Mobile robot dynamic path planning based on improved genetic algorithm

NASA Astrophysics Data System (ADS)

Wang, Yong; Zhou, Heng; Wang, Ying

2017-08-01

In dynamic unknown environment, the dynamic path planning of mobile robots is a difficult problem. In this paper, a dynamic path planning method based on genetic algorithm is proposed, and a reward value model is designed to estimate the probability of dynamic obstacles on the path, and the reward value function is applied to the genetic algorithm. Unique coding techniques reduce the computational complexity of the algorithm. The fitness function of the genetic algorithm fully considers three factors: the security of the path, the shortest distance of the path and the reward value of the path. The simulation results show that the proposed genetic algorithm is efficient in all kinds of complex dynamic environments.

Curvature and torsion in growing actin networks

NASA Astrophysics Data System (ADS)

Shaevitz, Joshua W.; Fletcher, Daniel A.

2008-06-01

Intracellular pathogens such as Listeria monocytogenes and Rickettsia rickettsii move within a host cell by polymerizing a comet-tail of actin fibers that ultimately pushes the cell forward. This dense network of cross-linked actin polymers typically exhibits a striking curvature that causes bacteria to move in gently looping paths. Theoretically, tail curvature has been linked to details of motility by considering force and torque balances from a finite number of polymerizing filaments. Here we track beads coated with a prokaryotic activator of actin polymerization in three dimensions to directly quantify the curvature and torsion of bead motility paths. We find that bead paths are more likely to have low rather than high curvature at any given time. Furthermore, path curvature changes very slowly in time, with an autocorrelation decay time of 200 s. Paths with a small radius of curvature, therefore, remain so for an extended period resulting in loops when confined to two dimensions. When allowed to explore a three-dimensional (3D) space, path loops are less evident. Finally, we quantify the torsion in the bead paths and show that beads do not exhibit a significant left- or right-handed bias to their motion in 3D. These results suggest that paths of actin-propelled objects may be attributed to slow changes in curvature, possibly associated with filament debranching, rather than a fixed torque.

A novel representation for planning 3-D collision-free paths

NASA Technical Reports Server (NTRS)

Bonner, Susan; Kelley, Robert B.

1990-01-01

A new scheme for the representation of objects, the successive spherical approximation (SSA), facilitates the rapid planning of collision-free paths in a dynamic three-dimensional environment. The hierarchical nature of the SSA allows collisions to be determined efficiently while still providing an exact representation of objects. The rapidity with which collisions can be detected, less than 1 sec per environment object per path, makes it possible to use a generate-and-test path-planning strategy driven by human conceptual knowledge to determine collision-free paths in a matter of seconds on a Sun 3/180 computer. A hierarchy of rules, based on the concept of a free space cell, is used to find heuristically satisfying collision-free paths in a structured environment.

Computational path planner for product assembly in complex environments

NASA Astrophysics Data System (ADS)

Shang, Wei; Liu, Jianhua; Ning, Ruxin; Liu, Mi

2013-03-01

Assembly path planning is a crucial problem in assembly related design and manufacturing processes. Sampling based motion planning algorithms are used for computational assembly path planning. However, the performance of such algorithms may degrade much in environments with complex product structure, narrow passages or other challenging scenarios. A computational path planner for automatic assembly path planning in complex 3D environments is presented. The global planning process is divided into three phases based on the environment and specific algorithms are proposed and utilized in each phase to solve the challenging issues. A novel ray test based stochastic collision detection method is proposed to evaluate the intersection between two polyhedral objects. This method avoids fake collisions in conventional methods and degrades the geometric constraint when a part has to be removed with surface contact with other parts. A refined history based rapidly-exploring random tree (RRT) algorithm which bias the growth of the tree based on its planning history is proposed and employed in the planning phase where the path is simple but the space is highly constrained. A novel adaptive RRT algorithm is developed for the path planning problem with challenging scenarios and uncertain environment. With extending values assigned on each tree node and extending schemes applied, the tree can adapts its growth to explore complex environments more efficiently. Experiments on the key algorithms are carried out and comparisons are made between the conventional path planning algorithms and the presented ones. The comparing results show that based on the proposed algorithms, the path planner can compute assembly path in challenging complex environments more efficiently and with higher success. This research provides the references to the study of computational assembly path planning under complex environments.

Path planning algorithms for assembly sequence planning. [in robot kinematics

NASA Technical Reports Server (NTRS)

Krishnan, S. S.; Sanderson, Arthur C.

1991-01-01

Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.

Automated flight path planning for virtual endoscopy.

PubMed

Paik, D S; Beaulieu, C F; Jeffrey, R B; Rubin, G D; Napel, S

1998-05-01

In this paper, a novel technique for rapid and automatic computation of flight paths for guiding virtual endoscopic exploration of three-dimensional medical images is described. While manually planning flight paths is a tedious and time consuming task, our algorithm is automated and fast. Our method for positioning the virtual camera is based on the medial axis transform but is much more computationally efficient. By iteratively correcting a path toward the medial axis, the necessity of evaluating simple point criteria during morphological thinning is eliminated. The virtual camera is also oriented in a stable viewing direction, avoiding sudden twists and turns. We tested our algorithm on volumetric data sets of eight colons, one aorta and one bronchial tree. The algorithm computed the flight paths in several minutes per volume on an inexpensive workstation with minimal computation time added for multiple paths through branching structures (10%-13% per extra path). The results of our algorithm are smooth, centralized paths that aid in the task of navigation in virtual endoscopic exploration of three-dimensional medical images.

Rough-Cut Capacity Planning in Multimodal Freight Transportation Networks

DTIC Science & Technology

2012-09-30

transportation system to losses in es - tablished routes or assets? That is, what is the nature and length of system capability degradation due to these...Multimodal Rough-Cut Capacity Planning is mod- eled using the Resource Constrained Shortest Path Problem. We demonstrate how this approach supports...of non-zero ele - ments and the 0 entries depict appropriately dimensioned blocks of 0 entries.∣∣∣∣∑ k Ck ∣∣∣∣ Σ 0 0 0 0 Σ 0 0

Path-preference cellular-automaton model for traffic flow through transit points and its application to the transcription process in human cells.

PubMed

Ohta, Yoshihiro; Nishiyama, Akinobu; Wada, Yoichiro; Ruan, Yijun; Kodama, Tatsuhiko; Tsuboi, Takashi; Tokihiro, Tetsuji; Ihara, Sigeo

2012-08-01

We all use path routing everyday as we take shortcuts to avoid traffic jams, or by using faster traffic means. Previous models of traffic flow of RNA polymerase II (RNAPII) during transcription, however, were restricted to one dimension along the DNA template. Here we report the modeling and application of traffic flow in transcription that allows preferential paths of different dimensions only restricted to visit some transit points, as previously introduced between the 5' and 3' end of the gene. According to its position, an RNAPII protein molecule prefers paths obeying two types of time-evolution rules. One is an asymmetric simple exclusion process (ASEP) along DNA, and the other is a three-dimensional jump between transit points in DNA where RNAPIIs are staying. Simulations based on our model, and comparison experimental results, reveal how RNAPII molecules are distributed at the DNA-loop-formation-related protein binding sites as well as CTCF insulator proteins (or exons). As time passes after the stimulation, the RNAPII density at these sites becomes higher. Apparent far-distance jumps in one dimension are realized by short-range three-dimensional jumps between DNA loops. We confirm the above conjecture by applying our model calculation to the SAMD4A gene by comparing the experimental results. Our probabilistic model provides possible scenarios for assembling RNAPII molecules into transcription factories, where RNAPII and related proteins cooperatively transcribe DNA.

A Numerical Model of Exchange Chromatography Through 3D Lattice Structures

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

Salloum, Maher; Robinson, David B.

Rapid progress in the development of additive manufacturing technologies is opening new opportunities to fabricate structures that control mass transport in three dimensions across a broad range of length scales. We describe a structure that can be fabricated by newly available commercial 3D printers. It contains an array of regular three-dimensional flow paths that are in intimate contact with a solid phase, and thoroughly shuffle material among the paths. We implement a chemically reacting flow model to study its behavior as an exchange chromatography column, and compare it to an array of one-dimensional flow paths that resemble more traditional honeycombmore » monoliths. A reaction front moves through the columns and then elutes. Here, the front is sharper at all flow rates for the structure with three-dimensional flow paths, and this structure is more robust to channel width defects than the one-dimensional array.« less

A Numerical Model of Exchange Chromatography Through 3D Lattice Structures

DOE PAGES

Salloum, Maher; Robinson, David B.

2018-01-30

Rapid progress in the development of additive manufacturing technologies is opening new opportunities to fabricate structures that control mass transport in three dimensions across a broad range of length scales. We describe a structure that can be fabricated by newly available commercial 3D printers. It contains an array of regular three-dimensional flow paths that are in intimate contact with a solid phase, and thoroughly shuffle material among the paths. We implement a chemically reacting flow model to study its behavior as an exchange chromatography column, and compare it to an array of one-dimensional flow paths that resemble more traditional honeycombmore » monoliths. A reaction front moves through the columns and then elutes. Here, the front is sharper at all flow rates for the structure with three-dimensional flow paths, and this structure is more robust to channel width defects than the one-dimensional array.« less

Entanglement Area Law in Disordered Free Fermion Anderson Model in One, Two, and Three Dimensions

DOE PAGES

Pouranvari, Mohammad; Zhang, Yuhui; Yang, Kun

2015-01-01

We calculate numerically the entanglement entropy of free fermion ground states in one-, two-, and three-dimensional Anderson models and find that it obeys the area law as long as the linear size of the subsystem is sufficiently larger than the mean free path. This result holds in the metallic phase of the three-dimensional Anderson model, where the mean free path is finite although the localization length is infinite. Relation between the present results and earlier ones on area law violation in special one-dimensional models that support metallic phases is discussed.

Entanglement Area Law in Disordered Free Fermion Anderson Model in One, Two, and Three Dimensions

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

Pouranvari, Mohammad; Zhang, Yuhui; Yang, Kun

We calculate numerically the entanglement entropy of free fermion ground states in one-, two-, and three-dimensional Anderson models and find that it obeys the area law as long as the linear size of the subsystem is sufficiently larger than the mean free path. This result holds in the metallic phase of the three-dimensional Anderson model, where the mean free path is finite although the localization length is infinite. Relation between the present results and earlier ones on area law violation in special one-dimensional models that support metallic phases is discussed.

Kinematic path planning for space-based robotics

NASA Astrophysics Data System (ADS)

Seereeram, Sanjeev; Wen, John T.

1998-01-01

Future space robotics tasks require manipulators of significant dexterity, achievable through kinematic redundancy and modular reconfigurability, but with a corresponding complexity of motion planning. Existing research aims for full autonomy and completeness, at the expense of efficiency, generality or even user friendliness. Commercial simulators require user-taught joint paths-a significant burden for assembly tasks subject to collision avoidance, kinematic and dynamic constraints. Our research has developed a Kinematic Path Planning (KPP) algorithm which bridges the gap between research and industry to produce a powerful and useful product. KPP consists of three key components: path-space iterative search, probabilistic refinement, and an operator guidance interface. The KPP algorithm has been successfully applied to the SSRMS for PMA relocation and dual-arm truss assembly tasks. Other KPP capabilities include Cartesian path following, hybrid Cartesian endpoint/intermediate via-point planning, redundancy resolution and path optimization. KPP incorporates supervisory (operator) input at any detail to influence the solution, yielding desirable/predictable paths for multi-jointed arms, avoiding obstacles and obeying manipulator limits. This software will eventually form a marketable robotic planner suitable for commercialization in conjunction with existing robotic CAD/CAM packages.

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

PubMed Central

Tsai, Rong-Guei

2018-01-01

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

Indoor Spatial Updating With Impaired Vision

PubMed Central

Legge, Gordon E.; Granquist, Christina; Baek, Yihwa; Gage, Rachel

2016-01-01

Purpose Spatial updating is the ability to keep track of position and orientation while moving through an environment. We asked how normally sighted and visually impaired subjects compare in spatial updating and in estimating room dimensions. Methods Groups of 32 normally sighted, 16 low-vision, and 16 blind subjects estimated the dimensions of six rectangular rooms. Updating was assessed by guiding the subjects along three-segment paths in the rooms. At the end of each path, they estimated the distance and direction to the starting location, and to a designated target. Spatial updating was tested in five conditions ranging from free viewing to full auditory and visual deprivation. Results The normally sighted and low-vision groups did not differ in their accuracy for judging room dimensions. Correlations between estimated size and physical size were high. Accuracy of low-vision performance was not correlated with acuity, contrast sensitivity, or field status. Accuracy was lower for the blind subjects. The three groups were very similar in spatial-updating performance, and exhibited only weak dependence on the nature of the viewing conditions. Conclusions People with a wide range of low-vision conditions are able to judge room dimensions as accurately as people with normal vision. Blind subjects have difficulty in judging the dimensions of quiet rooms, but some information is available from echolocation. Vision status has little impact on performance in simple spatial updating; proprioceptive and vestibular cues are sufficient. PMID:27978556

Indoor Spatial Updating With Impaired Vision.

PubMed

Legge, Gordon E; Granquist, Christina; Baek, Yihwa; Gage, Rachel

2016-12-01

Spatial updating is the ability to keep track of position and orientation while moving through an environment. We asked how normally sighted and visually impaired subjects compare in spatial updating and in estimating room dimensions. Groups of 32 normally sighted, 16 low-vision, and 16 blind subjects estimated the dimensions of six rectangular rooms. Updating was assessed by guiding the subjects along three-segment paths in the rooms. At the end of each path, they estimated the distance and direction to the starting location, and to a designated target. Spatial updating was tested in five conditions ranging from free viewing to full auditory and visual deprivation. The normally sighted and low-vision groups did not differ in their accuracy for judging room dimensions. Correlations between estimated size and physical size were high. Accuracy of low-vision performance was not correlated with acuity, contrast sensitivity, or field status. Accuracy was lower for the blind subjects. The three groups were very similar in spatial-updating performance, and exhibited only weak dependence on the nature of the viewing conditions. People with a wide range of low-vision conditions are able to judge room dimensions as accurately as people with normal vision. Blind subjects have difficulty in judging the dimensions of quiet rooms, but some information is available from echolocation. Vision status has little impact on performance in simple spatial updating; proprioceptive and vestibular cues are sufficient.

Multi-objective four-dimensional vehicle motion planning in large dynamic environments.

PubMed

Wu, Paul P-Y; Campbell, Duncan; Merz, Torsten

2011-06-01

This paper presents Multi-Step A∗ (MSA∗), a search algorithm based on A∗ for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA∗ finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA∗ meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A∗.

Real-time path planning and autonomous control for helicopter autorotation

NASA Astrophysics Data System (ADS)

Yomchinda, Thanan

Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

System and Method for Aiding Pilot Preview, Rehearsal, Review, and Real-Time Visual Acquisition of Flight Mission Progress

NASA Technical Reports Server (NTRS)

Prinzel, III, Lawrence J. (Inventor); Pope, Alan T. (Inventor); Williams, Steven P. (Inventor); Bailey, Randall E. (Inventor); Arthur, Jarvis J. (Inventor); Kramer, Lynda J. (Inventor); Schutte, Paul C. (Inventor)

2012-01-01

Embodiments of the invention permit flight paths (current and planned) to be viewed from various orientations to provide improved path and terrain awareness via graphical two-dimensional or three-dimensional perspective display formats. By coupling the flight path information with a terrain database, uncompromising terrain awareness relative to the path and ownship is provided. In addition, missed approaches, path deviations, and any navigational path can be reviewed and rehearsed before performing the actual task. By rehearsing a particular mission, check list items can be reviewed, terrain awareness can be highlighted, and missed approach procedures can be discussed by the flight crew. Further, the use of Controller Pilot Datalink Communications enables data-linked path, flight plan changes, and Air Traffic Control requests to be integrated into the flight display of the present invention.

Energy aware path planning in complex four dimensional environments

NASA Astrophysics Data System (ADS)

Chakrabarty, Anjan

This dissertation addresses the problem of energy-aware path planning for small autonomous vehicles. While small autonomous vehicles can perform missions that are too risky (or infeasible) for larger vehicles, the missions are limited by the amount of energy that can be carried on board the vehicle. Path planning techniques that either minimize energy consumption or exploit energy available in the environment can thus increase range and endurance. Path planning is complicated by significant spatial (and potentially temporal) variations in the environment. While the main focus is on autonomous aircraft, this research also addresses autonomous ground vehicles. Range and endurance of small unmanned aerial vehicles (UAVs) can be greatly improved by utilizing energy from the atmosphere. Wind can be exploited to minimize energy consumption of a small UAV. But wind, like any other atmospheric component , is a space and time varying phenomenon. To effectively use wind for long range missions, both exploration and exploitation of wind is critical. This research presents a kinematics based tree algorithm which efficiently handles the four dimensional (three spatial and time) path planning problem. The Kinematic Tree algorithm provides a sequence of waypoints, airspeeds, heading and bank angle commands for each segment of the path. The planner is shown to be resolution complete and computationally efficient. Global optimality of the cost function cannot be claimed, as energy is gained from the atmosphere, making the cost function inadmissible. However the Kinematic Tree is shown to be optimal up to resolution if the cost function is admissible. Simulation results show the efficacy of this planning method for a glider in complex real wind data. Simulation results verify that the planner is able to extract energy from the atmosphere enabling long range missions. The Kinematic Tree planning framework, developed to minimize energy consumption of UAVs, is applied for path planning in ground robots. In traditional path planning problem the focus is on obstacle avoidance and navigation. The optimal Kinematic Tree algorithm named Kinematic Tree* is shown to find optimal paths to reach the destination while avoiding obstacles. A more challenging path planning scenario arises for planning in complex terrain. This research shows how the Kinematic Tree* algorithm can be extended to find minimum energy paths for a ground vehicle in difficult mountainous terrain.

Visualizing the knowledge structure and evolution of big data research in healthcare informatics.

PubMed

Gu, Dongxiao; Li, Jingjing; Li, Xingguo; Liang, Changyong

2017-02-01

In recent years, the literature associated with healthcare big data has grown rapidly, but few studies have used bibliometrics and a visualization approach to conduct deep mining and reveal a panorama of the healthcare big data field. To explore the foundational knowledge and research hotspots of big data research in the field of healthcare informatics, this study conducted a series of bibliometric analyses on the related literature, including papers' production trends in the field and the trend of each paper's co-author number, the distribution of core institutions and countries, the core literature distribution, the related information of prolific authors and innovation paths in the field, a keyword co-occurrence analysis, and research hotspots and trends for the future. By conducting a literature content analysis and structure analysis, we found the following: (a) In the early stage, researchers from the United States, the People's Republic of China, the United Kingdom, and Germany made the most contributions to the literature associated with healthcare big data research and the innovation path in this field. (b) The innovation path in healthcare big data consists of three stages: the disease early detection, diagnosis, treatment, and prognosis phase, the life and health promotion phase, and the nursing phase. (c) Research hotspots are mainly concentrated in three dimensions: the disease dimension (e.g., epidemiology, breast cancer, obesity, and diabetes), the technical dimension (e.g., data mining and machine learning), and the health service dimension (e.g., customized service and elderly nursing). This study will provide scholars in the healthcare informatics community with panoramic knowledge of healthcare big data research, as well as research hotspots and future research directions. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Path optimization with limited sensing ability

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

Kang, Sung Ha, E-mail: kang@math.gatech.edu; Kim, Seong Jun, E-mail: skim396@math.gatech.edu; Zhou, Haomin, E-mail: hmzhou@math.gatech.edu

2015-10-15

We propose a computational strategy to find the optimal path for a mobile sensor with limited coverage to traverse a cluttered region. The goal is to find one of the shortest feasible paths to achieve the complete scan of the environment. We pose the problem in the level set framework, and first consider a related question of placing multiple stationary sensors to obtain the full surveillance of the environment. By connecting the stationary locations using the nearest neighbor strategy, we form the initial guess for the path planning problem of the mobile sensor. Then the path is optimized by reducingmore » its length, via solving a system of ordinary differential equations (ODEs), while maintaining the complete scan of the environment. Furthermore, we use intermittent diffusion, which converts the ODEs into stochastic differential equations (SDEs), to find an optimal path whose length is globally minimal. To improve the computation efficiency, we introduce two techniques, one to remove redundant connecting points to reduce the dimension of the system, and the other to deal with the entangled path so the solution can escape the local traps. Numerical examples are shown to illustrate the effectiveness of the proposed method.« less

Path Analysis and Residual Plotting as Methods of Environmental Scanning in Higher Education: An Illustration with Applications and Enrollments.

ERIC Educational Resources Information Center

Morcol, Goktug; McLaughlin, Gerald W.

1990-01-01

The study proposes using path analysis and residual plotting as methods supporting environmental scanning in strategic planning for higher education institutions. Path models of three levels of independent variables are developed. Dependent variables measuring applications and enrollments at Virginia Polytechnic Institute and State University are…

Global priorities for conservation across multiple dimensions of mammalian diversity

PubMed Central

Graham, Catherine H.; Costa, Gabriel C.; Hedges, S. Blair; Penone, Caterina; Radeloff, Volker C.; Rondinini, Carlo; Davidson, Ana D.

2017-01-01

Conservation priorities that are based on species distribution, endemism, and vulnerability may underrepresent biologically unique species as well as their functional roles and evolutionary histories. To ensure that priorities are biologically comprehensive, multiple dimensions of diversity must be considered. Further, understanding how the different dimensions relate to one another spatially is important for conservation prioritization, but the relationship remains poorly understood. Here, we use spatial conservation planning to (i) identify and compare priority regions for global mammal conservation across three key dimensions of biodiversity—taxonomic, phylogenetic, and traits—and (ii) determine the overlap of these regions with the locations of threatened species and existing protected areas. We show that priority areas for mammal conservation exhibit low overlap across the three dimensions, highlighting the need for an integrative approach for biodiversity conservation. Additionally, currently protected areas poorly represent the three dimensions of mammalian biodiversity. We identify areas of high conservation priority among and across the dimensions that should receive special attention for expanding the global protected area network. These high-priority areas, combined with areas of high priority for other taxonomic groups and with social, economic, and political considerations, provide a biological foundation for future conservation planning efforts. PMID:28674013

Global priorities for conservation across multiple dimensions of mammalian diversity.

PubMed

Brum, Fernanda T; Graham, Catherine H; Costa, Gabriel C; Hedges, S Blair; Penone, Caterina; Radeloff, Volker C; Rondinini, Carlo; Loyola, Rafael; Davidson, Ana D

2017-07-18

Conservation priorities that are based on species distribution, endemism, and vulnerability may underrepresent biologically unique species as well as their functional roles and evolutionary histories. To ensure that priorities are biologically comprehensive, multiple dimensions of diversity must be considered. Further, understanding how the different dimensions relate to one another spatially is important for conservation prioritization, but the relationship remains poorly understood. Here, we use spatial conservation planning to ( i ) identify and compare priority regions for global mammal conservation across three key dimensions of biodiversity-taxonomic, phylogenetic, and traits-and ( ii ) determine the overlap of these regions with the locations of threatened species and existing protected areas. We show that priority areas for mammal conservation exhibit low overlap across the three dimensions, highlighting the need for an integrative approach for biodiversity conservation. Additionally, currently protected areas poorly represent the three dimensions of mammalian biodiversity. We identify areas of high conservation priority among and across the dimensions that should receive special attention for expanding the global protected area network. These high-priority areas, combined with areas of high priority for other taxonomic groups and with social, economic, and political considerations, provide a biological foundation for future conservation planning efforts.

Effects of nonmagnetic disorder on the energy of Yu-Shiba-Rusinov states

NASA Astrophysics Data System (ADS)

Kiendl, Thomas; von Oppen, Felix; Brouwer, Piet W.

2017-10-01

We study the sensitivity of Yu-Shiba-Rusinov states, bound states that form around magnetic scatterers in superconductors, to the presence of nonmagnetic disorder in both two and three dimensional systems. We formulate a scattering approach to this problem and reduce the effects of disorder to two contributions: disorder-induced normal reflection and a random phase of the amplitude for Andreev reflection. We find that both of these are small even for moderate amounts of disorder. In the dirty limit in which the disorder-induced mean free path is smaller than the superconducting coherence length, the variance of the energy of the Yu-Shiba-Rusinov state remains small in the ratio of the Fermi wavelength and the mean free path. This effect is more pronounced in three dimensions, where only impurities within a few Fermi wavelengths of the magnetic scatterer contribute. In two dimensions the energy variance is larger by a logarithmic factor because impurities contribute up to a distance of the order of the superconducting coherence length.

The Mask Designs for Space Interferometer Mission (SIM)

NASA Technical Reports Server (NTRS)

Wang, Xu

2008-01-01

The Space Interferometer Mission (SIM) consists of three interferometers (science, guide1, and guide2) and two optical paths (metrology and starlight). The system requirements for each interferometer/optical path combination are different and sometimes work against each other. A diffraction model is developed to design and optimize various masks to simultaneously meet the system requirements of three interferometers. In this paper, the details of this diffraction model will be described first. Later, the mask design for each interferometer will be presented to demonstrate the system performance compliance. In the end, a tolerance sensitivity study on the geometrical dimension, shape, and the alignment of these masks will be discussed.

Comparison of Low-Energy Lunar Transfer Trajectories to Invariant Manifolds

NASA Technical Reports Server (NTRS)

Anderson, Rodney L.; Parker, Jeffrey S.

2011-01-01

In this study, transfer trajectories from the Earth to the Moon that encounter the Moon at various flight path angles are examined, and lunar approach trajectories are compared to the invariant manifolds of selected unstable orbits in the circular restricted three-body problem. Previous work focused on lunar impact and landing trajectories encountering the Moon normal to the surface, and this research extends the problem with different flight path angles in three dimensions. The lunar landing geometry for a range of Jacobi constants are computed, and approaches to the Moon via invariant manifolds from unstable orbits are analyzed for different energy levels.

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

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.

Moderating Effects of Prevention-Focus on the Paths from Two Insecure Attachment Dimensions to Depression.

PubMed

Lee, Dong-Gwi; Park, Jae Joon; Bae, Byeong Hoon; Lim, Hyun-Woo

2018-04-03

The present study investigated the moderating effects of prevention-focus on the paths from the dimensions of insecure attachment (attachment avoidance and attachment anxiety) to depression. Two hundred twenty eight Korean college students completed the Experience in Close Relationship - Revised Scale; the Regulatory Focus Strategies Scale; and the Center for Epidemiologic Studies Depression Scale. Results revealed a significant moderating effect for prevention-focus on the path from attachment avoidance to depression, but not on the path from attachment anxiety to depression. They further suggest that different interventions are needed for different combinations of persons' insecure attachment dimensions and levels of prevention-focus. Counseling implications and suggestions for future research are discussed.

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †

PubMed Central

Zhang, Meiyan; Zheng, Yahong Rosa

2017-01-01

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X−Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem. PMID:28696377

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †.

PubMed

Cai, Wenyu; Zhang, Meiyan; Zheng, Yahong Rosa

2017-07-11

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X - Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

Course 4: Anyons

NASA Astrophysics Data System (ADS)

Myrheim, J.

Contents 1 Introduction 1.1 The concept of particle statistics 1.2 Statistical mechanics and the many-body problem 1.3 Experimental physics in two dimensions 1.4 The algebraic approach: Heisenberg quantization 1.5 More general quantizations 2 The configuration space 2.1 The Euclidean relative space for two particles 2.2 Dimensions d=1,2,3 2.3 Homotopy 2.4 The braid group 3 Schroedinger quantization in one dimension 4 Heisenberg quantization in one dimension 4.1 The coordinate representation 5 Schroedinger quantization in dimension d ≥ 2 5.1 Scalar wave functions 5.2 Homotopy 5.3 Interchange phases 5.4 The statistics vector potential 5.5 The N-particle case 5.6 Chern-Simons theory 6 The Feynman path integral for anyons 6.1 Eigenstates for position and momentum 6.2 The path integral 6.3 Conjugation classes in SN 6.4 The non-interacting case 6.5 Duality of Feynman and Schroedinger quantization 7 The harmonic oscillator 7.1 The two-dimensional harmonic oscillator 7.2 Two anyons in a harmonic oscillator potential 7.3 More than two anyons 7.4 The three-anyon problem 8 The anyon gas 8.1 The cluster and virial expansions 8.2 First and second order perturbative results 8.3 Regularization by periodic boundary conditions 8.4 Regularization by a harmonic oscillator potential 8.5 Bosons and fermions 8.6 Two anyons 8.7 Three anyons 8.8 The Monte Carlo method 8.9 The path integral representation of the coefficients GP 8.10 Exact and approximate polynomials 8.11 The fourth virial coefficient of anyons 8.12 Two polynomial theorems 9 Charged particles in a constant magnetic field 9.1 One particle in a magnetic field 9.2 Two anyons in a magnetic field 9.3 The anyon gas in a magnetic field 10 Interchange phases and geometric phases 10.1 Introduction to geometric phases 10.2 One particle in a magnetic field 10.3 Two particles in a magnetic field 10.4 Interchange of two anyons in potential wells 10.5 Laughlin's theory of the fractional quantum Hall effect

Three Case Studies in Making Fair Choices on the Path to Universal Health Coverage.

PubMed

Voorhoeve, Alex; Edejer, Tessa T T; Kapiriri, Lydia; Norheim, Ole F; Snowden, James; Basenya, Olivier; Bayarsaikhan, Dorjsuren; Chentaf, Ikram; Eyal, Nir; Folsom, Amanda; Tun Hussein, Rozita Halina; Morales, Cristian; Ostmann, Florian; Ottersen, Trygve; Prakongsai, Phusit; Saenz, Carla; Saleh, Karima; Sommanustweechai, Angkana; Wikler, Daniel; Zakariah, Afisah

2016-12-01

The goal of achieving Universal Health Coverage (UHC) can generally be realized only in stages. Moreover, resource, capacity, and political constraints mean governments often face difficult trade-offs on the path to UHC. In a 2014 report, Making fair choices on the path to UHC , the WHO Consultative Group on Equity and Universal Health Coverage articulated principles for making such trade-offs in an equitable manner. We present three case studies which illustrate how these principles can guide practical decision-making. These case studies show how progressive realization of the right to health can be effectively guided by priority-setting principles, including generating the greatest total health gain, priority for those who are worse off in a number of dimensions (including health, access to health services, and social and economic status), and financial risk protection. They also demonstrate the value of a fair and accountable process of priority setting.

Three Case Studies in Making Fair Choices on the Path to Universal Health Coverage

PubMed Central

Edejer, Tessa T.T.; Kapiriri, Lydia; Norheim, Ole F.; Snowden, James; Basenya, Olivier; Bayarsaikhan, Dorjsuren; Chentaf, Ikram; Eyal, Nir; Folsom, Amanda; Tun Hussein, Rozita Halina; Morales, Cristian; Ostmann, Florian; Ottersen, Trygve; Prakongsai, Phusit; Saenz, Carla; Saleh, Karima; Sommanustweechai, Angkana; Wikler, Daniel; Zakariah, Afisah

2016-01-01

Abstract The goal of achieving Universal Health Coverage (UHC) can generally be realized only in stages. Moreover, resource, capacity, and political constraints mean governments often face difficult trade-offs on the path to UHC. In a 2014 report, Making fair choices on the path to UHC, the WHO Consultative Group on Equity and Universal Health Coverage articulated principles for making such trade-offs in an equitable manner. We present three case studies which illustrate how these principles can guide practical decision-making. These case studies show how progressive realization of the right to health can be effectively guided by priority-setting principles, including generating the greatest total health gain, priority for those who are worse off in a number of dimensions (including health, access to health services, and social and economic status), and financial risk protection. They also demonstrate the value of a fair and accountable process of priority setting. PMID:28559673

A variational dynamic programming approach to robot-path planning with a distance-safety criterion

NASA Technical Reports Server (NTRS)

Suh, Suk-Hwan; Shin, Kang G.

1988-01-01

An approach to robot-path planning is developed by considering both the traveling distance and the safety of the robot. A computationally-efficient algorithm is developed to find a near-optimal path with a weighted distance-safety criterion by using a variational calculus and dynamic programming (VCDP) method. The algorithm is readily applicable to any factory environment by representing the free workspace as channels. A method for deriving these channels is also proposed. Although it is developed mainly for two-dimensional problems, this method can be easily extended to a class of three-dimensional problems. Numerical examples are presented to demonstrate the utility and power of this method.

Temporal overlap estimation based on interference spectrum in CARS microscopy

NASA Astrophysics Data System (ADS)

Zhang, Yongning; Jiang, Junfeng; Liu, Kun; Huang, Can; Wang, Shuang; Zhang, Xuezhi; Liu, Tiegen

2018-01-01

Coherent Anti-Stokes Raman Scattering (CARS) microscopy has attracted lots of attention because of the advantages, such as noninvasive, label-free, chemical specificity, intrinsic three-dimension spatial resolution and so on. However, the temporal overlap of pump and Stokes has not been solved owing to the ultrafast optical pulse used in CARS microscopy. We combine interference spectrum of residual pump in Stokes path and nonlinear Schrodinger equation (NLSE) to realize the temporal overlap of pump pulse and Stokes pulse. At first, based on the interference spectrum of pump pulse and residual pump in Stokes path, the optical delay is defined when optical path difference between pump path and Stokes path is zero. Then the relative optical delay between Stokes pulse and residual pump in PCF can be calculated by NLSE. According to the spectrum interference and NLSE, temporal overlap of pump pulse and Stokes pulse will be realized easily and the imaging speed will be improved in CARS microscopy.

A 2D chaotic path planning for mobile robots accomplishing boundary surveillance missions in adversarial conditions

NASA Astrophysics Data System (ADS)

Curiac, Daniel-Ioan; Volosencu, Constantin

2014-10-01

The path-planning algorithm represents a crucial issue for every autonomous mobile robot. In normal circumstances a patrol robot will compute an optimal path to ensure its task accomplishment, but in adversarial conditions the problem is getting more complicated. Here, the robot’s trajectory needs to be altered into a misleading and unpredictable path to cope with potential opponents. Chaotic systems provide the needed framework for obtaining unpredictable motion in all of the three basic robot surveillance missions: area, points of interests and boundary monitoring. Proficient approaches have been provided for the first two surveillance tasks, but for boundary patrol missions no method has been reported yet. This paper addresses the mentioned research gap by proposing an efficient method, based on chaotic dynamic of the Hénon system, to ensure unpredictable boundary patrol on any shape of chosen closed contour.

A Mode of Combined ERP and KMS Knowledge Management System Construction

NASA Astrophysics Data System (ADS)

Yuena, Kang; Yangeng, Wen; Qun, Zhou

The core of ERP and knowledge management is quite similar; both will send appropriate knowledge (goods, funds) to the right people (position) at the right time. It is reasonable to believe that increase the knowledge management system in ERP will help companies achieve their goals better. This paper compares the concept of logical point of hall three-dimensional structure of the knowledge management system and the ERP in methodology level. And found they are very similar in the time dimension, logic dimension and knowledge dimension. This laid the basis of methodology in the simultaneous planning, implementation and applications. And then proposed a knowledge-based ERP Multi-Agent Management System Model. Finally, the paper described the process from planning to implementation of knowledge management ERP system with multi-Agent interaction and impact from three concepts, management thinking, software and system.

A testbed for the evaluation of computer aids for enroute flight path planning

NASA Technical Reports Server (NTRS)

Smith, Philip J.; Layton, Chuck; Galdes, Deb; Mccoy, C. E.

1990-01-01

A simulator study of the five airline flight crews engaged in various enroute planning activities has been conducted. Based on a cognitive task analysis of this data, a flight planning workstation has been developed on a Mac II controlling three color monitors. This workstation is being used to study design concepts to support the flight planning activities of dispatchers and flight crews in part-task simulators.

Perceived justice and popular support for public health laws: a case study around comprehensive smoke-free legislation in Mexico City.

PubMed

Thrasher, James F; Besley, John C; González, Wendy

2010-03-01

The World Health Organization's Framework Convention on Tobacco Control promotes comprehensive smoke-free laws. The effective implementation of these laws requires citizen participation and support. Risk communication research suggests that citizens' perceptions of the fairness of smoke-free laws would help explain their support for the law. This study aimed to assess the factors that correlate with citizens' perceptions of the distributive, procedural and interpersonal justice of smoke-free laws, as well as how these perceptions are related to support for and intention to help enforce these laws. Study data came from a cross-sectional, population-based survey of 800 Mexico City inhabitants before a comprehensive smoke-free policy was implemented there in 2008. Structural equation modeling was used to estimate the bivariate and multivariate adjusted paths relating study variables. In the final multivariate model, the three justice concepts mediated the influence of smoking status, perceived dangers of secondhand smoke exposure, strength of home smoking ban, and perceived rights of smokers on the two distal constructs of support for smoke-free policy and intention to help enforce it. Statistically significant paths were estimated from distributive and procedural justice to support for the law and intention help enforce it. The path from interpersonal justice to support for the law was not significant, but the path to intention to help enforce the law was. Finally, the path from support for the law to the intention to enforce it was statistically significant. These results suggest that three distinct dimensions of perceived justice help explain citizen support for smoke-free policies. These dimensions of perceived justice may explain the conditions under which smoke-free policies are effectively implemented and could help shape the focus for communication strategies that aim to ensure effective implementation of this and other public health policies. 2009 Elsevier Ltd. All rights reserved.

Image-based path planning for automated virtual colonoscopy navigation

NASA Astrophysics Data System (ADS)

Hong, Wei

2008-03-01

Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.

A longitudinal analysis of burnout in middle and high school Korean teachers.

PubMed

Park, Yang Min; Lee, Sang Min

2013-12-01

This study examines longitudinal relationships among three burnout dimensions in middle and high school teachers. For this study, 419 middle and high school teachers participated in a panel survey, which was conducted in three waves. Using Amos 7.0, we performed autoregressive cross-lagged modeling to obtain a complete picture of the longitudinal relationships among the three factors of the Maslach Burnout Inventory-Educator Survey. Results indicated that the paths from emotional exhaustion at Time1 and Time2 to depersonalization at Time2 and Time3 were statistically significant. In addition, the paths from personal accomplishment at Time1 and Time2 to depersonalization at Time2 and Time3 were also statistically significant. Empirically identifying the process by which burnout occurs could help practitioners and policy makers to design burnout prevention strategies. Copyright © 2012 John Wiley & Sons, Ltd.

[The study on behaviour of protective equipment utilization of workers exposed to benzene and factors based on Planned Behavior Theory].

PubMed

Huang, J Y; Liu, C D; Zhang, W M; Fu, Y K; Ma, H Y

2018-02-20

Objective: To investigate and predict the behavioral intention and mode of the protective equipment utilization selection of the workers who used Benzene, the Theory of Planned Behavior (TPB) was applied to establish the behavioral model to enhance the theoretical foundation for long-term intervention. Methods: Questionnaires were used to survey the 707 workers, and all the behaviors of using protective equipment were investigated. Evaluate the relationships between each variable and obtain the influence affects by structural equation model. Results: The investigation showed that 38.47% of the total workers (272 cases) used whole body protection, 13.58% used partially, and 16.69% didn't use any body protection. There were significant difference between the varying degrees in the four dimensions (behavioral attitude, perceived behavior control, subjective norm, and behavioral intention) (P<0.01) . The results of structural equation model revealed that perceived behavior control was the most important influencing factor, subjective norm, positive attitude, negative attitude were the other three respects in sequence. The path co-efficient were 0.600、0.215、0.141 and 0.046 respectively. Conclusion: The study show that the theory of planned behavior can effectively explain the behavioral intention and behavior of protective equipment utilization. Therefore, combining the subjective initiative of individuals with the supervision of enterprises, In order to effectively enhance the protective equipment utilization of benzene workers.

THE ROLE OF AFFECTIVE EXPERIENCE IN WORK MOTIVATION

PubMed Central

SEO, MYEONG-GU; BARRETT, LISA FELDMAN; BARTUNEK, JEAN M.

2005-01-01

Based on psychological and neurobiological theories of core affective experience, we identify a set of direct and indirect paths through which affective feelings at work affect three dimensions of behavioral outcomes: direction, intensity, and persistence. First, affective experience may influence these behavioral outcomes indirectly by affecting goal level and goal commitment, as well as three key judgment components of work motivation: expectancy judgments, utility judgments, and progress judgments. Second, affective experience may also affect these behavioral outcomes directly. We discuss implications of our model. PMID:16871321

Vertical exploration and dimensional modularity in mice

PubMed Central

Benjamini, Yoav; Golani, Ilan

2018-01-01

Exploration is a central component of animal behaviour studied extensively in rodents. Previous tests of free exploration limited vertical movement to rearing and jumping. Here, we attach a wire mesh to the arena wall, allowing vertical exploration. This provides an opportunity to study the morphogenesis of behaviour along the vertical dimension, and examine the context in which it is performed. In the current set-up, the mice first use the doorway as a point reference for establishing a borderline linear path along the circumference of the arena floor, and then use this path as a linear reference for performing horizontal forays towards the centre (incursions) and vertical forays on the wire mesh (ascents). Vertical movement starts with rearing on the wall, and commences with straight vertical ascents that increase in extent and complexity. The mice first reach the top of the wall, then mill about within circumscribed horizontal sections, and then progress horizontally for increasingly longer distances on the upper edge of the wire mesh. Examination of the sequence of borderline segments, incursions and ascents reveals dimensional modularity: an initial series (bout) of borderline segments precedes alternating bouts of incursions and bouts of ascents, thus exhibiting sustained attention to each dimension separately. The exhibited separate growth in extent and in complexity of movement and the sustained attention to each of the three dimensions disclose the mice's modular perception of this environment and validate all three as natural kinds. PMID:29657827

Neurosurgical robotic arm drilling navigation system.

PubMed

Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

2017-09-01

The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

Robust path planning for flexible needle insertion using Markov decision processes.

PubMed

Tan, Xiaoyu; Yu, Pengqian; Lim, Kah-Bin; Chui, Chee-Kong

2018-05-11

Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue-needle interactions. This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue-needle interaction. Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue-needle interactions. Future work will involve experiment with biological tissue in vivo. The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.

Development and demonstration of an on-board mission planner for helicopters

NASA Technical Reports Server (NTRS)

Deutsch, Owen L.; Desai, Mukund

1988-01-01

Mission management tasks can be distributed within a planning hierarchy, where each level of the hierarchy addresses a scope of action, and associated time scale or planning horizon, and requirements for plan generation response time. The current work is focused on the far-field planning subproblem, with a scope and planning horizon encompassing the entire mission and with a response time required to be about two minutes. The far-feld planning problem is posed as a constrained optimization problem and algorithms and structural organizations are proposed for the solution. Algorithms are implemented in a developmental environment, and performance is assessed with respect to optimality and feasibility for the intended application and in comparison with alternative algorithms. This is done for the three major components of far-field planning: goal planning, waypoint path planning, and timeline management. It appears feasible to meet performance requirements on a 10 Mips flyable processor (dedicated to far-field planning) using a heuristically-guided simulated annealing technique for the goal planner, a modified A* search for the waypoint path planner, and a speed scheduling technique developed for this project.

Race/Ethnicity and Social Capital among Middle- and Upper-Middle-Class Elementary School Families: A Structural Equation Model

ERIC Educational Resources Information Center

Caldas, Stephen J.; Cornigans, Linda

2015-01-01

This study used structural equation modeling to conduct a first and second order confirmatory factor analysis (CFA) of a scale developed by McDonald and Moberg (2002) to measure three dimensions of social capital among a diverse group of middle- and upper-middle-class elementary school parents in suburban New York. A structural path model was…

Two arm robot path planning in a static environment using polytopes and string stretching. Thesis

NASA Technical Reports Server (NTRS)

Schima, Francis J., III

1990-01-01

The two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.

