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

PubMed

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

2017-09-01

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

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.

Performance testing of collision-avoidance system for power wheelchairs.

PubMed

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

2011-01-01

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

Safe Local Navigation for Visually Impaired Users With a Time-of-Flight and Haptic Feedback Device.

PubMed

Katzschmann, Robert K; Araki, Brandon; Rus, Daniela

2018-03-01

This paper presents ALVU (Array of Lidars and Vibrotactile Units), a contactless, intuitive, hands-free, and discreet wearable device that allows visually impaired users to detect low- and high-hanging obstacles, as well as physical boundaries in their immediate environment. The solution allows for safe local navigation in both confined and open spaces by enabling the user to distinguish free space from obstacles. The device presented is composed of two parts: a sensor belt and a haptic strap. The sensor belt is an array of time-of-flight distance sensors worn around the front of a user's waist, and the pulses of infrared light provide reliable and accurate measurements of the distances between the user and surrounding obstacles or surfaces. The haptic strap communicates the measured distances through an array of vibratory motors worn around the user's upper abdomen, providing haptic feedback. The linear vibration motors are combined with a point-loaded pretensioned applicator to transmit isolated vibrations to the user. We validated the device's capability in an extensive user study entailing 162 trials with 12 blind users. Users wearing the device successfully walked through hallways, avoided obstacles, and detected staircases.

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

NASA Astrophysics Data System (ADS)

Hofmann, Ulrich; Siedersberger, Karl-Heinz

2003-09-01

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

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.

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.

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

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

Waist-up protection for blind individuals using the EyeCane as a primary and secondary mobility aid.

PubMed

Buchs, Galit; Simon, Noa; Maidenbaum, Shachar; Amedi, Amir

2017-01-01

One of the most stirring statistics in relation to the mobility of blind individuals is the high rate of upper body injuries, even when using the white-cane. We here addressed a rehabilitation- oriented challenge of providing a reliable tool for blind people to avoid waist-up obstacles, namely one of the impediments to their successful mobility using currently available methods (e.g., white-cane). We used the EyeCane, a device we developed which translates distances from several angles to haptic and auditory cues in an intuitive and unobtrusive manner, serving both as a primary and secondary mobility aid. We investigated the rehabilitation potential of such a device in facilitating visionless waist-up body protection. After ∼5 minutes of training with the EyeCane blind participants were able to successfully detect and avoid obstacles waist-high and up. This was significantly higher than their success when using the white-cane alone. As avoidance of obstacles required participants to perform an additional cognitive process after their detection, the avoidance rate was significantly lower than the detection rate. Our work has demonstrated that the EyeCane has the potential to extend the sensory world of blind individuals by expanding their currently accessible inputs, and has offered them a new practical rehabilitation tool.

Vision Based Obstacle Detection in Uav Imaging

NASA Astrophysics Data System (ADS)

Badrloo, S.; Varshosaz, M.

2017-08-01

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

Reliability Analysis of Time to Complete the Obstacle Course Portion of the Load Effects Assessment Program (LEAP)

DTIC Science & Technology

2016-10-25

TIME TO COMPLETE THE OBSTACLE COURSE PORTION OF THE LOAD EFFECTS ASSESSMENT PROGRAM (LEAP) by K. Blake Mitchell Jessica M. Batty Megan E...Approved OMB No. 0704-0188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for...2014 – June 2015 4. TITLE AND SUBTITLE RELIABILITY ANALYSIS OF TIME TO COMPLETE THE OBSTACLE COURSE PORTION OF THE LOAD EFFECTS ASSESSMENT PROGRAM

Monitoring the Wobbe Index of Natural Gas Using Fiber-Enhanced Raman Spectroscopy.

PubMed

Sandfort, Vincenz; Trabold, Barbara M; Abdolvand, Amir; Bolwien, Carsten; Russell, Philip St. J; Wöllenstein, Jürgen; Palzer, Stefan

2017-11-24

The fast and reliable analysis of the natural gas composition requires the simultaneous quantification of numerous gaseous components. To this end, fiber-enhanced Raman spectroscopy is a powerful tool to detect most components in a single measurement using a single laser source. However, practical issues such as detection limit, gas exchange time and background Raman signals from the fiber material still pose obstacles to utilizing the scheme in real-world settings. This paper compares the performance of two types of hollow-core photonic crystal fiber (PCF), namely photonic bandgap PCF and kagomé-style PCF, and assesses their potential for online determination of the Wobbe index. In contrast to bandgap PCF, kagomé-PCF allows for reliable detection of Raman-scattered photons even below 1200 cm -1 , which in turn enables fast and comprehensive assessment of the natural gas quality of arbitrary mixtures.

Monitoring the Wobbe Index of Natural Gas Using Fiber-Enhanced Raman Spectroscopy

PubMed Central

Sandfort, Vincenz; Trabold, Barbara M.; Abdolvand, Amir; Bolwien, Carsten; Russell, Philip St. J.; Wöllenstein, Jürgen

2017-01-01

The fast and reliable analysis of the natural gas composition requires the simultaneous quantification of numerous gaseous components. To this end, fiber-enhanced Raman spectroscopy is a powerful tool to detect most components in a single measurement using a single laser source. However, practical issues such as detection limit, gas exchange time and background Raman signals from the fiber material still pose obstacles to utilizing the scheme in real-world settings. This paper compares the performance of two types of hollow-core photonic crystal fiber (PCF), namely photonic bandgap PCF and kagomé-style PCF, and assesses their potential for online determination of the Wobbe index. In contrast to bandgap PCF, kagomé-PCF allows for reliable detection of Raman-scattered photons even below 1200 cm−1, which in turn enables fast and comprehensive assessment of the natural gas quality of arbitrary mixtures. PMID:29186768

Waist-up protection for blind individuals using the EyeCane as a primary and secondary mobility aid

PubMed Central

Buchs, Galit; Simon, Noa; Maidenbaum, Shachar; Amedi, Amir

2017-01-01

Background: One of the most stirring statistics in relation to the mobility of blind individuals is the high rate of upper body injuries, even when using the white-cane. Objective: We here addressed a rehabilitation- oriented challenge of providing a reliable tool for blind people to avoid waist-up obstacles, namely one of the impediments to their successful mobility using currently available methods (e.g., white-cane). Methods: We used the EyeCane, a device we developed which translates distances from several angles to haptic and auditory cues in an intuitive and unobtrusive manner, serving both as a primary and secondary mobility aid. We investigated the rehabilitation potential of such a device in facilitating visionless waist-up body protection. Results: After ∼5 minutes of training with the EyeCane blind participants were able to successfully detect and avoid obstacles waist-high and up. This was significantly higher than their success when using the white-cane alone. As avoidance of obstacles required participants to perform an additional cognitive process after their detection, the avoidance rate was significantly lower than the detection rate. Conclusion: Our work has demonstrated that the EyeCane has the potential to extend the sensory world of blind individuals by expanding their currently accessible inputs, and has offered them a new practical rehabilitation tool. PMID:28157111

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.

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

NASA Technical Reports Server (NTRS)

Matthies, Larry; Grandjean, Pierrick

1993-01-01

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

Inertial navigation sensor integrated obstacle detection system

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

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.

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

NASA Astrophysics Data System (ADS)

Jia, Bao-zhi; Zhu, Ming

2013-12-01

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

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

PubMed Central

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

2017-01-01

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

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

DOT National Transportation Integrated Search

2007-07-01

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

Team VaCAS Design and Development of Cooperative UGV System

DTIC Science & Technology

2011-02-04

Mapping ( SLAM ) [24]. Similar to such work, the technique to be used in the project will also (1) use the last reliably available data as the reference...Losada1, D., Matia1, F., Pedraza1, L., Jimenez A. and Galan, R., Consistency of SLAM -EKF Algorithms for Indoor Environments, Journal of Intelligent and...mounted on the UGV 1 include GPS for outdoor navigation, LiDAR for obstacle avoidance and mapping and camera for OOI detection and localization. UGVs 2

Detecting Negative Obstacles by Use of Radar

NASA Technical Reports Server (NTRS)

Mittskus, Anthony; Lux, James

2006-01-01

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

Passive detection of subpixel obstacles for flight safety

NASA Astrophysics Data System (ADS)

Nixon, Matthew D.; Loveland, Rohan C.

2001-12-01

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

Comparison of PCR methods for the detection of genetic variants of carp edema virus.

PubMed

Adamek, Mikolaj; Matras, Marek; Jung-Schroers, Verena; Teitge, Felix; Heling, Max; Bergmann, Sven M; Reichert, Michal; Way, Keith; Stone, David M; Steinhagen, Dieter

2017-09-20

The infection of common carp and its ornamental variety, koi, with the carp edema virus (CEV) is often associated with the occurrence of a clinical disease called 'koi sleepy disease'. The disease may lead to high mortality in both koi and common carp populations. To prevent further spread of the infection and the disease, a reliable detection method for this virus is required. However, the high genetic variability of the CEV p4a gene used for PCR-based diagnostics could be a serious obstacle for successful and reliable detection of virus infection in field samples. By analysing 39 field samples from different geographical origins obtained from koi and farmed carp and from all 3 genogroups of CEV, using several recently available PCR protocols, we investigated which of the protocols would allow the detection of CEV from all known genogroups present in samples from Central European carp or koi populations. The comparison of 5 different PCR protocols showed that the PCR assays (both end-point and quantitative) developed in the Centre for Environment, Fisheries and Aquaculture Science exhibited the highest analytical inclusivity and diagnostic sensitivity. Currently, this makes them the most suitable protocols for detecting viruses from all known CEV genogroups.

Vehicle tracking for an evasive manoeuvres assistant using low-cost ultrasonic sensors.

PubMed

Jiménez, Felipe; Naranjo, José E; Gómez, Oscar; Anaya, José J

2014-11-28

Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range.

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

PubMed

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

2012-12-17

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

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

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

PubMed Central

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

2012-01-01

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

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

NASA Astrophysics Data System (ADS)

Zheng, Li; Yi, Ruan

2009-11-01

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

Obstacle Avoidance On Roadways Using Range Data

NASA Astrophysics Data System (ADS)

Dunlay, R. Terry; Morgenthaler, David G.

1987-02-01

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

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

PubMed

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

2008-10-30

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

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.

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

PubMed

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

2014-07-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

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

PubMed

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

2016-11-11

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

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

PubMed Central

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

2016-01-01

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

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.

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

PubMed

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

2016-03-01

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

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

NASA Astrophysics Data System (ADS)

Alaouiamine, Mohammed

1991-08-01

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

Procedures for the interpretation and use of elevation scanning laser/multi-sensor data for short range hazard detection and avoidance for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Troiani, N.; Yerazunis, S. W.

1978-01-01

An autonomous roving science vehicle that relies on terrain data acquired by a hierarchy of sensors for navigation was one method of carrying out such a mission. The hierarchy of sensors included a short range sensor with sufficient resolution to detect every possible obstacle and with the ability to make fast and reliable terrain characterizations. A multilaser, multidetector triangulation system was proposed as a short range sensor. The general system was studied to determine its perception capabilities and limitations. A specific rover and low resolution sensor system was then considered. After studying the data obtained, a hazard detection algorithm was developed that accounts for all possible terrains given the sensor resolution. Computer simulation of the rover on various terrains was used to test the entire hazard detection system.

Computer vision techniques for rotorcraft low-altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Cheng, Victor H. L.

1988-01-01

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

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.

Proteomic Approaches in Biomarker Discovery: New Perspectives in Cancer Diagnostics

PubMed Central

Kocevar, Nina; Komel, Radovan

2014-01-01

Despite remarkable progress in proteomic methods, including improved detection limits and sensitivity, these methods have not yet been established in routine clinical practice. The main limitations, which prevent their integration into clinics, are high cost of equipment, the need for highly trained personnel, and last, but not least, the establishment of reliable and accurate protein biomarkers or panels of protein biomarkers for detection of neoplasms. Furthermore, the complexity and heterogeneity of most solid tumours present obstacles in the discovery of specific protein signatures, which could be used for early detection of cancers, for prediction of disease outcome, and for determining the response to specific therapies. However, cancer proteome, as the end-point of pathological processes that underlie cancer development and progression, could represent an important source for the discovery of new biomarkers and molecular targets for tailored therapies. PMID:24550697

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

PubMed Central

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

2016-01-01

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

Vehicle Tracking for an Evasive Manoeuvres Assistant Using Low-Cost Ultrasonic Sensors

PubMed Central

Jiménez, Felipe; Naranjo, José E.; Gómez, Oscar; Anaya, José J.

2014-01-01

Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range. PMID:25460817

FieldSAFE: Dataset for Obstacle Detection in Agriculture.

PubMed

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

2017-11-09

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

FieldSAFE: Dataset for Obstacle Detection in Agriculture

PubMed Central

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

2017-01-01

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

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

PubMed Central

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

2011-01-01

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

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

PubMed

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

2011-01-01

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

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

NASA Astrophysics Data System (ADS)

Budzan, Sebastian; Kasprzyk, Jerzy

2016-02-01

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

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.

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

PubMed Central

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

2015-01-01

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

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

PubMed

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

2014-03-01

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

Computer vision techniques for rotorcraft low altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar

1990-01-01

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

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

NASA Technical Reports Server (NTRS)

Reed, M. A.

1974-01-01

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

A Strategy to Establish a Quality Assurance/Quality Control Plan for the Application of Biosensors for the Detection of E. coli in Water.

PubMed

Hesari, Nikou; Kıratlı Yılmazçoban, Nursel; Elzein, Mohamad; Alum, Absar; Abbaszadegan, Morteza

2017-01-03

Rapid bacterial detection using biosensors is a novel approach for microbiological testing applications. Validation of such methods is an obstacle in the adoption of new bio-sensing technologies for water testing. Therefore, establishing a quality assurance and quality control (QA/QC) plan is essential to demonstrate accuracy and reliability of the biosensor method for the detection of E. coli in drinking water samples. In this study, different reagents and assay conditions including temperatures, holding time, E. coli strains and concentrations, dissolving agents, salinity and pH effects, quality of substrates of various suppliers of 4-methylumbelliferyl glucuronide (MUG), and environmental water samples were included in the QA/QC plan and used in the assay optimization and documentation. Furthermore, the procedural QA/QC for the monitoring of drinking water samples was established to validate the performance of the biosensor platform for the detection of E. coli using a culture-based standard technique. Implementing the developed QA/QC plan, the same level of precision and accuracy was achieved using both the standard and the biosensor methods. The established procedural QA/QC for the biosensor will provide a reliable tool for a near real-time monitoring of E. coli in drinking water samples to both industry and regulatory authorities.

A Strategy to Establish a Quality Assurance/Quality Control Plan for the Application of Biosensors for the Detection of E. coli in Water

PubMed Central

Hesari, Nikou; Kıratlı Yılmazçoban, Nursel; Elzein, Mohamad; Alum, Absar; Abbaszadegan, Morteza

2017-01-01

Rapid bacterial detection using biosensors is a novel approach for microbiological testing applications. Validation of such methods is an obstacle in the adoption of new bio-sensing technologies for water testing. Therefore, establishing a quality assurance and quality control (QA/QC) plan is essential to demonstrate accuracy and reliability of the biosensor method for the detection of E. coli in drinking water samples. In this study, different reagents and assay conditions including temperatures, holding time, E. coli strains and concentrations, dissolving agents, salinity and pH effects, quality of substrates of various suppliers of 4-methylumbelliferyl glucuronide (MUG), and environmental water samples were included in the QA/QC plan and used in the assay optimization and documentation. Furthermore, the procedural QA/QC for the monitoring of drinking water samples was established to validate the performance of the biosensor platform for the detection of E. coli using a culture-based standard technique. Implementing the developed QA/QC plan, the same level of precision and accuracy was achieved using both the standard and the biosensor methods. The established procedural QA/QC for the biosensor will provide a reliable tool for a near real-time monitoring of E. coli in drinking water samples to both industry and regulatory authorities. PMID:28054956

INS integrated motion analysis for autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Roberts, Barry; Bazakos, Mike

1991-01-01

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Smart walking stick for blind people: an application of 3D printer

NASA Astrophysics Data System (ADS)

Ikbal, Md. Allama; Rahman, Faidur; Ali, Md. Ripon; Kabir, M. Hasnat; Furukawa, Hidemitsu

2017-04-01

A prototype of the smart walking stick has been designed and characterized for the people who are visually impaired. In this study, it was considered that the proposed system will alert visuallyimpaired people over the obstacles which are in front of blind people as well as the obstacles of the street such as a manhole, when the blind people are walking in the street. The proposed system was designed in two stages, i.e. hardware and software which makes the system as a complete prototype. Three ultrasonic sonar sensors were used to detect in front obstacle and street surface obstacle such as manhole. Basically the sensor transmits an electromagnetic wave which travels toward the obstacle and back to the sensor receiver. The distance between the sensor and the obstacle is calculated from the received signal. The calculated distance value is compared with the pre-defined value and determines whether the obstacle is present or not. The 3D CAD software was used to design the sensor holder. An Up-Mini 3D printer was used to print the sensor holders which were mounted on the walking stick. Therefore, the sensors were fixed in the right position. Another sensor was used for the detecting the water on the walking street. The performance for detecting the obstacles and water indicate the merit of smart walking stick.

Using Thermal Radiation in Detection of Negative Obstacles

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.

2009-01-01

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

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.

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...

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

PubMed

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

2013-09-01

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

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

NASA Astrophysics Data System (ADS)

Halterman, Ryan; Bruch, Michael

2010-04-01

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

Automatic Quadcopter Control Avoiding Obstacle Using Camera with Integrated Ultrasonic Sensor

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

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

NASA Technical Reports Server (NTRS)

Smith, Phillip N.

1990-01-01

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

Vision-based obstacle recognition system for automated lawn mower robot development

NASA Astrophysics Data System (ADS)

Mohd Zin, Zalhan; Ibrahim, Ratnawati

2011-06-01

Digital image processing techniques (DIP) have been widely used in various types of application recently. Classification and recognition of a specific object using vision system require some challenging tasks in the field of image processing and artificial intelligence. The ability and efficiency of vision system to capture and process the images is very important for any intelligent system such as autonomous robot. This paper gives attention to the development of a vision system that could contribute to the development of an automated vision based lawn mower robot. The works involve on the implementation of DIP techniques to detect and recognize three different types of obstacles that usually exist on a football field. The focus was given on the study on different types and sizes of obstacles, the development of vision based obstacle recognition system and the evaluation of the system's performance. Image processing techniques such as image filtering, segmentation, enhancement and edge detection have been applied in the system. The results have shown that the developed system is able to detect and recognize various types of obstacles on a football field with recognition rate of more 80%.

Terrain mapping and control of unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Kang, Yeonsik

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

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

PubMed

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

2016-07-01

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

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

PubMed

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

2018-02-02

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

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.

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

PubMed Central

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

2014-01-01

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

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

PubMed Central

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

2018-01-01

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

Detecting Traversable Area and Water Hazards for the Visually Impaired with a pRGB-D Sensor

PubMed Central

Yang, Kailun; Wang, Kaiwei; Cheng, Ruiqi; Hu, Weijian; Huang, Xiao; Bai, Jian

2017-01-01

The use of RGB-Depth (RGB-D) sensors for assisting visually impaired people (VIP) has been widely reported as they offer portability, function-diversity and cost-effectiveness. However, polarization cues to assist traversability awareness without precautions against stepping into water areas are weak. In this paper, a polarized RGB-Depth (pRGB-D) framework is proposed to detect traversable area and water hazards simultaneously with polarization-color-depth-attitude information to enhance safety during navigation. The approach has been tested on a pRGB-D dataset, which is built for tuning parameters and evaluating the performance. Moreover, the approach has been integrated into a wearable prototype which generates a stereo sound feedback to guide visually impaired people (VIP) follow the prioritized direction to avoid obstacles and water hazards. Furthermore, a preliminary study with ten blindfolded participants suggests its effectivity and reliability. PMID:28817069

Integrated Collision Avoidance System for Air Vehicle

NASA Technical Reports Server (NTRS)

Lin, Ching-Fang (Inventor)

2013-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Obstacle detection and avoiding of quadcopter

NASA Astrophysics Data System (ADS)

Wang, Dizhong; Lin, Jiajian

2017-10-01

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

Object classification for obstacle avoidance

NASA Astrophysics Data System (ADS)

Regensburger, Uwe; Graefe, Volker

1991-03-01

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

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

NASA Technical Reports Server (NTRS)

Lockerby, C. E.

1979-01-01

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

Research on robot mobile obstacle avoidance control based on visual information

NASA Astrophysics Data System (ADS)

Jin, Jiang

2018-03-01

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

Search Strategies of Visually Impaired Persons using a Camera Phone Wayfinding System

PubMed Central

Manduchi, R.; Coughlan, J.; Ivanchenko, V.

2016-01-01

We report new experiments conducted using a camera phone wayfinding system, which is designed to guide a visually impaired user to machine-readable signs (such as barcodes) labeled with special color markers. These experiments specifically investigate search strategies of such users detecting, localizing and touching color markers that have been mounted in various ways in different environments: in a corridor (either flush with the wall or mounted perpendicular to it) or in a large room with obstacles between the user and the markers. The results show that visually impaired users are able to reliably find color markers in all the conditions that we tested, using search strategies that vary depending on the environment in which they are placed. PMID:26949755

Search Strategies of Visually Impaired Persons using a Camera Phone Wayfinding System.

PubMed

Manduchi, R; Coughlan, J; Ivanchenko, V

2008-07-01

We report new experiments conducted using a camera phone wayfinding system, which is designed to guide a visually impaired user to machine-readable signs (such as barcodes) labeled with special color markers. These experiments specifically investigate search strategies of such users detecting, localizing and touching color markers that have been mounted in various ways in different environments: in a corridor (either flush with the wall or mounted perpendicular to it) or in a large room with obstacles between the user and the markers. The results show that visually impaired users are able to reliably find color markers in all the conditions that we tested, using search strategies that vary depending on the environment in which they are placed.

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

PubMed

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

2016-01-01

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

The Deformation of Polydimethylsiloxane (PDMS) Microfluidic Channels Filled with Embedded Circular Obstacles under Certain Circumstances.

PubMed

Roh, Changhyun; Lee, Jaewoong; Kang, Chankyu

2016-06-18

Experimental investigations were conducted to determine the influence of polydimethylsiloxane (PDMS) microfluidic channels containing aligned circular obstacles (with diameters of 172 µm and 132 µm) on the flow velocity and pressure drop under steady-state flow conditions. A significant PDMS bulging was observed when the fluid flow initially contacted the obstacles, but this phenomenon decreased in the 1 mm length of the microfluidic channels when the flow reached a steady-state. This implies that a microfluidic device operating with steady-state flows does not provide fully reliable information, even though less PDMS bulging is observed compared to quasi steady-state flow. Numerical analysis of PDMS bulging using ANSYS Workbench showed a relatively good agreement with the measured data. To verify the influence of PDMS bulging on the pressure drop and flow velocity, theoretical analyses were performed and the results were compared with the experimental results. The measured flow velocity and pressure drop data relatively matched well with the classical prediction under certain circumstances. However, discrepancies were generated and became worse as the microfluidic devices were operated under the following conditions: (1) restricted geometry of the microfluidic channels (i.e., shallow channel height, large diameter of obstacles and a short microchannel length); (2) operation in quasi-steady state flow; (3) increasing flow rates; and (4) decreasing amount of curing agent in the PDMS mixture. Therefore, in order to obtain reliable data a microfluidic device must be operated under appropriate conditions.

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

Introducing a new definition of a near fall: intra-rater and inter-rater reliability.

PubMed

Maidan, I; Freedman, T; Tzemah, R; Giladi, N; Mirelman, A; Hausdorff, J M

2014-01-01

Near falls (NFs) are more frequent than falls, and may occur before falls, potentially predicting fall risk. As such, identification of a NF is important. We aimed to assess intra and inter-rater reliability of the traditional definition of a NF and to demonstrate the potential utility of a new definition. To this end, 10 older adults, 10 idiopathic elderly fallers, and 10 patients with Parkinson's disease (PD) walked in an obstacle course while wearing a safety harness. All walks were videotaped. Forty-nine video segments were extracted to create 2 clips each of 8.48 min. Four raters scored each event using the traditional definition and, two weeks later, using the new definition. A fifth rater used only the new definition. Intra-rater reliability was determined using Kappa (K) statistics and inter-rater reliability was determined using ICC. Using the traditional definition, three raters had poor intra-rater reliability (K<0.054, p>0.137) and one rater had moderate intra-rater reliability (K=0.624, p<0.001). With the traditional definition, inter-rater reliability between the four raters was moderate (ICC=0.667, p<0.001). In contrast, the new NF definition showed high intra-rater (K>0.601, p<0.001) and excellent inter-rater reliability (ICC=0.815, p<0.001). A priori, it is easy to distinguish falls from usual walking and NFs, but it is more challenging to distinguish NFs from obstacle negotiation and usual walking. Therefore, a more precise definition of NF is required. The results of the present study suggest that the proposed new definition increases intra and inter-rater reliability, a critical step for using NFs to quantify fall risk. Copyright © 2013 Elsevier B.V. All rights reserved.

Integrating obstacle avoidance, global path planning, visual cue detection, and landmark triangulation in a mobile robot

NASA Astrophysics Data System (ADS)

Kortenkamp, David; Huber, Marcus J.; Congdon, Clare B.; Huffman, Scott B.; Bidlack, Clint R.; Cohen, Charles J.; Koss, Frank V.; Raschke, Ulrich; Weymouth, Terry E.

1993-05-01

This paper describes the design and implementation of an integrated system for combining obstacle avoidance, path planning, landmark detection and position triangulation. Such an integrated system allows the robot to move from place to place in an environment, avoiding obstacles and planning its way out of traps, while maintaining its position and orientation using distinctive landmarks. The task the robot performs is to search a 22 m X 22 m arena for 10 distinctive objects, visiting each object in turn. This same task was recently performed by a dozen different robots at a competition in which the robot described in this paper finished first.

Reliable in their failure: an analysis of healthcare reform policies in public systems.

PubMed

Contandriopoulos, Damien; Brousselle, Astrid

2010-05-01

In this paper, we analyze recommendations of past governmental commissions and their implementation in Quebec as a case to discuss the obstacles that litter the road to healthcare system reform. Our analysis shows that the obstacles to tackling the healthcare system's main problems may have less to do with programmatic (what to do) than with political and governance (how to do it) questions. We then draw on neo-institutional theory to discuss the causes and effects of this situation. Copyright (c) 2009 Elsevier Ireland Ltd. All rights reserved.

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

NASA Astrophysics Data System (ADS)

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

2007-04-01

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

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

Detection of motion artifact patterns in photoplethysmographic signals based on time and period domain analysis.

PubMed

Couceiro, R; Carvalho, P; Paiva, R P; Henriques, J; Muehlsteff, J

2014-12-01

The presence of motion artifacts in photoplethysmographic (PPG) signals is one of the major obstacles in the extraction of reliable cardiovascular parameters in continuous monitoring applications. In the current paper we present an algorithm for motion artifact detection based on the analysis of the variations in the time and the period domain characteristics of the PPG signal. The extracted features are ranked using a normalized mutual information feature selection algorithm and the best features are used in a support vector machine classification model to distinguish between clean and corrupted sections of the PPG signal. The proposed method has been tested in healthy and cardiovascular diseased volunteers, considering 11 different motion artifact sources. The results achieved by the current algorithm (sensitivity--SE: 84.3%, specificity--SP: 91.5% and accuracy--ACC: 88.5%) show that the current methodology is able to identify both corrupted and clean PPG sections with high accuracy in both healthy (ACC: 87.5%) and cardiovascular diseases (ACC: 89.5%) context.

Intelligence algorithms for autonomous navigation in a ground vehicle

NASA Astrophysics Data System (ADS)

Petkovsek, Steve; Shakya, Rahul; Shin, Young Ho; Gautam, Prasanna; Norton, Adam; Ahlgren, David J.

2012-01-01

This paper will discuss the approach to autonomous navigation used by "Q," an unmanned ground vehicle designed by the Trinity College Robot Study Team to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2011 competition, Q's intelligence was upgraded in several different areas, resulting in a more robust decision-making process and a more reliable system. In 2010-2011, the software of Q was modified to operate in a modular parallel manner, with all subtasks (including motor control, data acquisition from sensors, image processing, and intelligence) running simultaneously in separate software processes using the National Instruments (NI) LabVIEW programming language. This eliminated processor bottlenecks and increased flexibility in the software architecture. Though overall throughput was increased, the long runtime of the image processing process (150 ms) reduced the precision of Q's realtime decisions. Q had slow reaction times to obstacles detected only by its cameras, such as white lines, and was limited to slow speeds on the course. To address this issue, the image processing software was simplified and also pipelined to increase the image processing throughput and minimize the robot's reaction times. The vision software was also modified to detect differences in the texture of the ground, so that specific surfaces (such as ramps and sand pits) could be identified. While previous iterations of Q failed to detect white lines that were not on a grassy surface, this new software allowed Q to dynamically alter its image processing state so that appropriate thresholds could be applied to detect white lines in changing conditions. In order to maintain an acceptable target heading, a path history algorithm was used to deal with local obstacle fields and GPS waypoints were added to provide a global target heading. These modifications resulted in Q placing 5th in the autonomous challenge and 4th in the navigation challenge at IGVC.

Obstacle Detection in Indoor Environment for Visually Impaired Using Mobile Camera

NASA Astrophysics Data System (ADS)

Rahman, Samiur; Ullah, Sana; Ullah, Sehat

2018-01-01

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

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.

Space Mechanisms Technology Workshop Proceedings

NASA Technical Reports Server (NTRS)

Fusaro, Robert L. (Editor)

1999-01-01

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

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.

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

NASA Technical Reports Server (NTRS)

Suorsa, Raymond; Sridhar, Banavar

1991-01-01

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

Aviation obstacle auto-extraction using remote sensing information

NASA Astrophysics Data System (ADS)

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

2008-10-01

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

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.

Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

PubMed Central

Moccia, Antonio

2014-01-01

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

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

PubMed

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

2014-04-01

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

Detection of Obstacles in Monocular Image Sequences

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia

1997-01-01

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

Development of the Return-to-Work Obstacles and Self-Efficacy Scale (ROSES) and Validation with Workers Suffering from a Common Mental Disorder or Musculoskeletal Disorder.

PubMed

Corbière, Marc; Negrini, Alessia; Durand, Marie-José; St-Arnaud, Louise; Briand, Catherine; Fassier, Jean-Baptiste; Loisel, Patrick; Lachance, Jean-Philippe

2017-09-01

Introduction Common mental disorders (CMDs) and musculoskeletal disorders (MSDs) lead the list of causes for work absence in several countries. Current research is starting to look at workers on sick leave as a single population, regardless of the nature of the disease or accident. The purpose of this study is to report the validation of the Return to Work Obstacles and Self-Efficacy Scale (ROSES) for people with MSDs and CMDs, based on the disability paradigm. Methods From a prospective design, the ROSES' reliability and validity were investigated in a Canadian sample of workers on sick leave due to MSDs (n = 206) and CMDs (n = 157). Results Exploratory and confirmatory factor analyses revealed that 46 items spread out on 10 conceptual dimensions (e.g., Fears of a relapse, Job demands, Difficult relation with the immediate supervisor), with satisfactory alpha coefficients and test-retest reliability for all subscales. Finally, several dimensions of ROSES also predict the participant's RTW within 6 months for MSDs (e.g., job demands), and CMDs (e.g., difficult relation with the immediate supervisor), even when adjusted by several variables (e.g., age, severity of symptoms). Apart from the job demands dimension, when the ROSES dimension is more external to the individual, only the perception of obstacles remains significant to predict RTW whereas it is the opposite result when the dimension is more internal (e.g., fears of a relapse). Conclusion The ROSES demonstrated satisfactory results regarding its validity and reliability with people having MSDs or CMDs, at the time of the return-to-work process.

Research on detection method of UAV obstruction based on binocular vision

NASA Astrophysics Data System (ADS)

Zhu, Xiongwei; Lei, Xusheng; Sui, Zhehao

2018-04-01

For the autonomous obstacle positioning and ranging in the process of UAV (unmanned aerial vehicle) flight, a system based on binocular vision is constructed. A three-stage image preprocessing method is proposed to solve the problem of the noise and brightness difference in the actual captured image. The distance of the nearest obstacle is calculated by using the disparity map that generated by binocular vision. Then the contour of the obstacle is extracted by post-processing of the disparity map, and a color-based adaptive parameter adjustment algorithm is designed to extract contours of obstacle automatically. Finally, the safety distance measurement and obstacle positioning during the UAV flight process are achieved. Based on a series of tests, the error of distance measurement can keep within 2.24% of the measuring range from 5 m to 20 m.

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

NASA Technical Reports Server (NTRS)

Kuriger, W. L. (Inventor)

1973-01-01

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

Hierarchical Shared Control of Cane-Type Walking-Aid Robot

PubMed Central

Tao, Chunjing

2017-01-01

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

Mission Specification and Control for Unmanned Aerial and Ground Vehicles for Indoor Target Discovery and Tracking

DTIC Science & Technology

2010-01-01

open garage leading to the building interior. The UAV is positioned north of a potential ingress to the building. As the mission begins, the UAV...camera, the difficulty in detecting and navigating around obstacles using this non- stereo camera necessitated a precomputed map of all obstacles and

Studies on the interaction of water with three granular biopesticide formulations

USDA-ARS?s Scientific Manuscript database

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

Obstacle penetrating dynamic radar imaging system

DOEpatents

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

2006-12-12

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

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.

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 parallel implementation of a multisensor feature-based range-estimation method

NASA Technical Reports Server (NTRS)

Suorsa, Raymond E.; Sridhar, Banavar

1993-01-01

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.

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.

Ultrasonic Array for Obstacle Detection Based on CDMA with Kasami Codes

PubMed Central

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

2011-01-01

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

New vision system and navigation algorithm for an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

2013-12-01

Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

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

PubMed Central

Mou, Xiaozheng; Wang, Han

2018-01-01

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

The "EyeCane", a new electronic travel aid for the blind: Technology, behavior & swift learning.

PubMed

Maidenbaum, Shachar; Hanassy, Shlomi; Abboud, Sami; Buchs, Galit; Chebat, Daniel-Robert; Levy-Tzedek, Shelly; Amedi, Amir

2014-01-01

Independent mobility is one of the most pressing problems facing people who are blind. We present the EyeCane, a new mobility aid aimed at increasing perception of environment beyond what is provided by the traditional White Cane for tasks such as distance estimation, navigation and obstacle detection. The "EyeCane" enhances the traditional White Cane by using tactile and auditory output to increase detectable distance and angles. It circumvents the technical pitfalls of other devices, such as weight, short battery life, complex interface schemes, and slow learning curve. It implements multiple beams to enables detection of obstacles at different heights, and narrow beams to provide active sensing that can potentially increase the user's spatial perception of the environment. Participants were tasked with using the EyeCane for several basic tasks with minimal training. Blind and blindfolded-sighted participants were able to use the EyeCane successfully for distance estimation, simple navigation and simple obstacle detection after only several minutes of training. These results demonstrate the EyeCane's potential for mobility rehabilitation. The short training time is especially important since available mobility training resources are limited, not always available, and can be quite expensive and/or entail long waiting periods.

Revealing stable processing products from ribosome-associated small RNAs by deep-sequencing data analysis.

