when cooled. It has been shown experimentally that the overall shape of an airfoil can be altered by activating several attached SMA wire actuators. This shape-change can effectively increase the efficiency of a wing in flight at several different flow regimes. To determine the necessary placement of these wire actuators within the wing, an optimization method that incorporates a fully-coupled structural, thermal, and aerodynamic analysis has been utilized. Due to the complexity of the fully-coupled analysis, intelligent optimization methods such as genetic algorithms have been used to efficiently converge to an optimal solution. The genetic algorithm used in this case is a hybrid version with global search and optimization capabilities augmented by the simplex method as a local search technique. For the reconfigurable wing, each chromosome represents a realizable airfoil configuration and its genes are the SMA actuators, described by their location and maximum transformation strain. The genetic algorithm has been used to optimize this design problem to maximize the lift-to-drag ratio for a reconfigured airfoil shape.

Low Complexity Models to improve Incomplete Sensitivities for Shape Optimization

NASA Astrophysics Data System (ADS)

Stanciu, Mugurel; Mohammadi, Bijan; Moreau, Stéphane

2003-01-01

The present global platform for simulation and design of multi-model configurations treat shape optimization problems in aerodynamics. Flow solvers are coupled with optimization algorithms based on CAD-free and CAD-connected frameworks. Newton methods together with incomplete expressions of gradients are used. Such incomplete sensitivities are improved using reduced models based on physical assumptions. The validity and the application of this approach in real-life problems are presented. The numerical examples concern shape optimization for an airfoil, a business jet and a car engine cooling axial fan.

Optimization of freeform lightpipes for light-emitting-diode projectors.

PubMed

Fournier, Florian; Rolland, Jannick

2008-03-01

Standard nonimaging components used to collect and integrate light in light-emitting-diode-based projector light engines such as tapered rods and compound parabolic concentrators are compared to optimized freeform shapes in terms of transmission efficiency and spatial uniformity. We show that the simultaneous optimization of the output surface and the profile shape yields transmission efficiency within the étendue limit up to 90% and spatial uniformity higher than 95%, even for compact sizes. The optimization process involves a manual study of the trends for different shapes and the use of an optimization algorithm to further improve the performance of the freeform lightpipe.

Optimization of freeform lightpipes for light-emitting-diode projectors

NASA Astrophysics Data System (ADS)

Fournier, Florian; Rolland, Jannick

2008-03-01

Standard nonimaging components used to collect and integrate light in light-emitting-diode-based projector light engines such as tapered rods and compound parabolic concentrators are compared to optimized freeform shapes in terms of transmission efficiency and spatial uniformity. We show that the simultaneous optimization of the output surface and the profile shape yields transmission efficiency within the étendue limit up to 90% and spatial uniformity higher than 95%, even for compact sizes. The optimization process involves a manual study of the trends for different shapes and the use of an optimization algorithm to further improve the performance of the freeform lightpipe.

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

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Optimal Defaults in the Prevention of Pediatric Obesity: From Platform to Practice

PubMed Central

Radnitz, Cynthia; Loeb, Katharine L; DiMatteo, Julie; Keller, Kathleen L.; Zucker, Nancy; Schwartz, Marlene B.

2014-01-01

The term “optimal defaults” refers to imparting pre-selected choices which are designed to produce a desired behavior change. The concept is attractive to policymakers because it steers people toward desirable behaviors while preserving free choice through the ability to opt out. It has been found to be a powerful behavioral determinant in areas such as pension plan enrollment, organ donation, and green energy utilization. We discuss how optimal defaults can be applied to pediatric obesity prevention in several domains including public policy, institutional, private sector, and home environment. Although there are obstacles to overcome in implementing optimal defaults, it is a promising component to incorporate in a multi-level strategy for preventing pediatric obesity. PMID:25328903

New features to the night sky radiance model illumina: Hyperspectral support, improved obstacles and cloud reflection

NASA Astrophysics Data System (ADS)

Aubé, M.; Simoneau, A.

2018-05-01

Illumina is one of the most physically detailed artificial night sky brightness model to date. It has been in continuous development since 2005 [1]. In 2016-17, many improvements were made to the Illumina code including an overhead cloud scheme, an improved blocking scheme for subgrid obstacles (trees and buildings), and most importantly, a full hyperspectral modeling approach. Code optimization resulted in significant reduction in execution time enabling users to run the model on standard personal computers for some applications. After describing the new schemes introduced in the model, we give some examples of applications for a peri-urban and a rural site both located inside the International Dark Sky reserve of Mont-Mégantic (QC, Canada).

Noble Metal Aerogels—Synthesis, Characterization, and Application as Electrocatalysts

PubMed Central

2015-01-01

Conspectus Metallic and catalytically active materials with high surface area and large porosity are a long-desired goal in both industry and academia. In this Account, we summarize the strategies for making a variety of self-supported noble metal aerogels consisting of extended metal backbone nanonetworks. We discuss their outstanding physical and chemical properties, including their three-dimensional network structure, the simple control over their composition, their large specific surface area, and their hierarchical porosity. Additionally, we show some initial results on their excellent performance as electrocatalysts combining both high catalytic activity and high durability for fuel cell reactions such as ethanol oxidation and the oxygen reduction reaction (ORR). Finally, we give some hints on the future challenges in the research area of metal aerogels. We believe that metal aerogels are a new, promising class of electrocatalysts for polymer electrolyte fuel cells (PEFCs) and will also open great opportunities for other electrochemical energy systems, catalysis, and sensors. The commercialization of PEFCs encounters three critical obstacles, viz., high cost, insufficient activity, and inadequate long-term durability. Besides others, the sluggish kinetics of the ORR and alcohol oxidation and insufficient catalyst stability are important reasons for these obstacles. Various approaches have been taken to overcome these obstacles, e.g., by controlling the catalyst particle size in an optimized range, forming multimetallic catalysts, controlling the surface compositions, shaping the catalysts into nanocrystals, and designing supportless catalysts with extended surfaces such as nanostructured thin films, nanotubes, and porous nanostructures. These efforts have produced plenty of excellent electrocatalysts, but the development of multisynergetic functional catalysts exhibiting low cost, high activity, and high durability still faces great challenges. In this Account, we demonstrate that the sol–gel process represents a powerful “bottom-up” strategy for creating nanostructured materials that tackles the problems mentioned above. Aerogels are unique solid materials with ultralow densities, large open pores, and ultimately high inner surface areas. They magnify the specific properties of nanomaterials to the macroscale via self-assembly, which endow them with superior properties. Despite numerous investigations of metal oxide aerogels, the investigation of metal aerogels is in the early stage. Recently, aerogels including Fe, Co, Ni, Sn, and Cu have been obtained by nanosmelting of hybrid polymer–metal oxide aerogels. We report here exclusively on mono-, bi- and multimetallic noble metal aerogels consisting of Ag, Au, Pt, and Pd and their application as electrocatalysts. PMID:25611348

Rapidly accelerating Mathieu and Weber surface plasmon beams.

PubMed

Libster-Hershko, Ana; Epstein, Itai; Arie, Ady

2014-09-19

We report the generation of two types of self-accelerating surface plasmon beams which are solutions of the nonparaxial Helmholtz equation in two dimensions. These beams preserve their shape while propagating along either elliptic (Mathieu beam) or parabolic (Weber beam) trajectories. We show that owing to the nonparaxial nature of the Weber beam, it maintains its shape over a much larger distance along the parabolic trajectory, with respect to the corresponding solution of the paraxial equation-the Airy beam. Dynamic control of the trajectory is realized by translating the position of the illuminating free-space beam. Finally, the ability of these beams to self-heal after blocking obstacles is demonstrated as well.

Bayesian Inference of High-Dimensional Dynamical Ocean Models

NASA Astrophysics Data System (ADS)

Lin, J.; Lermusiaux, P. F. J.; Lolla, S. V. T.; Gupta, A.; Haley, P. J., Jr.

2015-12-01

This presentation addresses a holistic set of challenges in high-dimension ocean Bayesian nonlinear estimation: i) predict the probability distribution functions (pdfs) of large nonlinear dynamical systems using stochastic partial differential equations (PDEs); ii) assimilate data using Bayes' law with these pdfs; iii) predict the future data that optimally reduce uncertainties; and (iv) rank the known and learn the new model formulations themselves. Overall, we allow the joint inference of the state, equations, geometry, boundary conditions and initial conditions of dynamical models. Examples are provided for time-dependent fluid and ocean flows, including cavity, double-gyre and Strait flows with jets and eddies. The Bayesian model inference, based on limited observations, is illustrated first by the estimation of obstacle shapes and positions in fluid flows. Next, the Bayesian inference of biogeochemical reaction equations and of their states and parameters is presented, illustrating how PDE-based machine learning can rigorously guide the selection and discovery of complex ecosystem models. Finally, the inference of multiscale bottom gravity current dynamics is illustrated, motivated in part by classic overflows and dense water formation sites and their relevance to climate monitoring and dynamics. This is joint work with our MSEAS group at MIT.

Using High Resolution Design Spaces for Aerodynamic Shape Optimization Under Uncertainty

NASA Technical Reports Server (NTRS)

Li, Wu; Padula, Sharon

2004-01-01

This paper explains why high resolution design spaces encourage traditional airfoil optimization algorithms to generate noisy shape modifications, which lead to inaccurate linear predictions of aerodynamic coefficients and potential failure of descent methods. By using auxiliary drag constraints for a simultaneous drag reduction at all design points and the least shape distortion to achieve the targeted drag reduction, an improved algorithm generates relatively smooth optimal airfoils with no severe off-design performance degradation over a range of flight conditions, in high resolution design spaces parameterized by cubic B-spline functions. Simulation results using FUN2D in Euler flows are included to show the capability of the robust aerodynamic shape optimization method over a range of flight conditions.

Sampling-Based Motion Planning Algorithms for Replanning and Spatial Load Balancing

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

Boardman, Beth Leigh

The common theme of this dissertation is sampling-based motion planning with the two key contributions being in the area of replanning and spatial load balancing for robotic systems. Here, we begin by recalling two sampling-based motion planners: the asymptotically optimal rapidly-exploring random tree (RRT*), and the asymptotically optimal probabilistic roadmap (PRM*). We also provide a brief background on collision cones and the Distributed Reactive Collision Avoidance (DRCA) algorithm. The next four chapters detail novel contributions for motion replanning in environments with unexpected static obstacles, for multi-agent collision avoidance, and spatial load balancing. First, we show improved performance of the RRT*more » when using the proposed Grandparent-Connection (GP) or Focused-Refinement (FR) algorithms. Next, the Goal Tree algorithm for replanning with unexpected static obstacles is detailed and proven to be asymptotically optimal. A multi-agent collision avoidance problem in obstacle environments is approached via the RRT*, leading to the novel Sampling-Based Collision Avoidance (SBCA) algorithm. The SBCA algorithm is proven to guarantee collision free trajectories for all of the agents, even when subject to uncertainties in the knowledge of the other agents’ positions and velocities. Given that a solution exists, we prove that livelocks and deadlock will lead to the cost to the goal being decreased. We introduce a new deconfliction maneuver that decreases the cost-to-come at each step. This new maneuver removes the possibility of livelocks and allows a result to be formed that proves convergence to the goal configurations. Finally, we present a limited range Graph-based Spatial Load Balancing (GSLB) algorithm which fairly divides a non-convex space among multiple agents that are subject to differential constraints and have a limited travel distance. The GSLB is proven to converge to a solution when maximizing the area covered by the agents. The analysis for each of the above mentioned algorithms is confirmed in simulations.« less

Aerodynamic Shape Optimization Design of Wing-Body Configuration Using a Hybrid FFD-RBF Parameterization Approach

NASA Astrophysics Data System (ADS)

Liu, Yuefeng; Duan, Zhuoyi; Chen, Song

2017-10-01

Aerodynamic shape optimization design aiming at improving the efficiency of an aircraft has always been a challenging task, especially when the configuration is complex. In this paper, a hybrid FFD-RBF surface parameterization approach has been proposed for designing a civil transport wing-body configuration. This approach is simple and efficient, with the FFD technique used for parameterizing the wing shape and the RBF interpolation approach used for handling the wing body junction part updating. Furthermore, combined with Cuckoo Search algorithm and Kriging surrogate model with expected improvement adaptive sampling criterion, an aerodynamic shape optimization design system has been established. Finally, the aerodynamic shape optimization design on DLR F4 wing-body configuration has been carried out as a study case, and the result has shown that the approach proposed in this paper is of good effectiveness.

OTIS 3.2 Software Released

NASA Technical Reports Server (NTRS)

Riehl, John P.; Sjauw, Waldy K.

2004-01-01

Trajectory, mission, and vehicle engineers concern themselves with finding the best way for an object to get from one place to another. These engineers rely upon special software to assist them in this. For a number of years, many engineers have used the OTIS program for this assistance. With OTIS, an engineer can fully optimize trajectories for airplanes, launch vehicles like the space shuttle, interplanetary spacecraft, and orbital transfer vehicles. OTIS provides four modes of operation, with each mode providing successively stronger optimization capability. The most powerful mode uses a mathematical method called implicit integration to solve what engineers and mathematicians call the optimal control problem. OTIS 3.2, which was developed at the NASA Glenn Research Center, is the latest release of this industry workhorse and features new capabilities for parameter optimization and mission design. OTIS stands for Optimal Control by Implicit Simulation, and it is implicit integration that makes OTIS so powerful at solving trajectory optimization problems. Why is this so important? The optimization process not only determines how to get from point A to point B, but it can also determine how to do this with the least amount of propellant, with the lightest starting weight, or in the fastest time possible while avoiding certain obstacles along the way. There are numerous conditions that engineers can use to define optimal, or best. OTIS provides a framework for defining the starting and ending points of the trajectory (point A and point B), the constraints on the trajectory (requirements like "avoid these regions where obstacles occur"), and what is being optimized (e.g., minimize propellant). The implicit integration method can find solutions to very complicated problems when there is not a lot of information available about what the optimal trajectory might be. The method was first developed for solving two-point boundary value problems and was adapted for use in OTIS. Implicit integration usually allows OTIS to find solutions to problems much faster than programs that use explicit integration and parametric methods. Consequently, OTIS is best suited to solving very complicated and highly constrained problems.

Shape Optimization for Navier-Stokes Equations with Algebraic Turbulence Model: Numerical Analysis and Computation

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

Haslinger, Jaroslav, E-mail: hasling@karlin.mff.cuni.cz; Stebel, Jan, E-mail: stebel@math.cas.cz

2011-04-15

We study the shape optimization problem for the paper machine headbox which distributes a mixture of water and wood fibers in the paper making process. The aim is to find a shape which a priori ensures the given velocity profile on the outlet part. The mathematical formulation leads to the optimal control problem in which the control variable is the shape of the domain representing the header, the state problem is represented by the generalized Navier-Stokes system with nontrivial boundary conditions. This paper deals with numerical aspects of the problem.

Lee wave breaking region: the map of instability development scenarios

NASA Astrophysics Data System (ADS)

Yakovenko, S. N.

2017-10-01

Numerical study of a stably stratified flow above the two-dimensional cosine-shaped obstacle has been performed by DNS and LES. These methods were implemented to solve the three-dimensional Navier-Stokes equations in the Boussinesq approximation, together with by the scalar diffusion equation. The results of scanning in the wide ranges of physical parameters (Reynolds and Prandtl/Schmidt numbers relating to laboratory experiment cases and atmospheric or oceanic situations) are presented for instability and turbulence development scenarios in the overturning internal lee waves. The latter is generated by the obstacle in a flow with the constant inflow values of velocity and stable density gradient. Evolution of lee-wave breaking is explored by visualization of velocity and scalar (density) fields, and the analysis of spectra. Based on the numerical simulation results, the power-law dependence on Reynolds number is demonstrated for the wavelength of the most unstable perturbation.

A μ analysis-based, controller-synthesis framework for robust bioinspired visual navigation in less-structured environments.

PubMed

Keshavan, J; Gremillion, G; Escobar-Alvarez, H; Humbert, J S

2014-06-01

Safe, autonomous navigation by aerial microsystems in less-structured environments is a difficult challenge to overcome with current technology. This paper presents a novel visual-navigation approach that combines bioinspired wide-field processing of optic flow information with control-theoretic tools for synthesis of closed loop systems, resulting in robustness and performance guarantees. Structured singular value analysis is used to synthesize a dynamic controller that provides good tracking performance in uncertain environments without resorting to explicit pose estimation or extraction of a detailed environmental depth map. Experimental results with a quadrotor demonstrate the vehicle's robust obstacle-avoidance behaviour in a straight line corridor, an S-shaped corridor and a corridor with obstacles distributed in the vehicle's path. The computational efficiency and simplicity of the current approach offers a promising alternative to satisfying the payload, power and bandwidth constraints imposed by aerial microsystems.

The generation and propagation of internal gravity waves in a rotating fluid

NASA Technical Reports Server (NTRS)

Maxworthy, T.; Chabert Dhieres, G.; Didelle, H.

1984-01-01

The present investigation is concerned with an extension of a study conducted bu Maxworthy (1979) on internal wave generation by barotropic tidal flow over bottom topography. A short series of experiments was carried out during a limited time period on a large (14-m diameter) rotating table. It was attempted to obtain, in particular, information regarding the plan form of the waves, the exact character of the flow over the obstacle, and the evolution of the waves. The main basin was a dammed section of a long free surface water tunnel. The obstacle was towed back and forth by a wire harness connected to an electronically controlled hydraulic piston, the stroke and period of which could be independently varied. Attention is given to the evolution of the wave crests, the formation of solitary wave groups the evolution of the three-dimensional wave field wave shapes, the wave amplitudes, and particle motion.

Can harmonized regulation overcome intra-European differences? Insights from a European Phase III stem cell trial.

PubMed

Hauskeller, Christine

2017-09-01

Harmonized regulation of research with human stem cells in Europe has shaped innovation in regenerative medicine. Findings from a Phase III academic clinical trial of an autologous cell procedure illustrate the obstacles that a multinational trial faces. A typology of the obstacles encountered, may help other teams embarking upon trials. The findings throw light on the situation of clinician-scientists in clinical innovation, as the expertise to run scientific trials is very complex. The innovation route of clinical translation takes insufficient account of the interdependencies between multiple social and cultural factors from outside the laboratory and the clinic. For ethical reasons, however, academic and business routes to stem cell treatments ought to be enabled by the regulators. Suggestions arise, how academics can prepare for trials, that academic research needs better institutional support and that new models of medical innovation may need to be developed for regenerative medicine.

SU-E-T-295: Simultaneous Beam Sampling and Aperture Shape Optimization for Station Parameter Optimized Radiation Therapy (SPORT)

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

Zarepisheh, M; Li, R; Xing, L

Purpose: Station Parameter Optimized Radiation Therapy (SPORT) was recently proposed to fully utilize the technical capability of emerging digital LINACs, in which the station parameters of a delivery system, (such as aperture shape and weight, couch position/angle, gantry/collimator angle) are optimized altogether. SPORT promises to deliver unprecedented radiation dose distributions efficiently, yet there does not exist any optimization algorithm to implement it. The purpose of this work is to propose an optimization algorithm to simultaneously optimize the beam sampling and aperture shapes. Methods: We build a mathematical model whose variables are beam angles (including non-coplanar and/or even nonisocentric beams) andmore » aperture shapes. To solve the resulting large scale optimization problem, we devise an exact, convergent and fast optimization algorithm by integrating three advanced optimization techniques named column generation, gradient method, and pattern search. Column generation is used to find a good set of aperture shapes as an initial solution by adding apertures sequentially. Then we apply the gradient method to iteratively improve the current solution by reshaping the aperture shapes and updating the beam angles toward the gradient. Algorithm continues by pattern search method to explore the part of the search space that cannot be reached by the gradient method. Results: The proposed technique is applied to a series of patient cases and significantly improves the plan quality. In a head-and-neck case, for example, the left parotid gland mean-dose, brainstem max-dose, spinal cord max-dose, and mandible mean-dose are reduced by 10%, 7%, 24% and 12% respectively, compared to the conventional VMAT plan while maintaining the same PTV coverage. Conclusion: Combined use of column generation, gradient search and pattern search algorithms provide an effective way to optimize simultaneously the large collection of station parameters and significantly improves quality of resultant treatment plans as compared with conventional VMAT or IMRT treatments.« less

A theoretical measure technique for determining 3D symmetric nearly optimal shapes with a given center of mass

NASA Astrophysics Data System (ADS)

Alimorad D., H.; Fakharzadeh J., A.

2017-07-01

In this paper, a new approach is proposed for designing the nearly-optimal three dimensional symmetric shapes with desired physical center of mass. Herein, the main goal is to find such a shape whose image in ( r, θ)-plane is a divided region into a fixed and variable part. The nearly optimal shape is characterized in two stages. Firstly, for each given domain, the nearly optimal surface is determined by changing the problem into a measure-theoretical one, replacing this with an equivalent infinite dimensional linear programming problem and approximating schemes; then, a suitable function that offers the optimal value of the objective function for any admissible given domain is defined. In the second stage, by applying a standard optimization method, the global minimizer surface and its related domain will be obtained whose smoothness is considered by applying outlier detection and smooth fitting methods. Finally, numerical examples are presented and the results are compared to show the advantages of the proposed approach.

Shape design of internal cooling passages within a turbine blade

NASA Astrophysics Data System (ADS)

Nowak, Grzegorz; Nowak, Iwona

2012-04-01

The article concerns the optimization of the shape and location of non-circular passages cooling the blade of a gas turbine. To model the shape, four Bezier curves which form a closed profile of the passage were used. In order to match the shape of the passage to the blade profile, a technique was put forward to copy and scale the profile fragments into the component, and build the outline of the passage on the basis of them. For so-defined cooling passages, optimization calculations were carried out with a view to finding their optimal shape and location in terms of the assumed objectives. The task was solved as a multi-objective problem with the use of the Pareto method, for a cooling system composed of four and five passages. The tool employed for the optimization was the evolutionary algorithm. The article presents the impact of the population on the task convergence, and discusses the impact of different optimization objectives on the Pareto optimal solutions obtained. Due to the problem of different impacts of individual objectives on the position of the solution front which was noticed during the calculations, a two-step optimization procedure was introduced. Also, comparative optimization calculations for the scalar objective function were carried out and set up against the non-dominated solutions obtained in the Pareto approach. The optimization process resulted in a configuration of the cooling system that allows a significant reduction in the temperature of the blade and its thermal stress.

Efficient Gradient-Based Shape Optimization Methodology Using Inviscid/Viscous CFD

NASA Technical Reports Server (NTRS)

Baysal, Oktay

1997-01-01

The formerly developed preconditioned-biconjugate-gradient (PBCG) solvers for the analysis and the sensitivity equations had resulted in very large error reductions per iteration; quadratic convergence was achieved whenever the solution entered the domain of attraction to the root. Its memory requirement was also lower as compared to a direct inversion solver. However, this memory requirement was high enough to preclude the realistic, high grid-density design of a practical 3D geometry. This limitation served as the impetus to the first-year activity (March 9, 1995 to March 8, 1996). Therefore, the major activity for this period was the development of the low-memory methodology for the discrete-sensitivity-based shape optimization. This was accomplished by solving all the resulting sets of equations using an alternating-direction-implicit (ADI) approach. The results indicated that shape optimization problems which required large numbers of grid points could be resolved with a gradient-based approach. Therefore, to better utilize the computational resources, it was recommended that a number of coarse grid cases, using the PBCG method, should initially be conducted to better define the optimization problem and the design space, and obtain an improved initial shape. Subsequently, a fine grid shape optimization, which necessitates using the ADI method, should be conducted to accurately obtain the final optimized shape. The other activity during this period was the interaction with the members of the Aerodynamic and Aeroacoustic Methods Branch of Langley Research Center during one stage of their investigation to develop an adjoint-variable sensitivity method using the viscous flow equations. This method had algorithmic similarities to the variational sensitivity methods and the control-theory approach. However, unlike the prior studies, it was considered for the three-dimensional, viscous flow equations. The major accomplishment in the second period of this project (March 9, 1996 to March 8, 1997) was the extension of the shape optimization methodology for the Thin-Layer Navier-Stokes equations. Both the Euler-based and the TLNS-based analyses compared with the analyses obtained using the CFL3D code. The sensitivities, again from both levels of the flow equations, also compared very well with the finite-differenced sensitivities. A fairly large set of shape optimization cases were conducted to study a number of issues previously not well understood. The testbed for these cases was the shaping of an arrow wing in Mach 2.4 flow. All the final shapes, obtained either from a coarse-grid-based or a fine-grid-based optimization, using either a Euler-based or a TLNS-based analysis, were all re-analyzed using a fine-grid, TLNS solution for their function evaluations. This allowed for a more fair comparison of their relative merits. From the aerodynamic performance standpoint, the fine-grid TLNS-based optimization produced the best shape, and the fine-grid Euler-based optimization produced the lowest cruise efficiency.

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

NASA Astrophysics Data System (ADS)

Behboodi, Ahad; Salehi, Seyedmohammad

2017-10-01

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

Diverting lava flows in the lab

USGS Publications Warehouse

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

2015-01-01

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

Optimization of natural frequencies of a slender beam shaped in a linear combination of its mode shapes

NASA Astrophysics Data System (ADS)

Silva, Guilherme Augusto Lopes da; Nicoletti, Rodrigo

2017-06-01

This work focuses on the placement of natural frequencies of beams to desired frequency regions. More specifically, we investigate the effects of combining mode shapes to shape a beam to change its natural frequencies, both numerically and experimentally. First, we present a parametric analysis of a shaped beam and we analyze the resultant effects for different boundary conditions and mode shapes. Second, we present an optimization procedure to find the optimum shape of the beam for desired natural frequencies. In this case, we adopt the Nelder-Mead simplex search method, which allows a broad search of the optimum shape in the solution domain. Finally, the obtained results are verified experimentally for a clamped-clamped beam in three different optimization runs. Results show that the method is effective in placing natural frequencies at desired values (experimental results lie within a 10% error to the expected theoretical ones). However, the beam must be axially constrained to have the natural frequencies changed.

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

NASA Astrophysics Data System (ADS)

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

2014-09-01

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

[Changes of diversity and composition of fungal communities in rhizosphere of Panax ginseng].

PubMed

Dong, Lin-Lin; Niu, Wei-Hao; Wang, Rui; Xu, Jiang; Zhang, Lian-Juan; Zhang, Jun; Chen, Shi-Lin

2017-02-01

Continuous cropping obstacles resulted in the yield losses of Panax ginseng, and affected the development of ginseng industry. Soil fungal communities participated in the key ecological process, and their changes of diversity and composition were related to the continuous cropping obstacles. We analyzed the changes of fungal diversity and composition in the rhizosphere of ginseng using the high-throughput sequencing method, stated the effects of ginseng cultivation on the micro-ecology, and provided effective strategies for overcoming continuous cropping obstacles. Compared to those of the forest soils, the fungal diversity of ginseng rhizosphere soils was increased, and the increasing trends were declined with an increasing years of ginseng cultivation; the relative abundance of Sordariomycetes, Alatospora, Eurotiomycetes, Leotiomycetes, Saccharomycetes, Mucorales and Pezizomycetes were increased in the rhizosphere of ginseng. Pearson's correlation index indicated that soil chemical perporties affected the relative abundance of fungal communities. pH was significantly related to the relative abundance of Dothideomycetes and Alatospora; the content of available potassium was markedly associated with the relative abundance of Dothideomycetes, Alatospora and Mucorales; the content of total nitrogen was significant correlation with the relative abundance of Sordariomycetes and Mucorales. These results indicated that fertilization was one of pivotal factors affecting the rhizosphere micro-ecology of ginseng, and optimization of fertilization system was an effective method to overcome continuous cropping obstacles. Copyright© by the Chinese Pharmaceutical Association.

Use of 3D Printing for Custom Wind Tunnel Fabrication

NASA Astrophysics Data System (ADS)

Gagorik, Paul; Bates, Zachary; Issakhanian, Emin

2016-11-01

Small-scale wind tunnels for the most part are fairly simple to produce with standard building equipment. However, the intricate bell housing and inlet shape of an Eiffel type wind tunnel, as well as the transition from diffuser to fan in a rectangular tunnel can present design and construction obstacles. With the help of 3D printing, these shapes can be custom designed in CAD models and printed in the lab at very low cost. The undergraduate team at Loyola Marymount University has built a custom benchtop tunnel for gas turbine film cooling experiments. 3D printing is combined with conventional construction methods to build the tunnel. 3D printing is also used to build the custom tunnel floor and interchangeable experimental pieces for various experimental shapes. This simple and low-cost tunnel is a custom solution for specific engineering experiments for gas turbine technology research.

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.

Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line.

PubMed

DeVries, Levi; Lagor, Francis D; Lei, Hong; Tan, Xiaobo; Paley, Derek A

2015-03-25

Bio-inspired sensing modalities enhance the ability of autonomous vehicles to characterize and respond to their environment. This paper concerns the lateral line of cartilaginous and bony fish, which is sensitive to fluid motion and allows fish to sense oncoming flow and the presence of walls or obstacles. The lateral line consists of two types of sensing modalities: canal neuromasts measure approximate pressure gradients, whereas superficial neuromasts measure local flow velocities. By employing an artificial lateral line, the performance of underwater sensing and navigation strategies is improved in dark, cluttered, or murky environments where traditional sensing modalities may be hindered. This paper presents estimation and control strategies enabling an airfoil-shaped unmanned underwater vehicle to assimilate measurements from a bio-inspired, multi-modal artificial lateral line and estimate flow properties for feedback control. We utilize potential flow theory to model the fluid flow past a foil in a uniform flow and in the presence of an upstream obstacle. We derive theoretically justified nonlinear estimation strategies to estimate the free stream flowspeed, angle of attack, and the relative position of an upstream obstacle. The feedback control strategy uses the estimated flow properties to execute bio-inspired behaviors including rheotaxis (the tendency of fish to orient upstream) and station-holding (the tendency of fish to position behind an upstream obstacle). A robotic prototype outfitted with a multi-modal artificial lateral line composed of ionic polymer metal composite and embedded pressure sensors experimentally demonstrates the distributed flow sensing and closed-loop control strategies.

Multivariate constrained shape optimization: Application to extrusion bell shape for pasta production

NASA Astrophysics Data System (ADS)

Sarghini, Fabrizio; De Vivo, Angela; Marra, Francesco

2017-10-01

Computational science and engineering methods have allowed a major change in the way products and processes are designed, as validated virtual models - capable to simulate physical, chemical and bio changes occurring during production processes - can be realized and used in place of real prototypes and performing experiments, often time and money consuming. Among such techniques, Optimal Shape Design (OSD) (Mohammadi & Pironneau, 2004) represents an interesting approach. While most classical numerical simulations consider fixed geometrical configurations, in OSD a certain number of geometrical degrees of freedom is considered as a part of the unknowns: this implies that the geometry is not completely defined, but part of it is allowed to move dynamically in order to minimize or maximize the objective function. The applications of optimal shape design (OSD) are uncountable. For systems governed by partial differential equations, they range from structure mechanics to electromagnetism and fluid mechanics or to a combination of the three. This paper presents one of possible applications of OSD, particularly how extrusion bell shape, for past production, can be designed by applying a multivariate constrained shape optimization.

Shape Optimization of Supersonic Turbines Using Response Surface and Neural Network Methods

NASA Technical Reports Server (NTRS)

Papila, Nilay; Shyy, Wei; Griffin, Lisa W.; Dorney, Daniel J.

2001-01-01

Turbine performance directly affects engine specific impulse, thrust-to-weight ratio, and cost in a rocket propulsion system. A global optimization framework combining the radial basis neural network (RBNN) and the polynomial-based response surface method (RSM) is constructed for shape optimization of a supersonic turbine. Based on the optimized preliminary design, shape optimization is performed for the first vane and blade of a 2-stage supersonic turbine, involving O(10) design variables. The design of experiment approach is adopted to reduce the data size needed by the optimization task. It is demonstrated that a major merit of the global optimization approach is that it enables one to adaptively revise the design space to perform multiple optimization cycles. This benefit is realized when an optimal design approaches the boundary of a pre-defined design space. Furthermore, by inspecting the influence of each design variable, one can also gain insight into the existence of multiple design choices and select the optimum design based on other factors such as stress and materials considerations.

Mechanical behavior and shape optimization of lining structure for subsea tunnel excavated in weathered slot

NASA Astrophysics Data System (ADS)

Li, Peng-fei; Zhou, Xiao-jun

2015-12-01

Subsea tunnel lining structures should be designed to sustain the loads transmitted from surrounding ground and groundwater during excavation. Extremely high pore-water pressure reduces the effective strength of the country rock that surrounds a tunnel, thereby lowering the arching effect and stratum stability of the structure. In this paper, the mechanical behavior and shape optimization of the lining structure for the Xiang'an tunnel excavated in weathered slots are examined. Eight cross sections with different geometric parameters are adopted to study the mechanical behavior and shape optimization of the lining structure. The hyperstatic reaction method is used through finite element analysis software ANSYS. The mechanical behavior of the lining structure is evidently affected by the geometric parameters of crosssectional shape. The minimum safety factor of the lining structure elements is set to be the objective function. The efficient tunnel shape to maximize the minimum safety factor is identified. The minimum safety factor increases significantly after optimization. The optimized cross section significantly improves the mechanical characteristics of the lining structure and effectively reduces its deformation. Force analyses of optimization process and program are conducted parametrically so that the method can be applied to the optimization design of other similar structures. The results obtained from this study enhance our understanding of the mechanical behavior of the lining structure for subsea tunnels. These results are also beneficial to the optimal design of lining structures in general.

A sensitivity equation approach to shape optimization in fluid flows

NASA Technical Reports Server (NTRS)

Borggaard, Jeff; Burns, John

1994-01-01

A sensitivity equation method to shape optimization problems is applied. An algorithm is developed and tested on a problem of designing optimal forebody simulators for a 2D, inviscid supersonic flow. The algorithm uses a BFGS/Trust Region optimization scheme with sensitivities computed by numerically approximating the linear partial differential equations that determine the flow sensitivities. Numerical examples are presented to illustrate the method.

Effects of object shape on the visual guidance of action.

PubMed

Eloka, Owino; Franz, Volker H

2011-04-22

Little is known of how visual coding of the shape of an object affects grasping movements. We addressed this issue by investigating the influence of shape perturbations on grasping. Twenty-six participants grasped a disc or a bar that were chosen such that they could in principle be grasped with identical movements (i.e., relevant sizes were identical such that the final grips consisted of identical separations of the fingers and no parts of the objects constituted obstacles for the movement). Nevertheless, participants took object shape into account and grasped the bar with a larger maximum grip aperture and a different hand angle than the disc. In 20% of the trials, the object changed its shape from bar to disc or vice versa early or late during the movement. If there was enough time (early perturbations), grasps were often adapted in flight to the new shape. These results show that the motor system takes into account even small and seemingly irrelevant changes of object shape and adapts the movement in a fine-grained manner. Although this adaptation might seem computationally expensive, we presume that its benefits (e.g., a more comfortable and more accurate movement) outweigh the costs. Copyright © 2011 Elsevier Ltd. All rights reserved.

Sub-grid scale combustion models for large eddy simulation of unsteady premixed flame propagation around obstacles.