Dynamics of a Two-Link Vehicle in an L-Shaped Corridor Revisited

NASA Astrophysics Data System (ADS)

Antonyuk, E. Ya.; Zabuga, A. T.

2014-03-01

The kinematics of a two-link mobile robot with three steerable wheels moving in an L-shaped corridor is analyzed. A smooth (with continuous first derivative) path is designed maintaining the optimal maneuverability of the vehicle. The motion of the vehicle along this path is planned. Analytical expressions for the reactions at the contact of the wheels with the ground are given in the general case of motion. The radius of curvature of the programmed path is shown to have a strong influence on the reactions.

TUBSAT-1, satellite technology for educational purposes

NASA Technical Reports Server (NTRS)

Ginati, A.

1988-01-01

TUBSAT-1 (Technical University of Berlin Satellite) is an experimental low-cost satellite within the NASA Get Away Special (GAS) program. This project is being financed by the German BMFT (Federal Ministry for Research and Technology), mainly for student education. The dimensions and weight are determined by GAS requirements and the satellite will be ejected from the space shuttle into an approximately 300-km circular orbit. It is a sun/star oriented satellite with an additional spin stabilization mode. The first planned payload is to be used for observing flight paths of migratory birds from northern Europe to southern Africa and back.

Dimensions of Motivation to Transfer: A Longitudinal Analysis of Their Influence on Retention, Transfer, and Attitude Change

ERIC Educational Resources Information Center

Gegenfurtner, Andreas

2013-01-01

This longitudinal study examined the multidimensionality of motivation to transfer training. Based on self-determination theory, expectancy theory, and the theory of planned behaviour, motivation to transfer was conceptualized in three dimensions: autonomous motivation to transfer, controlled motivation to transfer, and intention to transfer.…

Cooperative organic mine avoidance path planning

NASA Astrophysics Data System (ADS)

McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David

2005-06-01

The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.

Vervet monkeys use paths consistent with context-specific spatial movement heuristics.

PubMed

Teichroeb, Julie A

2015-10-01

Animal foraging routes are analogous to the computationally demanding "traveling salesman problem" (TSP), where individuals must find the shortest path among several locations before returning to the start. Humans approximate solutions to TSPs using simple heuristics or "rules of thumb," but our knowledge of how other animals solve multidestination routing problems is incomplete. Most nonhuman primate species have shown limited ability to route plan. However, captive vervets were shown to solve a TSP for six sites. These results were consistent with either planning three steps ahead or a risk-avoidance strategy. I investigated how wild vervet monkeys (Chlorocebus pygerythrus) solved a path problem with six, equally rewarding food sites; where site arrangement allowed assessment of whether vervets found the shortest route and/or used paths consistent with one of three simple heuristics to navigate. Single vervets took the shortest possible path in fewer than half of the trials, usually in ways consistent with the most efficient heuristic (the convex hull). When in competition, vervets' paths were consistent with different, more efficient heuristics dependent on their dominance rank (a cluster strategy for dominants and the nearest neighbor rule for subordinates). These results suggest that, like humans, vervets may solve multidestination routing problems by applying simple, adaptive, context-specific "rules of thumb." The heuristics that were consistent with vervet paths in this study are the same as some of those asserted to be used by humans. These spatial movement strategies may have common evolutionary roots and be part of a universal mental navigational toolkit. Alternatively, they may have emerged through convergent evolution as the optimal way to solve multidestination routing problems.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

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

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

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

Vandewouw, Marlee M., E-mail: marleev@mie.utoronto

Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, aremore » used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.« less

Programs for road network planning.

Treesearch

Ward W. Carson; Dennis P. Dykstra

1978-01-01

This paper describes four computer programs developed to assist logging engineers to plan transportation in a forest. The objective of these programs, to be used together, is to find the shortest path through a transportation network from a point of departure to a destination. Three of the programs use the digitizing and plotting capabilities of a programable desk-top...

Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

NASA Astrophysics Data System (ADS)

Latip, Nor Badariyah Abdul; Omar, Rosli

2017-08-01

When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.

Design of an advanced flight planning system

NASA Technical Reports Server (NTRS)

Sorensen, J. A.; Goka, T.

1985-01-01

The demand for both fuel conservation and four-dimensional traffic management require that the preflight planning process be designed to account for advances in airborne flight management and weather forecasting. The steps and issues in designing such an advanced flight planning system are presented. Focus is placed on the different optimization options for generating the three-dimensional reference path. For the cruise phase, one can use predefined jet routes, direct routes based on a network of evenly spaced grid points, or a network where the grid points are existing navaid locations. Each choice has its own problem in determining an optimum solution. Finding the reference path is further complicated by choice of cruise altitude levels, use of a time-varying weather field, and requiring a fixed time-of-arrival (four-dimensional problem).

Three-dimensional automated nanoparticle tracking using Mie scattering in an optical microscope.

PubMed

Gineste, J-M; Macko, P; Patterson, E A; Whelan, M P

2011-08-01

The forward scattering of light in a conventional inverted optical microscope by nanoparticles ranging in diameter from 10 to 50nm has been used to automatically and quantitatively identify and track their location in three-dimensions with a temporal resolution of 200ms. The standard deviation of the location of nominally stationary 50-nm-diameter nanoparticles was found to be about 50nm along the light path and about 5nm in the plane perpendicular to the light path. The method is based on oscillating the microscope objective along the light path using a piezo actuator and acquiring images with the condenser aperture closed to a minimum to enhance the effects of diffraction. Data processing in the time and spatial domains allowed the location of particles to be obtained automatically so that the technique has potential applications both in the processing of nanoparticles and in their use in a variety of fields including nanobiotechnology, pharmaceuticals and food processing where a simple optical microscope maybe preferred for a variety of reasons. © 2011 The Authors Journal of Microscopy © 2011 Royal Microscopical Society.

Planning for the Introduction of the Metric System into Occupational Education Programs

ERIC Educational Resources Information Center

Low, A. W.

1974-01-01

A three-dimensional planning model for introducting the International System of Metric Units into Canadian occupational education curricula includes employment level, career area, and metric topics. A fourth dimension, time, is considered in four separate phases: familiarization, adoption, conversion, and compulsory usage.

Research on global path planning based on ant colony optimization for AUV

NASA Astrophysics Data System (ADS)

Wang, Hong-Jian; Xiong, Wei

2009-03-01

Path planning is an important issue for autonomous underwater vehicles (AUVs) traversing an unknown environment such as a sea floor, a jungle, or the outer celestial planets. For this paper, global path planning using large-scale chart data was studied, and the principles of ant colony optimization (ACO) were applied. This paper introduced the idea of a visibility graph based on the grid workspace model. It also brought a series of pheromone updating rules for the ACO planning algorithm. The operational steps of the ACO algorithm are proposed as a model for a global path planning method for AUV. To mimic the process of smoothing a planned path, a cutting operator and an insertion-point operator were designed. Simulation results demonstrated that the ACO algorithm is suitable for global path planning. The system has many advantages, including that the operating path of the AUV can be quickly optimized, and it is shorter, safer, and smoother. The prototype system successfully demonstrated the feasibility of the concept, proving it can be applied to surveys of unstructured unmanned environments.

UAV path planning using artificial potential field method updated by optimal control theory

NASA Astrophysics Data System (ADS)

Chen, Yong-bo; Luo, Guan-chen; Mei, Yue-song; Yu, Jian-qiao; Su, Xiao-long

2016-04-01

The unmanned aerial vehicle (UAV) path planning problem is an important assignment in the UAV mission planning. Based on the artificial potential field (APF) UAV path planning method, it is reconstructed into the constrained optimisation problem by introducing an additional control force. The constrained optimisation problem is translated into the unconstrained optimisation problem with the help of slack variables in this paper. The functional optimisation method is applied to reform this problem into an optimal control problem. The whole transformation process is deduced in detail, based on a discrete UAV dynamic model. Then, the path planning problem is solved with the help of the optimal control method. The path following process based on the six degrees of freedom simulation model of the quadrotor helicopters is introduced to verify the practicability of this method. Finally, the simulation results show that the improved method is more effective in planning path. In the planning space, the length of the calculated path is shorter and smoother than that using traditional APF method. In addition, the improved method can solve the dead point problem effectively.

Visual terrain mapping for traversable path planning of mobile robots

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir; Amrani, Rachida; Tunstel, Edward W.

2004-10-01

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

Design and analysis of advanced flight planning concepts

NASA Technical Reports Server (NTRS)

Sorensen, John A.

1987-01-01

The objectives of this continuing effort are to develop and evaluate new algorithms and advanced concepts for flight management and flight planning. This includes the minimization of fuel or direct operating costs, the integration of the airborne flight management and ground-based flight planning processes, and the enhancement of future traffic management systems design. Flight management (FMS) concepts are for on-board profile computation and steering of transport aircraft in the vertical plane between a city pair and along a given horizontal path. Flight planning (FPS) concepts are for the pre-flight ground based computation of the three-dimensional reference trajectory that connects the city pair and specifies the horizontal path, fuel load, and weather profiles for initializing the FMS. As part of these objectives, a new computer program called EFPLAN has been developed and utilized to study advanced flight planning concepts. EFPLAN represents an experimental version of an FPS. It has been developed to generate reference flight plans compatible as input to an FMS and to provide various options for flight planning research. This report describes EFPLAN and the associated research conducted in its development.

Stroboscobic near-field scanning optical microscopy for 3D mapping of mode profiles of plasmonic nanostructures (Conference Presentation)

NASA Astrophysics Data System (ADS)

Dana, Aykutlu; Ozgur, Erol; Torunoglu, Gamze

2016-09-01

We present a dynamic approach to scanning near field optical microscopy that extends the measurement technique to the third dimension, by strobing the illumination in sync with the cantilever oscillation. Nitrogen vacancy (NV) centers in nanodiamonds placed on cantilever tips are used as stable emitters for emission enhancement. Local field enhancement and modulation of optical density states are mapped in three dimensions based on fluorescence intensity and spectrum changes as the tip is scanned over plasmonic nanostructures. The excitation of NV centers is done using a total internal reflection setup. Using a digital phase locked loop to pulse the excitation in various tip sample separations, 2D slices of fluorescence enhancement can be recorded. Alternatively, a conventional SNOM tip can be used to selectively couple wideband excitation to the collection path, with subdiffraction resolution of 60 nm in x and y and 10 nm in z directions. The approach solves the problem of tip-sample separation stabilization over extended periods of measurement time, required to collect data resolved in emission wavelength and three spatial dimensions. The method can provide a unique way of accessing the three dimensional field and mode profiles of nanophotonics structures.

China’s Defense Industry on the Path of Reform

DTIC Science & Technology

2009-10-01

Strategy” (三三三转型升级 战 略). The strategy calls for a proactive approach to the development of three markets simultaneously: military, civilian, and foreign. 46...Plan to Leap Ahead in Core Competitive Power” (核心竞 争 力跃升计划). According to the plan, CETC called for strengthening the competitive power of products in

The accuracy of two-dimensional planning for routine orthognathic surgery.

PubMed

Rustemeyer, Jan; Groddeck, Alexander; Zwerger, Stefan; Bremerich, Andreas

2010-06-01

Two-dimensional cephalometric planning software should be helpful for prediction of hard tissue outcome after bilateral sagittal split ramus osteotomy (BSSRO) or bimaxillary osteotomy, but transferring two-dimensional data to three-dimensions (including mock operation and surgery) may result in errors. The objective of this retrospective study was to analyze deviations between predicted results and postoperative outcome using cephalometric analyses, and to evaluate this procedure for daily use. Fifty-four subjects (mean (SD) age 26 (8) years) had a BSSRO (n=21) alone or in combination with Le Fort I osteotomy (n=33). Predictions were made for each case by cephalometric planning software and mock operations done with study models. Postoperative cephalograms were obtained after 14 days and compared with predicted cephalograms for sagittal (SNA, SNB, ANB,) and vertical (ArMeGo, ML-NSL, NL-NSL) measurements. Mean (SD) differences for all measurements varied between 1.3 degrees (1.1 degrees) and 2.2 degrees (1.6 degrees) for BSSRO; and between 1.1 degrees (1.3 degrees) and 2.2 degrees (1.6 degrees) for bimaxillary osteotomy. There were no significant differences between measurements or operations, indicating that the predictions were accurate. A difference of up to 8.5 degrees could be measured in a single case. Cephalometric prediction therefore remains an accurate tool for planning, particularly maxillary rearrangement in the vertical and sagittal dimension for routine operations. If greater shifts in the transversal dimension are necessary, exact planning should be adapted with three-dimensional planning devices to avoid significant differences. Copyright 2009 The British Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

Adaptive mesh refinement for time-domain electromagnetics using vector finite elements :a feasibility study.

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

Turner, C. David; Kotulski, Joseph Daniel; Pasik, Michael Francis

This report investigates the feasibility of applying Adaptive Mesh Refinement (AMR) techniques to a vector finite element formulation for the wave equation in three dimensions. Possible error estimators are considered first. Next, approaches for refining tetrahedral elements are reviewed. AMR capabilities within the Nevada framework are then evaluated. We summarize our conclusions on the feasibility of AMR for time-domain vector finite elements and identify a path forward.

Crack Turning in Integrally Stiffened Aircraft Structures

NASA Technical Reports Server (NTRS)

Pettit, Richard Glen

2000-01-01

Current emphasis in the aircraft industry toward reducing manufacturing cost has created a renewed interest in integrally stiffened structures. Crack turning has been identified as an approach to improve the damage tolerance and fail-safety of this class of structures. A desired behavior is for skin cracks to turn before reaching a stiffener, instead of growing straight through. A crack in a pressurized fuselage encounters high T-stress as it nears the stiffener--a condition favorable to crack turning. Also, the tear resistance of aluminum alloys typically varies with crack orientation, a form of anisotropy that can influence the crack path. The present work addresses these issues with a study of crack turning in two-dimensions, including the effects of both T-stress and fracture anisotropy. Both effects are shown to have relation to the process zone size, an interaction that is central to this study. Following an introduction to the problem, the T-stress effect is studied for a slightly curved semi-infinite crack with a cohesive process zone, yielding a closed form expression for the future crack path in an infinite medium. For a given initial crack tip curvature and tensile T-stress, the crack path instability is found to increase with process zone size. Fracture orthotropy is treated using a simple function to interpolate between the two principal fracture resistance values in two-dimensions. An extension to three-dimensions interpolates between the six principal values of fracture resistance. Also discussed is the transition between mode I and mode II fracture in metals. For isotropic materials, there is evidence that the crack seeks out a direction of either local symmetry (pure mode I) or local asymmetry (pure mode II) growth. For orthotropic materials the favored states are not pure modal, and have mode mixity that is a function of crack orientation.

Postural control strategies during single limb stance following acute lateral ankle sprain.

PubMed

Doherty, Cailbhe; Bleakley, Chris; Hertel, Jay; Caulfield, Brian; Ryan, John; Delahunt, Eamonn

2014-06-01

Single-limb stance is maintained via the integration of visual, vestibular and somatosensory afferents. Musculoskeletal injury challenges the somatosensory system to reweight distorted sensory afferents. This investigation supplements kinetic analysis of eyes-open and eyes-closed single-limb stance tasks with a kinematic profile of lower limb postural orientation in an acute lateral ankle sprain group to assess the adaptive capacity of the sensorimotor system to injury. Sixty-six participants with first-time acute lateral ankle sprain completed a 20-second eyes-open single-limb stance task on their injured and non-injured limbs (task 1). Twenty-three of these participants successfully completed the same 20-second single-limb stance task with their eyes closed (task 2). A non-injured control group of 19 participants completed task 1, with 16 completing task 2. 3-dimensional kinematics of the hip, knee and ankle joints, as well as associated fractal dimension of the center-of-pressure path were determined for each limb during these tasks. Between trial analyses revealed significant differences in stance limb kinematics and fractal dimension of the center-of-pressure path for task 2 only. The control group bilaterally assumed a position of greater hip flexion compared to injured participants on their side-matched "involved"(7.41 [6.1°] vs 1.44 [4.8]°; η(2)=.34) and "uninvolved" (9.59 [8.5°] vs 2.16 [5.6°]; η(2)=.31) limbs, with a greater fractal dimension of the center-of-pressure path (involved limb=1.39 [0.16°] vs 1.25 [0.14°]; uninvolved limb=1.37 [0.21°] vs 1.23 [0.14°]). Bilateral impairment in postural control strategies present following a first time acute lateral ankle sprain. Copyright © 2014 Elsevier Ltd. All rights reserved.

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.

Planning 3-D collision-free paths using spheres

NASA Technical Reports Server (NTRS)

Bonner, Susan; Kelley, Robert B.

1989-01-01

A scheme for the representation of objects, the Successive Spherical Approximation (SSA), facilitates the rapid planning of collision-free paths in a 3-D, dynamic environment. The hierarchical nature of the SSA allows collision-free paths to be determined efficiently while still providing for the exact representation of dynamic objects. The concept of a freespace cell is introduced to allow human 3-D conceptual knowledge to be used in facilitating satisfying choices for paths. Collisions can be detected at a rate better than 1 second per environment object per path. This speed enables the path planning process to apply a hierarchy of rules to create a heuristically satisfying collision-free path.

University community partnerships that promote evidence-based macro practice.

PubMed

Mulroy, Elizabeth A

2008-01-01

This article articulates three dimensions of EBP grounded in theory for macro practice: intention toward social change, planning and decision-making, and civic participation. These dimensions are then applied to university community partnerships that are complex community interventions. The goals of these partnerships are to improve the social environment in low-income neighborhoods through community development and reform the university as a social institution from neighborhood bystander to responsible, engaged citizen. Finally, the article introduces the concept of a planning triangle, a framework linking evidence derived from community assessments and practice-relevant research to decisive and timely action in the field.

Methodology for Augmenting Existing Paths with Additional Parallel Transects

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

Wilson, John E.

2013-09-30

Visual Sample Plan (VSP) is sample planning software that is used, among other purposes, to plan transect sampling paths to detect areas that were potentially used for munition training. This module was developed for application on a large site where existing roads and trails were to be used as primary sampling paths. Gap areas between these primary paths needed to found and covered with parallel transect paths. These gap areas represent areas on the site that are more than a specified distance from a primary path. These added parallel paths needed to optionally be connected together into a single path—themore » shortest path possible. The paths also needed to optionally be attached to existing primary paths, again with the shortest possible path. Finally, the process must be repeatable and predictable so that the same inputs (primary paths, specified distance, and path options) will result in the same set of new paths every time. This methodology was developed to meet those specifications.« less

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

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

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

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

DTIC Science & Technology

1991-03-01

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

The Temporal Course of Anxiety Sensitivity in Outpatients with Anxiety and Mood Disorders: Relationships with Behavioral Inhibition and Depression

PubMed Central

Rosellini, Anthony J.; Fairholme, Christopher P.; Brown, Timothy A.

2011-01-01

The present study evaluated the temporal course of three dimensions of anxiety sensitivity (AS; concerns over physical symptoms, mental incapacitation, and social embarrassment) and their relationships with behavioral inhibition (BI) and depression (DEP) in 606 outpatients with anxiety and mood disorders. A semi-structured interview and self-report questionnaires were administered on three occasions over a two-year period. All three constructs decreased over the study period and AS temporally functioned more similar to DEP than BI. Cross-sectional and temporal correlations supported the discriminant validity of AS from BI. As expected, initial levels of BI predicted less improvement in all AS dimensions. In contrast, higher initial levels of mental incapacitation AS were associated with greater improvement in DEP. Our results are discussed in regard to the measurement of AS in clinical samples, conceptualizations of AS as a lower-order vulnerability, and prognostic implications of directional paths between BI and AS and AS and DEP. PMID:21377316

Intensity Modulated Radiation Therapy Dose Painting for Localized Prostate Cancer Using {sup 11}C-choline Positron Emission Tomography Scans

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

Chang, Joe H.; University of Melbourne, Victoria; Lim Joon, Daryl

Purpose: To demonstrate the technical feasibility of intensity modulated radiation therapy (IMRT) dose painting using {sup 11}C-choline positron emission tomography PET scans in patients with localized prostate cancer. Methods and Materials: This was an RT planning study of 8 patients with prostate cancer who had {sup 11}C-choline PET scans prior to radical prostatectomy. Two contours were semiautomatically generated on the basis of the PET scans for each patient: 60% and 70% of the maximum standardized uptake values (SUV{sub 60%} and SUV{sub 70%}). Three IMRT plans were generated for each patient: PLAN{sub 78}, which consisted of whole-prostate radiation therapy to 78more » Gy; PLAN{sub 78-90}, which consisted of whole-prostate RT to 78 Gy, a boost to the SUV{sub 60%} to 84 Gy, and a further boost to the SUV{sub 70%} to 90 Gy; and PLAN{sub 72-90}, which consisted of whole-prostate RT to 72 Gy, a boost to the SUV{sub 60%} to 84 Gy, and a further boost to the SUV{sub 70%} to 90 Gy. The feasibility of these plans was judged by their ability to reach prescription doses while adhering to published dose constraints. Tumor control probabilities based on PET scan-defined volumes (TCP{sub PET}) and on prostatectomy-defined volumes (TCP{sub path}), and rectal normal tissue complication probabilities (NTCP) were compared between the plans. Results: All plans for all patients reached prescription doses while adhering to dose constraints. TCP{sub PET} values for PLAN{sub 78}, PLAN{sub 78-90}, and PLAN{sub 72-90} were 65%, 97%, and 96%, respectively. TCP{sub path} values were 71%, 97%, and 89%, respectively. Both PLAN{sub 78-90} and PLAN{sub 72-90} had significantly higher TCP{sub PET} (P=.002 and .001) and TCP{sub path} (P<.001 and .014) values than PLAN{sub 78}. PLAN{sub 78-90} and PLAN{sub 72-90} were not significantly different in terms of TCP{sub PET} or TCP{sub path}. There were no significant differences in rectal NTCPs between the 3 plans. Conclusions: IMRT dose painting for localized prostate cancer using {sup 11}C-choline PET scans is technically feasible. Dose painting results in higher TCPs without higher NTCPs.« less

Tornado Intensity Estimated from Damage Path Dimensions

PubMed Central

Elsner, James B.; Jagger, Thomas H.; Elsner, Ian J.

2014-01-01

The Newcastle/Moore and El Reno tornadoes of May 2013 are recent reminders of the destructive power of tornadoes. A direct estimate of a tornado's power is difficult and dangerous to get. An indirect estimate on a categorical scale is available from a post-storm survery of the damage. Wind speed bounds are attached to the scale, but the scale is not adequate for analyzing trends in tornado intensity separate from trends in tornado frequency. Here tornado intensity on a continuum is estimated from damage path length and width, which are measured on continuous scales and correlated to the EF rating. The wind speeds on the EF scale are treated as interval censored data and regressed onto the path dimensions and fatalities. The regression model indicates a 25% increase in expected intensity over a threshold intensity of 29 m s−1 for a 100 km increase in path length and a 17% increase in expected intensity for a one km increase in path width. The model shows a 43% increase in the expected intensity when fatalities are observed controlling for path dimensions. The estimated wind speeds correlate at a level of .77 (.34, .93) [95% confidence interval] with a small sample of wind speeds estimated independently from a doppler radar calibration. The estimated wind speeds allow analyses to be done on the tornado database that are not possible with the categorical scale. The modeled intensities can be used in climatology and in environmental and engineering applications. Research is needed to understand the upward trends in path length and width. PMID:25229242

Tornado intensity estimated from damage path dimensions.

PubMed

Elsner, James B; Jagger, Thomas H; Elsner, Ian J

2014-01-01

The Newcastle/Moore and El Reno tornadoes of May 2013 are recent reminders of the destructive power of tornadoes. A direct estimate of a tornado's power is difficult and dangerous to get. An indirect estimate on a categorical scale is available from a post-storm survery of the damage. Wind speed bounds are attached to the scale, but the scale is not adequate for analyzing trends in tornado intensity separate from trends in tornado frequency. Here tornado intensity on a continuum is estimated from damage path length and width, which are measured on continuous scales and correlated to the EF rating. The wind speeds on the EF scale are treated as interval censored data and regressed onto the path dimensions and fatalities. The regression model indicates a 25% increase in expected intensity over a threshold intensity of 29 m s(-1) for a 100 km increase in path length and a 17% increase in expected intensity for a one km increase in path width. The model shows a 43% increase in the expected intensity when fatalities are observed controlling for path dimensions. The estimated wind speeds correlate at a level of .77 (.34, .93) [95% confidence interval] with a small sample of wind speeds estimated independently from a doppler radar calibration. The estimated wind speeds allow analyses to be done on the tornado database that are not possible with the categorical scale. The modeled intensities can be used in climatology and in environmental and engineering applications. Research is needed to understand the upward trends in path length and width.

A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm

NASA Astrophysics Data System (ADS)

Zeng, Wenhui; Yi, Jin; Rao, Xiao; Zheng, Yun

2017-11-01

In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task's completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach.

Simulating Mission Command for Planning and Analysis

DTIC Science & Technology

2015-06-01

mission plan. 14. SUBJECT TERMS Mission Planning, CPM , PERT, Simulation, DES, Simkit, Triangle Distribution, Critical Path 15. NUMBER OF...Battalion Task Force CO Company CPM Critical Path Method DES Discrete Event Simulation FA BAT Field Artillery Battalion FEL Future Event List FIST...management tools that can be utilized to find the critical path in military projects. These are the Critical Path Method ( CPM ) and the Program Evaluation and

[Evaluation of the implementation of reproductive health services in Maringá, Paraná State, Brazil].

PubMed

Nagahama, Elizabeth Eriko Ishida

2009-01-01

The aim of this study was to develop a tool to evaluate the implementation of a contraceptive program in health services and apply it to the 23 public health services in Maringá, Paraná State, Brazil. A theoretical-logical model was developed, corresponding to a 'target image' for the family planning program. Using the Delphi technique and consensus conference, six experts validated the program's target image, which included three dimensions and 60 evaluation criteria. A data collection instrument was prepared, in addition to a spreadsheet to evaluate the degree of the family planning program's implementation, constituting the Questionnaire for the Evaluation of Reproductive Health Services. The vast majority of the primary health units (91.3%) received an 'intermediate' score on implementation of the family planning program, while 8.7% were classified as 'incipient' and none were scored as 'advanced'. The 'advanced' degree of implementation in the structural dimension contrasted with the organizational and patient care dimensions. The instrument can be useful for evaluating reproductive health programs and is applicable to the health services planning and management processes.

Grid Visualization Tool

NASA Technical Reports Server (NTRS)

Chouinard, Caroline; Fisher, Forest; Estlin, Tara; Gaines, Daniel; Schaffer, Steven

2005-01-01

The Grid Visualization Tool (GVT) is a computer program for displaying the path of a mobile robotic explorer (rover) on a terrain map. The GVT reads a map-data file in either portable graymap (PGM) or portable pixmap (PPM) format, representing a gray-scale or color map image, respectively. The GVT also accepts input from path-planning and activity-planning software. From these inputs, the GVT generates a map overlaid with one or more rover path(s), waypoints, locations of targets to be explored, and/or target-status information (indicating success or failure in exploring each target). The display can also indicate different types of paths or path segments, such as the path actually traveled versus a planned path or the path traveled to the present position versus planned future movement along a path. The program provides for updating of the display in real time to facilitate visualization of progress. The size of the display and the map scale can be changed as desired by the user. The GVT was written in the C++ language using the Open Graphics Library (OpenGL) software. It has been compiled for both Sun Solaris and Linux operating systems.

The Generic Skills Subcommittee Final Report to the Academic Plan Steering Committee. General Education Task Force.

ERIC Educational Resources Information Center

George Brown Coll., Toronto (Ontario).

Ontario's College Standards and Accreditation Council (CSAC) devised a plan to enhance three dimensions of college education: general education, generic skills; and vocational or professional education. The CSAC designates generic skills as practical life skills essential for both personal and career success, defining these practical, portable…

Family Interaction Patterns, Career Planning Attitudes, and Vocational Identity of High School Adolescents

ERIC Educational Resources Information Center

Hargrove, Byron K.; Inman, Arpana G.; Crane, Randy L.

2005-01-01

The purpose of the current study was to examine how perceptions of family interaction patterns as defined along three dimensions of family environment (quality of family relationships, family goal-orientations, and degree of organization and control within the family system) predict vocational identity and career planning attitudes among male and…

Lower Limb Interjoint Postural Coordination One Year after First-Time Lateral Ankle Sprain.

PubMed

Doherty, Cailbhe; Bleakley, Chris; Hertel, Jay; Caulfield, Brian; Ryan, John; Sweeney, Kevin; Patterson, Matthew R; Delahunt, Eamonn

2015-11-01

Longitudinal analyses of participants with a history of lateral ankle sprain are lacking. This investigation combined measures of lower limb interjoint coordination and stabilometry to evaluate static unipedal stance with the eyes open (condition 1) and closed (condition 2) in a group of participants with chronic ankle instability (CAI) compared to lateral ankle sprain "copers" (both recruited 12 months after sustaining an acute first-time lateral ankle sprain) and a group of noninjured controls. Twenty-eight participants with CAI, 42 lateral ankle sprain "copers," and 20 noninjured controls completed three 20-s single-limb stance trials in conditions 1 and 2. An adjusted coefficient of multiple determination statistic was used to compare stance limb three-dimensional kinematic data for similarity to establish patterns of interjoint coordination. The fractal dimension of the stance limb center of pressure path was also calculated. Between-group analyses revealed that participants with CAI displayed notable increases in ankle-hip linked coordination compared with both lateral ankle sprain "copers" (-0.52 (1.05) vs 0.28 (0.9), P = 0.007) and controls (-0.52 (1.05) vs 0.63 (0.64), P = 0.006) in condition 1 and compared with controls only (0.62 (1.92) vs 0.1 (1.0) P = 0.002) in condition 2. Participants with CAI also exhibited a decrease in the fractal dimension of the center-of-pressure path during condition 2 compared with both controls and lateral ankle sprain "copers." Participants with CAI present with a hip-dominant strategy of eyes-open and eyes-closed static unipedal stance. This coincided with reduced complexity of the stance limb center of pressure path in the eyes-closed condition.

Interactive multi-objective path planning through a palette-based user interface

NASA Astrophysics Data System (ADS)

Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph

2016-05-01

n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a great deal of flexibility using the adverb palette.

Automated Planning and Scheduling for Planetary Rover Distributed Operations

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve

1999-01-01

Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.

Impact of oppositional defiant disorder dimensions on the temporal ordering of conduct problems and depression across childhood and adolescence in girls.

PubMed

Hipwell, Alison E; Stepp, Stephanie; Feng, Xin; Burke, Jeff; Battista, Deena R; Loeber, Rolf; Keenan, Kate

2011-10-01

Little is known about the role of oppositional defiant disorder (ODD) dimensions on the temporal unfolding of conduct disorder (CD) and depression in girls between childhood and adolescence. The year-to-year associations between CD and depressive symptomatology were examined using nine waves of annually collected data (ages 8 through 16 years) from 1215 participants of the Pittsburgh Girls Study. A series of autoregressive path models were tested that included ODD-Emotion Dysregulation (ODD-ED) and ODD-Defiance, as time-varying covariates on CD predicting depression severity in the following year, and vice versa. Conduct problems, depression, and ODD dimensions were relatively stable throughout childhood and adolescence, and a moderate degree of covariance was observed between these variables. Path analyses showed that CD often preceded depression across this developmental period, although the effect sizes were small. There was less consistent prediction from depression to CD. The overlap between ODD-ED and CD partially explained the prospective relations from CD to depression, whereas these paths were fully explained by the overlap between ODD-ED and depression. The overlap between ODD-Defiance and CD did not account for the prospective relations from CD to depression. In contrast, the overlap between ODD-Defiance and depression accounted for virtually all paths from CD to depression. Accounting for the overlap between ODD dimensions and both CD and depression eliminated all significant predictive paths. Symptoms of CD tend to precede depression in girls during childhood and adolescence. However, covariance between depression and both ODD-ED and ODD-Defiance accounts for these prospective relations. ODD dimensions should be assessed when evaluating risk for comorbid depression in girls with conduct problems, and emotion dysregulation and defiance aspects of ODD should be identified as targets for treatment in order to prevent depression in the future. © 2011 The Authors. Journal of Child Psychology and Psychiatry © 2011 Association for Child and Adolescent Mental Health.

Cooperative path planning for multi-USV based on improved artificial bee colony algorithm

NASA Astrophysics Data System (ADS)

Cao, Lu; Chen, Qiwei

2018-03-01

Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for multiple unmanned surface vehicle (multi-USV), an improved artificial bee colony (I-ABC) algorithm were proposed to solve the model of cooperative path planning for multi-USV. First the Voronoi diagram of battle field space is conceived to generate the optimal area of USVs paths. Then the chaotic searching algorithm is used to initialize the collection of paths, which is regard as foods of the ABC algorithm. With the limited data, the initial collection can search the optimal area of paths perfectly. Finally simulations of the multi-USV path planning under various threats have been carried out. Simulation results verify that the I-ABC algorithm can improve the diversity of nectar source and the convergence rate of algorithm. It can increase the adaptability of dynamic battlefield and unexpected threats for USV.

Spreading paths in partially observed social networks

NASA Astrophysics Data System (ADS)

Onnela, Jukka-Pekka; Christakis, Nicholas A.

2012-03-01

Understanding how and how far information, behaviors, or pathogens spread in social networks is an important problem, having implications for both predicting the size of epidemics, as well as for planning effective interventions. There are, however, two main challenges for inferring spreading paths in real-world networks. One is the practical difficulty of observing a dynamic process on a network, and the other is the typical constraint of only partially observing a network. Using static, structurally realistic social networks as platforms for simulations, we juxtapose three distinct paths: (1) the stochastic path taken by a simulated spreading process from source to target; (2) the topologically shortest path in the fully observed network, and hence the single most likely stochastic path, between the two nodes; and (3) the topologically shortest path in a partially observed network. In a sampled network, how closely does the partially observed shortest path (3) emulate the unobserved spreading path (1)? Although partial observation inflates the length of the shortest path, the stochastic nature of the spreading process also frequently derails the dynamic path from the shortest path. We find that the partially observed shortest path does not necessarily give an inflated estimate of the length of the process path; in fact, partial observation may, counterintuitively, make the path seem shorter than it actually is.

Spreading paths in partially observed social networks.

PubMed

Onnela, Jukka-Pekka; Christakis, Nicholas A

2012-03-01

Understanding how and how far information, behaviors, or pathogens spread in social networks is an important problem, having implications for both predicting the size of epidemics, as well as for planning effective interventions. There are, however, two main challenges for inferring spreading paths in real-world networks. One is the practical difficulty of observing a dynamic process on a network, and the other is the typical constraint of only partially observing a network. Using static, structurally realistic social networks as platforms for simulations, we juxtapose three distinct paths: (1) the stochastic path taken by a simulated spreading process from source to target; (2) the topologically shortest path in the fully observed network, and hence the single most likely stochastic path, between the two nodes; and (3) the topologically shortest path in a partially observed network. In a sampled network, how closely does the partially observed shortest path (3) emulate the unobserved spreading path (1)? Although partial observation inflates the length of the shortest path, the stochastic nature of the spreading process also frequently derails the dynamic path from the shortest path. We find that the partially observed shortest path does not necessarily give an inflated estimate of the length of the process path; in fact, partial observation may, counterintuitively, make the path seem shorter than it actually is.

Terrain classification in navigation of an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Dodds, David R.

1991-03-01

In this paper we describe a method of path planning that integrates terrain classification (by means of fractals) the certainty grid method of spatial representation Kehtarnavaz Griswold collision-zones Dubois Prade fuzzy temporal and spatial knowledge and non-point sized qualitative navigational planning. An initially planned (" end-to-end" ) path is piece-wise modified to accommodate known and inferred moving obstacles and includes attention to time-varying multiple subgoals which may influence a section of path at a time after the robot has begun traversing that planned path.

Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1989-01-01

Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.

Reconstruction for proton computed tomography by tracing proton trajectories: A Monte Carlo study

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

Li Tianfang; Liang Zhengrong; Singanallur, Jayalakshmi V.

Proton computed tomography (pCT) has been explored in the past decades because of its unique imaging characteristics, low radiation dose, and its possible use for treatment planning and on-line target localization in proton therapy. However, reconstruction of pCT images is challenging because the proton path within the object to be imaged is statistically affected by multiple Coulomb scattering. In this paper, we employ GEANT4-based Monte Carlo simulations of the two-dimensional pCT reconstruction of an elliptical phantom to investigate the possible use of the algebraic reconstruction technique (ART) with three different path-estimation methods for pCT reconstruction. The first method assumes amore » straight-line path (SLP) connecting the proton entry and exit positions, the second method adapts the most-likely path (MLP) theoretically determined for a uniform medium, and the third method employs a cubic spline path (CSP). The ART reconstructions showed progressive improvement of spatial resolution when going from the SLP [2 line pairs (lp) cm{sup -1}] to the curved CSP and MLP path estimates (5 lp cm{sup -1}). The MLP-based ART algorithm had the fastest convergence and smallest residual error of all three estimates. This work demonstrates the advantage of tracking curved proton paths in conjunction with the ART algorithm and curved path estimates.« less

Biobanking 3.0: evidence based and customer focused biobanking.

PubMed

Simeon-Dubach, Daniel; Watson, Peter

2014-03-01

Biobanking is a new and very dynamic field. To achieve long term financial sustainability of biobank infrastructures we propose that a new focus is needed on activities, products and services provided by the biobank that relate to the external stakeholder: biobanking 3.0. Earlier stages of biobanking are biobanking 1.0 (primary focus on the number of biospecimens and data) and biobanking 2.0 (primary focus on the quality of biospecimens and data). Both stages 1.0 and 2.0 are predominantly product oriented areas and have required a mostly internal focus on operational development within the biobank itself. In this paper we will introduce our concept of biobanking 3.0 which capitalizes on the earlier stages but dictates a shift in focus to enhancing the value and impact for the three major sets of external stakeholders (people/patients, funders, and research customers) and creating a path to balanced and planned investment in biobank infrastructure and the sustainability of biobanking. Biobanking 3.0 will improve real understanding as well as perceptions of value across different stakeholders. Patients and donors will appreciate seeing how their biospecimens and data are effectively used for research. Funders will value the ability to plan efficient targeting of funding and to monitor the impact of their support. Researchers will capitalize on the ability to translate their ideas into effective knowledge. Ultimately adoption of biobanking 3.0 will impact on the sustainability in the three main dimensions relevant to biobanking: social sustainability (acceptability), operational sustainability (efficiency), and financial sustainability (accomplishment). Crown Copyright © 2013. Published by Elsevier Inc. All rights reserved.

Rotational-path decomposition based recursive planning for spacecraft attitude reorientation

NASA Astrophysics Data System (ADS)

Xu, Rui; Wang, Hui; Xu, Wenming; Cui, Pingyuan; Zhu, Shengying

2018-02-01

The spacecraft reorientation is a common task in many space missions. With multiple pointing constraints, it is greatly difficult to solve the constrained spacecraft reorientation planning problem. To deal with this problem, an efficient rotational-path decomposition based recursive planning (RDRP) method is proposed in this paper. The uniform pointing-constraint-ignored attitude rotation planning process is designed to solve all rotations without considering pointing constraints. Then the whole path is checked node by node. If any pointing constraint is violated, the nearest critical increment approach will be used to generate feasible alternative nodes in the process of rotational-path decomposition. As the planning path of each subdivision may still violate pointing constraints, multiple decomposition is needed and the reorientation planning is designed as a recursive manner. Simulation results demonstrate the effectiveness of the proposed method. The proposed method has been successfully applied in two SPARK microsatellites to solve onboard constrained attitude reorientation planning problem, which were developed by the Shanghai Engineering Center for Microsatellites and launched on 22 December 2016.

Group and individual stability of three parenting dimensions

PubMed Central

2011-01-01

Background The Parental Bonding Instrument, present self-report version, (PBI-PCh) includes three scales, Warmth, Protectiveness and Authoritarianism, which describe three dimensions of current parenting. The purposes of this study were to (1) evaluate the true and observed stability of these parenting dimensions related to older children, (2) explore the distribution of individual-level change across nine months and (3) test potential parental predictors of parenting instability. Methods Questionnaires were distributed to school-based samples of community parents of both genders (n = 150) twice, nine months apart. These questionnaires measured parenting, parental personality and emotional symptoms. Results Based on 1) stability correlations, 2) true stability estimates from structural equation modeling (SEM) and 3) distribution of individual-level change, Warmth appeared rather stable, although not as stable as personality traits. Protectiveness was moderately stable, whereas Authoritarianism was the least stable parenting dimension among community parents. The differences in stability between the three dimensions were consistent in both estimated true stability and observed stability. Most of the instability in Warmth originated from a minority of parents with personality, childhood care characteristics and lower current parenting warmth. For the Protectiveness dimension, instability was associated with higher Protectiveness scores. Conclusions True instability with all three self-reported parenting dimensions can occur across nine months in a community sample related to older children (7-15), but it may occur with varying degrees among dimensions and subpopulations. The highest stability was found for the Warmth parenting dimension, but a subgroup of "unstably cold" parents could be identified. Stability needs to be taken into account when interpreting longitudinal research on parenting and when planning and evaluating parenting interventions in research and clinical practice. PMID:21609442

On the feasibility of automatic detection of range deviations from in-beam PET data

NASA Astrophysics Data System (ADS)

Helmbrecht, S.; Santiago, A.; Enghardt, W.; Kuess, P.; Fiedler, F.

2012-03-01

In-beam PET is a clinically proven method for monitoring ion beam cancer treatment. The objective is predominantly the verification of the range of the primary particles. Due to different processes leading to dose and activity, evaluation is done by comparing measured data to simulated. Up to now, the comparison is performed by well-trained observers (clinicians, physicists). This process is very time consuming and low in reproducibility. However, an automatic method is desirable. A one-dimensional algorithm for range comparison has been enhanced and extended to three dimensions. System-inherent uncertainties are handled by means of a statistical approach. To test the method, a set of data was prepared. Distributions of β+-activity calculated from treatment plans were compared to measurements performed in the framework of the German Heavy Ion Tumor Therapy Project at GSI Helmholtz Centre for Heavy Ion Research, Darmstadt, Germany. Artificial range deviations in the simulations served as test objects for the algorithm. Range modifications of different depth (4, 6 and 10 mm water equivalent path length) can be detected. Even though the sensitivity and specificity of a visual evaluation are higher, the method is feasible as the basis for the selection of patients from the data pool for retrospective evaluation of treatment and treatment plans and correlation with follow-up data. Furthermore, it can be used for the development of an assistance tool for a clinical application.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters

PubMed Central

Jan, Shau Shiun; Lin, Yu Hsiang

2011-01-01

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029

Integrated flight path planning system and flight control system for unmanned helicopters.

PubMed

Jan, Shau Shiun; Lin, Yu Hsiang

2011-01-01

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).

Capture and Three Dimensional Projection of New South Wales Strata Plans in Landxml Format

NASA Astrophysics Data System (ADS)

Harding, B.; Foreman, A.