PubMed

Zywicki, Marek; Bakowska-Zywicka, Kamilla; Polacek, Norbert

2012-05-01

The exploration of the non-protein-coding RNA (ncRNA) transcriptome is currently focused on profiling of microRNA expression and detection of novel ncRNA transcription units. However, recent studies suggest that RNA processing can be a multi-layer process leading to the generation of ncRNAs of diverse functions from a single primary transcript. Up to date no methodology has been presented to distinguish stable functional RNA species from rapidly degraded side products of nucleases. Thus the correct assessment of widespread RNA processing events is one of the major obstacles in transcriptome research. Here, we present a novel automated computational pipeline, named APART, providing a complete workflow for the reliable detection of RNA processing products from next-generation-sequencing data. The major features include efficient handling of non-unique reads, detection of novel stable ncRNA transcripts and processing products and annotation of known transcripts based on multiple sources of information. To disclose the potential of APART, we have analyzed a cDNA library derived from small ribosome-associated RNAs in Saccharomyces cerevisiae. By employing the APART pipeline, we were able to detect and confirm by independent experimental methods multiple novel stable RNA molecules differentially processed from well known ncRNAs, like rRNAs, tRNAs or snoRNAs, in a stress-dependent manner.

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

NASA Astrophysics Data System (ADS)

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

2015-10-01

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

Methodologies for Crawler Based Web Surveys.

ERIC Educational Resources Information Center

Thelwall, Mike

2002-01-01

Describes Web survey methodologies used to study the content of the Web, and discusses search engines and the concept of crawling the Web. Highlights include Web page selection methodologies; obstacles to reliable automatic indexing of Web sites; publicly indexable pages; crawling parameters; and tests for file duplication. (Contains 62…

Development of the Modified Four Square Step Test and its reliability and validity in people with stroke.

PubMed

Roos, Margaret A; Reisman, Darcy S; Hicks, Gregory; Rose, William; Rudolph, Katherine S

2016-01-01

Adults with stroke have difficulty avoiding obstacles when walking, especially when a time constraint is imposed. The Four Square Step Test (FSST) evaluates dynamic balance by requiring individuals to step over canes in multiple directions while being timed, but many people with stroke are unable to complete it. The purposes of this study were to (1) modify the FSST by replacing the canes with tape so that more persons with stroke could successfully complete the test and (2) examine the reliability and validity of the modified version. Fifty-five subjects completed the Modified FSST (mFSST) by stepping over tape in all four directions while being timed. The mFSST resulted in significantly greater numbers of subjects completing the test than the FSST (39/55 [71%] and 33/55 [60%], respectively) (p < 0.04). The test-retest, intrarater, and interrater reliability of the mFSST were excellent (intraclass correlation coefficient ranges: 0.81-0.99). Construct and concurrent validity of the mFSST were also established. The minimal detectable change was 6.73 s. The mFSST, an ideal measure of dynamic balance, can identify progress in people with stroke in varied settings and can be completed by a wide range of people with stroke in approximately 5 min with the use of minimal equipment (tape, stop watch).

Identifying and Tracking Pedestrians Based on Sensor Fusion and Motion Stability Predictions

PubMed Central

Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Mª; de la Escalera, Arturo

2010-01-01

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle. PMID:22163639

Identifying and tracking pedestrians based on sensor fusion and motion stability predictions.

PubMed

Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Maria; de la Escalera, Arturo

2010-01-01

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.

High reliability outdoor sonar prototype based on efficient signal coding.

PubMed

Alvarez, Fernando J; Ureña, Jesús; Mazo, Manuel; Hernández, Alvaro; García, Juan J; de Marziani, Carlos

2006-10-01

Many mobile robots and autonomous vehicles designed for outdoor operation have incorporated ultrasonic sensors in their navigation systems, whose function is mainly to avoid possible collisions with very close obstacles. The use of these systems in more precise tasks requires signal encoding and the incorporation of pulse compression techniques that have already been used with success in the design of high-performance indoor sonars. However, the transmission of ultrasonic encoded signals outdoors entails a new challenge because of the effects of atmospheric turbulence. This phenomenon causes random fluctuations in the phase and amplitude of traveling acoustic waves, a fact that can make the encoded signal completely unrecognizable by its matched receiver. Atmospheric turbulence is investigated in this work, with the aim of determining the conditions under which it is possible to assure the reliable outdoor operation of an ultrasonic pulse compression system. As a result of this analysis, a novel sonar prototype based on complementary sequences coding is developed and experimentally tested. This encoding scheme provides the system with very useful additional features, namely, high robustness to noise, multi-mode operation capability (simultaneous emissions with minimum cross talk interference), and the possibility of applying an efficient detection algorithm that notably decreases the hardware resource requirements.

Mapping the categories of the Swedish primary health care version of ICD-10 to SNOMED CT concepts: Rule development and intercoder reliability in a mapping trial

PubMed Central

Vikström, Anna; Skånér, Ylva; Strender, Lars-Erik; Nilsson, Gunnar H

2007-01-01

Background Terminologies and classifications are used for different purposes and have different structures and content. Linking or mapping terminologies and classifications has been pointed out as a possible way to achieve various aims as well as to attain additional advantages in describing and documenting health care data. The objectives of this study were: • to explore and develop rules to be used in a mapping process • to evaluate intercoder reliability and the assessed degree of concordance when the 'Swedish primary health care version of the International Classification of Diseases version 10' (ICD-10) is matched to the Systematized Nomenclature of Medicine, Clinical Terms (SNOMED CT) • to describe characteristics in the coding systems that are related to obstacles to high quality mapping. Methods Mapping (interpretation, matching, assessment and rule development) was done by two coders. The Swedish primary health care version of ICD-10 with 972 codes was randomly divided into an allotment of three sets of categories, used in three mapping sequences, A, B and C. Mapping was done independently by the coders and new rules were developed between the sequences. Intercoder reliability was measured by comparing the results after each set. The extent of matching was assessed as either 'partly' or 'completely concordant' Results General principles for mapping were outlined before the first sequence, A. New mapping rules had significant impact on the results between sequences A - B (p < 0.01) and A - C (p < 0.001). The intercoder reliability in our study reached 83%. Obstacles to high quality mapping were mainly a lack of agreement by the coders due to structural and content factors in SNOMED CT and in the current ICD-10 version. The predominant reasons for this were difficulties in interpreting the meaning of the categories in the current ICD-10 version, and the presence of many related concepts in SNOMED CT. Conclusion Mapping from ICD-10-categories to SNOMED CT needs clear and extensive rules. It is possible to reach high intercoder reliability in mapping from ICD-10-categories to SNOMED CT. However, several obstacles to high quality mapping remain due to structure and content characteristics in both coding systems. PMID:17472757

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

PubMed

Taheri, Safoura; Ehsanpour, Soheila; Kohan, Shahnaz

2014-03-01

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

Collision avoidance using neural networks

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Self-activated ultrahigh chemosensitivity of oxide thin film nanostructures for transparent sensors

PubMed Central

Moon, Hi Gyu; Shim, Young-Soek; Kim, Do Hong; Jeong, Hu Young; Jeong, Myoungho; Jung, Joo Young; Han, Seung Min; Kim, Jong Kyu; Kim, Jin-Sang; Park, Hyung-Ho; Lee, Jong-Heun; Tuller, Harry L.; Yoon, Seok-Jin; Jang, Ho Won

2012-01-01

One of the top design priorities for semiconductor chemical sensors is developing simple, low-cost, sensitive and reliable sensors to be built in handheld devices. However, the need to implement heating elements in sensor devices, and the resulting high power consumption, remains a major obstacle for the realization of miniaturized and integrated chemoresistive thin film sensors based on metal oxides. Here we demonstrate structurally simple but extremely efficient all oxide chemoresistive sensors with ~90% transmittance at visible wavelengths. Highly effective self-activation in anisotropically self-assembled nanocolumnar tungsten oxide thin films on glass substrate with indium-tin oxide electrodes enables ultrahigh response to nitrogen dioxide and volatile organic compounds with detection limits down to parts per trillion levels and power consumption less than 0.2 microwatts. Beyond the sensing performance, high transparency at visible wavelengths creates opportunities for their use in transparent electronic circuitry and optoelectronic devices with avenues for further functional convergence. PMID:22905319

Data registration for automated non-destructive inspection with multiple data sets

NASA Astrophysics Data System (ADS)

Tippetts, T.; Brierley, N.; Cawley, P.

2013-01-01

In many NDE applications, multiple sources of data are available covering the same region of a part under inspection. These overlapping data can come from intersecting scan patterns, sensors in an array configuration, or repeated inspections at different times. In many cases these data sets are analysed independently, with separate assessments for each channel or data file. It should be possible to improve the overall reliability of the inspection by combining multiple sources of information, simultaneously increasing the Probability of Detection (POD) and decreasing the Probability of False Alarm (PFA). Data registration, i.e. mapping the data to matching coordinates in space, is both an essential prerequisite and a challenging obstacle to this type of data fusion. This paper describes optimization techniques for matching and aligning features in NDE data. Examples from automated ultrasound inspection of aircraft engine discs illustrate the approach.

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

PubMed

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

2016-06-01

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

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

NASA Astrophysics Data System (ADS)

Barati, F.; Delavar, M. R.

2015-12-01

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

Structure and Possible Functions of Constant-Frequency Calls in Ariopsis seemanni (Osteichthyes, Ariidae)

PubMed Central

Schmidtke, Daniel; Schulz, Jochen; Hartung, Jörg; Esser, Karl-Heinz

2013-01-01

In the 1970s, Tavolga conducted a series of experiments in which he found behavioral evidence that the vocalizations of the catfish species Ariopsis felis may play a role in a coarse form of echolocation. Based on his findings, he postulated a similar function for the calls of closely related catfish species. Here, we describe the physical characteristics of the predominant call-type of Ariopsis seemanni. In two behavioral experiments, we further explore whether A. seemanni uses these calls for acoustic obstacle detection by testing the hypothesis that the call-emission rate of individual fish should increase when subjects are confronted with novel objects, as it is known from other vertebrate species that use pulse-type signals to actively probe the environment. Audio-video monitoring of the fish under different obstacle conditions did not reveal a systematic increase in the number of emitted calls in the presence of novel objects or in dependence on the proximity between individual fish and different objects. These negative findings in combination with our current understanding of directional hearing in fishes (which is a prerequisite for acoustic obstacle detection) make it highly unlikely that A. seemanni uses its calls for acoustic obstacle detection. We argue that the calls are more likely to play a role in intra- or interspecific communication (e.g. in school formation or predator deterrence) and present results from a preliminary Y-maze experiment that are indicative for a positive phonotaxis of A. seemanni towards the calls of conspecifics. PMID:23741408

Application research of rail transit safety protection based on laser detection

NASA Astrophysics Data System (ADS)

Wang, Zhifei

2016-10-01

Platform screen door can not only prevent the passengers fell or jumped the track danger, to passengers bring comfortable waiting environment, but also has the function of environmental protection and energy saving. But platform screen door and train the full-length gap region is insecure in the system design of a hidden, such as passengers for some reason (grab the train) in the interstitial region retention, is sandwiched between the intercity safety door and the door, and such as the region lacks security detection and alarm system, once the passengers in the gap region retention (caught), bring more serious threat to the safety of passengers and traffic safety. This paper from the point of view of the design presents the physical, infrared, laser three safety protection device setting schemes. Domestic intelligence of between rail transit shield door and train security clearance processing used is screen door system standard configuration, the obstacle detection function for avoid passengers stranded in the clearance has strong prevention function. Laser detection research and development projects can access to prevent shield door and train gap clamp safety measures. Rail safety protection method are studied applying laser detection technique. According to the laser reflection equation of foreign body, the characteristics of laser detection of foreign bodies are given in theory. By using statistical analysis method, the workflow of laser detection system is established. On this basis, protection methods is proposed. Finally the simulation and test results show that the laser detection technology in the rail traffic safety protection reliability and stability, And the future laser detection technology in is discussed the development of rail transit.

Development of Three-Tier Heat, Temperature and Internal Energy Diagnostic Test

ERIC Educational Resources Information Center

Gurcay, Deniz; Gulbas, Etna

2015-01-01

Background: Misconceptions are major obstacles to learning physics, and the concepts of heat and temperature are some of the common misconceptions that are encountered in daily life. Therefore, it is important to develop valid and reliable tools to determine students' misconceptions about basic thermodynamics concepts. Three-tier tests are…

Obstacle Detection Algorithms for Rotorcraft Navigation

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Autonomous navigation system and method

DOEpatents

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

2009-09-08

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

Foliage discrimination using a rotating ladar

NASA Technical Reports Server (NTRS)

Castano, A.; Matthies, L.

2003-01-01

We present a real time algorithm that detects foliage using range from a rotating laser. Objects not classified as foliage are conservatively labeled as non-driving obstacles. In contrast to related work that uses range statistics to classify objects, we exploit the expected localities and continuities of an obstacle, in both space and time. Also, instead of attempting to find a single accurate discriminating factor for every ladar return, we hypothesize the class of some few returns and then spread the confidence (and classification) to other returns using the locality constraints. The Urbie robot is presently using this algorithm to descriminate drivable grass from obstacles during outdoor autonomous navigation tasks.

Micro air vehicle autonomous obstacle avoidance from stereo-vision

NASA Astrophysics Data System (ADS)

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

2014-06-01

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

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

PubMed

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

2016-03-01

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

Obstacle detection by recognizing binary expansion patterns

NASA Technical Reports Server (NTRS)

Baram, Yoram; Barniv, Yair

1993-01-01

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

Railway obstacle detection algorithm using neural network

NASA Astrophysics Data System (ADS)

Yu, Mingyang; Yang, Peng; Wei, Sen

2018-05-01

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

Walking-adaptability assessments with the Interactive Walkway: Between-systems agreement and sensitivity to task and subject variations.

PubMed

Geerse, Daphne J; Coolen, Bert H; Roerdink, Melvyn

2017-05-01

The ability to adapt walking to environmental circumstances is an important aspect of walking, yet difficult to assess. The Interactive Walkway was developed to assess walking adaptability by augmenting a multi-Kinect-v2 10-m walkway with gait-dependent visual context (stepping targets, obstacles) using real-time processed markerless full-body kinematics. In this study we determined Interactive Walkway's usability for walking-adaptability assessments in terms of between-systems agreement and sensitivity to task and subject variations. Under varying task constraints, 21 healthy subjects performed obstacle-avoidance, sudden-stops-and-starts and goal-directed-stepping tasks. Various continuous walking-adaptability outcome measures were concurrently determined with the Interactive Walkway and a gold-standard motion-registration system: available response time, obstacle-avoidance and sudden-stop margins, step length, stepping accuracy and walking speed. The same holds for dichotomous classifications of success and failure for obstacle-avoidance and sudden-stops tasks and performed short-stride versus long-stride obstacle-avoidance strategies. Continuous walking-adaptability outcome measures generally agreed well between systems (high intraclass correlation coefficients for absolute agreement, low biases and narrow limits of agreement) and were highly sensitive to task and subject variations. Success and failure ratings varied with available response times and obstacle types and agreed between systems for 85-96% of the trials while obstacle-avoidance strategies were always classified correctly. We conclude that Interactive Walkway walking-adaptability outcome measures are reliable and sensitive to task and subject variations, even in high-functioning subjects. We therefore deem Interactive Walkway walking-adaptability assessments usable for obtaining an objective and more task-specific examination of one's ability to walk, which may be feasible for both high-functioning and fragile populations since walking adaptability can be assessed at various levels of difficulty. Copyright © 2017 Elsevier B.V. All rights reserved.

A wearable multipoint ultrasonic travel aids for visually impaired

NASA Astrophysics Data System (ADS)

Ercoli, Ilaria; Marchionni, Paolo; Scalise, Lorenzo

2013-09-01

In 2010, the World Health Organization estimates that there were about 285 million people in the world with disabling eyesight loss (246 millions are visually impaired (VI) and 39 millions are totally blind). For such users, hits during mobility tasks are the reason of major concerns and can reduce the quality of their life. The white cane is the primary device used by the majority of blind or VI users to explore and possibly avoid obstacles; it can monitor only the ground (< 1m) and it does not provide protection for the legs, the trunk and the head. In this paper, authors propose a novel stand-alone Electronic Travel Aid (ETA) device for obstacle detection based on multi- sensing (by 4 ultrasonic transducers) and a microcontroller. Portability, simplicity, reduced dimensions and cost are among the major pros of the reported system, which can detect and localize (angular position and distance from the user) obstacles eventually present in the volume in front of him and on the ground in front of him.

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

NASA Astrophysics Data System (ADS)

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

2016-06-01

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

Evaluation of a radar-based proximity warning system for off-highway dump trucks.

PubMed

Ruff, Todd

2006-01-01

A radar-based proximity warning system was evaluated by researchers at the Spokane Research Laboratory of the National Institute for Occupational Safety and Health to determine if the system would be effective in detecting objects in the blind spots of an off-highway dump truck. An average of five fatalities occur each year in surface mines as a result of an equipment operator not being aware of a smaller vehicle, person or change in terrain near the equipment. Sensor technology that can detect such obstacles and that also is designed for surface mining applications is rare. Researchers worked closely with the radar system manufacturer to test and modify the system on large, off-highway dump trucks at a surface mine over a period of 2 years. The final system was thoroughly evaluated by recording video images from a camera on the rear of the truck and by recording all alarms from the rear-mounted radar. Data show that the system reliably detected small vehicles, berms, people and other equipment. However, alarms from objects that posed no immediate danger were common, supporting the assertion that sensor-based systems for proximity warning should be used in combination with other devices, such as cameras, that would allow the operator to check the source of any alarm.

Expanding the Detection of Traversable Area with RealSense for the Visually Impaired

PubMed Central

Yang, Kailun; Wang, Kaiwei; Hu, Weijian; Bai, Jian

2016-01-01

The introduction of RGB-Depth (RGB-D) sensors into the visually impaired people (VIP)-assisting area has stirred great interest of many researchers. However, the detection range of RGB-D sensors is limited by narrow depth field angle and sparse depth map in the distance, which hampers broader and longer traversability awareness. This paper proposes an effective approach to expand the detection of traversable area based on a RGB-D sensor, the Intel RealSense R200, which is compatible with both indoor and outdoor environments. The depth image of RealSense is enhanced with IR image large-scale matching and RGB image-guided filtering. Traversable area is obtained with RANdom SAmple Consensus (RANSAC) segmentation and surface normal vector estimation, preliminarily. A seeded growing region algorithm, combining the depth image and RGB image, enlarges the preliminary traversable area greatly. This is critical not only for avoiding close obstacles, but also for allowing superior path planning on navigation. The proposed approach has been tested on a score of indoor and outdoor scenarios. Moreover, the approach has been integrated into an assistance system, which consists of a wearable prototype and an audio interface. Furthermore, the presented approach has been proved to be useful and reliable by a field test with eight visually impaired volunteers. PMID:27879634

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

NASA Astrophysics Data System (ADS)

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

2016-04-01

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

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.

Navigation integrity monitoring and obstacle detection for enhanced-vision systems

NASA Astrophysics Data System (ADS)

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

2001-08-01

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

Detrital carbon pools in temperate forests: magnitude and potential for landscape-scale assessment

Treesearch

John B. Bradford; Peter Weishampel; Marie-Louise Smith; Randall Kolka; Richard A. Birdsey; Scott V. Ollinger; Michael G. Ryan

2009-01-01

Reliably estimating carbon storage and cycling in detrital biomass is an obstacle to carbon accounting. We examined carbon pools and fluxes in three small temperate forest landscapes to assess the magnitude of carbon stored in detrital biomass and determine whether detrital carbon storage is related to stand structural properties (leaf area, aboveground biomass,...

Methods for studying sensitive family topics.

PubMed

Gelles, Richard J

1978-07-01

Researchers on sensitive topics in family relations face a number of obstacles, due to the private nature of the family and to ethical constraints on the study of humans. Difficulties in locating subjects, engaging their cooperation, and obtaining valid and reliable data are discussed, and methods are proposed for pursuing research on these important but frequently taboo topics.

Business of reliability

NASA Astrophysics Data System (ADS)

Engel, Pierre

1999-12-01

The presentation is organized around three themes: (1) The decrease of reception equipment costs allows non-Remote Sensing organization to access a technology until recently reserved to scientific elite. What this means is the rise of 'operational' executive agencies considering space-based technology and operations as a viable input to their daily tasks. This is possible thanks to totally dedicated ground receiving entities focusing on one application for themselves, rather than serving a vast community of users. (2) The multiplication of earth observation platforms will form the base for reliable technical and financial solutions. One obstacle to the growth of the earth observation industry is the variety of policies (commercial versus non-commercial) ruling the distribution of the data and value-added products. In particular, the high volume of data sales required for the return on investment does conflict with traditional low-volume data use for most applications. Constant access to data sources supposes monitoring needs as well as technical proficiency. (3) Large volume use of data coupled with low- cost equipment costs is only possible when the technology has proven reliable, in terms of application results, financial risks and data supply. Each of these factors is reviewed. The expectation is that international cooperation between agencies and private ventures will pave the way for future business models. As an illustration, the presentation proposes to use some recent non-traditional monitoring applications, that may lead to significant use of earth observation data, value added products and services: flood monitoring, ship detection, marine oil pollution deterrent systems and rice acreage monitoring.

Research on the inspection robot for cable tunnel

NASA Astrophysics Data System (ADS)

Xin, Shihao

2017-03-01

Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

Obstacles to reduction in infantile developmental dysplasia of the hip.

PubMed

Studer, K; Williams, N; Studer, P; Baker, M; Glynn, A; Foster, B K; Cundy, P J

2017-10-01

Identification of anatomical structures that block -reduction in developmental dysplasia of the hip (DDH) is -important for the management of this challenging condition. Obstacles to reduction seen on arthrogram are well-known. However, despite the increasing use of MRI in the assessment of adequacy of reduction in DDH, the interpretation of MRI patho-anatomy is ill-defined with a lack of relevant literature to guide clinicians. This is a retrospective analysis of the MRI of patients with DDH treated by closed reduction over a five-year period (between 2009 and 2014). Neuromuscular and genetic disorders were excluded. Each MRI was analysed by two orthopaedic surgeons and a paediatric musculoskeletal radiologist to identify the ligamentum teres, pulvinar, transverse acetabular ligament (TAL), capsule, labrum and acetabular roof cartilage hypertrophy. Inter- and intraobserver reliability was calculated. The minimum follow-up was 12 months. A total of 29 patients (38 hips) underwent closed reduction for treatment of DDH. Eight hips showed persistent subluxation on post-operative MRI. Only three of these eight hips showed an abnormality on arthrogram. The pulvinar was frequently interpreted as 'abnormal' on MRI. The main obstacles identified on MRI were the ligamentum teres (15.8%), labrum (13.1%) and acetabular roof cartilage hypertrophy (13.2%). The inter-rater reliability was good for TAL, capsule and pulvinar; moderate for ligamentum teres and labrum; and poor for hypertrophied cartilage. The labrum, ligamentum teres and acetabular roof cartilage hypertrophy are the most important structures seen on MRI preventing complete reduction of DDH. Focused interpretation of these structures may assist in the management of DDH.

Novel approaches to helicopter obstacle warning

NASA Astrophysics Data System (ADS)

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

2006-05-01

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

Fast Metabolite Identification in Nuclear Magnetic Resonance Metabolomic Studies: Statistical Peak Sorting and Peak Overlap Detection for More Reliable Database Queries.

PubMed

Hoijemberg, Pablo A; Pelczer, István

2018-01-05

A lot of time is spent by researchers in the identification of metabolites in NMR-based metabolomic studies. The usual metabolite identification starts employing public or commercial databases to match chemical shifts thought to belong to a given compound. Statistical total correlation spectroscopy (STOCSY), in use for more than a decade, speeds the process by finding statistical correlations among peaks, being able to create a better peak list as input for the database query. However, the (normally not automated) analysis becomes challenging due to the intrinsic issue of peak overlap, where correlations of more than one compound appear in the STOCSY trace. Here we present a fully automated methodology that analyzes all STOCSY traces at once (every peak is chosen as driver peak) and overcomes the peak overlap obstacle. Peak overlap detection by clustering analysis and sorting of traces (POD-CAST) first creates an overlap matrix from the STOCSY traces, then clusters the overlap traces based on their similarity and finally calculates a cumulative overlap index (COI) to account for both strong and intermediate correlations. This information is gathered in one plot to help the user identify the groups of peaks that would belong to a single molecule and perform a more reliable database query. The simultaneous examination of all traces reduces the time of analysis, compared to viewing STOCSY traces by pairs or small groups, and condenses the redundant information in the 2D STOCSY matrix into bands containing similar traces. The COI helps in the detection of overlapping peaks, which can be added to the peak list from another cross-correlated band. POD-CAST overcomes the generally overlooked and underestimated presence of overlapping peaks and it detects them to include them in the search of all compounds contributing to the peak overlap, enabling the user to accelerate the metabolite identification process with more successful database queries and searching all tentative compounds in the sample set.

The DSM-III personality disorders section: a commentary.

PubMed

Frances, A

1980-09-01

The author reviews the DSM-III section on personality disorders, discusses several of its more controversial diagnoses, and suggests some possible alternatives. He attributes the continued low reliability of personality diagnoses, compared with the other major sections of DSM-III, to two inherent obstacles: the lack of clear boundaries demarcating the personality disorders from normality and from one another, and the confounding influence of state and role factors. Nonetheless, the DSM-III multiaxial system highlights the importance of personality diagnosis and, together with the provision of clearly specified diagnostic criteria, achieves a considerably improved reliability compared with previous nomenclatures.

acdc – Automated Contamination Detection and Confidence estimation for single-cell genome data

DOE PAGES

Lux, Markus; Kruger, Jan; Rinke, Christian; ...

2016-12-20

A major obstacle in single-cell sequencing is sample contamination with foreign DNA. To guarantee clean genome assemblies and to prevent the introduction of contamination into public databases, considerable quality control efforts are put into post-sequencing analysis. Contamination screening generally relies on reference-based methods such as database alignment or marker gene search, which limits the set of detectable contaminants to organisms with closely related reference species. As genomic coverage in the tree of life is highly fragmented, there is an urgent need for a reference-free methodology for contaminant identification in sequence data. We present acdc, a tool specifically developed to aidmore » the quality control process of genomic sequence data. By combining supervised and unsupervised methods, it reliably detects both known and de novo contaminants. First, 16S rRNA gene prediction and the inclusion of ultrafast exact alignment techniques allow sequence classification using existing knowledge from databases. Second, reference-free inspection is enabled by the use of state-of-the-art machine learning techniques that include fast, non-linear dimensionality reduction of oligonucleotide signatures and subsequent clustering algorithms that automatically estimate the number of clusters. The latter also enables the removal of any contaminant, yielding a clean sample. Furthermore, given the data complexity and the ill-posedness of clustering, acdc employs bootstrapping techniques to provide statistically profound confidence values. Tested on a large number of samples from diverse sequencing projects, our software is able to quickly and accurately identify contamination. Results are displayed in an interactive user interface. Acdc can be run from the web as well as a dedicated command line application, which allows easy integration into large sequencing project analysis workflows. Acdc can reliably detect contamination in single-cell genome data. In addition to database-driven detection, it complements existing tools by its unsupervised techniques, which allow for the detection of de novo contaminants. Our contribution has the potential to drastically reduce the amount of resources put into these processes, particularly in the context of limited availability of reference species. As single-cell genome data continues to grow rapidly, acdc adds to the toolkit of crucial quality assurance tools.« less

acdc – Automated Contamination Detection and Confidence estimation for single-cell genome data

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

Lux, Markus; Kruger, Jan; Rinke, Christian

A major obstacle in single-cell sequencing is sample contamination with foreign DNA. To guarantee clean genome assemblies and to prevent the introduction of contamination into public databases, considerable quality control efforts are put into post-sequencing analysis. Contamination screening generally relies on reference-based methods such as database alignment or marker gene search, which limits the set of detectable contaminants to organisms with closely related reference species. As genomic coverage in the tree of life is highly fragmented, there is an urgent need for a reference-free methodology for contaminant identification in sequence data. We present acdc, a tool specifically developed to aidmore » the quality control process of genomic sequence data. By combining supervised and unsupervised methods, it reliably detects both known and de novo contaminants. First, 16S rRNA gene prediction and the inclusion of ultrafast exact alignment techniques allow sequence classification using existing knowledge from databases. Second, reference-free inspection is enabled by the use of state-of-the-art machine learning techniques that include fast, non-linear dimensionality reduction of oligonucleotide signatures and subsequent clustering algorithms that automatically estimate the number of clusters. The latter also enables the removal of any contaminant, yielding a clean sample. Furthermore, given the data complexity and the ill-posedness of clustering, acdc employs bootstrapping techniques to provide statistically profound confidence values. Tested on a large number of samples from diverse sequencing projects, our software is able to quickly and accurately identify contamination. Results are displayed in an interactive user interface. Acdc can be run from the web as well as a dedicated command line application, which allows easy integration into large sequencing project analysis workflows. Acdc can reliably detect contamination in single-cell genome data. In addition to database-driven detection, it complements existing tools by its unsupervised techniques, which allow for the detection of de novo contaminants. Our contribution has the potential to drastically reduce the amount of resources put into these processes, particularly in the context of limited availability of reference species. As single-cell genome data continues to grow rapidly, acdc adds to the toolkit of crucial quality assurance tools.« less

Vision based techniques for rotorcraft low altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Suorsa, Ray; Smith, Philip

1991-01-01

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

Miniaturized, multibeam, solid state scanning laser radar in automobile collision avoidance sensor systems

NASA Astrophysics Data System (ADS)

Sargent, Ronald A.

1995-06-01

Recent intelligent transportation systems (ITS) initiatives sponsored by commercial transportation companies and the U.S. Department of Transportation include an area dedicated to Automated Vehicle Control Systems (AVCS). AVCS systems are dedicated to improving passenger automobile safety, efficiency, and impact on the environment. Minimizing the number of automobile collisions through automated obstacle detection and vehicle response is vital to this effort. Simple, reliable, low cost sensors installed in automobiles to provide driver warning and/or input to vehicle systems such as braking or cruise control are the key piece to making this technology as common as air bags and seat belts. EPA emission regulations now require specific areas to periodically report the mix of vehicle types. These reports must include in the mix the 13 possible categories for vehicles. Simple low cost senors installed as part of the traffic management system will facilitate the determination of vehicle category. Laser Atlanta has recently developed two distinct types of sensors that utilize a unique multi- beam approach to detect `targets' that are potential hazards. They also provide range and range rate data to automobile control and traffic management systems.

Web pages: What can you see in a single fixation?

PubMed

Jahanian, Ali; Keshvari, Shaiyan; Rosenholtz, Ruth

2018-01-01

Research in human vision suggests that in a single fixation, humans can extract a significant amount of information from a natural scene, e.g. the semantic category, spatial layout, and object identities. This ability is useful, for example, for quickly determining location, navigating around obstacles, detecting threats, and guiding eye movements to gather more information. In this paper, we ask a new question: What can we see at a glance at a web page - an artificial yet complex "real world" stimulus? Is it possible to notice the type of website, or where the relevant elements are, with only a glimpse? We find that observers, fixating at the center of a web page shown for only 120 milliseconds, are well above chance at classifying the page into one of ten categories. Furthermore, this ability is supported in part by text that they can read at a glance. Users can also understand the spatial layout well enough to reliably localize the menu bar and to detect ads, even though the latter are often camouflaged among other graphical elements. We discuss the parallels between web page gist and scene gist, and the implications of our findings for both vision science and human-computer interaction.

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

PubMed Central

Scarfe, Amy C.; Moore, Brian C. J.; Pardhan, Shahina

2017-01-01

Performance for an obstacle circumvention task was assessed under conditions of visual, auditory only (using echolocation) and tactile (using a sensory substitution device, SSD) guidance. A Vicon motion capture system was used to measure human movement kinematics objectively. Ten normally sighted participants, 8 blind non-echolocators, and 1 blind expert echolocator navigated around a 0.6 x 2 m obstacle that was varied in position across trials, at the midline of the participant or 25 cm to the right or left. Although visual guidance was the most effective, participants successfully circumvented the obstacle in the majority of trials under auditory or SSD guidance. Using audition, blind non-echolocators navigated more effectively than blindfolded sighted individuals with fewer collisions, lower movement times, fewer velocity corrections and greater obstacle detection ranges. The blind expert echolocator displayed performance similar to or better than that for the other groups using audition, but was comparable to that for the other groups using the SSD. The generally better performance of blind than of sighted participants is consistent with the perceptual enhancement hypothesis that individuals with severe visual deficits develop improved auditory abilities to compensate for visual loss, here shown by faster, more fluid, and more accurate navigation around obstacles using sound. PMID:28407000

Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm

NASA Astrophysics Data System (ADS)

Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

2017-04-01

The paper aims to present a design algorithm for multi quadrotor lanes in order to move towards the goal quickly and avoid obstacles in an area with obstacles. There are several problems in path planning including how to get to the goal position quickly and avoid static and dynamic obstacles. To overcome the problem, therefore, the paper presents fuzzy logic algorithm and fuzzy cell decomposition algorithm. Fuzzy logic algorithm is one of the artificial intelligence algorithms which can be applied to robot path planning that is able to detect static and dynamic obstacles. Cell decomposition algorithm is an algorithm of graph theory used to make a robot path map. By using the two algorithms the robot is able to get to the goal position and avoid obstacles but it takes a considerable time because they are able to find the shortest path. Therefore, this paper describes a modification of the algorithms by adding a potential field algorithm used to provide weight values on the map applied for each quadrotor by using decentralized controlled, so that the quadrotor is able to move to the goal position quickly by finding the shortest path. The simulations conducted have shown that multi-quadrotor can avoid various obstacles and find the shortest path by using the proposed algorithms.

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

PubMed

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

2017-01-01

Performance for an obstacle circumvention task was assessed under conditions of visual, auditory only (using echolocation) and tactile (using a sensory substitution device, SSD) guidance. A Vicon motion capture system was used to measure human movement kinematics objectively. Ten normally sighted participants, 8 blind non-echolocators, and 1 blind expert echolocator navigated around a 0.6 x 2 m obstacle that was varied in position across trials, at the midline of the participant or 25 cm to the right or left. Although visual guidance was the most effective, participants successfully circumvented the obstacle in the majority of trials under auditory or SSD guidance. Using audition, blind non-echolocators navigated more effectively than blindfolded sighted individuals with fewer collisions, lower movement times, fewer velocity corrections and greater obstacle detection ranges. The blind expert echolocator displayed performance similar to or better than that for the other groups using audition, but was comparable to that for the other groups using the SSD. The generally better performance of blind than of sighted participants is consistent with the perceptual enhancement hypothesis that individuals with severe visual deficits develop improved auditory abilities to compensate for visual loss, here shown by faster, more fluid, and more accurate navigation around obstacles using sound.

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

PubMed

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

2017-01-01

Skilled walking, such as obstacle crossing, is an essential component of functional mobility. Sensorimotor integration of visual and proprioceptive inputs is important for successful obstacle crossing. The objective of this study was to understand how proprioceptive deficits affect obstacle-crossing strategies when controlling for variations in motor deficits in ambulatory individuals with spinal cord injury (SCI). Fifteen ambulatory individuals with SCI and 15 able-bodied controls were asked to step over an obstacle scaled to their motor abilities under full and obstructed vision conditions. An eye tracker was used to determine gaze behaviour and motion capture analysis was used to determine toe kinematics relative to the obstacle. Combined, bilateral hip and knee proprioceptive sense (joint position sense and movement detection sense) was assessed using the Lokomat and customized software controls. Combined, bilateral hip and knee proprioceptive sense in subjects with SCI varied and was significantly different from able-bodied subjects. Subjects with greater proprioceptive deficits stepped higher over the obstacle with their lead and trail limbs in the obstructed vision condition compared with full vision. Subjects with SCI also glanced at the obstacle more frequently and with longer fixation times compared with controls, but this was not related to proprioceptive sense. This study indicates that ambulatory individuals with SCI rely more heavily on vision to cross obstacles and show impairments in key gait parameters required for successful obstacle crossing. Our data suggest that proprioceptive deficits need to be considered in rehabilitation programs aimed at improving functional mobility in ambulatory individuals with SCI. This work is unique since it examines the contribution of combined, bilateral hip and knee proprioceptive sense on the recovery of skilled walking function, in addition to characterizing gaze behavior during a skilled walking task in people with motor-incomplete spinal cord injury. Copyright © 2017 the American Physiological Society.