PubMed

Di Sarli, Valeria; Di Benedetto, Almerinda; Russo, Gennaro

2010-08-15

In this work, an assessment of different sub-grid scale (sgs) combustion models proposed for large eddy simulation (LES) of steady turbulent premixed combustion (Colin et al., Phys. Fluids 12 (2000) 1843-1863; Flohr and Pitsch, Proc. CTR Summer Program, 2000, pp. 61-82; Kim and Menon, Combust. Sci. Technol. 160 (2000) 119-150; Charlette et al., Combust. Flame 131 (2002) 159-180; Pitsch and Duchamp de Lageneste, Proc. Combust. Inst. 29 (2002) 2001-2008) was performed to identify the model that best predicts unsteady flame propagation in gas explosions. Numerical results were compared to the experimental data by Patel et al. (Proc. Combust. Inst. 29 (2002) 1849-1854) for premixed deflagrating flame in a vented chamber in the presence of three sequential obstacles. It is found that all sgs combustion models are able to reproduce qualitatively the experiment in terms of step of flame acceleration and deceleration around each obstacle, and shape of the propagating flame. Without adjusting any constants and parameters, the sgs model by Charlette et al. also provides satisfactory quantitative predictions for flame speed and pressure peak. Conversely, the sgs combustion models other than Charlette et al. give correct predictions only after an ad hoc tuning of constants and parameters. Copyright 2010 Elsevier B.V. All rights reserved.

Genetic algorithms for multicriteria shape optimization of induction furnace

NASA Astrophysics Data System (ADS)

Kůs, Pavel; Mach, František; Karban, Pavel; Doležel, Ivo

2012-09-01

In this contribution we deal with a multi-criteria shape optimization of an induction furnace. We want to find shape parameters of the furnace in such a way, that two different criteria are optimized. Since they cannot be optimized simultaneously, instead of one optimum we find set of partially optimal designs, so called Pareto front. We compare two different approaches to the optimization, one using nonlinear conjugate gradient method and second using variation of genetic algorithm. As can be seen from the numerical results, genetic algorithm seems to be the right choice for this problem. Solution of direct problem (coupled problem consisting of magnetic and heat field) is done using our own code Agros2D. It uses finite elements of higher order leading to fast and accurate solution of relatively complicated coupled problem. It also provides advanced scripting support, allowing us to prepare parametric model of the furnace and simply incorporate various types of optimization algorithms.

Analytical optimal pulse shapes obtained with the aid of genetic algorithms

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

Guerrero, Rubén D., E-mail: rdguerrerom@unal.edu.co; Arango, Carlos A.; Reyes, Andrés

2015-09-28

We propose a methodology to design optimal pulses for achieving quantum optimal control on molecular systems. Our approach constrains pulse shapes to linear combinations of a fixed number of experimentally relevant pulse functions. Quantum optimal control is obtained by maximizing a multi-target fitness function using genetic algorithms. As a first application of the methodology, we generated an optimal pulse that successfully maximized the yield on a selected dissociation channel of a diatomic molecule. Our pulse is obtained as a linear combination of linearly chirped pulse functions. Data recorded along the evolution of the genetic algorithm contained important information regarding themore » interplay between radiative and diabatic processes. We performed a principal component analysis on these data to retrieve the most relevant processes along the optimal path. Our proposed methodology could be useful for performing quantum optimal control on more complex systems by employing a wider variety of pulse shape functions.« less

Flow analysis and design optimization methods for nozzle afterbody of a hypersonic vehicle

NASA Technical Reports Server (NTRS)

Baysal, Oktay

1991-01-01

This report summarizes the methods developed for the aerodynamic analysis and the shape optimization of the nozzle-afterbody section of a hypersonic vehicle. Initially, exhaust gases were assumed to be air. Internal-external flows around a single scramjet module were analyzed by solving the three dimensional Navier-Stokes equations. Then, exhaust gases were simulated by a cold mixture of Freon and Argon. Two different models were used to compute these multispecies flows as they mixed with the hypersonic airflow. Surface and off-surface properties were successfully compared with the experimental data. In the second phase of this project, the Aerodynamic Design Optimization with Sensitivity analysis (ADOS) was developed. Pre and post optimization sensitivity coefficients were derived and used in this quasi-analytical method. These coefficients were also used to predict inexpensively the flow field around a changed shape when the flow field of an unchanged shape was given. Starting with totally arbitrary initial afterbody shapes, independent computations were converged to the same optimum shape, which rendered the maximum axial thrust.

Improving the Hydrodynamic Performance of Diffuser Vanes via Shape Optimization

NASA Technical Reports Server (NTRS)

Goel, Tushar; Dorney, Daniel J.; Haftka, Raphael T.; Shyy, Wei

2007-01-01

The performance of a diffuser in a pump stage depends on its configuration and placement within the stage. The influence of vane shape on the hydrodynamic performance of a diffuser has been studied. The goal of this effort has been to improve the performance of a pump stage by optimizing the shape of the diffuser vanes. The shape of the vanes was defined using Bezier curves and circular arcs. Surrogate model based tools were used to identify regions of the vane that have a strong influence on its performance. Optimization of the vane shape, in the absence of manufacturing, and stress constraints, led to a nearly nine percent reduction in the total pressure losses compared to the baseline design by reducing the extent of the base separation.

Robust Airfoil Optimization in High Resolution Design Space

NASA Technical Reports Server (NTRS)

Li, Wu; Padula, Sharon L.

2003-01-01

The robust airfoil shape optimization is a direct method for drag reduction over a given range of operating conditions and has three advantages: (1) it prevents severe degradation in the off-design performance by using a smart descent direction in each optimization iteration, (2) it uses a large number of B-spline control points as design variables yet the resulting airfoil shape is fairly smooth, and (3) it allows the user to make a trade-off between the level of optimization and the amount of computing time consumed. The robust optimization method is demonstrated by solving a lift-constrained drag minimization problem for a two-dimensional airfoil in viscous flow with a large number of geometric design variables. Our experience with robust optimization indicates that our strategy produces reasonable airfoil shapes that are similar to the original airfoils, but these new shapes provide drag reduction over the specified range of Mach numbers. We have tested this strategy on a number of advanced airfoil models produced by knowledgeable aerodynamic design team members and found that our strategy produces airfoils better or equal to any designs produced by traditional design methods.

Shape optimization techniques for musical instrument design

NASA Astrophysics Data System (ADS)

Henrique, Luis; Antunes, Jose; Carvalho, Joao S.

2002-11-01

The design of musical instruments is still mostly based on empirical knowledge and costly experimentation. One interesting improvement is the shape optimization of resonating components, given a number of constraints (allowed parameter ranges, shape smoothness, etc.), so that vibrations occur at specified modal frequencies. Each admissible geometrical configuration generates an error between computed eigenfrequencies and the target set. Typically, error surfaces present many local minima, corresponding to suboptimal designs. This difficulty can be overcome using global optimization techniques, such as simulated annealing. However these methods are greedy, concerning the number of function evaluations required. Thus, the computational effort can be unacceptable if complex problems, such as bell optimization, are tackled. Those issues are addressed in this paper, and a method for improving optimization procedures is proposed. Instead of using the local geometric parameters as searched variables, the system geometry is modeled in terms of truncated series of orthogonal space-funcitons, and optimization is performed on their amplitude coefficients. Fourier series and orthogonal polynomials are typical such functions. This technique reduces considerably the number of searched variables, and has a potential for significant computational savings in complex problems. It is illustrated by optimizing the shapes of both current and uncommon marimba bars.

Insects traversing grass-like vertical compliant beams

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

2014-03-01

Small running animals encounter many challenging terrains. These terrains can be filled with 3D, multi-component obstacles. Here, we study cockroaches (Blaberus discoidalis) moving through grass-like vertical compliant beams during escape. We created an apparatus to control and vary geometric parameters and mechanical properties of model grass including height, width, thickness, lateral and fore-aft spacings, angle, number of layers, stiffness, and damping. We observed a suite of novel locomotor behaviors not previously described on simpler 2D ground. When model grass height was >2 × body length and lateral spacing was <0.5 × body width, the animal primarily (probability P = 50%) rolled its body onto its side to rapidly (time t = 2.1 s) maneuver through the gaps between model grass. We developed a simple energy minimization model, and found that body roll reduces the energy barriers that the animal must overcome during traversal. We hypothesized that the animal's ellipsoidal body shape facilitated traversal. To test our hypothesis, we modified body shape by adding either a rectangular or an oval plate onto its dorsal surface, and found that P dropped by an order of magnitude and t more than doubled. Upon removal of either plate, both P and t recovered. Locomotor kinematics and geometry effectively coupled to terrain properties enables negotiation of 3D, multi-component obstacles, and provides inspiration for small robots to navigate such terrain with minimal sensing and control.

Multidisciplinary unmanned technology teammate (MUTT)

NASA Astrophysics Data System (ADS)

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

2013-01-01

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

Robust, Optimal Subsonic Airfoil Shapes

NASA Technical Reports Server (NTRS)

Rai, Man Mohan

2014-01-01

A method has been developed to create an airfoil robust enough to operate satisfactorily in different environments. This method determines a robust, optimal, subsonic airfoil shape, beginning with an arbitrary initial airfoil shape, and imposes the necessary constraints on the design. Also, this method is flexible and extendible to a larger class of requirements and changes in constraints imposed.

Optimization of the Upper Surface of Hypersonic Vehicle Based on CFD Analysis

NASA Astrophysics Data System (ADS)

Gao, T. Y.; Cui, K.; Hu, S. C.; Wang, X. P.; Yang, G. W.

2011-09-01

For the hypersonic vehicle, the aerodynamic performance becomes more intensive. Therefore, it is a significant event to optimize the shape of the hypersonic vehicle to achieve the project demands. It is a key technology to promote the performance of the hypersonic vehicle with the method of shape optimization. Based on the existing vehicle, the optimization to the upper surface of the Simplified hypersonic vehicle was done to obtain a shape which suits the project demand. At the cruising condition, the upper surface was parameterized with the B-Spline curve method. The incremental parametric method and the reconstruction technology of the local mesh were applied here. The whole flow field was been calculated and the aerodynamic performance of the craft were obtained by the computational fluid dynamic (CFD) technology. Then the vehicle shape was optimized to achieve the maximum lift-drag ratio at attack angle 3°, 4° and 5°. The results will provide the reference for the practical design.

Shape optimization of tibial prosthesis components

NASA Technical Reports Server (NTRS)

Saravanos, D. A.; Mraz, P. J.; Davy, D. T.

1993-01-01

NASA technology and optimal design methodologies originally developed for the optimization of composite structures (engine blades) are adapted and applied to the optimization of orthopaedic knee implants. A method is developed enabling the shape tailoring of the tibial components of a total knee replacement implant for optimal interaction within the environment of the tibia. The shape of the implant components are optimized such that the stresses in the bone are favorably controlled to minimize bone degradation, to improve the mechanical integrity of the implant/interface/bone system, and to prevent failures of the implant components. A pilot tailoring system is developed and the feasibility of the concept is demonstrated and evaluated. The methodology and evolution of the existing aerospace technology from which this pilot optimization code was developed is also presented and discussed. Both symmetric and unsymmetric in-plane loading conditions are investigated. The results of the optimization process indicate a trend toward wider and tapered posts as well as thicker backing trays. Unique component geometries were obtained for the different load cases.

A unified free-form representation applied to the shape optimization of the hohlraum with octahedral 6 laser entrance holes

NASA Astrophysics Data System (ADS)

Jiang, Shaoen; Huang, Yunbao; Jing, Longfei; Li, Haiyan; Huang, Tianxuan; Ding, Yongkun

2016-01-01

The hohlraum is very crucial for indirect laser driven Inertial Confinement Fusion. Usually, its shape is designed as sphere, cylinder, or rugby with some kind of fixed functions, such as ellipse or parabola. Recently, a spherical hohlraum with octahedral 6 laser entrance holes (LEHs) has been presented with high flux symmetry [Lan et al., Phys. Plasmas 21, 010704 (2014); 21, 052704 (2014)]. However, there is only one shape parameter, i.e., the hohlraum to capsule radius ratio, being optimized. In this paper, we build the hohlraum with octahedral 6LEHs with a unified free-form representation, in which, by varying additional shape parameters: (1) available hohlraum shapes can be uniformly and accurately represented, (2) it can be used to understand why the spherical hohlraum has higher flux symmetry, (3) it allows us to obtain a feasible shape design field satisfying flux symmetry constraints, and (4) a synthetically optimized hohlraum can be obtained with a tradeoff of flux symmetry and other hohlraum performance. Finally, the hohlraum with octahedral 6LEHs is modeled, analyzed, and then optimized based on the unified free-form representation. The results show that a feasible shape design field with flux asymmetry no more than 1% can be obtained, and over the feasible design field, the spherical hohlraum is validated to have the highest flux symmetry, and a synthetically optimal hohlraum can be found with closing flux symmetry but larger volume between laser spots and centrally located capsule.

Topology and boundary shape optimization as an integrated design tool

NASA Technical Reports Server (NTRS)

Bendsoe, Martin Philip; Rodrigues, Helder Carrico

1990-01-01

The optimal topology of a two dimensional linear elastic body can be computed by regarding the body as a domain of the plane with a high density of material. Such an optimal topology can then be used as the basis for a shape optimization method that computes the optimal form of the boundary curves of the body. This results in an efficient and reliable design tool, which can be implemented via common FEM mesh generator and CAD type input-output facilities.

Medial-based deformable models in nonconvex shape-spaces for medical image segmentation.

PubMed

McIntosh, Chris; Hamarneh, Ghassan

2012-01-01

We explore the application of genetic algorithms (GA) to deformable models through the proposition of a novel method for medical image segmentation that combines GA with nonconvex, localized, medial-based shape statistics. We replace the more typical gradient descent optimizer used in deformable models with GA, and the convex, implicit, global shape statistics with nonconvex, explicit, localized ones. Specifically, we propose GA to reduce typical deformable model weaknesses pertaining to model initialization, pose estimation and local minima, through the simultaneous evolution of a large number of models. Furthermore, we constrain the evolution, and thus reduce the size of the search-space, by using statistically-based deformable models whose deformations are intuitive (stretch, bulge, bend) and are driven in terms of localized principal modes of variation, instead of modes of variation across the entire shape that often fail to capture localized shape changes. Although GA are not guaranteed to achieve the global optima, our method compares favorably to the prevalent optimization techniques, convex/nonconvex gradient-based optimizers and to globally optimal graph-theoretic combinatorial optimization techniques, when applied to the task of corpus callosum segmentation in 50 mid-sagittal brain magnetic resonance images.

Optimal Shapes of Surface Slip Driven Self-Propelled Microswimmers

NASA Astrophysics Data System (ADS)

Vilfan, Andrej

2012-09-01

We study the efficiency of self-propelled swimmers at low Reynolds numbers, assuming that the local energetic cost of maintaining a propulsive surface slip velocity is proportional to the square of that velocity. We determine numerically the optimal shape of a swimmer such that the total power is minimal while maintaining the volume and the swimming speed. The resulting shape depends strongly on the allowed maximum curvature. When sufficient curvature is allowed the optimal swimmer exhibits two protrusions along the symmetry axis. The results show that prolate swimmers such as Paramecium have an efficiency that is ˜20% higher than that of a spherical body, whereas some microorganisms have shapes that allow even higher efficiency.

Analysis Methodology for Optimal Selection of Ground Station Site in Space Missions

NASA Astrophysics Data System (ADS)

Nieves-Chinchilla, J.; Farjas, M.; Martínez, R.

2013-12-01

Optimization of ground station sites is especially important in complex missions that include several small satellites (clusters or constellations) such as the QB50 project, where one ground station would be able to track several spatial vehicles, even simultaneously. In this regard the design of the communication system has to carefully take into account the ground station site and relevant signal phenomena, depending on the frequency band. To propose the optimal location of the ground station, these aspects become even more relevant to establish a trusted communication link due to the ground segment site in urban areas and/or selection of low orbits for the space segment. In addition, updated cartography with high resolution data of the location and its surroundings help to develop recommendations in the design of its location for spatial vehicles tracking and hence to improve effectiveness. The objectives of this analysis methodology are: completion of cartographic information, modelling the obstacles that hinder communication between the ground and space segment and representation in the generated 3D scene of the degree of impairment in the signal/noise of the phenomena that interferes with communication. The integration of new technologies of geographic data capture, such as 3D Laser Scan, determine that increased optimization of the antenna elevation mask, in its AOS and LOS azimuths along the horizon visible, maximizes visibility time with spatial vehicles. Furthermore, from the three-dimensional cloud of points captured, specific information is selected and, using 3D modeling techniques, the 3D scene of the antenna location site and surroundings is generated. The resulting 3D model evidences nearby obstacles related to the cartographic conditions such as mountain formations and buildings, and any additional obstacles that interfere with the operational quality of the antenna (other antennas and electronic devices that emit or receive in the same bandwidth). To check/test the spatial proposal of the ground station site, this analysis methodology uses mission simulation software of spatial vehicles to analyze and quantify how the geographic accuracy of the position of the spatial vehicles along the horizon visible from the antenna, increases communication time with the ground station. Experimental results that have been obtained from a ground station located at ETSIT-UPM in Spain (QBito Nanosatellite, UPM spacecraft mission within the QB50 project) show that selection of the optimal site increases the field of view from the antenna and hence helps to meet mission requirements.

Overcoming Obstacles, Optimizing Opportunities: State Policies to Increase Postsecondary Attainment for Low-Skilled Adults

ERIC Educational Resources Information Center

Duke, Amy-Ellen; Strawn, Julie

2008-01-01

Just as American business and industry need workers with higher skills to compete in a global economy, workers need higher skills to get ahead. This convergence presents an opportunity for states to work with their community colleges and other key partners to help business and industry compete and entry-level workers advance to higher-paying jobs.…

AHPCRC - Army High Performance Computing Research Center

DTIC Science & Technology

2008-01-01

University) Birds and insects use complex flapping and twisting wing motions to maneuver, hover, avoid obstacles, and maintain or regain their...vehicles for use in sensing, surveillance, and wireless communications. HPC simulations examine plunging, pitching, and twisting motions of aeroelastic...wings, to optimize the amplitudes and frequencies of flapping and twisting motions for the maximum amount of thrust. Several methods of calculation

Reducing Operating Costs by Optimizing Space in Facilities

DTIC Science & Technology

2012-03-01

Base level 5 engineering units will provide facility floor plans, furniture layouts, and staffing documentation as necessary. One obstacle...due to the quantity and diverse locations. Base level engineering units provided facility floor plans, furniture layouts, and staffing documentation... furniture purchases and placement 5. Follow a quality systematic process in all decisions The per person costs can be better understood with a real

Learning in Cardiology Fellowship: Opportunities for Optimization.

PubMed

Daily, Joshua A; Guerrier, Karine

2016-01-01

Cardiology fellowship is filled with opportunities for learning; however, numerous obstacles must be successfully navigated to complete training with the knowledge, skills, and attitudes necessary for a successful career. To assist Cardiology fellows in prioritizing their time and energy in order to fully gain from their training, a list of recommendations with rationales has been provided. © 2015 Wiley Periodicals, Inc.

Shape Optimization of Rubber Bushing Using Differential Evolution Algorithm

PubMed Central

2014-01-01

The objective of this study is to design rubber bushing at desired level of stiffness characteristics in order to achieve the ride quality of the vehicle. A differential evolution algorithm based approach is developed to optimize the rubber bushing through integrating a finite element code running in batch mode to compute the objective function values for each generation. Two case studies were given to illustrate the application of proposed approach. Optimum shape parameters of 2D bushing model were determined by shape optimization using differential evolution algorithm. PMID:25276848

Virtually optimized insoles for offloading the diabetic foot: A randomized crossover study.

PubMed

Telfer, S; Woodburn, J; Collier, A; Cavanagh, P R

2017-07-26

Integration of objective biomechanical measures of foot function into the design process for insoles has been shown to provide enhanced plantar tissue protection for individuals at-risk of plantar ulceration. The use of virtual simulations utilizing numerical modeling techniques offers a potential approach to further optimize these devices. In a patient population at-risk of foot ulceration, we aimed to compare the pressure offloading performance of insoles that were optimized via numerical simulation techniques against shape-based devices. Twenty participants with diabetes and at-risk feet were enrolled in this study. Three pairs of personalized insoles: one based on shape data and subsequently manufactured via direct milling; and two were based on a design derived from shape, pressure, and ultrasound data which underwent a finite element analysis-based virtual optimization procedure. For the latter set of insole designs, one pair was manufactured via direct milling, and a second pair was manufactured through 3D printing. The offloading performance of the insoles was analyzed for forefoot regions identified as having elevated plantar pressures. In 88% of the regions of interest, the use of virtually optimized insoles resulted in lower peak plantar pressures compared to the shape-based devices. Overall, the virtually optimized insoles significantly reduced peak pressures by a mean of 41.3kPa (p<0.001, 95% CI [31.1, 51.5]) for milled and 40.5kPa (p<0.001, 95% CI [26.4, 54.5]) for printed devices compared to shape-based insoles. The integration of virtual optimization into the insole design process resulted in improved offloading performance compared to standard, shape-based devices. ISRCTN19805071, www.ISRCTN.org. Copyright © 2017 Elsevier Ltd. All rights reserved.

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

NASA Astrophysics Data System (ADS)

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

2013-12-01

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

Better than Optimal by Taking a Limit?

ERIC Educational Resources Information Center

Betounes, David

2012-01-01

Designing an optimal Norman window is a standard calculus exercise. How much more difficult (or interesting) is its generalization to deploying multiple semicircles along the head (or along head and sill, or head and jambs)? What if we use shapes beside semi-circles? As the number of copies of the shape increases and the optimal Norman windows…

Control strategies for planetary rover motion and manipulator control

NASA Technical Reports Server (NTRS)

Trautwein, W.

1973-01-01

An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.

Improvement of mechanical behaviors of a superlight Mg-Li base alloy by duplex phases and fine precipitates

DOE PAGES

Zou, Yun; Zhang, Lehao; Li, Yang; ...

2017-12-06

Limitations of strength and formability are the major obstacles to the industrial application of magnesium alloys. Here, we demonstrate, by producing the duplex phases and fine intermetallic particles in composition-optimized superlight Mg-Li-Al alloys, a unique approach to simultaneously improve the comprehensive mechanical properties (a strength-ductility balance). In conclusion, the phase components and microstructures, including the size, morphology, and distribution of precipitated-intermetallic particles can be optimized by tuning the Li content, which strongly influences the work-hardening behavior and tension-compression yield asymmetry.

Fully optimized shaped pupils: preparation for a test at the Subaru Telescope

NASA Astrophysics Data System (ADS)

Carlotti, Alexis; Kasdin, N. Jeremy; Martinache, Frantz; Vanderbei, Robert J.; Young, Elizabeth J.; Che, George; Groff, Tyler D.; Guyon, Olivier

2012-09-01

The SCExAO instrument at the Subaru telescope, mainly based on a PIAA coronagraph can benefit from the addition of a robust and simple shaped pupil coronagraph. New shaped pupils, fully optimized in 2 dimensions, make it possible to design optimal apodizers for arbitrarily complex apertures, for instance on-axis telescopes such as the Subaru telescope. We have designed several masks with inner working angles as small as 2.5 λ / D, and for high-contrast regions with different shapes. Using Princeton University nanofabrication facilities, we have manufactured two masks by photolithography. These masks have been tested in the laboratory, both in Princeton and in the facilities of the National Astronomical Observatory of Japan (NAOJ) in Hilo. The goal of this work is to prepare tests on the sky of a shaped pupil coronagraph in 2012.

Optimization of entry-vehicle shapes during conceptual design

NASA Astrophysics Data System (ADS)

Dirkx, D.; Mooij, E.

2014-01-01

During the conceptual design of a re-entry vehicle, the vehicle shape and geometry can be varied and its impact on performance can be evaluated. In this study, the shape optimization of two classes of vehicles has been studied: a capsule and a winged vehicle. Their aerodynamic characteristics were analyzed using local-inclination methods, automatically selected per vehicle segment. Entry trajectories down to Mach 3 were calculated assuming trimmed conditions. For the winged vehicle, which has both a body flap and elevons, a guidance algorithm to track a reference heat-rate was used. Multi-objective particle swarm optimization was used to optimize the shape using objectives related to mass, volume and range. The optimizations show a large variation in vehicle performance over the explored parameter space. Areas of very strong non-linearity are observed in the direct neighborhood of the two-dimensional Pareto fronts. This indicates the need for robust exploration of the influence of vehicle shapes on system performance during engineering trade-offs, which are performed during conceptual design. A number of important aspects of the influence of vehicle behavior on the Pareto fronts are observed and discussed. There is a nearly complete convergence to narrow-wing solutions for the winged vehicle. Also, it is found that imposing pitch-stability for the winged vehicle at all angles of attack results in vehicle shapes which require upward control surface deflections during the majority of the entry.

On Improving Efficiency of Differential Evolution for Aerodynamic Shape Optimization Applications

NASA Technical Reports Server (NTRS)

Madavan, Nateri K.

2004-01-01

Differential Evolution (DE) is a simple and robust evolutionary strategy that has been provEn effective in determining the global optimum for several difficult optimization problems. Although DE offers several advantages over traditional optimization approaches, its use in applications such as aerodynamic shape optimization where the objective function evaluations are computationally expensive is limited by the large number of function evaluations often required. In this paper various approaches for improving the efficiency of DE are reviewed and discussed. Several approaches that have proven effective for other evolutionary algorithms are modified and implemented in a DE-based aerodynamic shape optimization method that uses a Navier-Stokes solver for the objective function evaluations. Parallelization techniques on distributed computers are used to reduce turnaround times. Results are presented for standard test optimization problems and for the inverse design of a turbine airfoil. The efficiency improvements achieved by the different approaches are evaluated and compared.

Optimized up-down asymmetry to drive fast intrinsic rotation in tokamaks

NASA Astrophysics Data System (ADS)

Ball, Justin; Parra, Felix I.; Landreman, Matt; Barnes, Michael

2018-02-01

Breaking the up-down symmetry of the tokamak poloidal cross-section can significantly increase the spontaneous rotation due to turbulent momentum transport. In this work, we optimize the shape of flux surfaces with both tilted elongation and tilted triangularity in order to maximize this drive of intrinsic rotation. Nonlinear gyrokinetic simulations demonstrate that adding optimally-tilted triangularity can double the momentum transport of a tilted elliptical shape. This work indicates that tilting the elongation and triangularity in an ITER-like device can reduce the energy transport and drive intrinsic rotation with an Alfvén Mach number of roughly 1% . This rotation is four times larger than the rotation expected in ITER and is approximately what is needed to stabilize MHD instabilities. It is shown that this optimal shape can be created using the shaping coils of several present-day experiments.

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

Li, Dengwang; Wang, Jie; Kapp, Daniel S.

Purpose: The aim of this work is to develop a robust algorithm for accurate segmentation of liver with special attention paid to the problems with fuzzy edges and tumor. Methods: 200 CT images were collected from radiotherapy treatment planning system. 150 datasets are selected as the panel data for shape dictionary and parameters estimation. The remaining 50 datasets were used as test images. In our study liver segmentation was formulated as optimization process of implicit function. The liver region was optimized via local and global optimization during iterations. Our method consists five steps: 1)The livers from the panel data weremore » segmented manually by physicians, and then We estimated the parameters of GMM (Gaussian mixture model) and MRF (Markov random field). Shape dictionary was built by utilizing the 3D liver shapes. 2)The outlines of chest and abdomen were located according to rib structure in the input images, and the liver region was initialized based on GMM. 3)The liver shape for each 2D slice was adjusted using MRF within the neighborhood of liver edge for local optimization. 4)The 3D liver shape was corrected by employing SSR (sparse shape representation) based on liver shape dictionary for global optimization. Furthermore, H-PSO(Hybrid Particle Swarm Optimization) was employed to solve the SSR equation. 5)The corrected 3D liver was divided into 2D slices as input data of the third step. The iteration was repeated within the local optimization and global optimization until it satisfied the suspension conditions (maximum iterations and changing rate). Results: The experiments indicated that our method performed well even for the CT images with fuzzy edge and tumors. Comparing with physician delineated results, the segmentation accuracy with the 50 test datasets (VOE, volume overlap percentage) was on average 91%–95%. Conclusion: The proposed automatic segmentation method provides a sensible technique for segmentation of CT images. This work is supported by NIH/NIBIB (1R01-EB016777), National Natural Science Foundation of China (No.61471226 and No.61201441), Research funding from Shandong Province (No.BS2012DX038 and No.J12LN23), and Research funding from Jinan City (No.201401221 and No.20120109)« less

Suppression of emission rates improves sonar performance by flying bats.

PubMed

Adams, Amanda M; Davis, Kaylee; Smotherman, Michael

2017-01-31

Echolocating bats face the challenge of actively sensing their environment through their own emissions, while also hearing calls and echoes of nearby conspecifics. How bats mitigate interference is a long-standing question that has both ecological and technological implications, as biosonar systems continue to outperform man-made sonar systems in noisy, cluttered environments. We recently showed that perched bats decreased calling rates in groups, displaying a behavioral strategy resembling the back-off algorithms used in artificial communication networks to optimize information throughput at the group level. We tested whether free-tailed bats (Tadarida brasiliensis) would employ such a coordinated strategy while performing challenging flight maneuvers, and report here that bats navigating obstacles lowered emission rates when hearing artificial playback of another bat's calls. We measured the impact of acoustic interference on navigation performance and show that the calculated reductions in interference rates are sufficient to reduce interference and improve obstacle avoidance. When bats flew in pairs, each bat responded to the presence of the other as an obstacle by increasing emissions, but hearing the sonar emissions of the nearby bat partially suppressed this response. This behavior supports social cohesion by providing a key mechanism for minimizing mutual interference.

Suppression of emission rates improves sonar performance by flying bats

PubMed Central

Adams, Amanda M.; Davis, Kaylee; Smotherman, Michael

2017-01-01

Echolocating bats face the challenge of actively sensing their environment through their own emissions, while also hearing calls and echoes of nearby conspecifics. How bats mitigate interference is a long-standing question that has both ecological and technological implications, as biosonar systems continue to outperform man-made sonar systems in noisy, cluttered environments. We recently showed that perched bats decreased calling rates in groups, displaying a behavioral strategy resembling the back-off algorithms used in artificial communication networks to optimize information throughput at the group level. We tested whether free-tailed bats (Tadarida brasiliensis) would employ such a coordinated strategy while performing challenging flight maneuvers, and report here that bats navigating obstacles lowered emission rates when hearing artificial playback of another bat’s calls. We measured the impact of acoustic interference on navigation performance and show that the calculated reductions in interference rates are sufficient to reduce interference and improve obstacle avoidance. When bats flew in pairs, each bat responded to the presence of the other as an obstacle by increasing emissions, but hearing the sonar emissions of the nearby bat partially suppressed this response. This behavior supports social cohesion by providing a key mechanism for minimizing mutual interference. PMID:28139707

Shape optimization of three-dimensional stamped and solid automotive components

NASA Technical Reports Server (NTRS)

Botkin, M. E.; Yang, R.-J.; Bennett, J. A.

1987-01-01

The shape optimization of realistic, 3-D automotive components is discussed. The integration of the major parts of the total process: modeling, mesh generation, finite element and sensitivity analysis, and optimization are stressed. Stamped components and solid components are treated separately. For stamped parts a highly automated capability was developed. The problem description is based upon a parameterized boundary design element concept for the definition of the geometry. Automatic triangulation and adaptive mesh refinement are used to provide an automated analysis capability which requires only boundary data and takes into account sensitivity of the solution accuracy to boundary shape. For solid components a general extension of the 2-D boundary design element concept has not been achieved. In this case, the parameterized surface shape is provided using a generic modeling concept based upon isoparametric mapping patches which also serves as the mesh generator. Emphasis is placed upon the coupling of optimization with a commercially available finite element program. To do this it is necessary to modularize the program architecture and obtain shape design sensitivities using the material derivative approach so that only boundary solution data is needed.

Shape accuracy optimization for cable-rib tension deployable antenna structure with tensioned cables

NASA Astrophysics Data System (ADS)

Liu, Ruiwei; Guo, Hongwei; Liu, Rongqiang; Wang, Hongxiang; Tang, Dewei; Song, Xiaoke

2017-11-01

Shape accuracy is of substantial importance in deployable structures as the demand for large-scale deployable structures in various fields, especially in aerospace engineering, increases. The main purpose of this paper is to present a shape accuracy optimization method to find the optimal pretensions for the desired shape of cable-rib tension deployable antenna structure with tensioned cables. First, an analysis model of the deployable structure is established by using finite element method. In this model, geometrical nonlinearity is considered for the cable element and beam element. Flexible deformations of the deployable structure under the action of cable network and tensioned cables are subsequently analyzed separately. Moreover, the influence of pretension of tensioned cables on natural frequencies is studied. Based on the results, a genetic algorithm is used to find a set of reasonable pretension and thus minimize structural deformation under the first natural frequency constraint. Finally, numerical simulations are presented to analyze the deployable structure under two kinds of constraints. Results show that the shape accuracy and natural frequencies of deployable structure can be effectively improved by pretension optimization.

On Improving Efficiency of Differential Evolution for Aerodynamic Shape Optimization Applications

NASA Technical Reports Server (NTRS)

Madavan, Nateri K.

2004-01-01

Differential Evolution (DE) is a simple and robust evolutionary strategy that has been proven effective in determining the global optimum for several difficult optimization problems. Although DE offers several advantages over traditional optimization approaches, its use in applications such as aerodynamic shape optimization where the objective function evaluations are computationally expensive is limited by the large number of function evaluations often required. In this paper various approaches for improving the efficiency of DE are reviewed and discussed. These approaches are implemented in a DE-based aerodynamic shape optimization method that uses a Navier-Stokes solver for the objective function evaluations. Parallelization techniques on distributed computers are used to reduce turnaround times. Results are presented for the inverse design of a turbine airfoil. The efficiency improvements achieved by the different approaches are evaluated and compared.

Morphogenesis and mechanostabilization of complex natural and 3D printed shapes

PubMed Central

Tiwary, Chandra Sekhar; Kishore, Sharan; Sarkar, Suman; Mahapatra, Debiprosad Roy; Ajayan, Pulickel M.; Chattopadhyay, Kamanio

2015-01-01

The natural selection and the evolutionary optimization of complex shapes in nature are closely related to their functions. Mechanostabilization of shape of biological structure via morphogenesis has several beautiful examples. With the help of simple mechanics-based modeling and experiments, we show an important causality between natural shape selection as evolutionary outcome and the mechanostabilization of seashells. The effect of biological growth on the mechanostabilization process is identified with examples of two natural shapes of seashells, one having a diametrically converging localization of stresses and the other having a helicoidally concentric localization of stresses. We demonstrate how the evolved shape enables predictable protection of soft body parts of the species. The effect of bioavailability of natural material is found to be a secondary factor compared to shape selectivity, where material microstructure only acts as a constraint to evolutionary optimization. This is confirmed by comparing the mechanostabilization behavior of three-dimensionally printed synthetic polymer structural shapes with that of natural seashells consisting of ceramic and protein. This study also highlights interesting possibilities in achieving a new design of structures made of ordinary materials which have bio-inspired optimization objectives. PMID:26601170

Tooth shape optimization of brushless permanent magnet motors for reducing torque ripples

NASA Astrophysics Data System (ADS)

Hsu, Liang-Yi; Tsai, Mi-Ching

2004-11-01

This paper presents a tooth shape optimization method based on a generic algorithm to reduce the torque ripple of brushless permanent magnet motors under two different magnetization directions. The analysis of this design method mainly focuses on magnetic saturation and cogging torque and the computation of the optimization process is based on an equivalent magnetic network circuit. The simulation results, obtained from the finite element analysis, are used to confirm the accuracy and performance. Finite element analysis results from different tooth shapes are compared to show the effectiveness of the proposed method.

Multi-Objective Aerodynamic Optimization of the Streamlined Shape of High-Speed Trains Based on the Kriging Model.