2017-10-01

New South Wales is embarking on a major reform program named Cadastre NSW. This reform aims to move to a single source of truth for the digital representation of cadastre. The current lack of a single source cadastre has hindered users from government and industry due to duplication of effort and misalignment between databases from different sources. For this reform to be successful, there are some challenges that need to be addressed. "Cadastre 2034 - Powering Land & Real Property" (2015) published by the Intergovernmental Committee on Surveying and Mapping (ICSM) identifies that current cadastres do not represent real property in three dimensions. In future vertical living lifestyles will create complex property scenarios that the Digital Cadastral Database (DCDB) will need to contend with. While the NSW DCDB currently holds over 3 million lots and 5 million features, one of its limitations is that it does not indicate land ownership above or below the ground surface. NSW Spatial Services is currently capturing survey plans into LandXML format. To prepare for the future, research is being undertaken to also capture multi-level Strata Plans through a modified recipe. During this research, multiple Strata Plans representing a range of ages and development types have been investigated and converted to LandXML. Since it is difficult to visualise the plans in a two dimensional format, quality control purposes require a method to display these plans in three dimensions. Overall investigations have provided Spatial Services with enough information to confirm that the capture and display of Strata Plans in the LandXML format is possible.

Path Planning for Robot based on Chaotic Artificial Potential Field Method

NASA Astrophysics Data System (ADS)

Zhang, Cheng

2018-03-01

Robot path planning in unknown environments is one of the hot research topics in the field of robot control. Aiming at the shortcomings of traditional artificial potential field methods, we propose a new path planning for Robot based on chaotic artificial potential field method. The path planning adopts the potential function as the objective function and introduces the robot direction of movement as the control variables, which combines the improved artificial potential field method with chaotic optimization algorithm. Simulations have been carried out and the results demonstrate that the superior practicality and high efficiency of the proposed method.

Contrast enhanced computed tomography and reconstruction of hepatic vascular system for transjugular intrahepatic portal systemic shunt puncture path planning.

PubMed

Qin, Jian-Ping; Tang, Shan-Hong; Jiang, Ming-De; He, Qian-Wen; Chen, Hong-Bin; Yao, Xin; Zeng, Wei-Zheng; Gu, Ming

2015-08-28

To describe a method for the transjugular intrahepatic portal systemic shunt (TIPS) placement performed with the aid of contrast-enhanced computed tomography (CECT) and three-dimensional reconstructed vascular images (3D RVIs), and to assess its safety and effectiveness. Four hundred and ninety patients were treated with TIPS between January 2005 and December 2012. All patients underwent liver CECT and reconstruction of 3D RVIs of the right hepatic vein to portal vein (PV) prior to the operation. The 3D RVIs were carefully reviewed to plan the puncture path from the start to target points for needle pass through the PV in the TIPS procedure. The improved TIPS procedure was successful in 483 (98.6%) of the 490 patients. The number of punctures attempted was one in 294 (60%) patients, 2 to 3 in 147 (30%) patients, 4 to 6 in 25 (5.1%) patients and more than 6 in 17 (3.5%) patients. Seven patients failed. Of the 490 patients, 12 had punctures into the artery, 15 into the bile duct, eight into the gallbladder, and 18 through the liver capsule. Analysis of the portograms from the 483 successful cases indicated that the puncture points were all located distally to the PV bifurcation on anteroposterior images, while the points were located proximally to the bifurcation in the three cases with intraabdominal bleeding. The complications included three cases of bleeding, of whom one died and two needed surgery. Use of CECT and 3D RVIs to plan the puncture path for TIPS procedure is safe, simple and effective for clinical use.

Segmentation of stereo terrain images

NASA Astrophysics Data System (ADS)

George, Debra A.; Privitera, Claudio M.; Blackmon, Theodore T.; Zbinden, Eric; Stark, Lawrence W.

2000-06-01

We have studied four approaches to segmentation of images: three automatic ones using image processing algorithms and a fourth approach, human manual segmentation. We were motivated toward helping with an important NASA Mars rover mission task -- replacing laborious manual path planning with automatic navigation of the rover on the Mars terrain. The goal of the automatic segmentations was to identify an obstacle map on the Mars terrain to enable automatic path planning for the rover. The automatic segmentation was first explored with two different segmentation methods: one based on pixel luminance, and the other based on pixel altitude generated through stereo image processing. The third automatic segmentation was achieved by combining these two types of image segmentation. Human manual segmentation of Martian terrain images was used for evaluating the effectiveness of the combined automatic segmentation as well as for determining how different humans segment the same images. Comparisons between two different segmentations, manual or automatic, were measured using a similarity metric, SAB. Based on this metric, the combined automatic segmentation did fairly well in agreeing with the manual segmentation. This was a demonstration of a positive step towards automatically creating the accurate obstacle maps necessary for automatic path planning and rover navigation.

The Parent-Child Relationship Competencies: How Three Infant-Parent Psychotherapists Find Paths into Diverse Infant-Family Landscapes

ERIC Educational Resources Information Center

St. John, Maria Seymour

2016-01-01

This article weaves the stories of three practitioner-family relationships and describes how the Parent-Child Relationship Competencies (PCRCs; St. John, 2010) function as a map for assessment and treatment planning. The PCRCs are a set of culturally variable yet universal bi-directional (parent-to-child and child-to-parent) relational capacities…

Transparent aligners: An invisible approach to correct mild skeletal class III malocclusion

PubMed Central

Yezdani, A. Arif

2015-01-01

This case report highlights the treatment of a mild skeletal class III malocclusion with an invisible thermoplastic retainer. A 15-year-old female patient presented with a mild skeletal class III malocclusion with a retrognathic maxilla, orthognathic mandible, a low mandibular plane angle with Angle's class III malocclusion with maxillary lateral incisors in anterior cross-bite with crowding of maxillary anteriors, imbricated and rotated mandibular incisors and deep bite. Accurate upper and lower impressions and a bite registration were taken with polyvinyl siloxane rubber base impression material. This was then sent to the lab for the processing of a series of ClearPath aligners. The ClearPath virtual set-up sent from the lab provided the treatment plan and interproximal reduction estimation complete with posttreatment results. This enabled the clinician to actively participate in the treatment plan and provide the necessary suggestions. The ClearPath three-dimensional aligner was found to have effectively corrected the anterior cross-bite and crowding of the maxillary anteriors. PMID:26015738

Differential-Evolution Control Parameter Optimization for Unmanned Aerial Vehicle Path Planning

PubMed Central

Kok, Kai Yit; Rajendran, Parvathy

2016-01-01

The differential evolution algorithm has been widely applied on unmanned aerial vehicle (UAV) path planning. At present, four random tuning parameters exist for differential evolution algorithm, namely, population size, differential weight, crossover, and generation number. These tuning parameters are required, together with user setting on path and computational cost weightage. However, the optimum settings of these tuning parameters vary according to application. Instead of trial and error, this paper presents an optimization method of differential evolution algorithm for tuning the parameters of UAV path planning. The parameters that this research focuses on are population size, differential weight, crossover, and generation number. The developed algorithm enables the user to simply define the weightage desired between the path and computational cost to converge with the minimum generation required based on user requirement. In conclusion, the proposed optimization of tuning parameters in differential evolution algorithm for UAV path planning expedites and improves the final output path and computational cost. PMID:26943630

Adolescent-parent attachment as a mediator of relations between parenting and adolescent social behavior and wellbeing in China.

PubMed

Cai, Mengfei; Hardy, Sam A; Olsen, Joseph A; Nelson, David A; Yamawaki, Niwako

2013-01-01

The purpose of this study was to examine links between parenting dimensions (authoritative parenting, psychological control, and parental authority) and adolescent wellbeing (self-esteem, autonomy, and peer attachments) as mediated by parent-teen attachment, among Chinese families. The sample included 298 Chinese adolescents, ages 15-18 years (M(age) = 16.36, SD = .68; 60% female). The mediation model was examined using path analyses (one model with parental authority as overprotection, and one with it as perceived behavioral control). To improve model fit a direct path was added from authoritative parenting to autonomy. Authoritative parenting was positively predictive of attachment, while psychological control and overprotection (but not behavioral control) were negative predictors. In turn, adolescent-parent attachment was positively related to the three outcomes. Lastly, the model paths did not differ by adolescent gender. These findings suggest that parenting behaviors may play a crucial role in adolescent social behaviors and wellbeing via adolescent-parent attachment.

Euclideanization of Maxwell-Chern-Simons theory

NASA Astrophysics Data System (ADS)

Bowman, Daniel Alan

We quantize the theory of electromagnetism in 2 + 1-spacetime dimensions with the addition of the topological Chern-Simons term using an indefinite metric formalism. In the process, we also quantize the Proca and pure Maxwell theories, which are shown to be related to the Maxwell-Chern-Simons theory. Next, we Euclideanize these three theories, obtaining path space formulae and investigating Osterwalder-Schrader positivity in each case. Finally, we obtain a characterization of those Euclidean states that correspond to physical states in the relativistic theories.

Comparative Study between Measurement Data and Treatment Planning System (TPS) in Small Fields for High Energy Photon Beams.

PubMed

El Shahat, Khaled; El Saeid, Aziza; Attalla, Ehab; Yassin, Adel

2014-01-01

To achieve tumor control for radiotherapy, a dose distribution is planned which has a good chance of sterilizing all cancer cells without causing unacceptable normal tissue complications. The aim of the present study was to achieve an accurate calculation of dose for small field dimensions and perform this by evaluating the accuracy of planning system calculation. This will be compared with real measurement of dose for the same small field dimensions using different detectors. Practical work was performed in two steps: (i) determination of the physical factors required for dose estimation measured by three ionization chambers and calculated by treatment planning system (TPS) based on the latest technical report series (IAEATRS-398) and (ii) comparison of the calculated and measured data. Our data analysis for small field is irradiated by photon energy matched with the data obtained from the ionization chambers and the treatment planning system. Radiographic films were used as an additional detector for the obtained data and showed matching with TPS calculation. It can be concluded that studied small field dimensions were averaged 6% and 4% for 6 MV and 15 MV, respectively. Radiographic film measurements showed a variation in results within ±2% than TPS calculation.

Navigation of military and space unmanned ground vehicles in unstructured terrains

NASA Technical Reports Server (NTRS)

Lescoe, Paul; Lavery, David; Bedard, Roger

1991-01-01

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Autonomous path-planning navigation system for site characterization

NASA Astrophysics Data System (ADS)

Rankin, Arturo L.; Crane, Carl D., III; Armstrong, David G., II; Nease, Allen D.; Brown, H. Edward

1996-05-01

The location and removal of buried munitions is an important yet hazardous task. Current development is aimed at performing both the ordnance location and removal tasks autonomously. An autonomous survey vehicle (ASV) named the Gator has been developed at the Center for Intelligent Machines and Robotics, under the direction of Wright Laboratory, Tyndall Air Force Base, Florida, and the Navy Explosive Ordnance Disposal Technology Division, Indian Head, Maryland. The primary task of the survey vehicle is to autonomously traverse an off-road site, towing behind it a trailer containing a sensor package capable of characterizing the sub-surface contents. Achieving 00 percent coverage of the site is critical to fully characterizing the site. This paper presents a strategy for planning efficient paths for the survey vehicle that guarantees near-complete coverage of a site. A small library of three in-house developed path planners are reviewed. A strategy is also presented to keep the trailer on-path and to calculate the percent of coverage of a site with a resolution of 0.01 m2. All of the algorithms discussed in this paper were initially developed in simulation on a Silicon Graphics computer and subsequently implemented on the survey vehicle.

Optimal Path Planning Program for Autonomous Speed Sprayer in Orchard Using Order-Picking Algorithm

NASA Astrophysics Data System (ADS)

Park, T. S.; Park, S. J.; Hwang, K. Y.; Cho, S. I.

This study was conducted to develop a software program which computes optimal path for autonomous navigation in orchard, especially for speed sprayer. Possibilities of autonomous navigation in orchard were shown by other researches which have minimized distance error between planned path and performed path. But, research of planning an optimal path for speed sprayer in orchard is hardly founded. In this study, a digital map and a database for orchard which contains GPS coordinate information (coordinates of trees and boundary of orchard) and entity information (heights and widths of trees, radius of main stem of trees, disease of trees) was designed. An orderpicking algorithm which has been used for management of warehouse was used to calculate optimum path based on the digital map. Database for digital map was created by using Microsoft Access and graphic interface for database was made by using Microsoft Visual C++ 6.0. It was possible to search and display information about boundary of an orchard, locations of trees, daily plan for scattering chemicals and plan optimal path on different orchard based on digital map, on each circumstance (starting speed sprayer in different location, scattering chemicals for only selected trees).

Universalities of thermodynamic signatures in topological phases

PubMed Central

Kempkes, S. N.; Quelle, A.; Smith, C. Morais

2016-01-01

Topological insulators (superconductors) are materials that host symmetry-protected metallic edge states in an insulating (superconducting) bulk. Although they are well understood, a thermodynamic description of these materials remained elusive, firstly because the edges yield a non-extensive contribution to the thermodynamic potential, and secondly because topological field theories involve non-local order parameters, and cannot be captured by the Ginzburg-Landau formalism. Recently, this challenge has been overcome: by using Hill thermodynamics to describe the Bernevig-Hughes-Zhang model in two dimensions, it was shown that at the topological phase transition the thermodynamic potential does not scale extensively due to boundary effects. Here, we extend this approach to different topological models in various dimensions (the Kitaev chain and Su-Schrieffer-Heeger model in one dimension, the Kane-Mele model in two dimensions and the Bernevig-Hughes-Zhang model in three dimensions) at zero temperature. Surprisingly, all models exhibit the same universal behavior in the order of the topological-phase transition, depending on the dimension. Moreover, we derive the topological phase diagram at finite temperature using this thermodynamic description, and show that it displays a good agreement with the one calculated from the Uhlmann phase. Our work reveals unexpected universalities and opens the path to a thermodynamic description of systems with a non-local order parameter. PMID:27929041

Universalities of thermodynamic signatures in topological phases.

PubMed

Kempkes, S N; Quelle, A; Smith, C Morais

2016-12-08

Topological insulators (superconductors) are materials that host symmetry-protected metallic edge states in an insulating (superconducting) bulk. Although they are well understood, a thermodynamic description of these materials remained elusive, firstly because the edges yield a non-extensive contribution to the thermodynamic potential, and secondly because topological field theories involve non-local order parameters, and cannot be captured by the Ginzburg-Landau formalism. Recently, this challenge has been overcome: by using Hill thermodynamics to describe the Bernevig-Hughes-Zhang model in two dimensions, it was shown that at the topological phase transition the thermodynamic potential does not scale extensively due to boundary effects. Here, we extend this approach to different topological models in various dimensions (the Kitaev chain and Su-Schrieffer-Heeger model in one dimension, the Kane-Mele model in two dimensions and the Bernevig-Hughes-Zhang model in three dimensions) at zero temperature. Surprisingly, all models exhibit the same universal behavior in the order of the topological-phase transition, depending on the dimension. Moreover, we derive the topological phase diagram at finite temperature using this thermodynamic description, and show that it displays a good agreement with the one calculated from the Uhlmann phase. Our work reveals unexpected universalities and opens the path to a thermodynamic description of systems with a non-local order parameter.

Self-organization and solution of shortest-path optimization problems with memristive networks

NASA Astrophysics Data System (ADS)

Pershin, Yuriy V.; Di Ventra, Massimiliano

2013-07-01

We show that memristive networks, namely networks of resistors with memory, can efficiently solve shortest-path optimization problems. Indeed, the presence of memory (time nonlocality) promotes self organization of the network into the shortest possible path(s). We introduce a network entropy function to characterize the self-organized evolution, show the solution of the shortest-path problem and demonstrate the healing property of the solution path. Finally, we provide an algorithm to solve the traveling salesman problem. Similar considerations apply to networks of memcapacitors and meminductors, and networks with memory in various dimensions.

PLANNED CHANGE AND ORGANIZATIONAL HEALTH--FIGURE AND GROUND. CHAPTER 2, CHANGE PROCESSES IN THE PUBLIC SCHOOLS.

ERIC Educational Resources Information Center

MILES, MATTHEW B.

PLANNED CHANGE, CONDITIONED BY THE STATE OF THE SYSTEM IN WHICH IT OCCURS, MUST TAKE THE IMPROVEMENT OF ORGANIZATIONAL HEALTH AS A PRIMARY TARGET. THE HEALTHY SCHOOL SYSTEM IS ABLE TO FUNCTION EFFECTIVELY AND TO DEVELOP INTO A MORE FULLY FUNCTIONING SYSTEM. OF TEN ORGANIZATIONAL HEALTH DIMENSIONS APPLICABLE TO SCHOOLS, THREE ARE TASK CENTERED…

Ventilation Surge Techniques. Volume I

DTIC Science & Technology

1981-12-01

studying wind-driven ventilation. S-I - . .--. .-.. .F 77I I11. EXPERIMENTAL DESIGN The full-scale model used in the experimental portion of the study was... designed to represent a typical host-area shelter. It had plan dimensions of 32 feet by 48 feet. Three floor plans were used within the same exterior...11-12 III. EXPERIMENTAL DESIGN . . . . . . . . . . . . . . . . . . . III-1 A. Literature Review . . . . . . . . . . . . . . . . . III

On the strong metric dimension of generalized butterfly graph, starbarbell graph, and {C}_{m}\\odot {P}_{n} graph

NASA Astrophysics Data System (ADS)

Yunia Mayasari, Ratih; Atmojo Kusmayadi, Tri

2018-04-01

Let G be a connected graph with vertex set V(G) and edge set E(G). For every pair of vertices u,v\\in V(G), the interval I[u, v] between u and v to be the collection of all vertices that belong to some shortest u ‑ v path. A vertex s\\in V(G) strongly resolves two vertices u and v if u belongs to a shortest v ‑ s path or v belongs to a shortest u ‑ s path. A vertex set S of G is a strong resolving set of G if every two distinct vertices of G are strongly resolved by some vertex of S. The strong metric basis of G is a strong resolving set with minimal cardinality. The strong metric dimension sdim(G) of a graph G is defined as the cardinality of strong metric basis. In this paper we determine the strong metric dimension of a generalized butterfly graph, starbarbell graph, and {C}mȯ {P}n graph. We obtain the strong metric dimension of generalized butterfly graph is sdim(BFn ) = 2n ‑ 2. The strong metric dimension of starbarbell graph is sdim(S{B}{m1,{m}2,\\ldots,{m}n})={\\sum }i=1n({m}i-1)-1. The strong metric dimension of {C}mȯ {P}n graph are sdim({C}mȯ {P}n)=2m-1 for m > 3 and n = 2, and sdim({C}mȯ {P}n)=2m-2 for m > 3 and n > 2.

Career Paths and Organizational Development: Expanding Alliances.

ERIC Educational Resources Information Center

Bernes, K. B.; Magnusson, K. C.

The Synergistic Model of Organizational Career Development is an attempt to combine best practice principles from two domains: organizational development and individual career planning. The model assumes three levels of intervention within an organization: philosophical, strategic, and practical. Interventions at any of the levels may be directed…

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

Casey, K; Wong, P; Tung, S

Purpose: To quantify the dosimetric impact of interfractional shoulder motion on targets in the low neck for head and neck patients treated with volume modulated arc therapy (VMAT). Methods: Three patients with head and neck cancer were selected. All three required treatment to nodal regions in the low neck in addition to the primary tumor. The patients were immobilized during simulation and treatment with a custom thermoplastic mask covering the head and shoulders. One VMAT plan was created for each patient utilizing two full 360° arcs. A second plan was created consisting of two superior VMAT arcs matched to anmore » inferior static AP supraclavicular field. A CT-on-rails alignment verification was performed weekly during each patient's treatment course. The weekly CT images were registered to the simulation CT and the target contours were deformed and applied to the weekly CT. The two VMAT plans were copied to the weekly CT datasets and recalculated to obtain the dose to the low neck contours. Results: The average observed shoulder position shift in any single dimension relative to simulation was 2.5 mm. The maximum shoulder shift observed in a single dimension was 25.7 mm. Low neck target mean doses, normalized to simulation and averaged across all weekly recalculations were 0.996, 0.991, and 1.033 (Full VMAT plan) and 0.986, 0.995, and 0.990 (Half-Beam VMAT plan) for the three patients, respectively. The maximum observed deviation in target mean dose for any individual weekly recalculation was 6.5%, occurring with the Full VMAT plan for Patient 3. Conclusion: Interfractional variation in dose to low neck nodal regions was quantified for three head and neck patients treated with VMAT. Mean dose was 3.3% higher than planned for one patient using a Full VMAT plan. A Half-Beam technique is likely a safer choice when treating the supraclavicular region with VMAT.« less

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

NASA Astrophysics Data System (ADS)

Wang, Yong; Ma, Jianming; Wang, Ying

2017-05-01

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

Research and application of genetic algorithm in path planning of logistics distribution vehicle

NASA Astrophysics Data System (ADS)

Wang, Yong; Zhou, Heng; Wang, Ying

2017-08-01

The core of the logistics distribution system is the vehicle routing planning, research path planning problem, provide a better solution has become an important issue. In order to provide the decision support for logistics and distribution operations, this paper studies the problem of vehicle routing with capacity constraints (CVRP). By establishing a mathematical model, the genetic algorithm is used to plan the path of the logistics vehicle to meet the minimum logistics and transportation costs.

Does the Effect of Micro-Environmental Factors on a Street's Appeal for Adults' Bicycle Transport Vary across Different Macro-Environments? An Experimental Study.

PubMed

Mertens, Lieze; Van Cauwenberg, Jelle; Ghekiere, Ariane; Van Holle, Veerle; De Bourdeaudhuij, Ilse; Deforche, Benedicte; Nasar, Jack; Van de Weghe, Nico; Van Dyck, Delfien

2015-01-01

Characteristics of the physical environment can be classified into two broad categories: macro- ("raw" urban planning features influenced on a regional level) and micro- (features specifically within a streetscape influenced on a neighborhood level) environmental factors. In urban planning applications, it is more feasible to modify conditions at the neighborhood level than at the regional level. Yet for the promotion of bicycle transport we need to know whether relationships between micro-environmental factors and bicycle transport depend on different types of macro-environments. This study aimed to identify whether the effect of three micro-environmental factors (i.e., evenness of the cycle path surface, speed limits and type of separation between cycle path and motorized traffic) on the street's appeal for adults' bicycle transport varied across three different macro-environments (i.e., low, medium and high residential density street). In total, 389 middle-aged adults completed a web-based questionnaire consisting of socio-demographic characteristics and a series of choice tasks with manipulated photographs, depicting two possible routes to cycle along. Conjoint analysis was used to analyze the data. Although the magnitude of the overall effects differed, in each macro-environment (i.e., low, medium and high residential density), middle-aged adults preferred a speed limit of 30 km/h, an even cycle path surface and a hedge as separation between motorized traffic and the cycle path compared to a speed limit of 50 or 70 km/h, a slightly uneven or uneven cycle path surface and a curb as separation or no separation between motorized traffic and the cycle path. Our results suggest that irrespective of the macro-environment, the same micro-environmental factors are preferred in middle-aged adults concerning the street's appeal for bicycle transport. The controlled environment simulations in the experimental choice task have the potential to inform real life environmental interventions and suggest that micro-environmental changes can have similar results in different macro-environments.

Numerical studies of the fluid and optical fields associated with complex cavity flows

NASA Technical Reports Server (NTRS)

Atwood, Christopher A.

1992-01-01

Numerical solutions for the flowfield about several cavity configurations have been computed using the Reynolds averaged Navier-Stokes equations. Comparisons between numerical and experimental results are made in two dimensions for free shear layers and a rectangular cavity, and in three dimensions for the transonic aero-window problem of the Stratospheric Observatory for Infrared Astronomy (SOFIA). Results show that dominant acoustic frequencies and magnitudes of the self excited resonant cavity flows compare well with the experiment. In addition, solution sensitivity to artificial dissipation and grid resolution levels are determined. Optical path distortion due to the flow field is modelled geometrically and is found to match the experiment. The fluid field was computed using a diagonalized scheme within an overset mesh framework. An existing code, OVERFLOW, was utilized with the additions of characteristic boundary condition and output routines required for reduction of the unsteady data. The newly developed code is directly applicable to a generalized three dimensional structured grid zone. Details are provided in a paper included in Appendix A.

Making the Transition to Three-Dimensional Teaching: An NGSS@NSTA Curator and Elementary Science Specialist Shares How to Evaluate Teaching Materials Using the EQuIP Rubric

ERIC Educational Resources Information Center

O'Day, Betsy

2016-01-01

Curriculum and lesson planning require the consideration of many things. With a shift to the "Next Generation Science Standards" ("NGSS"), integrating the dimensions of science and engineering practices, disciplinary core ideas, and crosscutting concepts becomes a focus of that planning. The author, Betsy O'Day, an elementary…

Inter-joint coordination strategies during unilateral stance 6-months following first-time lateral ankle sprain.

PubMed

Doherty, Cailbhe; Bleakley, Chris; Hertel, Jay; Caulfield, Brian; Ryan, John; Sweeney, Kevin; Delahunt, Eamonn

2015-02-01

Longitudinal analyses of participants with a history of lateral ankle sprain are lacking. This investigation combined measures of inter-joint coordination and stabilometry to evaluate eyes-open (condition 1) and eyes-closed (condition 2) static unilateral stance performance in a group of participants, 6-months after they sustained an acute, first-time lateral ankle sprain in comparison to a control group. Sixty-nine participants with a 6-month history of first-time lateral ankle sprain and 20 non-injured controls completed three 20-second unilateral stance task trials in conditions 1 and 2. An adjusted coefficient of multiple determination statistic was used to compare stance limb 3-dimensional kinematic data for similarity in the aim of establishing patterns of lower-limb inter-joint coordination. The fractal dimension of the stance limb centre of pressure path was also calculated. Between-group analyses revealed significant differences in stance limb inter-joint coordination strategies for conditions 1 and 2, and in the fractal dimension of the centre-of-pressure path for condition 2 only. Injured participants displayed increases in ankle-hip linked coordination compared to controls in condition 1 (sagittal/frontal plane: 0.15 [0.14] vs 0.06 [0.04]; η(2)=.19; sagittal/transverse plane: 0.14 [0.11] vs 0.09 [0.05]; η(2)=0.14) and condition 2 (sagittal/frontal plane: 0.15 [0.12] vs 0.08 [0.06]; η(2)=0.23), with an associated decrease in the fractal dimension of the centre-of-pressure path (injured limb: 1.23 [0.13] vs 1.36 [0.13]; η(2)=0.20). Participants with a 6-month history of first-time lateral ankle sprain exhibit a hip-dominant coordination strategy for static unilateral stance compared to non-injured controls. Copyright © 2014 Elsevier Ltd. All rights reserved.

MO-F-CAMPUS-T-05: SQL Database Queries to Determine Treatment Planning Resource Usage

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

Fox, C; Gladstone, D

2015-06-15

Purpose: A radiation oncology clinic’s treatment capacity is traditionally thought to be limited by the number of machines in the clinic. As the number of fractions per course decrease and the number of adaptive plans increase, the question of how many treatment plans a clinic can plan becomes increasingly important. This work seeks to lay the ground work for assessing treatment planning resource usage. Methods: Care path templates were created using the Aria 11 care path interface. Care path tasks included key steps in the treatment planning process from the completion of CT simulation through the first radiation treatment. SQLmore » Server Management Studio was used to run SQL queries to extract task completion time stamps along with care path template information and diagnosis codes from the Aria database. 6 months of planning cycles were evaluated. Elapsed time was evaluated in terms of work hours within Monday – Friday, 7am to 5pm. Results: For the 195 validated treatment planning cycles, the average time for planning and MD review was 22.8 hours. Of those cases 33 were categorized as urgent. The average planning time for urgent plans was 5 hours. A strong correlation between diagnosis code and range of elapsed planning time was as well as between elapsed time and select diagnosis codes was observed. It was also observed that tasks were more likely to be completed on the date due than the time that they were due. Follow-up confirmed that most users did not look at the due time. Conclusion: Evaluation of elapsed planning time and other tasks suggest that care paths should be adjusted to allow for different contouring and planning times for certain diagnosis codes and urgent cases. Additional clinic training around task due times vs dates or a structuring of care paths around due dates is also needed.« less

Attitudes and exercise adherence: test of the Theories of Reasoned Action and Planned Behaviour.

PubMed

Smith, R A; Biddle, S J

1999-04-01

Three studies of exercise adherence and attitudes are reported that tested the Theory of Reasoned Action and the Theory of Planned Behaviour. In a prospective study of adherence to a private fitness club, structural equation modelling path analysis showed that attitudinal and social normative components of the Theory of Reasoned Action accounted for 13.1% of the variance in adherence 4 months later, although only social norm significantly predicted intention. In a second study, the Theory of Planned Behaviour was used to predict both physical activity and sedentary behaviour. Path analyses showed that attitude and perceived control, but not social norm, predicted total physical activity. Physical activity was predicted from intentions and control over sedentary behaviour. Finally, an intervention study with previously sedentary adults showed that intentions to be active measured at the start and end of a 10-week intervention were associated with the planned behaviour variables. A multivariate analysis of variance revealed no significant multivariate effects for time on the planned behaviour variables measured before and after intervention. Qualitative data provided evidence that participants had a positive experience on the intervention programme and supported the role of social normative factors in the adherence process.

A Computational and Experimental Study of Resonators in Three Dimensions

NASA Technical Reports Server (NTRS)

Tam, C. K. W.; Ju, H.; Jones, Michael G.; Watson, Willie R.; Parrott, Tony L.

2009-01-01

In a previous work by the present authors, a computational and experimental investigation of the acoustic properties of two-dimensional slit resonators was carried out. The present paper reports the results of a study extending the previous work to three dimensions. This investigation has two basic objectives. The first is to validate the computed results from direct numerical simulations of the flow and acoustic fields of slit resonators in three dimensions by comparing with experimental measurements in a normal incidence impedance tube. The second objective is to study the flow physics of resonant liners responsible for sound wave dissipation. Extensive comparisons are provided between computed and measured acoustic liner properties with both discrete frequency and broadband sound sources. Good agreements are found over a wide range of frequencies and sound pressure levels. Direct numerical simulation confirms the previous finding in two dimensions that vortex shedding is the dominant dissipation mechanism at high sound pressure intensity. However, it is observed that the behavior of the shed vortices in three dimensions is quite different from those of two dimensions. In three dimensions, the shed vortices tend to evolve into ring (circular in plan form) vortices, even though the slit resonator opening from which the vortices are shed has an aspect ratio of 2.5. Under the excitation of discrete frequency sound, the shed vortices align themselves into two regularly spaced vortex trains moving away from the resonator opening in opposite directions. This is different from the chaotic shedding of vortices found in two-dimensional simulations. The effect of slit aspect ratio at a fixed porosity is briefly studied. For the range of liners considered in this investigation, it is found that the absorption coefficient of a liner increases when the open area of the single slit is subdivided into multiple, smaller slits.

Understanding the medical and nonmedical value of diagnostic testing.

PubMed

Lee, David W; Neumann, Peter J; Rizzo, John A

2010-01-01

To develop a framework for defining the potential value of diagnostic testing, and discuss its implications for the health-care delivery system. We reviewed the conceptual and empirical literature related to the valuing of diagnostic tests, and used this information to create a framework for characterizing their value. We then made inferences about the impact of this framework on health insurance coverage, health technology assessment, physician-patient relationships, and public health policy. Three dimensions can effectively classify the potential value created by diagnostic tests: 1) medical value (impact on treatment decisions); 2) planning value (affect on patients' ability to make better life decisions); and 3) psychic value (how test information affects patients' sense of self). This comprehensive framework for valuing diagnostics suggests that existing health technology assessments may systematically under- or overvalue diagnostics, leading to potentially incorrect conclusions about cost-effectiveness. Further, failure to account for all value dimensions may lead to distorted payments under a value-based health-care system. The potential value created by medical diagnostics incorporates medical value as well as value associated with well-being and planning. Consideration of all three dimensions has important implications for technology assessment and value-based payment.

Differential effects of labyrinthine dysfunction on distance and direction during blindfolded walking of a triangular path.

PubMed

Glasauer, S; Amorim, M-A; Viaud-Delmon, I; Berthoz, A

2002-08-01

While we walk through the environment, we constantly receive inputs from different sensory systems. For us to accomplish a given task, for example to reach a target location, the sensory information has to be integrated to update our knowledge of self-position and self-orientation with respect to the target so that we can correctly plan and perform the remaining trajectory. As has been shown previously, vestibular information plays a minor role in the performance of linear goal-directed locomotion when walking blindfolded toward a previously seen target within a few meters. The present study extends the question of whether vestibular information is a requirement for goal-directed locomotion by studying a more complex task that also involves rotation: walking a triangular path. Furthermore, studying this task provides information about how we walk a given trajectory, how we move around corners, and whether we are able to return to the starting point. Seven young male, five labyrinthine-defective (LD) and five age- and gender-matched control subjects were asked to walk a previously seen triangular path, which was marked on the ground, first without vision (EC) and then with vision (EO). Each subject performed three clockwise (CW) and three counterclockwise (CCW) walks under the EC condition and one CW and CCW walk under the EO condition. The movement of the subjects was recorded by means of a 3D motion analysis system. Analysis of the data showed that LD subjects had, in the EC condition, a significantly larger final arrival error, which was due to increased directional errors during the turns. However, there was no difference between the groups as regards the overall path length walked. This shows that LD subjects were able to plan and execute the given trajectory without vision, but failed to turn correctly around the corners. Hence, the results demonstrate that vestibular information enhances the ability to perform a planned trajectory incorporating whole body rotations when no visual feedback is available.

Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace.

PubMed

Zhu, Daqi; Huang, Huan; Yang, S X

2013-04-01

For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

High-resolution laser spectroscopy of hot Cs and Rb vapor confined in a thin optical cell

NASA Astrophysics Data System (ADS)

Todorov, P.; Krasteva, A.; Vartanyan, T.; Todorov, G.; Sarkisyan, D.; Cartaleva, S.

2018-03-01

We propose a novel use of an optical cell of micrometer thickness filled with Cs vapor in view of studying the collisions between two different alkali atoms of strongly different densities. We demonstrate narrow and good-contrast sub-Doppler resonances at the Rb D2 line for a mean-free-path of the Cs atoms comparable to the optical cell longitudinal dimension; the resonances are completely destroyed when the mean-free-path of the Cs atoms is more than two orders of magnitude shorter than the longitudinal dimension of the thin cell.

Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs

PubMed Central

Jiang, Peng; Li, Deshi; Sun, Tao

2017-01-01

Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) have not been taken into account in previous studies. In this paper, we propose a locally-adjustable, continuous-curvature, bounded path-planning algorithm for fixed-wing UAVs. To deal with the curvature discontinuity problem, an optimal interpolation algorithm and a key-point shift algorithm are proposed based on the derivation of a curvature continuity condition. To meet the upper bound for curvature and to render the curvature extrema controllable, a local replanning scheme is designed by combining arcs and Bezier curves with monotonic curvature. In particular, a path transition mechanism is built for the replanning phase using minimum curvature circles for a planning philosophy. Numerical results demonstrate that the analytical planning algorithm can effectively generate continuous-curvature paths, while satisfying the curvature upper bound constraint and allowing UAVs to pass through all predefined waypoints in the desired mission region. PMID:28925960

Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs.

PubMed

Wang, Xiaoliang; Jiang, Peng; Li, Deshi; Sun, Tao

2017-09-19

Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) have not been taken into account in previous studies. In this paper, we propose a locally-adjustable, continuous-curvature, bounded path-planning algorithm for fixed-wing UAVs. To deal with the curvature discontinuity problem, an optimal interpolation algorithm and a key-point shift algorithm are proposed based on the derivation of a curvature continuity condition. To meet the upper bound for curvature and to render the curvature extrema controllable, a local replanning scheme is designed by combining arcs and Bezier curves with monotonic curvature. In particular, a path transition mechanism is built for the replanning phase using minimum curvature circles for a planning philosophy. Numerical results demonstrate that the analytical planning algorithm can effectively generate continuous-curvature paths, while satisfying the curvature upper bound constraint and allowing UAVs to pass through all predefined waypoints in the desired mission region.

Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.

PubMed

Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan

This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.

Planning for the Human Dimensions of Oil Spills and Spill Response

NASA Astrophysics Data System (ADS)

Webler, Thomas; Lord, Fabienne

2010-04-01

Oil spill contingency planners need an improved approach to understanding and planning for the human dimensions of oil spills. Drawing on existing literature in social impact assessment, natural hazards, human ecology, adaptive management, global change and sustainability, we develop an integrative approach to understanding and portraying the human dimensions impacts of stressors associated with oil spill events. Our approach is based on three fundamental conclusions that are drawn from this literature review. First, it is productive to acknowledge that, while stressors can produce human impacts directly, they mainly affect intermediary processes and changes to these processes produce human impacts. Second, causal chain modeling taken from hazard management literature provides a means to document how oil spill stressors change processes and produce human impacts. Third, concepts from the global change literature on vulnerability enrich causal models in ways that make more obvious how management interventions lessen hazards and mitigate associated harm. Using examples from recent spill events, we illustrate how these conclusions can be used to diagrammatically portray the human dimensions of oil spills.

Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

NASA Astrophysics Data System (ADS)

Cowlagi, Raghvendra V.

Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematical model. We propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. The main contributions of this thesis are: 1. A motion planning framework based on history-dependent costs (H-costs) in cell decomposition graphs for incorporating vehicle dynamical constraints: this framework offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning, 2. An efficient and flexible algorithm for finding optimal H-cost paths, 3. A precise and general formulation of a local trajectory problem (the tile motion planning problem) that allows independent development of the discrete planner and the trajectory planner, while maintaining "compatibility" between the two planners, 4. A local trajectory generation algorithm using mpc, and the application of the concept of effective target sets for a significant simplification of the local trajectory generation problem, 5. The geometric analysis of curvature-bounded traversal of rectangular channels, leading to less conservative results in comparison with a result reported in the literature, and also to the efficient construction of effective target sets for the solution of the tile motion planning problem, 6. A wavelet-based multi-resolution path planning scheme, and a proof of completeness of the proposed scheme: such proofs are altogether absent from other works on multi-resolution path planning, 7. A technique for extracting all information about cells---namely, the locations, the sizes, and the associated image intensities---directly from the set of significant detail coefficients considered for path planning at a given iteration, and 8. The extension of the multi-resolution path planning scheme to include vehicle dynamical constraints using the aforementioned history-dependent costs approach. The future work includes an implementation of the proposed framework involving a discrete planner that solves classical planning problems more general than the single-query path planning problem considered thus far, and involving trajectory generation schemes for realistic vehicle dynamical models such as the bicycle model.

Ray-tracing in three dimensions for calculation of radiation-dose calculations. Master's thesis

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

Kennedy, D.R.

1986-05-27

This thesis addresses several methods of calculating the radiation-dose distribution for use by technicians or clinicians in radiation-therapy treatment planning. It specifically covers the calculation of the effective pathlength of the radiation beam for use in beam models representing the dose distribution. A two-dimensional method by Bentley and Milan is compared to the method of Strip Trees developed by Duda and Hart and then a three-dimensional algorithm built to perform the calculations in three dimensions. The use of PRISMS conforms easily to the obtained CT Scans and provides a means of only doing two-dimensional ray-tracing while performing three-dimensional dose calculations.more » This method is already being applied and used in actual calculations.« less

Path Searching Based Fault Automated Recovery Scheme for Distribution Grid with DG

NASA Astrophysics Data System (ADS)

Xia, Lin; Qun, Wang; Hui, Xue; Simeng, Zhu

2016-12-01

Applying the method of path searching based on distribution network topology in setting software has a good effect, and the path searching method containing DG power source is also applicable to the automatic generation and division of planned islands after the fault. This paper applies path searching algorithm in the automatic division of planned islands after faults: starting from the switch of fault isolation, ending in each power source, and according to the line load that the searching path traverses and the load integrated by important optimized searching path, forming optimized division scheme of planned islands that uses each DG as power source and is balanced to local important load. Finally, COBASE software and distribution network automation software applied are used to illustrate the effectiveness of the realization of such automatic restoration program.

UCAV path planning in the presence of radar-guided surface-to-air missile threats

NASA Astrophysics Data System (ADS)

Zeitz, Frederick H., III

This dissertation addresses the problem of path planning for unmanned combat aerial vehicles (UCAVs) in the presence of radar-guided surface-to-air missiles (SAMs). The radars, collocated with SAM launch sites, operate within the structure of an Integrated Air Defense System (IADS) that permits communication and cooperation between individual radars. The problem is formulated in the framework of the interaction between three sub-systems: the aircraft, the IADS, and the missile. The main features of this integrated model are: The aircraft radar cross section (RCS) depends explicitly on both the aspect and bank angles; hence, the RCS and aircraft dynamics are coupled. The probabilistic nature of IADS tracking is accounted for; namely, the probability that the aircraft has been continuously tracked by the IADS depends on the aircraft RCS and range from the perspective of each radar within the IADS. Finally, the requirement to maintain tracking prior to missile launch and during missile flyout are also modeled. Based on this model, the problem of UCAV path planning is formulated as a minimax optimal control problem, with the aircraft bank angle serving as control. Necessary conditions of optimality for this minimax problem are derived. Based on these necessary conditions, properties of the optimal paths are derived. These properties are used to discretize the dynamic optimization problem into a finite-dimensional, nonlinear programming problem that can be solved numerically. Properties of the optimal paths are also used to initialize the numerical procedure. A homotopy method is proposed to solve the finite-dimensional, nonlinear programming problem, and a heuristic method is proposed to improve the discretization during the homotopy process. Based upon the properties of numerical solutions, a method is proposed for parameterizing and storing information for later recall in flight to permit rapid replanning in response to changing threats. Illustrative examples are presented that confirm the standard flying tactics of "denying range, aspect, and aim," by yielding flight paths that "weave" to avoid long exposures of aspects with large RCS.

Assessing the Performance of Human-Automation Collaborative Planning Systems

DTIC Science & Technology

2011-06-01

process- ing and incorporating vast amounts of incoming information into their solutions. How- ever, these algorithms are brittle and unable to account for...planning system, a descriptive Mission Performance measure may address the total travel time on the path or the cost of the path (e.g. total work...minimizing costs or collisions [4, 32, 33]. Error measures for such a path planning system may track how many collisions occur or how much threat

Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions*

PubMed Central

Janson, Lucas; Schmerling, Edward; Clark, Ashley; Pavone, Marco

2015-01-01

In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art counterparts, chiefly PRM* and RRT*. The FMT* algorithm performs a “lazy” dynamic programming recursion on a predetermined number of probabilistically-drawn samples to grow a tree of paths, which moves steadily outward in cost-to-arrive space. As such, this algorithm combines features of both single-query algorithms (chiefly RRT) and multiple-query algorithms (chiefly PRM), and is reminiscent of the Fast Marching Method for the solution of Eikonal equations. As a departure from previous analysis approaches that are based on the notion of almost sure convergence, the FMT* algorithm is analyzed under the notion of convergence in probability: the extra mathematical flexibility of this approach allows for convergence rate bounds—the first in the field of optimal sampling-based motion planning. Specifically, for a certain selection of tuning parameters and configuration spaces, we obtain a convergence rate bound of order O(n−1/d+ρ), where n is the number of sampled points, d is the dimension of the configuration space, and ρ is an arbitrarily small constant. We go on to demonstrate asymptotic optimality for a number of variations on FMT*, namely when the configuration space is sampled non-uniformly, when the cost is not arc length, and when connections are made based on the number of nearest neighbors instead of a fixed connection radius. Numerical experiments over a range of dimensions and obstacle configurations confirm our the-oretical and heuristic arguments by showing that FMT*, for a given execution time, returns substantially better solutions than either PRM* or RRT*, especially in high-dimensional configuration spaces and in scenarios where collision-checking is expensive. PMID:27003958

Do knowledge translation (KT) plans help to structure KT practices?