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

PubMed Central

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

2013-01-01

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

Psychometrics of an original measure of barriers to providing family planning information: Implications for social service providers.

PubMed

Bell, Melissa M; Newhill, Christina E

2017-07-01

Social service professionals can face challenges in the course of providing family planning information to their clients. This article reports findings from a study that developed an original 27-item measure, the Reproductive Counseling Obstacle Scale (RCOS) designed to measure such obstacles based conceptually on Bandura's social cognitive theory (1986). We examine the reliability and factor structure of the RCOS using a sample of licensed social workers (N = 197). A 20-item revised version of the RCOS was derived using principal component factor analysis. Results indicate that barriers to discussing family planning, as measured by the RCOS, appear to be best represented by a two-factor solution, reflecting self-efficacy/interest and perceived professional obligation/moral concerns. Implications for practice and future research are discussed.

A new primary mobility tool for the visually impaired: A white cane-adaptive mobility device hybrid.

PubMed

Rizzo, John-Ross; Conti, Kyle; Thomas, Teena; Hudson, Todd E; Wall Emerson, Robert; Kim, Dae Shik

2017-05-16

This article describes pilot testing of an adaptive mobility device-hybrid (AMD-H) combining properties of two primary mobility tools for people who are blind: the long cane and adaptive mobility devices (AMDs). The long cane is the primary mobility tool used by people who are blind and visually impaired for independent and safe mobility and AMDs are adaptive devices that are often lightweight frames approximately body width in lateral dimension that are simply pushed forward to clear the space in front of a person. The prototype cane built for this study had a wing apparatus that could be folded around the shaft of a cane but when unfolded, deployed two wheeled wings 25 cm (9.8 in) to each side of the canetip. This project explored drop-off and obstacle detection for 6 adults with visual impairment using the deployed AMD-H and a standard long cane. The AMD-H improved obstacle detection overall, and was most effective for the smallest obstacles (2 and 6 inch diameter). The AMD-H cut the average drop off threshold from 1.79 inches (4.55 cm) to .96 inches (2.44 cm). All participants showed a decrease in drop off detection threshold and an increase in detection rate (13.9% overall). For drop offs of 1 in (2.54 cm) and 3 in (7.62 cm), all participants showed large improvements with the AMD-H, ranging from 8.4 to 50%. The larger drop offs of 5 in (12.7 cm) and 7 in (17.8 cm) were well detected by both types of canes.

The application of Markov decision process in restaurant delivery robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Hu, Zhen; Wang, Ying

2017-05-01

As the restaurant delivery robot is often in a dynamic and complex environment, including the chairs inadvertently moved to the channel and customers coming and going. The traditional path planning algorithm is not very ideal. To solve this problem, this paper proposes the Markov dynamic state immediate reward (MDR) path planning algorithm according to the traditional Markov decision process. First of all, it uses MDR to plan a global path, then navigates along this path. When the sensor detects there is no obstructions in front state, increase its immediate state reward value; when the sensor detects there is an obstacle in front, plan a global path that can avoid obstacle with the current position as the new starting point and reduce its state immediate reward value. This continues until the target is reached. When the robot learns for a period of time, it can avoid those places where obstacles are often present when planning the path. By analyzing the simulation experiment, the algorithm has achieved good results in the global path planning under the dynamic environment.

Automated image-based phenotypic analysis in zebrafish embryos

PubMed Central

Vogt, Andreas; Cholewinski, Andrzej; Shen, Xiaoqiang; Nelson, Scott; Lazo, John S.; Tsang, Michael; Hukriede, Neil A.

2009-01-01

Presently, the zebrafish is the only vertebrate model compatible with contemporary paradigms of drug discovery. Zebrafish embryos are amenable to automation necessary for high-throughput chemical screens, and optical transparency makes them potentially suited for image-based screening. However, the lack of tools for automated analysis of complex images presents an obstacle to utilizing the zebrafish as a high-throughput screening model. We have developed an automated system for imaging and analyzing zebrafish embryos in multi-well plates regardless of embryo orientation and without user intervention. Images of fluorescent embryos were acquired on a high-content reader and analyzed using an artificial intelligence-based image analysis method termed Cognition Network Technology (CNT). CNT reliably detected transgenic fluorescent embryos (Tg(fli1:EGFP)y1) arrayed in 96-well plates and quantified intersegmental blood vessel development in embryos treated with small molecule inhibitors of anigiogenesis. The results demonstrate it is feasible to adapt image-based high-content screening methodology to measure complex whole organism phenotypes. PMID:19235725

Synthesis of isotopically modified ZnO nanoparticles and their potential as nanotoxicity tracers

USGS Publications Warehouse

Dybowska, A.D.; Croteau, M.-N.; Misra, S.K.; Berhanu, D.; Luoma, S.N.; Christian, P.; O'Brien, P.; Valsami-Jones, E.

2011-01-01

Understanding the behavior of engineered nanoparticles in the environment and within organisms is perhaps the biggest obstacle to the safe development of nanotechnologies. Reliable tracing is a particular issue for nanoparticles such as ZnO, because Zn is an essential element and a common pollutant thus present at elevated background concentrations. We synthesized isotopically enriched (89.6%) with a rare isotope of Zn (67Zn) ZnO nanoparticles and measured the uptake of 67Zn by L. stagnalis exposed to diatoms amended with the particles. Stable isotope technique is sufficiently sensitive to determine the uptake of Zn at an exposure equivalent to lower concentration range (<15 ??g g-1). Without a tracer, detection of newly accumulated Zn is significant at Zn exposure concentration only above 5000 ??g g-1 which represents some of the most contaminated Zn conditions. Only by using a tracer we can study Zn uptake at a range of environmentally realistic exposure conditions. ?? 2010 Elsevier Ltd. All rights reserved.

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

PubMed

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

2017-02-06

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

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

PubMed Central

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

2017-01-01

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

Obstacles to reduction in infantile developmental dysplasia of the hip

PubMed Central

Studer, K.; Williams, N.; Studer, P.; Baker, M.; Glynn, A.; Foster, B. K.; Cundy, P. J.

2017-01-01

Abstract Purpose Identification of anatomical structures that block ­reduction in developmental dysplasia of the hip (DDH) is ­important for the management of this challenging condition. Obstacles to reduction seen on arthrogram are well-known. However, despite the increasing use of MRI in the assessment of adequacy of reduction in DDH, the interpretation of MRI patho-anatomy is ill-defined with a lack of relevant literature to guide clinicians. Method This is a retrospective analysis of the MRI of patients with DDH treated by closed reduction over a five-year period (between 2009 and 2014). Neuromuscular and genetic disorders were excluded. Each MRI was analysed by two orthopaedic surgeons and a paediatric musculoskeletal radiologist to identify the ligamentum teres, pulvinar, transverse acetabular ligament (TAL), capsule, labrum and acetabular roof cartilage hypertrophy. Inter- and intraobserver reliability was calculated. The minimum follow-up was 12 months. Results A total of 29 patients (38 hips) underwent closed reduction for treatment of DDH. Eight hips showed persistent subluxation on post-operative MRI. Only three of these eight hips showed an abnormality on arthrogram. The pulvinar was frequently interpreted as ‘abnormal’ on MRI. The main obstacles identified on MRI were the ligamentum teres (15.8%), labrum (13.1%) and acetabular roof cartilage hypertrophy (13.2%). The inter-rater reliability was good for TAL, capsule and pulvinar; moderate for ligamentum teres and labrum; and poor for hypertrophied cartilage. Conclusion The labrum, ligamentum teres and acetabular roof cartilage hypertrophy are the most important structures seen on MRI preventing complete reduction of DDH. Focused interpretation of these structures may assist in the management of DDH. PMID:29081850

Identification of cardiac rhythm features by mathematical analysis of vector fields.

PubMed

Fitzgerald, Tamara N; Brooks, Dana H; Triedman, John K

2005-01-01

Automated techniques for locating cardiac arrhythmia features are limited, and cardiologists generally rely on isochronal maps to infer patterns in the cardiac activation sequence during an ablation procedure. Velocity vector mapping has been proposed as an alternative method to study cardiac activation in both clinical and research environments. In addition to the visual cues that vector maps can provide, vector fields can be analyzed using mathematical operators such as the divergence and curl. In the current study, conduction features were extracted from velocity vector fields computed from cardiac mapping data. The divergence was used to locate ectopic foci and wavefront collisions, and the curl to identify central obstacles in reentrant circuits. Both operators were applied to simulated rhythms created from a two-dimensional cellular automaton model, to measured data from an in situ experimental canine model, and to complex three-dimensional human cardiac mapping data sets. Analysis of simulated vector fields indicated that the divergence is useful in identifying ectopic foci, with a relatively small number of vectors and with errors of up to 30 degrees in the angle measurements. The curl was useful for identifying central obstacles in reentrant circuits, and the number of velocity vectors needed increased as the rhythm became more complex. The divergence was able to accurately identify canine in situ pacing sites, areas of breakthrough activation, and wavefront collisions. In data from human arrhythmias, the divergence reliably estimated origins of electrical activity and wavefront collisions, but the curl was less reliable at locating central obstacles in reentrant circuits, possibly due to the retrospective nature of data collection. The results indicate that the curl and divergence operators applied to velocity vector maps have the potential to add valuable information in cardiac mapping and can be used to supplement human pattern recognition.

3D-Sonification for Obstacle Avoidance in Brownout Conditions

NASA Technical Reports Server (NTRS)

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

2017-01-01

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

On autonomous terrain model acquistion by a mobile robot

NASA Technical Reports Server (NTRS)

Rao, N. S. V.; Iyengar, S. S.; Weisbin, C. R.

1987-01-01

The following problem is considered: A point robot is placed in a terrain populated by an unknown number of polyhedral obstacles of varied sizes and locations in two/three dimensions. The robot is equipped with a sensor capable of detecting all the obstacle vertices and edges that are visible from the present location of the robot. The robot is required to autonomously navigate and build the complete terrain model using the sensor information. It is established that the necessary number of scanning operations needed for complete terrain model acquisition by any algorithm that is based on scan from vertices strategy is given by the summation of i = 1 (sup n) N(O sub i)-n and summation of i = 1 (sup n) N(O sub i)-2n in two- and three-dimensional terrains respectively, where O = (O sub 1, O sub 2,....O sub n) set of the obstacles in the terrain, and N(O sub i) is the number of vertices of the obstacle O sub i.

Real-Time Occupancy Change Analyzer

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

2005-03-30

The Real-Time Occupancy Change Analyzer (ROCA) produces an occupancy grid map of an environment around the robot, scans the environment to generate a current obstacle map relative to a current robot position, and converts the current obstacle map to a current occupancy grid map. Changes in the occupancy grid can be reported in real time to support a number of tracking capabilities. The benefit of ROCA is that rather than only providing a vector to the detected change, it provides the actual x,y position of the change.

Sensorimotor Model of Obstacle Avoidance in Echolocating Bats

PubMed Central

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

2015-01-01

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

A six-legged rover for planetary exploration

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric; Bares, John

1991-01-01

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

QUANTITATIVE MEASUREMENT OF HELICOBACTER PYLORI BY THE TAQMAN FLUOROGENIC PROBE SYSTEM

EPA Science Inventory

Culturing of H. pylori from environmental sources continues to be an obstacle in detecting and enumerating this organism. Successful methods of isolation and growth from water samples have not yet been developed. In this study a method involving real tme PCR product detection wit...

Perceived Obstacles Faced by Diabetes Patients Attending University of Gondar Hospital, Northwest Ethiopia.

PubMed

Bhagavathula, Akshaya Srikanth; Gebreyohannes, Eyob Alemayehu; Abegaz, Tadesse Melaku; Abebe, Tamrat Befekadu

2018-01-01

Diabetes mellitus (DM) is a non-communicable, chronic, and progressive disease that can lead to serious complications and even to premature death. A closer understanding of the DM patients' specific obstacles will provide a greater clarity of the factors influencing their disease-related quality of life and coping with daily life. The study aimed to evaluate the obstacles of DM patients attending ambulatory clinic of the University of Gondar Hospital (UOGH), Northwest Ethiopia. A cross-sectional study was conducted from February to April 2017 at ambulatory clinic of the UOGH. A validated short version of the diabetic obstacle questionnaire was used. The internal reliability of the questionnaire was checked using Cronbach's alpha and was found to be 92.5%. To determine any association between each of the nine sections of the questionnaire and age, sex, residence, educational status, and DM type, a binary logistic regression was performed. The mean age of respondents was 38.69 ± 15.39 years. Compared with patients with type 1 DM, patients with type 2 DM reported poorer relationships with medical professionals (adjusted odds ratio (AOR): 2.191, p -value = 0.027) and less support from families and friends (AOR: 1.913, p -value = 0.049). Patients coming from rural areas (AOR: 2.947, p  = 0.002) and having no formal education (AOR: 2.078, p  = 0.029) also received less support from families and friends. DM patients in UOGH reported several obstacles related to patients' relationship with health professionals, lack of support from their friends, lack of knowledge about DM, and lack of motivation to exercise. Effective efforts should be initiated to improve healthier environment to educate, care and preventive services for people with DM.

Conceptual obstacles to making use of four smoking-cessation strategies: What reasons do light smokers give for rejecting strategies?

PubMed Central

Ryan, Michael P; Hinojosa, Jennifer J

2015-01-01

Some smokers have safety and cost concerns about nicotine replacement therapy which discourage its use. We recruited 56 young adult light smokers to read detailed descriptions of a hybrid nicotine replacement therapy, a prescription drug treatment, scheduled reduced smoking, and a menu of self-help tactics. Participants listed five reasons smokers might reject each strategy. An emergent-category content analysis classified each response with a high degree of inter-rater reliability. Only one-third of 32 concerns were strategy-specific; the majority focused on the general difficulty of quitting. Most prevalent were “continued cravings,” “addiction too strong,” “takes too long,” and “won’t work.” These and other concerns reflect conceptual obstacles to be surmounted in smoking-cessation interventions. PMID:28070381

Neurobiology of Schizophrenia: Search for the Elusive Correlation with Symptoms

PubMed Central

Mathalon, Daniel H.; Ford, Judith M.

2012-01-01

In the last half-century, human neuroscience methods provided a way to study schizophrenia in vivo, and established that it is associated with subtle abnormalities in brain structure and function. However, efforts to understand the neurobiological bases of the clinical symptoms that the diagnosis is based on have been largely unsuccessful. In this paper, we provide an overview of the conceptual and methodological obstacles that undermine efforts to link the severity of specific symptoms to specific neurobiological measures. These obstacles include small samples, questionable reliability and validity of measurements, medication confounds, failure to distinguish state and trait effects, correlation–causation ambiguity, and the absence of compelling animal models of specific symptoms to test mechanistic hypotheses derived from brain-symptom correlations. We conclude with recommendations to promote progress in establishing brain-symptom relationships. PMID:22654745

High-integrity databases for helicopter operations

NASA Astrophysics Data System (ADS)

Pschierer, Christian; Schiefele, Jens; Lüthy, Juerg

2009-05-01

Helicopter Emergency Medical Service missions (HEMS) impose a high workload on pilots due to short preparation time, operations in low level flight, and landings in unknown areas. The research project PILAS, a cooperation between Eurocopter, Diehl Avionics, DLR, EADS, Euro Telematik, ESG, Jeppesen, the Universities of Darmstadt and Munich, and funded by the German government, approached this problem by researching a pilot assistance system which supports the pilots during all phases of flight. The databases required for the specified helicopter missions include different types of topological and cultural data for graphical display on the SVS system, AMDB data for operations at airports and helipads, and navigation data for IFR segments. The most critical databases for the PILAS system however are highly accurate terrain and obstacle data. While RTCA DO-276 specifies high accuracies and integrities only for the areas around airports, HEMS helicopters typically operate outside of these controlled areas and thus require highly reliable terrain and obstacle data for their designated response areas. This data has been generated by a LIDAR scan of the specified test region. Obstacles have been extracted into a vector format. This paper includes a short overview of the complete PILAS system and then focus on the generation of the required high quality databases.

Detection and semi-quantification of Strongylus vulgaris DNA in equine faeces by real-time quantitative PCR.

PubMed

Nielsen, Martin K; Peterson, David S; Monrad, Jesper; Thamsborg, Stig M; Olsen, Susanne N; Kaplan, Ray M

2008-03-01

Strongylus vulgaris is an important strongyle nematode with high pathogenic potential infecting horses world-wide. Several decades of intensive anthelmintic use has virtually eliminated clinical disease caused by S. vulgaris, but has also caused high levels of anthelmintic resistance in equine small strongyle (cyathostomin) nematodes. Recommendations aimed at limiting the development of anthelmintic resistance by reducing treatment intensity raises a simultaneous demand for reliable and accurate diagnostic tools for detecting important parasitic pathogens. Presently, the only means available to differentiate among strongyle species in a faecal sample is by identifying individual L3 larvae following a two week coproculture procedure. The aim of the present study is to overcome this diagnostic obstacle by developing a fluorescence-based quantitative PCR assay capable of identifying S. vulgaris eggs in faecal samples from horses. Species-specific primers and a TaqMan probe were designed by alignment of published ribosomal DNA sequences of the second internal transcribed spacer of cyathostomin and Strongylus spp. nematodes. The assay was tested for specificity and optimized using genomic DNA extracted from identified male worms of Strongylus and cyathostomin species. In addition, eggs were collected from adult female worms and used to evaluate the quantitative potential of the assay. Statistically significant linear relationships were found between egg numbers and cycle of threshold (Ct) values. PCR results were unaffected by the presence of cyathostomin DNA in the sample and there was no indication of PCR inhibition by faecal sources. A field evaluation on faecal samples obtained from four Danish horse farms revealed a good agreement with the traditional larval culture (kappa-value=0.78), but with a significantly higher performance of the PCR assay. An association between Ct values and S. vulgaris larval counts was statistically significant. The present assay can reliably and semi-quantitatively detect minute quantities of S. vulgaris eggs in faecal samples.

Data acquisition and path selection decision making for an autonomous roving vehicle. [laser pointing control system for vehicle guidance

NASA Technical Reports Server (NTRS)

Shen, C. N.; YERAZUNIS

1979-01-01

The feasibility of using range/pointing angle data such as might be obtained by a laser rangefinder for the purpose of terrain evaluation in the 10-40 meter range on which to base the guidance of an autonomous rover was investigated. The decision procedure of the rapid estimation scheme for the detection of discrete obstacles has been modified to reinforce the detection ability. With the introduction of the logarithmic scanning scheme and obstacle identification scheme, previously developed algorithms are combined to demonstrate the overall performance of the intergrated route designation system using laser rangefinder. In an attempt to cover a greater range, 30 m to 100 mm, the problem estimating gradients in the presence of positioning angle noise at middle range is investigated.

Risk factors for child abuse: levels of knowledge and difficulties in family medicine. A mixed method study.

PubMed

Regnaut, Océane; Jeu-Steenhouwer, Marie; Manaouil, Cécile; Gignon, Maxime

2015-10-30

Family physicians (FPs) have a central role in the detection and management of child abuse. According to the literature, only 2-5% of initial reports of child abuse come from the medical profession. The objective of this study was to assess levels of knowledge of risk factors for child abuse by Family Physicians (FPs) and the attention that the physicians pay to these risk factors. We conducted a mixed-method survey based on semi-structured interviews. 50 FPs practicing in the Somme County (northern France) were interviewed with closed and open questions. The FPs' level of knowledge of risk factors for child abuse and obstacles in the detection of child abuse were assessed. The FPs' level of knowledge of risk factors for child abuse was similar to that reported in the literature. However, FPs knew little about the significant role of prematurity. Likewise, the FP's training did not seem to influence their knowledge of risk factors. Fear of an incorrect diagnosis was the main obstacle to reporting a suspected case. The FPs considered that they were often alone in dealing with a difficult situation and considered that the judicial system and the social services were not sufficiently active. Few FPs had actually received specific training in the detection and management of child abuse but many stated their need for this type of training. FPs encounter many obstacles in the detection of child abuse, which sometimes make the FP reluctant to report a suspected or potential case. Medical education need to be improved in this field.

How precise is the PRECICE compared to the ISKD in intramedullary limb lengthening?

PubMed Central

Vogt, Björn; Tretow, Henning L; Schuhknecht, Britta; Gosheger, Georg; Horter, Melanie J; Rödl, Robert

2014-01-01

Background and purpose The PRECICE intramedullary limb lengthening system uses a new technique with a magnetic rod and a motorized external remote controller (ERC) with rotational magnetic field. We evaluated the reliability and safety of the PRECICE system. Methods We compared our preliminary results with PRECICE in 24 patients (26 nails) with the known difficulties in the use of mechanical lengthening devices such as the ISKD. We used the Paley classification for evaluation of problems, obstacles, and complications. Results 2 nails were primarily without function, and 24/26 nails lengthened over the desired distance. Lengthening desired was 38 mm and lengthening obtained was 37 mm. There were 2 nail breakages, 1 in the welding seam and 1 because of a fall that occurred during consolidation. ERC usage was problematic mostly in patients with femoral lengthening. Adjustment of the ERC was necessary in 10 of 24 cases. 15 cases had implant-associated problems, obstacles were seen in 5 cases, and complications were seen in each of 4 cases. Interpretaion The reliability of the PRECICE system is comparable to that of other intramedullary lengthening devices such as the ISKD. The motorized external remote controller and its application by the patients is a weak point of the system and needs strict supervision. PMID:24758320

How does a collision warning system shape driver's brake response time? The influence of expectancy and automation complacency on real-life emergency braking.

PubMed

Ruscio, Daniele; Ciceri, Maria Rita; Biassoni, Federica

2015-04-01

Brake Reaction Time (BRT) is an important parameter for road safety. Previous research has shown that drivers' expectations can impact RT when facing hazardous situations, but driving with advanced driver assistance systems, can change the way BRT are considered. The interaction with a collision warning system can help faster more efficient responses, but at the same time can require a monitoring task and evaluation process that may lead to automation complacency. The aims of the present study are to test in a real-life setting whether automation compliancy can be generated by a collision warning system and what component of expectancy can impact the different tasks involved in an assisted BRT process. More specifically four component of expectancy were investigated: presence/absence of anticipatory information, previous direct experience, reliability of the device, and predictability of the hazard determined by repeated use of the warning system. Results supply indication on perception time and mental elaboration of the collision warning system alerts. In particular reliable warning quickened the decision making process, misleading warnings generated automation complacency slowing visual search for hazard detection, lack of directed experienced slowed the overall response while unexpected failure of the device lead to inattentional blindness and potential pseudo-accidents with surprise obstacle intrusion. Copyright © 2015 Elsevier Ltd. All rights reserved.

Multiple-camera/motion stereoscopy for range estimation in helicopter flight

NASA Technical Reports Server (NTRS)

Smith, Phillip N.; Sridhar, Banavar; Suorsa, Raymond E.

1993-01-01

Aiding the pilot to improve safety and reduce pilot workload by detecting obstacles and planning obstacle-free flight paths during low-altitude helicopter flight is desirable. Computer vision techniques provide an attractive method of obstacle detection and range estimation for objects within a large field of view ahead of the helicopter. Previous research has had considerable success by using an image sequence from a single moving camera to solving this problem. The major limitations of single camera approaches are that no range information can be obtained near the instantaneous direction of motion or in the absence of motion. These limitations can be overcome through the use of multiple cameras. This paper presents a hybrid motion/stereo algorithm which allows range refinement through recursive range estimation while avoiding loss of range information in the direction of travel. A feature-based approach is used to track objects between image frames. An extended Kalman filter combines knowledge of the camera motion and measurements of a feature's image location to recursively estimate the feature's range and to predict its location in future images. Performance of the algorithm will be illustrated using an image sequence, motion information, and independent range measurements from a low-altitude helicopter flight experiment.

Improved obstacle avoidance and navigation for an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

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

2015-01-01

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

Reliability and Validity of Dual-Task Mobility Assessments in People with Chronic Stroke

PubMed Central

Yang, Lei; He, Chengqi; Pang, Marco Yiu Chung

2016-01-01

Background The ability to perform a cognitive task while walking simultaneously (dual-tasking) is important in real life. However, the psychometric properties of dual-task walking tests have not been well established in stroke. Objective To assess the test-retest reliability, concurrent and known-groups validity of various dual-task walking tests in people with chronic stroke. Design Observational measurement study with a test-retest design. Methods Eighty-eight individuals with chronic stroke participated. The testing protocol involved four walking tasks (walking forward at self-selected and maximal speed, walking backward at self-selected speed, and crossing over obstacles) performed simultaneously with each of the three attention-demanding tasks (verbal fluency, serial 3 subtractions or carrying a cup of water). For each dual-task condition, the time taken to complete the walking task, the correct response rate (CRR) of the cognitive task, and the dual-task effect (DTE) for the walking time and CRR were calculated. Forty-six of the participants were tested twice within 3–4 days to establish test-retest reliability. Results The walking time in various dual-task assessments demonstrated good to excellent reliability [Intraclass correlation coefficient (ICC2,1) = 0.70–0.93; relative minimal detectable change at 95% confidence level (MDC95%) = 29%-45%]. The reliability of the CRR (ICC2,1 = 0.58–0.81) and the DTE in walking time (ICC2,1 = 0.11–0.80) was more varied. The reliability of the DTE in CRR (ICC2,1 = -0.31–0.40) was poor to fair. The walking time and CRR obtained in various dual-task walking tests were moderately to strongly correlated with those of the dual-task Timed-up-and-Go test, thus demonstrating good concurrent validity. None of the tests could discriminate fallers (those who had sustained at least one fall in the past year) from non-fallers. Limitation The results are generalizable to community-dwelling individuals with chronic stroke only. Conclusions The walking time derived from the various dual-task assessments generally demonstrated good to excellent reliability, making them potentially useful in clinical practice and future research endeavors. However, the usefulness of these measurements in predicting falls needs to be further explored. Relatively low reliability was shown in the cognitive outcomes and DTE, which may not be preferred measurements for assessing dual-task performance. PMID:26808662

Through Life Costing

NASA Astrophysics Data System (ADS)

Newnes, Linda; Mileham, A. R.; Cheung, W. M.; Goh, Y. M.

When an innovation is launched in such a market, reliable information about the life cost of the novel product is naturally lacking. This has proven to be a key obstacle to venture capital funded cleantech companies with innovations that are conceptually proven and that deliver significant improvements to conventional alternatives, but that lack enough reference installations to provide reliable data on life costs. One way out of this dilemma that is increasingly discussed among practitioners is servitization, i.e., the notion that the owner of the innovation should be an agency that is specialised in using and maintaining the product, letting the end customer become a buyer of the product's service (such as heat) rather than the product itself.

Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1991-01-01

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

Development of a Guide-Dog Robot: Leading and Recognizing a Visually-Handicapped Person using a LRF

NASA Astrophysics Data System (ADS)

Saegusa, Shozo; Yasuda, Yuya; Uratani, Yoshitaka; Tanaka, Eiichirou; Makino, Toshiaki; Chang, Jen-Yuan (James

A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.

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

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

NASA Astrophysics Data System (ADS)

Kang, Keeryun

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

Biosonar navigation above water II: exploiting mirror images.

PubMed

Genzel, Daria; Hoffmann, Susanne; Prosch, Selina; Firzlaff, Uwe; Wiegrebe, Lutz

2015-02-15

As in vision, acoustic signals can be reflected by a smooth surface creating an acoustic mirror image. Water bodies represent the only naturally occurring horizontal and acoustically smooth surfaces. Echolocating bats flying over smooth water bodies encounter echo-acoustic mirror images of objects above the surface. Here, we combined an electrophysiological approach with a behavioral experimental paradigm to investigate whether bats can exploit echo-acoustic mirror images for navigation and how these mirrorlike echo-acoustic cues are encoded in their auditory cortex. In an obstacle-avoidance task where the obstacles could only be detected via their echo-acoustic mirror images, most bats spontaneously exploited these cues for navigation. Sonar ensonifications along the bats' flight path revealed conspicuous changes of the reflection patterns with slightly increased target strengths at relatively long echo delays corresponding to the longer acoustic paths from the mirrored obstacles. Recordings of cortical spatiotemporal response maps (STRMs) describe the tuning of a unit across the dimensions of elevation and time. The majority of cortical single and multiunits showed a special spatiotemporal pattern of excitatory areas in their STRM indicating a preference for echoes with (relative to the setup dimensions) long delays and, interestingly, from low elevations. This neural preference could effectively encode a reflection pattern as it would be perceived by an echolocating bat detecting an object mirrored from below. The current study provides both behavioral and neurophysiological evidence that echo-acoustic mirror images can be exploited by bats for obstacle avoidance. This capability effectively supports echo-acoustic navigation in highly cluttered natural habitats. Copyright © 2015 the American Physiological Society.

Collision recognition and direction changes for small scale fish robots by acceleration sensors

NASA Astrophysics Data System (ADS)

Na, Seung Y.; Shin, Daejung; Kim, Jin Y.; Lee, Bae-Ho

2005-05-01

Typical obstacles are walls, rocks, water plants and other nearby robots for a group of small scale fish robots and submersibles that have been constructed in our lab. Sonar sensors are not employed to make the robot structure simple enough. All of circuits, sensors and processor cards are contained in a box of 9 x 7 x 4 cm dimension except motors, fins and external covers. Therefore, image processing results are applied to avoid collisions. However, it is useful only when the obstacles are located far enough to give images processing time for detecting them. Otherwise, acceleration sensors are used to detect collision immediately after it happens. Two of 2-axes acceleration sensors are employed to measure the three components of collision angles, collision magnitudes, and the angles of robot propulsion. These data are integrated to calculate the amount of propulsion direction change. The angle of a collision incident upon an obstacle is the fundamental value to obtain a direction change needed to design a following path. But there is a significant amount of noise due to a caudal fin motor. Because caudal fin provides the main propulsion for a fish robot, there is a periodic swinging noise at the head of a robot. This noise provides a random acceleration effect on the measured acceleration data at the collision. We propose an algorithm which shows that the MEMS-type accelerometers are very effective to provide information for direction changes in spite of the intrinsic noise after the small scale fish robots have made obstacle collision.

Differential Impedance Obstacle Detection Sensor (DIOD) - Phase 2

DOT National Transportation Integrated Search

2006-11-01

To minimize excavations and public inconvenience, utilities often use horizontal directional drilling (HDD) to create underground pathways for the installation of pipes, cables, and other utility lines. While HDD provides efficiency improvements over...

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

NASA Astrophysics Data System (ADS)

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

2011-06-01

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

Design and construction of smart cane using infrared laser-based tracking system

NASA Astrophysics Data System (ADS)

Wong, Chi Fung; Phitagragsakul, Narikorn; Jornsamer, Patcharaporn; Kaewmeesri, Pimsin; Jantakot, Pimsunan; Locharoenrat, Kitsakorn

2018-06-01

Our work is aimed to design and construct the smart cane. The infrared laser-based sensor was used as a distance detector and Arduino board was used as a microcontroller. On the other hand, Bluetooth was used as a wireless communicator and MP3 module together with the headset were used as a voice alert player. Our smart cane is a very effective device for the users under the indoor guidance. That is, the obstacle was detectable 3,000 cm away from the blind people. The white cane was assembled with the laser distance sensor and distance alert sensor served as the compact and light-weight device. Distance detection was very fast and precise when the smart cane was tested for the different obstacles, such as human, wall and wooden table under the indoor area.

Human Reliability Program Workshop

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

Landers, John; Rogers, Erin; Gerke, Gretchen

A Human Reliability Program (HRP) is designed to protect national security as well as worker and public safety by continuously evaluating the reliability of those who have access to sensitive materials, facilities, and programs. Some elements of a site HRP include systematic (1) supervisory reviews, (2) medical and psychological assessments, (3) management evaluations, (4) personnel security reviews, and (4) training of HRP staff and critical positions. Over the years of implementing an HRP, the Department of Energy (DOE) has faced various challenges and overcome obstacles. During this 4-day activity, participants will examine programs that mitigate threats to nuclear security andmore » the insider threat to include HRP, Nuclear Security Culture (NSC) Enhancement, and Employee Assistance Programs. The focus will be to develop an understanding of the need for a systematic HRP and to discuss challenges and best practices associated with mitigating the insider threat.« less

The MITy micro-rover: Sensing, control, and operation

NASA Technical Reports Server (NTRS)

Malafeew, Eric; Kaliardos, William

1994-01-01

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

Cooperative Environment Scans Based on a Multi-Robot System

PubMed Central

Kwon, Ji-Wook

2015-01-01

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

Excitation of Surface Electromagnetic Waves on Railroad Rail

DOT National Transportation Integrated Search

1978-03-31

UMTA's Office of Rail Technology research programs aim to improve urban rail transportation systems safety. This rail-transit research study attempts to develop an onboard, separate and independent obstacle-detection system--Surface Electromagnetic W...

Field testing of two electronic mobility aid devices for persons who are deaf-blind.

PubMed

Vincent, Claude; Routhier, François; Martel, Valérie; Mottard, Marie-Ève; Dumont, Frédéric; Côté, Lise; Cloutier, Danielle

2014-09-01

To test a methodology for assessing the effects of electronic mobility aid devices (EMAD) on the mobility of persons who are deaf-blind in real-life situations. A single-subject desing was done with four users followed in a program for persons who are deaf-blind. Participants were trained to use two commercial EMADs: the Miniguide and the Breeze. The Canadian Measure of Occupational Performance (CMOP) was administered before training (T1), after training (T2) and three months later (T3). The Quebec User Evaluation of Satisfaction with assistive Technology (QUEST) was administered at T2 and T3. A follow-up interview was conducted with the participants and clinicians at T3 to evaluate the benefits of the EMAD and any problems. CMOP suggests that both performance and satisfaction improved following the use of both EMADs in four occupations (functional mobility, active leisure, community life and socialization). QUEST indicates high satisfaction with eight items except for one participant. Follow-up interviews revealed a wide variety of perceptions regarding EMAD use and seven problems although CMOP and QUEST indicated good satisfaction. A high satisfaction score on QUEST does not necessarily imply that an assistive device is efficient in all circumstances; follow-up interviews provided important complementary information. For people who are deaf-blind The Miniguide is reliable for detecting obstacles (vibrations are sent as a warning when approaching an obstacle). It is often used to know if taking the right route. It identifies entrances or openings (indicated by the vibrations stopping when pointing at a wall), which can replace the echo-location for blind persons with hearing impairments. The Miniguide helped to locate overhanging objects which are not detectable with a long cane. The Breeze can record landmarks for orientation and it possible to use those landmarks to go back alone later after taking a certain route for the first time with someone else. It helps to familiarize the person with new places. It can tell you where you are at any time. It helps with orientation and the participant also liked this feature because it helped with learning street names. The Miniguide and the Breeze were not efficient in all circumstances; there were some problems with the ergonomic (both), detecting snow banks (Miniguide), sensitiveness to the surroundings in crowded places (Miniguide) and exactitude for geo-localization (Breeze).