PubMed

Xu, Gang; Liang, Xifeng; Yao, Shuanbao; Chen, Dawei; Li, Zhiwei

2017-01-01

Minimizing the aerodynamic drag and the lift of the train coach remains a key issue for high-speed trains. With the development of computing technology and computational fluid dynamics (CFD) in the engineering field, CFD has been successfully applied to the design process of high-speed trains. However, developing a new streamlined shape for high-speed trains with excellent aerodynamic performance requires huge computational costs. Furthermore, relationships between multiple design variables and the aerodynamic loads are seldom obtained. In the present study, the Kriging surrogate model is used to perform a multi-objective optimization of the streamlined shape of high-speed trains, where the drag and the lift of the train coach are the optimization objectives. To improve the prediction accuracy of the Kriging model, the cross-validation method is used to construct the optimal Kriging model. The optimization results show that the two objectives are efficiently optimized, indicating that the optimization strategy used in the present study can greatly improve the optimization efficiency and meet the engineering requirements.

Advanced light-trapping effect of thin-film solar cell with dual photonic crystals

NASA Astrophysics Data System (ADS)

Zhang, Anjun; Guo, Zhongyi; Tao, Yifei; Wang, Wei; Mao, Xiaoqin; Fan, Guanghua; Zhou, Keya; Qu, Shiliang

2015-05-01

A thin-film solar cell with dual photonic crystals has been proposed, which shows an advanced light-trapping effect and superior performance in ultimate conversion efficiency (UCE). The shapes of nanocones have been optimized and discussed in detail by self-definition. The optimized shape of nanocone arrays (NCs) is a parabolic shape with a nearly linearly graded refractive index (GRI) profile from the air to Si, and the corresponding UCE is 30.3% for the NCs with a period of 300 nm and a thickness of only 2 μm. The top NCs and bottom NCs of the thin film have been simulated respectively to investigate their optimized shapes, and their separate contributions to the light harvest have also been discussed fully. The height of the top NCs and bottom NCs will also influence the performances of the thin-film solar cell greatly, and the result indicates that the unconformal NCs have better light-trapping ability with an optimal UCE of 32.3% than the conformal NCs with an optimal UCE of 30.3%.

Electromagnetic field strength prediction in an urban environment: A useful tool for the planning of LMSS

NASA Technical Reports Server (NTRS)

Vandooren, G. A. J.; Herben, M. H. A. J.; Brussaard, G.; Sforza, M.; Poiaresbaptista, J. P. V.

1993-01-01

A model for the prediction of the electromagnetic field strength in an urban environment is presented. The ray model, that is based on the Uniform Theory of Diffraction (UTD), includes effects of the non-perfect conductivity of the obstacles and their surface roughness. The urban environment is transformed into a list of standardized obstacles that have various shapes and material properties. The model is capable of accurately predicting the field strength in the urban environment by calculating different types of wave contributions such as reflected, edge and corner diffracted waves, and combinations thereof. Also, antenna weight functions are introduced to simulate the spatial filtering by the mobile antenna. Communication channel parameters such as signal fading, time delay profiles, Doppler shifts and delay-Doppler spectra can be derived from the ray-tracing procedure using post-processing routines. The model has been tested against results from scaled measurements at 50 GHz and proves to be accurate.

The generation of symmetric and asymmetric lump solitons by a bottom topography

NASA Astrophysics Data System (ADS)

Lu, Zhiming

2016-11-01

A group of Lump solutions to the (2+1)-dimensional Kadomtsev-Petviashvili (KP) equation is obtained analytically by making use of Hirota bilinear transform method. Then the generation of symmetric and asymmetric lump solitons by an obliquely-placed three-dimensional bottom topography is numerically investigated using the forced Kadomtsev-Petviashvili-I (fKP-I) equation. The numerical method is based on the third order Runge-Kutta method and the Crank-Nicolson scheme. The main result is the asymmetric generation of asymmetric lump-type solitons downstream of the obstacle.The lump soliton with a smaller amplitude is generated with a longer period and moves in a larger angle with respect to the positive x-axis than the one with a larger amplitude. The amplitude of the lump solitons strongly depend on the volume of the obstacle rather than the shape. Finally the effects of the detuning parameter on the generation of lump solitons is also studied. Project supported by NSFC with No. 11272196.

Contrast between Spain and the Netherlands in the hidden obstacles to re-entry into the labour market due to a criminal record.

PubMed

Kurtovic, Elina; Rovira, Marti

2017-09-01

This article aims at analysing the differences between European countries in the obstacles ex-offenders face due to having a criminal record. First, a comparative analytical framework is introduced that takes into account all the different elements that can lead to exclusion from the labour market by the dissemination of criminal record information. This model brings together social norms (macro level), social actors (meso level) and individual choices (micro level) in the same framework. Secondly, this model is used to compare the different impact of having a criminal record in Spain and the Netherlands. This comparison highlights three important findings: (1) the difference between norms of transparency/privacy and inclusive/exclusive ideals, (2) the significant role of social control agents, such as probation agencies and the ex-offenders' social network, in shaping the opportunities that they have, and (3) self-exclusion seems to be a key mechanism for understanding unsuccessful re-entry into the labour market.

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

PubMed

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

2017-01-06

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

Extensibility in local sensor based planning for hyper-redundant manipulators (robot snakes)

NASA Technical Reports Server (NTRS)

Choset, Howie; Burdick, Joel

1994-01-01

Partial Shape Modification (PSM) is a local sensor feedback method used for hyper-redundant robot manipulators, in which the redundancy is very large or infinite such as that of a robot snake. This aspect of redundancy enables local obstacle avoidance and end-effector placement in real time. Due to the large number of joints or actuators in a hyper-redundant manipulator, small displacement errors of such easily accumulate to large errors in the position of the tip relative to the base. The accuracy could be improved by a local sensor based planning method in which sensors are distributed along the length of the hyper-redundant robot. This paper extends the local sensor based planning strategy beyond the limitations of the fixed length of such a manipulator when its joint limits are met. This is achieved with an algorithm where the length of the deforming part of the robot is variable. Thus , the robot's local avoidance of obstacles is improved through the enhancement of its extensibility.

Contrast between Spain and the Netherlands in the hidden obstacles to re-entry into the labour market due to a criminal record

PubMed Central

Kurtovic, Elina; Rovira, Marti

2016-01-01

This article aims at analysing the differences between European countries in the obstacles ex-offenders face due to having a criminal record. First, a comparative analytical framework is introduced that takes into account all the different elements that can lead to exclusion from the labour market by the dissemination of criminal record information. This model brings together social norms (macro level), social actors (meso level) and individual choices (micro level) in the same framework. Secondly, this model is used to compare the different impact of having a criminal record in Spain and the Netherlands. This comparison highlights three important findings: (1) the difference between norms of transparency/privacy and inclusive/exclusive ideals, (2) the significant role of social control agents, such as probation agencies and the ex-offenders’ social network, in shaping the opportunities that they have, and (3) self-exclusion seems to be a key mechanism for understanding unsuccessful re-entry into the labour market. PMID:28989325

A bioeconomic analysis of an emerald ash borer invasion of an urban forest with multiple jurisdictions

Treesearch

Kent F. Kovacs; Robert G. Haight; Rodrigo J. Mercader; Deborah G. McCullough

2014-01-01

Bio-invasions occur in management mosaics where local control affects spread and damage across political boundaries. We address two obstacles to local implementation of optimal regional control of a bio-invasion that damages public and private resources across jurisdictions: lack of local funds to protect the public resource and lack of access to protect the private...

Pulse shape optimization for electron-positron production in rotating fields

NASA Astrophysics Data System (ADS)

Fillion-Gourdeau, François; Hebenstreit, Florian; Gagnon, Denis; MacLean, Steve

2017-07-01

We optimize the pulse shape and polarization of time-dependent electric fields to maximize the production of electron-positron pairs via strong field quantum electrodynamics processes. The pulse is parametrized in Fourier space by a B -spline polynomial basis, which results in a relatively low-dimensional parameter space while still allowing for a large number of electric field modes. The optimization is performed by using a parallel implementation of the differential evolution, one of the most efficient metaheuristic algorithms. The computational performance of the numerical method and the results on pair production are compared with a local multistart optimization algorithm. These techniques allow us to determine the pulse shape and field polarization that maximize the number of produced pairs in computationally accessible regimes.

Development of "all natural" layer-by-layer redispersible solid lipid nanoparticles by nano spray drying technology.

PubMed

Wang, Taoran; Hu, Qiaobin; Zhou, Mingyong; Xia, Yan; Nieh, Mu-Ping; Luo, Yangchao

2016-10-01

Solid lipid nanoparticles (SLNs) have gained tremendous attraction as carriers for controlled drug delivery. Despite numerous advances in the field, one long-standing historical challenge for their practical applications remains unmet: redispersibility after drying. In this work, a novel design of SLNs using a layer-by-layer (LbL) technique was developed and the formulations were optimized by surface response methodology (Box-Behnken design). To the best of our knowledge, this is the first study reporting the fabrication of SLNs from all natural ingredients in the absence of any synthetic surfactants or coatings. The SLNs were prepared by a combined solvent-diffusion and hot homogenization method, with soy lecithin as natural emulsifier (first layer), followed by the subsequent coating with sodium caseinate (second layer) and pectin (third layer), both of which are natural food biopolymers. The adsorption of pectin coating onto caseinate was reinforced by hydrophobic and electrostatic interactions induced by a pH-driven process along with thermal treatment. The innovative nano spray drying technology was further explored to obtain ultra-fine powders of SLNs. Compared to uncoated or single-layer coated SLNs powders, which showed severe aggregation after spray drying, the well-separated particles with spherical shape and smooth surface were obtained for layer-by-layer (LbL) SLNs, which were redispersible into water without variation of dimension, shape and morphology. The SLNs were characterized by Fourier transform infrared and high-performance differential scanning calorimetry for their physical properties. The LbL-coated SLNs based on all natural ingredients have promising features for future applications as drug delivery systems, overcoming the major obstacles in conventional spray drying and redispersing SLNs-based formulations. Copyright © 2016 Elsevier B.V. All rights reserved.

Light-activated microbubbles around gold nanorods for photoacoustic microsurgery

NASA Astrophysics Data System (ADS)

Cavigli, Lucia; Centi, Sonia; Lai, Sarah; Borri, Claudia; Micheletti, Filippo; Tortoli, Paolo; Panettieri, Ilaria; Streit, Ingolf; Rossi, Francesca; Ratto, Fulvio; Pini, Roberto

2018-02-01

The increasing interest around imaging and microsurgery techniques based on the photoacoustic effect has boosted active research into the development of exogenous contrast agents that may enhance the potential of this innovative approach. In this context, plasmonic particles as gold nanorods are achieving resounding interest, owing to their efficiency of photothermal conversion, intense optical absorbance in the near infrared region, inertness in the body and convenience for conjugation with ligands of molecular targets. On the other hand, the photoinstability of plasmonic particles remains a remarkable obstacle. In particular, gold nanorods easily reshape into nanospheres and so lose their optical absorbance in the near infrared region, under exposure to few-ns-long laser pulses. This issue is attracting much attention and stimulating ad-hoc solutions, such as the addition of rigid shells and the optimization of multiple parameters. In this contribution, we focus on the influence of the shape of gold nanorods on their photothermal behavior and photostability. We describe the photothermal process in the gold nanorods by modeling their optical absorption and consequent temperature dynamics as a function of their aspect ratio (length / diameter). Our results suggest that increasing the aspect ratio does probably not limit the photostability of gold nanorods, while shifting the plasmonic peak towards wavelengths around 1100 nm, which hold more technological interest.

Shape Matters: Intravital Microscopy Reveals Surprising Geometrical Dependence for Nanoparticles in Tumor Models of Extravasation

PubMed Central

Smith, Bryan Ronain; Kempen, Paul; Bouley, Donna; Xu, Alexander; Liu, Zhuang; Melosh, Nicholas; Dai, Hongjie; Sinclair, Robert; Gambhir, Sanjiv Sam

2012-01-01

Delivery is one of the most critical obstacles confronting nanoparticle use in cancer diagnosis and therapy. For most oncological applications, nanoparticles must extravasate in order to reach tumor cells and perform their designated task. However, little understanding exists regarding the effect of nanoparticle shape on extravasation. Herein we use real-time intravital microscopic imaging to meticulously examine how two different nanoparticles behave across three different murine tumor models. The study quantitatively demonstrates that high-aspect ratio single-walled carbon nanotubes (SWNTs) display extravasational behavior surprisingly different from, and counterintuitive to, spherical nanoparticles although the nanoparticles have similar surface coatings, area, and charge. This work quantitatively indicates that nanoscale extravasational competence is highly dependent on nanoparticle geometry and is heterogeneous. PMID:22650417

Transonic Wing Shape Optimization Using a Genetic Algorithm

NASA Technical Reports Server (NTRS)

Holst, Terry L.; Pulliam, Thomas H.; Kwak, Dochan (Technical Monitor)

2002-01-01

A method for aerodynamic shape optimization based on a genetic algorithm approach is demonstrated. The algorithm is coupled with a transonic full potential flow solver and is used to optimize the flow about transonic wings including multi-objective solutions that lead to the generation of pareto fronts. The results indicate that the genetic algorithm is easy to implement, flexible in application and extremely reliable.

Theoretical study of enhancing the piezoelectric nanogenerator's output power by optimizing the external force's shape

NASA Astrophysics Data System (ADS)

Xu, Qi; Qin, Yong

2017-07-01

The average power is one of the key parameters of piezoelectric nanogenerators (PENGs). In this paper, we demonstrate that the PENG's output can be gigantically improved by choosing driving force with an appropriate shape. When the load resistance is 100 MΩ and the driven forces have a magnitude of 19.6 nN, frequency of 10 Hz, the average power of PENG driven by square shaped force is six orders of magnitude higher than that driven by triangular shaped and sinusoidal shaped forces. These results are of importance for optimizing the average power of the PENGs in practical applications.

Optimal Embedding for Shape Indexing in Medical Image Databases

PubMed Central

Qian, Xiaoning; Tagare, Hemant D.; Fulbright, Robert K.; Long, Rodney; Antani, Sameer

2010-01-01

This paper addresses the problem of indexing shapes in medical image databases. Shapes of organs are often indicative of disease, making shape similarity queries important in medical image databases. Mathematically, shapes with landmarks belong to shape spaces which are curved manifolds with a well defined metric. The challenge in shape indexing is to index data in such curved spaces. One natural indexing scheme is to use metric trees, but metric trees are prone to inefficiency. This paper proposes a more efficient alternative. We show that it is possible to optimally embed finite sets of shapes in shape space into a Euclidean space. After embedding, classical coordinate-based trees can be used for efficient shape retrieval. The embedding proposed in the paper is optimal in the sense that it least distorts the partial Procrustes shape distance. The proposed indexing technique is used to retrieve images by vertebral shape from the NHANES II database of cervical and lumbar spine x-ray images maintained at the National Library of Medicine. Vertebral shape strongly correlates with the presence of osteophytes, and shape similarity retrieval is proposed as a tool for retrieval by osteophyte presence and severity. Experimental results included in the paper evaluate (1) the usefulness of shape-similarity as a proxy for osteophytes, (2) the computational and disk access efficiency of the new indexing scheme, (3) the relative performance of indexing with embedding to the performance of indexing without embedding, and (4) the computational cost of indexing using the proposed embedding versus the cost of an alternate embedding. The experimental results clearly show the relevance of shape indexing and the advantage of using the proposed embedding. PMID:20163981

Optimal embedding for shape indexing in medical image databases.

PubMed

Qian, Xiaoning; Tagare, Hemant D; Fulbright, Robert K; Long, Rodney; Antani, Sameer

2010-06-01

This paper addresses the problem of indexing shapes in medical image databases. Shapes of organs are often indicative of disease, making shape similarity queries important in medical image databases. Mathematically, shapes with landmarks belong to shape spaces which are curved manifolds with a well defined metric. The challenge in shape indexing is to index data in such curved spaces. One natural indexing scheme is to use metric trees, but metric trees are prone to inefficiency. This paper proposes a more efficient alternative. We show that it is possible to optimally embed finite sets of shapes in shape space into a Euclidean space. After embedding, classical coordinate-based trees can be used for efficient shape retrieval. The embedding proposed in the paper is optimal in the sense that it least distorts the partial Procrustes shape distance. The proposed indexing technique is used to retrieve images by vertebral shape from the NHANES II database of cervical and lumbar spine X-ray images maintained at the National Library of Medicine. Vertebral shape strongly correlates with the presence of osteophytes, and shape similarity retrieval is proposed as a tool for retrieval by osteophyte presence and severity. Experimental results included in the paper evaluate (1) the usefulness of shape similarity as a proxy for osteophytes, (2) the computational and disk access efficiency of the new indexing scheme, (3) the relative performance of indexing with embedding to the performance of indexing without embedding, and (4) the computational cost of indexing using the proposed embedding versus the cost of an alternate embedding. The experimental results clearly show the relevance of shape indexing and the advantage of using the proposed embedding. Copyright (c) 2010 Elsevier B.V. All rights reserved.

Membrane tension feedback on shape and motility of eukaryotic cells

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

Winkler, Benjamin; Aranson, Igor S.; Ziebert, Falko

2016-04-01

In the framework of a phase field model of a single cell crawling on a substrate, we investigate how the properties of the cell membrane affect the shape and motility of the cell. Since the membrane influences the cell dynamics on multiple levels and provides a nontrivial feedback, we consider the following fundamental interactions: (i) the reduction of the actin polymerization rate by membrane tension; (ii) area conservation of the cell’s two-dimensional cross-section vs. conservation of the circumference (i.e. membrane inextensibility); and (iii) the contribution from the membrane’s bending energy to the shape and integrity of the cell. As inmore » experiments, we investigate two pertinent observables — the cell’s velocity and its aspect ratio. We find that the most important effect is the feedback of membrane tension on the actin polymerization. Bending rigidity has only minor effects, visible mostly in dynamic reshaping events, as exemplified by collisions of the cell with an obstacle.« less

Observation of flow processes in the vadose zone using ERT on different space and time scales: results, obstacles, and suggestions

NASA Astrophysics Data System (ADS)

Noell, Ursula; Ganz, Christina; Lamparter, Axel; Duijnisveld, Wilhelmus; Bachmann, Jörg

2013-04-01

Electrical resistivity tomography (ERT) observes the flow processes in the vadose zone indirectly. ERT has been used to estimate water flow in different soil types and under different flow conditions using active experiments or monitoring the natural process in many cases. Our experiments in sand and loess soil connected ERT with local soil probing using TDR devices and tensiometers in order to proof the reliability of the ERT inversion results in terms of infiltration velocity. Additionally, a colour tracer was used and sections through the infiltration zones were excavated in order to compare the shape of the dye -stained infiltration zone with the results of the ERT inversion. The data revealed the complicated infiltration pattern with a higher transport velocity in sand and a different shape than expected by classical soil hydraulic models. These results indicate the need for independent observations in order to correctly assess the water storage in the vadose zone with its hydrological consequences, the groundwater recharge and the contamination risk caused by rapid movement of water. ERT can be used for this purpose on different spatial- and time scales but for reliable results various obstacles need to be dealt with. Firstly, the ambiguity of the resistivity because soil resistivity depends on both, soil water content and electrical soil/water conductivity. This obstacle is less severe when the infiltration velocity is investigated, because then only the first onset of resistivity change is interpreted as the water arrival time. Our results show that the arrival of the water front as well as the final infiltration depth can be reliably detected. In contrast, this obstacle is very severe when the amount of water stored is observed using conductive tracer. The problem is not critical during a passive experiment when the natural rain fall and the waters fate through the vadose zone is monitored. The second obstacle is the limited resolution of ERT which deteriorates with depth. The resolution depends on the electrode distances and the depth resolution can be increased by using borehole electrodes. However, if one ha of land is to be observed with a reasonable number of electrodes (some 100) the resolution will be some 10 m. The structures, however, that influence the infiltration process, might be much smaller. Therefore, it is suggested to use ERT as the tool to observe and quantify the infiltration process with regard to time and space on a scale of some meters. For independent proof local TDR devices should be inserted within the investigated area for calibration. These results should then be used to establish a physical soil model that grasps the observed process correctly in time and space. The next step would then be to repeat these local measurements at different locations where the similarity of the processes is at doubt. Only when this is confirmed or discarded, further upscaling steps can be done reliably.

Profiling charge complementarity and selectivity for binding at the protein surface.

PubMed

Sulea, Traian; Purisima, Enrico O

2003-05-01

A novel analysis and representation of the protein surface in terms of electrostatic binding complementarity and selectivity is presented. The charge optimization methodology is applied in a probe-based approach that simulates the binding process to the target protein. The molecular surface is color coded according to calculated optimal charge or according to charge selectivity, i.e., the binding cost of deviating from the optimal charge. The optimal charge profile depends on both the protein shape and charge distribution whereas the charge selectivity profile depends only on protein shape. High selectivity is concentrated in well-shaped concave pockets, whereas solvent-exposed convex regions are not charge selective. This suggests the synergy of charge and shape selectivity hot spots toward molecular selection and recognition, as well as the asymmetry of charge selectivity at the binding interface of biomolecular systems. The charge complementarity and selectivity profiles map relevant electrostatic properties in a readily interpretable way and encode information that is quite different from that visualized in the standard electrostatic potential map of unbound proteins.

Optimal shapes of surface-slip driven self-propelled swimmers

NASA Astrophysics Data System (ADS)

Vilfan, Andrej; Osterman, Natan

2012-11-01

If one defines the swimming efficiency of a microorganism as the power needed to move it against viscous drag, divided by the total dissipated power, one usually finds values no better than 1%. In order to find out how close this is to the theoretically achievable optimum, we first introduced a new efficiency measure at the level of a single cilium or an infinite ciliated surface and numerically determined the optimal beating patterns according to this criterion. In the following we also determined the optimal shape of a swimmer such that the total power is minimal while maintaining the volume and the swimming speed. The resulting shape depends strongly on the allowed maximum curvature. When sufficient curvature is allowed the optimal swimmer exhibits two protrusions along the symmetry axis. The results show that prolate swimmers such as Paramecium have an efficiency that is ~ 20% higher than that of a spherical body, whereas some microorganisms have shapes that allow even higher efficiency.

Under-Track CFD-Based Shape Optimization for a Low-Boom Demonstrator Concept

NASA Technical Reports Server (NTRS)

Wintzer, Mathias; Ordaz, Irian; Fenbert, James W.

2015-01-01

The detailed outer mold line shaping of a Mach 1.6, demonstrator-sized low-boom concept is presented. Cruise trim is incorporated a priori as part of the shaping objective, using an equivalent-area-based approach. Design work is performed using a gradient-driven optimization framework that incorporates a three-dimensional, nonlinear flow solver, a parametric geometry modeler, and sensitivities derived using the adjoint method. The shaping effort is focused on reducing the under-track sonic boom level using an inverse design approach, while simultaneously satisfying the trim requirement. Conceptual-level geometric constraints are incorporated in the optimization process, including the internal layout of fuel tanks, landing gear, engine, and crew station. Details of the model parameterization and design process are documented for both flow-through and powered states, and the performance of these optimized vehicles presented in terms of inviscid L/D, trim state, pressures in the near-field and at the ground, and predicted sonic boom loudness.

Dynamics of Meddies Interaction With Submarine Mountains

NASA Astrophysics Data System (ADS)

Cenedese, A.; Espa, S.; Sciarra, R.; Cicerani, S.

The dynamics of MEDDIES (i.e. Mediterranean Eddies) impinging on submarine mountains has been experimentally analyzed both in the f-plane and b-plane condi- tions in order to validate in situ observations of the geophysical phenomenon (Richard- son P.L., Bower A.S. &Zenk W.; 2000). Experiments have been performed by using a rotating tank equipped with a co-rotating video camera, which allows to take flow visualizations. The tank has a squared section (L=88 cm) and is filled with pure wa- ter (Tz180 C). Cyclonic vortices are generated by placing ice cubes on the upper surface of the tank (Cenedese C., 2000) and the mountain is simulated by using cylin- ders characterised by different shaped sections. We analyzed two impact typology in which there is: - vortex advected by an uniform background flow: the experiment is performed by moving an obstacle against a motionless vortex in a f-plane framework. A video camera is fixed over the obstacle moving at the same time. -self moving vor- tex: the beta effect induced by a sloping bottom allow the vortex to move by itself. In this case the vortex impinges on a fixed obstacle. Our aim is to investigate the possible scenario corresponding to frontal and glancing collision events and the influ- ence of impact and geometrical parameters (i.e. obstacle size, D, and shape; vortex size, R; distance between the center of the vortex and the horizontal axis of the obsta- cle) leading to vortex destruction, vortex bifurcation or changing in vortex structure. Lagrangian trajectories of individual tracers (styrene particles) released on the fluid surface have been reconstructed in the tank reference frame by using PTV technique (Cenedese A., Querzoli G., 2000). These particles are supposed to act as passive scalar i.e. their influence on the fluid motion can be considered negligible. By interpolating Lagrangian velocities over a regular grid, we obtained the Eulerian flow fields. It is then possible to evaluate vorticity distribution and to investigate its evolution during the impact event. REFERENCES Richardson P.L., Bower A.S. &Zenk W. (2000) 'A census of Med- dies tracked by floats'. Progress in Oceanography, 45, 209-250. Cenedese C.(2000) 'Mesoscale vortices colliding with a seamount' J.Geophys.Res. Cenedese, A., Quer- zoli, G., (2000), SParticle Tracking Velocimetry: measuring in the Lagrangian ref- ´ erence frameS, in: Particle Image Velocimetry and associated techniques, Lectures series 2000-01, von Karman Institute for Fluid Dynamics

Free-form Airfoil Shape Optimization Under Uncertainty Using Maximum Expected Value and Second-order Second-moment Strategies

NASA Technical Reports Server (NTRS)

Huyse, Luc; Bushnell, Dennis M. (Technical Monitor)

2001-01-01

Free-form shape optimization of airfoils poses unexpected difficulties. Practical experience has indicated that a deterministic optimization for discrete operating conditions can result in dramatically inferior performance when the actual operating conditions are different from the - somewhat arbitrary - design values used for the optimization. Extensions to multi-point optimization have proven unable to adequately remedy this problem of "localized optimization" near the sampled operating conditions. This paper presents an intrinsically statistical approach and demonstrates how the shortcomings of multi-point optimization with respect to "localized optimization" can be overcome. The practical examples also reveal how the relative likelihood of each of the operating conditions is automatically taken into consideration during the optimization process. This is a key advantage over the use of multipoint methods.

Arbitrary Shape Deformation in CFD Design

NASA Technical Reports Server (NTRS)

Landon, Mark; Perry, Ernest

2014-01-01

Sculptor(R) is a commercially available software tool, based on an Arbitrary Shape Design (ASD), which allows the user to perform shape optimization for computational fluid dynamics (CFD) design. The developed software tool provides important advances in the state-of-the-art of automatic CFD shape deformations and optimization software. CFD is an analysis tool that is used by engineering designers to help gain a greater understanding of the fluid flow phenomena involved in the components being designed. The next step in the engineering design process is to then modify, the design to improve the components' performance. This step has traditionally been performed manually via trial and error. Two major problems that have, in the past, hindered the development of an automated CFD shape optimization are (1) inadequate shape parameterization algorithms, and (2) inadequate algorithms for CFD grid modification. The ASD that has been developed as part of the Sculptor(R) software tool is a major advancement in solving these two issues. First, the ASD allows the CFD designer to freely create his own shape parameters, thereby eliminating the restriction of only being able to use the CAD model parameters. Then, the software performs a smooth volumetric deformation, which eliminates the extremely costly process of having to remesh the grid for every shape change (which is how this process had previously been achieved). Sculptor(R) can be used to optimize shapes for aerodynamic and structural design of spacecraft, aircraft, watercraft, ducts, and other objects that affect and are affected by flows of fluids and heat. Sculptor(R) makes it possible to perform, in real time, a design change that would manually take hours or days if remeshing were needed.

Numerical Modeling of Surface and Volumetric Cooling using Optimal T- and Y-shaped Flow Channels

NASA Astrophysics Data System (ADS)

Kosaraju, Srinivas

2017-11-01

The layout of T- and V-shaped flow channel networks on a surface can be optimized for minimum pressure drop and pumping power. The results of the optimization are in the form of geometric parameters such as length and diameter ratios of the stem and branch sections. While these flow channels are optimized for minimum pressure drop, they can also be used for surface and volumetric cooling applications such as heat exchangers, air conditioning and electronics cooling. In this paper, an effort has been made to study the heat transfer characteristics of multiple T- and Y-shaped flow channel configurations using numerical simulations. All configurations are subjected to same input parameters and heat generation constraints. Comparisons are made with similar results published in literature.

Design optimization of rear uprights for UniMAP Automotive Racing Team Formula SAE racing car

NASA Astrophysics Data System (ADS)

Azmeer, M.; Basha, M. H.; Hamid, M. F.; Rahman, M. T. A.; Hashim, M. S. M.

2017-10-01

In an automobile, the rear upright are used to provide a physical mounting and links the suspension arms to the hub and wheel assembly. In this work, static structural and shape optimization analysis for rear upright for UniMAP’s Formula SAE racing car had been done using ANSYS software with the objective to reduce weight while maintaining the structural strength of the vehicle upright. During the shape optimization process, the component undergoes 25%, 50% and 75 % weight reduction in order to find the best optimal shape of the upright. The final design of the upright is developed considering the weight reduction, structural integrity and the manufacturability. The final design achieved 21 % weight reduction and is able to withstand several loads.

Ultra-low-loss tapered optical fibers with minimal lengths

NASA Astrophysics Data System (ADS)

Nagai, Ryutaro; Aoki, Takao

2014-11-01

We design and fabricate ultra-low-loss tapered optical fibers (TOFs) with minimal lengths. We first optimize variations of the torch scan length using the flame-brush method for fabricating TOFs with taper angles that satisfy the adiabaticity criteria. We accordingly fabricate TOFs with optimal shapes and compare their transmission to TOFs with a constant taper angle and TOFs with an exponential shape. The highest transmission measured for TOFs with an optimal shape is in excess of 99.7 % with a total TOF length of only 23 mm, whereas TOFs with a constant taper angle of 2 mrad reach 99.6 % transmission for a 63 mm TOF length.

Constellation design with geometric and probabilistic shaping

NASA Astrophysics Data System (ADS)

Zhang, Shaoliang; Yaman, Fatih

2018-02-01

A systematic study, including theory, simulation and experiments, is carried out to review the generalized pairwise optimization algorithm for designing optimized constellation. In order to verify its effectiveness, the algorithm is applied in three testing cases: 2-dimensional 8 quadrature amplitude modulation (QAM), 4-dimensional set-partitioning QAM, and probabilistic-shaped (PS) 32QAM. The results suggest that geometric shaping can work together with PS to further bridge the gap toward the Shannon limit.

Structural optimization of dental restorations using the principle of adaptive growth.

PubMed

Couegnat, Guillaume; Fok, Siu L; Cooper, Jonathan E; Qualtrough, Alison J E

2006-01-01

In a restored tooth, the stresses that occur at the tooth-restoration interface during loading could become large enough to fracture the tooth and/or restoration and it has been estimated that 92% of fractured teeth have been previously restored. The tooth preparation process for a dental restoration is a classical optimization problem: tooth reduction must be minimized to preserve tooth tissue whilst stress levels must be kept low to avoid fracture of the restored unit. The objective of the present study was to derive alternative optimized designs for a second upper premolar cavity preparation by means of structural shape optimization based on the finite element method and biological adaptive growth. Three models of cavity preparations were investigated: an inlay design for preparation of a premolar tooth, an undercut cavity design and an onlay preparation. Three restorative materials and several tooth/restoration contact conditions were utilized to replicate the in vitro situation as closely as possible. The optimization process was run for each cavity geometry. Mathematical shape optimization based on biological adaptive growth process was successfully applied to tooth preparations for dental restorations. Significant reduction in stress levels at the tooth-restoration interface where bonding is imperfect was achieved using optimized cavity or restoration shapes. In the best case, the maximum stress value was reduced by more than 50%. Shape optimization techniques can provide an efficient and effective means of reducing the stresses in restored teeth and hence has the potential of prolonging their service lives. The technique can easily be adopted for optimizing other dental restorations.

Lateral Penumbra Modelling Based Leaf End Shape Optimization for Multileaf Collimator in Radiotherapy.

PubMed

Zhou, Dong; Zhang, Hui; Ye, Peiqing

2016-01-01

Lateral penumbra of multileaf collimator plays an important role in radiotherapy treatment planning. Growing evidence has revealed that, for a single-focused multileaf collimator, lateral penumbra width is leaf position dependent and largely attributed to the leaf end shape. In our study, an analytical method for leaf end induced lateral penumbra modelling is formulated using Tangent Secant Theory. Compared with Monte Carlo simulation and ray tracing algorithm, our model serves well the purpose of cost-efficient penumbra evaluation. Leaf ends represented in parametric forms of circular arc, elliptical arc, Bézier curve, and B-spline are implemented. With biobjective function of penumbra mean and variance introduced, genetic algorithm is carried out for approximating the Pareto frontier. Results show that for circular arc leaf end objective function is convex and convergence to optimal solution is guaranteed using gradient based iterative method. It is found that optimal leaf end in the shape of Bézier curve achieves minimal standard deviation, while using B-spline minimum of penumbra mean is obtained. For treatment modalities in clinical application, optimized leaf ends are in close agreement with actual shapes. Taken together, the method that we propose can provide insight into leaf end shape design of multileaf collimator.

Optimization methods and silicon solar cell numerical models

NASA Technical Reports Server (NTRS)

Girardini, K.; Jacobsen, S. E.

1986-01-01

An optimization algorithm for use with numerical silicon solar cell models was developed. By coupling an optimization algorithm with a solar cell model, it is possible to simultaneously vary design variables such as impurity concentrations, front junction depth, back junction depth, and cell thickness to maximize the predicted cell efficiency. An optimization algorithm was developed and interfaced with the Solar Cell Analysis Program in 1 Dimension (SCAP1D). SCAP1D uses finite difference methods to solve the differential equations which, along with several relations from the physics of semiconductors, describe mathematically the performance of a solar cell. A major obstacle is that the numerical methods used in SCAP1D require a significant amount of computer time, and during an optimization the model is called iteratively until the design variables converge to the values associated with the maximum efficiency. This problem was alleviated by designing an optimization code specifically for use with numerically intensive simulations, to reduce the number of times the efficiency has to be calculated to achieve convergence to the optimal solution.

Shape design sensitivity analysis and optimization of three dimensional elastic solids using geometric modeling and automatic regridding. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Yao, Tse-Min; Choi, Kyung K.

1987-01-01

An automatic regridding method and a three dimensional shape design parameterization technique were constructed and integrated into a unified theory of shape design sensitivity analysis. An algorithm was developed for general shape design sensitivity analysis of three dimensional eleastic solids. Numerical implementation of this shape design sensitivity analysis method was carried out using the finite element code ANSYS. The unified theory of shape design sensitivity analysis uses the material derivative of continuum mechanics with a design velocity field that represents shape change effects over the structural design. Automatic regridding methods were developed by generating a domain velocity field with boundary displacement method. Shape design parameterization for three dimensional surface design problems was illustrated using a Bezier surface with boundary perturbations that depend linearly on the perturbation of design parameters. A linearization method of optimization, LINRM, was used to obtain optimum shapes. Three examples from different engineering disciplines were investigated to demonstrate the accuracy and versatility of this shape design sensitivity analysis method.

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

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

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

DTIC Science & Technology

2011-03-01

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

Barchan and Linear Dunes on Earth and Mars - Comparative Research

NASA Astrophysics Data System (ADS)

Tsoar, H.; Edgett, K. S.; Schatz, V.; Parteli, E. J.; Herrmann, H. J.