PubMed

Tchameni Ngamo, Salomon; Souffez, Karine; Lord, Catherine; Dagenais, Christian

2016-06-17

A knowledge translation (KT) planning template is a roadmap laying out the core elements to be considered when structuring the implementation of KT activities by researchers and practitioners. Since 2010, the Institut national de santé publique du Québec (INSPQ; Québec Public Health Institute) has provided tools and guidance to in-house project teams to help them develop KT plans. This study sought to identify the dimensions included in those plans and which ones were integrated and how. The results will be of interest to funding agencies and scientific organizations that provide frameworks for KT planning. The operationalization of KT planning dimensions was assessed in a mixed methods case study of 14 projects developed at the INSPQ between 2010 and 2013. All plans were assessed (rated) using an analytical tool developed for this study and data from interviews with the planning coordinators. The analytical tool and interview guide were based on eight core KT dimensions identified in the literature. Analysis of the plans and interviews revealed that the dimensions best integrated into the KT plans were 'analysis of the context (barriers and facilitators) and of users' needs', 'knowledge to be translated', 'KT partners', 'KT strategies' and, to a lesser extent, 'overall KT approach'. The least well integrated dimensions were 'knowledge about knowledge users', 'KT process evaluation' and 'resources'. While the planning coordinators asserted that a plan did not need to include all the dimensions to ensure its quality and success, nevertheless the dimensions that received less attention might have been better incorporated if they had been supported with more instruments related to those dimensions and sustained methodological guidance. Overall, KT planning templates appear to be an appreciated mechanism for supporting KT reflexive practices. Based on this study and our experience, we recommend using KT plans cautiously when assessing project efficacy and funding.

Optimal Paths in Gliding Flight

NASA Astrophysics Data System (ADS)

Wolek, Artur

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Real-time maneuver optimization of space-based robots in a dynamic environment: Theory and on-orbit experiments

NASA Astrophysics Data System (ADS)

Chamitoff, Gregory E.; Saenz-Otero, Alvar; Katz, Jacob G.; Ulrich, Steve; Morrell, Benjamin J.; Gibbens, Peter W.

2018-01-01

This paper presents the development of a real-time path-planning optimization approach to controlling the motion of space-based robots. The algorithm is capable of planning three dimensional trajectories for a robot to navigate within complex surroundings that include numerous static and dynamic obstacles, path constraints and performance limitations. The methodology employs a unique transformation that enables rapid generation of feasible solutions for complex geometries, making it suitable for application to real-time operations and dynamic environments. This strategy was implemented on the Synchronized Position Hold Engage Reorient Experimental Satellite (SPHERES) test-bed on the International Space Station (ISS), and experimental testing was conducted onboard the ISS during Expedition 17 by the first author. Lessons learned from the on-orbit tests were used to further refine the algorithm for future implementations.

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

Xu Cenke

In this paper, we calculate the entanglement Renyi entropy of two coupled gapless systems in general spatial dimension d. The gapless systems can be either conformal field theories or Fermi liquids. We assume the two systems are coupled uniformly in an h-dimensional submanifold of the space, with 0{<=}h{<=}d. We will focus on the scaling of the Renyi entropy with the size of the system, and its scaling with the intersystem coupling constant g. Three approaches will be used for our calculation: (1) exact calculation with ground-state wave functional, (2) perturbative calculation with functional path integral, and (3) scaling argument.

Monolithic LED arrays, next generation smart lighting sources

NASA Astrophysics Data System (ADS)

Lagrange, Alexandre; Bono, Hubert; Templier, François

2016-03-01

LED have become the main light sources of the future as they open the path for intelligent use of light in time, intensity and color. In many usages, strong energy economy is done by adjusting these properties. The smart lighting has three dimensions, energy efficiency brought by GaN blue emitting LEDs, integration of electronics, sensors, microprocessors in the lighting system and development of new functionalities and services provided by the light. Monolithic LED arrays allow two major innovations, the spatial control of light emission and the adjustment of the electrical properties of the source.

Region based route planning - Multi-abstraction route planning based on intermediate level vision processing

NASA Technical Reports Server (NTRS)

Doshi, Rajkumar S.; Lam, Raymond; White, James E.

1989-01-01

Intermediate and high level processing operations are performed on vision data for the organization of images into more meaningful, higher-level topological representations by means of a region-based route planner (RBRP). The RBRP operates in terrain scenarios where some or most of the terrain is occluded, proceeding without a priori maps on the basis of two-dimensional representations and gradient-and-roughness information. Route planning is accomplished by three successive abstractions and yields a detailed point-by-point path by searching only within the boundaries of relatively small regions.

Evolutionistic or revolutionary paths? A PACS maturity model for strategic situational planning.

PubMed

van de Wetering, Rogier; Batenburg, Ronald; Lederman, Reeva

2010-07-01

While many hospitals are re-evaluating their current Picture Archiving and Communication System (PACS), few have a mature strategy for PACS deployment. Furthermore, strategies for implementation, strategic and situational planning methods for the evolution of PACS maturity are scarce in the scientific literature. Consequently, in this paper we propose a strategic planning method for PACS deployment. This method builds upon a PACS maturity model (PMM), based on the elaboration of the strategic alignment concept and the maturity growth path concept previously developed in the PACS domain. First, we review the literature on strategic planning for information systems and information technology and PACS maturity. Secondly, the PMM is extended by applying four different strategic perspectives of the Strategic Alignment Framework whereupon two types of growth paths (evolutionistic and revolutionary) are applied that focus on a roadmap for PMM. This roadmap builds a path to get from one level of maturity and evolve to the next. An extended method for PACS strategic planning is developed. This method defines eight distinctive strategies for PACS strategic situational planning that allow decision-makers in hospitals to decide which approach best suits their hospitals' current situation and future ambition and what in principle is needed to evolve through the different maturity levels. The proposed method allows hospitals to strategically plan for PACS maturation. It is situational in that the required investments and activities depend on the alignment between the hospital strategy and the selected growth path. The inclusion of both strategic alignment and maturity growth path concepts make the planning method rigorous, and provide a framework for further empirical research and clinical practice.

Reducing water scarcity possible by 2050: Linking global assessments to policy dimensions

NASA Astrophysics Data System (ADS)

Wada, Y.; Gleeson, T.; Esnault, L.

2015-12-01

Water scarcity is not a problem just for the developing world. In California, legislators are currently proposing a $7.5 billion emergency water plan to their voters; and U.S. federal officials last year warned residents of Arizona and Nevada that they could face cuts in Colorado River water deliveries in 2016. Irrigation techniques, industrial and residential habits combined with climate change lie at the root of the problem. But despite what appears to be an insurmountable problem, it is possible to turn the situation around and significantly reduce water scarcity in over next 35 years. We identify outline strategies in six key areas that they believe can be combined in different ways in different parts of the world in order to effectively reduce water stress. (Water stress occurs in an area where more than 40% of the available water from rivers is unavailable because it is already being used - a situation that currently affects about a third of the global population, and may affect as many as half the people in the world by the end of the century if the current pattern of water use continues). We separate six key strategy areas for reducing water stress into "hard path" measures, involving building more reservoirs and increasing desalination efforts of sea water, and "soft path" measures that focus on reducing water demand rather than increasing water supply thanks to community-scale efforts and decision-making, combining efficient technology and environmental protection. While there are some economic, cultural and social factors that may make certain of the "soft path" measures such as population control difficult, the "soft path" measures offer the more realistic path forward in terms of reducing water stress by 2050.

Reducing water scarcity possible by 2050: Linking global assessments to policy dimensions

NASA Astrophysics Data System (ADS)

Watts, A.; Turetsky, M. R.; Benscoter, B.; Page, S. E.; Rein, G.; van der Werf, G.

2014-12-01

Water scarcity is not a problem just for the developing world. In California, legislators are currently proposing a $7.5 billion emergency water plan to their voters; and U.S. federal officials last year warned residents of Arizona and Nevada that they could face cuts in Colorado River water deliveries in 2016. Irrigation techniques, industrial and residential habits combined with climate change lie at the root of the problem. But despite what appears to be an insurmountable problem, it is possible to turn the situation around and significantly reduce water scarcity in over next 35 years. We identify outline strategies in six key areas that they believe can be combined in different ways in different parts of the world in order to effectively reduce water stress. (Water stress occurs in an area where more than 40% of the available water from rivers is unavailable because it is already being used - a situation that currently affects about a third of the global population, and may affect as many as half the people in the world by the end of the century if the current pattern of water use continues). We separate six key strategy areas for reducing water stress into "hard path" measures, involving building more reservoirs and increasing desalination efforts of sea water, and "soft path" measures that focus on reducing water demand rather than increasing water supply thanks to community-scale efforts and decision-making, combining efficient technology and environmental protection. While there are some economic, cultural and social factors that may make certain of the "soft path" measures such as population control difficult, the "soft path" measures offer the more realistic path forward in terms of reducing water stress by 2050.

Robot-assisted three-dimensional registration for cochlear implant surgery using a common-path swept-source optical coherence tomography probe

NASA Astrophysics Data System (ADS)

Gurbani, Saumya S.; Wilkening, Paul; Zhao, Mingtao; Gonenc, Berk; Cheon, Gyeong Woo; Iordachita, Iulian I.; Chien, Wade; Taylor, Russell H.; Niparko, John K.; Kang, Jin U.

2014-05-01

Cochlear implantation offers the potential to restore sensitive hearing in patients with severe to profound deafness. However, surgical placement of the electrode array within the cochlea can produce trauma to sensorineural components, particularly if the initial turn of the cochlea is not successfully navigated as the array is advanced. In this work, we present a robot-mounted common-path swept-source optical coherence tomography endoscopic platform for three-dimensional (3-D) optical coherence tomography (OCT) registration and preoperative surgical planning for cochlear implant surgery. The platform is composed of a common-path 600-μm diameter fiber optic rotary probe attached to a five degrees of freedom robot capable of 1 μm precision movement. The system is tested on a dry fixed ex vivo human temporal bone, and we demonstrate the feasibility of a 3-D OCT registration of the cochlea to accurately describe the spatial and angular profiles of the canal formed by the scala tympani into the first cochlear turn.

MR angiography fusion technique for treatment planning of intracranial arteriovenous malformations.

PubMed

McGee, Kiaran P; Ivanovic, Vladimir; Felmlee, Joel P; Meyer, Fredrick B; Pollock, Bruce E; Huston, John

2006-03-01

To develop an image fusion technique using elliptical centric contrast-enhanced (CE) MR angiography (MRA) and three-dimensional (3D) time-of-flight (TOF) acquisitions for radiosurgery treatment planning of arteriovenous malformations (AVMs). CE and 3D-TOF MR angiograms with disparate in-plane fields of view (FOVs) were acquired, followed by k-space reformatting to provide equal voxel dimensions. Spatial domain addition was performed to provide a third, fused data volume. Spatial distortion was evaluated on an MRA phantom and provided slice-dependent and global distortion along the three physical dimensions of the MR scanner. In vivo validation was performed on 10 patients with intracranial AVMs prior to their conventional angiogram on the day of gamma knife radiosurgery. Spatial distortion in the phantom within a volume of 14 x 14 x 3.2 cm(3) was less than +/-1 mm (+/-1 standard deviation (SD)) for CE and 3D-TOF data sets. Fused data volumes were successfully generated for all 10 patients. Image fusion can be used to obtain high-resolution CE-MRA images of intracranial AVMs while keeping the fiducial markers needed for gamma knife radiosurgery planning. The spatial fidelity of these data is within the tolerance acceptable for daily quality control (QC) purposes and gamma knife treatment planning. (c) 2006 Wiley-Liss, Inc.

Simulation based optimized beam velocity in additive manufacturing

NASA Astrophysics Data System (ADS)

Vignat, Frédéric; Béraud, Nicolas; Villeneuve, François

2017-08-01

Manufacturing good parts with additive technologies rely on melt pool dimension and temperature and are controlled by manufacturing strategies often decided on machine side. Strategies are built on beam path and variable energy input. Beam path are often a mix of contour and hatching strategies filling the contours at each slice. Energy input depend on beam intensity and speed and is determined from simple thermal models to control melt pool dimensions and temperature and ensure porosity free material. These models take into account variation in thermal environment such as overhanging surfaces or back and forth hatching path. However not all the situations are correctly handled and precision is limited. This paper proposes new method to determine energy input from full built chamber 3D thermal simulation. Using the results of the simulation, energy is modified to keep melt pool temperature in a predetermined range. The paper present first an experimental method to determine the optimal range of temperature. In a second part the method to optimize the beam speed from the simulation results is presented. Finally, the optimized beam path is tested in the EBM machine and built part are compared with part built with ordinary beam path.

Design of a holographic waveguide with L configuration

NASA Astrophysics Data System (ADS)

Xiang, Guangxin-Xin; Li, Wen-Qiang

2016-10-01

In order to decrease the complexity to design and manufacture the turning grating of the configuration with one reflecting surface, an L-shape two-dimension extended configuration with single plate is given in the paper. This configuration consists of one specular reflecting surface and three holographic gratings two in which periods and the groove orientations are totally same, which makes gratings design and fabrication easier. According to the calculation and analysis to the optical path of configuration, the dimension of the turning grating is no larger than 40mm×30mm. The simulation result demonstrates the display configuration is reasonable and correct and can realize the display effect with 30°×30° field of view and Φ30mm large exit pupil. This configuration can be applied to an Augmented Reality Display (AR) or a Head-Mounted Display (HMD).

On the partition dimension of comb product of path and complete graph

NASA Astrophysics Data System (ADS)

Darmaji, Alfarisi, Ridho

2017-08-01

For a vertex v of a connected graph G(V, E) with vertex set V(G), edge set E(G) and S ⊆ V(G). Given an ordered partition Π = {S1, S2, S3, …, Sk} of the vertex set V of G, the representation of a vertex v ∈ V with respect to Π is the vector r(v|Π) = (d(v, S1), d(v, S2), …, d(v, Sk)), where d(v, Sk) represents the distance between the vertex v and the set Sk and d(v, Sk) = min{d(v, x)|x ∈ Sk}. A partition Π of V(G) is a resolving partition if different vertices of G have distinct representations, i.e., for every pair of vertices u, v ∈ V(G), r(u|Π) ≠ r(v|Π). The minimum k of Π resolving partition is a partition dimension of G, denoted by pd(G). Finding the partition dimension of G is classified to be a NP-Hard problem. In this paper, we will show that the partition dimension of comb product of path and complete graph. The results show that comb product of complete grapph Km and path Pn namely p d (Km⊳Pn)=m where m ≥ 3 and n ≥ 2 and p d (Pn⊳Km)=m where m ≥ 3, n ≥ 2 and m ≥ n.

Knowledge assistant for robotic environmental characterization

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

Feddema, J.; Rivera, J.; Tucker, S.

1996-08-01

A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and postanalysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neural network,more » and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g., estimated dimensions, weight, material composition, etc.) are displayed in the world model. This report highlights the major components of this system.« less

Using a Modified Theory of Planned Behavior to Examine Adolescents' Workplace Safety and Health Knowledge, Perceptions, and Behavioral Intention: A Structural Equation Modeling Approach.

PubMed

Guerin, Rebecca J; Toland, Michael D; Okun, Andrea H; Rojas-Guyler, Liliana; Bernard, Amy L

2018-03-31

Work, a defining feature of adolescence in the United States, has many benefits. Work also has risks, as adolescents experience a higher rate of serious job-related injuries compared to adults. Talking Safety, a free curriculum from the National Institute for Occupational Safety and Health, is one tool educators may adopt to provide teens with essential workplace safety and health education. Adolescents (N = 2503; female, 50.1%; Hispanic, 50.0%) in a large urban school district received Talking Safety from their eighth-grade science teachers. This study used a modified theory of planned behavior (which included a knowledge construct), to examine students' pre- and post-intervention scores on workplace safety and health knowledge, attitude, self-efficacy, and behavioral intention to enact job safety skills. The results from confirmatory factor analyses indicate three unique dimensions reflecting the theory, with a separate knowledge factor. Reliability estimates are ω ≥ .83. The findings from the structural equation models demonstrate that all paths, except pre- to posttest behavioral intention, are statistically significant. Self-efficacy is the largest contributor to the total effect of these associations. As hypothesized, knowledge has indirect effects on behavioral intention. Hispanic students scored lower at posttest on all but the behavioral intention measure, possibly suggesting the need for tailored materials to reach some teens. Overall the findings support the use of a modified theory of planned behavior to evaluate the effectiveness of a foundational workplace safety and health curriculum. This study may inform future efforts to ensure that safe and healthy work becomes integral to the adolescent experience.

Stochastic Evolutionary Algorithms for Planning Robot Paths

NASA Technical Reports Server (NTRS)

Fink, Wolfgang; Aghazarian, Hrand; Huntsberger, Terrance; Terrile, Richard

2006-01-01

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

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.

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

NASA Technical Reports Server (NTRS)

Pekelsma, Nicholas J.

1988-01-01

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

Shape sensing using multi-core fiber optic cable and parametric curve solutions.

PubMed

Moore, Jason P; Rogge, Matthew D

2012-01-30

The shape of a multi-core optical fiber is calculated by numerically solving a set of Frenet-Serret equations describing the path of the fiber in three dimensions. Included in the Frenet-Serret equations are curvature and bending direction functions derived from distributed fiber Bragg grating strain measurements in each core. The method offers advantages over prior art in that it determines complex three-dimensional fiber shape as a continuous parametric solution rather than an integrated series of discrete planar bends. Results and error analysis of the method using a tri-core optical fiber is presented. Maximum error expressed as a percentage of fiber length was found to be 7.2%.

Robot path planning using a genetic algorithm

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Baffes, Paul T.; Wang, Liu

1988-01-01

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.

MO-F-CAMPUS-T-03: Continuous Dose Delivery with Gamma Knife Perfexion

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

Ghobadi,; Li, W; Chung, C

2015-06-15

Purpose: We propose continuous dose delivery techniques for stereotactic treatments delivered by Gamma Knife Perfexion using inverse treatment planning system that can be applied to various tumour sites in the brain. We test the accuracy of the plans on Perfexion’s planning system (GammaPlan) to ensure the obtained plans are viable. This approach introduces continuous dose delivery for Perefxion, as opposed to the currently employed step-and-shoot approaches, for different tumour sites. Additionally, this is the first realization of automated inverse planning on GammaPlan. Methods: The inverse planning approach is divided into two steps of identifying a quality path inside the target,more » and finding the best collimator composition for the path. To find a path, we select strategic regions inside the target volume and find a path that visits each region exactly once. This path is then passed to a mathematical model which finds the best combination of collimators and their durations. The mathematical model minimizes the dose spillage to the surrounding tissues while ensuring the prescribed dose is delivered to the target(s). Organs-at-risk and their corresponding allowable doses can also be added to the model to protect adjacent organs. Results: We test this approach on various tumour sizes and sites. The quality of the obtained treatment plans are comparable or better than forward plans and inverse plans that use step- and-shoot technique. The conformity indices in the obtained continuous dose delivery plans are similar to those of forward plans while the beam-on time is improved on average (see Table 1 in supporting document). Conclusion: We employ inverse planning for continuous dose delivery in Perfexion for brain tumours. The quality of the obtained plans is similar to forward and inverse plans that use conventional step-and-shoot technique. We tested the inverse plans on GammaPlan to verify clinical relevance. This research was partially supported by Elekta, Sweden (vendor of Gamma Knife Perfexion)« less

The impact of workplace spirituality dimensions on organisational citizenship behaviour among nurses with the mediating effect of affective organisational commitment.

PubMed

Kazemipour, Farahnaz; Mohd Amin, Salmiah

2012-12-01

To investigate the relationship between workplace spirituality dimensions and organisational citizenship behaviour (OCB) among nurses through the mediating effect of affective organisational commitment. Nurses' OCB has been considered recently to improve the quality of services to patients and subsequently, their performance. As an influential attitude, affective organisational commitment has been recognized to influence OCB, and ultimately, organisational performance. Meanwhile, workplace spirituality is introduced as a new organisational behaviour concept to increase affective commitment influencing employees' OCB. The cross-sectional study and the respective data were collected with a questionnaire-based survey. The questionnaires were distributed to 305 nurses employed in four public and general Iranian hospitals. To analyse the data, descriptive statistics, Pearson coefficient, simple regression, multiple regression and path analyses were also conducted. The results indicated that workplace spirituality dimensions including meaningful work, a sense of community and an alignment with organisational values have a significant positive relationship with OCB. Moreover, affective organisational commitment mediated the impact of workplace spirituality on OCB. The concept of workplace spirituality through its dimensions predicts nurses' OCB, and affective organisational commitment partially mediated the relationship between workplace spirituality and OCB. Nurses' managers should consider the potentially positive influence of workplace spirituality on OCB and affective commitment among their nurses. With any plan to increase workplace spirituality, the respective managers can improve nurses' performance and would be of considerable importance in the healthcare system. © 2012 Blackwell Publishing Ltd.

Justice in Health Care Decision-Making: Patients’ Appraisals of Health Care Providers and Health Plan Representatives

PubMed Central

Fondacaro, Mark; Frogner, Bianca; Moos, Rudolf

2010-01-01

This study describes the development of two versions of a Health Care Justice Inventory (HCJI). One version focuses on patients’ interactions with their providers (HCJI-P) and the other focuses on patients’ interactions with the representatives of their health plans (HCJI-HP). Each version of the HCJI assesses patients’ appraisals of their interactions (with either their Provider or representatives of their Health Plan) along three common dimensions of procedural justice: Trust, Impartiality, and Participation. Both the Provider and Health Plan scales assess indices that are relatively independent of patients’ demographic characteristics. In addition, patients’ appraisals of their interactions with their provider were only moderately related to their appraisals of their interactions with representatives of their health plan, indicating that the Provider and Health Plan scales tap distinct aspects of patients’ overall experience with the health care system. Overall, procedural justice dimensions were significantly related to patient satisfaction in both the Provider and the Health Plan contexts. As predicted, procedural justice factors were more strongly tied to patient satisfaction in the Provider than in the Health Plan context, and health care decisions based on distributive justice principles of Need (rather than Equity or Equality) were most closely tied to patient satisfaction in both contexts. PMID:16021741

Case report highlighting how wound path identification on CT can help identify organ damage in abdominal blast injuries.

PubMed

Fischer, Tatjana V; Folio, Les R; Backus, Christopher E; Bunger, Rolf

2012-01-01

Penetrating trauma is frequently encountered in forward deployed military combat hospitals. Abdominal blast injuries represent nearly 11% of combat injuries, and multiplanar computed tomography imaging is optimal for injury assessment and surgical planning. We describe a multiplanar approach to assessment of blast and ballistic injuries, which allows for more expeditious detection of missile tracts and damage caused along the path. Precise delineation of the trajectory path and localization of retained fragments enables time-saving and detailed evaluation of associated tissue and vascular injury. For consistent and reproducible documentation of fragment locations in the body, we propose a localization scheme based on Cartesian coordinates to report 3-dimensional locations of fragments and demonstrating the application in three cases of abdominal blast injury.

Teacher's Turnover Intentions: Examining the Impact of Motivation and Organizational Commitment

ERIC Educational Resources Information Center

Imran, Rabia; Allil, Kamaal; Mahmoud, Ali Bassam

2017-01-01

Purpose: The purpose of this paper is to explore the path of motivation leading to organizational commitment resulting in reduced turnover intentions (TIs). It examines the relationship between dimensions of motivation (amotivation, introjected regulations (IRs) and intrinsic motivation (IM)) with dimensions of commitment (affective, normative and…

Integration of Hierarchical Goal Network Planning and Autonomous Path Planning

DTIC Science & Technology

2016-03-01

Conference on Robotics and Automation (ICRA); 2010 May 3– 7; Anchorage, AK. p. 2902–2908. 4. Ayan NF, Kuter U, Yaman F, Goldman RP. Hotride...DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited. 13. SUPPLEMENTARY NOTES 14. ABSTRACT Automated planning has...world robotic systems. This report documents work to integrate a hierarchical goal network planning algorithm with low-level path planning. The system

Generation and propagation of electromagnetic waves in the magnetosphere. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Taylor, W. W. L.

1973-01-01

Characteristics of broadband ELF, VLF, and LF emissions in the magnetosphere were calculated assuming incoherent Cerenkov radiation from magnetospheric electrons with energies from 50 eV to 50 keV. Calculations were included to determine the ray paths of the emitted waves. A diffusive equilibrium model of the magnetosphere with an ionosphere, plasmapause, and a centered dipole magnetic field was used. Ray path calculations were done in three dimensions. Using simultaneous energetic electron and VLF data, comparisons were made between calculated and observed VLF hiss. Assuming a wave normal angle six degrees from the resonance cone angle, the calculated spectral densities are both two orders of magnitude below the observed spectral densities. It seems unlikely that VLF hiss is produced by incoherent Cerenkov radiation. The observed spectral shape of V-shaped VLF hiss is similar to that calculated from incoherent Cerenkov radiation.

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

PubMed Central

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-01-01

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

PubMed

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-02-11

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective.

PubMed

Faigl, Jan

2016-01-01

In this paper, Self-Organizing Map (SOM) for the Multiple Traveling Salesman Problem (MTSP) with minmax objective is applied to the robotic problem of multigoal path planning in the polygonal domain. The main difficulty of such SOM deployment is determination of collision-free paths among obstacles that is required to evaluate the neuron-city distances in the winner selection phase of unsupervised learning. Moreover, a collision-free path is also needed in the adaptation phase, where neurons are adapted towards the presented input signal (city) to the network. Simple approximations of the shortest path are utilized to address this issue and solve the robotic MTSP by SOM. Suitability of the proposed approximations is verified in the context of cooperative inspection, where cities represent sensing locations that guarantee to "see" the whole robots' workspace. The inspection task formulated as the MTSP-Minmax is solved by the proposed SOM approach and compared with the combinatorial heuristic GENIUS. The results indicate that the proposed approach provides competitive results to GENIUS and support applicability of SOM for robotic multigoal path planning with a group of cooperating mobile robots. The proposed combination of approximate shortest paths with unsupervised learning opens further applications of SOM in the field of robotic planning.

An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective

PubMed Central

Faigl, Jan

2016-01-01

In this paper, Self-Organizing Map (SOM) for the Multiple Traveling Salesman Problem (MTSP) with minmax objective is applied to the robotic problem of multigoal path planning in the polygonal domain. The main difficulty of such SOM deployment is determination of collision-free paths among obstacles that is required to evaluate the neuron-city distances in the winner selection phase of unsupervised learning. Moreover, a collision-free path is also needed in the adaptation phase, where neurons are adapted towards the presented input signal (city) to the network. Simple approximations of the shortest path are utilized to address this issue and solve the robotic MTSP by SOM. Suitability of the proposed approximations is verified in the context of cooperative inspection, where cities represent sensing locations that guarantee to “see” the whole robots' workspace. The inspection task formulated as the MTSP-Minmax is solved by the proposed SOM approach and compared with the combinatorial heuristic GENIUS. The results indicate that the proposed approach provides competitive results to GENIUS and support applicability of SOM for robotic multigoal path planning with a group of cooperating mobile robots. The proposed combination of approximate shortest paths with unsupervised learning opens further applications of SOM in the field of robotic planning. PMID:27340395

Plan demographics, participants' saving behavior, and target-date fund investments.

PubMed

Park, Youngkyun

2009-05-01

This analysis explores (1) whether plan demographic characteristics would affect individual participant contribution rates and target-date fund investments and (2) equity glide paths for participants in relation to plan demographics by considering target replacement income and its success rate. PLAN DEMOGRAPHIC CHARACTERISTICS IN PARTICIPANT CONTRIBUTION RATES: This study finds empirical evidence that 401(k) plan participants' contribution rates differ by plan demographics based on participants' income and/or tenure. In particular, participants in 401(k) plans dominated by those with low income and short tenure tend to contribute less than those in plans dominated by participants with high income and long tenure. Future research will explore how participant contribution behavior may also be influenced by incentives provided by employers through matching formulae. PLAN DEMOGRAPHIC CHARACTERISTICS IN TARGET-DATE FUND INVESTMENTS: The study also finds empirical evidence that participants' investments in target-date funds with different equity allocations differ by plan demographics based on participants' income and/or tenure. In particular, target-date fund users with 90 percent or more of their account balances in target-date funds who are in 401(k) plans dominated by low-income and short-tenure participants tend to hold target-date funds with lower equity allocations, compared with their counterparts in plans dominated by high-income and long-tenure participants. Future research will focus on the extent to which these characteristics might influence the selection of target-date funds by plan sponsors. EQUITY GLIDE PATHS: Several stylized equity glide paths as well as alternative asset allocations are compared for participants at various starting ages to demonstrate the interaction between plan demographics and equity glide paths/asset allocations in terms of success rates in meeting various replacement income targets. The equity glide path/asset allocation providing the highest success rate at a particular replacement rate target will vary with the assumed starting date of the participant (see Figure 17). Given the highly stylized nature of the simulations in this Issue Brief it is important to note that the results are not intended to provide a single equity glide path solution in relation to plan demographics. Instead, they serve as a framework to be considered when plan sponsors make a selection concerning which target-date funds to include in their plan. IMPORTANCE OF PARTICIPANT CONTRIBUTION RATES: This analysis finds that although target-date funds with different equity glide paths affect the retirement income replacement success rate, participant contribution rates corresponding to different plan demographic characteristics have a stronger impact. AUTO FEATURES OF THE PPA: This Issue Brief provides a stylized study using observed contribution rates as of the 2007 plan year. However, with the passage of the Pension Protection Act of 2006 and its likely impact on plan design in the future (increased utilization of automatic enrollment and automatic contribution escalations), it is likely that contribution rates among the participants may become more homogenous. In such a scenario, it may be more likely that a single equity glide path would meet a wide range of demographic profiles.

Path Planning Algorithms for Autonomous Border Patrol Vehicles

NASA Astrophysics Data System (ADS)

Lau, George Tin Lam

This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

Axially Tapered And Bilayer Microchannels For Evaporative Cooling Devices

DOEpatents

Nilson, Robert; Griffiths, Stewart

2005-10-04

The invention consists of an evaporative cooling device comprising one or more microchannels whose cross section is axially reduced to control the maximum capillary pressure differential between liquid and vapor phases. In one embodiment, the evaporation channels have a rectangular cross section that is reduced in width along a flow path. In another embodiment, channels of fixed width are patterned with an array of microfabricated post-like features such that the feature size and spacing are gradually reduced along the flow path. Other embodiments incorporate bilayer channels consisting of an upper cover plate having a pattern of slots or holes of axially decreasing size and a lower fluid flow layer having channel widths substantially greater than the characteristic microscale dimensions of the patterned cover plate. The small dimensions of the cover plate holes afford large capillary pressure differentials while the larger dimensions of the lower region reduce viscous flow resistance.

Dual stage potential field method for robotic path planning

NASA Astrophysics Data System (ADS)

Singh, Pradyumna Kumar; Parida, Pramod Kumar

2018-04-01

Path planning for autonomous mobile robots are the root for all autonomous mobile systems. Various methods are used for optimization of path to be followed by the autonomous mobile robots. Artificial potential field based path planning method is one of the most used methods for the researchers. Various algorithms have been proposed using the potential field approach. But in most of the common problems are encounters while heading towards the goal or target. i.e. local minima problem, zero potential regions problem, complex shaped obstacles problem, target near obstacle problem. In this paper we provide a new algorithm in which two types of potential functions are used one after another. The former one is to use to get the probable points and later one for getting the optimum path. In this algorithm we consider only the static obstacle and goal.

Does the Effect of Micro-Environmental Factors on a Street’s Appeal for Adults’ Bicycle Transport Vary across Different Macro-Environments? An Experimental Study

PubMed Central

Mertens, Lieze; Van Cauwenberg, Jelle; Ghekiere, Ariane; Van Holle, Veerle; De Bourdeaudhuij, Ilse; Deforche, Benedicte; Nasar, Jack; Van de Weghe, Nico; Van Dyck, Delfien

2015-01-01

Background Characteristics of the physical environment can be classified into two broad categories: macro- (“raw” urban planning features influenced on a regional level) and micro- (features specifically within a streetscape influenced on a neighborhood level) environmental factors. In urban planning applications, it is more feasible to modify conditions at the neighborhood level than at the regional level. Yet for the promotion of bicycle transport we need to know whether relationships between micro-environmental factors and bicycle transport depend on different types of macro-environments. This study aimed to identify whether the effect of three micro-environmental factors (i.e., evenness of the cycle path surface, speed limits and type of separation between cycle path and motorized traffic) on the street’s appeal for adults’ bicycle transport varied across three different macro-environments (i.e., low, medium and high residential density street). Methods In total, 389 middle-aged adults completed a web-based questionnaire consisting of socio-demographic characteristics and a series of choice tasks with manipulated photographs, depicting two possible routes to cycle along. Conjoint analysis was used to analyze the data. Results Although the magnitude of the overall effects differed, in each macro-environment (i.e., low, medium and high residential density), middle-aged adults preferred a speed limit of 30 km/h, an even cycle path surface and a hedge as separation between motorized traffic and the cycle path compared to a speed limit of 50 or 70 km/h, a slightly uneven or uneven cycle path surface and a curb as separation or no separation between motorized traffic and the cycle path. Conclusions Our results suggest that irrespective of the macro-environment, the same micro-environmental factors are preferred in middle-aged adults concerning the street’s appeal for bicycle transport. The controlled environment simulations in the experimental choice task have the potential to inform real life environmental interventions and suggest that micro-environmental changes can have similar results in different macro-environments. PMID:26317754

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

A Comparison of Risk Sensitive Path Planning Methods for Aircraft Emergency Landing

NASA Technical Reports Server (NTRS)

Meuleau, Nicolas; Plaunt, Christian; Smith, David E.; Smith, Tristan

2009-01-01

Determining the best site to land a damaged aircraft presents some interesting challenges for standard path planning techniques. There are multiple possible locations to consider, the space is 3-dimensional with dynamics, the criteria for a good path is determined by overall risk rather than distance or time, and optimization really matters, since an improved path corresponds to greater expected survival rate. We have investigated a number of different path planning methods for solving this problem, including cell decomposition, visibility graphs, probabilistic road maps (PRMs), and local search techniques. In their pure form, none of these techniques have proven to be entirely satisfactory - some are too slow or unpredictable, some produce highly non-optimal paths or do not find certain types of paths, and some do not cope well with the dynamic constraints when controllability is limited. In the end, we are converging towards a hybrid technique that involves seeding a roadmap with a layered visibility graph, using PRM to extend that roadmap, and using local search to further optimize the resulting paths. We describe the techniques we have investigated, report on our experiments with these techniques, and discuss when and why various techniques were unsatisfactory.

FTS evolution

NASA Technical Reports Server (NTRS)

Provost, David E.

1990-01-01

Viewgraphs on flight telerobotic servicer evolution are presented. Topics covered include: paths for FTS evolution; frequently performed actions; primary task states; EPS radiator panel installation; generic task definitions; path planning; non-contact alignment; contact planning and control; and human operator interface.

A Neumann boundary term for gravity

NASA Astrophysics Data System (ADS)

Krishnan, Chethan; Raju, Avinash

2017-05-01

The Gibbons-Hawking-York (GHY) boundary term makes the Dirichlet problem for gravity well-defined, but no such general term seems to be known for Neumann boundary conditions. In this paper, we view Neumann not as fixing the normal derivative of the metric (“velocity”) at the boundary, but as fixing the functional derivative of the action with respect to the boundary metric (“momentum”). This leads directly to a new boundary term for gravity: the trace of the extrinsic curvature with a specific dimension-dependent coefficient. In three dimensions, this boundary term reduces to a “one-half” GHY term noted in the literature previously, and we observe that our action translates precisely to the Chern-Simons action with no extra boundary terms. In four dimensions, the boundary term vanishes, giving a natural Neumann interpretation to the standard Einstein-Hilbert action without boundary terms. We argue that in light of AdS/CFT, ours is a natural approach for defining a “microcanonical” path integral for gravity in the spirit of the (pre-AdS/CFT) work of Brown and York.

Bim-Based Indoor Path Planning Considering Obstacles

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Development of preoperative planning software for transforaminal endoscopic surgery and the guidance for clinical applications.

PubMed

Chen, Xiaojun; Cheng, Jun; Gu, Xin; Sun, Yi; Politis, Constantinus

2016-04-01

Preoperative planning is of great importance for transforaminal endoscopic techniques applied in percutaneous endoscopic lumbar discectomy. In this study, a modular preoperative planning software for transforaminal endoscopic surgery was developed and demonstrated. The path searching method is based on collision detection, and the oriented bounding box was constructed for the anatomical models. Then, image reformatting algorithms were developed for multiplanar reconstruction which provides detailed anatomical information surrounding the virtual planned path. Finally, multithread technique was implemented to realize the steady-state condition of the software. A preoperative planning software for transforaminal endoscopic surgery (TE-Guider) was developed; seven cases of patients with symptomatic lumbar disc herniations were planned preoperatively using TE-Guider. The distances to the midlines and the direction of the optimal paths were exported, and each result was in line with the empirical value. TE-Guider provides an efficient and cost-effective way to search the ideal path and entry point for the puncture. However, more clinical cases will be conducted to demonstrate its feasibility and reliability.

Visually based path-planning by Japanese monkeys.

PubMed

Mushiake, H; Saito, N; Sakamoto, K; Sato, Y; Tanji, J

2001-03-01

To construct an animal model of strategy formation, we designed a maze path-finding task. First, we asked monkeys to capture a goal in the maze by moving a cursor on the screen. Cursor movement was linked to movements of each wrist. When the animals learned the association between cursor movement and wrist movement, we established a start and a goal in the maze, and asked them to find a path between them. We found that the animals took the shortest pathway, rather than approaching the goal randomly. We further found that the animals adopted a strategy of selecting a fixed intermediate point in the visually presented maze to select one of the shortest pathways, suggesting a visually based path planning. To examine their capacity to use that strategy flexibly, we transformed the task by blocking pathways in the maze, providing a problem to solve. The animals then developed a strategy of solving the problem by planning a novel shortest path from the start to the goal and rerouting the path to bypass the obstacle.

Path Crossings with Lars Onsager

NASA Astrophysics Data System (ADS)

Yang, Chen Ning

2013-05-01

I first heard of Onsager's name from my M.S. degree thesis adviser J. S. Wang in Kunming, China. Wang had studied the theory of order-disorder transitions with R. H. Fowler in Cambridge, England in the 1930's. He told me one day in 1944-45 that Onsager had produced an exact solution of the Ising model in two dimensions. Wang was a quiet and reserved person. But that day he was evidently quite excited. I can remember still today, half a century later, the tone of admiration bordering on agitation with which he told me about Onsager's paper. I then looked up the paper [26J, but did not understand the strategic plan of Onsager's method. Onsager seemed to have a predilection for calculating commutators at every possible turn without supplying the reasons for so doing...

Reasoning on the Self-Organizing Incremental Associative Memory for Online Robot Path Planning

NASA Astrophysics Data System (ADS)

Kawewong, Aram; Honda, Yutaro; Tsuboyama, Manabu; Hasegawa, Osamu

Robot path-planning is one of the important issues in robotic navigation. This paper presents a novel robot path-planning approach based on the associative memory using Self-Organizing Incremental Neural Networks (SOINN). By the proposed method, an environment is first autonomously divided into a set of path-fragments by junctions. Each fragment is represented by a sequence of preliminarily generated common patterns (CPs). In an online manner, a robot regards the current path as the associative path-fragments, each connected by junctions. The reasoning technique is additionally proposed for decision making at each junction to speed up the exploration time. Distinct from other methods, our method does not ignore the important information about the regions between junctions (path-fragments). The resultant number of path-fragments is also less than other method. Evaluation is done via Webots physical 3D-simulated and real robot experiments, where only distance sensors are available. Results show that our method can represent the environment effectively; it enables the robot to solve the goal-oriented navigation problem in only one episode, which is actually less than that necessary for most of the Reinforcement Learning (RL) based methods. The running time is proved finite and scales well with the environment. The resultant number of path-fragments matches well to the environment.

Integration of task level planning and diagnosis for an intelligent robot

NASA Technical Reports Server (NTRS)

Chan, Amy W.

1992-01-01

A satellite floating space is diagnosed with a telerobot attached performing maintenance or replacement tasks. This research included three objectives. The first objective was to generate intelligent path planning for a robot to move around a satellite. The second objective was to diagnose possible faulty scenarios in the satellite. The third objective included two tasks. The first task was to combine intelligent path planning with diagnosis. The second task was to build an interface between the combined intelligent system with Robosim. The ability of a robot to deal with unexpected scenarios is particularly important in space since the situation could be different from time to time so that the telerobot must be capable of detecting that the situation has changed and the necessity may exist to alter its behavior based on the new situation. The feature of allowing human-in-the-loop is also very important in space. In some extreme cases, the situation is beyond the capability of a robot so our research project allows the human to override the decision of a robot.

Viscoplastic Matrix Materials for Embedded 3D Printing.

PubMed

Grosskopf, Abigail K; Truby, Ryan L; Kim, Hyoungsoo; Perazzo, Antonio; Lewis, Jennifer A; Stone, Howard A

2018-03-16

Embedded three-dimensional (EMB3D) printing is an emerging technique that enables free-form fabrication of complex architectures. In this approach, a nozzle is translated omnidirectionally within a soft matrix that surrounds and supports the patterned material. To optimize print fidelity, we have investigated the effects of matrix viscoplasticity on the EMB3D printing process. Specifically, we determine how matrix composition, print path and speed, and nozzle diameter affect the yielded region within the matrix. By characterizing the velocity and strain fields and analyzing the dimensions of the yielded regions, we determine that scaling relationships based on the Oldroyd number, Od, exist between these dimensions and the rheological properties of the matrix materials and printing parameters. Finally, we use EMB3D printing to create complex architectures within an elastomeric silicone matrix. Our methods and findings will both facilitate future characterization of viscoplastic matrices and motivate the development of new materials for EMB3D printing.

Bidirectional helical motility of cytoplasmic dynein around microtubules

PubMed Central

Can, Sinan; Dewitt, Mark A; Yildiz, Ahmet

2014-01-01

Cytoplasmic dynein is a molecular motor responsible for minus-end-directed cargo transport along microtubules (MTs). Dynein motility has previously been studied on surface-immobilized MTs in vitro, which constrains the motors to move in two dimensions. In this study, we explored dynein motility in three dimensions using an MT bridge assay. We found that dynein moves in a helical trajectory around the MT, demonstrating that it generates torque during cargo transport. Unlike other cytoskeletal motors that produce torque in a specific direction, dynein generates torque in either direction, resulting in bidirectional helical motility. Dynein has a net preference to move along a right-handed helical path, suggesting that the heads tend to bind to the closest tubulin binding site in the forward direction when taking sideways steps. This bidirectional helical motility may allow dynein to avoid roadblocks in dense cytoplasmic environments during cargo transport. DOI: http://dx.doi.org/10.7554/eLife.03205.001 PMID:25069614

Man-machine cooperation in advanced teleoperation

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Das, Hari; Lee, Sukhan

1993-01-01

Teleoperation experiments at JPL have shown that advanced features in a telerobotic system are a necessary condition for good results, but that they are not sufficient to assure consistently good performance by the operators. Two or three operators are normally used during training and experiments to maintain the desired performance. An alternative to this multi-operator control station is a man-machine interface embedding computer programs that can perform some of the operator's functions. In this paper we present our first experiments with these concepts, in which we focused on the areas of real-time task monitoring and interactive path planning. In the first case, when performing a known task, the operator has an automatic aid for setting control parameters and camera views. In the second case, an interactive path planner will rank different path alternatives so that the operator will make the correct control decision. The monitoring function has been implemented with a neural network doing the real-time task segmentation. The interactive path planner was implemented for redundant manipulators to specify arm configurations across the desired path and satisfy geometric, task, and performance constraints.

Stereophotogrammetric analysis of nasolabial morphology among Asian Malays: influence of age and sex.