Measures for simulator evaluation of a helicopter obstacle avoidance system

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

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

NASA Astrophysics Data System (ADS)

Crawford, Bobby Grant

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

Analytical Approach to Target Detection and Localization at High-Frequency Bands Using Multipath Propagation

DTIC Science & Technology

2016-04-25

unseen directly by the antennas (both transmitter TX and receiver RX), or out of the Light- Of-Sight ( LOS ) area, as being covered by the obstacles such as...or in other words, out of the Light-Of-Sight ( LOS ) area, as being covered by the obstacles such as walls or buildings. This analysis is verified...that, we put a 1.5m high metallic wall at the distance of 1.5m from the two antennas. It is obviously that the Light Of Sight ( LOS ) is at 2.25m far

Constrained navigation for unmanned systems

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Gosset, Philippe; Carpentier, Luc; Marion, Vincent; Morillon, Joel G.; Ropars, Patrice

2005-05-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "constrained navigation" study (named TEL2), which main goal is to identify and test a well-balanced task sharing between man and machine to accomplish a robotic task that cannot be performed autonomously at the moment because of technological limitations. The chosen function is "obstacle avoidance" on rough ground and quite high speed (40 km/h). State of the art algorithms have been implemented to perform autonomous obstacle avoidance and following of forest borders, using scanner laser sensor and standard localization functions. Such an "obstacle avoidance" function works well most of the time, BUT fails sometimes. The study analyzed how the remote operator can manage such failures so that the system remains fully operationally reliable; he can act according to two ways: a) finely adjust the vehicle current heading; b) take the control of the vehicle "on the fly" (without stopping) and bring it back to autonomous behavior when motion is secured again. The paper also presents the results got from the military acceptance tests performed on French 4x4 DARDS ATD.

Electron microscopy of Drosophila garland cell nephrocytes: Optimal preparation, immunostaining and STEM tomography.

PubMed

Hochapfel, Florian; Denk, Lucia; Maaßen, Christine; Zaytseva, Yulia; Rachel, Reinhard; Witzgall, Ralph; Krahn, Michael P

2018-01-29

Due to its structural and molecular similarities to mammalian podocytes, the Drosophila nephrocyte emerged as a model system to study podocyte development and associated diseases. Similar to podocytes, nephrocytes establish a slit diaphragm between foot process-like structures in order to filter the hemolymph. One major obstacle in nephrocyte research is the distinct visualization of this subcellular structure to assess its integrity. Therefore, we developed a specialized dissection and fixation protocol, including high pressure freezing and freeze substitution techniques, to improve the preservation of the intricate ultrastructural details necessary for electron microscopic assessment. By means of scanning transmission electron microscopy (STEM) tomography, a three-dimensional dataset was generated to further understand the complex architecture of the nephrocyte channel system. Moreover, a staining protocol for immunolabeling of ultrathin sections of Epon-embedded nephrocytes is discussed, which allows the reliable detection of GFP-tagged fusion proteins combined with superior sample preservation. Due to the growing number of available GFP-trap fly lines, this approach is widely applicable for high resolution localization studies in wild type and mutant nephrocytes. © 2018 Wiley Periodicals, Inc.

Implicitly Coordinated Detect and Avoid Capability for Safe Autonomous Operation of Small UAS

NASA Technical Reports Server (NTRS)

Balachandran, Swee; Munoz, Cesar A.; Consiglio, Maria C.

2017-01-01

As the airspace becomes increasingly shared by autonomous small Unmanned Aerial Systems (UAS), there would be a pressing need for coordination strategies so that aircraft can safely and independently maneuver around obstacles, geofences, and traffic aircraft. Explicitly coordinating resolution strategies for small UAS would require additional components such as a reliable vehicle-to-vehicle communication infrastructure and standardized protocols for information exchange that could significantly increase the cost of deploying small UAS in a shared airspace. This paper explores a novel approach that enables multiple aircraft to implicitly coordinate their resolution maneuvers. By requiring all aircraft to execute the proposed approach deterministically, it is possible for all of them to implicitly agree on the region of airspace each will be occupying in a given time interval. The proposed approach lends itself to the construction of a suitable feedback mechanism that enables the real-time execution of an implicitly conflict-free path in a closed-loop manner dealing with uncertainties in aircraft speed. If a network infrastructure is available, the proposed approach can also exploit the benefits of explicit information.

Terrain Perception for DEMO III

NASA Technical Reports Server (NTRS)

Manduchi, R.; Bellutta, P.; Matthies, L.; Owens, K.; Rankin, A.

2000-01-01

The Demo III program has as its primary focus the development of autonomous mobility for a small rugged cross country vehicle. In this paper we report recent progress on both stereo-based obstacle detection and terrain cover color-based classification.

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.

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

NASA Technical Reports Server (NTRS)

Bailey, Randall E.

2012-01-01

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

The role of tragus on echolocating bat, Eptesicus fuscus

NASA Astrophysics Data System (ADS)

Chiu, Chen; Moss, Cynthia

2005-04-01

Echolocating bats produce ultrasonic vocal signals and utilize the returning echoes to detect, localize and track prey, and also to avoid obstacles. The pinna and tragus, two major components of the bats external ears, play important roles in filtering returning echoes. The tragus is generally believed to play a role in vertical sound localization. The purpose of this study is to further examine how manipulation of the tragus affects a free-flying bat's prey capture and obstacle avoidance behavior. The first part of this study involved a prey capture experiment, and the bat was trained to catch the tethered mealworms in a large room. The second experiment involved obstacle avoidance, and the bat's task was to fly through the largest opening from a horizontal wire array without touching the wires. In both experiments, the bat performed the tasks under three different conditions: with intact tragus, tragus-deflection and recovery from tragus-deflection. Significantly lower performance was observed in both experiments when tragi were glued down. However, the bat adjusted quickly and returned to baseline performance a few days after the manipulation. The results suggest that tragus-deflection does have effects on both the prey capture and obstacle avoidance behavior. [Work supported by NSF.

A detachable electronic device for use with a long white cane to assist with mobility.

PubMed

O'Brien, Emily E; Mohtar, Aaron A; Diment, Laura E; Reynolds, Karen J

2014-01-01

Vision-impaired individuals often use a long white cane to assist them with gathering information about their surroundings. However, these aids are generally not used to detect obstacles above knee height. The purpose of this study is to determine whether a low-cost, custom-built electronic device clipped onto a traditional cane can provide adequate vibratory warning to the user of obstacles above knee height. Sixteen normally sighted blindfolded individuals participated in two mobility courses which they navigated using a normal white cane and a white cane with the electronic device attached. Of the 16 participants, 10 hit fewer obstacles, and 12 covered less ground with the cane when the electronic device was attached. Ten participants found navigating with the electronic device easier than just the white cane alone. However, the time taken on the mobility courses, the number of collisions with obstacles, and the area covered by participants using the electronic device were not significantly different (p > 0.05). A larger sample size is required to determine if the trends found have real significance. It is anticipated that additional information provided by this electronic device about the surroundings would allow users to move more confidently within their environment.

Detection and analysis of emitted radiation for advanced monitoring and control of combustors

NASA Astrophysics Data System (ADS)

Ballester, J.; Sanz, A.; Hernandez, R.; Smolarz, A.

2005-09-01

The permanent optimization of combustion equipment could provide very important benefits in terms of efficiency, reliability and reduced pollution. However, current capabilities for monitoring and control of industrial flames are very limited; the lack of reliable diagnostic techniques is, most probably, the main obstacle to achieve those goals. Novel instrumentation systems based on the processing of the radiation emitted by the flames could help greatly to fill this gap, as radiation signals are known to contain very rich information about flame properties Optical sensors offer the benefit of being selective, rapid and able to gather data from extremely hostile environments. Passive optical sensors offer the further advantages of simplicity and low cost. With the rapidly growing capability of sensor hardware, there is an increased interest and need to develop data interpretation strategies that will allow optical flame emission data to be converted into meaningful combustor state information. The present work describes new results achieved on the use of optical sensors for the development of advanced monitoring systems of lean-premixed flames representative of gas turbine combustors. Different complementary signals have been analyzed: broad band emission using a Si photodiode, a narrow band around 310 nm measured with a photomultiplier and measurement of UV+VIS emission spectra. The signals have been processed using both conventional and advanced methods. The results obtained demonstrate that optical sensors can yield useful, instantaneous information on the actual flame properties, not available with the sensors currently used in practical combustion systems.

Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments

PubMed Central

Vanegas, Fernando; Gonzalez, Felipe

2016-01-01

Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP), so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV), to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios. PMID:27171096

Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments.

PubMed

Vanegas, Fernando; Gonzalez, Felipe

2016-05-10

Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP), so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV), to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios.

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.

Diagnostic accuracy and applicability of a PCR system for the detection of Schistosoma mansoni DNA in human urine samples from an endemic area.

PubMed

Enk, Martin Johannes; Oliveira e Silva, Guilherme; Rodrigues, Nilton Barnabé

2012-01-01

Schistosomiasis caused by Schistosoma mansoni, one of the most neglected human parasitoses in Latin America and Africa, is routinely confirmed by microscopic visualization of eggs in stool. The main limitation of this diagnostic approach is its lack of sensitivity in detecting individual low worm burdens and consequently data on infection rates in low transmission settings are little reliable. According to the scientific literature, PCR assays are characterized by high sensitivity and specificity in detecting parasite DNA in biological samples. A simple and cost effective extraction method for DNA of Schistosoma mansoni from urine samples in combination with a conventional PCR assay was developed and applied in an endemic area. This urine based PCR system was tested for diagnostic accuracy among a population of a small village in an endemic area, comparing it to a reference test composed of three different parasitological techniques. The diagnostic parameters revealed a sensitivity of 100%, a specificity of 91.20%, positive and negative predictive values of 86.25% and 100%, respectively, and a test accuracy of 94.33%. Further statistical analysis showed a k index of 0.8806, indicating an excellent agreement between the reference test and the PCR system. Data obtained from the mouse model indicate the infection can be detected one week after cercariae penetration, opening a new perspective for early detection and patient management during this stage of the disease. The data indicate that this innovative PCR system provides a simple to handle and robust diagnostic tool for the detection of S. mansoni DNA from urine samples and a promising approach to overcome the diagnostic obstacles in low transmission settings. Furthermore the principals of this molecular technique, based on the examination of human urine samples may be useful for the diagnosis of other neglected tropical diseases that can be detected by trans-renal DNA.

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

NASA Astrophysics Data System (ADS)

Trainoff, Steven

2009-03-01

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

NAS Requirements Checklist for Job Queuing/Scheduling Software

NASA Technical Reports Server (NTRS)

Jones, James Patton

1996-01-01

The increasing reliability of parallel systems and clusters of computers has resulted in these systems becoming more attractive for true production workloads. Today, the primary obstacle to production use of clusters of computers is the lack of a functional and robust Job Management System for parallel applications. This document provides a checklist of NAS requirements for job queuing and scheduling in order to make most efficient use of parallel systems and clusters for parallel applications. Future requirements are also identified to assist software vendors with design planning.

Hopping robot

DOEpatents

Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

2001-01-01

The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

Land mobile satellite propagation results

NASA Technical Reports Server (NTRS)

Nicholas, David C.

1988-01-01

During the Fall of 1987 a land mobile satellite demonstration using the MARECS B2 satellite at 26 degrees W was performed. While all the data have not been digested, some observations are in order. First, the system worked remarkably well for the margins indicated. Second, when the system worked poorly, the experimenters could almost always identify terrain or other obstacles causing blockage. Third, the forward link seems relatively more reliable than the return link, and occasional return link problems occured which have not been entirely explained.

Pepper, chili (Capsicum annuum).

PubMed

Min, Jung; Shin, Sun Hee; Jeon, En Mi; Park, Jung Mi; Hyun, Ji Young; Harn, Chee Hark

2015-01-01

Pepper is a recalcitrant plant for Agrobacterium-mediated genetic transformation. Several obstacles to genetic transformation remain such as extremely low transformation rates; the choice of correct genotype is critical; and there is a high frequency of false positives due to direct shoot formation. Here, we report a useful protocol with a suitable selection method. The most important aspect of the pepper transformation protocol is selecting shoots growing from the callus, which is referred to as callus-mediated shoot formation. This protocol is a reproducible and reliable system for pepper transformation.

Advanced computer graphic techniques for laser range finder (LRF) simulation

NASA Astrophysics Data System (ADS)

Bedkowski, Janusz; Jankowski, Stanislaw

2008-11-01

This paper show an advanced computer graphic techniques for laser range finder (LRF) simulation. The LRF is the common sensor for unmanned ground vehicle, autonomous mobile robot and security applications. The cost of the measurement system is extremely high, therefore the simulation tool is designed. The simulation gives an opportunity to execute algorithm such as the obstacle avoidance[1], slam for robot localization[2], detection of vegetation and water obstacles in surroundings of the robot chassis[3], LRF measurement in crowd of people[1]. The Axis Aligned Bounding Box (AABB) and alternative technique based on CUDA (NVIDIA Compute Unified Device Architecture) is presented.

Actively generated noise liquid flowmeter.

PubMed

Tanisawa, S; Hirose, H; Yoshihisa, N

1994-01-01

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

Hybrid Numerical-Analytical Scheme for Calculating Elastic Wave Diffraction in Locally Inhomogeneous Waveguides

NASA Astrophysics Data System (ADS)

Glushkov, E. V.; Glushkova, N. V.; Evdokimov, A. A.

2018-01-01

Numerical simulation of traveling wave excitation, propagation, and diffraction in structures with local inhomogeneities (obstacles) is computationally expensive due to the need for mesh-based approximation of extended domains with the rigorous account for the radiation conditions at infinity. Therefore, hybrid numerical-analytic approaches are being developed based on the conjugation of a numerical solution in a local vicinity of the obstacle and/or source with an explicit analytic representation in the remaining semi-infinite external domain. However, in standard finite-element software, such a coupling with the external field, moreover, in the case of multimode expansion, is generally not provided. This work proposes a hybrid computational scheme that allows realization of such a conjugation using a standard software. The latter is used to construct a set of numerical solutions used as the basis for the sought solution in the local internal domain. The unknown expansion coefficients on this basis and on normal modes in the semi-infinite external domain are then determined from the conditions of displacement and stress continuity at the boundary between the two domains. We describe the implementation of this approach in the scalar and vector cases. To evaluate the reliability of the results and the efficiency of the algorithm, we compare it with a semianalytic solution to the problem of traveling wave diffraction by a horizontal obstacle, as well as with a finite-element solution obtained for a limited domain artificially restricted using absorbing boundaries. As an example, we consider the incidence of a fundamental antisymmetric Lamb wave onto surface and partially submerged elastic obstacles. It is noted that the proposed hybrid scheme can also be used to determine the eigenfrequencies and eigenforms of resonance scattering, as well as the characteristics of traveling waves in embedded waveguides.

Detection of the potential pancreatic cancer marker MUC4 in serum using surface-enhanced Raman scattering.

PubMed

Wang, Gufeng; Lipert, Robert J; Jain, Maneesh; Kaur, Sukhwinder; Chakraboty, Subhankar; Torres, Maria P; Batra, Surinder K; Brand, Randall E; Porter, Marc D

2011-04-01

Pancreatic cancer (PC) is one of the most lethal malignancies. It has a 5-year survival rate of only 6%, owing in part to the lack of a reliable tumor marker for early diagnosis. Recent research has shown that the mucin protein MUC4 is aberrantly expressed in pancreatic adenocarcinoma cell lines and tissues but is undetectable in normal pancreas and chronic pancreatitis. Thus, the level of MUC4 in patient sera has the potential to function as a diagnostic and prognostic marker for PC. However, the measurement of MUC4 in sera using conventional test platforms (e.g., enzyme linked immunosorbent assay (ELISA) and radioimmunoassay (RIA)) has been unsuccessful. This has prevented the assessment of the utility of this protein as a possible PC marker in sera. In addressing this obstacle, the work herein examines the potential to create a simple diagnostic test for MUC4 through the development of a surface-enhanced Raman scattering (SERS)-based immunoassay, which was then used to demonstrate the first ever detection of MUC4 in cancer patient serum samples. Importantly, these measurements showed that sera from patients with PC produced a significantly higher SERS response for MUC4 compared to sera from healthy individuals and from patients with benign diseases. These results indicate that a SERS-based immunoassay can monitor MUC4 levels in patient sera, representing a much needed first step toward assessing the potential of this protein to serve as a serum marker for the early stage diagnosis of PC. This paper details these and other findings (i.e., the detection of the mucin protein CA19-9), which demonstrate that our SERS assay outperforms conventional assays (i.e., RIA and ELISA) with respect to limits of detection, readout time, and required sample volume.

Development of two real-time multiplex PCR assays for the detection and quantification of eight key bacterial pathogens in lower respiratory tract infections

PubMed Central

Gadsby, N.J.; McHugh, M.P.; Russell, C.D.; Mark, H.; Conway Morris, A.; Laurenson, I.F.; Hill, A.T.; Templeton, K.E.

2015-01-01

The frequent lack of a positive and timely microbiological diagnosis in patients with lower respiratory tract infection (LRTI) is an important obstacle to antimicrobial stewardship. Patients are typically prescribed broad-spectrum empirical antibiotics while microbiology results are awaited, but, because these are often slow, negative, or inconclusive, de-escalation to narrow-spectrum agents rarely occurs in clinical practice. The aim of this study was to develop and evaluate two multiplex real-time PCR assays for the sensitive detection and accurate quantification of Streptococcus pneumoniae, Haemophilus influenzae, Staphylococcus aureus, Moraxella catarrhalis, Escherichia coli, Klebsiella pneumoniae, Pseudomonas aeruginosa, and Acinetobacter baumannii. We found that all eight bacterial targets could be reliably quantified from sputum specimens down to a concentration of 100 CFUs/reaction (8333 CFUs/mL). Furthermore, all 249 positive control isolates were correctly detected with our assay, demonstrating effectiveness on both reference strains and local clinical isolates. The specificity was 98% on a panel of nearly 100 negative control isolates. Bacterial load was quantified accurately when three bacterial targets were present in mixtures of varying concentrations, mimicking likely clinical scenarios in LRTI. Concordance with culture was 100% for culture-positive sputum specimens, and 90% for bronchoalveolar lavage fluid specimens, and additional culture-negative bacterial infections were detected and quantified. In conclusion, a quantitative molecular test for eight key bacterial causes of LRTI has the potential to provide a more sensitive decision-making tool, closer to the time-point of patient admission than current standard methods. This should facilitate de-escalation from broad-spectrum to narrow-spectrum antibiotics, substantially improving patient management and supporting efforts to curtail inappropriate antibiotic use. PMID:25980353

Combating the drug-impaired driver : a prescription for safer highways.

DOT National Transportation Integrated Search

1985-01-01

In recent years, the Commonwealth of Virginia has increased its efforts to improve highway safety by combating the problems created by drunken drivers. However, law enforcement officials still face major obstacles in their efforts to detect and prose...

Microscale Obstacle Resolving Air Quality Model Evaluation with the Michelstadt Case

PubMed Central

Rakai, Anikó; Kristóf, Gergely

2013-01-01

Modelling pollutant dispersion in cities is challenging for air quality models as the urban obstacles have an important effect on the flow field and thus the dispersion. Computational Fluid Dynamics (CFD) models with an additional scalar dispersion transport equation are a possible way to resolve the flowfield in the urban canopy and model dispersion taking into consideration the effect of the buildings explicitly. These models need detailed evaluation with the method of verification and validation to gain confidence in their reliability and use them as a regulatory purpose tool in complex urban geometries. This paper shows the performance of an open source general purpose CFD code, OpenFOAM for a complex urban geometry, Michelstadt, which has both flow field and dispersion measurement data. Continuous release dispersion results are discussed to show the strengths and weaknesses of the modelling approach, focusing on the value of the turbulent Schmidt number, which was found to give best statistical metric results with a value of 0.7. PMID:24027450

Microscale obstacle resolving air quality model evaluation with the Michelstadt case.

PubMed

Rakai, Anikó; Kristóf, Gergely

2013-01-01

Modelling pollutant dispersion in cities is challenging for air quality models as the urban obstacles have an important effect on the flow field and thus the dispersion. Computational Fluid Dynamics (CFD) models with an additional scalar dispersion transport equation are a possible way to resolve the flowfield in the urban canopy and model dispersion taking into consideration the effect of the buildings explicitly. These models need detailed evaluation with the method of verification and validation to gain confidence in their reliability and use them as a regulatory purpose tool in complex urban geometries. This paper shows the performance of an open source general purpose CFD code, OpenFOAM for a complex urban geometry, Michelstadt, which has both flow field and dispersion measurement data. Continuous release dispersion results are discussed to show the strengths and weaknesses of the modelling approach, focusing on the value of the turbulent Schmidt number, which was found to give best statistical metric results with a value of 0.7.

Determining the Orbit Locations of Turkish Airborne Early Warning and Control Aircraft Over the Turkish Air Space

DTIC Science & Technology

2009-03-01

and Control (AEW&C) Aircraft. AEW&C aircraft has become vital to detect low altitude threats that a ground RADAR cannot detect because of obstacles...HARM). The concern is to cover and detect the threats as far as possible from Turkey within a risk that the commander accepts. The goal is to help...decision makers decide how many AEW aircraft are needed to obtain full coverage. In order to provide optimum results, a Maximal Coverage Location

Information Needs Assessment for K-12 School Nurses in Rural Eastern Washington State.

PubMed

Vela, Kathryn

2017-01-01

School nurses are an often-overlooked population of health care professionals who have great importance in rural communities where access to health care is limited. In order to better serve school nurses in rural eastern Washington, an assessment was conducted to determine their information needs, behaviors, and perceptions. Results indicated this population of school nurses searches for multiple types of health information on a daily basis and navigates obstacles to information access using a variety of resources. While largely confident in their searching ability, they are open to learning more about how to find reliable health information to support their daily responsibilities. These results will guide the development of a workshop for school nurses about using reliable health information resources to improve health care in their rural communities.

Sensory Augmentation for Increased Awareness of Driving Environment [2014

DOT National Transportation Integrated Search

2014-12-12

The goal of this project was to detect road boundaries and stationary obstacles on the road using low-cost automotive-grade LiDAR scanners for the purpose of lateral positioning of the vehicle along the road. For autonomous driving, this information ...

ALLFlight: detection of moving objects in IR and ladar images

NASA Astrophysics Data System (ADS)

Doehler, H.-U.; Peinecke, Niklas; Lueken, Thomas; Schmerwitz, Sven

2013-05-01

Supporting a helicopter pilot during landing and takeoff in degraded visual environment (DVE) is one of the challenges within DLR's project ALLFlight (Assisted Low Level Flight and Landing on Unprepared Landing Sites). Different types of sensors (TV, Infrared, mmW radar and laser radar) are mounted onto DLR's research helicopter FHS (flying helicopter simulator) for gathering different sensor data of the surrounding world. A high performance computer cluster architecture acquires and fuses all the information to get one single comprehensive description of the outside situation. While both TV and IR cameras deliver images with frame rates of 25 Hz or 30 Hz, Ladar and mmW radar provide georeferenced sensor data with only 2 Hz or even less. Therefore, it takes several seconds to detect or even track potential moving obstacle candidates in mmW or Ladar sequences. Especially if the helicopter is flying with higher speed, it is very important to minimize the detection time of obstacles in order to initiate a re-planning of the helicopter's mission timely. Applying feature extraction algorithms on IR images in combination with data fusion algorithms of extracted features and Ladar data can decrease the detection time appreciably. Based on real data from flight tests, the paper describes applied feature extraction methods for moving object detection, as well as data fusion techniques for combining features from TV/IR and Ladar data.

Free-Standing Canes.

ERIC Educational Resources Information Center

Ehresman, Paul

1995-01-01

A precane device, called the "free-standing cane," was developed to help children with blindness along with other disabilities. The cane detects obstacles; guides the user's hands into a relaxed, static position in front of the hips; facilitates postural security and control; and offers tactile and kinesthetic feedback. (JDD)

Three-camera stereo vision for intelligent transportation systems

NASA Astrophysics Data System (ADS)

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

1997-02-01

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

A formal approach to validation and verification for knowledge-based control systems

NASA Technical Reports Server (NTRS)

Castore, Glen

1987-01-01

As control systems become more complex in response to desires for greater system flexibility, performance and reliability, the promise is held out that artificial intelligence might provide the means for building such systems. An obstacle to the use of symbolic processing constructs in this domain is the need for verification and validation (V and V) of the systems. Techniques currently in use do not seem appropriate for knowledge-based software. An outline of a formal approach to V and V for knowledge-based control systems is presented.

A Depth-Based Head-Mounted Visual Display to Aid Navigation in Partially Sighted Individuals

PubMed Central

Hicks, Stephen L.; Wilson, Iain; Muhammed, Louwai; Worsfold, John; Downes, Susan M.; Kennard, Christopher

2013-01-01

Independent navigation for blind individuals can be extremely difficult due to the inability to recognise and avoid obstacles. Assistive techniques such as white canes, guide dogs, and sensory substitution provide a degree of situational awareness by relying on touch or hearing but as yet there are no techniques that attempt to make use of any residual vision that the individual is likely to retain. Residual vision can restricted to the awareness of the orientation of a light source, and hence any information presented on a wearable display would have to limited and unambiguous. For improved situational awareness, i.e. for the detection of obstacles, displaying the size and position of nearby objects, rather than including finer surface details may be sufficient. To test whether a depth-based display could be used to navigate a small obstacle course, we built a real-time head-mounted display with a depth camera and software to detect the distance to nearby objects. Distance was represented as brightness on a low-resolution display positioned close to the eyes without the benefit focussing optics. A set of sighted participants were monitored as they learned to use this display to navigate the course. All were able to do so, and time and velocity rapidly improved with practise with no increase in the number of collisions. In a second experiment a cohort of severely sight-impaired individuals of varying aetiologies performed a search task using a similar low-resolution head-mounted display. The majority of participants were able to use the display to respond to objects in their central and peripheral fields at a similar rate to sighted controls. We conclude that the skill to use a depth-based display for obstacle avoidance can be rapidly acquired and the simplified nature of the display may appropriate for the development of an aid for sight-impaired individuals. PMID:23844067

Fuzzy logic path planning system for collision avoidance by an autonomous rover vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1993-01-01

The Space Exploration Initiative of the United States will make great demands upon NASA and its limited resources. One aspect of great importance will be providing for autonomous (unmanned) operation of vehicles and/or subsystems in space flight and surface exploration. An additional, complicating factor is that much of the need for autonomy of operation will take place under conditions of great uncertainty or ambiguity. Issues in developing an autonomous collision avoidance subsystem within a path planning system for application in a remote, hostile environment that does not lend itself well to remote manipulation by Earth-based telecommunications is addressed. A good focus is unmanned surface exploration of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. Four major issues addressed are (1) avoidance of a fuzzy moving obstacle; (2) backoff from a deadend in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system. Examples of the need for collision avoidance by an autonomous rover vehicle on the surface of Mars with a moving obstacle would be wind-blown debris, surface flow or anomalies due to subsurface disturbances, another vehicle, etc. The other issues of backoff, sensor fusion, and adaptive learning are important in the overall path planning system.

Mine Safety Detection System (MSDS)

DTIC Science & Technology

2012-09-01

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

Implementing clinical governance in Isfahan hospitals: Barriers and solutions, 2014.

PubMed

Ferdosi, Masoud; Ziyari, Farhad Bahman; Ollahi, Mehran Nemat; Salmani, Amaneh Rahim; Niknam, Noureddin

2016-01-01

In the new approach, all health care providers have been obligated to maintain and improve the quality and have been accountable for it. One of the ways is the implementation of clinical governance (CG). More accurate understanding of its challenges can help to improve its performance. In this study, barriers of CG implementation are investigated from the perspective of the hospitals involved. Besides, some solutions are suggested based on stakeholders' opinions. This study used combined method (qualitative content analysis and questionnaire) in hospitals affiliated to Isfahan University of Medical Sciences in 2014. First, experts, and stakeholders talked about CG implementation obstacles in a semi-structured interview. Interviews were confirmed by the interviewee (double check). After analyzing the interviews using reduction coding the questionnaire was drawn up. The questionnaire "validity was confirmed by Cronbach's alpha (0/891)" and its reliability was obtained using experts confirmation. Data analyzing was performed using SPSS (18) software. According to results staffing and management factors were the main obstacles. After them, were factors related to organizational culture, infrastructure elements, information, sociocultural and then process factors. The learning barriers were in final rank. Thirty-four solutions was proposed by experts and divided into subset of eight major barriers. Most solutions were offered on modifying processes and minimal solutions about modifying of organizational culture, sociocultural, and educational factors. Removing the obstacles, especially management and human resource factors can be effective by facilitating and accelerating CG. Furthermore, use of experts and stakeholders opinions can help to remove CG barriers.

Venus and Mars Obstacles in the Solar Wind

NASA Astrophysics Data System (ADS)

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

2000-10-01

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

Airborne DoA estimation of gunshot acoustic signals using drones with application to sniper localization systems

NASA Astrophysics Data System (ADS)

Fernandes, Rigel P.; Ramos, António L. L.; Apolinário, José A.

2017-05-01

Shooter localization systems have been subject of a growing attention lately owing to its wide span of possible applications, e.g., civil protection, law enforcement, and support to soldiers in missions where snipers might pose a serious threat. These devices are based on the processing of electromagnetic or acoustic signatures associated with the firing of a gun. This work is concerned with the latter, where the shooter's position can be obtained based on the estimation of the direction-of-arrival (DoA) of the acoustic components of a gunshot signal (muzzle blast and shock wave). A major limitation of current commercially available acoustic sniper localization systems is the impossibility of finding the shooter's position when one of these acoustic signatures is not detected. This is very likely to occur in real-life situations, especially when the microphones are not in the field of view of the shockwave or when the presence of obstacles like buildings can prevent a direct-path to sensors. This work addresses the problem of DoA estimation of the muzzle blast using a planar array of sensors deployed in a drone. Results supported by actual gunshot data from a realistic setup are very promising and pave the way for the development of enhanced sniper localization systems featuring two main advantages over stationary ones: (1) wider surveillance area; and (2) increased likelihood of a direct-path detection of at least one of the gunshot signals, thereby adding robustness and reliability to the system.

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

PubMed

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

2004-01-01

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

A Framework for Applying Point Clouds Grabbed by Multi-Beam LIDAR in Perceiving the Driving Environment

PubMed Central

Liu, Jian; Liang, Huawei; Wang, Zhiling; Chen, Xiangcheng

2015-01-01

The quick and accurate understanding of the ambient environment, which is composed of road curbs, vehicles, pedestrians, etc., is critical for developing intelligent vehicles. The road elements included in this work are road curbs and dynamic road obstacles that directly affect the drivable area. A framework for the online modeling of the driving environment using a multi-beam LIDAR, i.e., a Velodyne HDL-64E LIDAR, which describes the 3D environment in the form of a point cloud, is reported in this article. First, ground segmentation is performed via multi-feature extraction of the raw data grabbed by the Velodyne LIDAR to satisfy the requirement of online environment modeling. Curbs and dynamic road obstacles are detected and tracked in different manners. Curves are fitted for curb points, and points are clustered into bundles whose form and kinematics parameters are calculated. The Kalman filter is used to track dynamic obstacles, whereas the snake model is employed for curbs. Results indicate that the proposed framework is robust under various environments and satisfies the requirements for online processing. PMID:26404290

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

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

2004-09-01

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

Stereo vision tracking of multiple objects in complex indoor environments.

PubMed

Marrón-Romera, Marta; García, Juan C; Sotelo, Miguel A; Pizarro, Daniel; Mazo, Manuel; Cañas, José M; Losada, Cristina; Marcos, Alvaro

2010-01-01

This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot's environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors' proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.

Rover Graphical Simulator

NASA Technical Reports Server (NTRS)

Bon, Bruce; Seraji, Homayoun

2007-01-01

Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

The Role of the Frontal Lobe in Complex Walking Among Patients With Parkinson's Disease and Healthy Older Adults: An fNIRS Study.

PubMed

Maidan, Inbal; Nieuwhof, Freek; Bernad-Elazari, Hagar; Reelick, Miriam F; Bloem, Bas R; Giladi, Nir; Deutsch, Judith E; Hausdorff, Jeffery M; Claassen, Jurgen A H; Mirelman, Anat

2016-11-01

Gait is influenced by higher order cognitive and cortical control mechanisms. Functional near infrared spectroscopy (fNIRS) has been used to examine frontal activation during walking in healthy older adults, reporting increased oxygenated hemoglobin (HbO2) levels during dual task walking (DT), compared with usual walking. To investigate the role of the frontal lobe during DT and obstacle negotiation, in healthy older adults and patients with Parkinson's disease (PD). Thirty-eight healthy older adults (mean age 70.4 ± 0.9 years) and 68 patients with PD (mean age 71.7 ± 1.1 years,) performed 3 walking tasks: (a) usual walking, (b) DT walking, and (c) obstacles negotiation, with fNIRS and accelerometers. Linear-mix models were used to detect changes between groups and within tasks. Patients with PD had higher activation during usual walking (P < .030). During DT, HbO2 increased only in healthy older adults (P < .001). During obstacle negotiation, HbO2 increased in patients with PD (P = .001) and tended to increase in healthy older adults (P = .053). Higher DT and obstacle cost (P < .003) and worse cognitive performance were observed in patients with PD (P = .001). A different pattern of frontal activation during walking was observed between groups. The higher activation during usual walking in patients with PD suggests that the prefrontal cortex plays an important role already during simple walking. However, higher activation relative to baseline during obstacle negotiation and not during DT in the patients with PD demonstrates that prefrontal activation depends on the nature of the task. These findings may have important implications for rehabilitation of gait in patients with PD. © The Author(s) 2016.

PSD Camera Based Position and Posture Control of Redundant Robot Considering Contact Motion

NASA Astrophysics Data System (ADS)

Oda, Naoki; Kotani, Kentaro

The paper describes a position and posture controller design based on the absolute position by external PSD vision sensor for redundant robot manipulator. The redundancy enables a potential capability to avoid obstacle while continuing given end-effector jobs under contact with middle link of manipulator. Under contact motion, the deformation due to joint torsion obtained by comparing internal and external position sensor, is actively suppressed by internal/external position hybrid controller. The selection matrix of hybrid loop is given by the function of the deformation. And the detected deformation is also utilized in the compliant motion controller for passive obstacle avoidance. The validity of the proposed method is verified by several experimental results of 3link planar redundant manipulator.

Robotic guarded motion system and method

DOEpatents

Bruemmer, David J.

2010-02-23

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

Pervasive Radio Mapping of Industrial Environments Using a Virtual Reality Approach

PubMed Central

Nedelcu, Adrian-Valentin; Machedon-Pisu, Mihai; Talaba, Doru

2015-01-01

Wireless communications in industrial environments are seriously affected by reliability and performance issues, due to the multipath nature of obstacles within such environments. Special attention needs to be given to planning a wireless industrial network, so as to find the optimum spatial position for each of the nodes within the network, and especially for key nodes such as gateways or cluster heads. The aim of this paper is to present a pervasive radio mapping system which captures (senses) data regarding the radio spectrum, using low-cost wireless sensor nodes. This data is the input of radio mapping algorithms that generate electromagnetic propagation profiles. Such profiles are used for identifying obstacles within the environment and optimum propagation pathways. With the purpose of further optimizing the radio planning process, the authors propose a novel human-network interaction (HNI) paradigm that uses 3D virtual environments in order to display the radio maps in a natural, easy-to-perceive manner. The results of this approach illustrate its added value to the field of radio resource planning of industrial communication systems. PMID:26167533

The route to best science in implementation of the Endangered Species Act's consultation mandate: the benefits of structured effects analysis.