2007-05-01

High resolution images from MGS and MRO reveal, in detail, ripples and dunes on Mars that were not discerned in old Viking images. The two basic dune types known on Earth, barchan (and transverse) and seif (linear), are also common on Mars, although seif dunes are quite rare on that planet. Some Martian barchan and seif dunes have a different morphology, particularly as evident in the Martian north polar region. Some of the barchans have an elongated, elliptical shape, while some of the linear dunes lack the sinuosity commonly associated with terrestrial seif dunes. These barchan and linear dunes occur together, side-by-side, and in some cases are merged to create a single bed-form. Induration of the dunes, or crust formation, can explain the occurrence of these dunes of unusual morphology in the Martian north polar region. Crusts may form as water vapor diffuses into and out of the fine-grained materials on the planet's surface. Salts would be deposited as intergranular cement. Because these bedforms occur in the polar region, the cementing agent could be ice instead of salts; indeed, the dunes spend more than half each Martian year beneath a covering of seasonal frost, mostly frozen carbon dioxide. Elliptical shaped barchans were created artificially in Saudi Arabia by spraying advancing barchan dunes with crude oil to stabilize them until the dunes reached a streamlined body shape. Simulation work indicates that the same process can occur on the indurated Martian barchans, but by cementation of grains rather than introduction of oil. Short lee dunes that have a linear shape with a sharp-edged crest are known to form from sand accumulation at the lee side of obstacles. Once a dune is stabilized by induration or crust, it functions as an obstacle to the wind. Linear lee dunes stabilized by ice (water or carbon dioxide) or mineral crust may elongate and form a long linear dune that aligns parallel to the wind. Melting of the ice will set up a straight linear dune, with loose sand, parallel to the dominant wind. Field observations on terrestrial deserts show that such a dune can only be formed when it is covered by vegetation. If vegetation is removed the bare linear dune disintegrates into small barchans. Simulation also shows that linear dune is unstable and deforms until it takes the shape of a string of barchans, which are the stable shape under unidirectional winds.

The Pixhawk Open-Source Computer Vision Framework for Mavs

NASA Astrophysics Data System (ADS)

Meier, L.; Tanskanen, P.; Fraundorfer, F.; Pollefeys, M.

2011-09-01

Unmanned aerial vehicles (UAV) and micro air vehicles (MAV) are already intensively used in geodetic applications. State of the art autonomous systems are however geared towards the application area in safe and obstacle-free altitudes greater than 30 meters. Applications at lower altitudes still require a human pilot. A new application field will be the reconstruction of structures and buildings, including the facades and roofs, with semi-autonomous MAVs. Ongoing research in the MAV robotics field is focusing on enabling this system class to operate at lower altitudes in proximity to nearby obstacles and humans. PIXHAWK is an open source and open hardware toolkit for this purpose. The quadrotor design is optimized for onboard computer vision and can connect up to four cameras to its onboard computer. The validity of the system design is shown with a fully autonomous capture flight along a building.

Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks

PubMed Central

Urdiales, Cristina; Aguilera, Francisco; González-Parada, Eva; Cano-García, Jose; Sandoval, Francisco

2016-01-01

In mobile wireless sensor networks (MWSN), nodes are allowed to move autonomously for deployment. This process is meant: (i) to achieve good coverage; and (ii) to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles. PMID:27399709

A novel method for trajectory planning of cooperative mobile manipulators.

PubMed

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

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

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

PubMed Central

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

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

Shaping off-axis metallic membrane reflectors using optimal boundary shapes and inelastic strains

NASA Technical Reports Server (NTRS)

White, C. V.; Dragovan, M.

2004-01-01

This paper will describe a novel concept for constructing off-axis membrane reflector surfaces. Membrane reflectors have been extensively studied, including investigations into inflated lenticular architectures, shaping by spin casting, shaping using electrostatic forces, and shaping by evacuating behind a membrane surface stretched between circular or annular-shaped supports.

Gas Dynamic Modernization of Axial Uncooled Turbine by Means of CFD and Optimization Software

NASA Astrophysics Data System (ADS)

Marchukov, E. Yu; Egorov, I. N.

2018-01-01

The results of multicriteria optimization of three-stage low-pressure turbine are described in the paper. The aim of the optimization is to improve turbine operation process by three criteria: turbine outlet flow angle, value of residual swirl at the turbine outlet, and turbine efficiency. Full reprofiling of all blade rows is carried out while solving optimization problem. Reprofiling includes a change in both shape of flat blade sections (profiles) and three-dimensional shape of the blades. The study is carried out with 3D numerical models of turbines.

Control of wavepacket dynamics in mixed alkali metal clusters by optimally shaped fs pulses

NASA Astrophysics Data System (ADS)

Bartelt, A.; Minemoto, S.; Lupulescu, C.; Vajda, Š.; Wöste, L.

We have performed adaptive feedback optimization of phase-shaped femtosecond laser pulses to control the wavepacket dynamics of small mixed alkali-metal clusters. An optimization algorithm based on Evolutionary Strategies was used to maximize the ion intensities. The optimized pulses for NaK and Na2K converged to pulse trains consisting of numerous peaks. The timing of the elements of the pulse trains corresponds to integer and half integer numbers of the vibrational periods of the molecules, reflecting the wavepacket dynamics in their excited states.

A Sparse Representation-Based Deployment Method for Optimizing the Observation Quality of Camera Networks

PubMed Central

Wang, Chang; Qi, Fei; Shi, Guangming; Wang, Xiaotian

2013-01-01

Deployment is a critical issue affecting the quality of service of camera networks. The deployment aims at adopting the least number of cameras to cover the whole scene, which may have obstacles to occlude the line of sight, with expected observation quality. This is generally formulated as a non-convex optimization problem, which is hard to solve in polynomial time. In this paper, we propose an efficient convex solution for deployment optimizing the observation quality based on a novel anisotropic sensing model of cameras, which provides a reliable measurement of the observation quality. The deployment is formulated as the selection of a subset of nodes from a redundant initial deployment with numerous cameras, which is an ℓ0 minimization problem. Then, we relax this non-convex optimization to a convex ℓ1 minimization employing the sparse representation. Therefore, the high quality deployment is efficiently obtained via convex optimization. Simulation results confirm the effectiveness of the proposed camera deployment algorithms. PMID:23989826

Propellers And Fans Based On The Moebius Strip

NASA Technical Reports Server (NTRS)

Seiner, John Milton; Gilinsky, Mikhail Markovich

1996-01-01

Moebius strip proposed as basis for optimally shaped airplane and boat propellers, fans, helicopter rotors, mixing screws, coffee grinders, and concrete mixers. Basic idea of optimal shaping of such device to increase working efficiency by increasing area for capture of still medium without increasing power needed for rotation.

Flow analysis and design optimization methods for nozzle-afterbody of a hypersonic vehicle

NASA Technical Reports Server (NTRS)

Baysal, O.

1992-01-01

This report summarizes the methods developed for the aerodynamic analysis and the shape optimization of the nozzle-afterbody section of a hypersonic vehicle. Initially, exhaust gases were assumed to be air. Internal-external flows around a single scramjet module were analyzed by solving the 3D Navier-Stokes equations. Then, exhaust gases were simulated by a cold mixture of Freon and Ar. Two different models were used to compute these multispecies flows as they mixed with the hypersonic airflow. Surface and off-surface properties were successfully compared with the experimental data. The Aerodynamic Design Optimization with Sensitivity analysis was then developed. Pre- and postoptimization sensitivity coefficients were derived and used in this quasi-analytical method. These coefficients were also used to predict inexpensively the flow field around a changed shape when the flow field of an unchanged shape was given. Starting with totally arbitrary initial afterbody shapes, independent computations were converged to the same optimum shape, which rendered the maximum axial thrust.

Demonstration of Automatically-Generated Adjoint Code for Use in Aerodynamic Shape Optimization

NASA Technical Reports Server (NTRS)

Green, Lawrence; Carle, Alan; Fagan, Mike

1999-01-01

Gradient-based optimization requires accurate derivatives of the objective function and constraints. These gradients may have previously been obtained by manual differentiation of analysis codes, symbolic manipulators, finite-difference approximations, or existing automatic differentiation (AD) tools such as ADIFOR (Automatic Differentiation in FORTRAN). Each of these methods has certain deficiencies, particularly when applied to complex, coupled analyses with many design variables. Recently, a new AD tool called ADJIFOR (Automatic Adjoint Generation in FORTRAN), based upon ADIFOR, was developed and demonstrated. Whereas ADIFOR implements forward-mode (direct) differentiation throughout an analysis program to obtain exact derivatives via the chain rule of calculus, ADJIFOR implements the reverse-mode counterpart of the chain rule to obtain exact adjoint form derivatives from FORTRAN code. Automatically-generated adjoint versions of the widely-used CFL3D computational fluid dynamics (CFD) code and an algebraic wing grid generation code were obtained with just a few hours processing time using the ADJIFOR tool. The codes were verified for accuracy and were shown to compute the exact gradient of the wing lift-to-drag ratio, with respect to any number of shape parameters, in about the time required for 7 to 20 function evaluations. The codes have now been executed on various computers with typical memory and disk space for problems with up to 129 x 65 x 33 grid points, and for hundreds to thousands of independent variables. These adjoint codes are now used in a gradient-based aerodynamic shape optimization problem for a swept, tapered wing. For each design iteration, the optimization package constructs an approximate, linear optimization problem, based upon the current objective function, constraints, and gradient values. The optimizer subroutines are called within a design loop employing the approximate linear problem until an optimum shape is found, the design loop limit is reached, or no further design improvement is possible due to active design variable bounds and/or constraints. The resulting shape parameters are then used by the grid generation code to define a new wing surface and computational grid. The lift-to-drag ratio and its gradient are computed for the new design by the automatically-generated adjoint codes. Several optimization iterations may be required to find an optimum wing shape. Results from two sample cases will be discussed. The reader should note that this work primarily represents a demonstration of use of automatically- generated adjoint code within an aerodynamic shape optimization. As such, little significance is placed upon the actual optimization results, relative to the method for obtaining the results.

Reconstruction of a piecewise constant conductivity on a polygonal partition via shape optimization in EIT

NASA Astrophysics Data System (ADS)

Beretta, Elena; Micheletti, Stefano; Perotto, Simona; Santacesaria, Matteo

2018-01-01

In this paper, we develop a shape optimization-based algorithm for the electrical impedance tomography (EIT) problem of determining a piecewise constant conductivity on a polygonal partition from boundary measurements. The key tool is to use a distributed shape derivative of a suitable cost functional with respect to movements of the partition. Numerical simulations showing the robustness and accuracy of the method are presented for simulated test cases in two dimensions.

Aerodynamic shape optimization using control theory

NASA Technical Reports Server (NTRS)

Reuther, James

1996-01-01

Aerodynamic shape design has long persisted as a difficult scientific challenge due its highly nonlinear flow physics and daunting geometric complexity. However, with the emergence of Computational Fluid Dynamics (CFD) it has become possible to make accurate predictions of flows which are not dominated by viscous effects. It is thus worthwhile to explore the extension of CFD methods for flow analysis to the treatment of aerodynamic shape design. Two new aerodynamic shape design methods are developed which combine existing CFD technology, optimal control theory, and numerical optimization techniques. Flow analysis methods for the potential flow equation and the Euler equations form the basis of the two respective design methods. In each case, optimal control theory is used to derive the adjoint differential equations, the solution of which provides the necessary gradient information to a numerical optimization method much more efficiently then by conventional finite differencing. Each technique uses a quasi-Newton numerical optimization algorithm to drive an aerodynamic objective function toward a minimum. An analytic grid perturbation method is developed to modify body fitted meshes to accommodate shape changes during the design process. Both Hicks-Henne perturbation functions and B-spline control points are explored as suitable design variables. The new methods prove to be computationally efficient and robust, and can be used for practical airfoil design including geometric and aerodynamic constraints. Objective functions are chosen to allow both inverse design to a target pressure distribution and wave drag minimization. Several design cases are presented for each method illustrating its practicality and efficiency. These include non-lifting and lifting airfoils operating at both subsonic and transonic conditions.

Three-dimensional shape optimization of a cemented hip stem and experimental validations.

PubMed

Higa, Masaru; Tanino, Hiromasa; Nishimura, Ikuya; Mitamura, Yoshinori; Matsuno, Takeo; Ito, Hiroshi

2015-03-01

This study proposes novel optimized stem geometry with low stress values in the cement using a finite element (FE) analysis combined with an optimization procedure and experimental measurements of cement stress in vitro. We first optimized an existing stem geometry using a three-dimensional FE analysis combined with a shape optimization technique. One of the most important factors in the cemented stem design is to reduce stress in the cement. Hence, in the optimization study, we minimized the largest tensile principal stress in the cement mantle under a physiological loading condition by changing the stem geometry. As the next step, the optimized stem and the existing stem were manufactured to validate the usefulness of the numerical models and the results of the optimization in vitro. In the experimental study, strain gauges were embedded in the cement mantle to measure the strain in the cement mantle adjacent to the stems. The overall trend of the experimental study was in good agreement with the results of the numerical study, and we were able to reduce the largest stress by more than 50% in both shape optimization and strain gauge measurements. Thus, we could validate the usefulness of the numerical models and the results of the optimization using the experimental models. The optimization employed in this study is a useful approach for developing new stem designs.

On the relative intensity of Poisson’s spot

NASA Astrophysics Data System (ADS)

Reisinger, T.; Leufke, P. M.; Gleiter, H.; Hahn, H.

2017-03-01

The Fresnel diffraction phenomenon referred to as Poisson’s spot or spot of Arago has, beside its historical significance, become relevant in a number of fields. Among them are for example fundamental tests of the super-position principle in the transition from quantum to classical physics and the search for extra-solar planets using star shades. Poisson’s spot refers to the positive on-axis wave interference in the shadow of any spherical or circular obstacle. While the spot’s intensity is equal to the undisturbed field in the plane wave picture, its intensity in general depends on a number of factors, namely the size and wavelength of the source, the size and surface corrugation of the diffraction obstacle, and the distances between source, obstacle and detector. The intensity can be calculated by solving the Fresnel-Kirchhoff diffraction integral numerically, which however tends to be computationally expensive. We have therefore devised an analytical model for the on-axis intensity of Poisson’s spot relative to the intensity of the undisturbed wave field and successfully validated it both using a simple light diffraction setup and numerical methods. The model will be useful for optimizing future Poisson-spot matter-wave diffraction experiments and determining under what experimental conditions the spot can be observed.

Needle Steering in 3-D Via Rapid Replanning

PubMed Central

Patil, Sachin; Burgner, Jessica; Webster, Robert J.; Alterovitz, Ron

2014-01-01

Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in 3-D environments while avoiding obstacles and compensating for real-world uncertainties. Given a specification of anatomical obstacles and a clinical target (e.g., from preoperative medical images), our system plans and controls needle motion in a closed-loop fashion under sensory feedback to optimize a clinical metric. We unify planning and control using a new fast algorithm that continuously replans the needle motion. Our rapid replanning approach is enabled by an efficient sampling-based rapidly exploring random tree (RRT) planner that achieves orders-of-magnitude reduction in computation time compared with prior 3-D approaches by incorporating variable curvature kinematics and a novel distance metric for planning. Our system uses an electromagnetic tracking system to sense the state of the needle tip during the procedure. We experimentally evaluate our needle steering system using tissue phantoms and animal tissue ex vivo. We demonstrate that our rapid replanning strategy successfully guides the needle around obstacles to desired 3-D targets with an average error of less than 3 mm. PMID:25435829

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Multiobjective Aerodynamic Shape Optimization Using Pareto Differential Evolution and Generalized Response Surface Metamodels

NASA Technical Reports Server (NTRS)

Madavan, Nateri K.

2004-01-01

Differential Evolution (DE) is a simple, fast, and robust evolutionary algorithm that has proven effective in determining the global optimum for several difficult single-objective optimization problems. The DE algorithm has been recently extended to multiobjective optimization problem by using a Pareto-based approach. In this paper, a Pareto DE algorithm is applied to multiobjective aerodynamic shape optimization problems that are characterized by computationally expensive objective function evaluations. To improve computational expensive the algorithm is coupled with generalized response surface meta-models based on artificial neural networks. Results are presented for some test optimization problems from the literature to demonstrate the capabilities of the method.

The influence of crustal magnetic sources on the topology of the Martian magnetic environment

NASA Astrophysics Data System (ADS)

Brain, David Andrew

2002-09-01

In this thesis I use magnetometer data and magnetic field models to explore the morphology of magnetic fields close to Mars, with emphasis on the manner and extent to which crustal magnetic sources affect the magnetic field configuration. I analyze Mars Global Surveyor (MGS) Magnetometer (MAG) data to determine the relative importance of the solar wind and of crustal magnetic sources in the observations. Crustal sources locally modify the solar wind interaction, adding variability to the Martian magnetic environment that depends on planetary rotation. I identify trends in the vector magnetic field with respect to altitude, solar zenith angle, and geographic location. The influence of the strongest crustal source extends to 1300 1400 km. I then use MAG data to evaluate models for the magnetic field associated with Mars' crust and for the solar wind interaction with the Martian ionosphere. A linear superposition of a spherical harmonic crustal model and a gasdynamic solar wind model improves the fit to MAG data over that from either model individually. I use simple pressure balance to calculate the shape and size of the Martian solar wind obstacle under a variety of different conditions. The obstacle is irregularly shaped (“lumpy”) and varies over the course of a Martian rotation, over a Martian year, and with changes in the upstream pressure. The obstacle above strong crustal sources can exceed 1000 km and is always higher than the altitude of the MGS spacecraft in its mapping orbit. I use a superposition model to explore the magnetic field topology at Mars under a variety of conditions. The model field topology is sensitive to changes in the interplanetary magnetic field (IMF) strength and orientation, as well as to Mars' orientation with respect to the solar wind flow. Regions of open magnetic field are located above strong crustal sources in the models, where the magnetic field is radially oriented with respect to the Martian surface. An examination of MAG and electron reflectometer (ER) data above one of these regions reveals a sharp change in the electron energy spectrum coinciding with perturbations in the orientation of the magnetic field.

Gradio: Project proposal for satellite gradiometry

NASA Technical Reports Server (NTRS)

Balmino, G.; Barilier, F.; Bernard, A.; Bouzat, C.; Riviera, G.; Runavot, J.

1981-01-01

A gradiometric approach, rather than the more complicated satellite to satellite tracking, is proposed for studying anomalies in the gravitational fields of the Earth and, possibly, other telluric bodies. The first analyses of a gradiometer based on four of ONERA's CACTUS or SUPERCACTUS accelerometers are summarized. it is shown that the obstacles to achieving the required accuracy are not insuperable. The device will be carried in a 1000 kg lens shaped satellite in a heliosynchronous orbit 200 to 300 km in altitude. The first launching is planned for the end of 1987.

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.

Parameterization of Shape and Compactness in Object-based Image Classification Using Quickbird-2 Imagery

NASA Astrophysics Data System (ADS)

Tonbul, H.; Kavzoglu, T.

2016-12-01

In recent years, object based image analysis (OBIA) has spread out and become a widely accepted technique for the analysis of remotely sensed data. OBIA deals with grouping pixels into homogenous objects based on spectral, spatial and textural features of contiguous pixels in an image. The first stage of OBIA, named as image segmentation, is the most prominent part of object recognition. In this study, multiresolution segmentation, which is a region-based approach, was employed to construct image objects. In the application of multi-resolution, three parameters, namely shape, compactness and scale must be set by the analyst. Segmentation quality remarkably influences the fidelity of the thematic maps and accordingly the classification accuracy. Therefore, it is of great importance to search and set optimal values for the segmentation parameters. In the literature, main focus has been on the definition of scale parameter, assuming that the effect of shape and compactness parameters is limited in terms of achieved classification accuracy. The aim of this study is to deeply analyze the influence of shape/compactness parameters by varying their values while using the optimal scale parameter determined by the use of Estimation of Scale Parameter (ESP-2) approach. A pansharpened Qickbird-2 image covering Trabzon, Turkey was employed to investigate the objectives of the study. For this purpose, six different combinations of shape/compactness were utilized to make deductions on the behavior of shape and compactness parameters and optimal setting for all parameters as a whole. Objects were assigned to classes using nearest neighbor classifier in all segmentation observations and equal number of pixels was randomly selected to calculate accuracy metrics. The highest overall accuracy (92.3%) was achieved by setting the shape/compactness criteria to 0.3/0.3. The results of this study indicate that shape/compactness parameters can have significant effect on classification accuracy with 4% change in overall accuracy. Also, statistical significance of differences in accuracy was tested using the McNemar's test and found that the difference between poor and optimal setting of shape/compactness parameters was statistically significant, suggesting a search for optimal parameterization instead of default setting.

Modeling and Simulation of Two Wheelchair Accessories for Pushing Doors.

PubMed

Abdullah, Soran Jalal; Shaikh Mohammed, Javeed

2017-03-27

Independent mobility is vital to individuals of all ages, and wheelchairs have proven to be great personal mobility devices. The tasks of opening and navigating through a door are trivial for healthy people, while the same tasks could be difficult for some wheelchair users. A wide range of intelligent wheelchair controllers and systems, robotic arms, or manipulator attachments integrated with wheelchairs have been developed for various applications, including manipulating door knobs. Unfortunately, the intelligent wheelchairs and robotic attachments are not widely available as commercial products. Therefore, the current manuscript presents the modeling and simulation of a novel but simple technology in the form of a passive wheelchair accessory (straight, arm-like with a single wheel, and arc-shaped with multiple wheels) for pushing doors open from a wheelchair. From the simulations using different wheel shapes and sizes, it was found that the arc-shaped accessory could push open the doors faster and with almost half the required force as compared to the arm-like accessory. Also, smaller spherical wheels were found to be best in terms of reaction forces on the wheels. Prototypes based on the arc-shaped accessory design will be manufactured and evaluated for pushing doors open and dodging or gliding other obstacles.

Multi-objective shape optimization of runner blade for Kaplan turbine

NASA Astrophysics Data System (ADS)

Semenova, A.; Chirkov, D.; Lyutov, A.; Chemy, S.; Skorospelov, V.; Pylev, I.

2014-03-01

Automatic runner shape optimization based on extensive CFD analysis proved to be a useful design tool in hydraulic turbomachinery. Previously the authors developed an efficient method for Francis runner optimization. It was successfully applied to the design of several runners with different specific speeds. In present work this method is extended to the task of a Kaplan runner optimization. Despite of relatively simpler blade shape, Kaplan turbines have several features, complicating the optimization problem. First, Kaplan turbines normally operate in a wide range of discharges, thus CFD analysis of each variant of the runner should be carried out for several operation points. Next, due to a high specific speed, draft tube losses have a great impact on the overall turbine efficiency, and thus should be accurately evaluated. Then, the flow in blade tip and hub clearances significantly affects the velocity profile behind the runner and draft tube behavior. All these features are accounted in the present optimization technique. Parameterization of runner blade surface using 24 geometrical parameters is described in details. For each variant of runner geometry steady state three-dimensional turbulent flow computations are carried out in the domain, including wicket gate, runner, draft tube, blade tip and hub clearances. The objectives are maximization of efficiency in best efficiency and high discharge operation points, with simultaneous minimization of cavitation area on the suction side of the blade. Multiobjective genetic algorithm is used for the solution of optimization problem, requiring the analysis of several thousands of runner variants. The method is applied to optimization of runner shape for several Kaplan turbines with different heads.

Anisotropic noble metal nanoparticles: Synthesis, surface functionalization and applications in biosensing, bioimaging, drug delivery and theranostics.

PubMed

Paramasivam, Gokul; Kayambu, Namitharan; Rabel, Arul Maximus; Sundramoorthy, Ashok K; Sundaramurthy, Anandhakumar

2017-02-01

Anisotropic nanoparticles have fascinated scientists and engineering communities for over a century because of their unique physical and chemical properties. In recent years, continuous advances in design and fabrication of anisotropic nanoparticles have opened new avenues for application in various areas of biology, chemistry and physics. Anisotropic nanoparticles have the plasmon absorption in the visible as well as near-infrared (NIR) region, which enables them to be used for crucial applications such as biological imaging, medical diagnostics and therapy ("theranostics"). Here, we describe the progress in anisotropic nanoparticles achieved since the millennium in the area of preparation including various shapes and modification of the particle surface, and in areas of application by providing examples of applications in biosensing, bio-imaging, drug delivery and theranostics. Furthermore, we also explain various mechanisms involved in cellular uptake of anisotropic nanoparticles, and conclude with our opinion on various obstacles that limit their applications in biomedical field. Anisotropy at the molecular level has always fascinated scientists and engineering communities for over a century, however, the research on novel methods through which shape and size of nanoparticles can be precisely controlled has opened new avenues for anisotropic nanoparticles in various areas of biology, chemistry and physics. In this manuscript, we describe progress achieved since the millennium in the areas of preparation of various shapes of anisotropic nanoparticles, investigate various methods involved in modifying the surface of these NPs, and provide examples of applications in biosensing and bio-imaging, drug delivery and theranostics. We also present mechanisms involved in cellular uptake of nanoparticles, describe different methods of preparation of anisotropic nanoparticles including biomimetic and photochemical synthesis, and conclude with our opinion on various obstacles that limit their applications in biomedical field. Copyright © 2016 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

Influences on visit retention in clinical trials: Insights from qualitative research during the VOICE trial in Johannesburg, South Africa

PubMed Central

2014-01-01

Background Although significant progress has been made in clinical trials of women-controlled methods of HIV prevention such as microbicides and Pre-exposure Prophylaxis (PrEP), low adherence to experimental study products remains a major obstacle to being able to establish their efficacy in preventing HIV infection. One factor that influences adherence is the ability of trial participants to attend regular clinic visits at which trial products are dispensed, adherence counseling is administered, and participant safety is monitored. We conducted a qualitative study of the social contextual factors that influenced adherence in the VOICE (MTN-003) trial in Johannesburg, South Africa, focusing on study participation in general, and study visits in particular. Methods The research used qualitative methodologies, including in-depth interviews (IDI), serial ethnographic interviews (EI), and focus group discussions (FGD) among a random sub-sample of 102 female trial participants, 18 to 40 years of age. A socio-ecological framework that explored those factors that shaped trial participation and adherence to study products, guided the analysis. Key codes were developed to standardize subsequent coding and a node search was used to identify texts relating to obstacles to visit adherence. Our analysis includes coded transcripts from seven FGD (N = 40), 41 IDI, and 64 serial EI (N = 21 women). Results Women’s kinship, social, and economic roles shaped their ability to participate in the clinical trial. Although participants expressed strong commitments to attend study visits, clinic visit schedules and lengthy waiting times interfered with their multiple obligations as care givers, wage earners, housekeepers, and students. Conclusions The research findings highlight the importance of the social context in shaping participation in HIV prevention trials, beyond focusing solely on individual characteristics. This points to the need to focus interventions to improve visit attendance by promoting a culture of active and engaged participation. PMID:25065834

Influences on visit retention in clinical trials: insights from qualitative research during the VOICE trial in Johannesburg, South Africa.

PubMed

Magazi, Busisiwe; Stadler, Jonathan; Delany-Moretlwe, Sinead; Montgomery, Elizabeth; Mathebula, Florence; Hartmann, Miriam; van der Straten, Ariane

2014-07-28

Although significant progress has been made in clinical trials of women-controlled methods of HIV prevention such as microbicides and Pre-exposure Prophylaxis (PrEP), low adherence to experimental study products remains a major obstacle to being able to establish their efficacy in preventing HIV infection. One factor that influences adherence is the ability of trial participants to attend regular clinic visits at which trial products are dispensed, adherence counseling is administered, and participant safety is monitored. We conducted a qualitative study of the social contextual factors that influenced adherence in the VOICE (MTN-003) trial in Johannesburg, South Africa, focusing on study participation in general, and study visits in particular. The research used qualitative methodologies, including in-depth interviews (IDI), serial ethnographic interviews (EI), and focus group discussions (FGD) among a random sub-sample of 102 female trial participants, 18 to 40 years of age. A socio-ecological framework that explored those factors that shaped trial participation and adherence to study products, guided the analysis. Key codes were developed to standardize subsequent coding and a node search was used to identify texts relating to obstacles to visit adherence. Our analysis includes coded transcripts from seven FGD (N = 40), 41 IDI, and 64 serial EI (N = 21 women). Women's kinship, social, and economic roles shaped their ability to participate in the clinical trial. Although participants expressed strong commitments to attend study visits, clinic visit schedules and lengthy waiting times interfered with their multiple obligations as care givers, wage earners, housekeepers, and students. The research findings highlight the importance of the social context in shaping participation in HIV prevention trials, beyond focusing solely on individual characteristics. This points to the need to focus interventions to improve visit attendance by promoting a culture of active and engaged participation.

An EGO-like optimization framework for sensor placement optimization in modal analysis

NASA Astrophysics Data System (ADS)

Morlier, Joseph; Basile, Aniello; Chiplunkar, Ankit; Charlotte, Miguel

2018-07-01

In aircraft design, ground/flight vibration tests are conducted to extract aircraft’s modal parameters (natural frequencies, damping ratios and mode shapes) also known as the modal basis. The main problem in aircraft modal identification is the large number of sensors needed, which increases operational time and costs. The goal of this paper is to minimize the number of sensors by optimizing their locations in order to reconstruct a truncated modal basis of N mode shapes with a high level of accuracy in the reconstruction. There are several methods to solve sensors placement optimization (SPO) problems, but for this case an original approach has been established based on an iterative process for mode shapes reconstruction through an adaptive Kriging metamodeling approach so called efficient global optimization (EGO)-SPO. The main idea in this publication is to solve an optimization problem where the sensors locations are variables and the objective function is defined by maximizing the trace of criteria so called AutoMAC. The results on a 2D wing demonstrate a reduction of sensors by 30% using our EGO-SPO strategy.

Aerodynamic Shape Optimization Using A Real-Number-Encoded Genetic Algorithm

NASA Technical Reports Server (NTRS)

Holst, Terry L.; Pulliam, Thomas H.

2001-01-01

A new method for aerodynamic shape optimization using a genetic algorithm with real number encoding is presented. The algorithm is used to optimize three different problems, a simple hill climbing problem, a quasi-one-dimensional nozzle problem using an Euler equation solver and a three-dimensional transonic wing problem using a nonlinear potential solver. Results indicate that the genetic algorithm is easy to implement and extremely reliable, being relatively insensitive to design space noise.

Adaptive feature selection using v-shaped binary particle swarm optimization.

PubMed

Teng, Xuyang; Dong, Hongbin; Zhou, Xiurong

2017-01-01

Feature selection is an important preprocessing method in machine learning and data mining. This process can be used not only to reduce the amount of data to be analyzed but also to build models with stronger interpretability based on fewer features. Traditional feature selection methods evaluate the dependency and redundancy of features separately, which leads to a lack of measurement of their combined effect. Moreover, a greedy search considers only the optimization of the current round and thus cannot be a global search. To evaluate the combined effect of different subsets in the entire feature space, an adaptive feature selection method based on V-shaped binary particle swarm optimization is proposed. In this method, the fitness function is constructed using the correlation information entropy. Feature subsets are regarded as individuals in a population, and the feature space is searched using V-shaped binary particle swarm optimization. The above procedure overcomes the hard constraint on the number of features, enables the combined evaluation of each subset as a whole, and improves the search ability of conventional binary particle swarm optimization. The proposed algorithm is an adaptive method with respect to the number of feature subsets. The experimental results show the advantages of optimizing the feature subsets using the V-shaped transfer function and confirm the effectiveness and efficiency of the feature subsets obtained under different classifiers.

Adaptive feature selection using v-shaped binary particle swarm optimization

PubMed Central

Dong, Hongbin; Zhou, Xiurong

2017-01-01

Feature selection is an important preprocessing method in machine learning and data mining. This process can be used not only to reduce the amount of data to be analyzed but also to build models with stronger interpretability based on fewer features. Traditional feature selection methods evaluate the dependency and redundancy of features separately, which leads to a lack of measurement of their combined effect. Moreover, a greedy search considers only the optimization of the current round and thus cannot be a global search. To evaluate the combined effect of different subsets in the entire feature space, an adaptive feature selection method based on V-shaped binary particle swarm optimization is proposed. In this method, the fitness function is constructed using the correlation information entropy. Feature subsets are regarded as individuals in a population, and the feature space is searched using V-shaped binary particle swarm optimization. The above procedure overcomes the hard constraint on the number of features, enables the combined evaluation of each subset as a whole, and improves the search ability of conventional binary particle swarm optimization. The proposed algorithm is an adaptive method with respect to the number of feature subsets. The experimental results show the advantages of optimizing the feature subsets using the V-shaped transfer function and confirm the effectiveness and efficiency of the feature subsets obtained under different classifiers. PMID:28358850

Magnetostatic focal spot correction for x-ray tubes operating in strong magnetic fields using iterative optimization

PubMed Central

Lillaney, Prasheel; Shin, Mihye; Conolly, Steven M.; Fahrig, Rebecca

2012-01-01

Purpose: Combining x-ray fluoroscopy and MR imaging systems for guidance of interventional procedures has become more commonplace. By designing an x-ray tube that is immune to the magnetic fields outside of the MR bore, the two systems can be placed in close proximity to each other. A major obstacle to robust x-ray tube design is correcting for the effects of the magnetic fields on the x-ray tube focal spot. A potential solution is to design active shielding that locally cancels the magnetic fields near the focal spot. Methods: An iterative optimization algorithm is implemented to design resistive active shielding coils that will be placed outside the x-ray tube insert. The optimization procedure attempts to minimize the power consumption of the shielding coils while satisfying magnetic field homogeneity constraints. The algorithm is composed of a linear programming step and a nonlinear programming step that are interleaved with each other. The coil results are verified using a finite element space charge simulation of the electron beam inside the x-ray tube. To alleviate heating concerns an optimized coil solution is derived that includes a neodymium permanent magnet. Any demagnetization of the permanent magnet is calculated prior to solving for the optimized coils. The temperature dynamics of the coil solutions are calculated using a lumped parameter model, which is used to estimate operation times of the coils before temperature failure. Results: For a magnetic field strength of 88 mT, the algorithm solves for coils that consume 588 A/cm2. This specific coil geometry can operate for 15 min continuously before reaching temperature failure. By including a neodymium magnet in the design the current density drops to 337 A/cm2, which increases the operation time to 59 min. Space charge simulations verify that the coil designs are effective, but for oblique x-ray tube geometries there is still distortion of the focal spot shape along with deflections of approximately 3 mm in the radial and circumferential directions on the anode. Conclusions: Active shielding is an attractive solution for correcting the effects of magnetic fields on the x-ray focal spot. If extremely long fluoroscopic exposure times are required, longer operation times can be achieved by including a permanent magnet with the active shielding design. PMID:22957623

Shape Control of Plates with Piezo Actuators and Collocated Position/Rate Sensors

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuators and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.

Shape Control of Plates with Piezo Actuators and Collocated Position/Rate Sensors

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuator and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.

Profiling Charge Complementarity and Selectivity for Binding at the Protein Surface

PubMed Central

Sulea, Traian; Purisima, Enrico O.

2003-01-01

A novel analysis and representation of the protein surface in terms of electrostatic binding complementarity and selectivity is presented. The charge optimization methodology is applied in a probe-based approach that simulates the binding process to the target protein. The molecular surface is color coded according to calculated optimal charge or according to charge selectivity, i.e., the binding cost of deviating from the optimal charge. The optimal charge profile depends on both the protein shape and charge distribution whereas the charge selectivity profile depends only on protein shape. High selectivity is concentrated in well-shaped concave pockets, whereas solvent-exposed convex regions are not charge selective. This suggests the synergy of charge and shape selectivity hot spots toward molecular selection and recognition, as well as the asymmetry of charge selectivity at the binding interface of biomolecular systems. The charge complementarity and selectivity profiles map relevant electrostatic properties in a readily interpretable way and encode information that is quite different from that visualized in the standard electrostatic potential map of unbound proteins. PMID:12719221

Shape optimization for aerodynamic efficiency and low observability

NASA Technical Reports Server (NTRS)

Vinh, Hoang; Van Dam, C. P.; Dwyer, Harry A.