PubMed

Al-Khatib, Ali R; Rajion, Zainul A; Masudi, Sam'an M; Hassan, Rozita; Anderson, Peter J; Townsend, Grant C

2012-07-01

It is clear that population-specific norms should be used when planning plastic and reconstructive surgery for selected patients. In this study, we aimed to generate nasal and labial reference values by applying a stereophotogrammetric technique. A further aim was to investigate the effect of sexual dimorphism, age-related changes, and the interrelation between nasal and labial morphology. Cross-sectional study. The data were collected from different locations on the Malaysian peninsula. A total of 276 Asian Malays (138 males and 138 females) were included in this study, and a three-dimensional system was used for capturing data. The sample was divided into three age groups: 13 to 14, 15 to 17, and 18 to 36 years. Twenty-five dimensions of the nose and lips were measured and analyzed separately in males and females. Significant differences between males and females were identified in 11 distances, and significant effects of age were found in most of the dimensions (p < .05). Significant correlations between the nasal and labial dimensions were recorded, particularly between lateral lip height and width of the ala insertion. A principal component analysis showed interrelationships between the nasal width distances and upper lip height. This study has provided a new three-dimensional database for nose and lip morphology in Malays and demonstrated patterns of variation that can be used by surgeons to make comparisons within and between different human populations and also to develop treatment plans for their patients.

Experiments in autonomous robotics

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

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Thermal Stability of Al2O3/Silicone Composites as High-Temperature Encapsulants

NASA Astrophysics Data System (ADS)

Yao, Yiying

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Sequential quadratic programming-based fast path planning algorithm subject to no-fly zone constraints

NASA Astrophysics Data System (ADS)

Liu, Wei; Ma, Shunjian; Sun, Mingwei; Yi, Haidong; Wang, Zenghui; Chen, Zengqiang

2016-08-01

Path planning plays an important role in aircraft guided systems. Multiple no-fly zones in the flight area make path planning a constrained nonlinear optimization problem. It is necessary to obtain a feasible optimal solution in real time. In this article, the flight path is specified to be composed of alternate line segments and circular arcs, in order to reformulate the problem into a static optimization one in terms of the waypoints. For the commonly used circular and polygonal no-fly zones, geometric conditions are established to determine whether or not the path intersects with them, and these can be readily programmed. Then, the original problem is transformed into a form that can be solved by the sequential quadratic programming method. The solution can be obtained quickly using the Sparse Nonlinear OPTimizer (SNOPT) package. Mathematical simulations are used to verify the effectiveness and rapidity of the proposed algorithm.

Path Planning Method in Multi-obstacle Marine Environment

NASA Astrophysics Data System (ADS)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

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

Project Scheduling Based on Risk of Gas Transmission Pipe

NASA Astrophysics Data System (ADS)

Silvianita; Nurbaity, A.; Mulyadi, Y.; Suntoyo; Chamelia, D. M.

2018-03-01

The planning of a project has a time limit on which must be completed before or right at a predetermined time. Thus, in a project planning, it is necessary to have scheduling management that is useful for completing a project to achieve maximum results by considering the constraints that will exists. Scheduling management is undertaken to deal with uncertainties and negative impacts of time and cost in project completion. This paper explains about scheduling management in gas transmission pipeline project Gresik-Semarang to find out which scheduling plan is most effectively used in accordance with its risk value. Scheduling management in this paper is assissted by Microsoft Project software to find the critical path of existing project scheduling planning data. Critical path is the longest scheduling path with the fastest completion time. The result is found a critical path on project scheduling with completion time is 152 days. Furthermore, the calculation of risk is done by using House of Risk (HOR) method and it is found that the critical path has a share of 40.98 percent of all causes of the occurence of risk events that will be experienced.

Influence of specific obsessive-compulsive symptom dimensions on strategic planning in patients with obsessive-compulsive disorder.

PubMed

Pinto, Paula Sanders Pereira; Iego, Sandro; Nunes, Samantha; Menezes, Hemanny; Mastrorosa, Rosana Sávio; Oliveira, Irismar Reis de; Rosário, Maria Conceição do

2011-03-01

This study investigates obsessive-compulsive disorder patients in terms of strategic planning and its association with specific obsessive-compulsive symptom dimensions. We evaluated 32 obsessive-compulsive disorder patients. Strategic planning was assessed by the Rey-Osterrieth Complex Figure Test, and the obsessive-compulsive dimensions were assessed by the Dimensional Yale-Brown Obsessive-Compulsive Scale. In the statistical analyses, the level of significance was set at 5%. We employed linear regression, including age, intelligence quotient, number of comorbidities, the Yale-Brown Obsessive-Compulsive Scale score, and the Dimensional Yale-Brown Obsessive-Compulsive Scale. The Dimensional Yale-Brown Obsessive-Compulsive Scale "worst-ever" score correlated significantly with the planning score on the copy portion of the Rey-Osterrieth Complex Figure Test (r = 0.4, p = 0.04) and was the only variable to show a significant association after linear regression (β = 0.55, t = 2.1, p = 0.04). Compulsive hoarding correlated positively with strategic planning (r = 0.44, p = 0.03). None of the remaining symptom dimensions presented any significant correlations with strategic planning. We found the severity of obsessive-compulsive symptoms to be associated with strategic planning. In addition, there was a significant positive association between the planning score on the copy portion of the Rey-Osterrieth Complex Figure Test copy score and the hoarding dimension score on the Dimensional Yale-Brown Obsessive-Compulsive Scale. Our results underscore the idea that obsessive-compulsive disorder is a heterogeneous disorder and suggest that the hoarding dimension has a specific neuropsychological profile. Therefore, it is important to assess the peculiarities of each obsessive-compulsive symptom dimension.

UAVSAR Flight-Planning System

NASA Technical Reports Server (NTRS)

2008-01-01

A system of software partly automates planning of a flight of the Uninhabited Aerial Vehicle Synthetic Aperture Radar (UAVSAR) -- a polarimetric synthetic-aperture radar system aboard an unpiloted or minimally piloted airplane. The software constructs a flight plan that specifies not only the intended flight path but also the setup of the radar system at each point along the path.

Harmonic Fourier beads method for studying rare events on rugged energy surfaces.

PubMed

Khavrutskii, Ilja V; Arora, Karunesh; Brooks, Charles L

2006-11-07

We present a robust, distributable method for computing minimum free energy paths of large molecular systems with rugged energy landscapes. The method, which we call harmonic Fourier beads (HFB), exploits the Fourier representation of a path in an appropriate coordinate space and proceeds iteratively by evolving a discrete set of harmonically restrained path points-beads-to generate positions for the next path. The HFB method does not require explicit knowledge of the free energy to locate the path. To compute the free energy profile along the final path we employ an umbrella sampling method in two generalized dimensions. The proposed HFB method is anticipated to aid the study of rare events in biomolecular systems. Its utility is demonstrated with an application to conformational isomerization of the alanine dipeptide in gas phase.

Comparative Investigation on Tool Wear during End Milling of AISI H13 Steel with Different Tool Path Strategies

NASA Astrophysics Data System (ADS)

Adesta, Erry Yulian T.; Riza, Muhammad; Avicena

2018-03-01

Tool wear prediction plays a significant role in machining industry for proper planning and control machining parameters and optimization of cutting conditions. This paper aims to investigate the effect of tool path strategies that are contour-in and zigzag tool path strategies applied on tool wear during pocket milling process. The experiments were carried out on CNC vertical machining centre by involving PVD coated carbide inserts. Cutting speed, feed rate and depth of cut were set to vary. In an experiment with three factors at three levels, Response Surface Method (RSM) design of experiment with a standard called Central Composite Design (CCD) was employed. Results obtained indicate that tool wear increases significantly at higher range of feed per tooth compared to cutting speed and depth of cut. This result of this experimental work is then proven statistically by developing empirical model. The prediction model for the response variable of tool wear for contour-in strategy developed in this research shows a good agreement with experimental work.

Grasp planning under uncertainty

NASA Technical Reports Server (NTRS)

Erkmen, A. M.; Stephanou, H. E.

1989-01-01

The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

Planning paths to multiple targets: memory involvement and planning heuristics in spatial problem solving.

PubMed

Wiener, J M; Ehbauer, N N; Mallot, H A

2009-09-01

For large numbers of targets, path planning is a complex and computationally expensive task. Humans, however, usually solve such tasks quickly and efficiently. We present experiments studying human path planning performance and the cognitive processes and heuristics involved. Twenty-five places were arranged on a regular grid in a large room. Participants were repeatedly asked to solve traveling salesman problems (TSP), i.e., to find the shortest closed loop connecting a start location with multiple target locations. In Experiment 1, we tested whether humans employed the nearest neighbor (NN) strategy when solving the TSP. Results showed that subjects outperform the NN-strategy, suggesting that it is not sufficient to explain human route planning behavior. As a second possible strategy we tested a hierarchical planning heuristic in Experiment 2, demonstrating that participants first plan a coarse route on the region level that is refined during navigation. To test for the relevance of spatial working memory (SWM) and spatial long-term memory (LTM) for planning performance and the planning heuristics applied, we varied the memory demands between conditions in Experiment 2. In one condition the target locations were directly marked, such that no memory was required; a second condition required participants to memorize the target locations during path planning (SWM); in a third condition, additionally, the locations of targets had to retrieved from LTM (SWM and LTM). Results showed that navigation performance decreased with increasing memory demands while the dependence on the hierarchical planning heuristic increased.

Optimizing surveillance for livestock disease spreading through animal movements

PubMed Central

Bajardi, Paolo; Barrat, Alain; Savini, Lara; Colizza, Vittoria

2012-01-01

The spatial propagation of many livestock infectious diseases critically depends on the animal movements among premises; so the knowledge of movement data may help us to detect, manage and control an outbreak. The identification of robust spreading features of the system is however hampered by the temporal dimension characterizing population interactions through movements. Traditional centrality measures do not provide relevant information as results strongly fluctuate in time and outbreak properties heavily depend on geotemporal initial conditions. By focusing on the case study of cattle displacements in Italy, we aim at characterizing livestock epidemics in terms of robust features useful for planning and control, to deal with temporal fluctuations, sensitivity to initial conditions and missing information during an outbreak. Through spatial disease simulations, we detect spreading paths that are stable across different initial conditions, allowing the clustering of the seeds and reducing the epidemic variability. Paths also allow us to identify premises, called sentinels, having a large probability of being infected and providing critical information on the outbreak origin, as encoded in the clusters. This novel procedure provides a general framework that can be applied to specific diseases, for aiding risk assessment analysis and informing the design of optimal surveillance systems. PMID:22728387

Modeling the maneuvering of a vehicle

NASA Astrophysics Data System (ADS)

Antonyuk, E. Ya.; Zabuga, A. T.

2012-07-01

A kinematic model of one- and two-link robotic vehicles with two or three steerable wheels is considered. A nonsmooth path in the form of an astroid enveloping the positions of the robot is planned. The motion of a two-link vehicle with such a trajectory is modeled. A numerical analysis of the dynamic of robots is performed determining the reactions of nonholonomic constraints

Sampling-Based Coverage Path Planning for Complex 3D Structures

DTIC Science & Technology

2012-09-01

one such task, in which a single robot must sweep its end effector over the entirety of a known workspace. For two-dimensional environments, optimal...structures. First, we introduce a new algorithm for planning feasible coverage paths. It is more computationally efficient in problems of complex geometry...iteratively shortens and smooths a feasible coverage path; robot configurations are adjusted without violating any coverage con- straints. Third, we propose

Using temporal detrending to observe the spatial correlation of traffic.

PubMed

Ermagun, Alireza; Chatterjee, Snigdhansu; Levinson, David

2017-01-01

This empirical study sheds light on the spatial correlation of traffic links under different traffic regimes. We mimic the behavior of real traffic by pinpointing the spatial correlation between 140 freeway traffic links in a major sub-network of the Minneapolis-St. Paul freeway system with a grid-like network topology. This topology enables us to juxtapose the positive and negative correlation between links, which has been overlooked in short-term traffic forecasting models. To accurately and reliably measure the correlation between traffic links, we develop an algorithm that eliminates temporal trends in three dimensions: (1) hourly dimension, (2) weekly dimension, and (3) system dimension for each link. The spatial correlation of traffic links exhibits a stronger negative correlation in rush hours, when congestion affects route choice. Although this correlation occurs mostly in parallel links, it is also observed upstream, where travelers receive information and are able to switch to substitute paths. Irrespective of the time-of-day and day-of-week, a strong positive correlation is witnessed between upstream and downstream links. This correlation is stronger in uncongested regimes, as traffic flow passes through consecutive links more quickly and there is no congestion effect to shift or stall traffic. The extracted spatial correlation structure can augment the accuracy of short-term traffic forecasting models.

Using temporal detrending to observe the spatial correlation of traffic

PubMed Central

2017-01-01

This empirical study sheds light on the spatial correlation of traffic links under different traffic regimes. We mimic the behavior of real traffic by pinpointing the spatial correlation between 140 freeway traffic links in a major sub-network of the Minneapolis—St. Paul freeway system with a grid-like network topology. This topology enables us to juxtapose the positive and negative correlation between links, which has been overlooked in short-term traffic forecasting models. To accurately and reliably measure the correlation between traffic links, we develop an algorithm that eliminates temporal trends in three dimensions: (1) hourly dimension, (2) weekly dimension, and (3) system dimension for each link. The spatial correlation of traffic links exhibits a stronger negative correlation in rush hours, when congestion affects route choice. Although this correlation occurs mostly in parallel links, it is also observed upstream, where travelers receive information and are able to switch to substitute paths. Irrespective of the time-of-day and day-of-week, a strong positive correlation is witnessed between upstream and downstream links. This correlation is stronger in uncongested regimes, as traffic flow passes through consecutive links more quickly and there is no congestion effect to shift or stall traffic. The extracted spatial correlation structure can augment the accuracy of short-term traffic forecasting models. PMID:28472093

Differential Influences of Parenting Dimensions and Parental Physical Abuse during Childhood on Overweight and Obesity in Adolescents.

PubMed

Mößle, Thomas; Kliem, Sören; Lohmann, Anna; Bergmann, Marie Christine; Baier, Dirk

2017-03-07

Besides other explanatory variables, parenting styles and parental violence might also be responsible for setting a path towards overweight/obesity in childhood. While this association has consistently been observed for adults, findings for adolescents still remain scarce and inconsistent. Therefore, the goal of this study is to add evidence on this topic for children and adolescents. Analyses are based on a sample of 1729 German, ninth-grade students. To analyze associations between parenting dimensions and weight status, non-parametric conditional inference trees were applied. Three gender-specific pathways for a heightened risk of overweight/obesity were observed: (1) female adolescents who report having experienced severe parental physical abuse and medium/high parental warmth in childhood; (2) male adolescents who report having experienced low or medium parental monitoring in childhood; and (3) this second pathway for male adolescents is more pronounced if the families receive welfare. The importance of promoting parenting styles characterized by warmth and a lack of physical abuse is also discussed. This is one of only a few studies examining the association of parenting dimensions/parental physical abuse and weight status in adolescence. Future studies should include even more parenting dimensions, as well as parental physical abuse levels, in order to detect and untangle gender-specific effects on weight status.

Direct Position Determination of Unknown Signals in the Presence of Multipath Propagation

PubMed Central

Yu, Hongyi

2018-01-01

A novel geolocation architecture, termed “Multiple Transponders and Multiple Receivers for Multiple Emitters Positioning System (MTRE)” is proposed in this paper. Existing Direct Position Determination (DPD) methods take advantage of a rather simple channel assumption (line of sight channels with complex path attenuations) and a simplified MUltiple SIgnal Classification (MUSIC) algorithm cost function to avoid the high dimension searching. We point out that the simplified assumption and cost function reduce the positioning accuracy because of the singularity of the array manifold in a multi-path environment. We present a DPD model for unknown signals in the presence of Multi-path Propagation (MP-DPD) in this paper. MP-DPD adds non-negative real path attenuation constraints to avoid the mistake caused by the singularity of the array manifold. The Multi-path Propagation MUSIC (MP-MUSIC) method and the Active Set Algorithm (ASA) are designed to reduce the dimension of searching. A Multi-path Propagation Maximum Likelihood (MP-ML) method is proposed in addition to overcome the limitation of MP-MUSIC in the sense of a time-sensitive application. An iterative algorithm and an approach of initial value setting are given to make the MP-ML time consumption acceptable. Numerical results validate the performances improvement of MP-MUSIC and MP-ML. A closed form of the Cramér–Rao Lower Bound (CRLB) is derived as a benchmark to evaluate the performances of MP-MUSIC and MP-ML. PMID:29562601

Direct Position Determination of Unknown Signals in the Presence of Multipath Propagation.

PubMed

Du, Jianping; Wang, Ding; Yu, Wanting; Yu, Hongyi

2018-03-17

A novel geolocation architecture, termed "Multiple Transponders and Multiple Receivers for Multiple Emitters Positioning System (MTRE)" is proposed in this paper. Existing Direct Position Determination (DPD) methods take advantage of a rather simple channel assumption (line of sight channels with complex path attenuations) and a simplified MUltiple SIgnal Classification (MUSIC) algorithm cost function to avoid the high dimension searching. We point out that the simplified assumption and cost function reduce the positioning accuracy because of the singularity of the array manifold in a multi-path environment. We present a DPD model for unknown signals in the presence of Multi-path Propagation (MP-DPD) in this paper. MP-DPD adds non-negative real path attenuation constraints to avoid the mistake caused by the singularity of the array manifold. The Multi-path Propagation MUSIC (MP-MUSIC) method and the Active Set Algorithm (ASA) are designed to reduce the dimension of searching. A Multi-path Propagation Maximum Likelihood (MP-ML) method is proposed in addition to overcome the limitation of MP-MUSIC in the sense of a time-sensitive application. An iterative algorithm and an approach of initial value setting are given to make the MP-ML time consumption acceptable. Numerical results validate the performances improvement of MP-MUSIC and MP-ML. A closed form of the Cramér-Rao Lower Bound (CRLB) is derived as a benchmark to evaluate the performances of MP-MUSIC and MP-ML.

Robot path planning algorithm based on symbolic tags in dynamic environment

NASA Astrophysics Data System (ADS)

Vokhmintsev, A.; Timchenko, M.; Melnikov, A.; Kozko, A.; Makovetskii, A.

2017-09-01

The present work will propose a new heuristic algorithms for path planning of a mobile robot in an unknown dynamic space that have theoretically approved estimates of computational complexity and are approbated for solving specific applied problems.

Care plans and care planning in long-term conditions: a conceptual model.

PubMed

Burt, Jenni; Rick, Jo; Blakeman, Thomas; Protheroe, Joanne; Roland, Martin; Bower, Pete

2014-10-01

The prevalence and impact of long-term conditions continues to rise. Care planning for people with long-term conditions has been a policy priority for chronic disease management in a number of health-care systems. However, patients and providers appear unclear about the formulation and implementation of care planning. Further work in this area is therefore required to inform the development, implementation and evaluation of future care planning initiatives. We distinguish between 'care planning' (the process by which health-care professionals and patients discuss, agree and review an action plan to achieve the goals or behaviour change of most relevance and concern to the patient) and a 'care plan' (a written document recording the outcome of a care planning process). We propose a typology of care planning and care plans with three core dimensions: perspective (patient or professional), scope (a focus on goals or on behaviours) and networks (confined to the professional-patient dyad or extending to the entire care network). In addition, we draw on psychological models of mediation and moderation to outline potential mechanisms through which care planning and care plans may lead to improved outcomes for both patients and the wider health-care system. The proposed typology of care planning and care plans offered here, along with the model of the process by which care planning may influence outcomes, provide a useful framework for future policy developments and evaluations. Empirical work is required to explore the degree to which current care planning approaches and care plans can be described according to these dimensions, and the factors that determine which types of patients and professionals use which type of care plans.

Computational Model for Ethnographically Informed Systems Design

NASA Astrophysics Data System (ADS)

Iqbal, Rahat; James, Anne; Shah, Nazaraf; Terken, Jacuqes

This paper presents a computational model for ethnographically informed systems design that can support complex and distributed cooperative activities. This model is based on an ethnographic framework consisting of three important dimensions (e.g., distributed coordination, awareness of work and plans and procedure), and the BDI (Belief, Desire and Intention) model of intelligent agents. The ethnographic framework is used to conduct ethnographic analysis and to organise ethnographically driven information into three dimensions, whereas the BDI model allows such information to be mapped upon the underlying concepts of multi-agent systems. The advantage of this model is that it is built upon an adaptation of existing mature and well-understood techniques. By the use of this model, we also address the cognitive aspects of systems design.

Dimensions of vegetable parenting practices among preschoolers.

PubMed

Baranowski, Tom; Chen, Tzu-An; O'Connor, Teresia; Hughes, Sheryl; Beltran, Alicia; Frankel, Leslie; Diep, Cassandra; Baranowski, Janice C

2013-10-01

The objective of this study was to determine the factor structure of 31 effective and ineffective vegetable parenting practices used by parents of preschool children based on three theoretically proposed factors: responsiveness, control and structure. The methods employed included both corrected item-total correlations and confirmatory factor analysis. Acceptable fit was obtained only when effective and ineffective parenting practices were analyzed separately. Among effective items the model included one second order factor (effectiveness) and the three proposed first order factors. The same structure was revealed among ineffective items, but required correlated paths be specified among items. A theoretically specified three factor structure was obtained among 31 vegetable parenting practice items, but likely to be effective and ineffective items had to be analyzed separately. Research is needed on how these parenting practices factors predict child vegetable intake. Copyright © 2013 Elsevier Ltd. All rights reserved.

Research on Taxiway Path Optimization Based on Conflict Detection

PubMed Central

Zhou, Hang; Jiang, Xinxin

2015-01-01

Taxiway path planning is one of the effective measures to make full use of the airport resources, and the optimized paths can ensure the safety of the aircraft during the sliding process. In this paper, the taxiway path planning based on conflict detection is considered. Specific steps are shown as follows: firstly, make an improvement on A * algorithm, the conflict detection strategy is added to search for the shortest and safe path in the static taxiway network. Then, according to the sliding speed of aircraft, a time table for each node is determined and the safety interval is treated as the constraint to judge whether there is a conflict or not. The intelligent initial path planning model is established based on the results. Finally, make an example in an airport simulation environment, detect and relieve the conflict to ensure the safety. The results indicate that the model established in this paper is effective and feasible. Meanwhile, make comparison with the improved A*algorithm and other intelligent algorithms, conclude that the improved A*algorithm has great advantages. It could not only optimize taxiway path, but also ensure the safety of the sliding process and improve the operational efficiency. PMID:26226485

Expert system for neurosurgical treatment planning

NASA Astrophysics Data System (ADS)

Cheng, Andrew Y. S.; Chung, Sally S. Y.; Kwok, John C. K.

1996-04-01

A specially designed expert system is in development for neurosurgical treatment planning. The knowledge base contains knowledge and experiences on neurosurgical treatment planning from neurosurgeon consultants, who also determine the risks of different regions in human brains. When completed, the system can simulate the decision making process of neurosurgeons to determine the safest probing path for operation. The Computed Tomography (CT) or Magnetic Resonance Imaging (MRI) scan images for each patient are grabbed as the input. The system also allows neurosurgeons to include for any particular patient the additional information, such as how the tumor affects its neighboring functional regions, which is also important for calculating the safest probing path. It can then consider all the relevant information and find the most suitable probing path on the patient's brain. A 3D brain model is constructed for each set of the CT/MRI scan images and is displayed real-time together with the possible probing paths found. The precise risk value of each path is shown as a number between 0 and 1, together with its possible damages in text. Neurosurgeons can view more than one possible path simultaneously, and make the final decision on the selected path for operation.

Research on Taxiway Path Optimization Based on Conflict Detection.

PubMed

Zhou, Hang; Jiang, Xinxin

2015-01-01

Taxiway path planning is one of the effective measures to make full use of the airport resources, and the optimized paths can ensure the safety of the aircraft during the sliding process. In this paper, the taxiway path planning based on conflict detection is considered. Specific steps are shown as follows: firstly, make an improvement on A * algorithm, the conflict detection strategy is added to search for the shortest and safe path in the static taxiway network. Then, according to the sliding speed of aircraft, a time table for each node is determined and the safety interval is treated as the constraint to judge whether there is a conflict or not. The intelligent initial path planning model is established based on the results. Finally, make an example in an airport simulation environment, detect and relieve the conflict to ensure the safety. The results indicate that the model established in this paper is effective and feasible. Meanwhile, make comparison with the improved A*algorithm and other intelligent algorithms, conclude that the improved A*algorithm has great advantages. It could not only optimize taxiway path, but also ensure the safety of the sliding process and improve the operational efficiency.

Laser production of articles from powders

DOEpatents

Lewis, Gary K.; Milewski, John O.; Cremers, David A.; Nemec, Ronald B.; Barbe, Michael R.

1998-01-01

Method and apparatus for forming articles from materials in particulate form in which the materials are melted by a laser beam and deposited at points along a tool path to form an article of the desired shape and dimensions. Preferably the tool path and other parameters of the deposition process are established using computer-aided design and manufacturing techniques. A controller comprised of a digital computer directs movement of a deposition zone along the tool path and provides control signals to adjust apparatus functions, such as the speed at which a deposition head which delivers the laser beam and powder to the deposition zone moves along the tool path.

Laser production of articles from powders

DOEpatents

Lewis, G.K.; Milewski, J.O.; Cremers, D.A.; Nemec, R.B.; Barbe, M.R.

1998-11-17

Method and apparatus for forming articles from materials in particulate form in which the materials are melted by a laser beam and deposited at points along a tool path to form an article of the desired shape and dimensions. Preferably the tool path and other parameters of the deposition process are established using computer-aided design and manufacturing techniques. A controller comprised of a digital computer directs movement of a deposition zone along the tool path and provides control signals to adjust apparatus functions, such as the speed at which a deposition head which delivers the laser beam and powder to the deposition zone moves along the tool path. 20 figs.

Study of Double-Weighted Graph Model and Optimal Path Planning for Tourist Scenic Area Oriented Intelligent Tour Guide

NASA Astrophysics Data System (ADS)

Shi, Y.; Long, Y.; Wi, X. L.

2014-04-01

When tourists visiting multiple tourist scenic spots, the travel line is usually the most effective road network according to the actual tour process, and maybe the travel line is different from planned travel line. For in the field of navigation, a proposed travel line is normally generated automatically by path planning algorithm, considering the scenic spots' positions and road networks. But when a scenic spot have a certain area and have multiple entrances or exits, the traditional described mechanism of single point coordinates is difficult to reflect these own structural features. In order to solve this problem, this paper focuses on the influence on the process of path planning caused by scenic spots' own structural features such as multiple entrances or exits, and then proposes a doubleweighted Graph Model, for the weight of both vertexes and edges of proposed Model can be selected dynamically. And then discusses the model building method, and the optimal path planning algorithm based on Dijkstra algorithm and Prim algorithm. Experimental results show that the optimal planned travel line derived from the proposed model and algorithm is more reasonable, and the travelling order and distance would be further optimized.

Diffraction-Unlimited Fluorescence Imaging with an EasySTED Retrofitted Confocal Microscope.

PubMed

Klauss, André; Hille, Carsten

2017-01-01

The easySTED technology provides the means to retrofit a confocal microscope to a diffraction-unlimited stimulated emission depletion (STED) microscope.Although commercial STED systems are available today, for many users of confocal laser scanning microscopes the option of retrofitting their confocal system to a STED system ready for diffraction-unlimited imaging may present an attractive option. The easySTED principle allowing for a joint beam path of excitation and depletion light promises some advantages concerning technical complexity and alignment effort for such an STED upgrade. In the one beam path design of easySTED the use of a common laser source, either a supercontinuum source or two separate lasers coupled into the same single-mode fiber, becomes feasible. The alignment of the focal light distribution of the STED beam relative to that of the excitation beam in all three spatial dimensions is therefore omitted respectively reduced to coupling the STED laser into the common single-mode fiber. Thus, only minor modifications need to be applied to the beam path in the confocal microscope to be upgraded. Those comprise adding polarization control elements and the easySTED waveplate, and adapting the beamsplitter to the excitation/STED wavelength combination.

Path planning for planetary rover using extended elevation map

NASA Technical Reports Server (NTRS)

Nakatani, Ichiro; Kubota, Takashi; Yoshimitsu, Tetsuo

1994-01-01

This paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.

Autonomous Path Planning for On-Orbit Servicing Vehicles

NASA Astrophysics Data System (ADS)

McInnes, C. R.

On-orbit servicing has long been considered as a means of reducing mission costs. While automated on-orbit servicing of satellites in LEO and GEO has yet to be realised, the International Space Station (ISS) will require servicing in a number of forms for re-supply, external visual inspection and maintenance. This paper will discuss a unified approach to path planning for such servicing vehicles using artificial potential field methods. In particular, path constrained rendezvous and docking of the ESA Automated Transfer Vehicle (ATV) at the ISS will be investigated as will mission and path planning tools for the Daimler-Chrysler Aerospace ISS Inspector free-flying camera. Future applications for free-flying microcameras and co-operative control between multiple free-flyers for on-orbit assembly will also be considered.

Death of the (traveling) salesman: primates do not show clear evidence of multi-step route planning.

PubMed

Janson, Charles

2014-05-01

Several comparative studies have linked larger brain size to a fruit-eating diet in primates and other animals. The general explanation for this correlation is that fruit is a complex resource base, consisting of many discrete patches of many species, each with distinct nutritional traits, the production of which changes predictably both within and between seasons. Using this information to devise optimal spatial foraging strategies is among the most difficult problems to solve in all of mathematics, a version of the famous Traveling Salesman Problem. Several authors have suggested that primates might use their large brains and complex cognition to plan foraging strategies that approximate optimal solutions to this problem. Three empirical studies have examined how captive primates move when confronted with the simplest version of the problem: a spatial array of equally valuable goals. These studies have all concluded that the subjects remember many food source locations and show very efficient travel paths; some authors also inferred that the subjects may plan their movements based on considering combinations of three or more future goals at a time. This analysis re-examines critically the claims of planned movement sequences from the evidence presented. The efficiency of observed travel paths is largely consistent with use of the simplest of foraging rules, such as visiting the nearest unused "known" resource. Detailed movement sequences by test subjects are most consistent with a rule that mentally sums spatial information from all unused resources in a given trial into a single "gravity" measure that guides movements to one destination at a time. © 2013 Wiley Periodicals, Inc.

Planning Paths Through Singularities in the Center of Mass Space

NASA Technical Reports Server (NTRS)

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

1998-01-01

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

Safe Maritime Autonomous Path Planning in a High Sea State

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Quadrelli, Marco; Huntsberger, Terrance L.

2014-01-01

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

Visual environment recognition for robot path planning using template matched filters

NASA Astrophysics Data System (ADS)

Orozco-Rosas, Ulises; Picos, Kenia; Díaz-Ramírez, Víctor H.; Montiel, Oscar; Sepúlveda, Roberto

2017-08-01

A visual approach in environment recognition for robot navigation is proposed. This work includes a template matching filtering technique to detect obstacles and feasible paths using a single camera to sense a cluttered environment. In this problem statement, a robot can move from the start to the goal by choosing a single path between multiple possible ways. In order to generate an efficient and safe path for mobile robot navigation, the proposal employs a pseudo-bacterial potential field algorithm to derive optimal potential field functions using evolutionary computation. Simulation results are evaluated in synthetic and real scenes in terms of accuracy of environment recognition and efficiency of path planning computation.

New Polyazine-Bridged RuII,RhIII and RuII,RhI Supramolecular Photocatalysts for Water Reduction to Hydrogen Applicable for Solar Energy Conversion and Mechanistic Investigation of the Photocatalytic Cycle

NASA Astrophysics Data System (ADS)

Zhou, Rongwei

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

Indoor 3D Route Modeling Based On Estate Spatial Data

NASA Astrophysics Data System (ADS)

Zhang, H.; Wen, Y.; Jiang, J.; Huang, W.

2014-04-01

Indoor three-dimensional route model is essential for space intelligence navigation and emergency evacuation. This paper is motivated by the need of constructing indoor route model automatically and as far as possible. By comparing existing building data sources, this paper firstly explained the reason why the estate spatial management data is chosen as the data source. Then, an applicable method of construction three-dimensional route model in a building is introduced by establishing the mapping relationship between geographic entities and their topological expression. This data model is a weighted graph consist of "node" and "path" to express the spatial relationship and topological structure of a building components. The whole process of modelling internal space of a building is addressed by two key steps: (1) each single floor route model is constructed, including path extraction of corridor using Delaunay triangulation algorithm with constrained edge, fusion of room nodes into the path; (2) the single floor route model is connected with stairs and elevators and the multi-floor route model is eventually generated. In order to validate the method in this paper, a shopping mall called "Longjiang New City Plaza" in Nanjing is chosen as a case of study. And the whole building space is constructed according to the modelling method above. By integrating of existing path finding algorithm, the usability of this modelling method is verified, which shows the indoor three-dimensional route modelling method based on estate spatial data in this paper can support indoor route planning and evacuation route design very well.

The effect of on-line position correction on the dose distribution in focal radiotherapy for bladder cancer

PubMed Central

van Rooijen, Dominique C; van de Kamer, Jeroen B; Pool, René; Hulshof, Maarten CCM; Koning, Caro CE; Bel, Arjan

2009-01-01

Background The purpose of this study was to determine the dosimetric effect of on-line position correction for bladder tumor irradiation and to find methods to predict and handle this effect. Methods For 25 patients with unifocal bladder cancer intensity modulated radiotherapy (IMRT) with 5 beams was planned. The requirement for each plan was that 99% of the target volume received 95% of the prescribed dose. Tumor displacements from -2.0 cm to 2.0 cm in each dimension were simulated, using 0.5 cm increments, resulting in 729 simulations per patient. We assumed that on-line correction for the tumor was applied perfectly. We determined the correlation between the change in D99% and the change in path length, which is defined here as the distance from the skin to the isocenter for each beam. In addition the margin needed to avoid underdosage was determined and the probability that an underdosage occurs in a real treatment was calculated. Results Adjustments for tumor displacement with perfect on-line position correction resulted in an altered dose distribution. The altered fraction dose to the target varied from 91.9% to 100.4% of the prescribed dose. The mean D99% (± SD) was 95.8% ± 1.0%. There was a modest linear correlation between the difference in D99% and the change in path length of the beams after correction (R2 = 0.590). The median probability that a systematic underdosage occurs in a real treatment was 0.23% (range: 0 - 24.5%). A margin of 2 mm reduced that probability to < 0.001% in all patients. Conclusion On-line position correction does result in an altered target coverage, due to changes in average path length after position correction. An extra margin can be added to prevent underdosage. PMID:19775479

Care plans and care planning in long term conditions: a conceptual model

PubMed Central

Burt, J; Rick, J; Blakeman, T; Protheroe, J; Roland, M; Bower, P

2013-01-01

The prevalence and impact of long term conditions continues to rise. Care planning for people with long term conditions has been a policy priority for chronic disease management in a number of health care systems. However, patients and providers appear unclear about the formulation and implementation of care planning. Further work in this area is therefore required to inform the development, implementation and evaluation of future care planning initiatives. We distinguish between ‘care planning’ (the process by which health care professionals and patients discuss, agree and review an action plan to achieve the goals or behaviour change of most relevance and concern to the patient) and a ‘care plan’ (a written document recording the outcome of a care planning process). We propose a typology of care planning and care plans with three core dimensions: perspective (patient or professional), scope (a focus on goals or on behaviours) and networks (confined to the professional-patient dyad or extending to the entire care network). In addition, we draw on psychological models of mediation and moderation to outline potential mechanisms through which care planning and care plans may lead to improved outcomes for both patients and the wider health care system. The proposed typology of care planning and care plans offered here, along with the model of the process by which care planning may influence outcomes, provide a useful framework for future policy developments and evaluations. Empirical work is required to explore the degree to which current care planning approaches and care plans can be described according to these dimensions, and the factors that determine which types of patients and professionals use which type of care plans. PMID:23883621

Aircraft path planning for optimal imaging using dynamic cost functions

NASA Astrophysics Data System (ADS)

Christie, Gordon; Chaudhry, Haseeb; Kochersberger, Kevin

2015-05-01

Unmanned aircraft development has accelerated with recent technological improvements in sensing and communications, which has resulted in an "applications lag" for how these aircraft can best be utilized. The aircraft are becoming smaller, more maneuverable and have longer endurance to perform sensing and sampling missions, but operating them aggressively to exploit these capabilities has not been a primary focus in unmanned systems development. This paper addresses a means of aerial vehicle path planning to provide a realistic optimal path in acquiring imagery for structure from motion (SfM) reconstructions and performing radiation surveys. This method will allow SfM reconstructions to occur accurately and with minimal flight time so that the reconstructions can be executed efficiently. An assumption is made that we have 3D point cloud data available prior to the flight. A discrete set of scan lines are proposed for the given area that are scored based on visibility of the scene. Our approach finds a time-efficient path and calculates trajectories between scan lines and over obstacles encountered along those scan lines. Aircraft dynamics are incorporated into the path planning algorithm as dynamic cost functions to create optimal imaging paths in minimum time. Simulations of the path planning algorithm are shown for an urban environment. We also present our approach for image-based terrain mapping, which is able to efficiently perform a 3D reconstruction of a large area without the use of GPS data.

Implications of path tolerance and path characteristics on critical vehicle manoeuvres

NASA Astrophysics Data System (ADS)

Lundahl, K.; Frisk, E.; Nielsen, L.

2017-12-01

Path planning and path following are core components in safe autonomous driving. Typically, a path planner provides a path with some tolerance on how tightly the path should be followed. Based on that, and other path characteristics, for example, sharpness of curves, a speed profile needs to be assigned so that the vehicle can stay within the given tolerance without going unnecessarily slow. Here, such trajectory planning is based on optimal control formulations where critical cases arise as on-the-limit solutions. The study focuses on heavy commercial vehicles, causing rollover to be of a major concern, due to the relatively high centre of gravity. Several results are obtained on required model complexity depending on path characteristics, for example, quantification of required path tolerance for a simple model to be sufficient, quantification of when yaw inertia needs to be considered in more detail, and how the curvature rate of change interplays with available friction. Overall, in situations where the vehicle is subject to a wide range of driving conditions, from good transport roads to more tricky avoidance manoeuvres, the requirements on the path following will vary. For this, the provided results form a basis for real-time path following.

A Study of Quality Assurance Practices in the Universiti Sains Malaysia (USM), Malaysia

ERIC Educational Resources Information Center

Sim, Helen Khoo Chooi; Idrus, Rozhan M.

2004-01-01

This article looks at the quality assurance practices amongst three (3) groups of staff in the School of Distance Education, Universiti Sains Malaysia, i.e. lecturers, resident tutors and support staff. 9 dimensions of the Quality Assurance Practices i.e. Staff Development, Planning, Work Process, Team Work, Prioritise Customers, Performance…

Restructuring Vocational Special Needs Education through Interdisciplinary Team Effort: Local Motion in the Pacific Basin.

ERIC Educational Resources Information Center

Smith, Garnett J.; Stodden, Robert A.

1994-01-01

The Restructuring through Interdisciplinary Team Effort project focuses on changing the culture and structure of vocational special needs education in the Pacific Basin. Its three dimensions are cognitive core (best practices, outcome-focused design, strategic planning); team network of stakeholders; and systemic renewal (school-to-work…

Application of particle swarm optimization in path planning of mobile robot

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

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

Certainty grids for mobile robots

NASA Technical Reports Server (NTRS)

Moravec, H. P.

1987-01-01

A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

Knowledge assistant: A sensor fusion framework for robotic environmental characterization

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

Feddema, J.T.; Rivera, J.J.; Tucker, S.D.

1996-12-01

A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and post analysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neuralmore » network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g. estimated dimensions, weight, material composition, etc.) are displayed in the world model. This paper highlights the major components of this system.« less

Safety drain system for fluid reservoir

NASA Technical Reports Server (NTRS)

England, John Dwight (Inventor); Kelley, Anthony R. (Inventor); Cronise, Raymond J. (Inventor)

2012-01-01

A safety drain system includes a plurality of drain sections, each of which defines distinct fluid flow paths. At least a portion of the fluid flow paths commence at a side of the drain section that is in fluid communication with a reservoir's fluid. Each fluid flow path at the side communicating with the reservoir's fluid defines an opening having a smallest dimension not to exceed approximately one centimeter. The drain sections are distributed over at least one surface of the reservoir. A manifold is coupled to the drain sections.

Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach

DTIC Science & Technology

2015-03-01

in the framework of probabilistic finite state automata (PFSA) and language measure from a control-theoretic perspective. The proposed concept has been...DOI: 10.1115/1.4027876] Keywords: path planning, language measure, probabilistic finite state automata 1 Motivation and Introduction In general

An examination of the degrees of freedom of human jaw motion in speech and mastication.

PubMed

Ostry, D J; Vatikiotis-Bateson, E; Gribble, P L

1997-12-01

The kinematics of human jaw movements were assessed in terms of the three orientation angles and three positions that characterize the motion of the jaw as a rigid body. The analysis focused on the identification of the jaw's independent movement dimensions, and was based on an examination of jaw motion paths that were plotted in various combinations of linear and angular coordinate frames. Overall, both behaviors were characterized by independent motion in four degrees of freedom. In general, when jaw movements were plotted to show orientation in the sagittal plane as a function of horizontal position, relatively straight paths were observed. In speech, the slopes and intercepts of these paths varied depending on the phonetic material. The vertical position of the jaw was observed to shift up or down so as to displace the overall form of the sagittal plane motion path of the jaw. Yaw movements were small but independent of pitch, and vertical and horizontal position. In mastication, the slope and intercept of the relationship between pitch and horizontal position were affected by the type of food and its size. However, the range of variation was less than that observed in speech. When vertical jaw position was plotted as a function of horizontal position, the basic form of the path of the jaw was maintained but could be shifted vertically. In general, larger bolus diameters were associated with lower jaw positions throughout the movement. The timing of pitch and yaw motion differed. The most common pattern involved changes in pitch angle during jaw opening followed by a phase predominated by lateral motion (yaw). Thus, in both behaviors there was evidence of independent motion in pitch, yaw, horizontal position, and vertical position. This is consistent with the idea that motions in these degrees of freedom are independently controlled.

Episodic-like memory trace in awake replay of hippocampal place cell activity sequences.

PubMed

Takahashi, Susumu

2015-10-20

Episodic memory retrieval of events at a specific place and time is effective for future planning. Sequential reactivation of the hippocampal place cells along familiar paths while the animal pauses is well suited to such a memory retrieval process. It is, however, unknown whether this awake replay represents events occurring along the path. Using a subtask switching protocol in which the animal experienced three subtasks as 'what' information in a maze, I here show that the replay represents a trial type, consisting of path and subtask, in terms of neuronal firing timings and rates. The actual trial type to be rewarded could only be reliably predicted from replays that occurred at the decision point. This trial-type representation implies that not only 'where and when' but also 'what' information is contained in the replay. This result supports the view that awake replay is an episodic-like memory retrieval process.

Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Li, Xiaohui; Sun, Zhenping; Cao, Dongpu; Liu, Daxue; He, Hangen

2017-03-01

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC) framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.

Thermal Non-Equilibrium Flows in Three Space Dimensions

NASA Astrophysics Data System (ADS)

Zeng, Yanni

2016-01-01

We study the equations describing the motion of a thermal non-equilibrium gas in three space dimensions. It is a hyperbolic system of six equations with a relaxation term. The dissipation mechanism induced by the relaxation is weak in the sense that the Shizuta-Kawashima criterion is violated. This implies that a perturbation of a constant equilibrium state consists of two parts: one decays in time while the other stays. In fact, the entropy wave grows weakly along the particle path as the process is irreversible. We study thermal properties related to the well-posedness of the nonlinear system. We also obtain a detailed pointwise estimate on the Green's function for the Cauchy problem when the system is linearized around an equilibrium constant state. The Green's function provides a complete picture of the wave pattern, with an exact and explicit leading term. Comparing with existing results for one dimensional flows, our results reveal a new feature of three dimensional flows: not only does the entropy wave not decay, but the velocity also contains a non-decaying part, strongly coupled with its decaying one. The new feature is supported by the second order approximation via the Chapman-Enskog expansions, which are the Navier-Stokes equations with vanished shear viscosity and heat conductivity.