PubMed

Murphy, Dennis D; Weiland, Paul S

2011-02-01

The Endangered Species Act is intended to conserve at-risk species and the ecosystems upon which they depend, and it is premised on the notion that if the wildlife agencies that are charged with implementing the statute use the best available scientific information, they can successfully carry out this intention. We assess effects analysis as a tool for using best science to guide agency decisions under the Act. After introducing effects analysis, we propose a framework that facilitates identification and use of the best available information in the development of agency determinations. The framework includes three essential steps--the collection of reliable scientific information, the critical assessment and synthesis of available data and analyses derived from those data, and the analysis of the effects of actions on listed species and their habitats. We warn of likely obstacles to rigorous, structured effect analyses and describe the extent to which independent scientific review may assist in overcoming these obstacles. We conclude by describing eight essential elements that are required for a successful effects analysis.

Pervasive Radio Mapping of Industrial Environments Using a Virtual Reality Approach.

PubMed

Nedelcu, Adrian-Valentin; Machedon-Pisu, Mihai; Duguleana, Mihai; Talaba, Doru

2015-01-01

Wireless communications in industrial environments are seriously affected by reliability and performance issues, due to the multipath nature of obstacles within such environments. Special attention needs to be given to planning a wireless industrial network, so as to find the optimum spatial position for each of the nodes within the network, and especially for key nodes such as gateways or cluster heads. The aim of this paper is to present a pervasive radio mapping system which captures (senses) data regarding the radio spectrum, using low-cost wireless sensor nodes. This data is the input of radio mapping algorithms that generate electromagnetic propagation profiles. Such profiles are used for identifying obstacles within the environment and optimum propagation pathways. With the purpose of further optimizing the radio planning process, the authors propose a novel human-network interaction (HNI) paradigm that uses 3D virtual environments in order to display the radio maps in a natural, easy-to-perceive manner. The results of this approach illustrate its added value to the field of radio resource planning of industrial communication systems.

Assessing barriers to immunization.

PubMed

Niederhauser, Victoria; Ferris, Catherine

2016-05-03

Parental barriers to childhood immunizations vary among countries, states and communities. There is a plethora of studies that exist to examine barriers to immunizations including many intervention studies designed to improve immunization rates in children. Often, intervention studies designed to minimize barriers and increase immunization uptake among children lack the inclusion of a standardized instrument to measure accurately parental barriers to childhood immunizations before and after interventions. The Searching for Hardships and Obstacles To Shots (SHOTS) survey is a standardized survey instrument to measure parental barriers to childhood immunizations. In several studies, the SHOTS survey has demonstrated consistent reliability and has been validated in diverse populations. The inclusion of the SHOTS survey instrument in studies to examine barriers to childhood immunization will provide researchers and clinicians with a better understanding of parents' individualized barriers to immunizations. Furthermore, use of the SHOTS survey instrument to collect information about parental barriers to immunizations can lead to targeted interventions to minimize these obstacles at the individual and community level and to help us to achieve our national, state and community childhood immunization goals.

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Technical Reports Server (NTRS)

Erickson, J.; Goode, R.; Grimm, K.; Hess, C.; Norsworthy, R.; Anderson, G.; Merkel, L.; Phinney, D.

1992-01-01

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a heirarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Astrophysics Data System (ADS)

Erickson, Jon D.; Goode, R.; Grimm, K. A.; Hess, Clifford W.; Norsworthy, Robert S.; Anderson, Greg D.; Merkel, L.; Phinney, Dale E.

1992-03-01

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice- supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the space station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a hierarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

CFD model simulation of LPG dispersion in urban areas

NASA Astrophysics Data System (ADS)

Pontiggia, Marco; Landucci, Gabriele; Busini, Valentina; Derudi, Marco; Alba, Mario; Scaioni, Marco; Bonvicini, Sarah; Cozzani, Valerio; Rota, Renato

2011-08-01

There is an increasing concern related to the releases of industrial hazardous materials (either toxic or flammable) due to terrorist attacks or accidental events in congested industrial or urban areas. In particular, a reliable estimation of the hazardous cloud footprint as a function of time is required to assist emergency response decision and planning as a primary element of any Decision Support System. Among the various hazardous materials, the hazard due to the road and rail transportation of liquefied petroleum gas (LPG) is well known since large quantities of LPG are commercialized and the rail or road transportation patterns are often close to downtown areas. Since it is well known that the widely-used dispersion models do not account for the effects of any obstacle like buildings, tanks, railcars, or trees, in this paper a CFD model has been applied to simulate the reported consequences of a recent major accident involving an LPG railcar rupture in a congested urban area (Viareggio town, in Italy), showing both the large influence of the obstacles on LPG dispersion as well as the potentials of CFD models to foresee such an influence.

A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety

PubMed Central

Zhang, Zutao; Li, Yanjun; Wang, Fubing; Meng, Guanjun; Salman, Waleed; Saleem, Layth; Zhang, Xiaoliang; Wang, Chunbai; Hu, Guangdi; Liu, Yugang

2016-01-01

Environmental perception and information processing are two key steps of active safety for vehicle reversing. Single-sensor environmental perception cannot meet the need for vehicle reversing safety due to its low reliability. In this paper, we present a novel multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. The proposed system consists of four main steps, namely multi-sensor environmental perception, information fusion, target recognition and tracking using low-rank representation and a particle filter, and vehicle reversing speed control modules. First of all, the multi-sensor environmental perception module, based on a binocular-camera system and ultrasonic range finders, obtains the distance data for obstacles behind the vehicle when the vehicle is reversing. Secondly, the information fusion algorithm using an adaptive Kalman filter is used to process the data obtained with the multi-sensor environmental perception module, which greatly improves the robustness of the sensors. Then the framework of a particle filter and low-rank representation is used to track the main obstacles. The low-rank representation is used to optimize an objective particle template that has the smallest L-1 norm. Finally, the electronic throttle opening and automatic braking is under control of the proposed vehicle reversing control strategy prior to any potential collisions, making the reversing control safer and more reliable. The final system simulation and practical testing results demonstrate the validity of the proposed multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. PMID:27294931

A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety.

PubMed

Zhang, Zutao; Li, Yanjun; Wang, Fubing; Meng, Guanjun; Salman, Waleed; Saleem, Layth; Zhang, Xiaoliang; Wang, Chunbai; Hu, Guangdi; Liu, Yugang

2016-06-09

Environmental perception and information processing are two key steps of active safety for vehicle reversing. Single-sensor environmental perception cannot meet the need for vehicle reversing safety due to its low reliability. In this paper, we present a novel multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. The proposed system consists of four main steps, namely multi-sensor environmental perception, information fusion, target recognition and tracking using low-rank representation and a particle filter, and vehicle reversing speed control modules. First of all, the multi-sensor environmental perception module, based on a binocular-camera system and ultrasonic range finders, obtains the distance data for obstacles behind the vehicle when the vehicle is reversing. Secondly, the information fusion algorithm using an adaptive Kalman filter is used to process the data obtained with the multi-sensor environmental perception module, which greatly improves the robustness of the sensors. Then the framework of a particle filter and low-rank representation is used to track the main obstacles. The low-rank representation is used to optimize an objective particle template that has the smallest L-1 norm. Finally, the electronic throttle opening and automatic braking is under control of the proposed vehicle reversing control strategy prior to any potential collisions, making the reversing control safer and more reliable. The final system simulation and practical testing results demonstrate the validity of the proposed multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety.

The Detection Method of Fire Abnormal Based on Directional Drilling in Complex Conditions of Mine

NASA Astrophysics Data System (ADS)

Huijun, Duan; Shijun, Hao; Jie, Feng

2018-06-01

In the light of more and more urgent hidden fire abnormal detection problem in complex conditions of mine, a method which is used directional drilling technology is put forward. The method can avoid the obstacles in mine, and complete the fire abnormal detection. This paper based on analyzing the trajectory control of directional drilling, measurement while drilling and the characteristic of open branch process, the project of the directional drilling is formulated combination with a complex condition mine, and the detection of fire abnormal is implemented. This method can provide technical support for fire prevention, which also can provide a new way for fire anomaly detection in the similar mine.

The Nature Contact Questionnaire: a measure of healthy workplace exposure.

PubMed

Largo-Wight, Erin; Chen, W William; Dodd, Virginia; Weiler, Robert

2011-01-01

Understanding and promoting healthy workplaces is an important and growing area of interest in occupational health. Nature contact is a central component to the study of and promotion of healthy places. Previous findings suggest that nature contact influences health via stress appraisal process. Currently, there are no known comprehensive valid and reliable measures of nature contact, which presents obstacles to research and worksite health promotion. This study was designed to develop and test an instrument to measure nature contact at work, entitled the Nature Contact Questionnaire (NCQ), 16-item self-reported checklist to measure actual exposure. A sample of 503 (30% response rate) office staff completed the questionnaire. Office staff were sent an email with a link to the electronic survey twice, two weeks apart. Content and construct validity (KMO=0.68), internal consistency (Alpha=0.64), and test-retest reliability (r=0.85, p<0.01) were established. The NCQ is the first known comprehensive, reliable and valid survey to measure nature contact, which allows research to compare forms of nature contact to best inform practice and design of healthy places.

NDE detectability of fatigue type cracks in high strength alloys

NASA Technical Reports Server (NTRS)

Christner, B. K.; Rummel, W. D.

1983-01-01

Specimens suitable for investigating the reliability of production nondestructive evaluation (NDE) to detect tightly closed fatigue cracks in high strength alloys representative of those materials used in spacecraft engine/booster construction were produced. Inconel 718 was selected as representative of nickel base alloys and Haynes 188 was selected as representative of cobalt base alloys used in this application. Cleaning procedures were developed to insure the reusability of the test specimens and a flaw detection reliability assessment of the fluorescent penetrant inspection method was performed using the test specimens produced to characterize their use for future reliability assessments and to provide additional NDE flaw detection reliability data for high strength alloys. The statistical analysis of the fluorescent penetrant inspection data was performed to determine the detection reliabilities for each inspection at a 90% probability/95% confidence level.

Examining the nexus between domestic violence and animal abuse in a national sample of service providers.

PubMed

Krienert, Jessie L; Walsh, Jeffrey A; Matthews, Kevin; McConkey, Kelly

2012-01-01

Companion animals play a complex role in families impacted by violence. An outlet of emotional support for victims, the family pet often becomes a target for physical abuse. Results from a comprehensive e-survey of domestic violence shelters nationwide (N = 767) highlight both improvements and existing gaps in service provision for domestic violence victims and their pets. Quantitative and qualitative data noted frequently encountered obstacles to successful shelter seeking by abuse victims with companion animals including a lack of availability, funding, space, and reliable programming. Although results indicate an overall improvement in organizational awareness, fewer than half of surveyed shelters include intake questions about animals. Continued awareness and an expansion of services is needed to create viable safety planning strategies and reliable alternatives for women with companion animals in order to improve the likelihood that abuse victims will seek escape and refuge for themselves, their children, and their pets.

Performance variation in motor imagery brain-computer interface: a brief review.

PubMed

Ahn, Minkyu; Jun, Sung Chan

2015-03-30

Brain-computer interface (BCI) technology has attracted significant attention over recent decades, and has made remarkable progress. However, BCI still faces a critical hurdle, in that performance varies greatly across and even within subjects, an obstacle that degrades the reliability of BCI systems. Understanding the causes of these problems is important if we are to create more stable systems. In this short review, we report the most recent studies and findings on performance variation, especially in motor imagery-based BCI, which has found that low-performance groups have a less-developed brain network that is incapable of motor imagery. Further, psychological and physiological states influence performance variation within subjects. We propose a possible strategic approach to deal with this variation, which may contribute to improving the reliability of BCI. In addition, the limitations of current work and opportunities for future studies are discussed. Copyright © 2015 Elsevier B.V. All rights reserved.

Need for improved methods to collect and present spatial epidemiologic data for vectorborne diseases.

PubMed

Eisen, Lars; Eisen, Rebecca J

2007-12-01

Improved methods for collection and presentation of spatial epidemiologic data are needed for vectorborne diseases in the United States. Lack of reliable data for probable pathogen exposure site has emerged as a major obstacle to the development of predictive spatial risk models. Although plague case investigations can serve as a model for how to ideally generate needed information, this comprehensive approach is cost-prohibitive for more common and less severe diseases. New methods are urgently needed to determine probable pathogen exposure sites that will yield reliable results while taking into account economic and time constraints of the public health system and attending physicians. Recent data demonstrate the need for a change from use of the county spatial unit for presentation of incidence of vectorborne diseases to more precise ZIP code or census tract scales. Such fine-scale spatial risk patterns can be communicated to the public and medical community through Web-mapping approaches.

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.

Exploring the interactions between forecast accuracy, risk perception and perceived forecast reliability in reservoir operator's decision to use forecast

NASA Astrophysics Data System (ADS)

Shafiee-Jood, M.; Cai, X.

2017-12-01

Advances in streamflow forecasts at different time scales offer a promise for proactive flood management and improved risk management. Despite the huge potential, previous studies have found that water resources managers are often not willing to incorporate streamflow forecasts information in decisions making, particularly in risky situations. While low accuracy of forecasts information is often cited as the main reason, some studies have found that implementation of streamflow forecasts sometimes is impeded by institutional obstacles and behavioral factors (e.g., risk perception). In fact, a seminal study by O'Connor et al. (2005) found that risk perception is the strongest determinant of forecast use while managers' perception about forecast reliability is not significant. In this study, we aim to address this issue again. However, instead of using survey data and regression analysis, we develop a theoretical framework to assess the user-perceived value of streamflow forecasts. The framework includes a novel behavioral component which incorporates both risk perception and perceived forecast reliability. The framework is then used in a hypothetical problem where reservoir operator should react to probabilistic flood forecasts with different reliabilities. The framework will allow us to explore the interactions among risk perception and perceived forecast reliability, and among the behavioral components and information accuracy. The findings will provide insights to improve the usability of flood forecasts information through better communication and education.

Detection of memory loss of symmetry in the blockage of a turbulent flow within a duct

NASA Astrophysics Data System (ADS)

Santos, F. Rodrigues; da Silva Costa, G.; da Cunha Lima, A. T.; de Almeida, M. P.; da Cunha Lima, I. C.

This paper aims to detect memory loss of the symmetry of blockades in ducts and how far the information on the asymmetry of the obstacles travels in the turbulent flow from computational simulations with OpenFOAM. From a practical point of view, it seeks alternatives to detect the formation of obstructions in pipelines. The numerical solutions of the Navier-Stokes equations were obtained through the solver PisoFOAM of the OpenFOAM library, using the large Eddy simulation (LES) for the turbulent model. Obstructions were placed near the duct inlet and, keeping the blockade ratio fixed, five combinations for the obstacles sizes were adopted. The results show that the information about the symmetry is preserved for a larger distance near the ducts wall than in mid-channel. For an inlet velocity of 5m/s near the walls the memory is kept up to distance 40 times the duct width, while in mid-channel this distance is reduced almost by half. The maximum distance in which the symmetry breaking memory is preserved shows sensitivity to Reynolds number variations in regions near the duct walls, while in the mid channel that variations do not cause relevant effects to the velocity distribution.

Untreated Peristomal Skin Complications among Long-Term Colorectal Cancer Survivors with Ostomies: Lessons from a Study of Family Caregiving

PubMed Central

McMullen, Carmit K.; Wasserman, Joseph; Altschuler, Andrea; Grant, Marcia; Hornbrook, Mark C.; Liljestrand, Petra; Briggs, Catherine; Krouse, Robert S.

2013-01-01

This ethnography of family caregiving explored why peristomal skin complications are both common and undertreated among colorectal cancer (CRC) survivors with intestinal ostomies. We sought to identify factors that hinder or facilitate prompt detection and treatment of ostomy and skin problems. We collected data through in-depth interviews with 31 cancer survivors and their family caregivers, fieldwork, structured assessments, and medical records review. We analyzed data using qualitative theme and matrix analyses. We found that survivors who received help changing the skin barrier around their stoma had fewer obstacles to detection and treatment of peristomal skin complications. Half of the survivors received unpaid help with ostomy care. All such help came from spouses. Married couples who collaborated in ostomy care reported that having assistance in placing the ostomy appliance helped with preventing leaks, detecting skin changes, and modifying ostomy care routines. Survivors who struggled to manage ostomy care independently reported more obstacles to alleviating and seeking treatment for skin problems. Nurses who encounter CRC survivors with ostomies can improve treatment of peristomal skin problems by asking patients and caregivers about ostomy care and skin problems, examining the peristomal area, and facilitating routine checkups with a wound, ostomy and continence nurse. PMID:22119975

Performance of Black Grandmothers: Perceptions of Three Generations of Females

ERIC Educational Resources Information Center

Strom, Robert D.; Heeder, Steven D.; Strom, Paris S.

2005-01-01

The purposes of this study were to (a) identify perceptions of 3 generations about the influence of black grandmothers; (b) describe contributions of black grandmothers and detect obstacles that limit their success; and (c) recommend curricula for programs to enhance success of black grandmothers. The 253 subjects were black grandmothers (n=76),…

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

ERIC Educational Resources Information Center

Vermeersch, Peter-Willem; Heylighen, Ann

2015-01-01

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

Coming from outside the Academy. Values and 2.0 Culture in Higher Education

ERIC Educational Resources Information Center

Serrat, Nuria; Rubio, Anna

2012-01-01

This article reflects on how some values, interests, and particularities of 2.0 culture enter on higher and postgraduate education institutions. Through the identification of the features of 2.0, this document visualizes some of the resistances, obstacles, possibilities, and opportunities detected in these institutions, many of them focusing on…

Hyperspectral Imaging and Obstacle Detection for Robotics Navigation

DTIC Science & Technology

2005-09-01

anatomy and diffraction process. 17 3.3 Technical Specifications of the System A. Brimrose AOTF Video Adaptor Specifications: Material TeO2 Active...sampled from glass case on person 2’s belt 530 pixels 20 pick-up white sampled from body panels of pick-up 600 pixels 21 pick-up blue sampled from

Development of Sensor Component for Terrain Evaluation and Obstacle Detection for an Unmanned Autonomous Vehicle

DTIC Science & Technology

2007-05-01

WALTER M. WALTZ SANDRA R. MEEKER, DR-IV Work Unit Manager Acting Chief, Force Protection Branch ___//signature...thank David Armstrong, for his support as a project manager . I thank Dr Mike Griffis, for putting all the efforts in building the NaviGator. I...21 Uncertainty Management

Development of the navigation system for visually impaired.

PubMed

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

2004-01-01

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

Wearable ultrasonic guiding device with white cane for the visually impaired: A preliminary verisimilitude experiment.

PubMed

Cheng, Po-Hsun

2016-01-01

Several assistive technologies are available to help visually impaired individuals avoid obstructions while walking. Unfortunately, white canes and medical walkers are unable to detect obstacles on the road or react to encumbrances located above the waist. In this study, I adopted the cyber-physical system approach in the development of a cap-connected device to compensate for gaps in detection associated with conventional aids for the visually impaired. I developed a verisimilar, experimental route involving the participation of seven individuals with visual impairment, including straight sections, left turns, right turns, curves, and suspended objects. My aim was to facilitate the collection of information required for the practical use of the device. My findings demonstrate the feasibility of the proposed guiding device in alerting walkers to the presence of some kinds of obstacles from the small number of subjects. That is, it shows promise for future work and research with the proposed device. My findings provide a valuable reference for the further improvement of these devices as well as the establishment of experiments involving the visually impaired.

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

NASA Technical Reports Server (NTRS)

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

1995-01-01

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

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.

Reliability of semiquantitative assessment of osteophytes and subchondral cysts on tomosynthesis images by radiologists with different levels of expertise.

PubMed

Hayashi, Daichi; Xu, Li; Gusenburg, Jeffrey; Roemer, Frank W; Hunter, David J; Li, Ling; Guermazi, Ali

2014-01-01

We aimed to assess reliability of the evaluation of osteophytes and subchondral cysts on tomosynthesis images when read by radiologists with different levels of expertise. Forty subjects aged >40 years had both knees evaluated using tomosynthesis. Images were read by an "experienced" reader (musculoskeletal radiologist with prior experience) and an "inexperienced" reader (radiology resident with no prior experience). Readers graded osteophytes from 0 to 3 and noted the presence/absence of subchondral cysts in four locations of the tibiofemoral joint. Twenty knees were randomly selected and re-read. Inter- and intrareader reliabilities were calculated using overall exact percent agreement and weighted κ statistics. Diagnostic performance of the two readers was compared against magnetic resonance imaging readings by an expert reader (professor of musculoskeletal radiology). The experienced reader showed substantial intrareader reliability for graded reading of osteophytes (90%, κ=0.93), osteophyte detection (95%, κ=0.86) and cyst detection (95%, κ=0.83). The inexperienced reader showed perfect intrareader reliability for cyst detection (100%, κ=1.00) but intrareader reliability for graded reading (75%, κ=0.79) and detection (80%, κ=0.61) of osteophytes was lower than the experienced reader. Inter-reader reliability was 61% (κ=0.72) for graded osteophyte reading, 91% (κ=0.82) for osteophyte detection, and 88% (κ=0.66) for cyst detection. Diagnostic performance of the experienced reader was higher than the inexperienced reader regarding osteophyte detection (sensitivity range 0.74-0.95 vs. 0.54-0.75 for all locations) but diagnostic performance was similar for subchondral cysts. Tomosynthesis offers excellent intrareader reliability regardless of the reader experience, but experience is important for detection of osteophytes.

Reliability of semiquantitative assessment of osteophytes and subchondral cysts on tomosynthesis images by radiologists with different levels of expertise

PubMed Central

Hayashi, Daichi; Xu, Li; Gusenburg, Jeffrey; Roemer, Frank W.; Hunter, David J.; Li, Ling; Guermazi, Ali

2014-01-01

PURPOSE We aimed to assess reliability of the evaluation of osteophytes and subchondral cysts on tomosynthesis images when read by radiologists with different levels of expertise. MATERIALS AND METHODS Forty subjects aged >40 years had both knees evaluated using tomosynthesis. Images were read by an “experienced” reader (musculoskeletal radiologist with prior experience) and an “inexperienced” reader (radiology resident with no prior experience). Readers graded osteophytes from 0 to 3 and noted the presence/absence of subchondral cysts in four locations of the tibiofemoral joint. Twenty knees were randomly selected and re-read. Inter- and intrareader reliabilities were calculated using overall exact percent agreement and weighted κ statistics. Diagnostic performance of the two readers was compared against magnetic resonance imaging readings by an expert reader (professor of musculoskeletal radiology). RESULTS The experienced reader showed substantial intrareader reliability for graded reading of osteophytes (90%, κ=0.93), osteophyte detection (95%, κ=0.86) and cyst detection (95%, κ=0.83). The inexperienced reader showed perfect intrareader reliability for cyst detection (100%, κ=1.00) but intrareader reliability for graded reading (75%, κ=0.79) and detection (80%, κ=0.61) of osteophytes was lower than the experienced reader. Inter-reader reliability was 61% (κ=0.72) for graded osteophyte reading, 91% (κ=0.82) for osteophyte detection, and 88% (κ=0.66) for cyst detection. Diagnostic performance of the experienced reader was higher than the inexperienced reader regarding osteophyte detection (sensitivity range 0.74–0.95 vs. 0.54–0.75 for all locations) but diagnostic performance was similar for subchondral cysts. CONCLUSION Tomosynthesis offers excellent intrareader reliability regardless of the reader experience, but experience is important for detection of osteophytes. PMID:24834489

Solar photovoltaic powered refrigerators/freezers for medical use in remote geographic locations

NASA Technical Reports Server (NTRS)

Darkazalli, G.; Hein, G. F.

1983-01-01

One of the obstacles preventing widespread immunication against disease is the virtual absence of reliable, low maintenance refrigeration systems for storage of vaccines in remote geographic locations. A system which consists of a solar photovoltaic cell array and an integrated refrigerator/freezer-energy storage unit is discussed herein. The array converts solar radiation into direct current (DC) electricity with no moving parts and no intermediate steps. A detailed description of the refrigeration system, its design and an analysis thereof, performance test procedures, and test results are presented. A system schematic is also provided.

An improved control system for a remotely operated vessel

NASA Astrophysics Data System (ADS)

Bachnak, Rafic; Mendez, Marc; Esparza, Jack; Fahed, Oliver

2006-05-01

Collecting environmental data in coastal bays presents several challenges to the scientist. One of the most pressing issues is how to efficiently and reliably gather data in shallow water areas-environments that often preclude the use of traditional boats. Obstacles that are encountered in such environments include difficulty in covering large territories and the presence of inaccessible areas due to a variety of reasons, such as soft bottoms or contamination. There is also a high probability of disturbing the test area while placing the sensors. This paper outlines the development of a remotely operated boat and its real-time control system.

The state of the art of the impact of sampling uncertainty on measurement uncertainty

NASA Astrophysics Data System (ADS)

Leite, V. J.; Oliveira, E. C.

2018-03-01

The measurement uncertainty is a parameter that marks the reliability and can be divided into two large groups: sampling and analytical variations. Analytical uncertainty is a controlled process, performed in the laboratory. The same does not occur with the sampling uncertainty, which, because it faces several obstacles and there is no clarity on how to perform the procedures, has been neglected, although it is admittedly indispensable to the measurement process. This paper aims at describing the state of the art of sampling uncertainty and at assessing its relevance to measurement uncertainty.

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.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

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

PubMed Central

Kęsik, Karolina; Książek, Kamil

2017-01-01

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

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

NASA Astrophysics Data System (ADS)

Bugayong, Albert; Ramos, Manuel, Jr.

2018-02-01

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

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

PubMed

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

2017-12-04

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

High reliable and stable organic field-effect transistor nonvolatile memory with a poly(4-vinyl phenol) charge trapping layer based on a pn-heterojunction active layer

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

Xiang, Lanyi; Ying, Jun; Han, Jinhua

2016-04-25

In this letter, we demonstrate a high reliable and stable organic field-effect transistor (OFET) based nonvolatile memory (NVM) with a polymer poly(4-vinyl phenol) (PVP) as the charge trapping layer. In the unipolar OFETs, the inreversible shifts of the turn-on voltage (V{sub on}) and severe degradation of the memory window (ΔV{sub on}) at programming (P) and erasing (E) voltages, respectively, block their application in NVMs. The obstacle is overcome by using a pn-heterojunction as the active layer in the OFET memory, which supplied a holes and electrons accumulating channel at the supplied P and E voltages, respectively. Both holes and electronsmore » transferring from the channels to PVP layer and overwriting the trapped charges with an opposite polarity result in the reliable bidirectional shifts of V{sub on} at P and E voltages, respectively. The heterojunction OFET exhibits excellent nonvolatile memory characteristics, with a large ΔV{sub on} of 8.5 V, desired reading (R) voltage at 0 V, reliable P/R/E/R dynamic endurance over 100 cycles and a long retention time over 10 years.« less

Reliably detectable flaw size for NDE methods that use calibration

NASA Astrophysics Data System (ADS)

Koshti, Ajay M.

2017-04-01

Probability of detection (POD) analysis is used in assessing reliably detectable flaw size in nondestructive evaluation (NDE). MIL-HDBK-1823 and associated mh18232 POD software gives most common methods of POD analysis. In this paper, POD analysis is applied to an NDE method, such as eddy current testing, where calibration is used. NDE calibration standards have known size artificial flaws such as electro-discharge machined (EDM) notches and flat bottom hole (FBH) reflectors which are used to set instrument sensitivity for detection of real flaws. Real flaws such as cracks and crack-like flaws are desired to be detected using these NDE methods. A reliably detectable crack size is required for safe life analysis of fracture critical parts. Therefore, it is important to correlate signal responses from real flaws with signal responses form artificial flaws used in calibration process to determine reliably detectable flaw size.

Reliably Detectable Flaw Size for NDE Methods that Use Calibration

NASA Technical Reports Server (NTRS)

Koshti, Ajay M.

2017-01-01

Probability of detection (POD) analysis is used in assessing reliably detectable flaw size in nondestructive evaluation (NDE). MIL-HDBK-1823 and associated mh1823 POD software gives most common methods of POD analysis. In this paper, POD analysis is applied to an NDE method, such as eddy current testing, where calibration is used. NDE calibration standards have known size artificial flaws such as electro-discharge machined (EDM) notches and flat bottom hole (FBH) reflectors which are used to set instrument sensitivity for detection of real flaws. Real flaws such as cracks and crack-like flaws are desired to be detected using these NDE methods. A reliably detectable crack size is required for safe life analysis of fracture critical parts. Therefore, it is important to correlate signal responses from real flaws with signal responses form artificial flaws used in calibration process to determine reliably detectable flaw size.

Improvement of charge-pumping electrically detected magnetic resonance and its application to silicon metal-oxide-semiconductor field-effect transistor

NASA Astrophysics Data System (ADS)

Hori, Masahiro; Tsuchiya, Toshiaki; Ono, Yukinori

2017-01-01

Charge-pumping electrically detected magnetic resonance (CP EDMR), or EDMR in the CP mode, is improved and applied to a silicon metal-oxide-semiconductor field-effect transistor (MOSFET). Real-time monitoring of the CP process reveals that high-frequency transient currents are an obstacle to signal amplification for EDMR. Therefore, we introduce cutoff circuitry, leading to a detection limit for the number of spins as low as 103 for Si MOS interface defects. With this improved method, we demonstrate that CP EDMR inherits one of the most important features of the CP method: the gate control of the energy window of the detectable interface defects for spectroscopy.

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.

Upstream migratory behaviour of wild and ranched Atlantic salmon Salmo salar at a natural obstacle in a coastal spate river.

PubMed

Kennedy, R J; Moffett, I; Allen, M M; Dawson, S M

2013-09-01

The upstream migratory behaviour of wild and ranched Atlantic salmon Salmo salar in a small Irish coastal spate river was investigated using acoustic telemetry. Prespawning migratory behaviour was investigated including movement patterns at a large natural waterfall in the lower reaches of the river. A strong diurnal pattern was observed for upstream migrants at the waterfall indicative of the need for daylight to ascend this complex natural obstacle to migration. Successful passage of the waterfall was also associated with distinct environmental conditions and no difference in migratory ability was detected between wild and ranched origin S. salar. Wild S. salar tended to exhibit a non-erratic, stepwise upstream migration pattern after ascending the waterfall while ranched S. salar had an increased probability of displaying more erratic migratory behaviour. Wild S. salar penetrated further into the river catchment than ranched S. salar, although male ranched S. salar exhibited the greatest cumulative distance moved prior to the spawning period. The management implications of escaped or released ranched S. salar and movement at natural obstacles are discussed. © 2013 The Fisheries Society of the British Isles.

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.

Obstacles Facing Veterans in Applied Sciences Programs at the Community College Level

ERIC Educational Resources Information Center

Neeley, Alexander B.

2017-01-01

The purpose of this study was to determine the presence (or absence) of barriers that hindered the ability of veteran student populations in completing degrees in the applied sciences field. Furthermore, in this study, the researcher sought to identify and to understand any detected barriers. The researcher examined the academic performances of…

Developing operation algorithms for vision subsystems in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Shikhman, M. V.; Shidlovskiy, S. V.

2018-05-01

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots.

Role of cytopathology in cancer control in low-resource settings: sub-Saharan Africa's perspective.

PubMed

Thomas, Jaiyeola

2011-03-01

Cancer is an emerging public health problem in Africa especially with increasing exposure to risky life styles, environmental carcinogens and emergence of AIDS-associated cancers. Of the WHO estimated 7.9 million cancer-related deaths in 2007 more than 72% occurred in the low- and middle-income countries and 80% presented in the late stages. To implement the WHO resolution on cancer control programs in these settings, feasible evidence-based interventions for prevention, early diagnosis and detection need to be widely introduced. Fundamental to appropriate cancer treatment and statistics is accurate diagnosis. In low-resource settings, the diagnostic techniques and procedures should be reliable, cost-effective, simple and acceptable to patients. In addition, the required equipment should be affordable, requiring minimal maintenance and with readily available consumables. Cytology, as a simple standardized low-technology procedure, fulfills these criteria and is most effective in addressing the major components of cancer control programs in these areas. The major obstacles to its widespread establishment are lack of awareness and inadequate numbers of trained personnel compounded by sociopolitical factors, poor national planning and implementation. Rather than investing in new technology or alternative screening methods, efforts should focus on the education and training of local personnel, as feasible options, to improve the chances of implementing meaningful cancer control programs.

Automated high performance liquid chromatography with on-line reduction of disulfides and chemiluminescence detection for determination of thiols and disulfides in biological fluids.

PubMed

Bai, Shouli; Chen, Qingshuo; Lu, Chao; Lin, Jin-Ming

2013-03-20

In general, the reduction of disulfide bonds with tris(2-carboxyethyl)phosphine (TCEP) is performed using off-line operation, which is not only time-consuming but also vulnerable to the spontaneous re-oxidation of thiols during sample preparation and subsequent analysis procedures. To the best of our knowledge, there has been not any case on the on-line reduction for biological disulfides coupled with high performance liquid chromatography (HPLC). In this study, these obstacles are overcome by packing Zn(II)-TCEP complexes into a home-made column. The as-synthesized Zn(II)-TCEP complexes enable efficient reduction of disulfide bonds at pH 3.0. This acidic pH value was compatible with that of the mobile phase for HPLC separation of thiols and disulfides. Therefore, using fluorosurfactant-prepared triangular gold nanoparticles as HPLC postcolumn specific chemiluminescence (CL) reagents for thiols, the feasibility of the established on-line reduction column has been confirmed for the direct identification of both thiols and disulfides by incorporating this reduction column into a single chromatographic separation. Detection limits for these analytes range from 8.3 to 25.4 nM and the linear range in a log-log plot can comprise three orders of magnitude. Finally, the utility of this automated on-line reduction of disulfides-HPLC-CL system has been demonstrated for the reliable determination of thiols and disulfides in human urine and plasma samples. Copyright © 2013 Elsevier B.V. All rights reserved.

Dental hygiene faculty calibration in the evaluation of calculus detection.

PubMed

Garland, Kandis V; Newell, Kathleen J

2009-03-01

The purpose of this pilot study was to explore the impact of faculty calibration training on intra- and interrater reliability regarding calculus detection. After IRB approval, twelve dental hygiene faculty members were recruited from a pool of twenty-two for voluntary participation and randomized into two groups. All subjects provided two pre- and two posttest scorings of calculus deposits on each of three typodonts by recording yes or no indicating if they detected calculus. Accuracy and consistency of calculus detection were evaluated using an answer key. The experimental group received three two-hour training sessions to practice a prescribed exploring sequence and technique for calculus detection. Participants immediately corrected their answers, received feedback from the trainer, and reconciled missed areas. Intra- and interrater reliability (pre- and posttest) was determined using Cohen's Kappa and compared between groups using repeated measures (split-plot) ANOVA. The groups did not differ from pre- to posttraining (intrarater reliability p=0.64; interrater reliability p=0.20). Training had no effect on reliability levels for simulated calculus detection in this study. Recommendations for future studies of faculty calibration when evaluating students include using patients for assessing rater reliability, employing larger samples at multiple sites, and assessing the impact on students' attitudes and learning outcomes.

Evacuation simulation with consideration of obstacle removal and using game theory

NASA Astrophysics Data System (ADS)

Lin, Guan-Wen; Wong, Sai-Keung

2018-06-01

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

Unpinning of spiral waves from rectangular obstacles by stimulated wave trains

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

The addition of stripes (a version of the 'horizontal-vertical illusion') increases foot clearance when crossing low-height obstacles.