1993-01-01

Field methods based on the finite-difference approximations of the time-domain Maxwell's equations and the potential-flow equation have been developed to solve the multidisciplinary problem of airfoil shaping for aerodynamic efficiency and low radar cross section (RCS). A parametric study and an optimization study employing the two analysis methods are presented to illustrate their combined capabilities. The parametric study shows that for frontal radar illumination, the RCS of an airfoil is independent of the chordwise location of maximum thickness but depends strongly on the maximum thickness, leading-edge radius, and leadingedge shape. In addition, this study shows that the RCS of an airfoil can be reduced without significant effects on its transonic aerodynamic efficiency by reducing the leading-edge radius and/or modifying the shape of the leading edge. The optimization study involves the minimization of wave drag for a non-lifting, symmetrical airfoil with constraints on the airfoil maximum thickness and monostatic RCS. This optimization study shows that the two analysis methods can be used effectively to design aerodynamically efficient airfoils with certain desired RCS characteristics.

Diffractive beam shaping for enhanced laser polymer welding

NASA Astrophysics Data System (ADS)

Rauschenberger, J.; Vogler, D.; Raab, C.; Gubler, U.

2015-03-01

Laser welding of polymers increasingly finds application in a large number of industries such as medical technology, automotive, consumer electronics, textiles or packaging. More and more, it replaces other welding technologies for polymers, e. g. hot-plate, vibration or ultrasonic welding. At the same rate, demands on the quality of the weld, the flexibility of the production system and on processing speed have increased. Traditionally, diode lasers were employed for plastic welding with flat-top beam profiles. With the advent of fiber lasers with excellent beam quality, the possibility to modify and optimize the beam profile by beam-shaping elements has opened. Diffractive optical elements (DOE) can play a crucial role in optimizing the laser intensity profile towards the optimal M-shape beam for enhanced weld seam quality. We present results on significantly improved weld seam width constancy and enlarged process windows compared to Gaussian or flat-top beam profiles. Configurations in which the laser beam diameter and shape can be adapted and optimized without changing or aligning the laser, fiber-optic cable or optical head are shown.

Morphing Wings: A Study Using High-Fidelity Aerodynamic Shape Optimization

NASA Astrophysics Data System (ADS)

Curiale, Nathanael J.

With the aviation industry under pressure to reduce fuel consumption, morphing wings have the capacity to improve aircraft performance, thereby making a significant contribution to reversing climate change. Through high-fidelity aerodynamic shape optimization, various forms of morphing wings are assessed for a hypothetical regional-class aircraft. The framework used solves the Reynolds-averaged Navier-Stokes equations and utilizes a gradient-based optimization algorithm. Baseline geometries are developed through multipoint optimization, where the average drag coefficient is minimized over a range of flight conditions with additional dive constraints. Morphing optimizations are then performed, beginning with these baseline shapes. Five distinct types of morphing are investigated and compared. Overall, a theoretical fully adaptable wing produces roughly a 2% improvement in average performance, whereas trailing-edge morphing with a 27-point multipoint baseline results in just over a 1% improvement in average performance. Trailing-edge morphing proves to be more beneficial than leading-edge morphing, upper-surface morphing, and a conventional flap.

Viscous Aerodynamic Shape Optimization with Installed Propulsion Effects

NASA Technical Reports Server (NTRS)

Heath, Christopher M.; Seidel, Jonathan A.; Rallabhandi, Sriram K.

2017-01-01

Aerodynamic shape optimization is demonstrated to tailor the under-track pressure signature of a conceptual low-boom supersonic aircraft. Primarily, the optimization reduces nearfield pressure waveforms induced by propulsion integration effects. For computational efficiency, gradient-based optimization is used and coupled to the discrete adjoint formulation of the Reynolds-averaged Navier Stokes equations. The engine outer nacelle, nozzle, and vertical tail fairing are axi-symmetrically parameterized, while the horizontal tail is shaped using a wing-based parameterization. Overall, 48 design variables are coupled to the geometry and used to deform the outer mold line. During the design process, an inequality drag constraint is enforced to avoid major compromise in aerodynamic performance. Linear elastic mesh morphing is used to deform volume grids between design iterations. The optimization is performed at Mach 1.6 cruise, assuming standard day altitude conditions at 51,707-ft. To reduce uncertainty, a coupled thermodynamic engine cycle model is employed that captures installed inlet performance effects on engine operation.

Control of nitromethane photoionization efficiency with shaped femtosecond pulses.

PubMed

Roslund, Jonathan; Shir, Ofer M; Dogariu, Arthur; Miles, Richard; Rabitz, Herschel

2011-04-21

The applicability of adaptive femtosecond pulse shaping is studied for achieving selectivity in the photoionization of low-density polyatomic targets. In particular, optimal dynamic discrimination (ODD) techniques exploit intermediate molecular electronic resonances that allow a significant increase in the photoionization efficiency of nitromethane with shaped near-infrared femtosecond pulses. The intensity bias typical of high-photon number, nonresonant ionization is accounted for by reference to a strictly intensity-dependent process. Closed-loop adaptive learning is then able to discover a pulse form that increases the ionization efficiency of nitromethane by ∼150%. The optimally induced molecular dynamics result from entry into a region of parameter space inaccessible with intensity-only control. Finally, the discovered pulse shape is demonstrated to interact with the molecular system in a coherent fashion as assessed from the asymmetry between the response to the optimal field and its time-reversed counterpart.

Optimization of shape control of a cantilever beam using dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Liu, Chong; Mao, Boyong; Huang, Gangting; Wu, Qichen; Xie, Shilin; Xu, Minglong

2018-05-01

Dielectric elastomer (DE) is a kind of smart soft material that has many advantages such as large deformation, fast response, lightweight and easy synthesis. These features make dielectric elastomer a suitable material for actuators. This article focuses on the shape control of a cantilever beam by using dielectric elastomer actuators. The shape control equation in finite element formulation of the cantilever beam partially covered with dielectric elastomer actuators is derived based on the constitutive equation of dielectric elastomer material by using Hamilton principle. The actuating forces produced by dielectric elastomer actuators depend on the number of layers, the position and the actuation voltage of dielectric elastomer actuators. First, effects of these factors on the shape control accuracy when one pair or multiple pairs of actuators are employed are simulated, respectively. The simulation results demonstrate that increasing the number of actuators or the number of layers can improve the control effect and reduce the actuation voltages effectively. Second, to achieve the optimal shape control effect, the position of the actuators and the drive voltages are all determined using a genetic algorithm. The robustness of the genetic algorithm is analyzed. Moreover, the implications of using one pair and multiple pairs of actuators to drive the cantilever beam to the expected shape are investigated. The results demonstrate that a small number of actuators with optimal placement and optimal voltage values can achieve the shape control of the beam effectively. Finally, a preliminary experimental verification of the control effect is carried out, which shows the correctness of the theoretical method.

Integrated design optimization research and development in an industrial environment

NASA Astrophysics Data System (ADS)

Kumar, V.; German, Marjorie D.; Lee, S.-J.

1989-04-01

An overview is given of a design optimization project that is in progress at the GE Research and Development Center for the past few years. The objective of this project is to develop a methodology and a software system for design automation and optimization of structural/mechanical components and systems. The effort focuses on research and development issues and also on optimization applications that can be related to real-life industrial design problems. The overall technical approach is based on integration of numerical optimization techniques, finite element methods, CAE and software engineering, and artificial intelligence/expert systems (AI/ES) concepts. The role of each of these engineering technologies in the development of a unified design methodology is illustrated. A software system DESIGN-OPT has been developed for both size and shape optimization of structural components subjected to static as well as dynamic loadings. By integrating this software with an automatic mesh generator, a geometric modeler and an attribute specification computer code, a software module SHAPE-OPT has been developed for shape optimization. Details of these software packages together with their applications to some 2- and 3-dimensional design problems are described.

Integrated design optimization research and development in an industrial environment

NASA Technical Reports Server (NTRS)

Kumar, V.; German, Marjorie D.; Lee, S.-J.

1989-01-01

An overview is given of a design optimization project that is in progress at the GE Research and Development Center for the past few years. The objective of this project is to develop a methodology and a software system for design automation and optimization of structural/mechanical components and systems. The effort focuses on research and development issues and also on optimization applications that can be related to real-life industrial design problems. The overall technical approach is based on integration of numerical optimization techniques, finite element methods, CAE and software engineering, and artificial intelligence/expert systems (AI/ES) concepts. The role of each of these engineering technologies in the development of a unified design methodology is illustrated. A software system DESIGN-OPT has been developed for both size and shape optimization of structural components subjected to static as well as dynamic loadings. By integrating this software with an automatic mesh generator, a geometric modeler and an attribute specification computer code, a software module SHAPE-OPT has been developed for shape optimization. Details of these software packages together with their applications to some 2- and 3-dimensional design problems are described.

Evolutionary Optimization of Centrifugal Nozzles for Organic Vapours

NASA Astrophysics Data System (ADS)

Persico, Giacomo

2017-03-01

This paper discusses the shape-optimization of non-conventional centrifugal turbine nozzles for Organic Rankine Cycle applications. The optimal aerodynamic design is supported by the use of a non-intrusive, gradient-free technique specifically developed for shape optimization of turbomachinery profiles. The method is constructed as a combination of a geometrical parametrization technique based on B-Splines, a high-fidelity and experimentally validated Computational Fluid Dynamic solver, and a surrogate-based evolutionary algorithm. The non-ideal gas behaviour featuring the flow of organic fluids in the cascades of interest is introduced via a look-up-table approach, which is rigorously applied throughout the whole optimization process. Two transonic centrifugal nozzles are considered, featuring very different loading and radial extension. The use of a systematic and automatic design method to such a non-conventional configuration highlights the character of centrifugal cascades; the blades require a specific and non-trivial definition of the shape, especially in the rear part, to avoid the onset of shock waves. It is shown that the optimization acts in similar way for the two cascades, identifying an optimal curvature of the blade that both provides a relevant increase of cascade performance and a reduction of downstream gradients.

Lateral Penumbra Modelling Based Leaf End Shape Optimization for Multileaf Collimator in Radiotherapy

PubMed Central

Zhou, Dong; Zhang, Hui; Ye, Peiqing

2016-01-01

Lateral penumbra of multileaf collimator plays an important role in radiotherapy treatment planning. Growing evidence has revealed that, for a single-focused multileaf collimator, lateral penumbra width is leaf position dependent and largely attributed to the leaf end shape. In our study, an analytical method for leaf end induced lateral penumbra modelling is formulated using Tangent Secant Theory. Compared with Monte Carlo simulation and ray tracing algorithm, our model serves well the purpose of cost-efficient penumbra evaluation. Leaf ends represented in parametric forms of circular arc, elliptical arc, Bézier curve, and B-spline are implemented. With biobjective function of penumbra mean and variance introduced, genetic algorithm is carried out for approximating the Pareto frontier. Results show that for circular arc leaf end objective function is convex and convergence to optimal solution is guaranteed using gradient based iterative method. It is found that optimal leaf end in the shape of Bézier curve achieves minimal standard deviation, while using B-spline minimum of penumbra mean is obtained. For treatment modalities in clinical application, optimized leaf ends are in close agreement with actual shapes. Taken together, the method that we propose can provide insight into leaf end shape design of multileaf collimator. PMID:27110274

Computationally efficient optimization of radiation drives

NASA Astrophysics Data System (ADS)

Zimmerman, George; Swift, Damian

2017-06-01

For many applications of pulsed radiation, the temporal pulse shape is designed to induce a desired time-history of conditions. This optimization is normally performed using multi-physics simulations of the system, adjusting the shape until the desired response is induced. These simulations may be computationally intensive, and iterative forward optimization is then expensive and slow. In principle, a simulation program could be modified to adjust the radiation drive automatically until the desired instantaneous response is achieved, but this may be impracticable in a complicated multi-physics program. However, the computational time increment is typically much shorter than the time scale of changes in the desired response, so the radiation intensity can be adjusted so that the response tends toward the desired value. This relaxed in-situ optimization method can give an adequate design for a pulse shape in a single forward simulation, giving a typical gain in computational efficiency of tens to thousands. This approach was demonstrated for the design of laser pulse shapes to induce ramp loading to high pressure in target assemblies where different components had significantly different mechanical impedance, requiring careful pulse shaping. This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory under Contract DE-AC52-07NA27344.

Research on bulbous bow optimization based on the improved PSO algorithm

NASA Astrophysics Data System (ADS)

Zhang, Sheng-long; Zhang, Bao-ji; Tezdogan, Tahsin; Xu, Le-ping; Lai, Yu-yang

2017-08-01

In order to reduce the total resistance of a hull, an optimization framework for the bulbous bow optimization was presented. The total resistance in calm water was selected as the objective function, and the overset mesh technique was used for mesh generation. RANS method was used to calculate the total resistance of the hull. In order to improve the efficiency and smoothness of the geometric reconstruction, the arbitrary shape deformation (ASD) technique was introduced to change the shape of the bulbous bow. To improve the global search ability of the particle swarm optimization (PSO) algorithm, an improved particle swarm optimization (IPSO) algorithm was proposed to set up the optimization model. After a series of optimization analyses, the optimal hull form was found. It can be concluded that the simulation based design framework built in this paper is a promising method for bulbous bow optimization.

Adaptive Aft Signature Shaping of a Low-Boom Supersonic Aircraft Using Off-Body Pressures

NASA Technical Reports Server (NTRS)

Ordaz, Irian; Li, Wu

2012-01-01

The design and optimization of a low-boom supersonic aircraft using the state-of-the- art o -body aerodynamics and sonic boom analysis has long been a challenging problem. The focus of this paper is to demonstrate an e ective geometry parameterization scheme and a numerical optimization approach for the aft shaping of a low-boom supersonic aircraft using o -body pressure calculations. A gradient-based numerical optimization algorithm that models the objective and constraints as response surface equations is used to drive the aft ground signature toward a ramp shape. The design objective is the minimization of the variation between the ground signature and the target signature subject to several geometric and signature constraints. The target signature is computed by using a least-squares regression of the aft portion of the ground signature. The parameterization and the deformation of the geometry is performed with a NASA in- house shaping tool. The optimization algorithm uses the shaping tool to drive the geometric deformation of a horizontal tail with a parameterization scheme that consists of seven camber design variables and an additional design variable that describes the spanwise location of the midspan section. The demonstration cases show that numerical optimization using the state-of-the-art o -body aerodynamic calculations is not only feasible and repeatable but also allows the exploration of complex design spaces for which a knowledge-based design method becomes less effective.

Modelling and Simulation in the Design Process of Armored Vehicles

DTIC Science & Technology

2003-03-01

trackway conditions is a demanding optimization task. Basically, a high level of ride comfort requires soft suspension tuning, whereas driving safety relies...The maximum off-road speed is generally limited by traction, input torque, driving safety and ride comfort. When obstacles are to be negotiated, the...wheel travel was defined during the mobility simulation runs. Figure 14: Ramp 1.5m at 40 kph; virtual and physical prototype Driving safety and ride

Procedures for shape optimization of gas turbine disks

NASA Technical Reports Server (NTRS)

Cheu, Tsu-Chien

1989-01-01

Two procedures, the feasible direction method and sequential linear programming, for shape optimization of gas turbine disks are presented. The objective of these procedures is to obtain optimal designs of turbine disks with geometric and stress constraints. The coordinates of the selected points on the disk contours are used as the design variables. Structural weight, stress and their derivatives with respect to the design variables are calculated by an efficient finite element method for design senitivity analysis. Numerical examples of the optimal designs of a disk subjected to thermo-mechanical loadings are presented to illustrate and compare the effectiveness of these two procedures.

Shape design sensitivity analysis and optimal design of structural systems

NASA Technical Reports Server (NTRS)

Choi, Kyung K.

1987-01-01

The material derivative concept of continuum mechanics and an adjoint variable method of design sensitivity analysis are used to relate variations in structural shape to measures of structural performance. A domain method of shape design sensitivity analysis is used to best utilize the basic character of the finite element method that gives accurate information not on the boundary but in the domain. Implementation of shape design sensitivty analysis using finite element computer codes is discussed. Recent numerical results are used to demonstrate the accuracy obtainable using the method. Result of design sensitivity analysis is used to carry out design optimization of a built-up structure.

Shape complexes: the intersection of label orderings and star convexity constraints in continuous max-flow medical image segmentation

PubMed Central

Baxter, John S. H.; Inoue, Jiro; Drangova, Maria; Peters, Terry M.

2016-01-01

Abstract. Optimization-based segmentation approaches deriving from discrete graph-cuts and continuous max-flow have become increasingly nuanced, allowing for topological and geometric constraints on the resulting segmentation while retaining global optimality. However, these two considerations, topological and geometric, have yet to be combined in a unified manner. The concept of “shape complexes,” which combine geodesic star convexity with extendable continuous max-flow solvers, is presented. These shape complexes allow more complicated shapes to be created through the use of multiple labels and super-labels, with geodesic star convexity governed by a topological ordering. These problems can be optimized using extendable continuous max-flow solvers. Previous approaches required computationally expensive coordinate system warping, which are ill-defined and ambiguous in the general case. These shape complexes are demonstrated in a set of synthetic images as well as vessel segmentation in ultrasound, valve segmentation in ultrasound, and atrial wall segmentation from contrast-enhanced CT. Shape complexes represent an extendable tool alongside other continuous max-flow methods that may be suitable for a wide range of medical image segmentation problems. PMID:28018937

Geometry Control System for Exploratory Shape Optimization Applied to High-Fidelity Aerodynamic Design of Unconventional Aircraft

NASA Astrophysics Data System (ADS)

Gagnon, Hugo

This thesis represents a step forward to bring geometry parameterization and control on par with the disciplinary analyses involved in shape optimization, particularly high-fidelity aerodynamic shape optimization. Central to the proposed methodology is the non-uniform rational B-spline, used here to develop a new geometry generator and geometry control system applicable to the aerodynamic design of both conventional and unconventional aircraft. The geometry generator adopts a component-based approach, where any number of predefined but modifiable (parametric) wing, fuselage, junction, etc., components can be arbitrarily assembled to generate the outer mold line of aircraft geometry. A unique Python-based user interface incorporating an interactive OpenGL windowing system is proposed. Together, these tools allow for the generation of high-quality, C2 continuous (or higher), and customized aircraft geometry with fast turnaround. The geometry control system tightly integrates shape parameterization with volume mesh movement using a two-level free-form deformation approach. The framework is augmented with axial curves, which are shown to be flexible and efficient at parameterizing wing systems of arbitrary topology. A key aspect of this methodology is that very large shape deformations can be achieved with only a few, intuitive control parameters. Shape deformation consumes a few tenths of a second on a single processor and surface sensitivities are machine accurate. The geometry control system is implemented within an existing aerodynamic optimizer comprising a flow solver for the Euler equations and a sequential quadratic programming optimizer. Gradients are evaluated exactly with discrete-adjoint variables. The algorithm is first validated by recovering an elliptical lift distribution on a rectangular wing, and then demonstrated through the exploratory shape optimization of a three-pronged feathered winglet leading to a span efficiency of 1.22 under a height-to-span ratio constraint of 0.1. Finally, unconventional aircraft configurations sized for a regional mission are compared against a conventional baseline. Each aircraft is optimized by varying wing section and wing planform (excluding span) under lift and trim constraints at a single operating point. Based on inviscid pressure drag, the box-wing, C-tip blended-wing-body, and braced-wing configurations considered here are respectively 22%, 25%, and 45% more efficient than the tube-and-wing configuration.

Targeting blood–brain barrier changes during inflammatory pain: an opportunity for optimizing CNS drug delivery

PubMed Central

Ronaldson, Patrick T; Davis, Thomas P

2012-01-01

The blood–brain barrier (BBB) is the most significant obstacle to effective CNS drug delivery. It possesses structural and biochemical features (i.e., tight-junction protein complexes and, influx and efflux transporters) that restrict xenobiotic permeation. Pathophysiological stressors (i.e., peripheral inflammatory pain) can alter BBB tight junctions and transporters, which leads to drug-permeation changes. This is especially critical for opioids, which require precise CNS concentrations to be safe and effective analgesics. Recent studies have identified molecular targets (i.e., endogenous transporters and intracellular signaling systems) that can be exploited for optimization of CNS drug delivery. This article summarizes current knowledge in this area and emphasizes those targets that present the greatest opportunity for controlling drug permeation and/or drug transport across the BBB in an effort to achieve optimal CNS opioid delivery. PMID:22468221

Using an optimization approach to design an insole for lowering plantar fascia stress--a finite element study.

PubMed

Hsu, Yu-Chun; Gung, Yih-Wen; Shih, Shih-Liang; Feng, Chi-Kuang; Wei, Shun-Hwa; Yu, Chung-Huang; Chen, Chen-Sheng

2008-08-01

Plantar heel pain is a commonly encountered orthopedic problem and is most often caused by plantar fasciitis. In recent years, different shapes of insole have been used to treat plantar fasciitis. However, little research has been focused on the junction stress between the plantar fascia and the calcaneus when wearing different shapes of insole. Therefore, this study aimed to employ a finite element (FE) method to investigate the relationship between different shapes of insole and the junction stress, and accordingly design an optimal insole to lower fascia stress.A detailed 3D foot FE model was created using ANSYS 9.0 software. The FE model calculation was compared to the Pedar device measurements to validate the FE model. After the FE model validation, this study conducted parametric analysis of six different insoles and used optimization analysis to determine the optimal insole which minimized the junction stress between plantar fascia and calcaneus. This FE analysis found that the plantar fascia stress and peak pressure when using the optimal insole were lower by 14% and 38.9%, respectively, than those when using the flat insole. In addition, the stress variation in plantar fascia was associated with the different shapes of insole.

Overview of Sensitivity Analysis and Shape Optimization for Complex Aerodynamic Configurations

NASA Technical Reports Server (NTRS)

Newman, Perry A.; Newman, James C., III; Barnwell, Richard W.; Taylor, Arthur C., III; Hou, Gene J.-W.

1998-01-01

This paper presents a brief overview of some of the more recent advances in steady aerodynamic shape-design sensitivity analysis and optimization, based on advanced computational fluid dynamics. The focus here is on those methods particularly well- suited to the study of geometrically complex configurations and their potentially complex associated flow physics. When nonlinear state equations are considered in the optimization process, difficulties are found in the application of sensitivity analysis. Some techniques for circumventing such difficulties are currently being explored and are included here. Attention is directed to methods that utilize automatic differentiation to obtain aerodynamic sensitivity derivatives for both complex configurations and complex flow physics. Various examples of shape-design sensitivity analysis for unstructured-grid computational fluid dynamics algorithms are demonstrated for different formulations of the sensitivity equations. Finally, the use of advanced, unstructured-grid computational fluid dynamics in multidisciplinary analyses and multidisciplinary sensitivity analyses within future optimization processes is recommended and encouraged.

Optimization of Composite Structures with Curved Fiber Trajectories

NASA Astrophysics Data System (ADS)

Lemaire, Etienne; Zein, Samih; Bruyneel, Michael

2014-06-01

This paper studies the problem of optimizing composites shells manufactured using Automated Tape Layup (ATL) or Automated Fiber Placement (AFP) processes. The optimization procedure relies on a new approach to generate equidistant fiber trajectories based on Fast Marching Method. Starting with a (possibly curved) reference fiber direction defined on a (possibly curved) meshed surface, the new method allows determining fibers orientation resulting from a uniform thickness layup. The design variables are the parameters defining the position and the shape of the reference curve which results in very few design variables. Thanks to this efficient parameterization, maximum stiffness optimization numerical applications are proposed. The shape of the design space is discussed, regarding local and global optimal solutions.

Contribution to the optimal shape design of two-dimensional internal flows with embedded shocks

NASA Technical Reports Server (NTRS)

Iollo, Angelo; Salas, Manuel D.

1995-01-01

We explore the practicability of optimal shape design for flows modeled by the Euler equations. We define a functional whose minimum represents the optimality condition. The gradient of the functional with respect to the geometry is calculated with the Lagrange multipliers, which are determined by solving a co-state equation. The optimization problem is then examined by comparing the performance of several gradient-based optimization algorithms. In this formulation, the flow field can be computed to an arbitrary order of accuracy. Finally, some results for internal flows with embedded shocks are presented, including a case for which the solution to the inverse problem does not belong to the design space.

Aerostructural Shape and Topology Optimization of Aircraft Wings

NASA Astrophysics Data System (ADS)

James, Kai

A series of novel algorithms for performing aerostructural shape and topology optimization are introduced and applied to the design of aircraft wings. An isoparametric level set method is developed for performing topology optimization of wings and other non-rectangular structures that must be modeled using a non-uniform, body-fitted mesh. The shape sensitivities are mapped to computational space using the transformation defined by the Jacobian of the isoparametric finite elements. The mapped sensitivities are then passed to the Hamilton-Jacobi equation, which is solved on a uniform Cartesian grid. The method is derived for several objective functions including mass, compliance, and global von Mises stress. The results are compared with SIMP results for several two-dimensional benchmark problems. The method is also demonstrated on a three-dimensional wingbox structure subject to fixed loading. It is shown that the isoparametric level set method is competitive with the SIMP method in terms of the final objective value as well as computation time. In a separate problem, the SIMP formulation is used to optimize the structural topology of a wingbox as part of a larger MDO framework. Here, topology optimization is combined with aerodynamic shape optimization, using a monolithic MDO architecture that includes aerostructural coupling. The aerodynamic loads are modeled using a three-dimensional panel method, and the structural analysis makes use of linear, isoparametric, hexahedral elements. The aerodynamic shape is parameterized via a set of twist variables representing the jig twist angle at equally spaced locations along the span of the wing. The sensitivities are determined analytically using a coupled adjoint method. The wing is optimized for minimum drag subject to a compliance constraint taken from a 2 g maneuver condition. The results from the MDO algorithm are compared with those of a sequential optimization procedure in order to quantify the benefits of the MDO approach. While the sequentially optimized wing exhibits a nearly-elliptical lift distribution, the MDO design seeks to push a greater portion of the load toward the root, thus reducing the structural deflection, and allowing for a lighter structure. By exploiting this trade-off, the MDO design achieves a 42% lower drag than the sequential result.

Divertor target shape optimization in realistic edge plasma geometry

NASA Astrophysics Data System (ADS)

Dekeyser, W.; Reiter, D.; Baelmans, M.

2014-07-01

Tokamak divertor design for next-step fusion reactors heavily relies on numerical simulations of the plasma edge. Currently, the design process is mainly done in a forward approach, where the designer is strongly guided by his experience and physical intuition in proposing divertor shapes, which are then thoroughly assessed by numerical computations. On the other hand, automated design methods based on optimization have proven very successful in the related field of aerodynamic design. By recasting design objectives and constraints into the framework of a mathematical optimization problem, efficient forward-adjoint based algorithms can be used to automatically compute the divertor shape which performs the best with respect to the selected edge plasma model and design criteria. In the past years, we have extended these methods to automated divertor target shape design, using somewhat simplified edge plasma models and geometries. In this paper, we build on and extend previous work to apply these shape optimization methods for the first time in more realistic, single null edge plasma and divertor geometry, as commonly used in current divertor design studies. In a case study with JET-like parameters, we show that the so-called one-shot method is very effective is solving divertor target design problems. Furthermore, by detailed shape sensitivity analysis we demonstrate that the development of the method already at the present state provides physically plausible trends, allowing to achieve a divertor design with an almost perfectly uniform power load for our particular choice of edge plasma model and design criteria.

Optimal input shaping for Fisher identifiability of control-oriented lithium-ion battery models

NASA Astrophysics Data System (ADS)

Rothenberger, Michael J.

This dissertation examines the fundamental challenge of optimally shaping input trajectories to maximize parameter identifiability of control-oriented lithium-ion battery models. Identifiability is a property from information theory that determines the solvability of parameter estimation for mathematical models using input-output measurements. This dissertation creates a framework that exploits the Fisher information metric to quantify the level of battery parameter identifiability, optimizes this metric through input shaping, and facilitates faster and more accurate estimation. The popularity of lithium-ion batteries is growing significantly in the energy storage domain, especially for stationary and transportation applications. While these cells have excellent power and energy densities, they are plagued with safety and lifespan concerns. These concerns are often resolved in the industry through conservative current and voltage operating limits, which reduce the overall performance and still lack robustness in detecting catastrophic failure modes. New advances in automotive battery management systems mitigate these challenges through the incorporation of model-based control to increase performance, safety, and lifespan. To achieve these goals, model-based control requires accurate parameterization of the battery model. While many groups in the literature study a variety of methods to perform battery parameter estimation, a fundamental issue of poor parameter identifiability remains apparent for lithium-ion battery models. This fundamental challenge of battery identifiability is studied extensively in the literature, and some groups are even approaching the problem of improving the ability to estimate the model parameters. The first approach is to add additional sensors to the battery to gain more information that is used for estimation. The other main approach is to shape the input trajectories to increase the amount of information that can be gained from input-output measurements, and is the approach used in this dissertation. Research in the literature studies optimal current input shaping for high-order electrochemical battery models and focuses on offline laboratory cycling. While this body of research highlights improvements in identifiability through optimal input shaping, each optimal input is a function of nominal parameters, which creates a tautology. The parameter values must be known a priori to determine the optimal input for maximizing estimation speed and accuracy. The system identification literature presents multiple studies containing methods that avoid the challenges of this tautology, but these methods are absent from the battery parameter estimation domain. The gaps in the above literature are addressed in this dissertation through the following five novel and unique contributions. First, this dissertation optimizes the parameter identifiability of a thermal battery model, which Sergio Mendoza experimentally validates through a close collaboration with this dissertation's author. Second, this dissertation extends input-shaping optimization to a linear and nonlinear equivalent-circuit battery model and illustrates the substantial improvements in Fisher identifiability for a periodic optimal signal when compared against automotive benchmark cycles. Third, this dissertation presents an experimental validation study of the simulation work in the previous contribution. The estimation study shows that the automotive benchmark cycles either converge slower than the optimized cycle, or not at all for certain parameters. Fourth, this dissertation examines how automotive battery packs with additional power electronic components that dynamically route current to individual cells/modules can be used for parameter identifiability optimization. While the user and vehicle supervisory controller dictate the current demand for these packs, the optimized internal allocation of current still improves identifiability. Finally, this dissertation presents a robust Bayesian sequential input shaping optimization study to maximize the conditional Fisher information of the battery model parameters without prior knowledge of the nominal parameter set. This iterative algorithm only requires knowledge of the prior parameter distributions to converge to the optimal input trajectory.

How to Pay for Health Care.

PubMed

Porter, Michael E; Kaplan, Robert S

2016-01-01

The United States stands at a crossroads in how to pay for health care. Fee for service, the dominant payment model in the U.S. and many other countries, is now widely recognized as perhaps the single biggest obstacle to improving health care delivery. A battle is currently raging, outside of the public eye, between the advocates of two radically different payment approaches: capitation and bundled payments. The stakes are high, and the outcome will define the shape of the health care system for many years to come, for better or for worse. In this article, the authors argue that although capitation may deliver modest savings in the short run, it brings significant risks and will fail to fundamentally change the trajectory of a broken system. The bundled payment model, in contrast, triggers competition between providers to create value where it matters--at the individual patient level--and puts health care on the right path. The authors provide robust proof-of-concept examples of bundled payment initiatives in the U.S. and abroad, address the challenges of transitioning to bundled payments, and respond to critics' concerns about obstacles to implementation.

Interactive-rate Motion Planning for Concentric Tube Robots.

PubMed

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

2014-05-01

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

Achieving success in intervention studies: an analysis of variable staff engagement across three midwifery settings.

PubMed

Henderson, Amanda; Schoonbeek, Sue; Ossenberg, Christine; Caddick, Alison; Wing, Diane; Capell, Lorna; Gould, Karen

2014-06-01

To critically analyse the success of staff's behaviour changes in the practice setting. Facilitators were employed to initiate and facilitate a four-step process (optimism, overcoming obstacles, oversight and reinforcing outcomes) that fostered development of behaviours consistent with learning in everyday practice. Many studies seek to engage staff in workplace behaviour improvement. The success of such studies is highly variable. Little is known about the work of the facilitator in ensuring success. Understanding the contextual factors that contribute to effective facilitation of workplace improvement is essential to ensure best use of resources. Mixed methods Facilitators employed a four-step process - optimism, overcoming obstacles, oversight and reinforcing outcomes - to stage behaviour change implementation. The analysis of staff engagement in behaviour changes was assessed through weekly observation of workplaces, informal discussions with staff and facilitator diaries. The impact of behaviour change was informed through pre- and postsurveys on staff's perception across three midwifery sites. Surveys measured (1) midwives' perception of support for their role in facilitating learning (Support Instrument for Nurses Facilitating the Learning of Others) and (2) development of a learning culture in midwifery practice settings (Clinical Learning Organisational Culture Survey). Midwives across three sites completed the presurvey (n = 216) and postsurvey (n = 90). Impact varied according to the degree that facilitators were able to progress teams through four stages necessary for change (OOORO). Statistically significant results were apparent in two subscales important for supporting staff, namely teamwork and acknowledgement; in the two areas, facilitators worked through 'obstacles' and coached staff in performing the desired behaviours and rewarded them for their success. Elements of the learning culture also statistically improved in one site. Findings suggest behaviour change success is dependent on facilitators to systematically engage staff through all four stages of implementation. It is important that investment is made to commitment and resources to all four stages before embarking on change processes. © 2013 John Wiley & Sons Ltd.

Design and optimization of a deflagration to detonation transition (ddt) section

NASA Astrophysics Data System (ADS)

Romo, Francisco X.

Throughout the previous century, hydrocarbon-fueled engines have used and optimized the `traditional' combustion process called deflagration (subsonic combustion). An alternative form of combustion, detonation (supersonic combustion), can increase the thermal efficiency of the process by anywhere from 20 - 50%. Even though several authors have studied detonation waves since the 1890's and a plethora of papers and books have been published, it was not until 2008 that the first detonation-powered flight took place. It lasted for 10 seconds at 100 ft. altitude. Achieving detonation presents its own challenges: some fuels are not prone to detonate, severe vibrations caused by the cyclic nature of the engine and its intense noise are some of the key areas that need further research. Also, to directly achieve detonation either a high-energy, bulky, ignition system is required, or the combustion chamber must be fairly long (5 ft. or more in some cases). In the latter method, a subsonic flame front accelerates within the combustion chamber until it reaches supersonic speeds, thus detonation is attained. This is called deflagration-todetonation transition (DDT). Previous papers and experiments have shown that obstacles, such as discs with an orifice, located inside the combustion chamber can shorten the distance required to achieve detonation. This paper describes a hands-on implementation of a DDT device. Different disc geometries inside the chamber alter the wave characteristics at the exit of the tube. Although detonation was reached only when using pure oxygen, testing identified an obstacle configuration for LPG and air mixtures that increased pressure and wave speed significantly when compared to baseline or other obstacle configurations. Mixtures of LPG and air were accelerated to Mach 0.96 in the downstream frame of reference, which would indicate a transition to detonation was close. Reasons for not achieving detonation may include poor fuel and oxidizer mixing, and/or the need for a longer DDT section.

Conversion of DST Group Shape Optimisation Software for Increased Portability across Computing Platforms

DTIC Science & Technology

2016-05-01

reduction achieved is small due to the starting shape being near optimal. The general arrangement and x-y coordinate system are shown in Figure 23...Optimization, Vol. 28, pp. 55–68, 2004. [3] M Heller, J Calero, S Barter , RJ Wescott, J Choi. Fatigue life extension program for LAU-7 missile launcher

Optimization of chiral structures for microscale propulsion.