Crack turning in integrally stiffened aircraft structures

NASA Astrophysics Data System (ADS)

Pettit, Richard Glen

Current emphasis in the aircraft industry toward reducing manufacturing cost has created a renewed interest in integrally stiffened structures. Crack turning has been identified as an approach to improve the damage tolerance and fail-safety of this class of structures. A desired behavior is for skin cracks to turn before reaching a stiffener, instead of growing straight through. A crack in a pressurized fuselage encounters high T-stress as it nears the stiffener---a condition favorable to crack turning. Also, the tear resistance of aluminum alloys typically varies with crack orientation, a form of anisotropy that can influence the crack path. The present work addresses these issues with a study of crack turning in two-dimensions, including the effects of both T-stress and fracture anisotropy. Both effects are shown to have relation to the process zone size, an interaction that is central to this study. Following an introduction to the problem, the T-stress effect is studied for a slightly curved semi-infinite crack with a cohesive process zone, yielding a closed form expression for the future crack path in an infinite medium. For a given initial crack tip curvature and tensile T-stress, the crack path instability is found to increase with process zone size. Fracture orthotropy is treated using a simple function to interpolate between the two principal fracture resistance values in two-dimensions. An extension to three-dimensions interpolates between the six principal values of fracture resistance. Also discussed is the transition between mode I and mode II fracture in metals. For isotropic materials, there is evidence that the crack seeks out a direction of either local symmetry (pure mode I) or local asymmetry (pure mode II) growth. For orthotropic materials the favored states are not pure modal, and have mode mixity that is a function of crack orientation. Drawing upon these principles, two crack turning prediction approaches are extended to include fracture resistance orthotropy---a second-order linear elastic method with a characteristic length parameter to incorporate T-stress/process-zone effects, and an elastic-plastic method that uses the Crack Tip Opening Displacement (CTOD) to determine the failure response. Together with a novel method for obtaining enhanced accuracy T-stress calculations, these methods are incorporated into an adaptive-mesh, finite-element fracture simulation code. A total of 43 fracture tests using symmetrically and asymmetrically loaded double cantilever beam specimens were run to develop crack turning parameters and compare predicted and observed crack paths.

Comparison of tablet-based strategies for incision planning in laser microsurgery

NASA Astrophysics Data System (ADS)

Schoob, Andreas; Lekon, Stefan; Kundrat, Dennis; Kahrs, Lüder A.; Mattos, Leonardo S.; Ortmaier, Tobias

2015-03-01

Recent research has revealed that incision planning in laser surgery deploying stylus and tablet outperforms state-of-the-art micro-manipulator-based laser control. Providing more detailed quantitation regarding that approach, a comparative study of six tablet-based strategies for laser path planning is presented. Reference strategy is defined by monoscopic visualization and continuous path drawing on a graphics tablet. Further concepts deploying stereoscopic or a synthesized laser view, point-based path definition, real-time teleoperation or a pen display are compared with the reference scenario. Volunteers were asked to redraw and ablate stamped lines on a sample. Performance is assessed by measuring planning accuracy, completion time and ease of use. Results demonstrate that significant differences exist between proposed concepts. The reference strategy provides more accurate incision planning than the stereo or laser view scenario. Real-time teleoperation performs best with respect to completion time without indicating any significant deviation in accuracy and usability. Point-based planning as well as the pen display provide most accurate planning and increased ease of use compared to the reference strategy. As a result, combining the pen display approach with point-based planning has potential to become a powerful strategy because of benefiting from improved hand-eye-coordination on the one hand and from a simple but accurate technique for path definition on the other hand. These findings as well as the overall usability scale indicating high acceptance and consistence of proposed strategies motivate further advanced tablet-based planning in laser microsurgery.

Automatic Operation For A Robot Lawn Mower

NASA Astrophysics Data System (ADS)

Huang, Y. Y.; Cao, Z. L.; Oh, S. J.; Kattan, E. U.; Hall, E. L.

1987-02-01

A domestic mobile robot, lawn mower, which performs the automatic operation mode, has been built up in the Center of Robotics Research, University of Cincinnati. The robot lawn mower automatically completes its work with the region filling operation, a new kind of path planning for mobile robots. Some strategies for region filling of path planning have been developed for a partly-known or a unknown environment. Also, an advanced omnidirectional navigation system and a multisensor-based control system are used in the automatic operation. Research on the robot lawn mower, especially on the region filling of path planning, is significant in industrial and agricultural applications.

Mobile transporter path planning

NASA Technical Reports Server (NTRS)

Baffes, Paul; Wang, Lui

1990-01-01

The use of a genetic algorithm (GA) for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Elements of the genetic algorithm are explored in both a theoretical and experimental sense. Specifically, double crossover, greedy crossover, and tournament selection techniques are examined. Additionally, the use of local optimization techniques working in concert with the GA are also explored. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research.

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

1994-01-01

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Multi Robot Path Planning for Budgeted Active Perception with Self-Organising Maps

DTIC Science & Technology

2016-10-04

Multi- Robot Path Planning for Budgeted Active Perception with Self-Organising Maps Graeme Best1, Jan Faigl2 and Robert Fitch1 Abstract— We propose a...optimise paths for a multi- robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting...regions, each node has an observation reward, and the robots are constrained by travel budgets. The SOM algorithm jointly selects and allocates nodes

Axial static mixer

DOEpatents

Sandrock, H.E.

1982-05-06

Static axial mixing apparatus includes a plurality of channels, forming flow paths of different dimensions. The axial mixer includes a flow adjusting device for adjustable selective control of flow resistance of various flow paths in order to provide substantially identical flows through the various channels, thereby reducing nonuniform coating of interior surfaces of the channels. The flow adjusting device may include diaphragm valves, and may further include a pressure regulating system therefor.

Strategic Plan. Volume 2

NASA Technical Reports Server (NTRS)

2002-01-01

The Mission of the NSBRI will be to lead a National effort for accomplishing the integrated, critical path, biomedical research necessary to support the long term human presence, development, and exploration of space and to enhance life on Earth by applying the resultant advances in human knowledge and technology acquired through living and working in space. To carry out this mission, the NSBRI focuses its activities on three Strategic Programs: Strategic Program 1: Countermeasure Research Strategic Program 2: Education, Training and Outreach Strategic Program 3: Cooperative Research and Development. This document contains the detailed Team Strategic Plans for the 11 research teams focused on Strategic Program 1, and the Education and Outreach Team focused on Strategic Program 2. There is overlap and integration among the Programs and Team Strategic Plans, as described in each of the Plans.

Planning collision free paths for two cooperating robots using a divide-and-conquer C-space traversal heuristic

NASA Technical Reports Server (NTRS)

Weaver, Johnathan M.

1993-01-01

A method was developed to plan feasible and obstacle-avoiding paths for two spatial robots working cooperatively in a known static environment. Cooperating spatial robots as referred to herein are robots which work in 6D task space while simultaneously grasping and manipulating a common, rigid payload. The approach is configuration space (c-space) based and performs selective rather than exhaustive c-space mapping. No expensive precomputations are required. A novel, divide-and-conquer type of heuristic is used to guide the selective mapping process. The heuristic does not involve any robot, environment, or task specific assumptions. A technique was also developed which enables solution of the cooperating redundant robot path planning problem without requiring the use of inverse kinematics for a redundant robot. The path planning strategy involves first attempting to traverse along the configuration space vector from the start point towards the goal point. If an unsafe region is encountered, an intermediate via point is identified by conducting a systematic search in the hyperplane orthogonal to and bisecting the unsafe region of the vector. This process is repeatedly applied until a solution to the global path planning problem is obtained. The basic concept behind this strategy is that better local decisions at the beginning of the trouble region may be made if a possible way around the 'center' of the trouble region is known. Thus, rather than attempting paths which look promising locally (at the beginning of a trouble region) but which may not yield overall results, the heuristic attempts local strategies that appear promising for circumventing the unsafe region.

Issues and Experiences in Logistics Collaboration

NASA Astrophysics Data System (ADS)

Lehoux, Nadia; Audy, Jean-François; D‘Amours, Sophie; Rönnqvist, Mikael

Collaborative logistics is becoming more important in today’s industry. This is driven by increased environmental concerns, improved efficiency through collaborative planning supporting resources sharing and new business models implementation. This paper explores collaborative logistics and reports on business applications within the forest products industry in Sweden and Canada. It first describes current opportunities in collaborative planning. It then discusses issues related to building the coalition as well as sharing resources and benefits. Three business cases are described and used to support the discussion around these main issues. Finally, different challenges are detailed, opening new paths for researchers in the field.

Planning minimum-energy paths in an off-road environment with anisotropic traversal costs and motion constraints. Doctoral thesis

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

Ross, R.S.

1989-06-01

For a vehicle operating across arbitrarily-contoured terrain, finding the most fuel-efficient route between two points can be viewed as a high-level global path-planning problem with traversal costs and stability dependent on the direction of travel (anisotropic). The problem assumes a two-dimensional polygonal map of homogeneous cost regions for terrain representation constructed from elevation information. The anisotropic energy cost of vehicle motion has a non-braking component dependent on horizontal distance, a braking component dependent on vertical distance, and a constant path-independent component. The behavior of minimum-energy paths is then proved to be restricted to a small, but optimal set of traversalmore » types. An optimal-path-planning algorithm, using a heuristic search technique, reduces the infinite number of paths between the start and goal points to a finite number by generating sequences of goal-feasible window lists from analyzing the polygonal map and applying pruning criteria. The pruning criteria consist of visibility analysis, heading analysis, and region-boundary constraints. Each goal-feasible window lists specifies an associated convex optimization problem, and the best of all locally-optimal paths through the goal-feasible window lists is the globally-optimal path. These ideas have been implemented in a computer program, with results showing considerably better performance than the exponential average-case behavior predicted.« less

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

NASA Technical Reports Server (NTRS)

Blackmore, Lars

2008-01-01

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

[The path of continuity of care between hospital and territory in patients with severe brain injury. The expectations of caregivers and professionals].

PubMed

Feiroli, Raffaele; Bolzani, Monica; Cornelli, Maria Cristina; Ghirardi, Lida; Guizzardi, Loris; Onesti, Roberta; Dovani, Antonella; Davolo, Andrea; Artioli, Giovanna; Mancini, Tiziana

2013-01-01

The present study analyses how continuity of care is perceived by health professionals and GRACER (Gravi Cerebrolesioni Acquisite Emilia Romagna) patients' caregivers, in order to investigate where the gap between expectations and reality is more heavily felt and which dimension of the continuity of care is the most important both for health professionals and GRACER patients' caregivers. The study has been developed following the Gap Analysis theoretical model. A questionnaire, based on ServQual model, was used to collect data about the three dimensions of the construct of continuity of care related to information, management and relation, declined along the lines of expectations and perception of reality. The questionnaire was administered to health professionals and caregivers of GRACER patients (12-36 months after the event) inside 4 healthcare institutes in Emilia Romagna. The PAI (Piano Assistenziale Individuale) approach was the methodology applied in these 4 sites. To both groups the relational continuity was the most important dimension, followed at a long distance by the informational and the management ones. It has also been noted that to professionals reality is always worse than expectations, with the exception of only two items in the dimension of management continuity. To caregivers reality is worse than expectations in some items in the dimensions of information and management The study has shown that the relational dimension of continuity of care should be more investigated, as confirmed by literature. More research is needed about the professionals' dissatisfaction generated by the negative balance between expectations and perception of reality.

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.

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

PubMed

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

2008-01-01

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

The intertwining paths of the density managment and riparian buffer study and the Northwest Forest Plan

Treesearch

Kenneth J. Ruzicka; Deanna H. Olson; Klaus J. Puettmann

2013-01-01

Initiated simultaneously, the Density Management and Riparian Buff er Study of western Oregon and the Northwest Forest Plan have had intertwining paths related to federal forest management and policy changes in the Pacifi c Northwest over the last 15 to 20 years. We briefl y discuss the development of the Northwest Forest Plan and how it changed the way forest policy...

The Integrated Curriculum of "Planned Approach to Healthier Schools"

ERIC Educational Resources Information Center

Lounsbery, Monica; Gast, Julie; Smith, Nicole

2005-01-01

Planned Approach to Healthier Schools (PATHS) is a multicomponent school program that aims to establish and sustain a social norm consistent with physical activity and healthy nutrition in the school community. The PATHS components include: (1) a professional development and wellness program for faculty and staff; (2) ongoing social-marketing…

32. ISOMETRIC VIEW OF PIPING PLAN, SHOWING PATH OF CONDUIT ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

32. ISOMETRIC VIEW OF PIPING PLAN, SHOWING PATH OF CONDUIT FROM CONTROL BUNKER TO SHIELDING TANK. F.C. TORKELSON DRAWING NUMBER 842-ARVFS-701-P-1. INEL INDEX CODE NUMBER: 075 0701 60 851 151977. - Idaho National Engineering Laboratory, Advanced Reentry Vehicle Fusing System, Scoville, Butte County, ID

Planning Flight Paths of Autonomous Aerobots

NASA Technical Reports Server (NTRS)

Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli

2009-01-01

Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.

EPA Critical Path Science Plan Projects 19, 20 and 21: Human and Bovine Source Detection

EPA Science Inventory

The U.S. EPA Critical Path Science Plan Projects are: Project 19: develop novel bovine and human host-specific PCR assays and complete performance evaluation with other published methods. Project 20: Evaluate human-specific assays with water samples impacted with different lev...

Diagrammatic Monte Carlo study of Fröhlich polaron dispersion in two and three dimensions

NASA Astrophysics Data System (ADS)

Hahn, Thomas; Klimin, Sergei; Tempere, Jacques; Devreese, Jozef T.; Franchini, Cesare

2018-04-01

We present results for the solution of the large polaron Fröhlich Hamiltonian in 3 dimensions (3D) and 2 dimensions (2D) obtained via the diagrammatic Monte Carlo (DMC) method. Our implementation is based on the approach by Mishchenko [A. S. Mishchenko et al., Phys. Rev. B 62, 6317 (2000), 10.1103/PhysRevB.62.6317]. Polaron ground state energies and effective polaron masses are successfully benchmarked with data obtained using Feynman's path integral formalism. By comparing 3D and 2D data, we verify the analytically exact scaling relations for energies and effective masses from 3 D →2 D , which provides a stringent test for the quality of DMC predictions. The accuracy of our results is further proven by providing values for the exactly known coefficients in weak- and strong-coupling expansions. Moreover, we compute polaron dispersion curves which are validated with analytically known lower and upper limits in the small-coupling regime and verify the first-order expansion results for larger couplings, thus disproving previous critiques on the apparent incompatibility of DMC with analytical results and furnishing useful reference for a wide range of coupling strengths.

Generation Algorithm of Discrete Line in Multi-Dimensional Grids

NASA Astrophysics Data System (ADS)

Du, L.; Ben, J.; Li, Y.; Wang, R.

2017-09-01

Discrete Global Grids System (DGGS) is a kind of digital multi-resolution earth reference model, in terms of structure, it is conducive to the geographical spatial big data integration and mining. Vector is one of the important types of spatial data, only by discretization, can it be applied in grids system to make process and analysis. Based on the some constraint conditions, this paper put forward a strict definition of discrete lines, building a mathematic model of the discrete lines by base vectors combination method. Transforming mesh discrete lines issue in n-dimensional grids into the issue of optimal deviated path in n-minus-one dimension using hyperplane, which, therefore realizing dimension reduction process in the expression of mesh discrete lines. On this basis, we designed a simple and efficient algorithm for dimension reduction and generation of the discrete lines. The experimental results show that our algorithm not only can be applied in the two-dimensional rectangular grid, also can be applied in the two-dimensional hexagonal grid and the three-dimensional cubic grid. Meanwhile, when our algorithm is applied in two-dimensional rectangular grid, it can get a discrete line which is more similar to the line in the Euclidean space.

Shape invariant potentials in higher dimensions

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

Sandhya, R., E-mail: saudhamini@yahoo.com; Sree Ranjani, S., E-mail: s.sreeranjani@gmail.com; Faculty of Science and Technology, ICFAI foundation for Higher Education,

2015-08-15

In this paper we investigate the shape invariance property of a potential in one dimension. We show that a simple ansatz allows us to reconstruct all the known shape invariant potentials in one dimension. This ansatz can be easily extended to arrive at a large class of new shape invariant potentials in arbitrary dimensions. A reformulation of the shape invariance property and possible generalizations are proposed. These may lead to an important extension of the shape invariance property to Hamiltonians that are related to standard potential problems via space time transformations, which are found useful in path integral formulation ofmore » quantum mechanics.« less

Defining Scenarios: Linking Integrated Models, Regional Concerns, and Stakeholders

NASA Astrophysics Data System (ADS)

Hartmann, H. C.; Stewart, S.; Liu, Y.; Mahmoud, M.

2007-05-01

Scenarios are important tools for long-term planning, and there is great interest in using integrated models in scenario studies. However, scenario definition and assessment are creative, as well as scientific, efforts. Using facilitated creative processes, we have worked with stakeholders to define regionally significant scenarios that encompass a broad range of hydroclimatic, socioeconomic, and institutional dimensions. The regional scenarios subsequently inform the definition of local scenarios that work with context-specific integrated models that, individually, can address only a subset of overall regional complexity. Based on concerns of stakeholders in the semi-arid US Southwest, we prioritized three dimensions that are especially important, yet highly uncertain, for long-term planning: hydroclimatic conditions (increased variability, persistent drought), development patterns (urban consolidation, distributed rural development), and the nature of public institutions (stressed, proactive). Linking across real-world decision contexts and integrated modeling efforts poses challenges of creatively connecting the conceptual models held by both the research and stakeholder communities.

Strategies for locating the female gamete: the importance of measuring sperm trajectories in three spatial dimensions

PubMed Central

Guerrero, Adán; Carneiro, Jorge; Pimentel, Arturo; Wood, Christopher D.; Corkidi, Gabriel; Darszon, Alberto

2011-01-01

The spermatozoon must find its female gamete partner and deliver its genetic material to generate a new individual. This requires that the spermatozoon be motile and endowed with sophisticated swimming strategies to locate the oocyte. A common strategy is chemotaxis, in which spermatozoa detect and follow a gradient of chemical signals released by the egg and its associated structures. Decoding the female gamete’s positional information is a process that spermatozoa undergo in a three-dimensional (3D) space; however, due to their speed and small size, this process has been studied almost exclusively in spermatozoa restricted to swimming in two dimensions (2D). This review examines the relationship between the mechanics of sperm propulsion and the physiological function of these cells in 3D. It also considers whether it is possible to derive all the 3D sperm swimming characteristics by extrapolating from 2D measurements. It is concluded that full insight into flagellar beat dynamics, swimming paths and chemotaxis under physiological conditions will eventually require quantitative imaging of flagellar form, ion flux changes, cell trajectories and modelling of free-swimming spermatozoa in 3D. PMID:21642645

A local crack-tracking strategy to model three-dimensional crack propagation with embedded methods

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

Annavarapu, Chandrasekhar; Settgast, Randolph R.; Vitali, Efrem

We develop a local, implicit crack tracking approach to propagate embedded failure surfaces in three-dimensions. We build on the global crack-tracking strategy of Oliver et al. (Int J. Numer. Anal. Meth. Geomech., 2004; 28:609–632) that tracks all potential failure surfaces in a problem at once by solving a Laplace equation with anisotropic conductivity. We discuss important modifications to this algorithm with a particular emphasis on the effect of the Dirichlet boundary conditions for the Laplace equation on the resultant crack path. Algorithmic and implementational details of the proposed method are provided. Finally, several three-dimensional benchmark problems are studied and resultsmore » are compared with available literature. Lastly, the results indicate that the proposed method addresses pathological cases, exhibits better behavior in the presence of closely interacting fractures, and provides a viable strategy to robustly evolve embedded failure surfaces in 3D.« less

A local crack-tracking strategy to model three-dimensional crack propagation with embedded methods

DOE PAGES

Annavarapu, Chandrasekhar; Settgast, Randolph R.; Vitali, Efrem; ...

2016-09-29

We develop a local, implicit crack tracking approach to propagate embedded failure surfaces in three-dimensions. We build on the global crack-tracking strategy of Oliver et al. (Int J. Numer. Anal. Meth. Geomech., 2004; 28:609–632) that tracks all potential failure surfaces in a problem at once by solving a Laplace equation with anisotropic conductivity. We discuss important modifications to this algorithm with a particular emphasis on the effect of the Dirichlet boundary conditions for the Laplace equation on the resultant crack path. Algorithmic and implementational details of the proposed method are provided. Finally, several three-dimensional benchmark problems are studied and resultsmore » are compared with available literature. Lastly, the results indicate that the proposed method addresses pathological cases, exhibits better behavior in the presence of closely interacting fractures, and provides a viable strategy to robustly evolve embedded failure surfaces in 3D.« less

Anisotropic encoding of three-dimensional space by place cells and grid cells

PubMed Central

Hayman, R.; Verriotis, M.; Jovalekic, A.; Fenton, A.A.; Jeffery, K.J.

2011-01-01

The subjective sense of space may result in part from the combined activity of place cells, in the hippocampus, and grid cells in posterior cortical regions such as entorhinal cortex and pre/parasubiculum. In horizontal planar environments, place cells provide focal positional information while grid cells supply odometric (distance-measuring) information. How these cells operate in three dimensions is unknown, even though the real world is three–dimensional. The present study explored this issue in rats exploring two different kinds of apparatus, a climbing wall (the “pegboard”) and a helix. Place and grid cell firing fields had normal horizontal characteristics but were elongated vertically, with grid fields forming stripes. It appears that grid cell odometry (and by implication path integration) is impaired/absent in the vertical domain, at least when the animal itself remains horizontal. These findings suggest that the mammalian encoding of three-dimensional space is anisotropic. PMID:21822271

Asymptotic Linear Spectral Statistics for Spiked Hermitian Random Matrices

NASA Astrophysics Data System (ADS)

Passemier, Damien; McKay, Matthew R.; Chen, Yang

2015-07-01

Using the Coulomb Fluid method, this paper derives central limit theorems (CLTs) for linear spectral statistics of three "spiked" Hermitian random matrix ensembles. These include Johnstone's spiked model (i.e., central Wishart with spiked correlation), non-central Wishart with rank-one non-centrality, and a related class of non-central matrices. For a generic linear statistic, we derive simple and explicit CLT expressions as the matrix dimensions grow large. For all three ensembles under consideration, we find that the primary effect of the spike is to introduce an correction term to the asymptotic mean of the linear spectral statistic, which we characterize with simple formulas. The utility of our proposed framework is demonstrated through application to three different linear statistics problems: the classical likelihood ratio test for a population covariance, the capacity analysis of multi-antenna wireless communication systems with a line-of-sight transmission path, and a classical multiple sample significance testing problem.

How Colleges Use Integrated Planning and Advising for Student Success (iPASS) to Transform Student Support. CCRC Working Paper No. 89

ERIC Educational Resources Information Center

Karp, Melinda Mechur; Kalamkarian, Hoori Santikian; Klempin, Serena; Fletcher, Jeffrey

2016-01-01

This paper examines technology-mediated advising reform in order to contribute to the understanding of how colleges engage in transformative change to improve student outcomes. Conceptualizing such change as occurring along three interrelated dimensions of organizational functioning (structural, process, and attitudinal), we seek to understand the…

Alcohol and drug treatment involvement, 12-step attendance and abstinence: 9-year cross-lagged analysis of adults in an integrated health plan.

PubMed

Witbrodt, Jane; Ye, Yu; Bond, Jason; Chi, Felicia; Weisner, Constance; Mertens, Jennifer

2014-04-01

This study explored causal relationships between post-treatment 12-step attendance and abstinence at multiple data waves and examined indirect paths leading from treatment initiation to abstinence 9-years later. Adults (N = 1945) seeking help for alcohol or drug use disorders from integrated healthcare organization outpatient treatment programs were followed at 1-, 5-, 7- and 9-years. Path modeling with cross-lagged partial regression coefficients was used to test causal relationships. Cross-lagged paths indicated greater 12-step attendance during years 1 and 5 and were casually related to past-30-day abstinence at years 5 and 7 respectfully, suggesting 12-step attendance leads to abstinence (but not vice versa) well into the post-treatment period. Some gender differences were found in these relationships. Three significant time-lagged, indirect paths emerged linking treatment duration to year-9 abstinence. Conclusions are discussed in the context of other studies using longitudinal designs. For outpatient clients, results reinforce the value of lengthier treatment duration and 12-step attendance in year 1. Copyright © 2014 Elsevier Inc. All rights reserved.

Path planning for persistent surveillance applications using fixed-wing unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Keller, James F.

This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C 2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length. • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction. • A smooth path generator that provides C 2 routes that satisfy user specified curvature constraints. C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles. C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have developed a diverse range of solutions for persistent surveillance applications but few directly address dynamic maneuver constraints. The key feature of C1 is a two stage sequential solution that discretizes the problem so that graph search techniques can be combined with parametric polynomial curve generation. A method to abstract the kino-dynamics of the aerial platforms is then presented so that a graph search solution can be adapted for this application. An A* Traveling Salesman Problem (TSP) algorithm is developed to search the discretized space using the abstract distance metric to acquire more data or avoid obstacles. Results of the graph search are then transcribed into smooth paths based on vehicle maneuver constraints. A complete solution for a single vehicle periodic tour of the area is developed using the results of the graph search algorithm. To execute the mission, we present a simultaneous arrival algorithm (C2) to coordinate execution by multiple vehicles to satisfy data refresh requirements and to ensure there are no collisions at any of the path intersections. We present a toolbox of spline-based algorithms (C3) to streamline the development of C2 continuous paths with numerical stability. These tools are applied to an aerial persistent surveillance application to illustrate their utility. Comparisons with other parametric polynomial approaches are highlighted to underscore the benefits of the B-spline framework. Performance limits with respect to feasibility constraints are documented.

Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb

NASA Technical Reports Server (NTRS)

Dahl, Kristen P.; Thompson, David R.; McLaren, David; Chao, Yi; Chien, Steve

2011-01-01

This work investigates multi-agent path planning in strong, dynamic currents using thousands of highly under-actuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.

[Gender and career paths of female primary care physicians in Andalusia, Spain, at the beginning of 21st century].

PubMed

Saletti-Cuesta, Lorena; Delgado, Ana; Ortiz-Gómez, Teresa

2014-12-01

The purpose of this article was to study, from a feminist perspective, the diversity and homogeneity in the career paths of female primary care physicians from Andalusia, Spain in the early 21st century, by analyzing the meanings they give to their careers and the influence of personal, family and professional factors. We conducted a qualitative study with six discussion groups. Thirty-two female primary care physicians working in urban health centers of the public health system of Andalusia participated in the study. The discourse analysis revealed that most of the female physicians did not plan for professional goals and, when they did plan for them, the goals were intertwined with family needs. Consequently, their career paths were discontinuous. In contrast, career paths oriented towards professional development and the conscious planning of goals were more common among the female doctors acting as directors of health care centers.

Individual and contextual covariates of burnout: a cross-sectional nationwide study of French teachers.

PubMed

Vercambre, Marie-Noël; Brosselin, Pauline; Gilbert, Fabien; Nerrière, Eléna; Kovess-Masféty, Viviane

2009-09-10

Limited information on the covariates of burnout syndrome in French teachers is available. The aim of this study was to evaluate the relative contributions of individual and contextual factors on the three burnout dimensions: emotional exhaustion, depersonalization, and reduced personal accomplishment. The source data come from an epidemiological postal survey on physical and mental health conducted in 2005 among 20,099 education workers (in activity or retired) selected at random from the health plan records of the national education system. The response rate was 52.4%. Teachers in activity currently giving classes to students who participated in the survey (n = 3,940) were invited to complete a self-administered questionnaire including the Maslach Burnout Inventory. 2,558 teachers provided complete data (64.9%). Variables associated with high emotional exhaustion (highest quartile of score), high depersonalization (highest quartile), and reduced personal accomplishment (lowest quartile) were evaluated using multivariate logistic regression. Studied variables referred to demographic characteristics, socio-professional environment, job dissatisfaction, experienced difficulties at work, and teaching motivations. Different variables were associated with each burnout dimension. Female teachers were more susceptible to high emotional exhaustion and reduced personal accomplishment, whereas male teachers were more susceptible to high depersonalization. Elementary school teachers were more susceptible to high emotional exhaustion, but less susceptible to high depersonalization and reduced personal accomplishment than their higher school level counterparts. Experienced difficulties with pupils were associated with all three dimensions. A socio-economically underprivileged school neighbourhood was also related to high emotional exhaustion and high depersonalization. Programs to enhance teaching environment might be an interesting approach to try to prevent burnout. It would be useful to take the different dimensions into account in planning the intervention.

Individual and contextual covariates of burnout: a cross-sectional nationwide study of French teachers

PubMed Central

Vercambre, Marie-Noël; Brosselin, Pauline; Gilbert, Fabien; Nerrière, Eléna; Kovess-Masféty, Viviane

2009-01-01

Background Limited information on the covariates of burnout syndrome in French teachers is available. The aim of this study was to evaluate the relative contributions of individual and contextual factors on the three burnout dimensions: emotional exhaustion, depersonalization, and reduced personal accomplishment. Methods The source data come from an epidemiological postal survey on physical and mental health conducted in 2005 among 20,099 education workers (in activity or retired) selected at random from the health plan records of the national education system. The response rate was 52.4%. Teachers in activity currently giving classes to students who participated in the survey (n = 3,940) were invited to complete a self-administered questionnaire including the Maslach Burnout Inventory. 2,558 teachers provided complete data (64.9%). Variables associated with high emotional exhaustion (highest quartile of score), high depersonalization (highest quartile), and reduced personal accomplishment (lowest quartile) were evaluated using multivariate logistic regression. Studied variables referred to demographic characteristics, socio-professional environment, job dissatisfaction, experienced difficulties at work, and teaching motivations. Results Different variables were associated with each burnout dimension. Female teachers were more susceptible to high emotional exhaustion and reduced personal accomplishment, whereas male teachers were more susceptible to high depersonalization. Elementary school teachers were more susceptible to high emotional exhaustion, but less susceptible to high depersonalization and reduced personal accomplishment than their higher school level counterparts. Experienced difficulties with pupils were associated with all three dimensions. A socio-economically underprivileged school neighbourhood was also related to high emotional exhaustion and high depersonalization. Conclusion Programs to enhance teaching environment might be an interesting approach to try to prevent burnout. It would be useful to take the different dimensions into account in planning the intervention. PMID:19744328

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

NASA Astrophysics Data System (ADS)

Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

2007-12-01

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.

PubMed

Park, Wooram; Liu, Yan; Zhou, Yu; Moses, Matthew; Chirikjian, Gregory S

2008-04-11

A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker-Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subsequent motions from the current state are to be made so as to move the system to a desired state with high probability, then modeling how the probability density of the system evolves is critical. Methods for solving Fokker-Planck equations that evolve on Lie groups then become important. Such equations can be solved using the operational properties of group Fourier transforms in which irreducible unitary representation (IUR) matrices play a critical role. Therefore, we develop a simple approach for the numerical approximation of all the IUR matrices for two of the groups of most interest in robotics: the rotation group in three-dimensional space, SO(3), and the Euclidean motion group of the plane, SE(2). This approach uses the exponential mapping from the Lie algebras of these groups, and takes advantage of the sparse nature of the Lie algebra representation matrices. Other techniques for density estimation on groups are also explored. The computed densities are applied in the context of probabilistic path planning for kinematic cart in the plane and flexible needle steering in three-dimensional space. In these examples the injection of artificial noise into the computational models (rather than noise in the actual physical systems) serves as a tool to search the configuration spaces and plan paths. Finally, we illustrate how density estimation problems arise in the characterization of physical noise in orientational sensors such as gyroscopes.

The navigation system of the JPL robot

NASA Technical Reports Server (NTRS)

Thompson, A. M.

1977-01-01

The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

Finding Out Critical Points For Real-Time Path Planning

NASA Astrophysics Data System (ADS)

Chen, Wei

1989-03-01

Path planning for a mobile robot is a classic topic, but the path planning under real-time environment is a different issue. The system sources including sampling time, processing time, processes communicating time, and memory space are very limited for this type of application. This paper presents a method which abstracts the world representation from the sensory data and makes the decision as to which point will be a potentially critical point to span the world map by using incomplete knowledge about physical world and heuristic rule. Without any previous knowledge or map of the workspace, the robot will determine the world map by roving through the workspace. The computational complexity for building and searching such a map is not more than O( n2 ) The find-path problem is well-known in robotics. Given an object with an initial location and orientation, a goal location and orientation, and a set of obstacles located in space, the problem is to find a continuous path for the object from the initial position to the goal position which avoids collisions with obstacles along the way. There are a lot of methods to find a collision-free path in given environment. Techniques for solving this problem can be classified into three approaches: 1) the configuration space approach [1],[2],[3] which represents the polygonal obstacles by vertices in a graph. The idea is to determine those parts of the free space which a reference point of the moving object can occupy without colliding with any obstacles. A path is then found for the reference point through this truly free space. Dealing with rotations turns out to be a major difficulty with the approach, requiring complex geometric algorithms which are computationally expensive. 2) the direct representation of the free space using basic shape primitives such as convex polygons [4] and overlapping generalized cones [5]. 3) the combination of technique 1 and 2 [6] by which the space is divided into the primary convex region, overlap region and obstacle region, then obstacle boundaries with attribute values are represented by the vertices of the hypergraph. The primary convex region and overlap region are represented by hyperedges, the centroids of overlap form the critical points. The difficulty is generating segment graph and estimating of minimum path width. The all techniques mentioned above need previous knowledge about the world to make path planning and the computational cost is not low. They are not available in an unknow and uncertain environment. Due to limited system resources such as CPU time, memory size and knowledge about the special application in an intelligent system (such as mobile robot), it is necessary to use algorithms that provide the good decision which is feasible with the available resources in real time rather than the best answer that could be achieved in unlimited time with unlimited resources. A real-time path planner should meet following requirements: - Quickly abstract the representation of the world from the sensory data without any previous knowledge about the robot environment. - Easily update the world model to spell out the global-path map and to reflect changes in the robot environment. - Must make a decision of where the robot must go and which direction the range sensor should point to in real time with limited resources. The method presented here assumes that the data from range sensors has been processed by signal process unite. The path planner will guide the scan of range sensor, find critical points, make decision where the robot should go and which point is poten- tial critical point, generate the path map and monitor the robot moves to the given point. The program runs recursively until the goal is reached or the whole workspace is roved through.

The Augmented Cognitive Mediation Model: Examining Antecedents of Factual and Structural Breast Cancer Knowledge Among Singaporean Women.

PubMed

Lee, Edmund W J; Shin, Mincheol; Kawaja, Ariffin; Ho, Shirley S

2016-05-01

As knowledge acquisition is an important component of health communication research, this study examines factors associated with Singaporean women's breast cancer knowledge using an augmented cognitive mediation model. We conducted a nationally representative study that surveyed 802 women between the ages of 30 and 70 using random-digit dialing. The results supported the augmented cognitive mediation model, which proposes the inclusion of risk perception as a motivator of health information seeking and structural knowledge as an additional knowledge dimension. There was adequate support for the hypothesized paths in the model. Risk perception was positively associated with attention to newspaper, television, Internet, and interpersonal communication. Attention to the three media channels was associated with interpersonal communication, but only newspaper and television attention were associated with elaboration. Interpersonal communication was positively associated with structural knowledge, whereas elaboration was associated with both factual and structural knowledge. Differential indirect effects between media attention and knowledge dimensions via interpersonal communication and elaboration were found. Theoretical and practical implications are discussed.

Development of an Implantable WBAN Path-Loss Model for Capsule Endoscopy

NASA Astrophysics Data System (ADS)

Aoyagi, Takahiro; Takizawa, Kenichi; Kobayashi, Takehiko; Takada, Jun-Ichi; Hamaguchi, Kiyoshi; Kohno, Ryuji

An implantable WBAN path-loss model for a capsule endoscopy which is used for examining digestive organs, is developed by conducting simulations and experiments. First, we performed FDTD simulations on implant WBAN propagation by using a numerical human model. Second, we performed FDTD simulations on a vessel that represents the human body. Third, we performed experiments using a vessel of the same dimensions as that used in the simulations. On the basis of the results of these simulations and experiments, we proposed the gradient and intercept parameters of the simple path-loss in-body propagation model.

Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning

ERIC Educational Resources Information Center

Duan, Haibin; Li, Pei; Shi, Yuhui; Zhang, Xiangyin; Sun, Changhao

2015-01-01

This paper describes the development of BOLE, a MATLAB-based interactive learning environment, that facilitates the process of learning bio-inspired optimization algorithms, and that is dedicated exclusively to unmanned aerial vehicle path planning. As a complement to conventional teaching methods, BOLE is designed to help students consolidate the…

Material wealth in 3D: Mapping multiple paths to prosperity in low- and middle- income countries.

PubMed

Hruschka, Daniel J; Hadley, Craig; Hackman, Joseph

2017-01-01

Material wealth is a key factor shaping human development and well-being. Every year, hundreds of studies in social science and policy fields assess material wealth in low- and middle-income countries assuming that there is a single dimension by which households can move from poverty to prosperity. However, a one-dimensional model may miss important kinds of prosperity, particularly in countries where traditional subsistence-based livelihoods coexist with modern cash economies. Using multiple correspondence analysis to analyze representative household data from six countries-Nepal, Bangladesh, Ethiopia, Kenya, Tanzania and Guatemala-across three world regions, we identify a number of independent dimension of wealth, each with a clear link to locally relevant pathways to success in cash and agricultural economies. In all cases, the first dimension identified by this approach replicates standard one-dimensional estimates and captures success in cash economies. The novel dimensions we identify reflect success in different agricultural sectors and are independently associated with key benchmarks of food security and human growth, such as adult body mass index and child height. The multidimensional models of wealth we describe here provide new opportunities for examining the causes and consequences of wealth inequality that go beyond success in cash economies, for tracing the emergence of hybrid pathways to prosperity, and for assessing how these different pathways to economic success carry different health risks and social opportunities.

Material wealth in 3D: Mapping multiple paths to prosperity in low- and middle- income countries

PubMed Central

Hadley, Craig; Hackman, Joseph

2017-01-01

Material wealth is a key factor shaping human development and well-being. Every year, hundreds of studies in social science and policy fields assess material wealth in low- and middle-income countries assuming that there is a single dimension by which households can move from poverty to prosperity. However, a one-dimensional model may miss important kinds of prosperity, particularly in countries where traditional subsistence-based livelihoods coexist with modern cash economies. Using multiple correspondence analysis to analyze representative household data from six countries—Nepal, Bangladesh, Ethiopia, Kenya, Tanzania and Guatemala—across three world regions, we identify a number of independent dimension of wealth, each with a clear link to locally relevant pathways to success in cash and agricultural economies. In all cases, the first dimension identified by this approach replicates standard one-dimensional estimates and captures success in cash economies. The novel dimensions we identify reflect success in different agricultural sectors and are independently associated with key benchmarks of food security and human growth, such as adult body mass index and child height. The multidimensional models of wealth we describe here provide new opportunities for examining the causes and consequences of wealth inequality that go beyond success in cash economies, for tracing the emergence of hybrid pathways to prosperity, and for assessing how these different pathways to economic success carry different health risks and social opportunities. PMID:28886176

The force control and path planning of electromagnetic induction-based massage robot.

PubMed

Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing

2017-07-20

Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore the massage effect can be improved.

Multidimensional model of apathy in older adults using partial least squares--path modeling.

PubMed

Raffard, Stéphane; Bortolon, Catherine; Burca, Marianna; Gely-Nargeot, Marie-Christine; Capdevielle, Delphine

2016-06-01

Apathy defined as a mental state characterized by a lack of goal-directed behavior is prevalent and associated with poor functioning in older adults. The main objective of this study was to identify factors contributing to the distinct dimensions of apathy (cognitive, emotional, and behavioral) in older adults without dementia. One hundred and fifty participants (mean age, 80.42) completed self-rated questionnaires assessing apathy, emotional distress, anticipatory pleasure, motivational systems, physical functioning, quality of life, and cognitive functioning. Data were analyzed using partial least squares variance-based structural equation modeling in order to examine factors contributing to the three different dimensions of apathy in our sample. Overall, the different facets of apathy were associated with cognitive functioning, anticipatory pleasure, sensitivity to reward, and physical functioning, but the contribution of these different factors to the three dimensions of apathy differed significantly. More specifically, the impact of anticipatory pleasure and physical functioning was stronger for the cognitive than for emotional apathy. Conversely, the impact of sensibility to reward, although small, was slightly stronger on emotional apathy. Regarding behavioral apathy, again we found similar latent variables except for the cognitive functioning whose impact was not statistically significant. Our results highlight the need to take into account various mechanisms involved in the different facets of apathy in older adults without dementia, including not only cognitive factors but also motivational variables and aspects related to physical disability. Clinical implications are discussed.

Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning.

PubMed

Trinh, Lan Anh; Ekström, Mikael; Cürüklü, Baran

2018-01-01

Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta * algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta * algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of these two fields results in a safe path planning algorithm, with a deterministic outcome, to navigate agents to their desired goals.

The experimental electron mean-free-path in Si under typical (S)TEM conditions.

PubMed

Potapov, P L

2014-12-01

The electron mean-free-path in Si was measured by EELS using the test structure with the certified dimensions as a calibration standard. In a good agreement with the previous CBED measurements, the mean-free-path is 150nm for 200keV and 179nm for 300keV energy of primary electrons at large collection angles. These values are accurately predicted by the model of Iakoubovskii et al. while the model of Malis et al. incorporated in common microscopy software underestimates the mean-free-path by 15% at least. Correspondingly, the thickness of TEM samples reported in many studies of the Si-based materials last decades might be noticeably underestimated. Copyright © 2014 Elsevier B.V. All rights reserved.

Reentry Motion and Aerodynamics of the MUSES-C Sample Return Capsule

NASA Astrophysics Data System (ADS)

Ishii, Nobuaki; Yamada, Tetsuya; Hiraki, Koju; Inatani, Yoshifumi

The Hayabusa spacecraft (MUSES-C) carries a small capsule for bringing asteroid samples back to the earth. The initial spin rate of the reentry capsule together with the flight path angle of the reentry trajectory is a key parameter for the aerodynamic motion during the reentry flight. The initial spin rate is given by the spin-release mechanism attached between the capsule and the mother spacecraft, and the flight path angle can be modified by adjusting the earth approach orbit. To determine the desired values of both parameters, the attitude motion during atmospheric flight must be clarified, and angles of attack at the maximum dynamic pressure and the parachute deployment must be assessed. In previous studies, to characterize the aerodynamic effects of the reentry capsule, several wind-tunnel tests were conducted using the ISAS high-speed flow test facilities. In addition to the ground test data, the aerodynamic properties in hypersonic flows were analyzed numerically. Moreover, these data were made more accurate using the results of balloon drop tests. This paper summarized the aerodynamic properties of the reentry capsule and simulates the attitude motion of the full-configuration capsule during atmospheric flight in three dimensions with six degrees of freedom. The results show the best conditions for the initial spin rates and flight path angles of the reentry trajectory.