PubMed

Foster, Richard J; Buckley, John G; Whitaker, David; Elliott, David B

2016-07-01

Trips over obstacles are one of the main causes of falling in older adults, with vision playing an important role in successful obstacle negotiation. We determined whether a horizontal-vertical illusion, superimposed onto low-height obstacles to create a perceived increase in obstacle height, increased foot clearances during obstacle negotiation thus reducing the likelihood of tripping. Eleven adults (mean ± 1 SD: age 27.3 ± 5.1 years) negotiated obstacles of varying heights (3, 5, 7 cm) with four different appearance conditions; two were obstacles with a horizontal-vertical illusion (vertical stripes of different thickness) superimposed on the front, one was a plain obstacle and the fourth a plain obstacle with a horizontal black line painted on the top edge. Foot clearance parameters were compared across conditions. Both illusions led to a significant increase in foot clearance when crossing the obstacle, compared to the plain condition, irrespective of obstacle height. Superimposing a horizontal-vertical illusion onto low-height obstacles can increase foot clearance, and its use on the floor section of a double-glazing door frame for example may reduce the incidence of tripping in the home. Practitioner Summary: Low-height obstacles such as the floor section of a double-glazing door frame are potential tripping hazards. In a gait lab-based study we found that a horizontal-vertical illusion superimposed onto low-height obstacles led to significantly higher foot clearances; indicating their potential as a useful safety measure.

Application of Probability of Crack Detection to Aircraft Systems Reliability.

DOT National Transportation Integrated Search

1993-08-31

This report describes three tasks related to probability of crack detection (POD) and aircraft systems reliablity. All three consider previous work in which crack growth simulations and crack detection data in the Service Difficulty Report (SDR) data...

CPSGrader: Auto-Grading and Feedback Generation for Cyber-Physical Systems Education

DTIC Science & Technology

2014-12-21

to refer to ⋃ C∈C+ Ω(C,Γ(p)) (and⋃ C∈C− Ω(C,Γ(p))). The rationale behind this choice of ρ is two-fold: 1. To increase coverage of fault detection ... fault mentioned in Section 2.3. The purpose of the test is to detect that at some time instant t0, the robot bumps into the obstacle, then turns about...sampling. 5.6 Investigating Unknown Faults Using Clustering CPSGrader works with a fixed pre-defined library of faults and associated test benches

Simplified human model and pedestrian simulation in the millimeter-wave region

NASA Astrophysics Data System (ADS)

Han, Junghwan; Kim, Seok; Lee, Tae-Yun; Ka, Min-Ho

2016-02-01

The 24 GHz and 77 GHz radar sensors have been studied as a strong candidate for advanced driver assistance systems(ADAS) because of their all-weather capability and accurate range and radial velocity measuring scheme. However, developing a reliable pedestrian recognition system hasmany obstacles due to the inaccurate and non-trivial radar responses at these high frequencies and the many combinations of clothes and accessories. To overcome these obstacles, many researchers used electromagnetic (EM) simulation to characterize the radar scattering response of a human. However, human simulation takes so long time because of the electrically huge size of a human in the millimeter-wave region. To reduce simulation time, some researchers assumed the skin of a human is the perfect electric conductor (PEC) and have simulated the PEC human model using physical optics (PO) algorithm without a specific explanation about how the human body could be modeled with PEC. In this study, the validity of the assumption that the surface of the human body is considered PEC in the EM simulation is verified, and the simulation result of the dry skin human model is compared with that of the PEC human model.

Wind turbines: current status, obstacles, trends and technologies

NASA Astrophysics Data System (ADS)

Konstantinidis, E. I.; Botsaris, P. N.

2016-11-01

The last decade the installation of wind farms around the world is spreading rapidly and wind energy has become a significant factor for promoting sustainable development. The scope of the present study is to indicate the present status of global wind power expansion as well as the current state of the art in the field of wind turbine technology. The RAM (reliability/availability/maintenance) section is also examined and the Levelized Cost of Energy for onshore/ offshore electricity production is presented. Negative consequences that go with the rapid expansion of wind power like accidents, environmental effects, etc. are highlighted. Especially visual impact to the landscape and noise pollution are some factors that provoke social reactions. Moreover, the complicated and long permitted process of a wind power plant, the high capital cost of the investment and the grid instability due to the intermittent nature of wind, are also significant obstacles in the development of the wind energy production. The current trends in the field of research and development of onshore and offshore wind power production are analyzed. Finally the present study is trying to achieve an estimation of where the wind industry targets for the years to come.

Rotational superradiant scattering in a vortex flow

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Occupancy change detection system and method

DOEpatents

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

2009-09-01

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

Co-detection: ultra-reliable nanoparticle-based electrical detection of biomolecules in the presence of large background interference.

PubMed

Liu, Yang; Gu, Ming; Alocilja, Evangelyn C; Chakrabartty, Shantanu

2010-11-15

An ultra-reliable technique for detecting trace quantities of biomolecules is reported. The technique called "co-detection" exploits the non-linear redundancy amongst synthetically patterned biomolecular logic circuits for deciphering the presence or absence of target biomolecules in a sample. In this paper, we verify the "co-detection" principle on gold-nanoparticle-based conductimetric soft-logic circuits which use a silver-enhancement technique for signal amplification. Using co-detection, we have been able to demonstrate a great improvement in the reliability of detecting mouse IgG at concentration levels that are 10(5) lower than the concentration of rabbit IgG which serves as background interference. Copyright © 2010 Elsevier B.V. All rights reserved.

Landmark navigation and autonomous landing approach with obstacle detection for aircraft

NASA Astrophysics Data System (ADS)

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

1997-06-01

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

Organ Donation From Deceased Donors: A Proactive Detection Program in Saudi Arabia.

PubMed

Shaheen, Faissal A M; Souqiyyeh, Muhammad Ziad; Attar, Besher; Ibrahim, Amal; Alsayyari, Abdulla

2015-11-01

Several challenging obstacles remain to increasing the number of organ donations from deceased patients in a hospital setting. These include medical, administrative, and ethical issues. Possible medical obstacles include the failure of early recognition of possible donors and inadequate care of potential and actual donors. To maximize the use of donated organs, proper care of the donors and expedited donor consent cannot be overemphasized. The care rendered to patients should ensure appropriate perfusion and nutrition of the organs, with meticulous follow-up until organ recovery. For example, patients involved in accidents are presumed to be healthy, but many have no available medical history on file. At the time of organ recovery, unexpected infections or malignancies can be minimized by raising the index of suspicion of the presence of serious conditions in donors, especially in donors with unknown medical history. A careful physical examination and an appropriate and aggressive laboratory investigation may disclose the cause of suspected clinical conditions in these potential donors. Individuals who work in intensive care units are the main group of health care providers directly involved in the process of organ donation. Appointing a donor coordinator in each intensive care unit could improve all aspects of organ donation. Such coordination could harmonize efforts toward the goals mentioned above and surmount the obstacles encountered during deceased-donor organ donation. Here, we describe the preliminary results of the Proactive Detection Program, a collaboration between the Saudi Center for Organ Transplantation (the national organ donation and transplant supervising center) and intensive care units of donating hospitals. With its success in Saudi Arabia, it is hoped that it will be widely adopted in other regions.

Design optimization of a fuzzy distributed generation (DG) system with multiple renewable energy sources

NASA Astrophysics Data System (ADS)

Ganesan, T.; Elamvazuthi, I.; Shaari, Ku Zilati Ku; Vasant, P.

2012-09-01

The global rise in energy demands brings major obstacles to many energy organizations in providing adequate energy supply. Hence, many techniques to generate cost effective, reliable and environmentally friendly alternative energy source are being explored. One such method is the integration of photovoltaic cells, wind turbine generators and fuel-based generators, included with storage batteries. This sort of power systems are known as distributed generation (DG) power system. However, the application of DG power systems raise certain issues such as cost effectiveness, environmental impact and reliability. The modelling as well as the optimization of this DG power system was successfully performed in the previous work using Particle Swarm Optimization (PSO). The central idea of that work was to minimize cost, minimize emissions and maximize reliability (multi-objective (MO) setting) with respect to the power balance and design requirements. In this work, we introduce a fuzzy model that takes into account the uncertain nature of certain variables in the DG system which are dependent on the weather conditions (such as; the insolation and wind speed profiles). The MO optimization in a fuzzy environment was performed by applying the Hopfield Recurrent Neural Network (HNN). Analysis on the optimized results was then carried out.

Orthogonal on-off control of radar pulses for the suppression of mutual interference

NASA Astrophysics Data System (ADS)

Kim, Yong Cheol

1998-10-01

Intelligent vehicles of the future will be guided by radars and other sensors to avoid obstacles. When multiple vehicles move simultaneously in autonomous navigational mode, mutual interference among car radars becomes a serious problem. An obstacle is illuminated with electromagnetic pulses from several radars. The signal at a radar receiver is actually a mixture of the self-reflection and the reflection of interfering pulses emitted by others. When standardized pulse- type radars are employed on vehicles for obstacle avoidance and so self-pulse and interfering pulses have identical pulse repetition interval, this SI (synchronous Interference) is very difficult to separate from the true reflection. We present a method of suppressing such a synchronous interference. By controlling the pulse emission of a radar in a binary orthogonal ON, OFF pattern, the true self-reflection can be separated from the false one. Two range maps are generated, TRM (true-reflection map) and SIM (synchronous- interference map). TRM is updated for every ON interval and SIM is updated for every OFF interval of the self-radar. SIM represents the SI of interfering radars while TRM keeps a record of a mixture of the true self-reflection and SI. Hence the true obstacles can be identified by the set subtraction operation. The performance of the proposed method is compared with that of the conventional M of N method. Bayesian analysis shows that the probability of false alarm is improved by order of 103 to approximately 106 while the deterioration in the probability of detection is negligible.

The development of an indoor mobility course for the evaluation of electronic mobility aids for persons who are visually impaired.

PubMed

Roentgen, Uta R; Gelderblom, Gert Jan; de Witte, Luc P

2012-01-01

To develop a suitable mobility course for the assessment of mobility performance as part of a user evaluation of Electronic Mobility Aids (EMA) aimed at obstacle detection and orientation. A review of the literature led to a list of critical factors for the assessment of mobility performance of persons who are visually impaired. Based upon that list, method, test situations, and determining elements were selected and presented to Dutch orientation and mobility experts. Due to expert advice and a pilot study, minor changes were made and the final version was used for the evaluation of two EMA by eight persons who are visually impaired. The results of the literature study are summarized in an overview of critical factors for the assessment of the mobility performance of persons who are visually impaired. Applied to the requirements of the above mentioned user evaluation a replicable indoor mobility course has been described in detail and tested. Based upon evidence from literature an indoor mobility course has been developed, which was sensitive to assess differences in mobility incidents and obstacle detection when using an EMA compared to the regular mobility aid. Experts' opinion confirmed its face and content validity.

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

NASA Astrophysics Data System (ADS)

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

2003-09-01

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

Development of the navigation system for the visually impaired by using white cane.

PubMed

Hirahara, Yoshiaki; Sakurai, Yusuke; Shiidu, Yuriko; Yanashima, Kenji; Magatani, Kazushige

2006-01-01

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

Regenerable Photovoltaic Devices with a Hydrogel-Embedded Microvascular Network

PubMed Central

Koo, Hyung-Jun; Velev, Orlin D.

2013-01-01

Light-driven degradation of photoactive molecules could be one of the major obstacles to stable long term operation of organic dye-based solar light harvesting devices. One solution to this problem may be mimicking the regeneration functionality of a plant leaf. We report an organic dye photovoltaic system that has been endowed with such microfluidic regeneration functionality. A hydrogel medium with embedded channels allows rapid and uniform supply of photoactive reagents by a convection-diffusion mechanism. A washing-activation cycle enables reliable replacement of the organic component in a dye-sensitized photovoltaic system. Repetitive restoration of photovoltaic performance after intensive device degradation is demonstrated. PMID:23912814

Gas turbine system simulation: An object-oriented approach

NASA Technical Reports Server (NTRS)

Drummond, Colin K.; Follen, Gregory J.; Putt, Charles W.

1993-01-01

A prototype gas turbine engine simulation has been developed that offers a generalized framework for the simulation of engines subject to steady-state and transient operating conditions. The prototype is in preliminary form, but it successfully demonstrates the viability of an object-oriented approach for generalized simulation applications. Although object oriented programming languages are-relative to FORTRAN-somewhat austere, it is proposed that gas turbine simulations of an interdisciplinary nature will benefit significantly in terms of code reliability, maintainability, and manageability. This report elucidates specific gas turbine simulation obstacles that an object-oriented framework can overcome and describes the opportunity for interdisciplinary simulation that the approach offers.

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

PubMed

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

2011-11-01

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

Obstacles for Teachers to Integrate Technology with Instruction

ERIC Educational Resources Information Center

Alenezi, Abdullah

2017-01-01

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

Influences of periodic mechanical deformation on pinned spiral waves

NASA Astrophysics Data System (ADS)

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

2014-09-01

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

Strategies for obstacle avoidance during walking in the cat.

PubMed

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

2017-08-01

Avoiding obstacles is essential for successful navigation through complex environments. This study aimed to clarify what strategies are used by a typical quadruped, the cat, to avoid obstacles during walking. Four cats walked along a corridor 2.5 m long and 25 or 15 cm wide. Obstacles, small round objects 2.5 cm in diameter and 1 cm in height, were placed on the floor in various locations. Movements of the paw were recorded with a motion capture and analysis system (Visualeyez, PTI). During walking in the wide corridor, cats' preferred strategy for avoiding a single obstacle was circumvention, during which the stride direction changed while stride duration and swing-to-stride duration ratio were preserved. Another strategy, stepping over the obstacle, was used during walking in the narrow corridor, when lateral deviations of walking trajectory were restricted. Stepping over the obstacle involved changes in two consecutive strides. The stride preceding the obstacle was shortened, and swing-to-stride ratio was reduced. The obstacle was negotiated in the next stride of increased height and normal duration and swing-to-stride ratio. During walking on a surface with multiple obstacles, both strategies were used. To avoid contact with the obstacle, cats placed the paw away from the object at a distance roughly equal to the diameter of the paw. During obstacle avoidance cats prefer to alter muscle activities without altering the locomotor rhythm. We hypothesize that a choice of the strategy for obstacle avoidance is determined by minimizing the complexity of neuro-motor processes required to achieve the behavioral goal. NEW & NOTEWORTHY In a study of feline locomotor behavior we found that the preferred strategy to avoid a small obstacle is circumvention. During circumvention, stride direction changes but length and temporal structure are preserved. Another strategy, stepping over the obstacle, is used in narrow walkways. During overstepping, two strides adjust. A stride preceding the obstacle decreases in length and duration. The following stride negotiating the obstacle increases in height while retaining normal temporal structure and nearly normal length. Copyright © 2017 the American Physiological Society.

Automatically-computed prehospital severity scores are equivalent to scores based on medic documentation.

PubMed

Reisner, Andrew T; Chen, Liangyou; McKenna, Thomas M; Reifman, Jaques

2008-10-01

Prehospital severity scores can be used in routine prehospital care, mass casualty care, and military triage. If computers could reliably calculate clinical scores, new clinical and research methodologies would be possible. One obstacle is that vital signs measured automatically can be unreliable. We hypothesized that Signal Quality Indices (SQI's), computer algorithms that differentiate between reliable and unreliable monitored physiologic data, could improve the predictive power of computer-calculated scores. In a retrospective analysis of trauma casualties transported by air ambulance, we computed the Triage Revised Trauma Score (RTS) from archived travel monitor data. We compared the areas-under-the-curve (AUC's) of receiver operating characteristic curves for prediction of mortality and red blood cell transfusion for 187 subjects with comparable quantities of good-quality and poor-quality data. Vital signs deemed reliable by SQI's led to significantly more discriminatory severity scores than vital signs deemed unreliable. We also compared automatically-computed RTS (using the SQI's) versus RTS computed from vital signs documented by medics. For the subjects in whom the SQI algorithms identified 15 consecutive seconds of reliable vital signs data (n = 350), the automatically-computed scores' AUC's were the same as the medic-based scores' AUC's. Using the Prehospital Index in place of RTS led to very similar results, corroborating our findings. SQI algorithms improve automatically-computed severity scores, and automatically-computed scores using SQI's are equivalent to medic-based scores.

Development and testing of an optimized method for DNA-based identification of jaguar (Panthera onca) and puma (Puma concolor) faecal samples for use in ecological and genetic studies.

PubMed

Haag, Taiana; Santos, Anelisie S; De Angelo, Carlos; Srbek-Araujo, Ana Carolina; Sana, Dênis A; Morato, Ronaldo G; Salzano, Francisco M; Eizirik, Eduardo

2009-07-01

The elusive nature and endangered status of most carnivore species imply that efficient approaches for their non-invasive sampling are required to allow for genetic and ecological studies. Faecal samples are a major potential source of information, and reliable approaches are needed to foster their application in this field, particularly in areas where few studies have been conducted. A major obstacle to the reliable use of faecal samples is their uncertain species-level identification in the field, an issue that can be addressed with DNA-based assays. In this study we describe a sequence-based approach that efficiently distinguishes jaguar versus puma scats, and that presents several desirable properties: (1) considerably high amplification and sequencing rates; (2) multiple diagnostic sites reliably differentiating the two focal species; (3) high information content that allows for future application in other carnivores; (4) no evidence of amplification of prey DNA; and (5) no evidence of amplification of a nuclear mitochondrial DNA insertion known to occur in the jaguar. We demonstrate the reliability and usefulness of this approach by evaluating 55 field-collected samples from four locations in the highly fragmented Atlantic Forest biome of Brazil and Argentina, and document the presence of one or both of these endangered felids in each of these areas.

Does school size affect interest for purchasing local foods in the midwest?

PubMed

Smith, Sylvia; Wleklinski, Danielle; Roth, Sara Long; Tragoudas, Ulrike

2013-04-01

Due to the recent surge in environmental consciousness and the need to address childhood obesity, Farm to School programs have gained momentum. Even though Farm to School programs have increased in popularity, many schools still fail to take advantage of the benefits from such programs. School food service employees' lack of familiarity with the benefits of Farm to School programs or the means to overcome obstacles to implement such programs, along with school size, may represent key variables that serve to explain why more schools do not purchase more local foods for their schools. This study used a convenience sampling methodology to gather information regarding food service employees' perceptions of the benefits and obstacles and their attitudes to purchasing and serving local foods in their schools. A self-administered questionnaire was used to collect data from school food service employees in southern Illinois. Data (n=151) were collected from 60 schools, representing 16 counties during the month of December, 2009. Purchasers from large- and medium-size schools perceived the "ability to know product sources" as a greater benefit to purchasing local food and perceived "cost of food," "adequate volume," "reliable supply of food quantity," "payment arrangement," and "packing material" as greater obstacles (p<0.05) compared to small schools. In addition, results indicated that food service employees were interested in receiving training to prepare and serve more local foods. Findings from this study indicate a need for continued education, development, and training to better prepare school food service purchasers in southern Illinois for how to buy more local foods to meet the 2020 legislation requiring schools to purchase at least 10% locally.

Medical messages in the media--barriers and solutions to improving medical journalism.

PubMed

Larsson, Anna; Oxman, Andrew D; Carling, Cheryl; Herrin, Jeph

2003-12-01

Medical issues are widely reported in the mass media. These reports influence the general public, policy makers and health-care professionals. This information should be valid, but is often criticized for being speculative, inaccurate and misleading. An understanding of the obstacles medical reporters meet in their work can guide strategies for improving the informative value of medical journalism. To investigate constraints on improving the informative value of medical reports in the mass media and elucidate possible strategies for addressing these. We reviewed the literature and organized focus groups, a survey of medical journalists in 37 countries, and semi-structured telephone interviews. We identified nine barriers to improving the informative value of medical journalism: lack of time, space and knowledge; competition for space and audience; difficulties with terminology; problems finding and using sources; problems with editors and commercialism. Lack of time, space and knowledge were the most common obstacles. The importance of different obstacles varied with the type of media and experience. Many health reporters feel that it is difficult to find independent experts willing to assist journalists, and also think that editors need more education in critical appraisal of medical news. Almost all of the respondents agreed that the informative value of their reporting is important. Nearly everyone wanted access to short, reliable and up-to-date background information on various topics available on the Internet. A majority (79%) was interested in participating in a trial to evaluate strategies to overcome identified constraints. Medical journalists agree that the validity of medical reporting in the mass media is important. A majority acknowledge many constraints. Mutual efforts of health-care professionals and journalists employing a variety of strategies will be needed to address these constraints.

Medical messages in the media – barriers and solutions to improving medical journalism

PubMed Central

Larsson, Anna; Oxman, Andrew D; Carling, Cheryl; Herrin, Jeph

2003-01-01

Abstract Context  Medical issues are widely reported in the mass media. These reports influence the general public, policy makers and health‐care professionals. This information should be valid, but is often criticized for being speculative, inaccurate and misleading. An understanding of the obstacles medical reporters meet in their work can guide strategies for improving the informative value of medical journalism. Objective  To investigate constraints on improving the informative value of medical reports in the mass media and elucidate possible strategies for addressing these. Design  We reviewed the literature and organized focus groups, a survey of medical journalists in 37 countries, and semi‐structured telephone interviews. Results  We identified nine barriers to improving the informative value of medical journalism: lack of time, space and knowledge; competition for space and audience; difficulties with terminology; problems finding and using sources; problems with editors and commercialism. Lack of time, space and knowledge were the most common obstacles. The importance of different obstacles varied with the type of media and experience. Many health reporters feel that it is difficult to find independent experts willing to assist journalists, and also think that editors need more education in critical appraisal of medical news. Almost all of the respondents agreed that the informative value of their reporting is important. Nearly everyone wanted access to short, reliable and up‐to‐date background information on various topics available on the Internet. A majority (79%) was interested in participating in a trial to evaluate strategies to overcome identified constraints. Conclusion  Medical journalists agree that the validity of medical reporting in the mass media is important. A majority acknowledge many constraints. Mutual efforts of health‐care professionals and journalists employing a variety of strategies will be needed to address these constraints. PMID:15040794

A Vision System For A Mars Rover

NASA Astrophysics Data System (ADS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1987-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

A vision system for a Mars rover

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1988-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

An evaluative instrument based on patient's perception of health for the monitoring of primary medical care in rural areas in Thailand.

PubMed

Suttapreyasri, D; Hiranraks, A; Chaowanapreecha, P; Temahiwongse, T; Suntarajarn, T; Watana, S

1990-01-01

The evaluative instrument for the monitoring of primary medical care services in rural areas in Thailand, consisting of health risk, sickness-related dysfunction, health-specific coping index and health care of the patient's family, was developed and tested by 2,394 patients in the 4 regions. The patients had high health risk (70.8 +/- 14.0), high health-specific coping index (71.3 +/- 16.4), high health care of patient's family (76.1 +/- 10.0), and very low sickness-related dysfunction (13.4 +/- 15.6). The average time used for assessing the patients' perception of health was 37.9 minutes by sanitarians, 32.9 midwives, 29.9 by nurses and 24.8 by medical doctors. The reliability of the instrument was tested by paired interviewers; sanitarians and midwives, medical doctors and nurses, and was highly reliable for health risk and health-specific coping index. Language was the major obstacle in interviewing in the South.

Highly Conductive and Reliable Copper-Filled Isotropically Conductive Adhesives Using Organic Acids for Oxidation Prevention

NASA Astrophysics Data System (ADS)

Chen, Wenjun; Deng, Dunying; Cheng, Yuanrong; Xiao, Fei

2015-07-01

The easy oxidation of copper is one critical obstacle to high-performance copper-filled isotropically conductive adhesives (ICAs). In this paper, a facile method to prepare highly reliable, highly conductive, and low-cost ICAs is reported. The copper fillers were treated by organic acids for oxidation prevention. Compared with ICA filled with untreated copper flakes, the ICA filled with copper flakes treated by different organic acids exhibited much lower bulk resistivity. The lowest bulk resistivity achieved was 4.5 × 10-5 Ω cm, which is comparable to that of commercially available Ag-filled ICA. After 500 h of 85°C/85% relative humidity (RH) aging, the treated ICAs showed quite stable bulk resistivity and relatively stable contact resistance. Through analyzing the results of x-ray diffraction, x-ray photoelectron spectroscopy, and thermogravimetric analysis, we found that, with the assistance of organic acids, the treated copper flakes exhibited resistance to oxidation, thus guaranteeing good performance.

IDLN-MSP: Idiolocal normalization of real-time methylation-specific PCR for genetic imbalanced DNA specimens.

PubMed

Santourlidis, Simeon; Ghanjati, Foued; Beermann, Agnes; Hermanns, Thomas; Poyet, Cédric

2016-02-01

Sensitive, accurate, and reliable measurements of tumor cell-specific DNA methylation changes are of fundamental importance in cancer diagnosis, prognosis, and monitoring. Real-time methylation-specific PCR (MSP) using intercalating dyes is an established method of choice for this purpose. Here we present a simple but crucial adaptation of this widely applied method that overcomes a major obstacle: genetic abnormalities in the DNA samples, such as aneuploidy or copy number variations, that could result in inaccurate results due to improper normalization if the copy numbers of the target and reference sequences are not the same. In our idiolocal normalization (IDLN) method, the locus for the normalizing, methylation-independent reference amplification is chosen close to the locus of the methylation-dependent target amplification. This ensures that the copy numbers of both the target and reference sequences will be identical in most cases if they are close enough to each other, resulting in accurate normalization and reliable comparative measurements of DNA methylation in clinical samples when using real-time MSP.

Need for Improved Methods to Collect and Present Spatial Epidemiologic Data for Vectorborne Diseases

PubMed Central

Eisen, Rebecca J.

2007-01-01

Improved methods for collection and presentation of spatial epidemiologic data are needed for vectorborne diseases in the United States. Lack of reliable data for probable pathogen exposure site has emerged as a major obstacle to the development of predictive spatial risk models. Although plague case investigations can serve as a model for how to ideally generate needed information, this comprehensive approach is cost-prohibitive for more common and less severe diseases. New methods are urgently needed to determine probable pathogen exposure sites that will yield reliable results while taking into account economic and time constraints of the public health system and attending physicians. Recent data demonstrate the need for a change from use of the county spatial unit for presentation of incidence of vectorborne diseases to more precise ZIP code or census tract scales. Such fine-scale spatial risk patterns can be communicated to the public and medical community through Web-mapping approaches. PMID:18258029

Optimal Sensor Location Design for Reliable Fault Detection in Presence of False Alarms

PubMed Central

Yang, Fan; Xiao, Deyun; Shah, Sirish L.

2009-01-01

To improve fault detection reliability, sensor location should be designed according to an optimization criterion with constraints imposed by issues of detectability and identifiability. Reliability requires the minimization of undetectability and false alarm probability due to random factors on sensor readings, which is not only related with sensor readings but also affected by fault propagation. This paper introduces the reliability criteria expression based on the missed/false alarm probability of each sensor and system topology or connectivity derived from the directed graph. The algorithm for the optimization problem is presented as a heuristic procedure. Finally, a boiler system is illustrated using the proposed method. PMID:22291524

The Reliability and Effectiveness of a Radar-Based Animal Detection System

DOT National Transportation Integrated Search

2017-09-22

This document contains data on the reliability and effectiveness of an animal detection system along U.S. Hwy 95 near Bonners Ferry, Idaho. The system uses a Doppler radar to detect large mammals (e.g., deer and elk) when they approach the highway. T...

The Reliability and Effectiveness of a Radar-Based Animal Detection System

DOT National Transportation Integrated Search

2017-09-01

This document contains data on the reliability and effectiveness of an animal detection system along U.S. Hwy 95 near Bonners Ferry, Idaho. The system uses a Doppler radar to detect large mammals (e.g., deer and elk) when they approach the highway. T...

A comparative study and application of continuously variable transmission to a single main rotor heavy lift helicopter

NASA Astrophysics Data System (ADS)

Hameer, Sameer

Rotorcraft transmission design is limited by empirical weight trends that are proportional to the power/torque raised to the two-thirds coupled with the relative inexperience industry has with the employment of variable speed transmission to heavy lift helicopters of the order of 100,000 lbs gross weight and 30,000 installed horsepower. The advanced rotorcraft transmission program objectives are to reduce transmission weight by at least 25%, reduce sound pressure levels by at least 10 dB, have a 5000 hr mean time between removal, and also incorporate the use of split torque technology in rotorcraft drivetrains of the future. The major obstacle that challenges rotorcraft drivetrain design is the selection, design, and optimization of a variable speed transmission in the goal of achieving a 50% reduction in rotor speed and its ability to handle high torque with light weight gears, as opposed to using a two-speed transmission which has inherent structural problems and is highly unreliable due to the embodiment of the traction type transmission, complex clutch and brake system. This thesis selects a nontraction pericyclic continuously variable transmission (P-CVT) as the best approach for a single main rotor heavy lift helicopter. The objective is to target and overcome the above mentioned obstacle for drivetrain design. Overcoming this obstacle provides advancement in the state of the art of drivetrain design over existing planetary and split torque transmissions currently used in helicopters. The goal of the optimization process was to decrease weight, decrease noise, increase efficiency, and increase safety and reliability. The objective function utilized the minimization of the weight and the major constraint is the tooth bending stress of the facegears. The most important parameters of the optimization process are weight, maintainability, and reliability which are cross-functionally related to each other, and these parameters are related to the torques and operating speeds. The analysis of the split torque type P-CVT achieved a weight reduction of 42.5% and 40.7% over planetary and split torque transmissions respectively. In addition, a 19.5 dB sound pressure level reduction was achieved using active gear struts, and also the use of fabricated steel truss like housing provided a higher maintainability and reliability, low cost, and low weight over cast magnesium housing currently employed in helicopters. The static finite element analysis of the split torque type P-CVT, both 2-D and 3-D, yielded stresses below the allowable bending stress of the material. The goal of the finite element analysis is to see if the designed product has met its functional requirements. The safety assessment of the split torque type P-CVT yielded a 99% probability of mission success based on a Monte Carlo simulation using stochastic-petri net analysis and a failure hazard analysis. This was followed by an FTA/RBD analysis which yielded an overall system failure rate of 140.35 failures per million hours, and a preliminary certification and time line of certification was performed. The use of spherical facegears and pericyclic kinematics has advanced the state of the art in drivetrain design primarily in the reduction of weight and noise coupled with high safety, reliability, and efficiency.

Fault Detection for Automotive Shock Absorber

NASA Astrophysics Data System (ADS)

Hernandez-Alcantara, Diana; Morales-Menendez, Ruben; Amezquita-Brooks, Luis

2015-11-01

Fault detection for automotive semi-active shock absorbers is a challenge due to the non-linear dynamics and the strong influence of the disturbances such as the road profile. First obstacle for this task, is the modeling of the fault, which has been shown to be of multiplicative nature. Many of the most widespread fault detection schemes consider additive faults. Two model-based fault algorithms for semiactive shock absorber are compared: an observer-based approach and a parameter identification approach. The performance of these schemes is validated and compared using a commercial vehicle model that was experimentally validated. Early results shows that a parameter identification approach is more accurate, whereas an observer-based approach is less sensible to parametric uncertainty.

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

Lee, Jaesun, E-mail: jaesun@pusan.ac.kr, E-mail: jpp@pusan.ac.kr; Park, Junpil, E-mail: jaesun@pusan.ac.kr, E-mail: jpp@pusan.ac.kr; Cho, Younho, E-mail: mechcyh@pusan.ac.kr

The nuclear power plant inspection is very important for the safety issue. However due to some radiation and geometric problems, the detection of CRDM(Control Rod Drive Mechanism) can be very difficult by using conventional Ultrasonic Testing method. Also the shrink fit boundary condition can also be an obstacle for the inspection in this paper, instead of conventional Ultrasonic Testing, guided wave was used for the detection of some complicated structures. The CRDM nozzle was installed in reactor head with perfect shrink fit condition by using stainless steel. The wave amplitude distribution on the circumferential direction was calculated with various boundarymore » conditions and the experimental result shows a possibility of the defect detection on J-groove weld.« less

High Throughput Sequencing for Detection of Foodborne Pathogens

PubMed Central

Sekse, Camilla; Holst-Jensen, Arne; Dobrindt, Ulrich; Johannessen, Gro S.; Li, Weihua; Spilsberg, Bjørn; Shi, Jianxin

2017-01-01

High-throughput sequencing (HTS) is becoming the state-of-the-art technology for typing of microbial isolates, especially in clinical samples. Yet, its application is still in its infancy for monitoring and outbreak investigations of foods. Here we review the published literature, covering not only bacterial but also viral and Eukaryote food pathogens, to assess the status and potential of HTS implementation to inform stakeholders, improve food safety and reduce outbreak impacts. The developments in sequencing technology and bioinformatics have outpaced the capacity to analyze and interpret the sequence data. The influence of sample processing, nucleic acid extraction and purification, harmonized protocols for generation and interpretation of data, and properly annotated and curated reference databases including non-pathogenic “natural” strains are other major obstacles to the realization of the full potential of HTS in analytical food surveillance, epidemiological and outbreak investigations, and in complementing preventive approaches for the control and management of foodborne pathogens. Despite significant obstacles, the achieved progress in capacity and broadening of the application range over the last decade is impressive and unprecedented, as illustrated with the chosen examples from the literature. Large consortia, often with broad international participation, are making coordinated efforts to cope with many of the mentioned obstacles. Further rapid progress can therefore be prospected for the next decade. PMID:29104564

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

PubMed Central

Gottlieb, Yoav; Shima, Tal

2015-01-01

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

Obstacles to prior art searching by the trilateral patent offices: empirical evidence from International Search Reports.

PubMed

Wada, Tetsuo

Despite many empirical studies having been carried out on examiner patent citations, few have scrutinized the obstacles to prior art searching when adding patent citations during patent prosecution at patent offices. This analysis takes advantage of the longitudinal gap between an International Search Report (ISR) as required by the Patent Cooperation Treaty (PCT) and subsequent national examination procedures. We investigate whether several kinds of distance actually affect the probability that prior art is detected at the time of an ISR; this occurs much earlier than in national phase examinations. Based on triadic PCT applications between 2002 and 2005 for the trilateral patent offices (the European Patent Office, the US Patent and Trademark Office, and the Japan Patent Office) and their family-level citations made by the trilateral offices, we find evidence that geographical distance negatively affects the probability of capture of prior patents in an ISR. In addition, the technological complexity of an application negatively affects the probability of capture, whereas the volume of forward citations of prior art affects it positively. These results demonstrate the presence of obstacles to searching at patent offices, and suggest ways to design work sharing by patent offices, such that the duplication of search costs arises only when patent office search horizons overlap.

Bayes filter modification for drivability map estimation with observations from stereo vision

NASA Astrophysics Data System (ADS)

Panchenko, Aleksei; Prun, Viktor; Turchenkov, Dmitri

2017-02-01

Reconstruction of a drivability map for a moving vehicle is a well-known research topic in applied robotics. Here creating such a map for an autonomous truck on a generally planar surface containing separate obstacles is considered. The source of measurements for the truck is a calibrated pair of cameras. The stereo system detects and reconstructs several types of objects, such as road borders, other vehicles, pedestrians and general tall objects or highly saturated objects (e.g. road cone). For creating a robust mapping module we use a modification of Bayes filtering, which introduces some novel techniques for occupancy map update step. Specifically, our modified version becomes applicable to the presence of false positive measurement errors, stereo shading and obstacle occlusion. We implemented the technique and achieved real-time 15 FPS computations on an industrial shake proof PC. Our real world experiments show the positive effect of the filtering step.

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.