PubMed

Keaveny, Eric E; Walker, Shawn W; Shelley, Michael J

2013-02-13

Recent advances in micro- and nanoscale fabrication techniques allow for the construction of rigid, helically shaped microswimmers that can be actuated using applied magnetic fields. These swimmers represent the first steps toward the development of microrobots for targeted drug delivery and minimally invasive surgical procedures. To assess the performance of these devices and improve on their design, we perform shape optimization computations to determine swimmer geometries that maximize speed in the direction of a given applied magnetic torque. We directly assess aspects of swimmer shapes that have been developed in previous experimental studies, including helical propellers with elongated cross sections and attached payloads. From these optimizations, we identify key improvements to existing designs that result in swimming speeds that are 70-470% of their original values.

Optimal transport and the placenta

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

Morgan, Simon; Xia, Qinglan; Salafia, Carolym

2010-01-01

The goal of this paper is to investigate the expected effects of (i) placental size, (ii) placental shape and (iii) the position of insertion of the umbilical cord on the work done by the foetus heart in pumping blood across the placenta. We use optimal transport theory and modeling to quantify the expected effects of these factors . Total transport cost and the shape factor contribution to cost are given by the optimal transport model. Total placental transport cost is highly correlated with birth weight, placenta weight, FPR and the metabolic scaling factor beta. The shape factor is also highlymore » correlated with birth weight, and after adjustment for placental weight, is highly correlated with the metabolic scaling factor beta.« less

Fast three-dimensional inner volume excitations using parallel transmission and optimized k-space trajectories.

PubMed

Davids, Mathias; Schad, Lothar R; Wald, Lawrence L; Guérin, Bastien

2016-10-01

To design short parallel transmission (pTx) pulses for excitation of arbitrary three-dimensional (3D) magnetization patterns. We propose a joint optimization of the pTx radiofrequency (RF) and gradient waveforms for excitation of arbitrary 3D magnetization patterns. Our optimization of the gradient waveforms is based on the parameterization of k-space trajectories (3D shells, stack-of-spirals, and cross) using a small number of shape parameters that are well-suited for optimization. The resulting trajectories are smooth and sample k-space efficiently with few turns while using the gradient system at maximum performance. Within each iteration of the k-space trajectory optimization, we solve a small tip angle least-squares RF pulse design problem. Our RF pulse optimization framework was evaluated both in Bloch simulations and experiments on a 7T scanner with eight transmit channels. Using an optimized 3D cross (shells) trajectory, we were able to excite a cube shape (brain shape) with 3.4% (6.2%) normalized root-mean-square error in less than 5 ms using eight pTx channels and a clinical gradient system (Gmax  = 40 mT/m, Smax  = 150 T/m/s). This compared with 4.7% (41.2%) error for the unoptimized 3D cross (shells) trajectory. Incorporation of B0 robustness in the pulse design significantly altered the k-space trajectory solutions. Our joint gradient and RF optimization approach yields excellent excitation of 3D cube and brain shapes in less than 5 ms, which can be used for reduced field of view imaging and fat suppression in spectroscopy by excitation of the brain only. Magn Reson Med 76:1170-1182, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

Research and Development Trend of Shape Control for Cold Rolling Strip

NASA Astrophysics Data System (ADS)

Wang, Dong-Cheng; Liu, Hong-Min; Liu, Jun

2017-09-01

Shape is an important quality index of cold rolling strip. Up to now, many problems in the shape control domain have not been solved satisfactorily, and a review on the research progress in the shape control domain can help to seek new breakthrough directions. In the past 10 years, researches and applications of shape control models, shape control means, shape detection technology, and shape control system have achieved significant progress. In the aspect of shape control models, the researches in the past improve the accuracy, speed and robustness of the models. The intelligentization of shape control models should be strengthened in the future. In the aspect of the shape control means, the researches in the past focus on the roll optimization, mill type selection, process optimization, local strip shape control, edge drop control, and so on. In the future, more attention should be paid to the coordination control of both strip shape and other quality indexes, and the refinement of control objective should be strengthened. In the aspects of shape detection technology and shape control system, some new types of shape detection meters and shape control systems are developed and have successfully industrial applications. In the future, the standardization of shape detection technology and shape control system should be promoted to solve the problem of compatibility. In general, the four expected development trends of shape control for cold rolling strip in the future are intelligentization, coordination, refinement, and standardization. The proposed research provides new breakthrough directions for improving shape quality.

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

In-Space Radiator Shape Optimization using Genetic Algorithms

NASA Technical Reports Server (NTRS)

Hull, Patrick V.; Kittredge, Ken; Tinker, Michael; SanSoucie, Michael

2006-01-01

Future space exploration missions will require the development of more advanced in-space radiators. These radiators should be highly efficient and lightweight, deployable heat rejection systems. Typical radiators for in-space heat mitigation commonly comprise a substantial portion of the total vehicle mass. A small mass savings of even 5-10% can greatly improve vehicle performance. The objective of this paper is to present the development of detailed tools for the analysis and design of in-space radiators using evolutionary computation techniques. The optimality criterion is defined as a two-dimensional radiator with a shape demonstrating the smallest mass for the greatest overall heat transfer, thus the end result is a set of highly functional radiator designs. This cross-disciplinary work combines topology optimization and thermal analysis design by means of a genetic algorithm The proposed design tool consists of the following steps; design parameterization based on the exterior boundary of the radiator, objective function definition (mass minimization and heat loss maximization), objective function evaluation via finite element analysis (thermal radiation analysis) and optimization based on evolutionary algorithms. The radiator design problem is defined as follows: the input force is a driving temperature and the output reaction is heat loss. Appropriate modeling of the space environment is added to capture its effect on the radiator. The design parameters chosen for this radiator shape optimization problem fall into two classes, variable height along the width of the radiator and a spline curve defining the -material boundary of the radiator. The implementation of multiple design parameter schemes allows the user to have more confidence in the radiator optimization tool upon demonstration of convergence between the two design parameter schemes. This tool easily allows the user to manipulate the driving temperature regions thus permitting detailed design of in-space radiators for unique situations. Preliminary results indicate an optimized shape following that of the temperature distribution regions in the "cooler" portions of the radiator. The results closely follow the expected radiator shape.

Shape-driven 3D segmentation using spherical wavelets.

PubMed

Nain, Delphine; Haker, Steven; Bobick, Aaron; Tannenbaum, Allen

2006-01-01

This paper presents a novel active surface segmentation algorithm using a multiscale shape representation and prior. We define a parametric model of a surface using spherical wavelet functions and learn a prior probability distribution over the wavelet coefficients to model shape variations at different scales and spatial locations in a training set. Based on this representation, we derive a parametric active surface evolution using the multiscale prior coefficients as parameters for our optimization procedure to naturally include the prior in the segmentation framework. Additionally, the optimization method can be applied in a coarse-to-fine manner. We apply our algorithm to the segmentation of brain caudate nucleus, of interest in the study of schizophrenia. Our validation shows our algorithm is computationally efficient and outperforms the Active Shape Model algorithm by capturing finer shape details.

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.

Boom Minimization Framework for Supersonic Aircraft Using CFD Analysis

NASA Technical Reports Server (NTRS)

Ordaz, Irian; Rallabhandi, Sriram K.

2010-01-01

A new framework is presented for shape optimization using analytical shape functions and high-fidelity computational fluid dynamics (CFD) via Cart3D. The focus of the paper is the system-level integration of several key enabling analysis tools and automation methods to perform shape optimization and reduce sonic boom footprint. A boom mitigation case study subject to performance, stability and geometrical requirements is presented to demonstrate a subset of the capabilities of the framework. Lastly, a design space exploration is carried out to assess the key parameters and constraints driving the design.

Aorta and pulmonary artery segmentation using optimal surface graph cuts in non-contrast CT

NASA Astrophysics Data System (ADS)

Sedghi Gamechi, Zahra; Arias-Lorza, Andres M.; Pedersen, Jesper Holst; de Bruijne, Marleen

2018-03-01

Accurate measurements of the size and shape of the aorta and pulmonary arteries are important as risk factors for cardiovascular diseases, and for Chronicle Obstacle Pulmonary Disease (COPD).1 The aim of this paper is to propose an automated method for segmenting the aorta and pulmonary arteries in low-dose non-ECGgated non-contrast CT scans. Low contrast and the high noise level make the automatic segmentation in such images a challenging task. In the proposed method, first, a minimum cost path tracking algorithm traces the centerline between user-defined seed points. The cost function is based on a multi-directional medialness filter and a lumen intensity similarity metric. The vessel radius is also estimated from the medialness filter. The extracted centerlines are then smoothed and dilated non-uniformly according to the extracted local vessel radius and subsequently used as initialization for a graph-cut segmentation. The algorithm is evaluated on 225 low-dose non-ECG-gated non-contrast CT scans from a lung cancer screening trial. Quantitatively analyzing 25 scans with full manual annotations, we obtain a dice overlap of 0.94+/-0.01 for the aorta and 0.92+/-0.01 for pulmonary arteries. Qualitative validation by visual inspection on 200 scans shows successful segmentation in 93% of all cases for the aorta and 94% for pulmonary arteries.

Study a Fluid Structure Interaction Mechanism to Find Its Impact on Flow Regime and the Effectiveness of This Novel Method on Declining Pressure Loss in Ducts

NASA Astrophysics Data System (ADS)

Kamali, Hamidreza; Javan Ahram, Masoud; Mohammadi, S. Ali

2017-09-01

Using channels and tubes with a variety of shapes for fluids transportation is an epidemic approach which has been grown rampantly through recent years. In some cases obstacles which placed in the fluid flow act as a barrier and cause increase in pressure loss and accordingly enhance the need to more power in the entry as well as change flow patterns and produce vortexes that are not optimal. In this paper a method to suppress produced vortexes in two dimension channel that a fixed square cylinder placed in the middle of it in ReD 200 in order to find a way to suppress vortexes are investigated. At first different length of splitter plates attached to square obstruction are studied to obtain the effects of length on flow pattern. Subsequently simulations have been conducted in three dimension to validate previous results as well as acquire better understanding about the selected approach. Simulations have done by Lagrangian Eulerian method, plates first assummed fix with length 1.5mm, 4mm and 7.5mm, and then flexible plates with the same length are studied. Young’s modulus for flexible plate and blockage ratio were constant values of 2×106 and 0.25 in all simulations, respectively. Results indicate more vortexes would be suppressed when the length of splitter plate enhances.

Characterization of optically actuated MRI-compatible active needles for medical interventions

NASA Astrophysics Data System (ADS)

Black, Richard J.; Ryu, Seokchang; Moslehi, Behzad; Costa, Joannes M.

2014-03-01

The development of a Magnetic Resonance Imaging (MRI) compatible optically-actuated active needle for guided percutaneous surgery and biopsy procedures is described. Electrically passive MRI-compatible actuation in the small diameter needle is provided by non-magnetic materials including a shape memory alloy (SMA) subject to precise fiber laser operation that can be from a remote (e.g., MRI control room) location. Characterization and optimization of the needle is facilitated using optical fiber Bragg grating (FBG) temperature sensors arrays. Active bending of the needle during insertion allows the needle to be accurately guided to even relatively small targets in an organ while avoiding obstacles and overcoming undesirable deviations away from the planned path due to unforeseen or unknowable tissue interactions. This feature makes the needle especially suitable for use in image-guided surgical procedures (ranging from MRI to CT and ultrasound) when accurate targeting is imperative for good treatment outcomes. Such interventions include reaching small tumors in biopsies, delineating freezing areas in, for example, cryosurgery and improving the accuracy of seed placement in brachytherapy. Particularly relevant are prostate procedures, which may be subject to pubic arch interference. Combining diagnostic imaging and actuation assisted biopsy into one treatment can obviate the need for a second exam for guided biopsy, shorten overall procedure times (thus increasing operating room efficiencies), address healthcare reimbursement constraints and, most importantly, improve patient comfort and clinical outcomes.

Formation control of robotic swarm using bounded artificial forces.

PubMed

Qin, Long; Zha, Yabing; Yin, Quanjun; Peng, Yong

2013-01-01

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

Formation Control of Robotic Swarm Using Bounded Artificial Forces

PubMed Central

Zha, Yabing; Peng, Yong

2013-01-01

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions. PMID:24453809

Anatomical medial surfaces with efficient resolution of branches singularities.

PubMed

Gil, Debora; Vera, Sergio; Borràs, Agnés; Andaluz, Albert; González Ballester, Miguel A

2017-01-01

Medial surfaces are powerful tools for shape description, but their use has been limited due to the sensibility of existing methods to branching artifacts. Medial branching artifacts are associated to perturbations of the object boundary rather than to geometric features. Such instability is a main obstacle for a confident application in shape recognition and description. Medial branches correspond to singularities of the medial surface and, thus, they are problematic for existing morphological and energy-based algorithms. In this paper, we use algebraic geometry concepts in an energy-based approach to compute a medial surface presenting a stable branching topology. We also present an efficient GPU-CPU implementation using standard image processing tools. We show the method computational efficiency and quality on a custom made synthetic database. Finally, we present some results on a medical imaging application for localization of abdominal pathologies. Copyright © 2016 Elsevier B.V. All rights reserved.

An Application of Multi-Criteria Shortest Path to a Customizable Hex-Map Environment

DTIC Science & Technology

2015-03-26

forces which could act as intermediate destinations or obstacles to movement through the network. This is similar to a traveling salesman problem ...118 Abstract The shortest path problem of finding the optimal path through a complex network is well-studied in the field of operations research. This...research presents an applica- tion of the shortest path problem to a customizable map with terrain features and enemy engagement risk. The PathFinder

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

NASA Technical Reports Server (NTRS)

Rowe, Neil C.; Lewis, David H.

1989-01-01

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

Pain Management and Use of Opioids in Pediatric Oncology in India: A Qualitative Approach.

PubMed

Angelini, Paola; Boydell, Katherine M; Breakey, Vicky; Kurkure, Purna A; Muckaden, Marian A; Bouffet, Eric; Arora, Brijesh

2017-08-01

Consumption of medical opium for pain relief in India is low, despite the country being one of the main world producers of the substance. We investigated obstacles to opioid use and physician perceptions about optimal pain management in pediatric oncology patients in India. Semistructured interviews were conducted with oncologists who work in pediatric oncology settings. A mixed sampling strategy was used, including maximum variation and confirmation and disconfirmation of cases, as well as snowball sampling. Key informants were identified. Interviews were audio recorded, transcribed verbatim, and analyzed by thematic analysis methodology. Twenty-three interviews were performed across 20 Indian institutions. The main obstacles identified were lack of financial resources, inadequate education of health care providers on pain management, insufficient human resources (particularly lack of dedicated trained oncology nurses), poor access to opioids, and cultural perceptions about pain. Children from rural areas, treated in public hospitals, and from lower socioeconomic classes appear disadvantaged. A significant equality gap exists between public institutions and private institutions, which provide state-of-the-art treatment. The study illuminates the complexity of pain management in pediatric oncology in India, where financial constraints, lack of education, and poor access to opioids play a dominant role, but lack of awareness and cultural perceptions about pain management among health care providers and parents emerged as important contributing factors. Urgent interventions are needed to optimize care in this vulnerable population.

Supersonic Wing Optimization Using SpaRibs

NASA Technical Reports Server (NTRS)

Locatelli, David; Mulani, Sameer B.; Liu, Qiang; Tamijani, Ali Y.; Kapania, Rakesh K.

2014-01-01

This research investigates the advantages of using curvilinear spars and ribs, termed SpaRibs, to design a supersonic aircraft wing-box in comparison to the use of classic design concepts that employ straight spars and ribs. The objective is to achieve a more efficient load-bearing mechanism and to passively control the deformation of the structure under the flight loads. Moreover, the use of SpaRibs broadens the design space and allows for natural frequencies and natural mode shape tailoring. The SpaRibs concept is implemented in a new optimization MATLAB-based framework referred to as EBF3SSWingOpt. This optimization scheme performs both the sizing and the shaping of the internal structural elements, connecting the optimizer with the analysis software. The shape of the SpaRibs is parametrically defined using the so called Linked Shape method. Each set of SpaRibs is placed in a one by one square domain of the natural space. The set of curves is subsequently transformed in the physical space for creating the wing structure geometry layout. The shape of each curve of each set is unique; however, mathematical relations link the curvature in an effort to reduce the number of design variables. The internal structure of a High Speed Commercial Transport aircraft concept developed by Boeing is optimized subjected to stress, subsonic flutter and supersonic flutter constraints. The results show that the use of the SpaRibs allows for the reduction of the aircraft's primary structure weight without violating the constraints. A weight reduction of about 15 percent is observed.

Shape optimization using a NURBS-based interface-enriched generalized FEM

DOE PAGES

Najafi, Ahmad R.; Safdari, Masoud; Tortorelli, Daniel A.; ...

2016-11-26

This study presents a gradient-based shape optimization over a fixed mesh using a non-uniform rational B-splines-based interface-enriched generalized finite element method, applicable to multi-material structures. In the proposed method, non-uniform rational B-splines are used to parameterize the design geometry precisely and compactly by a small number of design variables. An analytical shape sensitivity analysis is developed to compute derivatives of the objective and constraint functions with respect to the design variables. Subtle but important new terms involve the sensitivity of shape functions and their spatial derivatives. As a result, verification and illustrative problems are solved to demonstrate the precision andmore » capability of the method.« less

Optimized fan-shaped chiral metamaterial as an ultrathin narrow-band circular polarizer at visible frequencies

NASA Astrophysics Data System (ADS)

He, Yizhuo; Wang, Xinghai; Ingram, Whitney; Ai, Bin; Zhao, Yiping

2018-04-01

Chiral metamaterials have the great ability to manipulate the circular polarizations of light, which can be utilized to build ultrathin circular polarizers. Here we build a narrow-band circular polarizer at visible frequencies based on plasmonic fan-shaped chiral nanostructures. In order to achieve the best optical performance, we systematically investigate how different fabrication factors affect the chiral optical response of the fan-shaped chiral nanostructures, including incident angle of vapor depositions, nanostructure thickness, and post-deposition annealing. The optimized fan-shaped nanostructures show two narrow bands for different circular polarizations with the maximum extinction ratios 7.5 and 6.9 located at wavelength 687 nm and 774 nm, respectively.

Automated transformation-invariant shape recognition through wavelet multiresolution

NASA Astrophysics Data System (ADS)

Brault, Patrice; Mounier, Hugues

2001-12-01

We present here new results in Wavelet Multi-Resolution Analysis (W-MRA) applied to shape recognition in automatic vehicle driving applications. Different types of shapes have to be recognized in this framework. They pertain to most of the objects entering the sensors field of a car. These objects can be road signs, lane separation lines, moving or static obstacles, other automotive vehicles, or visual beacons. The recognition process must be invariant to global, affine or not, transformations which are : rotation, translation and scaling. It also has to be invariant to more local, elastic, deformations like the perspective (in particular with wide angle camera lenses), and also like deformations due to environmental conditions (weather : rain, mist, light reverberation) or optical and electrical signal noises. To demonstrate our method, an initial shape, with a known contour, is compared to the same contour altered by rotation, translation, scaling and perspective. The curvature computed for each contour point is used as a main criterion in the shape matching process. The original part of this work is to use wavelet descriptors, generated with a fast orthonormal W-MRA, rather than Fourier descriptors, in order to provide a multi-resolution description of the contour to be analyzed. In such way, the intrinsic spatial localization property of wavelet descriptors can be used and the recognition process can be speeded up. The most important part of this work is to demonstrate the potential performance of Wavelet-MRA in this application of shape recognition.

Steps to achieve quantitative measurements of microRNA using two step droplet digital PCR.

PubMed

Stein, Erica V; Duewer, David L; Farkas, Natalia; Romsos, Erica L; Wang, Lili; Cole, Kenneth D

2017-01-01

Droplet digital PCR (ddPCR) is being advocated as a reference method to measure rare genomic targets. It has consistently been proven to be more sensitive and direct at discerning copy numbers of DNA than other quantitative methods. However, one of the largest obstacles to measuring microRNA (miRNA) using ddPCR is that reverse transcription efficiency depends upon the target, meaning small RNA nucleotide composition directly effects primer specificity in a manner that prevents traditional quantitation optimization strategies. Additionally, the use of reagents that are optimized for miRNA measurements using quantitative real-time PCR (qRT-PCR) appear to either cause false positive or false negative detection of certain targets when used with traditional ddPCR quantification methods. False readings are often related to using inadequate enzymes, primers and probes. Given that two-step miRNA quantification using ddPCR relies solely on reverse transcription and uses proprietary reagents previously optimized only for qRT-PCR, these barriers are substantial. Therefore, here we outline essential controls, optimization techniques, and an efficacy model to improve the quality of ddPCR miRNA measurements. We have applied two-step principles used for miRNA qRT-PCR measurements and leveraged the use of synthetic miRNA targets to evaluate ddPCR following cDNA synthesis with four different commercial kits. We have identified inefficiencies and limitations as well as proposed ways to circumvent identified obstacles. Lastly, we show that we can apply these criteria to a model system to confidently quantify miRNA copy number. Our measurement technique is a novel way to quantify specific miRNA copy number in a single sample, without using standard curves for individual experiments. Our methodology can be used for validation and control measurements, as well as a diagnostic technique that allows scientists, technicians, clinicians, and regulators to base miRNA measures on a single unit of measurement rather than a ratio of values.

Steps to achieve quantitative measurements of microRNA using two step droplet digital PCR

PubMed Central

Duewer, David L.; Farkas, Natalia; Romsos, Erica L.; Wang, Lili; Cole, Kenneth D.

2017-01-01

Droplet digital PCR (ddPCR) is being advocated as a reference method to measure rare genomic targets. It has consistently been proven to be more sensitive and direct at discerning copy numbers of DNA than other quantitative methods. However, one of the largest obstacles to measuring microRNA (miRNA) using ddPCR is that reverse transcription efficiency depends upon the target, meaning small RNA nucleotide composition directly effects primer specificity in a manner that prevents traditional quantitation optimization strategies. Additionally, the use of reagents that are optimized for miRNA measurements using quantitative real-time PCR (qRT-PCR) appear to either cause false positive or false negative detection of certain targets when used with traditional ddPCR quantification methods. False readings are often related to using inadequate enzymes, primers and probes. Given that two-step miRNA quantification using ddPCR relies solely on reverse transcription and uses proprietary reagents previously optimized only for qRT-PCR, these barriers are substantial. Therefore, here we outline essential controls, optimization techniques, and an efficacy model to improve the quality of ddPCR miRNA measurements. We have applied two-step principles used for miRNA qRT-PCR measurements and leveraged the use of synthetic miRNA targets to evaluate ddPCR following cDNA synthesis with four different commercial kits. We have identified inefficiencies and limitations as well as proposed ways to circumvent identified obstacles. Lastly, we show that we can apply these criteria to a model system to confidently quantify miRNA copy number. Our measurement technique is a novel way to quantify specific miRNA copy number in a single sample, without using standard curves for individual experiments. Our methodology can be used for validation and control measurements, as well as a diagnostic technique that allows scientists, technicians, clinicians, and regulators to base miRNA measures on a single unit of measurement rather than a ratio of values. PMID:29145448

Tunning PID controller using particle swarm optimization algorithm on automatic voltage regulator system

NASA Astrophysics Data System (ADS)

Aranza, M. F.; Kustija, J.; Trisno, B.; Hakim, D. L.

2016-04-01

PID Controller (Proportional Integral Derivative) was invented since 1910, but till today still is used in industries, even though there are many kind of modern controllers like fuzz controller and neural network controller are being developed. Performance of PID controller is depend on on Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). These gains can be got by using method Ziegler-Nichols (ZN), gain-phase margin, Root Locus, Minimum Variance dan Gain Scheduling however these methods are not optimal to control systems that nonlinear and have high-orde, in addition, some methods relative hard. To solve those obstacles, particle swarm optimization (PSO) algorithm is proposed to get optimal Kp, Ki and Kd. PSO is proposed because PSO has convergent result and not require many iterations. On this research, PID controller is applied on AVR (Automatic Voltage Regulator). Based on result of analyzing transient, stability Root Locus and frequency response, performance of PID controller is better than Ziegler-Nichols.

Optimal design of composite hip implants using NASA technology

NASA Technical Reports Server (NTRS)

Blake, T. A.; Saravanos, D. A.; Davy, D. T.; Waters, S. A.; Hopkins, D. A.

1993-01-01

Using an adaptation of NASA software, we have investigated the use of numerical optimization techniques for the shape and material optimization of fiber composite hip implants. The original NASA inhouse codes, were originally developed for the optimization of aerospace structures. The adapted code, which was called OPORIM, couples numerical optimization algorithms with finite element analysis and composite laminate theory to perform design optimization using both shape and material design variables. The external and internal geometry of the implant and the surrounding bone is described with quintic spline curves. This geometric representation is then used to create an equivalent 2-D finite element model of the structure. Using laminate theory and the 3-D geometric information, equivalent stiffnesses are generated for each element of the 2-D finite element model, so that the 3-D stiffness of the structure can be approximated. The geometric information to construct the model of the femur was obtained from a CT scan. A variety of test cases were examined, incorporating several implant constructions and design variable sets. Typically the code was able to produce optimized shape and/or material parameters which substantially reduced stress concentrations in the bone adjacent of the implant. The results indicate that this technology can provide meaningful insight into the design of fiber composite hip implants.

Optimized mirror shape tuning using beam weightings based on distance, angle of incidence, reflectivity, and power.

PubMed

Goldberg, Kenneth A; Yashchuk, Valeriy V

2016-05-01

For glancing-incidence optical systems, such as short-wavelength optics used for nano-focusing, incorporating physical factors in the calculations used for shape optimization can improve performance. Wavefront metrology, including the measurement of a mirror's shape or slope, is routinely used as input for mirror figure optimization on mirrors that can be bent, actuated, positioned, or aligned. Modeling shows that when the incident power distribution, distance from focus, angle of incidence, and the spatially varying reflectivity are included in the optimization, higher Strehl ratios can be achieved. Following the works of Maréchal and Mahajan, optimization of the Strehl ratio (for peak intensity with a coherently illuminated system) occurs when the expectation value of the phase error's variance is minimized. We describe an optimization procedure based on regression analysis that incorporates these physical parameters. This approach is suitable for coherently illuminated systems of nearly diffraction-limited quality. Mathematically, this work is an enhancement of the methods commonly applied for ex situ alignment based on uniform weighting of all points on the surface (or a sub-region of the surface). It follows a similar approach to the optimization of apodized and non-uniformly illuminated optical systems. Significantly, it reaches a different conclusion than a more recent approach based on minimization of focal plane ray errors.

Application of level set method to optimal vibration control of plate structures

NASA Astrophysics Data System (ADS)

Ansari, M.; Khajepour, A.; Esmailzadeh, E.

2013-02-01

Vibration control plays a crucial role in many structures, especially in the lightweight ones. One of the most commonly practiced method to suppress the undesirable vibration of structures is to attach patches of the constrained layer damping (CLD) onto the surface of the structure. In order to consider the weight efficiency of a structure, the best shapes and locations of the CLD patches should be determined to achieve the optimum vibration suppression with minimum usage of the CLD patches. This paper proposes a novel topology optimization technique that can determine the best shape and location of the applied CLD patches, simultaneously. Passive vibration control is formulated in the context of the level set method, which is a numerical technique to track shapes and locations concurrently. The optimal damping set could be found in a structure, in its fundamental vibration mode, such that the maximum modal loss factor of the system is achieved. Two different plate structures will be considered and the damping patches will be optimally located on them. At the same time, the best shapes of the damping patches will be determined too. In one example, the numerical results will be compared with those obtained from the experimental tests to validate the accuracy of the proposed method. This comparison reveals the effectiveness of the level set approach in finding the optimum shape and location of the CLD patches.

A Computational Approach to Model Vascular Adaptation During Chronic Hemodialysis: Shape Optimization as a Substitute for Growth Modeling

NASA Astrophysics Data System (ADS)

Mahmoudzadeh Akherat, S. M. Javid; Boghosian, Michael; Cassel, Kevin; Hammes, Mary

2015-11-01

End-stage-renal disease patients depend on successful long-term hemodialysis via vascular access, commonly facilitated via a Brachiocephalic Fistula (BCF). The primary cause of BCF failure is Cephalic Arch Stenosis (CAS). It is believed that low Wall Shear Stress (WSS) regions, which occur because of the high flow rates through the natural bend in the cephalic vein, create hemodynamic circumstances that trigger the onset and development of Intimal Hyperplasia (IH) and subsequent CAS. IH is hypothesized to be a natural effort to reshape the vessel, aiming to bring the WSS values back to a physiologically acceptable range. We seek to explore the correlation between regions of low WSS and subsequent IH and CAS in patient-specific geometries. By utilizing a shape optimization framework, a method is proposed to predict cardiovascular adaptation that could potentially be an alternative to vascular growth and remodeling. Based on an objective functional that seeks to alter the vessel shape in such a way as to readjust the WSS to be within the normal physiological range, CFD and shape optimization are then coupled to investigate whether the optimal shape evolution is correlated with actual patient-specific geometries thereafter. Supported by the National Institute of Diabetes and Digestive and Kidney Diseases of the National Institutes of Health (R01 DK90769).

New technologies for advanced three-dimensional optimum shape design in aeronautics

NASA Astrophysics Data System (ADS)

Dervieux, Alain; Lanteri, Stéphane; Malé, Jean-Michel; Marco, Nathalie; Rostaing-Schmidt, Nicole; Stoufflet, Bruno

1999-05-01

The analysis of complex flows around realistic aircraft geometries is becoming more and more predictive. In order to obtain this result, the complexity of flow analysis codes has been constantly increasing, involving more refined fluid models and sophisticated numerical methods. These codes can only run on top computers, exhausting their memory and CPU capabilities. It is, therefore, difficult to introduce best analysis codes in a shape optimization loop: most previous works in the optimum shape design field used only simplified analysis codes. Moreover, as the most popular optimization methods are the gradient-based ones, the more complex the flow solver, the more difficult it is to compute the sensitivity code. However, emerging technologies are contributing to make such an ambitious project, of including a state-of-the-art flow analysis code into an optimisation loop, feasible. Among those technologies, there are three important issues that this paper wishes to address: shape parametrization, automated differentiation and parallel computing. Shape parametrization allows faster optimization by reducing the number of design variable; in this work, it relies on a hierarchical multilevel approach. The sensitivity code can be obtained using automated differentiation. The automated approach is based on software manipulation tools, which allow the differentiation to be quick and the resulting differentiated code to be rather fast and reliable. In addition, the parallel algorithms implemented in this work allow the resulting optimization software to run on increasingly larger geometries. Copyright

Gradient-Based Aerodynamic Shape Optimization Using ADI Method for Large-Scale Problems

NASA Technical Reports Server (NTRS)

Pandya, Mohagna J.; Baysal, Oktay

1997-01-01

A gradient-based shape optimization methodology, that is intended for practical three-dimensional aerodynamic applications, has been developed. It is based on the quasi-analytical sensitivities. The flow analysis is rendered by a fully implicit, finite volume formulation of the Euler equations.The aerodynamic sensitivity equation is solved using the alternating-direction-implicit (ADI) algorithm for memory efficiency. A flexible wing geometry model, that is based on surface parameterization and platform schedules, is utilized. The present methodology and its components have been tested via several comparisons. Initially, the flow analysis for for a wing is compared with those obtained using an unfactored, preconditioned conjugate gradient approach (PCG), and an extensively validated CFD code. Then, the sensitivities computed with the present method have been compared with those obtained using the finite-difference and the PCG approaches. Effects of grid refinement and convergence tolerance on the analysis and shape optimization have been explored. Finally the new procedure has been demonstrated in the design of a cranked arrow wing at Mach 2.4. Despite the expected increase in the computational time, the results indicate that shape optimization, which require large numbers of grid points can be resolved with a gradient-based approach.

Quantitative grading of a human blastocyst: optimal inner cell mass size and shape.

PubMed

Richter, K S; Harris, D C; Daneshmand, S T; Shapiro, B S

2001-12-01

To investigate the predictive value of quantitative measurements of blastocyst morphology on subsequent implantation rates after transfer. Prospective observational study. Private assisted reproductive technology center. One hundred seventy-four IVF patients receiving transfers of expanded blastocyst-stage embryos on day 5 (n = 112) or day 6 (n = 62) after oocyte retrieval. None. Blastocyst diameter, number of trophectoderm cells, inner cell mass (ICM) size, ICM shape, and implantation and pregnancy rates. Blastocyst diameter and trophectoderm cell numbers were unrelated to implantation rates. Day 5 expanded blastocysts with ICMs of >4,500 microm(2) implanted at a higher rate than did those with smaller ICMs (55% vs. 31%). Day 5 expanded blastocysts with slightly oval ICMs implanted at a higher rate (58%) compared with those with either rounder ICMs (7%) or more elongated ICMs (33%). Implantation rates were highest (71%) for embryos with both optimal ICM size and shape. Pregnancy rates were higher for day 5 transfers of optimally shaped ICMs compared with day 5 transfers of optimally sized ICMs. Quantitative measurements of the inner cell mass are highly indicative of blastocyst implantation potential. Blastocysts with relatively large and/or slightly oval ICMs are more likely to implant than other blastocysts.

20 Meter Solar Sail Analysis and Correlation

NASA Technical Reports Server (NTRS)

Taleghani, B.; Lively, P.; Banik, J.; Murphy, D.; Trautt, T.

2005-01-01

This presentation discusses studies conducted to determine the element type and size that best represents a 20-meter solar sail under ground-test load conditions, the performance of test/Analysis correlation by using Static Shape Optimization Method for Q4 sail, and system dynamic. TRIA3 elements better represent wrinkle patterns than do QUAD3 elements Baseline, ten-inch elements are small enough to accurately represent sail shape, and baseline TRIA3 mesh requires a reasonable computation time of 8 min. 21 sec. In the test/analysis correlation by using Static shape optimization method for Q4 sail, ten parameters were chosen and varied during optimization. 300 sail models were created with random parameters. A response surfaces for each targets which were created based on the varied parameters. Parameters were optimized based on response surface. Deflection shape comparison for 0 and 22.5 degrees yielded a 4.3% and 2.1% error respectively. For the system dynamic study testing was done on the booms without the sails attached. The nominal boom properties produced a good correlation to test data the frequencies were within 10%. Boom dominated analysis frequencies and modes compared well with the test results.

A Predictive Framework to Elucidate Venous Stenosis: CFD & Shape Optimization.

PubMed

Javid Mahmoudzadeh Akherat, S M; Cassel, Kevin; Boghosian, Michael; Hammes, Mary; Coe, Fredric

2017-07-01

The surgical creation of vascular accesses for renal failure patients provides an abnormally high flow rate conduit in the patient's upper arm vasculature that facilitates the hemodialysis treatment. These vascular accesses, however, are very often associated with complications that lead to access failure and thrombotic incidents, mainly due to excessive neointimal hyperplasia (NH) and subsequently stenosis. Development of a framework to monitor and predict the evolution of the venous system post access creation can greatly contribute to maintaining access patency. Computational fluid dynamics (CFD) has been exploited to inspect the non-homeostatic wall shear stress (WSS) distribution that is speculated to trigger NH in the patient cohort under investigation. Thereafter, CFD in liaison with a gradient-free shape optimization method has been employed to analyze the deformation modes of the venous system enduring non-physiological hemodynamics. It is observed that the optimally evolved shapes and their corresponding hemodynamics strive to restore the homeostatic state of the venous system to a normal, pre-surgery condition. It is concluded that a CFD-shape optimization coupling that seeks to regulate the WSS back to a well-defined physiological WSS target range can accurately predict the mode of patient-specific access failure.

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.