Search Problems in Mission Planning and Navigation of Autonomous Aircraft. M.S. Thesis

NASA Technical Reports Server (NTRS)

Krozel, James A.

1988-01-01

An architecture for the control of an autonomous aircraft is presented. The architecture is a hierarchical system representing an anthropomorphic breakdown of the control problem into planner, navigator, and pilot systems. The planner system determines high level global plans from overall mission objectives. This abstract mission planning is investigated by focusing on the Traveling Salesman Problem with variations on local and global constraints. Tree search techniques are applied including the breadth first, depth first, and best first algorithms. The minimum-column and row entries for the Traveling Salesman Problem cost matrix provides a powerful heuristic to guide these search techniques. Mission planning subgoals are directed from the planner to the navigator for planning routes in mountainous terrain with threats. Terrain/threat information is abstracted into a graph of possible paths for which graph searches are performed. It is shown that paths can be well represented by a search graph based on the Voronoi diagram of points representing the vertices of mountain boundaries. A comparison of Dijkstra's dynamic programming algorithm and the A* graph search algorithm from artificial intelligence/operations research is performed for several navigation path planning examples. These examples illustrate paths that minimize a combination of distance and exposure to threats. Finally, the pilot system synthesizes the flight trajectory by creating the control commands to fly the aircraft.

Research on Green Manufacturing Innovation Based on Resource Environment Protection

NASA Astrophysics Data System (ADS)

Jie, Xu

2017-11-01

Green manufacturing is a trend of manufacturing industry in the future, and is of great significance to resource protection and environmental protection. This paper first studies the green manufacturing innovation system, and then decomposes the green manufacturing innovation dimensions, and constructs the green manufacturing innovation dimension space. Finally, from the view of resource protection and environmental protection, this paper explores the path of green manufacturing innovation.

Controlling Attention through Action: Observing Actions Primes Action-Related Stimulus Dimensions

ERIC Educational Resources Information Center

Fagioli, Sabrina; Ferlazzo, Fabio; Hommel, Bernhard

2007-01-01

Previous findings suggest that planning an action "backward-primes" perceptual dimension related to this action: planning a grasp facilitates the processing of visual size information, while planning a reach facilitates the processing of location information. Here we show that dimensional priming of perception through action occurs even in the…

3D kinematics using dual quaternions: theory and applications in neuroscience

PubMed Central

Leclercq, Guillaume; Lefèvre, Philippe; Blohm, Gunnar

2013-01-01

In behavioral neuroscience, many experiments are developed in 1 or 2 spatial dimensions, but when scientists tackle problems in 3-dimensions (3D), they often face problems or new challenges. Results obtained for lower dimensions are not always extendable in 3D. In motor planning of eye, gaze or arm movements, or sensorimotor transformation problems, the 3D kinematics of external (stimuli) or internal (body parts) must often be considered: how to describe the 3D position and orientation of these objects and link them together? We describe how dual quaternions provide a convenient way to describe the 3D kinematics for position only (point transformation) or for combined position and orientation (through line transformation), easily modeling rotations, translations or screw motions or combinations of these. We also derive expressions for the velocities of points and lines as well as the transformation velocities. Then, we apply these tools to a motor planning task for manual tracking and to the modeling of forward and inverse kinematics of a seven-dof three-link arm to show the interest of dual quaternions as a tool to build models for these kinds of applications. PMID:23443667

Task path planning, scheduling and learning for free-ranging robot systems

NASA Technical Reports Server (NTRS)

Wakefield, G. Steve

1987-01-01

The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

Path Planning Based on Ply Orientation Information for Automatic Fiber Placement on Mesh Surface

NASA Astrophysics Data System (ADS)

Pei, Jiazhi; Wang, Xiaoping; Pei, Jingyu; Yang, Yang

2018-03-01

This article introduces an investigation of path planning with ply orientation information for automatic fiber placement (AFP) on open-contoured mesh surface. The new method makes use of the ply orientation information generated by loading characteristics on surface, divides the surface into several zones according to the ply orientation information and then designs different fiber paths in different zones. This article also gives new idea of up-layer design in order to make up for defects between parts and improve product's strength.

Robust mobility in human-populated environments

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

The flight planning - flight management connection

NASA Technical Reports Server (NTRS)

Sorensen, J. A.

1984-01-01

Airborne flight management systems are currently being implemented to minimize direct operating costs when flying over a fixed route between a given city pair. Inherent in the design of these systems is that the horizontal flight path and wind and temperature models be defined and input into the airborne computer before flight. The wind/temperature model and horizontal path are products of the flight planning process. Flight planning consists of generating 3-D reference trajectories through a forecast wind field subject to certain ATC and transport operator constraints. The interrelationships between flight management and flight planning are reviewed, and the steps taken during the flight planning process are summarized.

Impacts of Good Practices on Cognitive Development, Learning Orientations, and Graduate Degree Plans during the First Year of College

ERIC Educational Resources Information Center

Cruce, Ty M.; Wolniak, Gregory C.; Seifert, Tricia A.; Pascarella, Ernest T.

2006-01-01

This study estimated separately the unique effects of three dimensions of good practice and the global effects of a composite measure of good practices on the cognitive development, orientations to learning, and educational aspirations of students during their first year of college. Analyses of longitudinal data from a representative sample of…

Path Planning Algorithms for the Adaptive Sensor Fleet

NASA Technical Reports Server (NTRS)

Stoneking, Eric; Hosler, Jeff

2005-01-01

The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.

An Efficient Method to Design Premature End-of-Life Trajectories: A Hypothetical Alternate Fate for Cassini

NASA Technical Reports Server (NTRS)

Vaquero, Mar; Senent, Juan

2015-01-01

What would happen if, hypothetically, the highly successful Cassini mission were to end prematurely due to lack of propellant or sudden subsystem failure? A solid plan to quickly produce a solution for any given scenario, regardless of where the spacecraft is along its reference path, must be in place to safely dispose of the spacecraft and meet all planetary protection requirements. As a contingency plan for this hypothetical situation, a method to design viable high-fidelity terminating trajectories based on a hybrid approach that exploits two-body and three-body flyby transfers combined with a numerical optimization scheme is detailed in this paper.

Using electrical impedance tomography to map subsurface hydraulic conductivity

DOEpatents

Berryman, James G.; Daily, William D.; Ramirez, Abelardo L.; Roberts, Jeffery J.

2000-01-01

The use of Electrical Impedance Tomography (EIT) to map subsurface hydraulic conductivity. EIT can be used to map hydraulic conductivity in the subsurface where measurements of both amplitude and phase are made. Hydraulic conductivity depends on at least two parameters: porosity and a length scale parameter. Electrical Resistance Tomography (ERT) measures and maps electrical conductivity (which can be related to porosity) in three dimensions. By introducing phase measurements along with amplitude, the desired additional measurement of a pertinent length scale can be achieved. Hydraulic conductivity controls the ability to flush unwanted fluid contaminants from the surface. Thus inexpensive maps of hydraulic conductivity would improve planning strategies for subsequent remediation efforts. Fluid permeability is also of importance for oil field exploitation and thus detailed knowledge of fluid permeability distribution in three-dimension (3-D) would be a great boon to petroleum reservoir analysts.

The effects of leaf size and microroughness on the branch-scale collection efficiency of ultrafine particles

DOE PAGES

Huang, C. W.; Lin, M. Y.; Khlystov, A.; ...

2015-03-02

In this study, wind tunnel experiments were performed to explore how leaf size and leaf microroughness impact the collection efficiency of ultrafine particles (UFP) at the branch scale. A porous media model previously used to characterize UFP deposition onto conifers (Pinus taeda and Juniperus chinensis) was employed to interpret these wind tunnel measurements for four different broadleaf species (Ilex cornuta, Quercus alba, Magnolia grandiflora, and Lonicera fragrantissima) and three wind speed (0.3–0.9 ms -1) conditions. Among the four broadleaf species considered, Ilex cornuta with its partially folded shape and sharp edges was the most efficient at collecting UFP followed bymore » the other three flat-shaped broadleaf species. The findings here suggest that a connection must exist between UFP collection and leaf dimension and roughness. This connection is shown to be primarily due to the thickness of a quasi-laminar boundary layer pinned to the leaf surface assuming the flow over a leaf resembles that of a flat plate. A scaling analysis that utilizes a three-sublayer depositional model for a flat plate of finite size and roughness embedded within the quasi-laminar boundary layer illustrates these connections. The analysis shows that a longer leaf dimension allows for thicker quasi-laminar boundary layers to develop. A thicker quasi-laminar boundary layer depth in turn increases the overall resistance to UFP deposition due to an increase in the diffusional path length thereby reducing the leaf-scale UFP collection efficiency. Finally, it is suggested that the effects of leaf microroughness are less relevant to the UFP collection efficiency than are the leaf dimensions for the four broadleaf species explored here.« less

The effects of leaf size and microroughness on the branch-scale collection efficiency of ultrafine particles

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

Huang, C. W.; Lin, M. Y.; Khlystov, A.

In this study, wind tunnel experiments were performed to explore how leaf size and leaf microroughness impact the collection efficiency of ultrafine particles (UFP) at the branch scale. A porous media model previously used to characterize UFP deposition onto conifers (Pinus taeda and Juniperus chinensis) was employed to interpret these wind tunnel measurements for four different broadleaf species (Ilex cornuta, Quercus alba, Magnolia grandiflora, and Lonicera fragrantissima) and three wind speed (0.3–0.9 ms -1) conditions. Among the four broadleaf species considered, Ilex cornuta with its partially folded shape and sharp edges was the most efficient at collecting UFP followed bymore » the other three flat-shaped broadleaf species. The findings here suggest that a connection must exist between UFP collection and leaf dimension and roughness. This connection is shown to be primarily due to the thickness of a quasi-laminar boundary layer pinned to the leaf surface assuming the flow over a leaf resembles that of a flat plate. A scaling analysis that utilizes a three-sublayer depositional model for a flat plate of finite size and roughness embedded within the quasi-laminar boundary layer illustrates these connections. The analysis shows that a longer leaf dimension allows for thicker quasi-laminar boundary layers to develop. A thicker quasi-laminar boundary layer depth in turn increases the overall resistance to UFP deposition due to an increase in the diffusional path length thereby reducing the leaf-scale UFP collection efficiency. Finally, it is suggested that the effects of leaf microroughness are less relevant to the UFP collection efficiency than are the leaf dimensions for the four broadleaf species explored here.« less

Real-time path planning in dynamic virtual environments using multiagent navigation graphs.

PubMed

Sud, Avneesh; Andersen, Erik; Curtis, Sean; Lin, Ming C; Manocha, Dinesh

2008-01-01

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.

Head-and-face anthropometric survey of Chinese workers.

PubMed

Du, Lili; Zhuang, Ziqing; Guan, Hongyu; Xing, Jingcai; Tang, Xianzhi; Wang, Limin; Wang, Zhenglun; Wang, Haijiao; Liu, Yuewei; Su, Wenjin; Benson, Stacey; Gallagher, Sean; Viscusi, Dennis; Chen, Weihong

2008-11-01

Millions of workers in China rely on respirators and other personal protective equipment to reduce the risk of injury and occupational diseases. However, it has been >25 years since the first survey of facial dimensions for Chinese adults was published, and it has never been completely updated. Thus, an anthropometric survey of Chinese civilian workers was conducted in 2006. A total of 3000 subjects (2026 males and 974 females) between the ages of 18 and 66 years old was measured using traditional techniques. Nineteen facial dimensions, height, weight, neck circumference, waist circumference and hip circumference were measured. A stratified sampling plan of three age strata and two gender strata was implemented. Linear regression analysis was used to evaluate the possible effects of gender, age, occupation and body size on facial dimensions. The regression coefficients for gender indicated that for all anthropometric dimensions, males had significantly larger measurements than females. As body mass index increased, dimensions measured increased significantly. Construction workers and miners had significantly smaller measurements than individuals employed in healthcare or manufacturing for a majority of dimensions. Five representative indexes of facial dimension (face length, face width, nose protrusion, bigonial breadth and nasal root breadth) were selected based on correlation and cluster analysis of all dimensions. Through comparison with the facial dimensions of American subjects, this study indicated that Chinese civilian workers have shorter face length, smaller nose protrusion, larger face width and longer lip length.

Quantifying tidal stream disruption in a simulated Milky Way

NASA Astrophysics Data System (ADS)

Sandford, Emily; Küpper, Andreas H. W.; Johnston, Kathryn V.; Diemand, Jürg

2017-09-01

Simulations of tidal streams show that close encounters with dark matter subhaloes induce density gaps and distortions in on-sky path along the streams. Accordingly, observing disrupted streams in the Galactic halo would substantiate the hypothesis that dark matter substructure exists there, while in contrast, observing collimated streams with smoothly varying density profiles would place strong upper limits on the number density and mass spectrum of subhaloes. Here, we examine several measures of stellar stream 'disruption' and their power to distinguish between halo potentials with and without substructure and with different global shapes. We create and evolve a population of 1280 streams on a range of orbits in the Via Lactea II simulation of a Milky Way-like halo, replete with a full mass range of Λcold dark matter subhaloes, and compare it to two control stream populations evolved in smooth spherical and smooth triaxial potentials, respectively. We find that the number of gaps observed in a stellar stream is a poor indicator of the halo potential, but that (I) the thinness of the stream on-sky, (II) the symmetry of the leading and trailing tails and (III) the deviation of the tails from a low-order polynomial path on-sky ('path regularity') distinguish between the three potentials more effectively. We furthermore find that globular cluster streams on low-eccentricity orbits far from the galactic centre (apocentric radius ˜30-80 kpc) are most powerful in distinguishing between the three potentials. If they exist, such streams will shortly be discoverable and mapped in high dimensions with near-future photometric and spectroscopic surveys.

Career Preparation: A Longitudinal, Process-Oriented Examination

PubMed Central

Stringer, Kate; Kerpelman, Jennifer; Skorikov, Vladimir

2011-01-01

Preparing for an adult career through careful planning, choosing a career, and gaining confidence to achieve career goals is a primary task during adolescence and early adulthood. The current study bridged identity process literature and career construction theory (Savickas, 2005) by examining the commitment component of career adaptability, career preparation (i.e., career planning, career decision-making, and career confidence), from an identity process perspective (Luyckx, Goossens, & Soenens, 2006). Research has suggested that career preparation dimensions are interrelated during adolescence and early adulthood; however, what remains to be known is how each dimension changes over time and the interrelationships among the dimensions during the transition from high school. Drawing parallels between career preparation and identity development dimensions, the current study addressed these questions by examining the patterns of change in each career preparation dimension and parallel process models that tested associations among the slopes and intercepts of the career preparation dimensions. Results showed that the career preparation dimensions were not developing similarly over time, although each dimension was associated cross-sectionally and longitudinally with the other dimensions. Results also suggested that career planning and decision-making precede career confidence. The results of the current study supported career construction theory and showed similarities between the processes of career preparation and identity development. PMID:21804641

Career Preparation: A Longitudinal, Process-Oriented Examination.

PubMed

Stringer, Kate; Kerpelman, Jennifer; Skorikov, Vladimir

2011-08-01

Preparing for an adult career through careful planning, choosing a career, and gaining confidence to achieve career goals is a primary task during adolescence and early adulthood. The current study bridged identity process literature and career construction theory (Savickas, 2005) by examining the commitment component of career adaptability, career preparation (i.e., career planning, career decision-making, and career confidence), from an identity process perspective (Luyckx, Goossens, & Soenens, 2006). Research has suggested that career preparation dimensions are interrelated during adolescence and early adulthood; however, what remains to be known is how each dimension changes over time and the interrelationships among the dimensions during the transition from high school. Drawing parallels between career preparation and identity development dimensions, the current study addressed these questions by examining the patterns of change in each career preparation dimension and parallel process models that tested associations among the slopes and intercepts of the career preparation dimensions. Results showed that the career preparation dimensions were not developing similarly over time, although each dimension was associated cross-sectionally and longitudinally with the other dimensions. Results also suggested that career planning and decision-making precede career confidence. The results of the current study supported career construction theory and showed similarities between the processes of career preparation and identity development.

Episodic-like memory trace in awake replay of hippocampal place cell activity sequences

PubMed Central

Takahashi, Susumu

2015-01-01

Episodic memory retrieval of events at a specific place and time is effective for future planning. Sequential reactivation of the hippocampal place cells along familiar paths while the animal pauses is well suited to such a memory retrieval process. It is, however, unknown whether this awake replay represents events occurring along the path. Using a subtask switching protocol in which the animal experienced three subtasks as ‘what’ information in a maze, I here show that the replay represents a trial type, consisting of path and subtask, in terms of neuronal firing timings and rates. The actual trial type to be rewarded could only be reliably predicted from replays that occurred at the decision point. This trial-type representation implies that not only ‘where and when’ but also ‘what’ information is contained in the replay. This result supports the view that awake replay is an episodic-like memory retrieval process. DOI: http://dx.doi.org/10.7554/eLife.08105.001 PMID:26481131

Sensors and Algorithms for an Unmanned Surf-Zone Robot

DTIC Science & Technology

2015-12-01

71 3. Data Fusion and Filtering................................................ 74 C. VIRTUAL POTENTIAL FIELD (VPF) PATH PLANNING ...iron effects are clearly seen: Soft iron de - calibration (sphere distortion) was caused by proximity of circuit boards. Offset of the center of the...information to perform global tasks such as path- planning , sensors and actuators commands, external communications, etc. Python3 is used as the primary

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind.

PubMed

Luo, He; Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided.

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind

PubMed Central

Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided. PMID:29561888

Causal modeling of self-concept, job satisfaction, and retention of nurses.

PubMed

Cowin, Leanne S; Johnson, Maree; Craven, Rhonda G; Marsh, Herbert W

2008-10-01

The critical shortage of nurses experienced throughout the western world has prompted researchers to examine one major component of this complex problem - the impact of nurses' professional identity and job satisfaction on retention. A descriptive correlational design with a longitudinal element was used to examine a causal model of nurses' self-concept, job satisfaction, and retention plans in 2002. A random sample of 2000 registered nurses was selected from the state registering authority listing. A postal survey assessing multiple dimensions of nurses' self-concept (measured by the nurse self-concept questionnaire), job satisfaction (measured by the index of work satisfaction) was undertaken at Time 1 (n=528) and 8 months later at Time 2 (n=332) (including retention plans (measured by the Nurse Retention Index). Using confirmatory factor analysis, correlation matrices and path analysis, measurement and structural models were examined on matching pairs of data from T1 and T2 (total sample N=332). Nurses' self-concept was found to have a stronger association with nurses' retention plans (B=.45) than job satisfaction (B=.28). Aspects of pay and task were not significantly related to retention plans, however, professional status (r=.51), and to a lesser extent, organizational policies (r=.27) were significant factors. Nurses' general self-concept was strongly related (r=.57) to retention plans. Strategies or interventions requiring implementation and evaluation include: counseling to improve nurse general self-concept, education programs and competencies in health communication between health professionals, reporting of nurse-initiated programs with substantial patient benefit, nurse-friendly organizational policies, common health team learning opportunities, and autonomous practice models.

Design and implementation of a biomimetic turtle hydrofoil for an autonomous underwater vehicle.

PubMed

Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

2011-01-01

This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV.

Diagnostic ability of computed tomography using DentaScan software in endodontics: case reports.

PubMed

Siotia, Jaya; Gupta, Sunil K; Acharya, Shashi R; Saraswathi, Vidya

2011-01-01

Radiographic examination is essential in diagnosis and treatment planning in endodontics. Conventional radiographs depict structures in two dimensions only. The ability to assess the area of interest in three dimensions is advantageous. Computed tomography is an imaging technique which produces three-dimensional images of an object by taking a series of two-dimensional sectional X-ray images. DentaScan is a computed tomography software program that allows the mandible and maxilla to be imaged in three planes: axial, panoramic, and cross-sectional. As computed tomography is used in endodontics, DentaScan can play a wider role in endodontic diagnosis. It provides valuable information in the assessment of the morphology of the root canal, diagnosis of root fractures, internal and external resorptions, pre-operative assessment of anatomic structures etc. The aim of this article is to explore the clinical usefulness of computed tomography and DentaScan in endodontic diagnosis, through a series of four cases of different endodontic problems.

Motion planning: A journey of robots, molecules, digital actors, and other artifacts

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

Latombe, J.C.

1999-11-01

During the past three decades, motion planning has emerged as a crucial and productive research area in robotics. In the mid-1980s, the most advanced planners were barely able to compute collision-free paths for objects crawling in planar workspaces. Today, planners efficiently deal with robots with many degrees of freedom in complex environments. Techniques also exist to generate quasi-optimal trajectories, coordinate multiple robots, deal with dynamic and kinematic constraints, and handle dynamic environments. This paper describes some of these achievements, presents new problems that have recently emerged, discusses applications likely to motivate future research, and finally gives expectations for the comingmore » years. It stresses the fact that nonrobotics applications (e.g., graphic animation, surgical planning, computational biology) are growing in importance and are likely to shape future motion-planning research more than robotics itself.« less

An Innovative Method for Evaluating Strategic Goals in a Public Agency: Conservation Leadership in the U.S. Forest Service

Treesearch

David N. Bengston; David P. Fan

1999-01-01

This article presents an innovative methodology for evaluating strategic planning goals in a public agency. Computer-coded content analysis was used to evaluate attitudes expressed in about 28,000 on-line news media stories about the U.S. Department of Agriculture Forest Service and its strategic goal of conservation leadership. Three dimensions of conservation...

The Further Development of the Conceptual Model and Operational Dimensions of the AASA National Academy for School Executives. Final Report.

ERIC Educational Resources Information Center

Curtis, William H.; And Others

The main purpose of this project was to develop a blueprint for the future growth of the AASA-National Academy for School Executives. The resulting comprehensive model is displayed in outline form through the use of a conceptual framework that includes three major processes -- program planning and development, implementation, and evaluation. Each…

Action-minimizing solutions of the one-dimensional N-body problem

NASA Astrophysics Data System (ADS)

Yu, Xiang; Zhang, Shiqing

2018-05-01

We supplement the following result of C. Marchal on the Newtonian N-body problem: A path minimizing the Lagrangian action functional between two given configurations is always a true (collision-free) solution when the dimension d of the physical space R^d satisfies d≥2. The focus of this paper is on the fixed-ends problem for the one-dimensional Newtonian N-body problem. We prove that a path minimizing the action functional in the set of paths joining two given configurations and having all the time the same order is always a true (collision-free) solution. Considering the one-dimensional N-body problem with equal masses, we prove that (i) collision instants are isolated for a path minimizing the action functional between two given configurations, (ii) if the particles at two endpoints have the same order, then the path minimizing the action functional is always a true (collision-free) solution and (iii) when the particles at two endpoints have different order, although there must be collisions for any path, we can prove that there are at most N! - 1 collisions for any action-minimizing path.

A Comparison of Two Path Planners for Planetary Rovers

NASA Technical Reports Server (NTRS)

Tarokh, M.; Shiller, Z.; Hayati, S.

1999-01-01

The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared

Redefining Aging in HIV Infection Using Phenotypes.

PubMed

Stoff, David M; Goodkin, Karl; Jeste, Dilip; Marquine, Maria

2017-10-01

This article critically reviews the utility of "phenotypes" as behavioral descriptors in aging/HIV research that inform biological underpinnings and treatment development. We adopt a phenotypic redefinition of aging conceptualized within a broader context of HIV infection and of aging. Phenotypes are defined as dimensions of behavior, closely related to fundamental mechanisms, and, thus, may be more informative than chronological age. Primary emphasis in this review is given to comorbid aging and cognitive aging, though other phenotypes (i.e., disability, frailty, accelerated aging, successful aging) are also discussed in relation to comorbid aging and cognitive aging. The main findings that emerged from this review are as follows: (1) the phenotypes, comorbid aging and cognitive aging, are distinct from each other, yet overlapping; (2) associative relationships are the rule in HIV for comorbid and cognitive aging phenotypes; and (3) HIV behavioral interventions for both comorbid aging and cognitive aging have been limited. Three paths for research progress are identified for phenotype-defined aging/HIV research (i.e., clinical and behavioral specification, biological mechanisms, intervention targets), and some important research questions are suggested within each of these research paths.

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

Fielding, E.J.; Barazangi, M.; Isacks, B.L.

Topography and heterogeneous crustal structure have major effects on the propagation of regional seismic phases. We are collecting topographical, geological, and geophysical datasets for Eurasia into an information system that can be accessed via Internet connections. Now available are digital topography, satellite imagery, and data on sedimentary basins and crustal structure thicknesses. New datasets for Eurasia include maps of depth to Moho beneath Europe and Scandinavia. We have created regularly spaced grids of the crustal thickness values from these maps that can be used to create profiles of crustal structure. These profiles can be compared by an analyst or anmore » automatic program with the crustal seismic phases received along the propagation path to better understand and predict the path effects on phase amplitudes, a key to estimating magnitudes and yields, and for understanding variations in travel-time delays for phases such as Pn, important for improving regional event locations. The gridded data could also be used to model propagation of crustal phases in three dimensions. Digital elevation models, Satellite imagery, Geographic information systems, Lg Propagation, Moho, Geology, Crustal structure, Topographic relief.« less

Defining Advancement Career Paths and Succession Plans: Critical Human Capital Retention Strategies for High-Performing Advancement Divisions

ERIC Educational Resources Information Center

Croteau, Jon Derek; Wolk, Holly Gordon

2010-01-01

There are many factors that can influence whether a highly talented staff member will build a career within an institution or use it as a stepping stone. This article defines and explores the notions of developing career paths and succession planning and why they are critical human capital investment strategies in retaining the highest performers…

Effective Task Assignment and Motion Planning for Complex UAV Operations

DTIC Science & Technology

2011-09-01

shortest path must be one of the following six different combinations of line segments and curvature arcs: RLR , LRL, RSR, LSL, RSL, LSR, where R is a...RSL, RLR , and their mirror images LSL, LSR, LRL, respectively. This section will discuss the minimum number of waypoints required in order for Dubins...point. Then the vehicle will fly to the third waypoint along it’s turn circle. Lemma 10. For the Dubins trajectories RLR and LRL, three waypoints

Semiautomated Management Of Arriving Air Traffic

NASA Technical Reports Server (NTRS)

Erzberger, Heinz; Nedell, William

1992-01-01

System of computers, graphical workstations, and computer programs developed for semiautomated management of approach and arrival of numerous aircraft at airport. System comprises three subsystems: traffic-management advisor, used for controlling traffic into terminal area; descent advisor generates information integrated into plan-view display of traffic on monitor; and final-approach-spacing tool used to merge traffic converging on final approach path while making sure aircraft are properly spaced. Not intended to restrict decisions of air-traffic controllers.

Path-sum solution of the Weyl quantum walk in 3 + 1 dimensions

NASA Astrophysics Data System (ADS)

D'Ariano, G. M.; Mosco, N.; Perinotti, P.; Tosini, A.

2017-10-01

We consider the Weyl quantum walk in 3+1 dimensions, that is a discrete-time walk describing a particle with two internal degrees of freedom moving on a Cayley graph of the group , which in an appropriate regime evolves according to Weyl's equation. The Weyl quantum walk was recently derived as the unique unitary evolution on a Cayley graph of that is homogeneous and isotropic. The general solution of the quantum walk evolution is provided here in the position representation, by the analytical expression of the propagator, i.e. transition amplitude from a node of the graph to another node in a finite number of steps. The quantum nature of the walk manifests itself in the interference of the paths on the graph joining the given nodes. The solution is based on the binary encoding of the admissible paths on the graph and on the semigroup structure of the walk transition matrices. This article is part of the themed issue `Second quantum revolution: foundational questions'.

Path planning and energy management of solar-powered unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Kaplan, Adam

Many of the applications pertinent to unmanned vehicles, such as environmental research and analysis, communications, and information-surveillance and reconnaissance, benefit from prolonged vehicle operation time. Conventional efforts to increase the operational time of electric-powered unmanned vehicles have traditionally focused on the design of energy-efficient components and the identification of energy efficient search patterns, while little attention has been paid to the vehicle's mission-level path plan and power management. This thesis explores the formulation and generation of integrated motion-plans and power-schedules for solar-panel equipped mobile robots operating under strict energy constraints, which cannot be effectively addressed through conventional motion planning algorithms. Transit problems are considered to design time-optimal paths using both Balkcom-Mason and Pseudo-Dubins curves. Additionally, a more complicated problem to generate mission plans for vehicles which must persistently travel between certain locations, similar to the traveling salesperson problem (TSP), is presented. A comparison between one of the common motion-planning algorithms and experimental results of the prescribed algorithms, made possible by use of a test environment and mobile robot designed and developed specifically for this research, are presented and discussed.

Using GIS and Google Earth for the creation of the Going-to-the-Sun Road Avalanche Atlas, Glacier National Park, Montana, USA

USGS Publications Warehouse

Peitzsch, Erich H.; Fagre, Daniel B.; Dundas, Mark

2010-01-01

Snow avalanche paths are key geomorphologic features in Glacier National Park, Montana, and an important component of mountain ecosystems: they are isolated within a larger ecosystem, they are continuously disturbed, and they contain unique physical characteristics (Malanson and Butler, 1984). Avalanches impact subalpine forest structure and function, as well as overall biodiversity (Bebi et al., 2009). Because avalanches are dynamic phenomena, avalanche path geometry and spatial extent depend upon climatic regimes. The USGS/GNP Avalanche Program formally began in 2003 as an avalanche forecasting program for the spring opening of the ever-popular Going-to-the-Sun Road (GTSR), which crosses through 37 identified avalanche paths. Avalanche safety and forecasting is a necessary part of the GTSR spring opening procedures. An avalanche atlas detailing topographic parameters and oblique photographs was completed for the GTSR corridor in response to a request from GNP personnel for planning and resource management. Using ArcMap 9.2 GIS software, polygons were created for every avalanche path affecting the GTSR using aerial imagery, field-based observations, and GPS measurements of sub-meter accuracy. Spatial attributes for each path were derived within the GIS. Resulting products include an avalanche atlas book for operational use, a geoPDF of the atlas, and a Google Earth flyover illustrating each path and associated photographs. The avalanche atlas aids park management in worker safety, infrastructure planning, and natural resource protection by identifying avalanche path patterns and location. The atlas was created for operational and planning purposes and is also used as a foundation for research such as avalanche ecology projects and avalanche path runout modeling.

Framework for integration of urban planning, strategic environmental assessment and ecological planning for urban sustainability within the context of China

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

He Jia; Bao Cunkuan, E-mail: baock@tongji.edu.cn; Shu Tingfei

2011-11-15

Sustainable development or sustainability has been highlighted as an essential principle in urban master planning, with increasing recognition that uncontrollable urbanization may well give rise to various issues such as overexploitation of natural resources, ecosystem destruction, environmental pollution and large-scale climate change. Thus, it is deemed necessary to modify the existing urban and regional administrative system so as to cope with the challenges urban planning is being confronted with and realize the purpose of urban sustainability. This paper contributed to proposing a mechanism which helps to make urban planning with full consideration of issues with respect to sustainable development. Wemore » suggested that the integration of urban planning, SEA and ecological planning be a multi-win strategy to offset deficiency of each mentioned political tool being individually applied. We also proposed a framework where SEA and ecological planning are fully incorporated into urban planning, which forms a two-way constraint mechanism to ascertain environmental quality of urban planning, although in practice, planning and SEA processes may conditionally be unified. Moreover, as shown in the case study, the integration of the three political tools may be constrained due to slow changes in the contextual factors, in particular the political and cultural dimensions. Currently within the context of China, there may be three major elements which facilitate integration of the three political tools, which are (1) regulatory requirement of PEIA on urban planning, (2) the promotion or strong administrative support from government on eco-district building, and (3) the willingness of urban planners to collaborate with SEA experts or ecologists.« less

Path-integral Monte Carlo method for Rényi entanglement entropies.

PubMed

Herdman, C M; Inglis, Stephen; Roy, P-N; Melko, R G; Del Maestro, A

2014-07-01

We introduce a quantum Monte Carlo algorithm to measure the Rényi entanglement entropies in systems of interacting bosons in the continuum. This approach is based on a path-integral ground state method that can be applied to interacting itinerant bosons in any spatial dimension with direct relevance to experimental systems of quantum fluids. We demonstrate how it may be used to compute spatial mode entanglement, particle partitioned entanglement, and the entanglement of particles, providing insights into quantum correlations generated by fluctuations, indistinguishability, and interactions. We present proof-of-principle calculations and benchmark against an exactly soluble model of interacting bosons in one spatial dimension. As this algorithm retains the fundamental polynomial scaling of quantum Monte Carlo when applied to sign-problem-free models, future applications should allow for the study of entanglement entropy in large-scale many-body systems of interacting bosons.

Classical geometry to quantum behavior correspondence in a virtual extra dimension

NASA Astrophysics Data System (ADS)

Dolce, Donatello

2012-09-01

In the Lorentz invariant formalism of compact space-time dimensions the assumption of periodic boundary conditions represents a consistent semi-classical quantization condition for relativistic fields. In Dolce (2011) [18] we have shown, for instance, that the ordinary Feynman path integral is obtained from the interference between the classical paths with different winding numbers associated with the cyclic dynamics of the field solutions. By means of the boundary conditions, the kinematical information of interactions can be encoded on the relativistic geometrodynamics of the boundary, see Dolce (2012) [8]. Furthermore, such a purely four-dimensional theory is manifestly dual to an extra-dimensional field theory. The resulting correspondence between extra-dimensional geometrodynamics and ordinary quantum behavior can be interpreted in terms of AdS/CFT correspondence. By applying this approach to a simple Quark-Gluon-Plasma freeze-out model we obtain fundamental analogies with basic aspects of AdS/QCD phenomenology.

Optimizing concentration of shifter additive for plastic scintillators of different size

NASA Astrophysics Data System (ADS)

Adadurov, A. F.; Zhmurin, P. N.; Lebedev, V. N.; Titskaya, V. D.

2009-02-01

This paper concerns the influence of wavelength shifting (secondary) luminescent additive (LA 2) on the light yield of polystyrene-based plastic scintillator (PS) taking self-absorption into account. Calculations of light yield dependence on concentration of 1.4-bis(2-(5-phenyloxazolyl)-benzene (POPOP) as LA 2 were made for various path lengths of photons in PS. It is shown that there is an optimal POPOP concentration ( Copt), which provides a maximum light yield for a given path length. This optimal concentration is determined by the competition of luminescence and self-reflection processes. Copt values were calculated for PS of different dimensions. For small PS, Copt≈0.02%, which agree with a common (standard) value of POPOP concentration. For higher PS dimensions, the optimal POPOP concentration is decreased (to Copt≈0.006% for 320×30×2 cm sample), reducing the light yield from PS by almost 35%.

Receiving voluntary family planning services has no relationship with the paradoxical situation of high use of contraceptives and abortion in Vietnam: a cross-sectional study

PubMed Central

2012-01-01

Background Vietnam shows a paradoxical situation where high contraceptive prevalence goes together with high abortion rates. This study examined the associations between self-reports of having received voluntary family planning (VFP) services and induced abortions. Methods A cross sectional survey was conducted in Thai Nguyen province, covering a total of 1281 women. Data were derived from a sample of 935 married women aged 18–49 years who were ever-users (93.5%) and current users of contraceptives (84%), and had completed birth histories. The dependent variables were the likelihood of having an induced abortion and repeated (two or more) induced abortions. The main independent variable was having received the three VFP dimensions (counselling, broader information, and access to availability). The association was examined using multivariate logistic regressions, taking into account women’s socio-demographic characteristics. Results The overall induced abortion percentage was 19.4 per 100 pregnancies. None of the three VFP dimensions was significantly associated with the odds of having an induced abortion or having repeated induced abortions. Mother’s age of 35 or older, having more than three living children, and ever used female contraception methods significantly doubled or more the odds of having an induced abortion and significantly tripled the odds of having repeated abortions. Conclusions Results indicate that women receiving VFP services were not less likely to have induced abortions. The provision of family planning counselling, information on contraceptive method mix, and management skills to ensure availability, are in need of reinforcement in a new set of policy and program strategies in the future. PMID:22639926

A World Wide Web Human Dimensions Framework and Database for Wildlife and Forest Planning

Treesearch

Michael A. Tarrant; Alan D. Bright; H. Ken Cordell

1999-01-01

The paper describes a human dimensions framework(HDF) for application in wildlife and forest planning. The HDF is delivered via the world wide web and retrieves data on-line from the Social, Economic, Environmental, Leisure, and Attitudes (SEELA) database. The proposed HDF is guided by ten fundamental HD principles, and is applied to wildlife and forest planning using...

Improving health care strategy planning through assessment of perceptions of consumers, providers and administrators.

PubMed

Scammon, D; Kennard, L

1983-01-01

Perceptions of consumers, health care administrators, and physicians regarding health care providers are analyzed. Ratings on 26 dimensions of health care services were obtained from members of the three participant groups using measures of image and satisfaction of both physicians in general, and of specific physicians. Discriminant analysis reveals significantly different perceptions of the health care system among the three groups of respondents. These differences suggest some changes in health care administration which could lead to increased consumer satisfaction and competitive advantages for physicians and health care institutions.

Aging and financial planning for retirement: interdisciplinary influences viewed through a cross-cultural lens.

PubMed

Hershey, Douglas A; Henkens, Kene; Van Dalen, Hendrik P

2010-01-01

Current theoretical models support the existence of interactions between the individual and socio-environmental forces when it comes to the formation and enactment of life plans (Friedman & Scholnick, 1997; Shanahan & Elder, 2002). In this investigation, we examine the social, economic, and psychological forces that impact financial planning for retirement. The collective force of these three broad sets of influences was examined from developmental and cross-cultural perspectives, among respondents from two countries with very different retirement financing systems. Participants were 419 American and 556 Dutch working adults, 25-64 years of age. Path analysis models were created to examine differences in planning associated with age and national origin. Compared to younger individuals, older respondents in both countries were more involved in nearly all aspects of the financial planning process. Differences across cultures were also observed in the social support mechanisms that underlie planning and the impact economic forces have on perceptions of saving adequacy. The discussion focuses on the value of developing interdisciplinary theoretical models of planning, and how such models can inform the development of savings-oriented intervention and public policy initiatives.

Software for project-based learning of robot motion planning

NASA Astrophysics Data System (ADS)

Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

2013-12-01

Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can be explained in a simplified two-dimensional setting, but this masks many of the subtleties and complexities of the underlying problem. We have developed software for project-based learning of motion planning that enables deep learning. The projects that we have developed allow advanced undergraduate students and graduate students to reflect on the performance of existing textbook algorithms and their own variations on such algorithms. Formative assessment has been conducted at three institutions. The core of the software used for this teaching module is also used within the Robot Operating System, a widely adopted platform by the robotics research community. This allows for transfer of knowledge and skills to robotics research projects involving a large variety robot hardware platforms.

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

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

EISLER, G. RICHARD

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstratemore » the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.« less

Virtual planning in orthognathic surgery.

PubMed

Stokbro, K; Aagaard, E; Torkov, P; Bell, R B; Thygesen, T

2014-08-01

Numerous publications regarding virtual surgical planning protocols have been published, most reporting only one or two case reports to emphasize the hands-on planning. None have systematically reviewed the data published from clinical trials. This systematic review analyzes the precision and accuracy of three-dimensional (3D) virtual surgical planning of orthognathic procedures compared with the actual surgical outcome following orthognathic surgery reported in clinical trials. A systematic search of the current literature was conducted to identify clinical trials with a sample size of more than five patients, comparing the virtual surgical plan with the actual surgical outcome. Search terms revealed a total of 428 titles, out of which only seven articles were included, with a combined sample size of 149 patients. Data were presented in three different ways: intra-class correlation coefficient, 3D surface area with a difference <2mm, and linear and angular differences in three dimensions. Success criteria were set at 2mm mean difference in six articles; 125 of the 133 patients included in these articles were regarded as having had a successful outcome. Due to differences in the presentation of data, meta-analysis was not possible. Virtual planning appears to be an accurate and reproducible method for orthognathic treatment planning. A more uniform presentation of the data is necessary to allow the performance of a meta-analysis. Currently, the software system most often used for 3D virtual planning in clinical trials is SimPlant (Materialise). More independent clinical trials are needed to further validate the precision of virtual planning. Copyright © 2014 International Association of Oral and Maxillofacial Surgeons. All rights reserved.

The application of Markov decision process with penalty function 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 Markov decision process path planning algorithm is not save, the robot is very close to the table and chairs. To solve this problem, this paper proposes the Markov Decision Process with a penalty term called MDPPT path planning algorithm according to the traditional Markov decision process (MDP). For MDP, if the restaurant delivery robot bumps into an obstacle, the reward it receives is part of the current status reward. For the MDPPT, the reward it receives not only the part of the current status but also a negative constant term. Simulation results show that the MDPPT algorithm can plan a more secure path.

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.

An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning.

PubMed

Li, Bai; Gong, Li-gang; Yang, Wen-lun

2014-01-01

Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.

On the star partition dimension of comb product of cycle and path

NASA Astrophysics Data System (ADS)

Alfarisi, Ridho; Darmaji

2017-08-01

Let G = (V, E) be a connected graphs with vertex set V(G), edge set E(G) and S ⊆ V(G). Given an ordered partition Π = {S1, S2, S3, …, Sk} of the vertex set V of G, the representation of a vertex v ∈ V with respect to Π is the vector r(v|Π) = (d(v, S1), d(v, S2), …, d(v, Sk)), where d(v, Sk) represents the distance between the vertex v and the set Sk and d(v, Sk) = min{d(v, x)|x ∈ Sk }. A partition Π of V(G) is a resolving partition if different vertices of G have distinct representations, i.e., for every pair of vertices u, v ∈ V(G), r(u|Π) ≠ r(v|Π). The minimum k of Π resolving partition is a partition dimension of G, denoted by pd(G). The resolving partition Π = {S1, S2, S3, …, Sk } is called a star resolving partition for G if it is a resolving partition and each subgraph induced by Si, 1 ≤ i ≤ k, is a star. The minimum k for which there exists a star resolving partition of V(G) is the star partition dimension of G, denoted by spd(G). Finding the star partition dimension of G is classified to be a NP-Hard problem. In this paper, we will show that the partition dimension of comb product of cycle and path namely Cm⊳Pn and Pn⊳Cm for n ≥ 2 and m ≥ 3.

Mission Planning and Decision Support for Underwater Glider Networks: A Sampling on-Demand Approach

PubMed Central

Ferri, Gabriele; Cococcioni, Marco; Alvarez, Alberto

2015-01-01

This paper describes an optimal sampling approach to support glider fleet operators and marine scientists during the complex task of planning the missions of fleets of underwater gliders. Optimal sampling, which has gained considerable attention in the last decade, consists in planning the paths of gliders to minimize a specific criterion pertinent to the phenomenon under investigation. Different criteria (e.g., A, G, or E optimality), used in geosciences to obtain an optimum design, lead to different sampling strategies. In particular, the A criterion produces paths for the gliders that minimize the overall level of uncertainty over the area of interest. However, there are commonly operative situations in which the marine scientists may prefer not to minimize the overall uncertainty of a certain area, but instead they may be interested in achieving an acceptable uncertainty sufficient for the scientific or operational needs of the mission. We propose and discuss here an approach named sampling on-demand that explicitly addresses this need. In our approach the user provides an objective map, setting both the amount and the geographic distribution of the uncertainty to be achieved after assimilating the information gathered by the fleet. A novel optimality criterion, called Aη, is proposed and the resulting minimization problem is solved by using a Simulated Annealing based optimizer that takes into account the constraints imposed by the glider navigation features, the desired geometry of the paths and the problems of reachability caused by ocean currents. This planning strategy has been implemented in a Matlab toolbox called SoDDS (Sampling on-Demand and Decision Support). The tool is able to automatically download the ocean fields data from MyOcean repository and also provides graphical user interfaces to ease the input process of mission parameters and targets. The results obtained by running SoDDS on three different scenarios are provided and show that SoDDS, which is currently used at NATO STO Centre for Maritime Research and Experimentation (CMRE), can represent a step forward towards a systematic mission planning of glider fleets, dramatically reducing the efforts of glider operators. PMID:26712763

Mission Planning and Decision Support for Underwater Glider Networks: A Sampling on-Demand Approach.