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

PubMed

Shim, Youngbo; Kim, Gon-Woo

2018-03-29

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

Low-Altitude Operation of Unmanned Rotorcraft

NASA Astrophysics Data System (ADS)

Scherer, Sebastian

Currently deployed unmanned rotorcraft rely on preplanned missions or teleoperation and do not actively incorporate information about obstacles, landing sites, wind, position uncertainty, and other aerial vehicles during online motion planning. Prior work has successfully addressed some tasks such as obstacle avoidance at slow speeds, or landing at known to be good locations. However, to enable autonomous missions in cluttered environments, the vehicle has to react quickly to previously unknown obstacles, respond to changing environmental conditions, and find unknown landing sites. We consider the problem of enabling autonomous operation at low-altitude with contributions to four problems. First we address the problem of fast obstacle avoidance for a small aerial vehicle and present results from over a 1000 rims at speeds up to 10 m/s. Fast response is achieved through a reactive algorithm whose response is learned based on observing a pilot. Second, we show an algorithm to update the obstacle cost expansion for path planning quickly and demonstrate it on a micro aerial vehicle, and an autonomous helicopter avoiding obstacles. Next, we examine the mission of finding a place to land near a ground goal. Good landing sites need to be detected and found and the final touch down goal is unknown. To detect the landing sites we convey a model based algorithm for landing sites that incorporates many helicopter relevant constraints such as landing sites, approach, abort, and ground paths in 3D range data. The landing site evaluation algorithm uses a patch-based coarse evaluation for slope and roughness, and a fine evaluation that fits a 3D model of the helicopter and landing gear to calculate a goodness measure. The data are evaluated in real-time to enable the helicopter to decide on a place to land. We show results from urban, vegetated, and desert environments, and demonstrate the first autonomous helicopter that selects its own landing sites. We present a generalized planning framework that enables reaching a goal point, searching for unknown landing sites, and approaching a landing zone. In the framework, sub-objective functions, constraints, and a state machine define the mission and behavior of an UAV. As the vehicle gathers information by moving through the environment, the objective functions account for this new information. The operator in this framework can directly specify his intent as an objective function that defines the mission rather than giving a sequence of pre-specified goal points. This allows the robot to react to new information received and adjust its path accordingly. The objective is used in a combined coarse planning and trajectory optimization algorithm to determine the best patch the robot should take. We show simulated results for several different missions and in particular focus on active landing zone search. We presented several effective approaches for perception and action for low-altitude flight and demonstrated their effectiveness in field experiments on three autonomous aerial vehicles: a 1m quadrocopter, a 36m helicopter, and a hill-size helicopter. These techniques permit rotorcraft to operate where they have their greatest advantage: In unstructured, unknown environments at low-altitude.

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

NASA Technical Reports Server (NTRS)

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

1976-01-01

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

The quantum limit for gravitational-wave detectors and methods of circumventing it

NASA Technical Reports Server (NTRS)

Thorne, K. S.; Caves, C. M.; Sandberg, V. D.; Zimmermann, M.; Drever, R. W. P.

1979-01-01

The Heisenberg uncertainty principle prevents the monitoring of the complex amplitude of a mechanical oscillator more accurately than a certain limit value. This 'quantum limit' is a serious obstacle to the achievement of a 10 to the -21st gravitational-wave detection sensitivity. This paper examines the principles of the back-action evasion technique and finds that this technique may be able to overcome the problem of the quantum limit. Back-action evasion does not solve, however, other problems of detection, such as weak coupling, large amplifier noise, and large Nyquist noise.

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

NASA Technical Reports Server (NTRS)

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

1975-01-01

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

Path planning and execution monitoring for a planetary rover

NASA Technical Reports Server (NTRS)

Gat, Erann; Slack, Marc G.; Miller, David P.; Firby, R. James

1990-01-01

A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.

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

NASA Astrophysics Data System (ADS)

Togun, Hussein

2016-03-01

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

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.

A study of fault prediction and reliability assessment in the SEL environment

NASA Technical Reports Server (NTRS)

Basili, Victor R.; Patnaik, Debabrata

1986-01-01

An empirical study on estimation and prediction of faults, prediction of fault detection and correction effort, and reliability assessment in the Software Engineering Laboratory environment (SEL) is presented. Fault estimation using empirical relationships and fault prediction using curve fitting method are investigated. Relationships between debugging efforts (fault detection and correction effort) in different test phases are provided, in order to make an early estimate of future debugging effort. This study concludes with the fault analysis, application of a reliability model, and analysis of a normalized metric for reliability assessment and reliability monitoring during development of software.

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

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

Reliability analysis and fault-tolerant system development for a redundant strapdown inertial measurement unit. [inertial platforms

NASA Technical Reports Server (NTRS)

Motyka, P.

1983-01-01

A methodology is developed and applied for quantitatively analyzing the reliability of a dual, fail-operational redundant strapdown inertial measurement unit (RSDIMU). A Markov evaluation model is defined in terms of the operational states of the RSDIMU to predict system reliability. A 27 state model is defined based upon a candidate redundancy management system which can detect and isolate a spectrum of failure magnitudes. The results of parametric studies are presented which show the effect on reliability of the gyro failure rate, both the gyro and accelerometer failure rates together, false alarms, probability of failure detection, probability of failure isolation, and probability of damage effects and mission time. A technique is developed and evaluated for generating dynamic thresholds for detecting and isolating failures of the dual, separated IMU. Special emphasis is given to the detection of multiple, nonconcurrent failures. Digital simulation time histories are presented which show the thresholds obtained and their effectiveness in detecting and isolating sensor failures.

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

PubMed

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

2017-12-21

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

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

PubMed

Chen, Xueye; Zhao, Zhongyi

2017-04-29

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

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

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

Exploring performance obstacles of intensive care nurses.

PubMed

Gurses, Ayse P; Carayon, Pascale

2009-05-01

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

Detecting long-term growth trends using tree rings: a critical evaluation of methods.

PubMed

Peters, Richard L; Groenendijk, Peter; Vlam, Mart; Zuidema, Pieter A

2015-05-01

Tree-ring analysis is often used to assess long-term trends in tree growth. A variety of growth-trend detection methods (GDMs) exist to disentangle age/size trends in growth from long-term growth changes. However, these detrending methods strongly differ in approach, with possible implications for their output. Here, we critically evaluate the consistency, sensitivity, reliability and accuracy of four most widely used GDMs: conservative detrending (CD) applies mathematical functions to correct for decreasing ring widths with age; basal area correction (BAC) transforms diameter into basal area growth; regional curve standardization (RCS) detrends individual tree-ring series using average age/size trends; and size class isolation (SCI) calculates growth trends within separate size classes. First, we evaluated whether these GDMs produce consistent results applied to an empirical tree-ring data set of Melia azedarach, a tropical tree species from Thailand. Three GDMs yielded similar results - a growth decline over time - but the widely used CD method did not detect any change. Second, we assessed the sensitivity (probability of correct growth-trend detection), reliability (100% minus probability of detecting false trends) and accuracy (whether the strength of imposed trends is correctly detected) of these GDMs, by applying them to simulated growth trajectories with different imposed trends: no trend, strong trends (-6% and +6% change per decade) and weak trends (-2%, +2%). All methods except CD, showed high sensitivity, reliability and accuracy to detect strong imposed trends. However, these were considerably lower in the weak or no-trend scenarios. BAC showed good sensitivity and accuracy, but low reliability, indicating uncertainty of trend detection using this method. Our study reveals that the choice of GDM influences results of growth-trend studies. We recommend applying multiple methods when analysing trends and encourage performing sensitivity and reliability analysis. Finally, we recommend SCI and RCS, as these methods showed highest reliability to detect long-term growth trends. © 2014 John Wiley & Sons Ltd.

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

PubMed Central

Kim, Hoyeon; Cheang, U. Kei

2017-01-01

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

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

PubMed

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

2017-01-01

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

Age determination of unaccompanied asylum seeking minors in the European Union: a health law perspective.

PubMed

Abbing, Henriette D C Roscam

2011-01-01

In the European Union, unaccompanied asylum seekers below 18 years of age are entitled to specific treatment. Age assessment practices to verify the age-statement by the asylum seeker differ between EU Member States. Medical methods in use raise questions about accuracy, reliability and safety. The medical, legal and ethical acceptability of invasive methods (notably X-rays) in particular is controversial. Human rights are at stake. The lack of common practices results in different levels of protection (discrimination). The absence ofstandardisation is an obstacle for the functioning of the Common European Asylum System. EU Best Practice Guidelines should remedy the situation; such guidelines should reflect the best interest of the child.

Key management and encryption under the bounded storage model.

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

Draelos, Timothy John; Neumann, William Douglas; Lanzone, Andrew J.

2005-11-01

There are several engineering obstacles that need to be solved before key management and encryption under the bounded storage model can be realized. One of the critical obstacles hindering its adoption is the construction of a scheme that achieves reliable communication in the event that timing synchronization errors occur. One of the main accomplishments of this project was the development of a new scheme that solves this problem. We show in general that there exist message encoding techniques under the bounded storage model that provide an arbitrarily small probability of transmission error. We compute the maximum capacity of this channelmore » using the unsynchronized key-expansion as side-channel information at the decoder and provide tight lower bounds for a particular class of key-expansion functions that are pseudo-invariant to timing errors. Using our results in combination with Dziembowski et al. [11] encryption scheme we can construct a scheme that solves the timing synchronization error problem. In addition to this work we conducted a detailed case study of current and future storage technologies. We analyzed the cost, capacity, and storage data rate of various technologies, so that precise security parameters can be developed for bounded storage encryption schemes. This will provide an invaluable tool for developing these schemes in practice.« less

Advances in developing rapid, reliable and portable detection systems for alcohol.

PubMed

Thungon, Phurpa Dema; Kakoti, Ankana; Ngashangva, Lightson; Goswami, Pranab

2017-11-15

Development of portable, reliable, sensitive, simple, and inexpensive detection system for alcohol has been an instinctive demand not only in traditional brewing, pharmaceutical, food and clinical industries but also in rapidly growing alcohol based fuel industries. Highly sensitive, selective, and reliable alcohol detections are currently amenable typically through the sophisticated instrument based analyses confined mostly to the state-of-art analytical laboratory facilities. With the growing demand of rapid and reliable alcohol detection systems, an all-round attempt has been made over the past decade encompassing various disciplines from basic and engineering sciences. Of late, the research for developing small-scale portable alcohol detection system has been accelerated with the advent of emerging miniaturization techniques, advanced materials and sensing platforms such as lab-on-chip, lab-on-CD, lab-on-paper etc. With these new inter-disciplinary approaches along with the support from the parallel knowledge growth on rapid detection systems being pursued for various targets, the progress on translating the proof-of-concepts to commercially viable and environment friendly portable alcohol detection systems is gaining pace. Here, we summarize the progress made over the years on the alcohol detection systems, with a focus on recent advancement towards developing portable, simple and efficient alcohol sensors. Copyright © 2017 Elsevier B.V. All rights reserved.

Discrete Deterministic and Stochastic Petri Nets

NASA Technical Reports Server (NTRS)

Zijal, Robert; Ciardo, Gianfranco

1996-01-01

Petri nets augmented with timing specifications gained a wide acceptance in the area of performance and reliability evaluation of complex systems exhibiting concurrency, synchronization, and conflicts. The state space of time-extended Petri nets is mapped onto its basic underlying stochastic process, which can be shown to be Markovian under the assumption of exponentially distributed firing times. The integration of exponentially and non-exponentially distributed timing is still one of the major problems for the analysis and was first attacked for continuous time Petri nets at the cost of structural or analytical restrictions. We propose a discrete deterministic and stochastic Petri net (DDSPN) formalism with no imposed structural or analytical restrictions where transitions can fire either in zero time or according to arbitrary firing times that can be represented as the time to absorption in a finite absorbing discrete time Markov chain (DTMC). Exponentially distributed firing times are then approximated arbitrarily well by geometric distributions. Deterministic firing times are a special case of the geometric distribution. The underlying stochastic process of a DDSPN is then also a DTMC, from which the transient and stationary solution can be obtained by standard techniques. A comprehensive algorithm and some state space reduction techniques for the analysis of DDSPNs are presented comprising the automatic detection of conflicts and confusions, which removes a major obstacle for the analysis of discrete time models.

Assessment of NDE reliability data

NASA Technical Reports Server (NTRS)

Yee, B. G. W.; Couchman, J. C.; Chang, F. H.; Packman, D. F.

1975-01-01

Twenty sets of relevant nondestructive test (NDT) reliability data were identified, collected, compiled, and categorized. A criterion for the selection of data for statistical analysis considerations was formulated, and a model to grade the quality and validity of the data sets was developed. Data input formats, which record the pertinent parameters of the defect/specimen and inspection procedures, were formulated for each NDE method. A comprehensive computer program was written and debugged to calculate the probability of flaw detection at several confidence limits by the binomial distribution. This program also selects the desired data sets for pooling and tests the statistical pooling criteria before calculating the composite detection reliability. An example of the calculated reliability of crack detection in bolt holes by an automatic eddy current method is presented.

Mapping multisensory parietal face and body areas in humans.

PubMed

Huang, Ruey-Song; Chen, Ching-fu; Tran, Alyssa T; Holstein, Katie L; Sereno, Martin I

2012-10-30

Detection and avoidance of impending obstacles is crucial to preventing head and body injuries in daily life. To safely avoid obstacles, locations of objects approaching the body surface are usually detected via the visual system and then used by the motor system to guide defensive movements. Mediating between visual input and motor output, the posterior parietal cortex plays an important role in integrating multisensory information in peripersonal space. We used functional MRI to map parietal areas that see and feel multisensory stimuli near or on the face and body. Tactile experiments using full-body air-puff stimulation suits revealed somatotopic areas of the face and multiple body parts forming a higher-level homunculus in the superior posterior parietal cortex. Visual experiments using wide-field looming stimuli revealed retinotopic maps that overlap with the parietal face and body areas in the postcentral sulcus at the most anterior border of the dorsal visual pathway. Starting at the parietal face area and moving medially and posteriorly into the lower-body areas, the median of visual polar-angle representations in these somatotopic areas gradually shifts from near the horizontal meridian into the lower visual field. These results suggest the parietal face and body areas fuse multisensory information in peripersonal space to guard an individual from head to toe.

Reflexive obstacle avoidance for kinematically-redundant manipulators

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

NASA Astrophysics Data System (ADS)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

Development of factors to convert frequency to rate for β-cell replication and apoptosis quantified by time-lapse video microscopy and immunohistochemistry

PubMed Central

Saisho, Yoshifumi; Manesso, Erica; Gurlo, Tatyana; Huang, Chang-jiang; Toffolo, Gianna M.; Cobelli, Claudio; Butler, Peter C.

2009-01-01

An obstacle to development of methods to quantify β-cell turnover from pancreas tissue is the lack of conversion factors for the frequency of β-cell replication or apoptosis detected by immunohistochemistry to rates of replication or apoptosis. We addressed this obstacle in islets from 1-mo-old rats by quantifying the relationship between the rate of β-cell replication observed directly by time-lapse video microscopy (TLVM) and the frequency of β-cell replication in the same islets detected by immunohistochemistry using antibodies against Ki67 and insulin in the same islets fixed immediately after TLVM. Similarly, we quantified the rate of β-cell apoptosis by TLVM and then the frequency of apoptosis in the same islets using TdT-mediated dUTP nick-end labeling and insulin. Conversion factors were developed by regression analysis. The conversion factor from Ki67 labeling frequency (%) to actual replication rate (%events/h) is 0.025 ± 0.003 h−1. The conversion factor from TdT-mediated dUTP nick-end labeling frequency (%) to actual apoptosis rate (%events/h) is 0.41 ± 0.05 h−1. These conversion factors will permit development of models to evaluate β-cell turnover in fixed pancreas tissue. PMID:18940937

Are Health Videos from Hospitals, Health Organizations, and Active Users Available to Health Consumers? An Analysis of Diabetes Health Video Ranking in YouTube

PubMed Central

Borras-Morell, Jose-Enrique; Martinez-Millana, Antonio; Karlsen, Randi

2017-01-01

Health consumers are increasingly using the Internet to search for health information. The existence of overloaded, inaccurate, obsolete, or simply incorrect health information available on the Internet is a serious obstacle for finding relevant and good-quality data that actually helps patients. Search engines of multimedia Internet platforms are thought to help users to find relevant information according to their search. But, is the information recovered by those search engines from quality sources? Is the health information uploaded from reliable sources, such as hospitals and health organizations, easily available to patients? The availability of videos is directly related to the ranking position in YouTube search. The higher the ranking of the information is, the more accessible it is. The aim of this study is to analyze the ranking evolution of diabetes health videos on YouTube in order to discover how videos from reliable channels, such as hospitals and health organizations, are evolving in the ranking. The analysis was done by tracking the ranking of 2372 videos on a daily basis during a 30-day period using 20 diabetes-related queries. Our conclusions are that the current YouTube algorithm favors the presence of reliable videos in upper rank positions in diabetes-related searches. PMID:28243314

Are Health Videos from Hospitals, Health Organizations, and Active Users Available to Health Consumers? An Analysis of Diabetes Health Video Ranking in YouTube.

PubMed

Fernandez-Llatas, Carlos; Traver, Vicente; Borras-Morell, Jose-Enrique; Martinez-Millana, Antonio; Karlsen, Randi

2017-01-01

Health consumers are increasingly using the Internet to search for health information. The existence of overloaded, inaccurate, obsolete, or simply incorrect health information available on the Internet is a serious obstacle for finding relevant and good-quality data that actually helps patients. Search engines of multimedia Internet platforms are thought to help users to find relevant information according to their search. But, is the information recovered by those search engines from quality sources? Is the health information uploaded from reliable sources, such as hospitals and health organizations, easily available to patients? The availability of videos is directly related to the ranking position in YouTube search. The higher the ranking of the information is, the more accessible it is. The aim of this study is to analyze the ranking evolution of diabetes health videos on YouTube in order to discover how videos from reliable channels, such as hospitals and health organizations, are evolving in the ranking. The analysis was done by tracking the ranking of 2372 videos on a daily basis during a 30-day period using 20 diabetes-related queries. Our conclusions are that the current YouTube algorithm favors the presence of reliable videos in upper rank positions in diabetes-related searches.

A Comparison of the Fagerström Test for Cigarette Dependence and Cigarette Dependence Scale in a Treatment-Seeking Sample of Pregnant Smokers

PubMed Central

Singleton, Edward G.; Heishman, Stephen J.

2016-01-01

Introduction: Valid and reliable brief measures of cigarette dependence are essential for research purposes and effective clinical care. Two widely-used brief measures of cigarette dependence are the six-item Fagerström Test for Cigarette Dependence (FTCD) and five-item Cigarette Dependence Scale (CDS-5). Their respective metric characteristics among pregnant smokers have not yet been studied. Methods: This was a secondary analysis of data of pregnant smokers (N = 476) enrolled in a smoking cessation study. We assessed internal consistency, reliability, and examined correlations between the instruments and smoking-related behaviors for construct validity. We evaluated predictive validity by testing how well the measures predict abstinence 2 weeks after quit date. Results: Cronbach’s alpha coefficient for the CDS-5 was 0.62 and for the FTCD 0.55. Measures were strongly correlated with each other, although FTCD, but not CDS-5, was associated with saliva cotinine concentration. The FTCD, CDS-5, craving to smoke, and withdrawal symptoms failed to predict smoking status 2 weeks following the quit date. Conclusions: Suboptimal reliability estimates and failure to predict short-term smoking call into question the value of including either of the brief measures in studies that aim to explain the obstacles to smoking cessation during pregnancy. PMID:25995159

Retrocausation acting in the single-electron double-slit interference experiment

NASA Astrophysics Data System (ADS)

Hokkyo, Noboru

The single electron double-slit interference experiment is given a time-symmetric interpretation and visualization in terms of the intermediate amplitude of transition between the particle source and the detection point. It is seen that the retarded (causal) amplitude of the electron wave expanding from the source shows an advanced (retrocausal) bifurcation and merging in passing through the double-slit and converges towards the detection point as if guided by the advanced (retrocausal) wave from the detected electron. An experiment is proposed to confirm the causation-retrocausation symmetry of the electron behavior by observing the insensitivity of the interference pattern to non-magnetic obstacles placed in the shadows of the retarded and advanced waves appearing on the rear and front sides of the double-slit.

Principle, system, and applications of tip-enhanced Raman spectroscopy

NASA Astrophysics Data System (ADS)

Zhang, MingQian; Wang, Rui; Wu, XiaoBin; Wang, Jia

2012-08-01

Raman spectroscopy is a powerful technique in chemical information characterization. However, this spectral method is subject to two obstacles in nano-material detection. One is diffraction limited spatial resolution, and the other is its inherent small Raman cross section and weak signaling. To resolve these problems, a new approach has been developed, denoted as tip-enhanced Raman spectroscopy (TERS). TERS is capable of high-resolution and high-sensitivity detection and demonstrated to be a promising spectroscopic and micro-topographic method to characterize nano-materials and nanostructures. In this paper, the principle and experimental system of TERS are discussed. The latest application of TERS in molecule detection, biological specimen identification, nanao-material characterization, and semi-conductor material determination with some specific experimental examples are presented.

A study on pseudo interface wave technique for CRDM weld defects in nuclear power plants

NASA Astrophysics Data System (ADS)

Lee, Jaesun; Park, Junpil; Cho, Younho; Huh, Hyung; Park, Keun-Bae; Kim, Dong-Ok

2015-03-01

The nuclear power plant inspection is very important for the safety issue. However due to some radiation and geometric problems, the detection of CRDM(Control Rod Drive Mechanism) can be very difficult by using conventional Ultrasonic Testing method. Also the shrink fit boundary condition can also be an obstacle for the inspection in this paper, instead of conventional Ultrasonic Testing, guided wave was used for the detection of some complicated structures. The CRDM nozzle was installed in reactor head with perfect shrink fit condition by using stainless steel. The wave amplitude distribution on the circumferential direction was calculated with various boundary conditions and the experimental result shows a possibility of the defect detection on J-groove weld.

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

PubMed

Wilmut, K; Barnett, A L

2017-05-01

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

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

PubMed

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

2014-01-01

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

Detection limit used for early warning in public health surveillance.

PubMed

Kobari, Tsuyoshi; Iwaki, Kazuo; Nagashima, Tomomi; Ishii, Fumiyoshi; Hayashi, Yuzuru; Yajima, Takehiko

2009-06-01

A theory of detection limit, developed in analytical chemistry, is applied to public health surveillance to detect an outbreak of national emergencies such as natural disaster and bioterrorism. In this investigation, the influenza epidemic around the Tokyo area from 2003 to 2006 is taken as a model of normal and large-scale epidemics. The detection limit of the normal epidemic is used as a threshold with a specified level of significance to identify a sign of the abnormal epidemic among the daily variation in anti-influenza drug sales at community pharmacies. While auto-correlation of data is often an obstacle to an unbiased estimator of standard deviation involved in the detection limit, the analytical theory (FUMI) can successfully treat the auto-correlation of the drug sales in the same way as the auto-correlation appearing as 1/f noise in many analytical instruments.

High reliability - low noise radionuclide signature identification algorithms for border security applications

NASA Astrophysics Data System (ADS)

Lee, Sangkyu

Illicit trafficking and smuggling of radioactive materials and special nuclear materials (SNM) are considered as one of the most important recent global nuclear threats. Monitoring the transport and safety of radioisotopes and SNM are challenging due to their weak signals and easy shielding. Great efforts worldwide are focused at developing and improving the detection technologies and algorithms, for accurate and reliable detection of radioisotopes of interest in thus better securing the borders against nuclear threats. In general, radiation portal monitors enable detection of gamma and neutron emitting radioisotopes. Passive or active interrogation techniques, present and/or under the development, are all aimed at increasing accuracy, reliability, and in shortening the time of interrogation as well as the cost of the equipment. Equally important efforts are aimed at advancing algorithms to process the imaging data in an efficient manner providing reliable "readings" of the interiors of the examined volumes of various sizes, ranging from cargos to suitcases. The main objective of this thesis is to develop two synergistic algorithms with the goal to provide highly reliable - low noise identification of radioisotope signatures. These algorithms combine analysis of passive radioactive detection technique with active interrogation imaging techniques such as gamma radiography or muon tomography. One algorithm consists of gamma spectroscopy and cosmic muon tomography, and the other algorithm is based on gamma spectroscopy and gamma radiography. The purpose of fusing two detection methodologies per algorithm is to find both heavy-Z radioisotopes and shielding materials, since radionuclides can be identified with gamma spectroscopy, and shielding materials can be detected using muon tomography or gamma radiography. These combined algorithms are created and analyzed based on numerically generated images of various cargo sizes and materials. In summary, the three detection methodologies are fused into two algorithms with mathematical functions providing: reliable identification of radioisotopes in gamma spectroscopy; noise reduction and precision enhancement in muon tomography; and the atomic number and density estimation in gamma radiography. It is expected that these new algorithms maybe implemented at portal scanning systems with the goal to enhance the accuracy and reliability in detecting nuclear materials inside the cargo containers.

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

PubMed

Virji-Babul, Naznin; Brown, Michelle

2004-12-01

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

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

PubMed Central

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

2017-01-01

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

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

PubMed

Gill, Simone V; Hung, Ya-Ching

2014-01-01

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

Shock interaction behind a pair of cylindrical obstacles

NASA Astrophysics Data System (ADS)

Liu, Heng; Mazumdar, Raoul; Eliasson, Veronica

2014-11-01

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

Validity and reliability of the Questionnaire for Compliance with Standard Precaution

PubMed Central

Valim, Marília Duarte; Marziale, Maria Helena Palucci; Hayashida, Miyeko; Rocha, Fernanda Ludmilla Rossi; Santos, Jair Lício Ferreira

2015-01-01

ABSTRACT OBJECTIVE : To evaluate the validity and reliability of the Questionnaire for Compliance with Standard Precaution for nurses. METHODS : This methodological study was conducted with 121 nurses from health care facilities in Sao Paulo’s countryside, who were represented by two high-complexity and by three average-complexity health care facilities. Internal consistency was calculated using Cronbach’s alpha and stability was calculated by the intraclass correlation coefficient, through test-retest. Convergent, discriminant, and known-groups construct validity techniques were conducted. RESULTS : The questionnaire was found to be reliable (Cronbach’s alpha: 0.80; intraclass correlation coefficient: (0.97) In regards to the convergent and discriminant construct validity, strong correlation was found between compliance to standard precautions, the perception of a safe environment, and the smaller perception of obstacles to follow such precautions (r = 0.614 and r = 0.537, respectively). The nurses who were trained on the standard precautions and worked on the health care facilities of higher complexity were shown to comply more (p = 0.028 and p = 0.006, respectively). CONCLUSIONS : The Brazilian version of the Questionnaire for Compliance with Standard Precaution was shown to be valid and reliable. Further investigation must be conducted with nurse samples that are more representative of the Brazilian reality. The use of the questionnaire may support the creation of educational measures considering the possible gaps that can be identified, focusing on the workers’ health and on the patients’ safety. PMID:26759967

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

PubMed

Berry, Hugues; Chaté, Hugues

2014-02-01

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

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

ERIC Educational Resources Information Center

Rodman, Peter W.

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

What is missing? An operational inundation mapping framework by SAR data

NASA Astrophysics Data System (ADS)

Shen, X.; Anagnostou, E. N.; Zeng, Z.; Kettner, A.; Hong, Y.

2017-12-01

Compared to optical sensors, synthetic aperture radar (SAR) works all-day all-weather. In addition, its spatial resolution does not decrease with the height of the platform and is thus applicable to a range of important studies. However, existing studies did not address the operational demands of real-time inundation mapping. The direct proof is that no water body product exists for any SAR-based satellites. Then what is missing between science and products? Automation and quality. What makes it so difficult to develop an operational inundation mapping technique based on SAR data? Spectrum-wise, unlike optical water indices such as MNDWI, AWEI etc., where a relative constant threshold may apply across acquisition of images, regions and sensors, the threshold to separate water from non-water pixels in each SAR images has to be individually chosen. The optimization of the threshold is the first obstacle to the automation of the SAR data algorithm. Morphologically, the quality and reliability of the results have been compromised by over-detection caused by smooth surface and shadowing area, the noise-like speckle and under-detection caused by strong-scatter disturbance. In this study, we propose a three-step framework that addresses all aforementioned issues of operational inundation mapping by SAR data. The framework consists of 1) optimization of Wishart distribution parameters of single/dual/fully-polarized SAR data, 2) morphological removal of over-detection, and 3) machine-learning based removal of under-detection. The framework utilizes not only the SAR data, but also the synergy of digital elevation model (DEM), and optical sensor-based products of fine resolution, including the water probability map, land cover classification map (optional), and river width. The framework has been validated throughout multiple areas in different parts of the world using different satellite SAR data and globally available ancillary data products. Therefore, it has the potential to contribute as an operational inundation mapping algorithm to any SAR missions, such as SWOT, ALOS, Sentinel, etc. Selected results using ALOS/PALSAR-1 L-band dual polarized data around the Connecticut River is provided in the attached Figure.

Enhancing malaria diagnosis through microfluidic cell enrichment and magnetic resonance relaxometry detection

NASA Astrophysics Data System (ADS)

Fook Kong, Tian; Ye, Weijian; Peng, Weng Kung; Wei Hou, Han; Marcos; Preiser, Peter Rainer; Nguyen, Nam-Trung; Han, Jongyoon

2015-06-01

Despite significant advancements over the years, there remains an urgent need for low cost diagnostic approaches that allow for rapid, reliable and sensitive detection of malaria parasites in clinical samples. Our previous work has shown that magnetic resonance relaxometry (MRR) is a potentially highly sensitive tool for malaria diagnosis. A key challenge for making MRR based malaria diagnostics suitable for clinical testing is the fact that MRR baseline fluctuation exists between individuals, making it difficult to detect low level parasitemia. To overcome this problem, it is important to establish the MRR baseline of each individual while having the ability to reliably determine any changes that are caused by the infection of malaria parasite. Here we show that an approach that combines the use of microfluidic cell enrichment with a saponin lysis before MRR detection can overcome these challenges and provide the basis for a highly sensitive and reliable diagnostic approach of malaria parasites. Importantly, as little as 0.0005% of ring stage parasites can be detected reliably, making this ideally suited for the detection of malaria parasites in peripheral blood obtained from patients. The approaches used here are envisaged to provide a new malaria diagnosis solution in the near future.

The learning environment of paediatric interns in South Africa.

PubMed

Naidoo, Kimesh L; Van Wyk, Jacqueline M; Adhikari, Miriam

2017-11-29

South African (SA) paediatric interns (recently qualified medical graduates) work in a high disease burdened and resource deficient environment for two years, prior to independent practice. Perceptions of this learning environment (LE) influences their approaches to training as well as the outcomes of this period of development. Obstacles to creating a supportive LE and supervisor interaction affects the quality of this training. Measuring perceptions of the LE with validated instruments can help inform improvements in learning during this crucial period of medical education. The aims of this study was to determine the psychometric qualities of the Postgraduate Hospital Educational Environment Measure (PHEEM) amongst paediatric interns across four hospital complexes in South Africa and to measure the LE as perceived by both interns and their supervisors. Construct validity was tested using factor analysis and internal consistency was measured with Cronbach's alpha. A total of 209 interns and 60 supervisors (69% intern response rate) responded to the questionnaire. The PHEEM was found to be very reliable with an overall Cronbach's alpha of 0.943 and 0.874 for intern and supervisors respectively. Factor analysis using a 3-factor solution accounted for 42% of the variance with the teaching subscale having the best fit compared with the other sub-scales of the original tool. Most interns perceived the learning environment as being more positive than negative however, their perceptions differed significantly from that of their supervisors. Poor infrastructural support from institutions, excessive workloads and inadequate supervision were factors preventing optimal training of paediatric interns. The SA version of the PHEEM tool used was found to be a reliable and valid instrument for use in interns amongst high disease burdened contexts. Various obstacles to creating an ideal learning environment for paediatric interns were identified to be in need of urgent review. Key differences in perceptions of an ideal learning environment between interns and their supervisors need to be fully explored as these may result in sub-optimal supervision and mentoring.

Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection

NASA Technical Reports Server (NTRS)

Messing, B. S.

1980-01-01

A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.

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

NASA Technical Reports Server (NTRS)

Narkawicz, Anthony; Hagen, George

2016-01-01

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

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

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

The reliability and effectiveness of an electromagnetic animal detection and driver warning system.

DOT National Transportation Integrated Search

2012-03-01

"This report contains data on the reliability and effectiveness of an animal detection system project along US Hwy 160 : between Durango and Bayfield, Colorado. The system that was first installed was a Perimitrax system from Senstar : Corporation....

Challenges in Learning to Speak Arabic

ERIC Educational Resources Information Center

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

2016-01-01

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

Women's orgasm obstacles: A qualitative study.

PubMed

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

2017-08-01

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

Biologically-inspired adaptive obstacle negotiation behavior of hexapod robots

PubMed Central

Goldschmidt, Dennis; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

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

The quality of visual information about the lower extremities influences visuomotor coordination during virtual obstacle negotiation.

PubMed

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

2018-05-09

Successful negotiation of obstacles during walking relies on the integration of visual information about the environment with ongoing locomotor commands. When information about the body and environment are removed through occlusion of the lower visual field, individuals increase downward head pitch angle, reduce foot placement precision, and increase safety margins during crossing. However, whether these effects are mediated by loss of visual information about the lower extremities, the obstacle, or both remains to be seen. Here, we used a fully immersive, virtual obstacle negotiation task to investigate how visual information about the lower extremities is integrated with information about the environment to facilitate skillful obstacle negotiation. Participants stepped over virtual obstacles while walking on a treadmill with one of three types of visual feedback about the lower extremities: no feedback, end-point feedback, or a link-segment model. We found that absence of visual information about the lower extremities led to an increase in the variability of leading foot placement after crossing. The presence of a visual representation of the lower extremities promoted greater downward head pitch angle during the approach to and subsequent crossing of an obstacle. In addition, having greater downward head pitch was associated with closer placement of the trailing foot to the obstacle, further placement of the leading foot after the obstacle, and higher trailing foot clearance. These results demonstrate that the fidelity of visual information about the lower extremities influences both feed-forward and feedback aspects of visuomotor coordination during obstacle negotiation.

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

PubMed

Kloter, Evelyne; Dietz, Volker

2012-05-01

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

Contextual Awareness for Robust Robot Autonomy

DTIC Science & Technology

2013-12-30

are some ob - stacles that are either undetectable or only partially detectable to the sensors. Transparent obstacles are particularly challenging for...the probability that a certain object will be found in a certain space (e.g., the probability that coffee is found in the kitchen). While searching...with which it finds such objects, to find abnormal situations (e.g., if someone is actively hiding all the coffee from the CoBots). One of the most

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

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

DTIC Science & Technology

2014-04-01

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

Vision-based obstacle avoidance

DOEpatents

Galbraith, John [Los Alamos, NM

2006-07-18

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

Integrated Strike Avionics Study. Volume 1

DTIC Science & Technology

1980-10-01

MMW Systems Targeting Studies Perf. Meas. o C02 Laser Radar Ses. St. Army Obstacle Detect Prog. Concept Demo Mobile System 20 ’ - I...Fabrication and Test o FLIR Field of View & Classification Study (FLIR FACS) Definition m Development & Test 4. Aplicability of Current Programs to...FY80 81 8283 84 85 o LANTIRN 1 n Imaoinn Sensor Autoprocessor • o Forward Looking Active Class a 4. Aplicability of Current Program Required The need

Calculus detection calibration among dental hygiene faculty members utilizing dental endoscopy: a pilot study.