Shortest multiple disconnected path for the analysis of entanglements in two- and three-dimensional polymeric systems

NASA Astrophysics Data System (ADS)

Kröger, Martin

2005-06-01

We present an algorithm which returns a shortest path and related number of entanglements for a given configuration of a polymeric system in 2 or 3 dimensions. Rubinstein and Helfand, and later Everaers et al. introduced a concept to extract primitive paths for dense polymeric melts made of linear chains (a multiple disconnected multibead 'path'), where each primitive path is defined as a path connecting the (space-fixed) ends of a polymer under the constraint of non-interpenetration (excluded volume) between primitive paths of different chains, such that the multiple disconnected path fulfills a minimization criterion. The present algorithm uses geometrical operations and provides a—model independent—efficient approximate solution to this challenging problem. Primitive paths are treated as 'infinitely' thin (we further allow for finite thickness to model excluded volume), and tensionless lines rather than multibead chains, excluded volume is taken into account without a force law. The present implementation allows to construct a shortest multiple disconnected path (SP) for 2D systems (polymeric chain within spherical obstacles) and an optimal SP for 3D systems (collection of polymeric chains). The number of entanglements is then simply obtained from the SP as either the number of interior kinks, or from the average length of a line segment. Further, information about structure and potentially also the dynamics of entanglements is immediately available from the SP. We apply the method to study the 'concentration' dependence of the degree of entanglement in phantom chain systems. Program summaryTitle of program:Z Catalogue number:ADVG Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADVG Program obtainable from: CPC Program Library, Queen's University of Belfast, N. Ireland Computer for which the program is designed and others on which it has been tested: Silicon Graphics (Irix), Sun (Solaris), PC (Linux) Operating systems or monitors under which the program has been tested: UNIX, Linux Program language used: USANSI Fortran 77 and Fortran 90 Memory required to execute with typical data: 1 MByte No. of lines in distributed program, including test data, etc.: 10 660 No. of bytes in distributed program, including test data, etc.: 119 551 Distribution formet:tar.gz Nature of physical problem: The problem is to obtain primitive paths substantiating a shortest multiple disconnected path (SP) for a given polymer configuration (chains of particles, with or without additional single particles as obstacles for the 2D case). Primitive paths are here defined as in [M. Rubinstein, E. Helfand, J. Chem. Phys. 82 (1985) 2477; R. Everaers, S.K. Sukumaran, G.S. Grest, C. Svaneborg, A. Sivasubramanian, K. Kremer, Science 303 (2004) 823] as the shortest line (path) respecting 'topological' constraints (from neighboring polymers or point obstacles) between ends of polymers. There is a unique solution for the 2D case. For the 3D case it is unique if we construct a primitive path of a single chain embedded within fixed line obstacles [J.S.B. Mitchell, Geometric shortest paths and network optimization, in: J.-R. Sack, J. Urrutia (Eds.), Handbook of Computational Geometry, Elsevier, Amsterdam, 2000, pp. 633-701]. For a large 3D configuration made of several chains, short is meant to be the Euclidean shortest multiple disconnected path (SP) where primitive paths are constructed for all chains simultaneously. While the latter problem, in general, does not possess a unique solution, the algorithm must return a locally optimal solution, robust against minor displacements of the disconnected path and chain re-labeling. The problem is solved if the number of kinks (or entanglements Z), explicitly deduced from the SP, is quite insensitive to the exact conformation of the SP which allows to estimate Z with a small error. Efficient method of solution: Primitive paths are constructed from the given polymer configuration (a non-shortest multiple disconnected path, including obstacles, if present) by first replacing each polymer contour by a line with a number of 'kinks' (beads, nodes) and 'segments' (edges). To obtain primitive paths, defined to be uncrossable by any other objects (neighboring primitive paths, line or point obstacles), the algorithm minimizes the length of all primitive paths consecutively, until a final minimum Euclidean length of the SP is reached. Fast geometric operations rather than dynamical methods are used to minimize the contour lengths of the primitive paths. Neighbor lists are used to keep track of potentially intersecting segments of other chains. Periodic boundary conditions are employed. A finite small line thickness is used in order to make sure that entanglements are not 'lost' due to finite precision of representation of numbers. Restrictions on the complexity of the problem: For a single chain embedded within fixed line or point obstacles, the algorithm returns the exact SP. For more complex problems, the algorithm returns a locally optimal SP. Except for exotic, probably rare, configurations it turns out that different locally optimal SPs possess quite an identical number of nodes. In general, the problem constructing the SP is known to be NP-hard [J.S.B. Mitchell, Geometric shortest paths and network optimization, in: J.-R. Sack, J. Urrutia (Eds.), Handbook of Computational Geometry, Elsevier, Amsterdam, 2000, pp. 633-701], and we offer a solution which should suffice to analyze physical problems, and gives an estimate about the precision and uniqueness of the result (from a standard deviation by varying the parameter: cyclicswitch). The program is NOT restricted to handle systems for which segment lengths of the SP exceed half the box size. Typical running time: Typical running times are approximately two orders of magnitude shorter compared with the ones needed for a corresponding molecular dynamics approach, and scale mostly linearly with system size. We provide a benchmark table.

Optimal control of photoelectron emission by realistic waveforms

NASA Astrophysics Data System (ADS)

Solanpää, J.; Ciappina, M. F.; Räsänen, E.

2017-09-01

Recent experimental techniques in multicolor waveform synthesis allow the temporal shaping of strong femtosecond laser pulses with applications in the control of quantum mechanical processes in atoms, molecules, and nanostructures. Prediction of the shapes of the optimal waveforms can be done computationally using quantum optimal control theory. In this work we demonstrate the control of above-threshold photoemission of one-dimensional hydrogen model with pulses feasible for experimental waveform synthesis. By mixing different spectral channels and thus lowering the intensity requirements for individual channels, the resulting optimal pulses can extend the cutoff energies by at least up to 50% and bring up the electron yield by several orders of magnitude. Insights into the electron dynamics for optimized photoelectron emission are obtained with a semiclassical two-step model.

Aerodynamic Shape Optimization of a Dual-Stream Supersonic Plug Nozzle

NASA Technical Reports Server (NTRS)

Heath, Christopher M.; Gray, Justin S.; Park, Michael A.; Nielsen, Eric J.; Carlson, Jan-Renee

2015-01-01

Aerodynamic shape optimization was performed on an isolated axisymmetric plug nozzle sized for a supersonic business jet. The dual-stream concept was tailored to attenuate nearfield pressure disturbances without compromising nozzle performance. Adjoint-based anisotropic mesh refinement was applied to resolve nearfield compression and expansion features in the baseline viscous grid. Deformed versions of the adapted grid were used for subsequent adjoint-driven shape optimization. For design, a nonlinear gradient-based optimizer was coupled to the discrete adjoint formulation of the Reynolds-averaged Navier- Stokes equations. All nozzle surfaces were parameterized using 3rd order B-spline interpolants and perturbed axisymmetrically via free-form deformation. Geometry deformations were performed using 20 design variables shared between the outer cowl, shroud and centerbody nozzle surfaces. Interior volume grid deformation during design was accomplished using linear elastic mesh morphing. The nozzle optimization was performed at a design cruise speed of Mach 1.6, assuming core and bypass pressure ratios of 6.19 and 3.24, respectively. Ambient flight conditions at design were commensurate with 45,000-ft standard day atmosphere.

Robust, optimal subsonic airfoil shapes

NASA Technical Reports Server (NTRS)

Rai, Man Mohan (Inventor)

2008-01-01

Method system, and product from application of the method, for design of a subsonic airfoil shape, beginning with an arbitrary initial airfoil shape and incorporating one or more constraints on the airfoil geometric parameters and flow characteristics. The resulting design is robust against variations in airfoil dimensions and local airfoil shape introduced in the airfoil manufacturing process. A perturbation procedure provides a class of airfoil shapes, beginning with an initial airfoil shape.

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.

Options for Robust Airfoil Optimization under Uncertainty

NASA Technical Reports Server (NTRS)

Padula, Sharon L.; Li, Wu

2002-01-01

A robust optimization method is developed to overcome point-optimization at the sampled design points. This method combines the best features from several preliminary methods proposed by the authors and their colleagues. The robust airfoil shape optimization is a direct method for drag reduction over a given range of operating conditions and has three advantages: (1) it prevents severe degradation in the off-design performance by using a smart descent direction in each optimization iteration, (2) it uses a large number of spline control points as design variables yet the resulting airfoil shape does not need to be smoothed, and (3) it allows the user to make a tradeoff between the level of optimization and the amount of computing time consumed. For illustration purposes, the robust optimization method is used to solve a lift-constrained drag minimization problem for a two-dimensional (2-D) airfoil in Euler flow with 20 geometric design variables.

A Novel Shape Parameterization Approach

NASA Technical Reports Server (NTRS)

Samareh, Jamshid A.

1999-01-01

This paper presents a novel parameterization approach for complex shapes suitable for a multidisciplinary design optimization application. The approach consists of two basic concepts: (1) parameterizing the shape perturbations rather than the geometry itself and (2) performing the shape deformation by means of the soft objects animation algorithms used in computer graphics. Because the formulation presented in this paper is independent of grid topology, we can treat computational fluid dynamics and finite element grids in a similar manner. The proposed approach is simple, compact, and efficient. Also, the analytical sensitivity derivatives are easily computed for use in a gradient-based optimization. This algorithm is suitable for low-fidelity (e.g., linear aerodynamics and equivalent laminated plate structures) and high-fidelity analysis tools (e.g., nonlinear computational fluid dynamics and detailed finite element modeling). This paper contains the implementation details of parameterizing for planform, twist, dihedral, thickness, and camber. The results are presented for a multidisciplinary design optimization application consisting of nonlinear computational fluid dynamics, detailed computational structural mechanics, performance, and a simple propulsion module.

Multidisciplinary Aerodynamic-Structural Shape Optimization Using Deformation (MASSOUD)

NASA Technical Reports Server (NTRS)

Samareh, Jamshid A.

2000-01-01

This paper presents a multidisciplinary shape parameterization approach. The approach consists of two basic concepts: (1) parameterizing the shape perturbations rather than the geometry itself and (2) performing the shape deformation by means of the soft object animation algorithms used in computer graphics. Because the formulation presented in this paper is independent of grid topology, we can treat computational fluid dynamics and finite element grids in a similar manner. The proposed approach is simple, compact, and efficient. Also, the analytical sensitivity derivatives are easily computed for use in a gradient-based optimization. This algorithm is suitable for low-fidelity (e.g., linear aerodynamics and equivalent laminated plate structures) and high-fidelity (e.g., nonlinear computational fluid dynamics and detailed finite element modeling analysis tools. This paper contains the implementation details of parameterizing for planform, twist, dihedral, thickness, camber, and free-form surface. Results are presented for a multidisciplinary design optimization application consisting of nonlinear computational fluid dynamics, detailed computational structural mechanics, and a simple performance module.

Small, Lightweight Inspection Robot With 12 Degrees Of Freedom

NASA Technical Reports Server (NTRS)

Lee, Thomas S.; Ohm, Timothy R.; Hayati, Samad

1996-01-01

Small serpentine robot weighs only 6 lbs. and has link diameter of 1.5 in. Designed to perform inspections. Multiple degrees of freedom enables it to reach around obstacles and through small openings into simple or complexly shaped confined spaces to positions where difficult or impossible to perform inspections by other means. Fiber-optic borescope incorporated into robot arm, with inspection tip of borescope located at tip of arm. Borescope both conveys light along robot arm to illuminate scene inspected at tip and conveys image of scene back along robot arm to external imaging equipment.

SABRINA - an interactive geometry modeler for MCNP

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

West, J.T.; Murphy, J.

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

Uncertainty management for aerial vehicles: Coordination, deconfliction, and disturbance rejection

NASA Astrophysics Data System (ADS)

Panyakeow, Prachya

The presented dissertation aims to develop control algorithms that deal with three types of uncertainties managements. First, we examine the situation when unmanned aerial vehicles (UAVs) fly through uncertain environments that contain both stationary and moving obstacles. Moreover, a guarantee of collision avoidance is necessary when UAVs operate in close proximity of each other. Second, we look at the communication uncertainty among the network of cooperative UAVs and the efforts to establish and maintain the connectivity throughout their entire missions. Third, we explore the scenario when the aircraft flies through wind gust. The introduction of an appropriate control scheme to actively alleviate the gust loads can result into weight reduction and consequently lower the fuel cost. In the first part of this dissertation, we develop a deconfliction algorithm that guarantees collision avoidance between a pair of constant speed unicycle-type UAVs as well as convergence to the desired destination for each UAV in presence of static obstacles. We use a combination of navigation and swirling functions to direct the unicycle vehicles along the planned trajectories while avoiding inter-vehicle collisions. The main feature of our contribution is proposing means of designing a deconfliction algorithm for unicycle vehicles that more closely capture the dynamics of constant speed UAVs as opposed to double integrator models. Specifically, we consider the issue of UAV turn-rate constraints and proceed to explore the selection of key algorithmic parameters in order to minimize undesirable trajectories and overshoots induced by the avoidance algorithm. The avoidance and convergence analysis of the proposed algorithm is then performed for two cooperative UAVs and simulation results are provided to support the viability of the proposed framework for more general mission scenarios. For the uncertainty of the UAV network, we provides two approaches to establish connectivity among a collection of UAVs that are initially scattered in space. The goal is to find shortest trajectories that bring the UAVs to a connected formation where they are in the range of detection of one another and headed in the same direction to maintain the connectivity. Pontryagin Minimum Principle (PMP) is utilized to determine the control law and path synthesis for the UAVs under the turn-rate constraints. We introduce an algorithm to search for the optimal solution when the final network topology is specified; followed by a nonlinear programming method in which the final configuration is emerged from the optimization routine under the constraints that the final topology is connected. Each method has its own advantages based on the size of corporative networks. For the uncertainty due to gust turbulence, we choose a model predictive control (MPC) technique to address gust load alleviation (GLA) for a flexible aircraft. MPC is a discrete method based on repeated online optimization that allows direct consideration of control actuator constraints into the feedback computation. Gust alleviation systems are dependent on how the structural flexibility of the aircraft affects its dynamics. Hence, we develop a six-degree-of-freedom flexible aircraft model that can integrate rigid body dynamic with structural deflection. The structural stick-and-beam model is utilized for the calculation of aeroelastic mode shapes and airframe loads. Another important feature of MPC for GLA design is the ability to include the preview of gust information ahead of the aircraft nose into the prediction process. This helps raising the prediction accuracy and consequently improves the load alleviation performance. Finally, the aircraft is modified by the addition of the flap-array, a composition of small trailing edge flaps throughout the entire span of the wings. These flaps are used in conjunction with the distributed spoilers. With the availability of the control surfaces closer to the wing root, the MPC with flap-array can reduce the wing bending moment from different mode shapes and achieve better load alleviation performance than the original aircraft.

Configuration optimization of space structures

NASA Technical Reports Server (NTRS)

Felippa, Carlos; Crivelli, Luis A.; Vandenbelt, David

1991-01-01

The objective is to develop a computer aid for the conceptual/initial design of aerospace structures, allowing configurations and shape to be apriori design variables. The topics are presented in viewgraph form and include the following: Kikuchi's homogenization method; a classical shape design problem; homogenization method steps; a 3D mechanical component design example; forming a homogenized finite element; a 2D optimization problem; treatment of volume inequality constraint; algorithms for the volume inequality constraint; object function derivatives--taking advantage of design locality; stiffness variations; variations of potential; and schematics of the optimization problem.

Sensitivity analysis of an optimization-based trajectory planner for autonomous vehicles in urban environments

NASA Astrophysics Data System (ADS)

Hardy, Jason; Campbell, Mark; Miller, Isaac; Schimpf, Brian

2008-10-01

The local path planner implemented on Cornell's 2007 DARPA Urban Challenge entry vehicle Skynet utilizes a novel mixture of discrete and continuous path planning steps to facilitate a safe, smooth, and human-like driving behavior. The planner first solves for a feasible path through the local obstacle map using a grid based search algorithm. The resulting path is then refined using a cost-based nonlinear optimization routine with both hard and soft constraints. The behavior of this optimization is influenced by tunable weighting parameters which govern the relative cost contributions assigned to different path characteristics. This paper studies the sensitivity of the vehicle's performance to these path planner weighting parameters using a data driven simulation based on logged data from the National Qualifying Event. The performance of the path planner in both the National Qualifying Event and in the Urban Challenge is also presented and analyzed.

The Egalitarian Optimist and the Confrontation of Prejudice

PubMed Central

Wellman, Justin A.; Czopp, Alexander M.; Geers, Andrew L.

2010-01-01

Standing up against prejudice often requires one to surmount powerful inter- and intra-individual forces. Egalitarian standards alone are often insufficient to surmount these forces. As individuals high in dispositional optimism vigorously pursue valued goals, even when threatened with obstacles, we propose that the combination of high optimism and salient egalitarian goals predicts the confrontation of prejudice. In the present study, individuals high and low in both optimism and prejudice were randomly assigned to hear a racist joke followed by an argument, or to hear the same joke but without the argument. We found that low-prejudice optimists who had their chronic egalitarian values made salient by hearing the argument were highly likely to confront a later act of prejudice. Self-report data closely mirrored this behavioral finding. These findings support a self-regulatory approach to confrontation and suggest new avenues for combating prejudice. PMID:20336167

Achievements and obstacles of remyelinating therapies in multiple sclerosis.

PubMed

Stangel, Martin; Kuhlmann, Tanja; Matthews, Paul M; Kilpatrick, Trevor J

2017-12-01

Remyelination in the CNS is the natural process of damage repair in demyelinating diseases such as multiple sclerosis (MS). However, remyelination becomes inadequate in many people with MS, which results in axonal degeneration and clinical disability. Enhancement of remyelination is a logical therapeutic goal; nevertheless, all currently licensed therapies for MS are immunomodulatory and do not support remyelination directly. Several molecular pathways have been identified as potential therapeutic targets to induce remyelination, and some of these have now been assessed in proof-of-concept clinical trials. However, trial design faces several obstacles: optimal clinical or paraclinical outcome measures to assess remyelination remain ill-defined, and identification of the ideal timing of therapy is also a crucial issue. In addition, realistic expectations are needed concerning the probable benefits of such therapies. Nevertheless, approaches that enhance remyelination are likely to be protective for axons and so could prevent long-term neurodegeneration. Future MS treatment paradigms, therefore, are likely to comprise a combinatorial approach that involves both immunomodulatory and regenerative treatments.

Computational Optimization of a Natural Laminar Flow Experimental Wing Glove

NASA Technical Reports Server (NTRS)

Hartshom, Fletcher

2012-01-01

Computational optimization of a natural laminar flow experimental wing glove that is mounted on a business jet is presented and discussed. The process of designing a laminar flow wing glove starts with creating a two-dimensional optimized airfoil and then lofting it into a three-dimensional wing glove section. The airfoil design process does not consider the three dimensional flow effects such as cross flow due wing sweep as well as engine and body interference. Therefore, once an initial glove geometry is created from the airfoil, the three dimensional wing glove has to be optimized to ensure that the desired extent of laminar flow is maintained over the entire glove. TRANAIR, a non-linear full potential solver with a coupled boundary layer code was used as the main tool in the design and optimization process of the three-dimensional glove shape. The optimization process uses the Class-Shape-Transformation method to perturb the geometry with geometric constraints that allow for a 2-in clearance from the main wing. The three-dimensional glove shape was optimized with the objective of having a spanwise uniform pressure distribution that matches the optimized two-dimensional pressure distribution as closely as possible. Results show that with the appropriate inputs, the optimizer is able to match the two dimensional pressure distributions practically across the entire span of the wing glove. This allows for the experiment to have a much higher probability of having a large extent of natural laminar flow in flight.

Shape-Driven 3D Segmentation Using Spherical Wavelets

PubMed Central

Nain, Delphine; Haker, Steven; Bobick, Aaron; Tannenbaum, Allen

2013-01-01

This paper presents a novel active surface segmentation algorithm using a multiscale shape representation and prior. We define a parametric model of a surface using spherical wavelet functions and learn a prior probability distribution over the wavelet coefficients to model shape variations at different scales and spatial locations in a training set. Based on this representation, we derive a parametric active surface evolution using the multiscale prior coefficients as parameters for our optimization procedure to naturally include the prior in the segmentation framework. Additionally, the optimization method can be applied in a coarse-to-fine manner. We apply our algorithm to the segmentation of brain caudate nucleus, of interest in the study of schizophrenia. Our validation shows our algorithm is computationally efficient and outperforms the Active Shape Model algorithm by capturing finer shape details. PMID:17354875

Experimental validation of structural optimization methods

NASA Technical Reports Server (NTRS)

Adelman, Howard M.

1992-01-01

The topic of validating structural optimization methods by use of experimental results is addressed. The need for validating the methods as a way of effecting a greater and an accelerated acceptance of formal optimization methods by practicing engineering designers is described. The range of validation strategies is defined which includes comparison of optimization results with more traditional design approaches, establishing the accuracy of analyses used, and finally experimental validation of the optimization results. Examples of the use of experimental results to validate optimization techniques are described. The examples include experimental validation of the following: optimum design of a trussed beam; combined control-structure design of a cable-supported beam simulating an actively controlled space structure; minimum weight design of a beam with frequency constraints; minimization of the vibration response of helicopter rotor blade; minimum weight design of a turbine blade disk; aeroelastic optimization of an aircraft vertical fin; airfoil shape optimization for drag minimization; optimization of the shape of a hole in a plate for stress minimization; optimization to minimize beam dynamic response; and structural optimization of a low vibration helicopter rotor.

Three-dimensional optimization and sensitivity analysis of dental implant thread parameters using finite element analysis.

PubMed

Geramizadeh, Maryam; Katoozian, Hamidreza; Amid, Reza; Kadkhodazadeh, Mahdi

2018-04-01

This study aimed to optimize the thread depth and pitch of a recently designed dental implant to provide uniform stress distribution by means of a response surface optimization method available in finite element (FE) software. The sensitivity of simulation to different mechanical parameters was also evaluated. A three-dimensional model of a tapered dental implant with micro-threads in the upper area and V-shaped threads in the rest of the body was modeled and analyzed using finite element analysis (FEA). An axial load of 100 N was applied to the top of the implants. The model was optimized for thread depth and pitch to determine the optimal stress distribution. In this analysis, micro-threads had 0.25 to 0.3 mm depth and 0.27 to 0.33 mm pitch, and V-shaped threads had 0.405 to 0.495 mm depth and 0.66 to 0.8 mm pitch. The optimized depth and pitch were 0.307 and 0.286 mm for micro-threads and 0.405 and 0.808 mm for V-shaped threads, respectively. In this design, the most effective parameters on stress distribution were the depth and pitch of the micro-threads based on sensitivity analysis results. Based on the results of this study, the optimal implant design has micro-threads with 0.307 and 0.286 mm depth and pitch, respectively, in the upper area and V-shaped threads with 0.405 and 0.808 mm depth and pitch in the rest of the body. These results indicate that micro-thread parameters have a greater effect on stress and strain values.

Aspects of jamming in two-dimensional athermal frictionless systems.

PubMed

Reichhardt, C; Reichhardt, C J Olson

2014-05-07

In this work we provide an overview of jamming transitions in two dimensional systems focusing on the limit of frictionless particle interactions in the absence of thermal fluctuations. We first discuss jamming in systems with short range repulsive interactions, where the onset of jamming occurs at a critical packing density and where certain quantities show a divergence indicative of critical behavior. We describe how aspects of the dynamics change as the jamming density is approached and how these dynamics can be explored using externally driven probes. Different particle shapes can produce jamming densities much lower than those observed for disk-shaped particles, and we show how jamming exhibits fragility for some shapes while for other shapes this is absent. Next we describe the effects of long range interactions and jamming behavior in systems such as charged colloids, vortices in type-II superconductors, and dislocations. We consider the effect of adding obstacles to frictionless jamming systems and discuss connections between this type of jamming and systems that exhibit depinning transitions. Finally, we discuss open questions such as whether the jamming transition in all these different systems can be described by the same or a small subset of universal behaviors, as well as future directions for studies of jamming transitions in two dimensional systems, such as jamming in self-driven or active matter systems.

Rotor cascade shape optimization with unsteady passing wakes using implicit dual time stepping method

NASA Astrophysics Data System (ADS)

Lee, Eun Seok

2000-10-01

An improved aerodynamics performance of a turbine cascade shape can be achieved by an understanding of the flow-field associated with the stator-rotor interaction. In this research, an axial gas turbine airfoil cascade shape is optimized for improved aerodynamic performance by using an unsteady Navier-Stokes solver and a parallel genetic algorithm. The objective of the research is twofold: (1) to develop a computational fluid dynamics code having faster convergence rate and unsteady flow simulation capabilities, and (2) to optimize a turbine airfoil cascade shape with unsteady passing wakes for improved aerodynamic performance. The computer code solves the Reynolds averaged Navier-Stokes equations. It is based on the explicit, finite difference, Runge-Kutta time marching scheme and the Diagonalized Alternating Direction Implicit (DADI) scheme, with the Baldwin-Lomax algebraic and k-epsilon turbulence modeling. Improvements in the code focused on the cascade shape design capability, convergence acceleration and unsteady formulation. First, the inverse shape design method was implemented in the code to provide the design capability, where a surface transpiration concept was employed as an inverse technique to modify the geometry satisfying the user specified pressure distribution on the airfoil surface. Second, an approximation storage multigrid method was implemented as an acceleration technique. Third, the preconditioning method was adopted to speed up the convergence rate in solving the low Mach number flows. Finally, the implicit dual time stepping method was incorporated in order to simulate the unsteady flow-fields. For the unsteady code validation, the Stokes's 2nd problem and the Poiseuille flow were chosen and compared with the computed results and analytic solutions. To test the code's ability to capture the natural unsteady flow phenomena, vortex shedding past a cylinder and the shock oscillation over a bicircular airfoil were simulated and compared with experiments and other research results. The rotor cascade shape optimization with unsteady passing wakes was performed to obtain an improved aerodynamic performance using the unsteady Navier-Stokes solver. Two objective functions were defined as minimization of total pressure loss and maximization of lift, while the mass flow rate was fixed. A parallel genetic algorithm was used as an optimizer and the penalty method was introduced. Each individual's objective function was computed simultaneously by using a 32 processor distributed memory computer. One optimization took about four days.

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

PubMed

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

2018-04-01

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

The Third Air Force/NASA Symposium on Recent Advances in Multidisciplinary Analysis and Optimization

NASA Technical Reports Server (NTRS)

1990-01-01

The third Air Force/NASA Symposium on Recent Advances in Multidisciplinary Analysis and Optimization was held on 24-26 Sept. 1990. Sessions were on the following topics: dynamics and controls; multilevel optimization; sensitivity analysis; aerodynamic design software systems; optimization theory; analysis and design; shape optimization; vehicle components; structural optimization; aeroelasticity; artificial intelligence; multidisciplinary optimization; and composites.

Lasing in optimized two-dimensional iron-nail-shaped rod photonic crystals

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

Kwon, Soon-Yong; Moon, Seul-Ki; Yang, Jin-Kyu, E-mail: jinkyuyang@kongju.ac.kr

2016-03-15

We demonstrated lasing at the Γ-point band-edge (BE) modes in optimized two-dimensional iron-nail-shaped rod photonic crystals by optical pulse pumping at room temperature. As the radius of the rod increased quadratically toward the edge of the pattern, the quality factor of the Γ-point BE mode increased up to three times, and the modal volume decreased to 56% compared with the values of the original Γ-point BE mode because of the reduction of the optical loss in the horizontal direction. Single-mode lasing from an optimized iron-nail-shaped rod array with an InGaAsP multiple quantum well embedded in the nail heads was observedmore » at a low threshold pump power of 160 μW. Real-image-based numerical simulations showed that the lasing actions originated from the optimized Γ-point BE mode and agreed well with the measurement results, including the lasing polarization, wavelength, and near-field image.« less

Optimal Elastomeric Scaffold Leaflet Shape for Pulmonary Heart Valve Leaflet Replacement

PubMed Central

Fan, Rong; Bayoumi, Ahmed S.; Chen, Peter; Hobson, Christopher M.; Wagner, William R.; Mayer, John E.; Sacks, Michael S.

2012-01-01

Surgical replacement of the pulmonary valve (PV) is a common treatment option for congenital pulmonary valve defects. Engineered tissue approaches to develop novel PV replacements are intrinsically complex, and will require methodical approaches for their development. Single leaflet replacement utilizing an ovine model is an attractive approach in that candidate materials can be evaluated under valve level stresses in blood contact without the confounding effects of a particular valve design. In the present study an approach for optimal leaflet shape design based on finite element (FE) simulation of a mechanically anisotropic, elastomeric scaffold for PV replacement is presented. The scaffold was modeled as an orthotropic hyperelastic material using a generalized Fung-type constitutive model. The optimal shape of the fully loaded PV replacement leaflet was systematically determined by minimizing the difference between the deformed shape obtained from FE simulation and an ex-vivo microCT scan of a native ovine PV leaflet. Effects of material anisotropy, dimensional changes of PV root, and fiber orientation on the resulting leaflet deformation were investigated. In-situ validation demonstrated that the approach could guide the design of the leaflet shape for PV replacement surgery. PMID:23294966

Women's Pathways to Abortion Care in South Carolina: A Qualitative Study of Obstacles and Supports.

PubMed

Margo, Judy; McCloskey, Lois; Gupte, Gouri; Zurek, Melanie; Bhakta, Seema; Feinberg, Emily

2016-12-01

Women seeking timely and affordable abortion care may face myriad challenges, including high out-of-pocket costs, transportation demands, scheduling difficulties and stigma. State-level regulations may exacerbate these burdens and impede women's access to a full range of care. Women's reports of their experiences can inform efforts to improve pathways to abortion care. In 2014, semistructured qualitative interviews were conducted with 45 women obtaining abortions in South Carolina, which has a restrictive abortion environment. Interviews elicited information about women's pathways to abortion, including how they learned about and obtained care, whether they received professional referrals, and the supports and obstacles they experienced. Transcripts were examined using thematic analysis to identify key themes along the pathways, and a process map was constructed to depict women's experiences. Twenty participants reported having had contact with a health professional or crisis pregnancy center staff for pregnancy confirmation, and seven of them received an abortion referral. Women located abortion clinics through online searches, previous experience, and friends or family. Financial strain was the most frequently cited obstacle, followed by transportation challenges. Women reported experiencing emotional strain, stress and stigma, and described the value of receiving social support. Because of financial pressures, the regulation with the greatest impact was the one prohibiting most insurance plans from covering abortion care. Further research on experiences of women seeking abortion services, and how these individuals are affected by evolving state policy environments, will help shape initiatives to support timely, affordable and safe abortion care in a climate of increasing restrictions. Copyright © 2016 by the Guttmacher Institute.

Self-crowding of AMPA receptors in the excitatory postsynaptic density can effectuate anomalous receptor sub-diffusion.

PubMed

Gupta, Rahul

2018-02-01

AMPA receptors (AMPARs) and their associations with auxiliary transmembrane proteins are bulky structures with large steric-exclusion volumes. Hence, self-crowding of AMPARs, depending on the local density, may affect their lateral diffusion in the postsynaptic membrane as well as in the highly crowded postsynaptic density (PSD) at excitatory synapses. Earlier theoretical studies considered only the roles of transmembrane obstacles and the AMPAR-binding submembranous scaffold proteins in shaping receptor diffusion within PSD. Using lattice model of diffusion, the present study investigates the additional impacts of self-crowding on the anomalousity and effective diffusion coefficient (Deff) of AMPAR diffusion. A recursive algorithm for avoiding false self-blocking during diffusion simulation is also proposed. The findings suggest that high density of AMPARs in the obstacle-free membrane itself engenders strongly anomalous diffusion and severe decline in Deff. Adding transmembrane obstacles to the membrane accentuates the anomalousity arising from self-crowding due to the reduced free diffusion space. Contrarily, enhanced AMPAR-scaffold binding, either through increase in binding strength or scaffold density or both, ameliorates the anomalousity resulting from self-crowding. However, binding has differential impacts on Deff depending on the receptor density. Increase in binding causes consistent decrease in Deff for low and moderate receptor density. For high density, binding increases Deff as long as it reduces anomalousity associated with intense self-crowding. Given a sufficiently strong binding condition when diffusion acquires normal behavior, further increase in binding causes decrease in Deff. Supporting earlier experimental observations are mentioned and implications of present findings to the experimental observations on AMPAR diffusion are also drawn.

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.

Adjoint Algorithm for CAD-Based Shape Optimization Using a Cartesian Method

NASA Technical Reports Server (NTRS)

Nemec, Marian; Aftosmis, Michael J.

2004-01-01

Adjoint solutions of the governing flow equations are becoming increasingly important for the development of efficient analysis and optimization algorithms. A well-known use of the adjoint method is gradient-based shape optimization. Given an objective function that defines some measure of performance, such as the lift and drag functionals, its gradient is computed at a cost that is essentially independent of the number of design variables (geometric parameters that control the shape). More recently, emerging adjoint applications focus on the analysis problem, where the adjoint solution is used to drive mesh adaptation, as well as to provide estimates of functional error bounds and corrections. The attractive feature of this approach is that the mesh-adaptation procedure targets a specific functional, thereby localizing the mesh refinement and reducing computational cost. Our focus is on the development of adjoint-based optimization techniques for a Cartesian method with embedded boundaries.12 In contrast t o implementations on structured and unstructured grids, Cartesian methods decouple the surface discretization from the volume mesh. This feature makes Cartesian methods well suited for the automated analysis of complex geometry problems, and consequently a promising approach to aerodynamic optimization. Melvin et developed an adjoint formulation for the TRANAIR code, which is based on the full-potential equation with viscous corrections. More recently, Dadone and Grossman presented an adjoint formulation for the Euler equations. In both approaches, a boundary condition is introduced to approximate the effects of the evolving surface shape that results in accurate gradient computation. Central to automated shape optimization algorithms is the issue of geometry modeling and control. The need to optimize complex, "real-life" geometry provides a strong incentive for the use of parametric-CAD systems within the optimization procedure. In previous work, we presented an effective optimization framework that incorporates a direct-CAD interface. In this work, we enhance the capabilities of this framework with efficient gradient computations using the discrete adjoint method. We present details of the adjoint numerical implementation, which reuses the domain decomposition, multigrid, and time-marching schemes of the flow solver. Furthermore, we explain and demonstrate the use of CAD in conjunction with the Cartesian adjoint approach. The final paper will contain a number of complex geometry, industrially relevant examples with many design variables to demonstrate the effectiveness of the adjoint method on Cartesian meshes.

Reentry-Vehicle Shape Optimization Using a Cartesian Adjoint Method and CAD Geometry

NASA Technical Reports Server (NTRS)

Nemec, Marian; Aftosmis, Michael J.