PubMed

Partido, Brian B; Jones, Archie A; English, Dana L; Nguyen, Carol A; Jacks, Mary E

2015-02-01

Dental and dental hygiene faculty members often do not provide consistent instruction in the clinical environment, especially in tasks requiring clinical judgment. From previous efforts to calibrate faculty members in calculus detection using typodonts, researchers have suggested using human subjects and emerging technology to improve consistency in clinical instruction. The purpose of this pilot study was to determine if a dental endoscopy-assisted training program would improve intra- and interrater reliability of dental hygiene faculty members in calculus detection. Training included an ODU 11/12 explorer, typodonts, and dental endoscopy. A convenience sample of six participants was recruited from the dental hygiene faculty at a California community college, and a two-group randomized experimental design was utilized. Intra- and interrater reliability was measured before and after calibration training. Pretest and posttest Kappa averages of all participants were compared using repeated measures (split-plot) ANOVA to determine the effectiveness of the calibration training on intra- and interrater reliability. The results showed that both kinds of reliability significantly improved for all participants and the training group improved significantly in interrater reliability from pretest to posttest. Calibration training was beneficial to these dental hygiene faculty members, especially those beginning with less than full agreement. This study suggests that calculus detection calibration training utilizing dental endoscopy can effectively improve interrater reliability of dental and dental hygiene clinical educators. Future studies should include human subjects, involve more participants at multiple locations, and determine whether improved rater reliability can be sustained over time.

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

PubMed Central

2012-01-01

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

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

NASA Astrophysics Data System (ADS)

Simoëns, Serge; Wallace, James M.

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

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

PubMed

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

2016-01-01

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

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

PubMed Central

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

2016-01-01

Despite the abundant literature on obstacle crossing in humans, the question of how the central nervous system (CNS) controls postural stability during gait initiation with the goal to clear an obstacle remains unclear. Stabilizing features of gait initiation include anticipatory postural adjustments (APAs) and lateral swing foot placement. To answer the above question, 14 participants initiated gait as fast as possible in three conditions of obstacle height, three conditions of obstacle distance and one obstacle-free (control) condition. Each of these conditions was performed with two levels of temporal pressure: reaction-time (high-pressure) and self-initiated (low-pressure) movements. A mechanical model of the body falling laterally under the influence of gravity and submitted to an elastic restoring force is proposed to assess the effect of initial (foot-off) center-of-mass position and velocity (or “initial center-of-mass set”) on the stability at foot-contact. Results showed that the anticipatory peak of mediolateral (ML) center-of-pressure shift, the initial ML center-of-mass velocity and the duration of the swing phase, of gait initiation increased with obstacle height, but not with obstacle distance. These results suggest that ML APAs are scaled with swing duration in order to maintain an equivalent stability across experimental conditions. This statement is strengthened by the results obtained with the mechanical model, which showed how stability would be degraded if there was no adaptation of the initial center-of-mass set to swing duration. The anteroposterior (AP) component of APAs varied also according to obstacle height and distance, but in an opposite way to the ML component. Indeed, results showed that the anticipatory peak of backward center-of-pressure shift and the initial forward center-of-mass set decreased with obstacle height, probably in order to limit the risk to trip over the obstacle, while the forward center-of-mass velocity at foot-off increased with obstacle distance, allowing a further step to be taken. These effects of obstacle height and distance were globally similar under low and high-temporal pressure. Collectively, these findings imply that the CNS is able to predict the potential instability elicited by the obstacle clearance and that it scales the spatiotemporal parameters of APAs accordingly. PMID:27656138

Relative receiver autonomous integrity monitoring for future GNSS-based aircraft navigation

NASA Astrophysics Data System (ADS)

Gratton, Livio Rafael

The Global Positioning System (GPS) has enabled reliable, safe, and practical aircraft positioning for en-route and non-precision phases of flight for more than a decade. Intense research is currently devoted to extending the use of Global Navigation Satellite Systems (GNSS), including GPS, to precision approach and landing operations. In this context, this work is focused on the development, analysis, and verification of the concept of Relative Receiver Autonomous Integrity Monitoring (RRAIM) and its potential applications to precision approach navigation. RRAIM fault detection algorithms are developed, and associated mathematical bounds on position error are derived. These are investigated as possible solutions to some current key challenges in precision approach navigation, discussed below. Augmentation systems serving continent-size areas (like the Wide Area Augmentation System or WAAS) allow certain precision approach operations within the covered region. More and better satellites, with dual frequency capabilities, are expected to be in orbit in the mid-term future, which will potentially allow WAAS-like capabilities worldwide with a sparse ground station network. Two main challenges in achieving this goal are (1) ensuring that navigation fault detection functions are fast enough to alert worldwide users of hazardously misleading information, and (2) minimizing situations in which navigation is unavailable because the user's local satellite geometry is insufficient for safe position estimation. Local augmentation systems (implemented at individual airports, like the Local Area Augmentation System or LAAS) have the potential to allow precision approach and landing operations by providing precise corrections to user-satellite range measurements. An exception to these capabilities arises during ionospheric storms (caused by solar activity), when hazardous situations can exist with residual range errors several orders of magnitudes higher than nominal. Until dual frequency civil GPS signals are available, the ability to provide integrity during ionospheric storms, without excessive loss of availability is a major challenge. For all users, with or without augmentation, some situations cause short duration losses of satellites in view. Two examples are aircraft banking during turns and ionospheric scintillation. The loss of range signals can translate into gaps in good satellite geometry, and the resulting challenge is to ensure navigation continuity by bridging these gaps, while simultaneously maintaining high integrity. It is shown that the RRAIM methods developed in this research can be applied to mitigate each of these obstacles to safe and reliable precision aircraft navigation.

Discrete range clustering using Monte Carlo methods

NASA Technical Reports Server (NTRS)

Chatterji, G. B.; Sridhar, B.

1993-01-01

For automatic obstacle avoidance guidance during rotorcraft low altitude flight, a reliable model of the nearby environment is needed. Such a model may be constructed by applying surface fitting techniques to the dense range map obtained by active sensing using radars. However, for covertness, passive sensing techniques using electro-optic sensors are desirable. As opposed to the dense range map obtained via active sensing, passive sensing algorithms produce reliable range at sparse locations, and therefore, surface fitting techniques to fill the gaps in the range measurement are not directly applicable. Both for automatic guidance and as a display for aiding the pilot, these discrete ranges need to be grouped into sets which correspond to objects in the nearby environment. The focus of this paper is on using Monte Carlo methods for clustering range points into meaningful groups. One of the aims of the paper is to explore whether simulated annealing methods offer significant advantage over the basic Monte Carlo method for this class of problems. We compare three different approaches and present application results of these algorithms to a laboratory image sequence and a helicopter flight sequence.

Reliability model for ductile hybrid FRP rebar using randomly dispersed chopped fibers

NASA Astrophysics Data System (ADS)

Behnam, Bashar Ramzi

Fiber reinforced polymer composites or simply FRP composites have become more attractive to civil engineers in the last two decades due to their unique mechanical properties. However, there are many obstacles such as low elasticity modulus, non-ductile behavior, high cost of the fibers, high manufacturing costs, and absence of rigorous characterization of the uncertainties of the mechanical properties that restrict the use of these composites. However, when FRP composites are used to develop reinforcing rebars in concrete structural members to replace the conventional steel, a huge benefit can be achieved since FRP materials don't corrode. Two FRP rebar models are proposed that make use of multiple types of fibers to achieve ductility, and chopped fibers are used to reduce the manufacturing costs. In order to reach the most optimum fractional volume of each type of fiber, to minimize the cost of the proposed rebars, and to achieve a safe design by considering uncertainties in the materials and geometry of sections, appropriate material resistance factors have been developed, and a Reliability Based Design Optimization (RBDO), has been conducted for the proposed schemes.

Creating Kepler's Final KOI Catalog while Balancing Completeness and Reliability

NASA Astrophysics Data System (ADS)

Thompson, Susan E.; Coughlin, Jeffrey L.; Mullally, Fergal R.; Christiansen, Jessie; Burke, Christopher J.; Kepler Team

2016-06-01

We report on the Kepler Mission's plan to create the final planetary candidate catalog (Data Release 25 KOI catalog), which will be fully automated and uniformly vetted. This catalog is based on evaluating the periodic events reported in the DR25 TCE table (Twicken et al. 2016) available at the NASA exoplanet archive. As with the previous KOI catalog (DR24) the intent is to prioritize uniformity and completeness over obtaining 100% accuracy. In this way, the completeness and the reliability of the KOI table can be measured so that exoplanet occurrence rates can easily be calculated. We use, and improve upon, the DR24 rule-based vetter (Robovetter, Coughlin et al. 2016) to create the final dispositions in the catalog. As done before, the Robovetter's decisions will be tested against injected transits to show that true transit-like signatures are retained. Additionally, the Robovetter will be tested against TCEs found in inverted light curves as a way of showing that the Robovetter is effectively removing false alarms. We will discuss our current methods, any obstacles in our path, and the timeline for delvering Kepler's final planet candidate catalog.

Determination of the coronal magnetic field from vector magnetograph data

NASA Technical Reports Server (NTRS)

Mikic, Zoran

1991-01-01

A new algorithm was developed, tested, and applied to determine coronal magnetic fields above solar active regions. The coronal field above NOAA active region AR5747 was successfully estimated on 20 Oct. 1989 from data taken at the Mees Solar Observatory of the Univ. of Hawaii. It was shown that observational data can be used to obtain realistic estimates of coronal magnetic fields. The model has significantly extended the realism with which the coronal magnetic field can be inferred from observations. The understanding of coronal phenomena will be greatly advanced by a reliable technique, such as the one presented, for deducing the detailed spatial structure of the coronal field. The payoff from major current and proposed NASA observational efforts is heavily dependent on the success with which the coronal field can be inferred from vector magnetograms. In particular, the present inability to reliably obtain the coronal field has been a major obstacle to the theoretical advancement of solar flare theory and prediction. The results have shown that the evolutional algorithm can be used to estimate coronal magnetic fields.

GPUs, a New Tool of Acceleration in CFD: Efficiency and Reliability on Smoothed Particle Hydrodynamics Methods

PubMed Central

Crespo, Alejandro C.; Dominguez, Jose M.; Barreiro, Anxo; Gómez-Gesteira, Moncho; Rogers, Benedict D.

2011-01-01

Smoothed Particle Hydrodynamics (SPH) is a numerical method commonly used in Computational Fluid Dynamics (CFD) to simulate complex free-surface flows. Simulations with this mesh-free particle method far exceed the capacity of a single processor. In this paper, as part of a dual-functioning code for either central processing units (CPUs) or Graphics Processor Units (GPUs), a parallelisation using GPUs is presented. The GPU parallelisation technique uses the Compute Unified Device Architecture (CUDA) of nVidia devices. Simulations with more than one million particles on a single GPU card exhibit speedups of up to two orders of magnitude over using a single-core CPU. It is demonstrated that the code achieves different speedups with different CUDA-enabled GPUs. The numerical behaviour of the SPH code is validated with a standard benchmark test case of dam break flow impacting on an obstacle where good agreement with the experimental results is observed. Both the achieved speed-ups and the quantitative agreement with experiments suggest that CUDA-based GPU programming can be used in SPH methods with efficiency and reliability. PMID:21695185

Investigation of reliability indicators of information analysis systems based on Markov’s absorbing chain model

NASA Astrophysics Data System (ADS)

Gilmanshin, I. R.; Kirpichnikov, A. P.

2017-09-01

In the result of study of the algorithm of the functioning of the early detection module of excessive losses, it is proven the ability to model it by using absorbing Markov chains. The particular interest is in the study of probability characteristics of early detection module functioning algorithm of losses in order to identify the relationship of indicators of reliability of individual elements, or the probability of occurrence of certain events and the likelihood of transmission of reliable information. The identified relations during the analysis allow to set thresholds reliability characteristics of the system components.

Understanding the Internal Magnetic Field Configurations of ICMEs Using More than 20 Years of Wind Observations

NASA Astrophysics Data System (ADS)

Nieves-Chinchilla, T.; Vourlidas, A.; Raymond, J. C.; Linton, M. G.; Al-haddad, N.; Savani, N. P.; Szabo, A.; Hidalgo, M. A.

2018-02-01

The magnetic topology, structure, and geometry of the magnetic obstacles embedded within interplanetary coronal mass ejections (ICMEs) are not yet fully and consistently described by in situ models and reconstruction techniques. The main goal of this work is to better understand the status of the internal magnetic field of ICMEs and to explore in situ signatures to identify clues to develop a more accurate and reliable in situ analytical models. We take advantage of more than 20 years of Wind observations of transients at 1 AU to compile a comprehensive database of ICMEs through three solar cycles, from 1995 to 2015. The catalog is publicly available at wind.gsfc.nasa.gov and is fully described in this article. We identify and collect the properties of 337 ICMEs, of which 298 show organized magnetic field signatures. To allow for departures from idealized magnetic configurations, we introduce the term "magnetic obstacle" (MO) to signify the possibility of more complex configurations. To quantify the asymmetry of the magnetic field strength profile within these events, we introduce the distortion parameter (DiP) and calculate the expansion velocity within the magnetic obstacle. Circular-cylindrical geometry is assumed when the magnetic field strength displays a symmetric profile. We perform a statistical study of these two parameters and find that only 35% of the events show symmetric magnetic profiles and a low enough expansion velocity to be compatible with the assumption of an idealized cylindrical static flux rope, and that 41% of the events do not show the expected relationship between expansion and magnetic field compression in the front, with the maximum magnetic field closer to the first encounter of the spacecraft with the magnetic obstacle; 18% show contractions ( i.e. apparent negative expansion velocity), and 30% show magnetic field compression in the back. We derive an empirical relation between DiP and expansion velocity that is the first step toward improving reconstructions with possible applications to space weather studies. In summary, our main results demonstrate that the assumed correlation between expanding structure and asymmetric magnetic field is not always valid. Although 59% of the cases could be described by circular-cylindrical geometry, with or without expansion, the remaining cases show significant in situ signatures of departures from circular-cylindrical geometry. These results will aid in the development of more accurate in situ models to reconcile image.

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

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-22

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

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

ERIC Educational Resources Information Center

Williams, Sarah Blackwelder

2010-01-01

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

Multirate and event-driven Kalman filters for helicopter flight

NASA Technical Reports Server (NTRS)

Sridhar, Banavar; Smith, Phillip; Suorsa, Raymond E.; Hussien, Bassam

1993-01-01

A vision-based obstacle detection system that provides information about objects as a function of azimuth and elevation is discussed. The range map is computed using a sequence of images from a passive sensor, and an extended Kalman filter is used to estimate range to obstacles. The magnitude of the optical flow that provides measurements for each Kalman filter varies significantly over the image depending on the helicopter motion and object location. In a standard Kalman filter, the measurement update takes place at fixed intervals. It may be necessary to use a different measurement update rate in different parts of the image in order to maintain the same signal to noise ratio in the optical flow calculations. A range estimation scheme that accepts the measurement only under certain conditions is presented. The estimation results from the standard Kalman filter are compared with results from a multirate Kalman filter and an event-driven Kalman filter for a sequence of helicopter flight images.

Learned navigation in unknown terrains: A retraction method

NASA Technical Reports Server (NTRS)

Rao, Nageswara S. V.; Stoltzfus, N.; Iyengar, S. Sitharama

1989-01-01

The problem of learned navigation of a circular robot R, of radius delta (is greater than or equal to 0), through a terrain whose model is not a-priori known is considered. Two-dimensional finite-sized terrains populated by an unknown (but, finite) number of simple polygonal obstacles are also considered. The number and locations of the vertices of each obstacle are unknown to R. R is equipped with a sensor system that detects all vertices and edges that are visible from its present location. In this context two problems are covered. In the visit problem, the robot is required to visit a sequence of destination points, and in the terrain model acquisition problem, the robot is required to acquire the complete model of the terrain. An algorithmic framework is presented for solving these two problems using a retraction of the freespace onto the Voronoi diagram of the terrain. Algorithms are then presented to solve the visit problem and the terrain model acquisition problem.

Passive range estimation for rotorcraft low-altitude flight

NASA Technical Reports Server (NTRS)

Sridhar, B.; Suorsa, R.; Hussien, B.

1991-01-01

The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.

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

PubMed

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

2017-07-01

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

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

PubMed

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2015-04-01

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

Assessing Reliability of Medical Record Reviews for the Detection of Hospital Adverse Events.

PubMed

Ock, Minsu; Lee, Sang-il; Jo, Min-Woo; Lee, Jin Yong; Kim, Seon-Ha

2015-09-01

The purpose of this study was to assess the inter-rater reliability and intra-rater reliability of medical record review for the detection of hospital adverse events. We conducted two stages retrospective medical records review of a random sample of 96 patients from one acute-care general hospital. The first stage was an explicit patient record review by two nurses to detect the presence of 41 screening criteria (SC). The second stage was an implicit structured review by two physicians to identify the occurrence of adverse events from the positive cases on the SC. The inter-rater reliability of two nurses and that of two physicians were assessed. The intra-rater reliability was also evaluated by using test-retest method at approximately two weeks later. In 84.2% of the patient medical records, the nurses agreed as to the necessity for the second stage review (kappa, 0.68; 95% confidence interval [CI], 0.54 to 0.83). In 93.0% of the patient medical records screened by nurses, the physicians agreed about the absence or presence of adverse events (kappa, 0.71; 95% CI, 0.44 to 0.97). When assessing intra-rater reliability, the kappa indices of two nurses were 0.54 (95% CI, 0.31 to 0.77) and 0.67 (95% CI, 0.47 to 0.87), whereas those of two physicians were 0.87 (95% CI, 0.62 to 1.00) and 0.37 (95% CI, -0.16 to 0.89). In this study, the medical record review for detecting adverse events showed intermediate to good level of inter-rater and intra-rater reliability. Well organized training program for reviewers and clearly defining SC are required to get more reliable results in the hospital adverse event study.

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

PubMed

Guan, Xin; Wu, Huayang; Bi, Shujun

2011-01-01

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

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

PubMed

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

2012-01-15

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

Supporting research sites in resource-limited settings: Challenges in implementing IT infrastructure

PubMed Central

Whalen, Christopher; Donnell, Deborah; Tartakovsky, Michael

2014-01-01

As Information and Communication Technology infrastructure becomes more reliable, new methods of Electronic Data Capture (EDC), datamarts/Data warehouses, and mobile computing provide platforms for rapid coordination of international research projects and multisite studies. However, despite the increasing availability of internet connectivity and communication systems in remote regions of the world, there are still significant obstacles. Sites with poor infrastructure face serious challenges participating in modern clinical and basic research, particularly that relying on EDC and internet communication technologies. This report discusses our experiences in supporting research in resource-limited settings (RLS). We describe examples of the practical and ethical/regulatory challenges raised by use of these newer technologies for data collection in multisite clinical studies. PMID:24321986

Correlated Errors in the Surface Code

NASA Astrophysics Data System (ADS)

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

2012-02-01

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

Supporting research sites in resource-limited settings: challenges in implementing information technology infrastructure.

PubMed

Whalen, Christopher J; Donnell, Deborah; Tartakovsky, Michael

2014-01-01

As information and communication technology infrastructure becomes more reliable, new methods of electronic data capture, data marts/data warehouses, and mobile computing provide platforms for rapid coordination of international research projects and multisite studies. However, despite the increasing availability of Internet connectivity and communication systems in remote regions of the world, there are still significant obstacles. Sites with poor infrastructure face serious challenges participating in modern clinical and basic research, particularly that relying on electronic data capture and Internet communication technologies. This report discusses our experiences in supporting research in resource-limited settings. We describe examples of the practical and ethical/regulatory challenges raised by the use of these newer technologies for data collection in multisite clinical studies.

Availability of quality vaccines: policies of a non-government organization.

PubMed

Poore, P

1992-01-01

The availability of vaccines, or any other health service, depends upon, first, the existence of a reliable system of delivery, and the effective management of this system to reach the target population and, second, the acceptance by parents or guardians of the value of the vaccine in preventing death and disability in young children and their mothers. This system must be fully funded and resourced for the foreseeable future if the service is to be sustainable. Today the major obstacles to effective immunization of young children in developing countries is the inadequate, insecure and unpredictable availability of funds and their management. Unless these problems are addressed and solved, the immunization targets set by the World Health Assembly (WHA) will not be met.

Method for surmounting an obstacle by a robot vehicle

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

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

PubMed Central

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

2009-01-01

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

An Algorithm for Pedestrian Detection in Multispectral Image Sequences

NASA Astrophysics Data System (ADS)

Kniaz, V. V.; Fedorenko, V. V.

2017-05-01

The growing interest for self-driving cars provides a demand for scene understanding and obstacle detection algorithms. One of the most challenging problems in this field is the problem of pedestrian detection. Main difficulties arise from a diverse appearances of pedestrians. Poor visibility conditions such as fog and low light conditions also significantly decrease the quality of pedestrian detection. This paper presents a new optical flow based algorithm BipedDetet that provides robust pedestrian detection on a single-borad computer. The algorithm is based on the idea of simplified Kalman filtering suitable for realization on modern single-board computers. To detect a pedestrian a synthetic optical flow of the scene without pedestrians is generated using slanted-plane model. The estimate of a real optical flow is generated using a multispectral image sequence. The difference of the synthetic optical flow and the real optical flow provides the optical flow induced by pedestrians. The final detection of pedestrians is done by the segmentation of the difference of optical flows. To evaluate the BipedDetect algorithm a multispectral dataset was collected using a mobile robot.

Design and Development of Smart Medicine Box

NASA Astrophysics Data System (ADS)

Rosli, Ekbal; Husaini, Yusnira

2018-03-01

The Smart Medicine Box is successfully designed in helping the introvert patients taking their medicine without help of others. This project is to develop a robotic device that can assist patient to take medicine alone by implementing an IOT apps system for controlling the Smart Medicine Box where it will overcome an emotional disturbance experience by the introvert patients. There are four sensors such as PIR, IR, temperature and ultrasonic sensors use for the project. The purpose of PIR sensor is to detect hand movement near the device, while IR sensor is to detect the line follower on the floor. The LM 35 acts as the detection of the temperature inside the box and the ultrasonic acts as the detection of the obstacle in front of the device. The MIT Apps Invention 2 is used to develop an apps and collect the data from sensors through Arduino microcontroller. A proof of concept design has implemented and demonstrated successfully.

Imaging objects behind small obstacles using axicon lens

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

The Development of DNA Based Methods for the Reliable and Efficient Identification of Nicotiana tabacum in Tobacco and Its Derived Products

PubMed Central

Fan, Wei; Li, Rong; Li, Sifan; Ping, Wenli; Li, Shujun; Naumova, Alexandra; Peelen, Tamara; Yuan, Zheng; Zhang, Dabing

2016-01-01

Reliable methods are needed to detect the presence of tobacco components in tobacco products to effectively control smuggling and classify tariff and excise in tobacco industry to control illegal tobacco trade. In this study, two sensitive and specific DNA based methods, one quantitative real-time PCR (qPCR) assay and the other loop-mediated isothermal amplification (LAMP) assay, were developed for the reliable and efficient detection of the presence of tobacco (Nicotiana tabacum) in various tobacco samples and commodities. Both assays targeted the same sequence of the uridine 5′-monophosphate synthase (UMPS), and their specificities and sensitivities were determined with various plant materials. Both qPCR and LAMP methods were reliable and accurate in the rapid detection of tobacco components in various practical samples, including customs samples, reconstituted tobacco samples, and locally purchased cigarettes, showing high potential for their application in tobacco identification, particularly in the special cases where the morphology or chemical compositions of tobacco have been disrupted. Therefore, combining both methods would facilitate not only the detection of tobacco smuggling control, but also the detection of tariff classification and of excise. PMID:27635142

Obstacle avoidance for redundant robots using configuration control

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Reliability of recordings of subgingival calculus detected using an ultrasonic device.

PubMed

Corraini, Priscila; López, Rodrigo

2015-04-01

To assess the intra-examiner reliability of recordings of subgingival calculus detected using an ultrasonic device, and to investigate the influence of subject-, tooth- and site-level factors on the reliability of these subgingival calculus recordings. On two occasions, within a 1-week interval, 147 adult periodontitis patients received a full-mouth clinical periodontal examination by a single trained examiner. Duplicate subgingival calculus recordings, in six sites per tooth, were obtained using an ultrasonic device for calculus detection and removal. Agreement was observed in 65 % of the 22,584 duplicate subgingival calculus recordings, ranging 45 % to 83 % according to subject. Using hierarchical modeling, disagreements in the subgingival calculus duplicate recordings were more likely in all other sites than the mid-buccal, and in sites harboring supragingival calculus. Disagreements were less likely in sites with PD ≥  4 mm and with furcation involvement  ≥  degree 2. Bleeding on probing or suppuration did not influence the reliability of subgingival calculus. At the subject-level, disagreements were less likely in patients presenting with the highest and lowest extent categories of the covariate subgingival calculus. The reliability of subgingival calculus recordings using the ultrasound technology is reasonable. The results of the present study suggest that the reliability of subgingival calculus recordings is not influenced by the presence of inflammation. Moreover, subgingival calculus can be more reliably detected using the ultrasound device at sites with higher need for periodontal therapy, i.e., sites presenting with deep pockets and premolars and molars with furcation involvement.

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

PubMed Central

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently. PMID:28255297

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.

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision.

PubMed

Maravall, Darío; de Lope, Javier; Fuentes, Juan P

2017-01-01

We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps. In visual topological maps the visual landmarks are considered as leave points for guiding the robot to reach a target point (robot homing) in indoor environments. These visual landmarks are defined from images of relevant objects or characteristic scenes in the environment. The entropy of an image is directly related to the presence of a unique object or the presence of several different objects inside it: the lower the entropy the higher the probability of containing a single object inside it and, conversely, the higher the entropy the higher the probability of containing several objects inside it. Consequently, we propose the use of the entropy of images captured by the robot not only for the landmark searching and detection but also for obstacle avoidance. If the detected object corresponds to a landmark, the robot uses the suggestions stored in the visual topological map to reach the next landmark or to finish the mission. Otherwise, the robot considers the object as an obstacle and starts a collision avoidance maneuver. In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks.

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision

PubMed Central

Maravall, Darío; de Lope, Javier; Fuentes, Juan P.

2017-01-01

We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps. In visual topological maps the visual landmarks are considered as leave points for guiding the robot to reach a target point (robot homing) in indoor environments. These visual landmarks are defined from images of relevant objects or characteristic scenes in the environment. The entropy of an image is directly related to the presence of a unique object or the presence of several different objects inside it: the lower the entropy the higher the probability of containing a single object inside it and, conversely, the higher the entropy the higher the probability of containing several objects inside it. Consequently, we propose the use of the entropy of images captured by the robot not only for the landmark searching and detection but also for obstacle avoidance. If the detected object corresponds to a landmark, the robot uses the suggestions stored in the visual topological map to reach the next landmark or to finish the mission. Otherwise, the robot considers the object as an obstacle and starts a collision avoidance maneuver. In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks. PMID:28900394

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

PubMed

Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

Combining glass box and black box evaluations in the identification of heart disease risk factors and their temporal relations from clinical records.

PubMed

Grouin, Cyril; Moriceau, Véronique; Zweigenbaum, Pierre

2015-12-01

The determination of risk factors and their temporal relations in natural language patient records is a complex task which has been addressed in the i2b2/UTHealth 2014 shared task. In this context, in most systems it was broadly decomposed into two sub-tasks implemented by two components: entity detection, and temporal relation determination. Task-level ("black box") evaluation is relevant for the final clinical application, whereas component-level evaluation ("glass box") is important for system development and progress monitoring. Unfortunately, because of the interaction between entity representation and temporal relation representation, glass box and black box evaluation cannot be managed straightforwardly at the same time in the setting of the i2b2/UTHealth 2014 task, making it difficult to assess reliably the relative performance and contribution of the individual components to the overall task. To identify obstacles and propose methods to cope with this difficulty, and illustrate them through experiments on the i2b2/UTHealth 2014 dataset. We outline several solutions to this problem and examine their requirements in terms of adequacy for component-level and task-level evaluation and of changes to the task framework. We select the solution which requires the least modifications to the i2b2 evaluation framework and illustrate it with our system. This system identifies risk factor mentions with a CRF system complemented by hand-designed patterns, identifies and normalizes temporal expressions through a tailored version of the Heideltime tool, and determines temporal relations of each risk factor with a One Rule classifier. Giving a fixed value to the temporal attribute in risk factor identification proved to be the simplest way to evaluate the risk factor detection component independently. This evaluation method enabled us to identify the risk factor detection component as most contributing to the false negatives and false positives of the global system. This led us to redirect further effort to this component, focusing on medication detection, with gains of 7 to 20 recall points and of 3 to 6 F-measure points depending on the corpus and evaluation. We proposed a method to achieve a clearer glass box evaluation of risk factor detection and temporal relation detection in clinical texts, which can provide an example to help system development in similar tasks. This glass box evaluation was instrumental in refocusing our efforts and obtaining substantial improvements in risk factor detection. Copyright © 2015 Elsevier Inc. All rights reserved.

People with stroke who fail an obstacle crossing task have a higher incidence of falls and utilize different gait patterns compared with people who pass the task.

PubMed

Said, Catherine M; Galea, Mary P; Lythgo, Noel

2013-03-01

Obstacle crossing is impaired in people following stroke. It is not known whether people with stroke who fail an obstacle crossing task have more falls or whether the gait adjustments used to cross an obstacle differ from those used by people who pass the task. The purposes of this study were (1) to identify whether a group of people with stroke who failed an obstacle crossing task had a greater incidence of falling and (2) to determine whether people who fail an obstacle crossing task utilize different gait adjustments. This was a prospective, observational study. Thirty-two participants with a recent stroke were recruited. Participants walked at self-selected speed and stepped over a 4-cm-high obstacle. Performance was rated as pass or fail, and spatiotemporal, center of mass (COM), and center of pressure (COP) data were collected. Prospective falls data were recorded for 20 participants over a 6-month period. The incidence of fallers was significantly higher (incidence rate=0.833) in the group that failed the obstacle crossing task than in the group that passed the task (incidence rate=0.143). The group that failed the task had a slower walking speed and greater normalized separation between the trail heel (unaffected support limb) and COM as the affected lead toe cleared the obstacle. This group exhibited greater normalized times from affected lead toe clearance to landing, unaffected trail toe clearance to landing, and affected trail toe-off to toe clearance. The sample size was small, and falls data were available for only 20 participants. Obstacle crossing is an important task to consider in people following stroke and may be useful in identifying those at risk of falls.

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

PubMed

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

2012-11-01

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

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

NASA Astrophysics Data System (ADS)

Weichsel, Julian; Schwarz, Ulrich S.

2013-03-01

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

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

PubMed

Aravind, Gayatri; Lamontagne, Anouk

2017-06-09

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

Accelerating confined premixed flames using a transverse slot jet

NASA Astrophysics Data System (ADS)

Richter, Joseph P.

2011-12-01

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

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

Colotelo, Alison HA; Smokorowski, Karen; Haxton, Tim

Current methods of fish epithelial injury detection are limited to gross macroscopic examination that has a subjective bias as well as an inability to reliably quantify the degree of injury. Fluorescein, a presumptive test for blood, has been shown to have the capability to detect and quantify fish epithelial injury. However, there are several other presumptive tests for blood (Bluestar*, phenolphthalein, and HemastixH) that may have benefits over the use of fluorescein, particularly for field research on wild fish. This study investigated the capabilities of these four tests to detect and quantify a variety of injuries commonly encountered by fishmore » (abrasion, cuts, fin frays, and punctures) using the freshwater bluegill Lepomis macrochirus as a model. Fluorescein was consistently found to be the most reliable (i.e., detected the highest proportion of true positive results and rarely detected false positive reactions) of the four presumptive tests for blood compared. Further testing was conducted to examine the reliability of fluorescein. By 24 h after an injury was inflicted, the injury was no longer detectable by fluorescein, and when fluorescein was applied to an injured fish, the fluorescein was no longer detectable 3 h after application. In a comparison of two common anaesthetics used in fisheries research, there was no significant difference in the proportion of injury detected when 3- aminobenzoic acid ethyl ester methanesulfate (tricaine) was used compared with a clove oil and ethanol (1:9) solution. In summary, fluorescein was the most reliable presumptive test for blood examined in this study for the detection and quantification of recent (hours) fish epithelial injury.« less

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

PubMed

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

2017-08-01

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

Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

PubMed

Polanowski, Piotr; Sikorski, Andrzej

2016-08-04

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

Collective strategy for obstacle navigation during cooperative transport by ants.

PubMed

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

2016-11-01

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

Systematic Evaluation of Stochastic Methods in Power System Scheduling and Dispatch with Renewable Energy

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

Wang, Yishen; Zhou, Zhi; Liu, Cong

2016-08-01

As more wind power and other renewable resources are being integrated into the electric power grid, the forecast uncertainty brings operational challenges for the power system operators. In this report, different operational strategies for uncertainty management are presented and evaluated. A comprehensive and consistent simulation framework is developed to analyze the performance of different reserve policies and scheduling techniques under uncertainty in wind power. Numerical simulations are conducted on a modified version of the IEEE 118-bus system with a 20% wind penetration level, comparing deterministic, interval, and stochastic unit commitment strategies. The results show that stochastic unit commitment provides amore » reliable schedule without large increases in operational costs. Moreover, decomposition techniques, such as load shift factor and Benders decomposition, can help in overcoming the computational obstacles to stochastic unit commitment and enable the use of a larger scenario set to represent forecast uncertainty. In contrast, deterministic and interval unit commitment tend to give higher system costs as more reserves are being scheduled to address forecast uncertainty. However, these approaches require a much lower computational effort Choosing a proper lower bound for the forecast uncertainty is important for balancing reliability and system operational cost in deterministic and interval unit commitment. Finally, we find that the introduction of zonal reserve requirements improves reliability, but at the expense of higher operational costs.« less

Geo-Referenced Dynamic Pushbroom Stereo Mosaics for 3D and Moving Target Extraction - A New Geometric Approach

DTIC Science & Technology

2009-12-01

facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection . We use the fact that all the...a moving platform, we will have to naturally and effectively handle obvious motion parallax and object occlusions in order to be able to detect ...facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection . Based on the above two

Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

PubMed Central

Authié, Colas N.; Berthoz, Alain; Sahel, José-Alain; Safran, Avinoam B.

2017-01-01

In retinitis pigmentosa (RP), loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present), of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures. PMID:28798674

Obstacle Avoidance for Quadcopter using Ultrasonic Sensor

NASA Astrophysics Data System (ADS)

Fazlur Rahman, Muhammad; Adhy Sasongko, Rianto

2018-04-01

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

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.

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

PubMed Central

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

2009-01-01

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

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

Stroemqvist, Martin H., E-mail: stromqv@kth.se

We study the problem of optimally controlling the solution of the obstacle problem in a domain perforated by small periodically distributed holes. The solution is controlled by the choice of a perforated obstacle which is to be chosen in such a fashion that the solution is close to a given profile and the obstacle is not too irregular. We prove existence, uniqueness and stability of an optimal obstacle and derive necessary and sufficient conditions for optimality. When the number of holes increase indefinitely we determine the limit of the sequence of optimal obstacles and solutions. This limit depends strongly onmore » the rate at which the size of the holes shrink.« less

Effect of form of obstacle on speed of crowd evacuation

NASA Astrophysics Data System (ADS)

Yano, Ryosuke

2018-03-01

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

Statistical Tests of Reliability of NDE

NASA Technical Reports Server (NTRS)

Baaklini, George Y.; Klima, Stanley J.; Roth, Don J.; Kiser, James D.

1987-01-01

Capabilities of advanced material-testing techniques analyzed. Collection of four reports illustrates statistical method for characterizing flaw-detecting capabilities of sophisticated nondestructive evaluation (NDE). Method used to determine reliability of several state-of-the-art NDE techniques for detecting failure-causing flaws in advanced ceramic materials considered for use in automobiles, airplanes, and space vehicles.

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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