2006-01-01

A DJOINT solutions of the governing flow equations are becoming increasingly important for the development of efficient analysis and optimization algorithms. A well-known use of the adjoint method is gradient-based shape. Given an objective function that defines some measure of performance, such as the lift and drag functionals, its gradient is computed at a cost that is essentially independent of the number of design variables (e.g., geometric parameters that control the shape). Classic aerodynamic applications of gradient-based optimization include the design of cruise configurations for transonic and supersonic flow, as well as the design of high-lift systems. are perhaps the most promising approach for addressing the issues of flow solution automation for aerodynamic design problems. In these methods, the discretization of the wetted surface is decoupled from that of the volume mesh. This not only enables fast and robust mesh generation for geometry of arbitrary complexity, but also facilitates access to geometry modeling and manipulation using parametric computer-aided design (CAD). In previous work on Cartesian adjoint solvers, Melvin et al. developed an adjoint formulation for the TRANAIR code, which is based on the full-potential equation with viscous corrections. More recently, Dadone and Grossman presented an adjoint formulation for the two-dimensional Euler equations using a ghost-cell method to enforce the wall boundary conditions. In Refs. 18 and 19, we presented an accurate and efficient algorithm for the solution of the adjoint Euler equations discretized on Cartesian meshes with embedded, cut-cell boundaries. Novel aspects of the algorithm were the computation of surface shape sensitivities for triangulations based on parametric-CAD models and the linearization of the coupling between the surface triangulation and the cut-cells. The accuracy of the gradient computation was verified using several three-dimensional test cases, which included design variables such as the free stream parameters and the planform shape of an isolated wing. The objective of the present work is to extend our adjoint formulation to problems involving general shape changes. Factors under consideration include the computation of mesh sensitivities that provide a reliable approximation of the objective function gradient, as well as the computation of surface shape sensitivities based on a direct-CAD interface. We present detailed gradient verification studies and then focus on a shape optimization problem for an Apollo-like reentry vehicle. The goal of the optimization is to enhance the lift-to-drag ratio of the capsule by modifying the shape of its heat-shield in conjunction with a center-of-gravity (c.g.) offset. This multipoint and multi-objective optimization problem is used to demonstrate the overall effectiveness of the Cartesian adjoint method for addressing the issues of complex aerodynamic design.

Optimizing implosion yields using rugby-shaped hohlraums

NASA Astrophysics Data System (ADS)

Park, Hye-Sook; Robey, H.; Amendt, P.; Philippe, F.; Casner, A.; Caillaud, T.; Bourgade, J.-L.; Landoas, O.; Li, C. K.; Petrasso, R.; Seguin, F.; Rosenberg, M.; Glebov, V. Yu.

2009-11-01

We present the first experimental results on optimizing capsule implosion experiments by using rugby-shaped hohlraums [1] on the Omega laser, University of Rochester. This campaign compared D2-filled capsule performance between standard cylindrical Au hohlraums and rugby-shaped hohlraums for demonstrating the energetics advantages of the rugby geometry. Not only did the rugby-shaped hohlraums show nearly 20% more x-ray drive energy over the cylindrical hohlraums, but also the high-performance design of the capsules provided nearly 20 times more DD neutrons than in any previous Omega hohlraum campaigns, thereby enabling use of neutron temporal diagnostics. Comparison with simulations on neutron burn histories, x-ray core imaging, backscattered laser light and radiation temperature are presented. [1] P. Amendt et al., Phys. Plasmas 15, 012702 (2008)

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.

Topological Aspects of the FAITH Experiment

NASA Technical Reports Server (NTRS)

Tobak, Murray; Long, Kurtis

2010-01-01

This slide presentation reviews the following issues (1) What is relationship between surface pressure extrema and singular points? (2) Does every singular point in a pattern of skin friction lines occur at a surface pressure extremum? (and/or vice versa?) (3) Can this relationship be generalized to all geometries? (4) FAITH Project (5) Ongoing effort at NASA Ames Experimental AeroPhysics Branch (6) Multi-parameter wind tunnel investigation of flow around obstacle (7) Acquire data for CFD validation, optimization and (8) Relationship between FAITH and topology projects

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

Grosso, G.; Nardin, G.; Morier-Genoud, F.

Exciton polaritons have been shown to be an optimal system in order to investigate the properties of bosonic quantum fluids. We report here on the observation of dark solitons in the wake of engineered circular obstacles and their decay into streets of quantized vortices. Our experiments provide a time-resolved access to the polariton phase and density, which allows for a quantitative study of instabilities of freely evolving polaritons. The decay of solitons is quantified and identified as an effect of disorder-induced transverse perturbations in the dissipative polariton gas.

Parameter assessment for virtual Stackelberg game in aerodynamic shape optimization

NASA Astrophysics Data System (ADS)

Wang, Jing; Xie, Fangfang; Zheng, Yao; Zhang, Jifa

2018-05-01

In this paper, parametric studies of virtual Stackelberg game (VSG) are conducted to assess the impact of critical parameters on aerodynamic shape optimization, including design cycle, split of design variables and role assignment. Typical numerical cases, including the inverse design and drag reduction design of airfoil, have been carried out. The numerical results confirm the effectiveness and efficiency of VSG. Furthermore, the most significant parameters are identified, e.g. the increase of design cycle can improve the optimization results but it will also add computational burden. These studies will maximize the productivity of the effort in aerodynamic optimization for more complicated engineering problems, such as the multi-element airfoil and wing-body configurations.

Patterning optimization for 55nm design rule DRAM/flash memory using production-ready customized illuminations

NASA Astrophysics Data System (ADS)

Chen, Ting; Van Den Broeke, Doug; Hsu, Stephen; Hsu, Michael; Park, Sangbong; Berger, Gabriel; Coskun, Tamer; de Vocht, Joep; Chen, Fung; Socha, Robert; Park, JungChul; Gronlund, Keith

2005-11-01

Illumination optimization, often combined with optical proximity corrections (OPC) to the mask, is becoming one of the critical components for a production-worthy lithography process for 55nm-node DRAM/Flash memory devices and beyond. At low-k1, e.g. k1<0.31, both resolution and imaging contrast can be severely limited by the current imaging tools while using the standard illumination sources. Illumination optimization is a process where the source shape is varied, in both profile and intensity distribution, to achieve enhancement in the final image contrast as compared to using the non-optimized sources. The optimization can be done efficiently for repetitive patterns such as DRAM/Flash memory cores. However, illumination optimization often produces source shapes that are "free-form" like and they can be too complex to be directly applicable for production and lack the necessary radial and annular symmetries desirable for the diffractive optical element (DOE) based illumination systems in today's leading lithography tools. As a result, post-optimization rendering and verification of the optimized source shape are often necessary to meet the production-ready or manufacturability requirements and ensure optimal performance gains. In this work, we describe our approach to the illumination optimization for k1<0.31 DRAM/Flash memory patterns, using an ASML XT:1400i at NA 0.93, where the all necessary manufacturability requirements are fully accounted for during the optimization. The imaging contrast in the resist is optimized in a reduced solution space constrained by the manufacturability requirements, which include minimum distance between poles, minimum opening pole angles, minimum ring width and minimum source filling factor in the sigma space. For additional performance gains, the intensity within the optimized source can vary in a gray-tone fashion (eight shades used in this work). Although this new optimization approach can sometimes produce closely spaced solutions as gauged by the NILS based metrics, we show that the optimal and production-ready source shape solution can be easily determined by comparing the best solutions to the "free-form" solution and more importantly, by their respective imaging fidelity and process latitude ranking. Imaging fidelity and process latitude simulations are performed to analyze the impact and sensitivity of the manufacturability requirements on pattern specific illumination optimizations using ASML XT:1400i and other latest imaging systems. Mask model based OPC (MOPC) is applied and optimized sequentially to ensure that the CD uniformity requirements are met.

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.

Optimal and robust control of quantum state transfer by shaping the spectral phase of ultrafast laser pulses.

PubMed

Guo, Yu; Dong, Daoyi; Shu, Chuan-Cun

2018-04-04

Achieving fast and efficient quantum state transfer is a fundamental task in physics, chemistry and quantum information science. However, the successful implementation of the perfect quantum state transfer also requires robustness under practically inevitable perturbative defects. Here, we demonstrate how an optimal and robust quantum state transfer can be achieved by shaping the spectral phase of an ultrafast laser pulse in the framework of frequency domain quantum optimal control theory. Our numerical simulations of the single dibenzoterrylene molecule as well as in atomic rubidium show that optimal and robust quantum state transfer via spectral phase modulated laser pulses can be achieved by incorporating a filtering function of the frequency into the optimization algorithm, which in turn has potential applications for ultrafast robust control of photochemical reactions.

Optimal swimming of a sheet.

PubMed

Montenegro-Johnson, Thomas D; Lauga, Eric

2014-06-01

Propulsion at microscopic scales is often achieved through propagating traveling waves along hairlike organelles called flagella. Taylor's two-dimensional swimming sheet model is frequently used to provide insight into problems of flagellar propulsion. We derive numerically the large-amplitude wave form of the two-dimensional swimming sheet that yields optimum hydrodynamic efficiency: the ratio of the squared swimming speed to the rate-of-working of the sheet against the fluid. Using the boundary element method, we show that the optimal wave form is a front-back symmetric regularized cusp that is 25% more efficient than the optimal sine wave. This optimal two-dimensional shape is smooth, qualitatively different from the kinked form of Lighthill's optimal three-dimensional flagellum, not predicted by small-amplitude theory, and different from the smooth circular-arc-like shape of active elastic filaments.

Aerodynamic shape optimization of wing and wing-body configurations using control theory

NASA Technical Reports Server (NTRS)

Reuther, James; Jameson, Antony

1995-01-01

This paper describes the implementation of optimization techniques based on control theory for wing and wing-body design. In previous studies it was shown that control theory could be used to devise an effective optimization procedure for airfoils and wings in which the shape and the surrounding body-fitted mesh are both generated analytically, and the control is the mapping function. Recently, the method has been implemented for both potential flows and flows governed by the Euler equations using an alternative formulation which employs numerically generated grids, so that it can more easily be extended to treat general configurations. Here results are presented both for the optimization of a swept wing using an analytic mapping, and for the optimization of wing and wing-body configurations using a general mesh.

A wave superposition method formulated in digital acoustic space

NASA Astrophysics Data System (ADS)

Hwang, Yong-Sin

In this thesis, a new formulation of the Wave Superposition method is proposed wherein the conventional mesh approach is replaced by a simple 3-D digital work space that easily accommodates shape optimization for minimizing or maximizing radiation efficiency. As sound quality is in demand in almost all product designs and also because of fierce competition between product manufacturers, faster and accurate computational method for shape optimization is always desired. Because the conventional Wave Superposition method relies solely on mesh geometry, it cannot accommodate fast shape changes in the design stage of a consumer product or machinery, where many iterations of shape changes are required. Since the use of a mesh hinders easy shape changes, a new approach for representing geometry is introduced by constructing a uniform lattice in a 3-D digital work space. A voxel (a portmanteau, a new word made from combining the sound and meaning, of the words, volumetric and pixel) is essentially a volume element defined by the uniform lattice, and does not require separate connectivity information as a mesh element does. In the presented method, geometry is represented with voxels that can easily adapt to shape changes, therefore it is more suitable for shape optimization. The new method was validated by computing radiated sound power of structures of simple and complex geometries and complex mode shapes. It was shown that matching volume velocity is a key component to an accurate analysis. A sensitivity study showed that it required at least 6 elements per acoustic wavelength, and a complexity study showed a minimal reduction in computational time.

Software Performs Complex Design Analysis

NASA Technical Reports Server (NTRS)

2008-01-01

Designers use computational fluid dynamics (CFD) to gain greater understanding of the fluid flow phenomena involved in components being designed. They also use finite element analysis (FEA) as a tool to help gain greater understanding of the structural response of components to loads, stresses and strains, and the prediction of failure modes. Automated CFD and FEA engineering design has centered on shape optimization, which has been hindered by two major problems: 1) inadequate shape parameterization algorithms, and 2) inadequate algorithms for CFD and FEA grid modification. Working with software engineers at Stennis Space Center, a NASA commercial partner, Optimal Solutions Software LLC, was able to utilize its revolutionary, one-of-a-kind arbitrary shape deformation (ASD) capability-a major advancement in solving these two aforementioned problems-to optimize the shapes of complex pipe components that transport highly sensitive fluids. The ASD technology solves the problem of inadequate shape parameterization algorithms by allowing the CFD designers to freely create their own shape parameters, therefore eliminating the restriction of only being able to use the computer-aided design (CAD) parameters. The problem of inadequate algorithms for CFD grid modification is solved by the fact that the new software performs a smooth volumetric deformation. This eliminates the extremely costly process of having to remesh the grid for every shape change desired. The program can perform a design change in a markedly reduced amount of time, a process that would traditionally involve the designer returning to the CAD model to reshape and then remesh the shapes, something that has been known to take hours, days-even weeks or months-depending upon the size of the model.

Elastically Shaped Wing Optimization and Aircraft Concept for Improved Cruise Efficiency

NASA Technical Reports Server (NTRS)

Nguyen, Nhan; Trinh, Khanh; Reynolds, Kevin; Kless, James; Aftosmis, Michael; Urnes, James, Sr.; Ippolito, Corey

2013-01-01

This paper presents the findings of a study conducted tn 2010 by the NASA Innovation Fund Award project entitled "Elastically Shaped Future Air Vehicle Concept". The study presents three themes in support of meeting national and global aviation challenges of reducing fuel burn for present and future aviation systems. The first theme addresses the drag reduction goal through innovative vehicle configurations via non-planar wing optimization. Two wing candidate concepts have been identified from the wing optimization: a drooped wing shape and an inflected wing shape. The drooped wing shape is a truly biologically inspired wing concept that mimics a seagull wing and could achieve about 5% to 6% drag reduction, which is aerodynamically significant. From a practical perspective, this concept would require new radical changes to the current aircraft development capabilities for new vehicles with futuristic-looking wings such as this concept. The inflected wing concepts could achieve between 3% to 4% drag reduction. While the drag reduction benefit may be less, the inflected-wing concept could have a near-term impact since this concept could be developed within the current aircraft development capabilities. The second theme addresses the drag reduction goal through a new concept of elastic wing shaping control. By aeroelastically tailoring the wing shape with active control to maintain optimal aerodynamics, a significant drag reduction benefit could be realized. A significant reduction in fuel burn for long-range cruise from elastic wing shaping control could be realized. To realize the potential of the elastic wing shaping control concept, the third theme emerges that addresses the drag reduction goal through a new aerodynamic control effector called a variable camber continuous trailing edge flap. Conventional aerodynamic control surfaces are discrete independent surfaces that cause geometric discontinuities at the trailing edge region. These discontinuities promote vorticities which result in drag rises as well as noise sources. The variable camber trailing edge flap concept could provide a substantial drag reduction benefit over a conventional discrete flap system. Aerodynamic simulations show a drag reduction of over 50% could be achieved with the flap concept over a conventional discrete flap system.

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.

Structural optimization under overhang constraints imposed by additive manufacturing technologies

NASA Astrophysics Data System (ADS)

Allaire, G.; Dapogny, C.; Estevez, R.; Faure, A.; Michailidis, G.

2017-12-01

This article addresses one of the major constraints imposed by additive manufacturing processes on shape optimization problems - that of overhangs, i.e. large regions hanging over void without sufficient support from the lower structure. After revisiting the 'classical' geometric criteria used in the literature, based on the angle between the structural boundary and the build direction, we propose a new mechanical constraint functional, which mimics the layer by layer construction process featured by additive manufacturing technologies, and thereby appeals to the physical origin of the difficulties caused by overhangs. This constraint, as well as some variants, is precisely defined; their shape derivatives are computed in the sense of Hadamard's method, and numerical strategies are extensively discussed, in two and three space dimensions, to efficiently deal with the appearance of overhang features in the course of shape optimization processes.

Optimal design of damping layers in SMA/GFRP laminated hybrid composites

NASA Astrophysics Data System (ADS)

Haghdoust, P.; Cinquemani, S.; Lo Conte, A.; Lecis, N.

2017-10-01

This work describes the optimization of the shape profiles for shape memory alloys (SMA) sheets in hybrid layered composite structures, i.e. slender beams or thinner plates, designed for the passive attenuation of flexural vibrations. The paper starts with the description of the material and architecture of the investigated hybrid layered composite. An analytical method, for evaluating the energy dissipation inside a vibrating cantilever beam is developed. The analytical solution is then followed by a shape profile optimization of the inserts, using a genetic algorithm to minimize the SMA material layer usage, while maintaining target level of structural damping. Delamination problem at SMA/glass fiber reinforced polymer interface is discussed. At the end, the proposed methodology has been applied to study the hybridization of a wind turbine layered structure blade with SMA material, in order to increase its passive damping.

Geometric constraints for shape and topology optimization in architectural design

NASA Astrophysics Data System (ADS)

Dapogny, Charles; Faure, Alexis; Michailidis, Georgios; Allaire, Grégoire; Couvelas, Agnes; Estevez, Rafael

2017-06-01

This work proposes a shape and topology optimization framework oriented towards conceptual architectural design. A particular emphasis is put on the possibility for the user to interfere on the optimization process by supplying information about his personal taste. More precisely, we formulate three novel constraints on the geometry of shapes; while the first two are mainly related to aesthetics, the third one may also be used to handle several fabrication issues that are of special interest in the device of civil structures. The common mathematical ingredient to all three models is the signed distance function to a domain, and its sensitivity analysis with respect to perturbations of this domain; in the present work, this material is extended to the case where the ambient space is equipped with an anisotropic metric tensor. Numerical examples are discussed in two and three space dimensions.

Multiscale 3-D shape representation and segmentation using spherical wavelets.

PubMed

Nain, Delphine; Haker, Steven; Bobick, Aaron; Tannenbaum, Allen

2007-04-01

This paper presents a novel multiscale shape representation and segmentation algorithm based on the spherical wavelet transform. This work is motivated by the need to compactly and accurately encode variations at multiple scales in the shape representation in order to drive the segmentation and shape analysis of deep brain structures, such as the caudate nucleus or the hippocampus. Our proposed shape representation can be optimized to compactly encode shape variations in a population at the needed scale and spatial locations, enabling the construction of more descriptive, nonglobal, nonuniform shape probability priors to be included in the segmentation and shape analysis framework. In particular, this representation addresses the shortcomings of techniques that learn a global shape prior at a single scale of analysis and cannot represent fine, local variations in a population of shapes in the presence of a limited dataset. Specifically, our technique defines a multiscale parametric model of surfaces belonging to the same population using a compact set of spherical wavelets targeted to that population. We further refine the shape representation by separating into groups wavelet coefficients that describe independent global and/or local biological variations in the population, using spectral graph partitioning. We then learn a prior probability distribution induced over each group to explicitly encode these variations at different scales and spatial locations. Based on this representation, we derive a parametric active surface evolution using the multiscale prior coefficients as parameters for our optimization procedure to naturally include the prior for segmentation. Additionally, the optimization method can be applied in a coarse-to-fine manner. We apply our algorithm to two different brain structures, the caudate nucleus and the hippocampus, of interest in the study of schizophrenia. We show: 1) a reconstruction task of a test set to validate the expressiveness of our multiscale prior and 2) a segmentation task. In the reconstruction task, our results show that for a given training set size, our algorithm significantly improves the approximation of shapes in a testing set over the Point Distribution Model, which tends to oversmooth data. In the segmentation task, our validation shows our algorithm is computationally efficient and outperforms the Active Shape Model algorithm, by capturing finer shape details.

Multiscale 3-D Shape Representation and Segmentation Using Spherical Wavelets

PubMed Central

Nain, Delphine; Haker, Steven; Bobick, Aaron

2013-01-01

This paper presents a novel multiscale shape representation and segmentation algorithm based on the spherical wavelet transform. This work is motivated by the need to compactly and accurately encode variations at multiple scales in the shape representation in order to drive the segmentation and shape analysis of deep brain structures, such as the caudate nucleus or the hippocampus. Our proposed shape representation can be optimized to compactly encode shape variations in a population at the needed scale and spatial locations, enabling the construction of more descriptive, nonglobal, nonuniform shape probability priors to be included in the segmentation and shape analysis framework. In particular, this representation addresses the shortcomings of techniques that learn a global shape prior at a single scale of analysis and cannot represent fine, local variations in a population of shapes in the presence of a limited dataset. Specifically, our technique defines a multiscale parametric model of surfaces belonging to the same population using a compact set of spherical wavelets targeted to that population. We further refine the shape representation by separating into groups wavelet coefficients that describe independent global and/or local biological variations in the population, using spectral graph partitioning. We then learn a prior probability distribution induced over each group to explicitly encode these variations at different scales and spatial locations. Based on this representation, we derive a parametric active surface evolution using the multiscale prior coefficients as parameters for our optimization procedure to naturally include the prior for segmentation. Additionally, the optimization method can be applied in a coarse-to-fine manner. We apply our algorithm to two different brain structures, the caudate nucleus and the hippocampus, of interest in the study of schizophrenia. We show: 1) a reconstruction task of a test set to validate the expressiveness of our multiscale prior and 2) a segmentation task. In the reconstruction task, our results show that for a given training set size, our algorithm significantly improves the approximation of shapes in a testing set over the Point Distribution Model, which tends to oversmooth data. In the segmentation task, our validation shows our algorithm is computationally efficient and outperforms the Active Shape Model algorithm, by capturing finer shape details. PMID:17427745

New Approaches For Asteroid Spin State and Shape Modeling From Delay-Doppler Radar Images

NASA Astrophysics Data System (ADS)

Raissi, Chedy; Lamee, Mehdi; Mosiane, Olorato; Vassallo, Corinne; Busch, Michael W.; Greenberg, Adam; Benner, Lance A. M.; Naidu, Shantanu P.; Duong, Nicholas

2016-10-01

Delay-Doppler radar imaging is a powerful technique to characterize the trajectories, shapes, and spin states of near-Earth asteroids; and has yielded detailed models of dozens of objects. Reconstructing objects' shapes and spins from delay-Doppler data is a computationally intensive inversion problem. Since the 1990s, delay-Doppler data has been analyzed using the SHAPE software. SHAPE performs sequential single-parameter fitting, and requires considerable computer runtime and human intervention (Hudson 1993, Magri et al. 2007). Recently, multiple-parameter fitting algorithms have been shown to more efficiently invert delay-Doppler datasets (Greenberg & Margot 2015) - decreasing runtime while improving accuracy. However, extensive human oversight of the shape modeling process is still required. We have explored two new techniques to better automate delay-Doppler shape modeling: Bayesian optimization and a machine-learning neural network.One of the most time-intensive steps of the shape modeling process is to perform a grid search to constrain the target's spin state. We have implemented a Bayesian optimization routine that uses SHAPE to autonomously search the space of spin-state parameters. To test the efficacy of this technique, we compared it to results with human-guided SHAPE for asteroids 1992 UY4, 2000 RS11, and 2008 EV5. Bayesian optimization yielded similar spin state constraints within a factor of 3 less computer runtime.The shape modeling process could be further accelerated using a deep neural network to replace iterative fitting. We have implemented a neural network with a variational autoencoder (VAE), using a subset of known asteroid shapes and a large set of synthetic radar images as inputs to train the network. Conditioning the VAE in this manner allows the user to give the network a set of radar images and get a 3D shape model as an output. Additional development will be required to train a network to reliably render shapes from delay-Doppler images.This work was supported by NASA Ames, NVIDIA, Autodesk and the SETI Institute as part of the NASA Frontier Development Lab program.

A system-level cost-of-energy wind farm layout optimization with landowner modeling

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

Chen, Le; MacDonald, Erin

This work applies an enhanced levelized wind farm cost model, including landowner remittance fees, to determine optimal turbine placements under three landowner participation scenarios and two land-plot shapes. Instead of assuming a continuous piece of land is available for the wind farm construction, as in most layout optimizations, the problem formulation represents landowner participation scenarios as a binary string variable, along with the number of turbines. The cost parameters and model are a combination of models from the National Renewable Energy Laboratory (NREL), Lawrence Berkeley National Laboratory, and Windustiy. The system-level cost-of-energy (COE) optimization model is also tested under twomore » land-plot shapes: equally-sized square land plots and unequal rectangle land plots. The optimal COEs results are compared to actual COE data and found to be realistic. The results show that landowner remittances account for approximately 10% of farm operating costs across all cases. Irregular land-plot shapes are easily handled by the model. We find that larger land plots do not necessarily receive higher remittance fees. The model can help site developers identify the most crucial land plots for project success and the optimal positions of turbines, with realistic estimates of costs and profitability. (C) 2013 Elsevier Ltd. All rights reserved.« less

Research on damping properties optimization of variable-stiffness plate

NASA Astrophysics Data System (ADS)

Wen-kai, QI; Xian-tao, YIN; Cheng, SHEN

2016-09-01

This paper investigates damping optimization design of variable-stiffness composite laminated plate, which means fibre paths can be continuously curved and fibre angles are distinct for different regions. First, damping prediction model is developed based on modal dissipative energy principle and verified by comparing with modal testing results. Then, instead of fibre angles, the element stiffness and damping matrixes are translated to be design variables on the basis of novel Discrete Material Optimization (DMO) formulation, thus reducing the computation time greatly. Finally, the modal damping capacity of arbitrary order is optimized using MMA (Method of Moving Asymptotes) method. Meanwhile, mode tracking technique is employed to investigate the variation of modal shape. The convergent performance of interpolation function, first order specific damping capacity (SDC) optimization results and variation of modal shape in different penalty factor are discussed. The results show that the damping properties of the variable-stiffness plate can be increased by 50%-70% after optimization.

Genetic Algorithms Applied to Multi-Objective Aerodynamic Shape Optimization

NASA Technical Reports Server (NTRS)

Holst, Terry L.

2004-01-01

A genetic algorithm approach suitable for solving multi-objective optimization problems is described and evaluated using a series of aerodynamic shape optimization problems. Several new features including two variations of a binning selection algorithm and a gene-space transformation procedure are included. The genetic algorithm is suitable for finding pareto optimal solutions in search spaces that are defined by any number of genes and that contain any number of local extrema. A new masking array capability is included allowing any gene or gene subset to be eliminated as decision variables from the design space. This allows determination of the effect of a single gene or gene subset on the pareto optimal solution. Results indicate that the genetic algorithm optimization approach is flexible in application and reliable. The binning selection algorithms generally provide pareto front quality enhancements and moderate convergence efficiency improvements for most of the problems solved.

Optimization of vehicle deceleration to reduce occupant injury risks in frontal impact.

PubMed

Mizuno, Koji; Itakura, Takuya; Hirabayashi, Satoko; Tanaka, Eiichi; Ito, Daisuke

2014-01-01

In vehicle frontal impacts, vehicle acceleration has a large effect on occupant loadings and injury risks. In this research, an optimal vehicle crash pulse was determined systematically to reduce injury measures of rear seat occupants by using mathematical simulations. The vehicle crash pulse was optimized based on a vehicle deceleration-deformation diagram under the conditions that the initial velocity and the maximum vehicle deformation were constant. Initially, a spring-mass model was used to understand the fundamental parameters for optimization. In order to investigate the optimization under a more realistic situation, the vehicle crash pulse was also optimized using a multibody model of a Hybrid III dummy seated in the rear seat for the objective functions of chest acceleration and chest deflection. A sled test using a Hybrid III dummy was carried out to confirm the simulation results. Finally, the optimal crash pulses determined from the multibody simulation were applied to a human finite element (FE) model. The optimized crash pulse to minimize the occupant deceleration had a concave shape: a high deceleration in the initial phase, low in the middle phase, and high again in the final phase. This crash pulse shape depended on the occupant restraint stiffness. The optimized crash pulse determined from the multibody simulation was comparable to that from the spring-mass model. From the sled test, it was demonstrated that the optimized crash pulse was effective for the reduction of chest acceleration. The crash pulse was also optimized for the objective function of chest deflection. The optimized crash pulse in the final phase was lower than that obtained for the minimization of chest acceleration. In the FE analysis of the human FE model, the optimized pulse for the objective function of the Hybrid III chest deflection was effective in reducing rib fracture risks. The optimized crash pulse has a concave shape and is dependent on the occupant restraint stiffness and maximum vehicle deformation. The shapes of the optimized crash pulse in the final phase were different for the objective functions of chest acceleration and chest deflection due to the inertial forces of the head and upper extremities. From the human FE model analysis it was found that the optimized crash pulse for the Hybrid III chest deflection can substantially reduce the risk of rib cage fractures. Supplemental materials are available for this article. Go to the publisher's online edition of Traffic Injury Prevention to view the supplemental file.

Microrobotics surveillance: discrete and continuous starbot

NASA Astrophysics Data System (ADS)

Mayyas, M.; Lee, W. H.; Stephanou, Harry

2011-05-01

This paper focuses on robotic technologies and operational capabilities of multiscale robots that demonstrate a unique class of Microsystems with the ability to navigate diverse terrains and environments. We introduce two classes of robots which combine multiple locomotion modalities including centimeter scale Discrete and Continuous robots which are referred here by D-Starbot and C-Starbot, respectively. The first generation of the robots were obtained to allow rapid shape reconfiguration and flipping recovery to accomplish tasks such as lowering and raising to dexterously go over and under obstacles, deform to roll over hostile location as well as squeezing through opening smaller than its sizes. The D-Starbot is based on novel mechanisms that allow shape reconfiguration to accomplish tasks such as lowering and raising to go over and under obstacles as well as squeezing through small voids. The CStarbot is a new class of foldable robots that is generally designed to provide a high degree of manufacturability. It consists of flexible structures that are built out of composite laminates with embedded microsystems. The design concept of C-Starbot are suitable for robots that could emulate and combine multiple locomotion modalities such as walking, running, crawling, gliding, clinging, climbing, flipping and jumping. The first generation of C-Starbot has centimeter scale structure consisting of flexible flaps, each being coupled with muscle-like mechanism. Untethered D-Starbot designs are prototyped and tested for multifunctional locomotion capabilities in indoor and outdoor environments. We present foldable mechanism and initial prototypes of C-Starbot capable of hopping and squeezing at different environments. The kinematic performance of flexible robots is thoroughly presented using the large elastic deflection of a single arm which is actuated by pulling force acting at variable angles and under payload and friction forces.

Fast Magnetic Micropropellers with Random Shapes

PubMed Central

2015-01-01

Studying propulsion mechanisms in low Reynolds number fluid has implications for many fields, ranging from the biology of motile microorganisms and the physics of active matter to micromixing in catalysis and micro- and nanorobotics. The propulsion of magnetic micropropellers can be characterized by a dimensionless speed, which solely depends on the propeller geometry for a given axis of rotation. However, this dependence has so far been only investigated for helical propeller shapes, which were assumed to be optimal. In order to explore a larger variety of shapes, we experimentally studied the propulsion properties of randomly shaped magnetic micropropellers. Surprisingly, we found that their dimensionless speeds are high on average, comparable to previously reported nanofabricated helical micropropellers. The highest dimensionless speed we observed is higher than that of any previously reported propeller moving in a low Reynolds number fluid, proving that physical random shape generation can be a viable optimization strategy. PMID:26383225

Shape optimization of pulsatile ventricular assist devices using FSI to minimize thrombotic risk

NASA Astrophysics Data System (ADS)

Long, C. C.; Marsden, A. L.; Bazilevs, Y.

2014-10-01

In this paper we perform shape optimization of a pediatric pulsatile ventricular assist device (PVAD). The device simulation is carried out using fluid-structure interaction (FSI) modeling techniques within a computational framework that combines FEM for fluid mechanics and isogeometric analysis for structural mechanics modeling. The PVAD FSI simulations are performed under realistic conditions (i.e., flow speeds, pressure levels, boundary conditions, etc.), and account for the interaction of air, blood, and a thin structural membrane separating the two fluid subdomains. The shape optimization study is designed to reduce thrombotic risk, a major clinical problem in PVADs. Thrombotic risk is quantified in terms of particle residence time in the device blood chamber. Methods to compute particle residence time in the context of moving spatial domains are presented in a companion paper published in the same issue (Comput Mech, doi: 10.1007/s00466-013-0931-y, 2013). The surrogate management framework, a derivative-free pattern search optimization method that relies on surrogates for increased efficiency, is employed in this work. For the optimization study shown here, particle residence time is used to define a suitable cost or objective function, while four adjustable design optimization parameters are used to define the device geometry. The FSI-based optimization framework is implemented in a parallel computing environment, and deployed with minimal user intervention. Using five SEARCH/ POLL steps the optimization scheme identifies a PVAD design with significantly better throughput efficiency than the original device.

Springback effects during single point incremental forming: Optimization of the tool path

NASA Astrophysics Data System (ADS)

Giraud-Moreau, Laurence; Belchior, Jérémy; Lafon, Pascal; Lotoing, Lionel; Cherouat, Abel; Courtielle, Eric; Guines, Dominique; Maurine, Patrick

2018-05-01

Incremental sheet forming is an emerging process to manufacture sheet metal parts. This process is more flexible than conventional one and well suited for small batch production or prototyping. During the process, the sheet metal blank is clamped by a blank-holder and a small-size smooth-end hemispherical tool moves along a user-specified path to deform the sheet incrementally. Classical three-axis CNC milling machines, dedicated structure or serial robots can be used to perform the forming operation. Whatever the considered machine, large deviations between the theoretical shape and the real shape can be observed after the part unclamping. These deviations are due to both the lack of stiffness of the machine and residual stresses in the part at the end of the forming stage. In this paper, an optimization strategy of the tool path is proposed in order to minimize the elastic springback induced by residual stresses after unclamping. A finite element model of the SPIF process allowing the shape prediction of the formed part with a good accuracy is defined. This model, based on appropriated assumptions, leads to calculation times which remain compatible with an optimization procedure. The proposed optimization method is based on an iterative correction of the tool path. The efficiency of the method is shown by an improvement of the final shape.

Left-ventricle segmentation in real-time 3D echocardiography using a hybrid active shape model and optimal graph search approach

NASA Astrophysics Data System (ADS)

Zhang, Honghai; Abiose, Ademola K.; Campbell, Dwayne N.; Sonka, Milan; Martins, James B.; Wahle, Andreas

2010-03-01

Quantitative analysis of the left ventricular shape and motion patterns associated with left ventricular mechanical dyssynchrony (LVMD) is essential for diagnosis and treatment planning in congestive heart failure. Real-time 3D echocardiography (RT3DE) used for LVMD analysis is frequently limited by heavy speckle noise or partially incomplete data, thus a segmentation method utilizing learned global shape knowledge is beneficial. In this study, the endocardial surface of the left ventricle (LV) is segmented using a hybrid approach combining active shape model (ASM) with optimal graph search. The latter is used to achieve landmark refinement in the ASM framework. Optimal graph search translates the 3D segmentation into the detection of a minimum-cost closed set in a graph and can produce a globally optimal result. Various information-gradient, intensity distributions, and regional-property terms-are used to define the costs for the graph search. The developed method was tested on 44 RT3DE datasets acquired from 26 LVMD patients. The segmentation accuracy was assessed by surface positioning error and volume overlap measured for the whole LV as well as 16 standard LV regions. The segmentation produced very good results that were not achievable using ASM or graph search alone.

A systematic study of posterior cervical lymph node irradiation with electrons: Conventional versus customized planning.

PubMed

Jankowska, Petra J; Kong, Christine; Burke, Kevin; Harrington, Kevin J; Nutting, Christopher

2007-10-01

High dose irradiation of the posterior cervical lymph nodes usually employs applied electron fields to treat the target volume and maintain the spinal cord dose within tolerance. In the light of recent advances in elective lymph node localisation we investigated optimization of field shape and electron energy to treat this target volume. In this study, three sequential hypotheses were tested. Firstly, that customization of the electron fields based on the nodal PTV outlined gives better PTV coverage than conventional field delineation. Using the consensus guidelines, customization of the electron field shape was compared to conventional fields based on bony landmarks. Secondly, that selection of electron energy using DVHs for spinal cord and PTV improves the minimum dose to PTV. Electron dose-volume histograms (DVHs) for the PTV, spinal cord and para-vertebral muscles, were generated using the Monte Carlo electron algorithm. These DVHs were used to compare standard vs optimized electron energy calculations. Finally, that combination of field customization and electron energy optimization improves both the minimum and mean doses to PTV compared with current standard practice. Customized electron beam shaping based on the consensus guidelines led to fewer geographical misses than standard field shaping. Customized electron energy calculation led to higher minimum doses to the PTV. Overall, the customization of field shape and energy resulted in an improved mean dose to the PTV (92% vs 83% p=0.02) and a 27% improvement in the minimum dose delivered to the PTV (45% vs 18% p=0.0009). Optimization of electron field shape and beam energy based on current consensus guidelines led to significant improvement in PTV coverage and may reduce recurrence rates.