PubMed

Ferri, Gabriele; Cococcioni, Marco; Alvarez, Alberto

2015-12-26

This paper describes an optimal sampling approach to support glider fleet operators and marine scientists during the complex task of planning the missions of fleets of underwater gliders. Optimal sampling, which has gained considerable attention in the last decade, consists in planning the paths of gliders to minimize a specific criterion pertinent to the phenomenon under investigation. Different criteria (e.g., A, G, or E optimality), used in geosciences to obtain an optimum design, lead to different sampling strategies. In particular, the A criterion produces paths for the gliders that minimize the overall level of uncertainty over the area of interest. However, there are commonly operative situations in which the marine scientists may prefer not to minimize the overall uncertainty of a certain area, but instead they may be interested in achieving an acceptable uncertainty sufficient for the scientific or operational needs of the mission. We propose and discuss here an approach named sampling on-demand that explicitly addresses this need. In our approach the user provides an objective map, setting both the amount and the geographic distribution of the uncertainty to be achieved after assimilating the information gathered by the fleet. A novel optimality criterion, called A η , is proposed and the resulting minimization problem is solved by using a Simulated Annealing based optimizer that takes into account the constraints imposed by the glider navigation features, the desired geometry of the paths and the problems of reachability caused by ocean currents. This planning strategy has been implemented in a Matlab toolbox called SoDDS (Sampling on-Demand and Decision Support). The tool is able to automatically download the ocean fields data from MyOcean repository and also provides graphical user interfaces to ease the input process of mission parameters and targets. The results obtained by running SoDDS on three different scenarios are provided and show that SoDDS, which is currently used at NATO STO Centre for Maritime Research and Experimentation (CMRE), can represent a step forward towards a systematic mission planning of glider fleets, dramatically reducing the efforts of glider operators.

Kinematic analysis of total knee prosthesis designed for Asian population.

PubMed

Low, F H; Khoo, L P; Chua, C K; Lo, N N

2000-01-01

In designing a total knee replacement (TKR) prosthesis catering for the Asian population, 62 sets of femur were harvested and analyzed. The morphometrical data obtained were found to be in good agreement with dimensions typical of the Asian knee and has reaffirmed the fact that Caucasian knees are generally larger than Asian knees. Subsequently, these data when treated using a multivariate statistical technique resulted in the establishment of major design parameters for six different sizes of femoral implants. An extra-small implant size with established dimensions and geometrical shape has surfaced from the study. The differences between the Asian knees and the Caucasian knees are discussed. Employing the established femoral dimensions and motion path of the knee joint, the articulating tibia profile was generated. All the sizes of implants were modeled using a computer-aided software package. Thereupon, these models that accurately fits the local Asian knee were transported into a dynamic and kinematic analysis software package. The tibiofemoral joint was modeled successfully as a slide curve joint to study intuitively the motion of the femur when articulating on the tibia surface. An optimal tibia profile could be synthesized to mimic the natural knee path motion. Details of the analysis are presented and discussed.

Health sector decentralization and local decision-making: Decision space, institutional capacities and accountability in Pakistan.

PubMed

Bossert, Thomas John; Mitchell, Andrew David

2011-01-01

Health sector decentralization has been widely adopted to improve delivery of health services. While many argue that institutional capacities and mechanisms of accountability required to transform decentralized decision-making into improvements in local health systems are lacking, few empirical studies exist which measure or relate together these concepts. Based on research instruments administered to a sample of 91 health sector decision-makers in 17 districts of Pakistan, this study analyzes relationships between three dimensions of decentralization: decentralized authority (referred to as "decision space"), institutional capacities, and accountability to local officials. Composite quantitative indicators of these three dimensions were constructed within four broad health functions (strategic and operational planning, budgeting, human resources management, and service organization/delivery) and on an overall/cross-function basis. Three main findings emerged. First, district-level respondents report varying degrees of each dimension despite being under a single decentralization regime and facing similar rules across provinces. Second, within dimensions of decentralization-particularly decision space and capacities-synergies exist between levels reported by respondents in one function and those reported in other functions (statistically significant coefficients of correlation ranging from ρ=0.22 to ρ=0.43). Third, synergies exist across dimensions of decentralization, particularly in terms of an overall indicator of institutional capacities (significantly correlated with both overall decision space (ρ=0.39) and accountability (ρ=0.23)). This study demonstrates that decentralization is a varied experience-with some district-level officials making greater use of decision space than others and that those who do so also tend to have more capacity to make decisions and are held more accountable to elected local officials for such choices. These findings suggest that Pakistan's decentralization policy should focus on synergies among dimensions of decentralization to encouraging more use of de jure decision space, work toward more uniform institutional capacity, and encourage greater accountability to local elected officials. Copyright © 2010 Elsevier Ltd. All rights reserved.

Minimally invasive positioning robot system of femoral neck hollow screw implants based on x-ray error correction

NASA Astrophysics Data System (ADS)

Zou, Yunpeng; Xu, Ying; Hu, Lei; Guo, Na; Wang, Lifeng

2017-01-01

Aiming the high failure rate, the high radiation quantity and the poor positioning accuracy of femoral neck traditional surgery, this article develops a set of new positioning robot system of femoral neck hollow screw implants based on X-rays error correction, which bases on the study of x-rays perspective principle and the Motion Principle of 6 DOF(degree of freedom) series robot UR(Universal Robots). Compared with Computer Assisted Navigation System, this system owns better positioning accuracy and more simple operation. In addition, without extra Equipment of Visual Tracking, this system can reduce a lot of cost. During the surgery, Doctor can plan the operation path and the pose of mark needle according to the positive and lateral X-rays images of patients. Then they can calculate the pixel ratio according to the ratio of the actual length of mark line and the length on image. After that, they can calculate the amount of exercise of UR Robot according to the relative position between operation path and guide pin and the fixed relationship between guide pin and UR robot. Then, they can control UR to drive the positioning guide pin to the operation path. At this point, check the positioning guide pin and the planning path is coincident, if not, repeat the previous steps, until the positioning guide pin and the planning path coincide which will eventually complete the positioning operation. Moreover, to verify the positioning accuracy, this paper make an errors analysis aiming to thirty cases of the experimental model of bone. The result shows that the motion accuracy of the UR Robot is 0.15mm and the Integral error precision is within 0.8mm. To verify the clinical feasibility of this system, this article analysis on three cases of the clinical experiment. In the whole process of positioning, the X-rays irradiation time is 2-3s, the number of perspective is 3-5 and the whole positioning time is 7-10min. The result shows that this system can complete accurately femoral neck positioning surgery. Meanwhile, it can greatly reduce the X-rays radiation of medical staff and patients. To summarize, it has a significant value in clinical application.

A portable back massage robot based on Traditional Chinese Medicine.

PubMed

Wang, Wendong; Liang, Chaohong; Zhang, Peng; Shi, Yikai

2018-05-30

A portable back massage robot which can complete the massage operations such as tapping, kneading and rolling was designed to improve the level of intelligence and massage effect. An efficient full covered path planning algorithm was put forward for a portable back massage robot to improve the coverage. Currently, massage robots has become one of important research focuses with the increasing requirements for healthcare. The massage robot is difficult to be widely accepted as there are problems of massage robot in control, structure, and coverage path planning. The 3D electromagnetic simulation model was established to optimize electromagnetic force. By analyzing the Traditional Chinese Medicine massage operation and the demands, the path planning algorithm models were established. The experimental platform of the massage robot was built. The simulation results show presented path planning algorithm is suitable for back massage, which ensures that the massage robot traverse the entire back area with improved massage coverage. The tested results show that the massage effect is best when the duty cycle is in the range of 1/8 to 1/2, and the massage force increases with the increase of the input voltage. The massage robot eventually achieved the desired massage effect, and the proposed efficient algorithm can effectively improve the coverage and promote the massage effect.

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

NASA Technical Reports Server (NTRS)

Divelbiss, Adam; Seereeram, Sanjeev; Wen, John T.

1993-01-01

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Attitudes and use of pornography in the Norwegian population 2002.

PubMed

Traeen, Bente; Spitznogle, Kristin; Beverfjord, Alexandra

2004-05-01

The purpose of this study was to describe and analyze use of pornographic material in a representative sample of adult Norwegians. The data collection was carried out by means of a standardized questionnaire administered via personal telephone interviews. Among the 90% of participants who reported ever having examined pornography, 76% reported examining a pornographic magazine, 67% had watched a pornographic film, and 24% had examined pornography on the Internet. Significant gender differences emerged in the reporting. The percentage of men and women who reported frequent use of pornography was small. We identified three dimensions of attitudes toward pornography: pornography as a means of sexual enhancement, pornography as a moral issue, and social climate. These attitude dimensions were included in path models as intermediating variables between demographic variables (age, gender, and level of education) and frequency of reading or watching pornographic materials. These models explained 36% of the variance in frequency of watching pornographic films, 35% of the variance in frequency of reading pornographic magazines, and 21% of the variance in frequency of watching pornography on the Internet.

A participatory evaluation framework in the establishment and implementation of transdisciplinary collaborative centers for health disparities research.

PubMed

Scarinci, Isabel C; Moore, Artisha; Benjamin, Regina; Vickers, Selwyn; Shikany, James; Fouad, Mona

2017-02-01

We describe the formulation and implementation of a participatory evaluation plan for three Transdisciplinary Collaborative Centers for Health Disparities Research funded by the National Institute of Minority Health and Health Disparities. Although different in scope of work, all three centers share a common goal of establishing sustainable centers in health disparities science in three priority areas - social determinants of health, men's health research, and health policy research. The logic model guides the process, impact, and outcome evaluation. Emphasis is placed on process evaluation in order to establish a "blue print" that can guide other efforts as well as assure that activities are being implemented as planned. We have learned three major lessons in this process: (1) Significant engagement, participation, and commitment of all involved is critical for the evaluation process; (2) Having a "roadmap" (logic model) and "directions" (evaluation worksheets) are instrumental in getting members from different backgrounds to follow the same path; and (3) Participation of the evaluator in the leadership and core meetings facilitates continuous feedback. Copyright © 2016 Elsevier Ltd. All rights reserved.

New Dimensions for the Online Catalog: The Dartmouth College Library Experience [and] TOC/DOC at Caltech: Evolution of Citation Access Online [and] Locally Loaded Databases in Arizona State University's Online Catalog Using the CARL System.

ERIC Educational Resources Information Center

Klemperer, Katharina; And Others

1989-01-01

Each of three articles describes an academic library's online catalog that includes locally created databases. Topics covered include database and software selection; systems design and development; database producer negotiations; problems encountered during implementation; database loading; training and documentation; and future plans. (CLB)

Using the PEN-3 Model to Plan Culturally Competent Domestic Violence Intervention and Prevention Services in Chinese American and Immigrant Communities

ERIC Educational Resources Information Center

Yick, Alice G.; Oomen-Early, Jody

2009-01-01

Purpose: The purpose of this article is two-fold. First, it applies the PEN-3 model to the topic of domestic violence within the Chinese American and Chinese immigrant community. The PEN-3 model was developed by Collins Airhihenbuwa, and it focuses on placing culture at the forefront of health promotion. It consists of three dimensions: cultural…

Alcohol consumption policies and the prevention of alcohol consumption-related problems: needs, duties, and responsibilities.

PubMed

Allamani, Allaman

2012-10-01

Alcohol-related policies and the prevention of alcohol use-related problems, as well as their creation, are accomplished through planned interventions- laws, social and health programs, community-based initiatives-as well as through complex social movements and efforts implemented by the communities. Among both citizens and alcohol use intervention experts, the following three human dimensions are considered: needs, duties, and responsibilities.

Processor Would Find Best Paths On Map

NASA Technical Reports Server (NTRS)

Eberhardt, Silvio P.

1990-01-01

Proposed very-large-scale integrated (VLSI) circuit image-data processor finds path of least cost from specified origin to any destination on map. Cost of traversal assigned to each picture element of map. Path of least cost from originating picture element to every other picture element computed as path that preserves as much as possible of signal transmitted by originating picture element. Dedicated microprocessor at each picture element stores cost of traversal and performs its share of computations of paths of least cost. Least-cost-path problem occurs in research, military maneuvers, and in planning routes of vehicles.

Validation of the French version of the Hospital Survey on Patient Safety Culture questionnaire.

PubMed

Occelli, P; Quenon, J-L; Kret, M; Domecq, S; Delaperche, F; Claverie, O; Castets-Fontaine, B; Amalberti, R; Auroy, Y; Parneix, P; Michel, P

2013-09-01

To assess the psychometric properties of the French version of the Hospital Survey on Patient Safety Culture questionnaire (HSOPSC) and study the hierarchical structure of the measured dimensions. Cross-sectional survey of the safety culture. 18 acute care units of seven hospitals in South-western France. Full- and part-time healthcare providers who worked in the units. None. Item responses measured with 5-point agreement or frequency scales. Data analyses A principal component analysis was used to identify the emerging components. Two structural equation modeling methods [LInear Structural RELations (LISREL) and Partial Least Square (PLS)] were used to verify the model and to study the relative importance of the dimensions. Internal consistency of the retained dimensions was studied. A test-retest was performed to assess reproducibility of the items. Overall response rate was 77% (n = 401). A structure in 40 items grouped in 10 dimensions was proposed. The LISREL approach showed acceptable data fit of the proposed structure. The PLS approach indicated that three dimensions had the most impact on the safety culture: 'Supervisor/manager expectations & actions promoting safety' 'Organizational learning-continuous improvement' and 'Overall perceptions of safety'. Internal consistency was above 0.70 for six dimensions. Reproducibility was considered good for four items. The French HSOPSC questionnaire showed acceptable psychometric properties. Classification of the dimensions should guide future development of safety culture improving action plans.

Fundamental differences between glassy dynamics in two and three dimensions.

PubMed

Flenner, Elijah; Szamel, Grzegorz

2015-06-12

The two-dimensional freezing transition is very different from its three-dimensional counterpart. In contrast, the glass transition is usually assumed to have similar characteristics in two and three dimensions. Using computer simulations, here we show that glassy dynamics in supercooled two- and three-dimensional fluids are fundamentally different. Specifically, transient localization of particles on approaching the glass transition is absent in two dimensions, whereas it is very pronounced in three dimensions. Moreover, the temperature dependence of the relaxation time of orientational correlations is decoupled from that of the translational relaxation time in two dimensions but not in three dimensions. Last, the relationships between the characteristic size of dynamically heterogeneous regions and the relaxation time are very different in two and three dimensions. These results strongly suggest that the glass transition in two dimensions is different than in three dimensions.

A Nambu-Jona-Lasinio like model from QCD at low energies

NASA Astrophysics Data System (ADS)

Cortés, José Luis; Gamboa, Jorge; Velázquez, Luis

1998-07-01

A generalization to any dimension of the fermion field transformation which allows to derive the solution of the massless Schwinger model in the path integral framework is identified. New arguments based on this transformation for a Nambu-Jona-Lasinio (NJL) like model as the low energy limit of a gauge theory in dimension greater than two are presented. Our result supports the spontaneous chiral symmetry breaking picture conjectured by Nambu many years ago and the link between QCD, NJL and chiral models.

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

PubMed Central

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

2017-01-01

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

Potential dosimetric benefit of dose-warping based 4D planning compared to conventional 3D planning in liver stereotactic body radiotherapy (SBRT)

NASA Astrophysics Data System (ADS)

Yeo, U. J.; Taylor, M. L.; Kron, T.; Pham, D.; Siva, S.; Franich, R. D.

2013-06-01

Respiratory motion induces dosimetric uncertainties for thoracic and abdominal cancer radiotherapy (RT) due to deforming and moving anatomy. This study investigates the extent of dosimetric differences between conventional 3D treatment planning and path-integrated 4D treatment planning in liver stereotactic body radiotherapy (SBRT). Respiratory-correlated 4DCT image sets with 10 phases were acquired for patients with liver tumours. Path-integrated 4D dose accumulation was performed using dose-warping techniques based on deformable image registration. Dose-volume histogram analysis demonstrated that the 3D planning approach overestimated doses to targets by up to 24% and underestimated dose to normal liver by ~4.5%, compared to the 4D planning methodology. Therefore, 4D planning has the potential to quantify such issues of under- and/or over-dosage and improve treatment accuracy.

Incorporating gender, equity, and human rights into the action planning process: moving from rhetoric to action

PubMed Central

Sridharan, Sanjeev; Maplazi, Joanna; Shirodkar, Apurva; Richardson, Emma; Nakaima, April

2016-01-01

Background Mainstreaming of gender, equity, and human rights (GER) is an important focus of the World Health Organization (WHO) and other UN organizations. This paper explores the role of action plans in mainstreaming GER. This paper is informed by a theory-driven evaluation lens. Design A theory of change framework explored the following seven dimensions of how action plans can implement mainstreaming of GER: awareness of the foundations of GER; understanding of context; planning to impact GER; implementation for GER; monitoring, evaluation, and learning; planning for sustainability; agenda setting and buy-in. The seven dimensions were used to analyze the action plans. Reviewers also explored innovations within each of the action plans for the seven dimensions. Results GER mainstreaming is more prominent in the foundation, background, and planning components of the plan but becomes less so along the theory of change including implementation; monitoring and evaluation; sustainability; and agenda setting and buy-in. Conclusions Our analysis demonstrates that much more can be done to incorporate GER considerations into the action planning process. Nine specific recommendations are identified for WHO and other organizations. A theory-driven approach as described in the paper is potentially helpful for developing clarity by which action plans can help with mainstreaming GER considerations. PMID:27606968

Movement Path Tortuosity Predicts Compliance With Therapeutic Behavioral Prompts in Patients With Traumatic Brain Injury.

PubMed

Kearns, William D; Fozard, James L; Ray, Roger D; Scott, Steven; Jasiewicz, Jan M; Craighead, Jeffrey D; Pagano, Craig V

2016-01-01

Rehabilitation of patients with traumatic brain injury typically includes therapeutic prompts for keeping appointments and adhering to medication regimens. Level of cognitive impairment may significantly affect a traumatic brain injury victim's ability to benefit from text-based prompting. We tested the hypothesis that spatial disorientation as measured by movement path tortuosity during ambulation would be associated with poorer compliance with automated prompts by veterans actively being treated for traumatic brain injury. Clinical polytrauma center. Ten (1 female) veteran patients mean age = 35.4 (SD = 12.4) years. Small group correlational study without random assignment. Fractal Dimension, a measure of movement path tortuosity derived from a GPS logging device used to record casual outdoor ambulation at the start of the study. Compliance with smart home machine-generated therapeutic prompts received during rehabilitation at the James A. Haley Veterans Administration Hospital Polytrauma Transitional Rehabilitation Program. A patient was compliant with a prompt if they transited from where the prompt was presented to the prescribed destination (both within the Polytrauma Transitional Rehabilitation Program) within 30 minutes. Noncompliance was failure to appear at the destination within the allotted time. Fractal dimension was significantly inversely related to overall prompt compliance (r = -0.603, n = 10, P = .032; 1-tailed). The findings support the hypothesis that increased spatial disorientation adversely impacts compliance with automated prompts throughout therapy. The results are consistent with previous studies linking elevated path tortuosity to cognitive impairment and increased risk for falls in assisted living facility residents.

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom (Editor); Freise, Jon (Editor)

1990-01-01

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom; Freise, Jon

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

A Novel Synaptic Vesicle Fusion Path in the Rat Cerebral Cortex: The “Saddle” Point Hypothesis

PubMed Central

Zampighi, Guido A.; Serrano, Raul; Vergara, Julio L.

2014-01-01

We improved freeze-fracture electron microscopy to study synapses in the neuropil of the rat cerebral cortex at ∼2 nm resolution and in three-dimensions. In the pre-synaptic axon, we found that “rods” assembled from short filaments protruding from the vesicle and the plasma membrane connects synaptic vesicles to the membrane of the active zone. We equated these “connector rods” to protein complexes involved in “docking” and “priming” vesicles to the active zone. Depending on their orientation, the “rods” define two synaptic vesicle-fusion paths: When parallel to the plasma membrane, the vesicles hemi-fuse anywhere (“randomly”) in the active zone following the conventional path anticipated by the SNARE hypothesis. When perpendicular to the plasma membrane, the vesicles hemi-fuse at the base of sharp crooks, called “indentations,” that are spaced 75–85 nm center-to-center, arranged in files and contained within gutters. They result from primary and secondary membrane curvatures that intersect at stationary inflection (“saddle”) points. Computer simulations indicate that this novel vesicle-fusion path evokes neurotransmitter concentration domains on the post-synaptic spine that are wider, shallower, and that reach higher average concentrations than the more conventional vesicle fusion path. In the post-synaptic spine, large (∼9× ∼15 nm) rectangular particles at densities of 72±10/ µm2 (170–240/spine) match the envelopes of the homotetrameric GluR2 AMPA-sensitive receptor. While these putative receptors join clusters, called the “post-synaptic domains,” the overwhelming majority of the rectangular particles formed bands in the “non-synaptic” plasma membrane of the spine. In conclusion, in the neuropil of the rat cerebral cortex, curvatures of the plasma membrane define a novel vesicle-fusion path that preconditions specific regions of the active zone for neurotransmitter release. We hypothesize that a change in the hybridization of the R-SNARE synaptobrevin from parallel to antiparallel swings the synapse into this novel vesicle-fusion path. PMID:24959848

Multipathing Via Three Parameter Common Image Gathers (CIGs) From Reverse Time Migration

NASA Astrophysics Data System (ADS)

Ostadhassan, M.; Zhang, X.

2015-12-01

A noteworthy problem for seismic exploration is effects of multipathing (both wanted or unwanted) caused by subsurface complex structures. We show that reverse time migration (RTM) combined with a unified, systematic three parameter framework that flexibly handles multipathing can be accomplished by adding one more dimension (image time) to the angle domain common image gather (ADCIG) data. RTM is widely used to generate prestack depth migration images. When using the cross-correlation image condition in 2D prestack migration in RTM, the usual practice is to sum over all the migration time steps. Thus all possible wave types and paths automatically contribute to the resulting image, including destructive wave interferences, phase shifts, and other distortions. One reason is that multipath (prismatic wave) contributions are not properly sorted and mapped in the ADCIGs. Also, multipath arrivals usually have different instantaneous attributes (amplitude, phase and frequency), and if not separated, the amplitudes and phases in the final prestack image will not stack coherently across sources. A prismatic path satisfies an image time for it's unique path; Cavalca and Lailly (2005) show that RTM images with multipaths can provide more complete target information in complex geology, as multipaths usually have different incident angles and amplitudes compared to primary reflections. If the image time slices within a cross-correlation common-source migration are saved for each image time, this three-parameter (incident angle, depth, image time) volume can be post-processed to generate separate, or composite, images of any desired subset of the migrated data. Images can by displayed for primary contributions, any combination of primary and multipath contributions (with or without artifacts), or various projections, including the conventional ADCIG (angle vs depth) plane. Examples show that signal from the true structure can be separated from artifacts caused by multiple arrivals when they have different image times. This improves the quality of images and benefits migration velocity analysis (MVA) and amplitude variation with angle (AVA) inversion.

Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map

PubMed Central

Park, Wooram; Liu, Yan; Zhou, Yu; Moses, Matthew; Chirikjian, Gregory S.

2010-01-01

SUMMARY A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker–Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subsequent motions from the current state are to be made so as to move the system to a desired state with high probability, then modeling how the probability density of the system evolves is critical. Methods for solving Fokker-Planck equations that evolve on Lie groups then become important. Such equations can be solved using the operational properties of group Fourier transforms in which irreducible unitary representation (IUR) matrices play a critical role. Therefore, we develop a simple approach for the numerical approximation of all the IUR matrices for two of the groups of most interest in robotics: the rotation group in three-dimensional space, SO(3), and the Euclidean motion group of the plane, SE(2). This approach uses the exponential mapping from the Lie algebras of these groups, and takes advantage of the sparse nature of the Lie algebra representation matrices. Other techniques for density estimation on groups are also explored. The computed densities are applied in the context of probabilistic path planning for kinematic cart in the plane and flexible needle steering in three-dimensional space. In these examples the injection of artificial noise into the computational models (rather than noise in the actual physical systems) serves as a tool to search the configuration spaces and plan paths. Finally, we illustrate how density estimation problems arise in the characterization of physical noise in orientational sensors such as gyroscopes. PMID:20454468

Country actions to meet UN commitments on non-communicable diseases: a stepwise approach.

PubMed

Bonita, Ruth; Magnusson, Roger; Bovet, Pascal; Zhao, Dong; Malta, Deborah C; Geneau, Robert; Suh, Il; Thankappan, Kavumpurathu Raman; McKee, Martin; Hospedales, James; de Courten, Maximilian; Capewell, Simon; Beaglehole, Robert

2013-02-16

Strong leadership from heads of state is needed to meet national commitments to the UN political declaration on non-communicable diseases (NCDs) and to achieve the goal of a 25% reduction in premature NCD mortality by 2025 (the 25 by 25 goal). A simple, phased, national response to the political declaration is suggested, with three key steps: planning, implementation, and accountability. Planning entails mobilisation of a multisectoral response to develop and support the national action plan, and to build human, financial, and regulatory capacity for change. Implementation of a few priority and feasible cost-effective interventions for the prevention and treatment of NCDs will achieve the 25 by 25 goal and will need only few additional financial resources. Accountability incorporates three dimensions: monitoring of progress, reviewing of progress, and appropriate responses to accelerate progress. A national NCD commission or equivalent, which is independent of government, is needed to ensure that all relevant stakeholders are held accountable for the UN commitments to NCDs. Copyright © 2013 Elsevier Ltd. All rights reserved.

Effect of a care plan based on Roy adaptation model biological dimension on stroke patients' physiologic adaptation level.

PubMed

Alimohammadi, Nasrollah; Maleki, Bibi; Shahriari, Mohsen; Chitsaz, Ahmad

2015-01-01

Stroke is a stressful event with several functional, physical, psychological, social, and economic problems that affect individuals' different living balances. With coping strategies, patients try to control these problems and return to their natural life. The aim of this study is to investigate the effect of a care plan based on Roy adaptation model biological dimension on stroke patients' physiologic adaptation level. This study is a clinical trial in which 50 patients, affected by brain stroke and being admitted in the neurology ward of Kashani and Alzahra hospitals, were randomly assigned to control and study groups in Isfahan in 2013. Roy adaptation model care plan was administered in biological dimension in the form of four sessions and phone call follow-ups for 1 month. The forms related to Roy adaptation model were completed before and after intervention in the two groups. Chi-square test and t-test were used to analyze the data through SPSS 18. There was a significant difference in mean score of adaptation in physiological dimension in the study group after intervention (P < 0.001) compared to before intervention. Comparison of the mean scores of changes of adaptation in the patients affected by brain stroke in the study and control groups showed a significant increase in physiological dimension in the study group by 47.30 after intervention (P < 0.001). The results of study showed that Roy adaptation model biological dimension care plan can result in an increase in adaptation in patients with stroke in physiological dimension. Nurses can use this model for increasing patients' adaptation.

Simplified path integral for supersymmetric quantum mechanics and type-A trace anomalies

NASA Astrophysics Data System (ADS)

Bastianelli, Fiorenzo; Corradini, Olindo; Iacconi, Laura

2018-05-01

Particles in a curved space are classically described by a nonlinear sigma model action that can be quantized through path integrals. The latter require a precise regularization to deal with the derivative interactions arising from the nonlinear kinetic term. Recently, for maximally symmetric spaces, simplified path integrals have been developed: they allow to trade the nonlinear kinetic term with a purely quadratic kinetic term (linear sigma model). This happens at the expense of introducing a suitable effective scalar potential, which contains the information on the curvature of the space. The simplified path integral provides a sensible gain in the efficiency of perturbative calculations. Here we extend the construction to models with N = 1 supersymmetry on the worldline, which are applicable to the first quantized description of a Dirac fermion. As an application we use the simplified worldline path integral to compute the type-A trace anomaly of a Dirac fermion in d dimensions up to d = 16.

Autonomous navigation and control of a Mars rover

NASA Technical Reports Server (NTRS)

Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

1990-01-01

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

The scaup conservation action plan: working toward coherence

USGS Publications Warehouse

Austin, Jane E.

2010-01-01

The last in a series of three workshops to develop a decision framework for the scaup conservation action plan was conducted in September 2009. Fifteen waterfowl biologists and managers met in Memphis, Tennessee at the Ducks Unlimited Headquarters to review and refine the decision statement, objectives, and prototype model for the continental scaup population, with a special focus on vital rate parameters that are affected during migration and winter. In a significant step toward coherence, the participants also developed models for incorporating human dimensions – hunters – into the decision framework, and to link the population of diving duck hunters with the continental scaup population.

A Flexible Toolkit Supporting Knowledge-based Tactical Planning for Ground Forces

DTIC Science & Technology

2011-06-01

assigned to each of the Special Areas to model its temporal behaviour . In Figure 5 an optimal path going over two defined intermediate points is...which area can be reached by an armoured infantry platoon within a given time interval, which path should be taken by a support unit to minimize...al. 2008]. Although trained commanders and staff personnel may achieve very accurate planning results, time consuming procedures are excluded when

A Path Planning and Obstacle Avoidance Hybrid System Using a Connectionist Network

DTIC Science & Technology

1990-06-01

Department lele7 Prfessor of Aerospace Sciences and Mathematical Sciences Houston, Texas June, 1990 Abstract A PATH PLANNING AND OBSTACLE AVOIDANCE HYBRID...See Weiland (1989), Wu (1989), Norwood (1989), Cheatham (1987 & 1989), Adnan (1990), and Regalbuto (1988 & 1990).] Possible applications of this...neuron model’s output can be described mathematically as: Yj(t+ At) =sgn ijXi(t)-O Other non-linearity functions, such as and the sigmoid/ logistics

Robot Path Planning in Uncertain Environments: A Language Measure-theoretic Approach

DTIC Science & Technology

2014-01-01

Paper DS-14-1028 to appear in the Special Issue on Stochastic Models, Control and Algorithms in Robotics, ASME Journal of Dynamic Systems...Measurement and Control Robot Path Planning in Uncertain Environments: A Language Measure-theoretic Approach⋆ Devesh K. Jha† Yue Li† Thomas A. Wettergren‡† Asok...algorithm, called ν⋆, that was formulated in the framework of probabilistic finite state automata (PFSA) and language measure from a control -theoretic

Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators

NASA Astrophysics Data System (ADS)

Islam, Md. Nazrul; Tamura, Shinsuke; Murata, Tomonari; Yanase, Tatsuro

This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.

Optimal path planning for a mobile robot using cuckoo search algorithm

NASA Astrophysics Data System (ADS)

Mohanty, Prases K.; Parhi, Dayal R.

2016-03-01

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

Fundamental differences between glassy dynamics in two and three dimensions

PubMed Central

Flenner, Elijah; Szamel, Grzegorz

2015-01-01

The two-dimensional freezing transition is very different from its three-dimensional counterpart. In contrast, the glass transition is usually assumed to have similar characteristics in two and three dimensions. Using computer simulations, here we show that glassy dynamics in supercooled two- and three-dimensional fluids are fundamentally different. Specifically, transient localization of particles on approaching the glass transition is absent in two dimensions, whereas it is very pronounced in three dimensions. Moreover, the temperature dependence of the relaxation time of orientational correlations is decoupled from that of the translational relaxation time in two dimensions but not in three dimensions. Last, the relationships between the characteristic size of dynamically heterogeneous regions and the relaxation time are very different in two and three dimensions. These results strongly suggest that the glass transition in two dimensions is different than in three dimensions. PMID:26067877

Motion planning for autonomous vehicle based on radial basis function neural network in unstructured environment.

PubMed

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-09-18

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality.

Motion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment

PubMed Central

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-01-01

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality. PMID:25237902

Exploring the Influence of New Technology Planning and Implementation on the Perceptions of New Technology Effectiveness

ERIC Educational Resources Information Center

Bellamy, Al

2007-01-01

This study explored influences that perceptions of new technology implementation and planning processes, and dimensions of organizational climate have on perceptions of new technology deployment effectiveness. It also examined the extent to which dimensions of organizational climate moderates the relationships among new technology implementation,…

IT Workforce: Key Practices Help Ensure Strong Integrated Program Teams; Selected Departments Need to Assess Skill Gaps

DTIC Science & Technology

2016-11-01

personnel, career paths for program managers, plans to strengthen program management, and use of special hiring authorities) Monitor and report...agencies with direct hiring authority for program managers and directed OPM to create a specialized career path. OMB also tasked agencies with...guidance for developing career paths for IT program managers.14 OPM’s career path guide was to build upon its IT Program Management Competency Model

Determination of hydraulic conductivity in three dimensions and its relation to dispersivity: Chapter D in Ground-water contamination by crude oil at the Bemidji, Minnesota, research site; US Geological Survey Toxic Waste--ground-water contamination study

USGS Publications Warehouse

1984-01-01

Recent investigations suggest that dispersion in aquifers is scale dependent and a function of the heterogeneity of aquifer materials. Theoretical stochastic studies indicate that determining hydraulic-conductivity variability in three dimensions is important in analyzing the dispersion process. Even though field methods are available to approximate hydraulic conductivity in three dimensions, the methods are not generally used because of high cost of field equipment and because measurement and analysis techniques are cumbersome and time consuming. The hypothesis of this study is that field-determined values of dispersivity are scale dependent and that they may be described as a function of hydraulic conductivity in three dimensions. The objectives of the study at the Bemidji research site are to (1) determine hydraulic conductivity of the porous media in three dimensions, (2) determine field values of dispersivity and its scale dependence on hydraulic conductivity, and (3) develop and apply a computerized data-collection, storage, and analysis system for field use in comprehensive determination of hydraulic conductivity and dispersivity. Plans for this investigation involve a variety of methods of analysis. Hydraulic conductivity will be determined separately in the horizontal and vertical planes of the hydraulic-conductivity ellipsoid. Field values of dispersivity will be determined by single-well and doublet-well injection or withdrawal tests with tracers. A computerized data-collection, storage, and analysis system to measure pressure, flow rate, tracer concentrations, and temperature will be designed for field testing. Real-time computer programs will be used to analyze field data. The initial methods of analysis will be utilized to meet the objectives of the study. Preliminary field data indicate the aquifer underlying the Bemidji site is vertically heterogeneous, cross-bedded outwash. Preliminary analysis of the flow field around a hypothetical doublet-well tracer test indicates that the location of the wells can affect the field value of dispersivity. Preliminary analysis also indicates that different values of dispersivity may result from anisotropic conditions in tests in which observation wells are located at equal radial distances from either the injection or withdrawal well.

Robot path planning using expert systems and machine vision

NASA Astrophysics Data System (ADS)

Malone, Denis E.; Friedrich, Werner E.

1992-02-01

This paper describes a system developed for the robotic processing of naturally variable products. In order to plan the robot motion path it was necessary to use a sensor system, in this case a machine vision system, to observe the variations occurring in workpieces and interpret this with a knowledge based expert system. The knowledge base was acquired by carrying out an in-depth study of the product using examination procedures not available in the robotic workplace and relates the nature of the required path to the information obtainable from the machine vision system. The practical application of this system to the processing of fish fillets is described and used to illustrate the techniques.

Ancient village fire escape path planning based on improved ant colony algorithm

NASA Astrophysics Data System (ADS)

Xia, Wei; Cao, Kang; Hu, QianChuan

2017-06-01

The roadways are narrow and perplexing in ancient villages, it brings challenges and difficulties for people to choose route to escape when a fire occurs. In this paper, a fire escape path planning method based on ant colony algorithm is presented according to the problem. The factors in the fire environment which influence the escape speed is introduced to improve the heuristic function of the algorithm, optimal transfer strategy, and adjustment pheromone volatile factor to improve pheromone update strategy adaptively, improve its dynamic search ability and search speed. Through simulation, the dynamic adjustment of the optimal escape path is obtained, and the method is proved to be feasible.

Materialism and addictive buying in women: the mediating role of anxiety and depression.

PubMed

Otero-López, José Manuel; Villardefrancos, Estíbaliz

2013-08-01

There is empirical evidence regarding the interrelationships between materialism, negative emotions, and addictive buying. The aim of this study was to clarify the direction of the relationships among these variables. Specifically, the main objective was to explore the possible mediating roles of anxiety and depression in the link between materialism and addictive buying. Path analysis results, using a sample of 685 women, generally supported the suitability of the proposed model in which anxiety and depression mediated the effects of the materialism dimensions, "importance" and "success," on addictive buying, and that depression also mediates the influence of the "importance" and "happiness" dimensions. Moreover, a direct effect of the importance dimension on addictive buying was found.

Chain-Based Communication in Cylindrical Underwater Wireless Sensor Networks

PubMed Central

Javaid, Nadeem; Jafri, Mohsin Raza; Khan, Zahoor Ali; Alrajeh, Nabil; Imran, Muhammad; Vasilakos, Athanasios

2015-01-01

Appropriate network design is very significant for Underwater Wireless Sensor Networks (UWSNs). Application-oriented UWSNs are planned to achieve certain objectives. Therefore, there is always a demand for efficient data routing schemes, which can fulfill certain requirements of application-oriented UWSNs. These networks can be of any shape, i.e., rectangular, cylindrical or square. In this paper, we propose chain-based routing schemes for application-oriented cylindrical networks and also formulate mathematical models to find a global optimum path for data transmission. In the first scheme, we devise four interconnected chains of sensor nodes to perform data communication. In the second scheme, we propose routing scheme in which two chains of sensor nodes are interconnected, whereas in third scheme single-chain based routing is done in cylindrical networks. After finding local optimum paths in separate chains, we find global optimum paths through their interconnection. Moreover, we develop a computational model for the analysis of end-to-end delay. We compare the performance of the above three proposed schemes with that of Power Efficient Gathering System in Sensor Information Systems (PEGASIS) and Congestion adjusted PEGASIS (C-PEGASIS). Simulation results show that our proposed 4-chain based scheme performs better than the other selected schemes in terms of network lifetime, end-to-end delay, path loss, transmission loss, and packet sending rate. PMID:25658394

Liquid level detector

DOEpatents

Tokarz, Richard D.

1982-01-01

A liquid level sensor having a pair of upright conductors spaced by an insulator defining a first high resistance path between the conductors. An electrically conductive path is interposed between the upright conductors at a discrete location at which liquid level is to be measured. It includes a liquid accessible gap of a dimension such that the electrical resistance across the conductor when the gap is filled with the liquid is detectably less than when the gap is emptied. The conductor might also be physically altered by temperature changes to serve also as an indicator of elevated temperature.

Liquid-level detector

DOEpatents

Not Available

1981-01-29

Aliquid level sensor is described which has a pair of upright conductors spaced by an insulator defining a first high resistance path between the conductors. An electrically conductive path is interposed between the upright conductors at a discrete location at which liquid level is to be measured. It includes a liquid accessible gap of a dimension such that the electrical resistance across the conductor when the gap is filled with the liquid is detectably less than when the gap is emptied. The conductor might also be physically altered by temperature changes to serve also as an indicator of elevated temperature.

Developing an Interfaith Trialogue: Creating Multi-Cultural Study Abroad Experiences That Enhance a Community's Understanding and Awareness of the Christian, Jewish, and Muslim Faith Traditions through the Narrative Dimensions of Transformative Learning.

ERIC Educational Resources Information Center

Sanders, Kathryn A.; Morgan, Marilon

In 1998, the Tulsa (Oklahoma) Metropolitan Ministry's Task Force on Religious Understanding, in partnership with the National Conference for Community and Justice, the Jewish Federation of Tulsa, and three local universities, began planning an interfaith study abroad experience in Israel for adult learners within the Christian, Jewish, and Muslim…

Ethics of Cancer Gene Transfer Clinical Research.

PubMed

Kimmelman, Jonathan

2015-01-01

Translation of cancer gene transfer confronts many familiar-and some distinctive-ethical challenges. In what follows, I survey three major ethical dimensions of cancer gene transfer development. Subheading 1 centers on the ethics of planning, designing, and reporting animal studies. Subheading 2 describes basic elements of human subjects protection as pertaining to cancer gene transfer. In Subheading 3, I describe how cancer gene transfer researchers have obligations to downstream consumers of the evidence they produce.

High-speed measurement of an air transect's temperature shift heated by laser beam

NASA Astrophysics Data System (ADS)

Li, WenYu; Jiang, ZongFu; Xi, Fengjie; Li, Qiang; Xie, Wenke

2005-02-01

Laser beam heat the air on the optic path, Beam-deflection optical tomography is a non-intrusive method to measure the 2-dimension temperature distribution in the transect. By means of linear Hartmann Sensor at the rate of 27kHz, the optic path was heated by a 2.7μm HF laser, continuous and high time resolution gradients of optic phase were obtained. the result of analysing and calculation showed the temperament shift in the heated beam path was not higher than 50K when the HF laser power was 9W. The experiment showed that it is a practical non-intrusive temperature shift measurement method for a small area aero-optical medium.

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

Dorum, O.H.; Hoover, A.; Jones, J.P.

This paper addresses some issues in the development of sensor-based systems for mobile robot navigation which use range imaging sensors as the primary source for geometric information about the environment. In particular, we describe a model of scanning laser range cameras which takes into account the properties of the mechanical system responsible for image formation and a calibration procedure which yields improved accuracy over previous models. In addition, we describe an algorithm which takes the limitations of these sensors into account in path planning and path execution. In particular, range imaging sensors are characterized by a limited field of viewmore » and a standoff distance -- a minimum distance nearer than which surfaces cannot be sensed. These limitations can be addressed by enriching the concept of configuration space to include information about what can be sensed from a given configuration, and using this information to guide path planning and path following.« less

Rapid prototyping raw models on the basis of high resolution computed tomography lung data for respiratory flow dynamics.

PubMed

Giesel, Frederik L; Mehndiratta, Amit; von Tengg-Kobligk, Hendrik; Schaeffer, A; Teh, Kevin; Hoffman, E A; Kauczor, Hans-Ulrich; van Beek, E J R; Wild, Jim M

2009-04-01

Three-dimensional image reconstruction by volume rendering and rapid prototyping has made it possible to visualize anatomic structures in three dimensions for interventional planning and academic research. Volumetric chest computed tomography was performed on a healthy volunteer. Computed tomographic images of the larger bronchial branches were segmented by an extended three-dimensional region-growing algorithm, converted into a stereolithography file, and used for computer-aided design on a laser sintering machine. The injection of gases for respiratory flow modeling and measurements using magnetic resonance imaging were done on a hollow cast. Manufacturing the rapid prototype took about 40 minutes and included the airway tree from trackea to segmental bronchi (fifth generation). The branching of the airways are clearly visible in the (3)He images, and the radial imaging has the potential to elucidate the airway dimensions. The results for flow patterns in the human bronchial tree using the rapid-prototype model with hyperpolarized helium-3 magnetic resonance imaging show the value of this model for flow phantom studies.

The use of 3-D sensing techniques for on-line collision-free path planning

NASA Technical Reports Server (NTRS)

Hayward, V.; Aubry, S.; Jasiukajc, Z.

1987-01-01

The state of the art in collision prevention for manipulators with revolute joints, showing that it is a particularly computationally hard problem, is discussed. Based on the analogy with other hard or undecidable problems such as theorem proving, an extensible multi-resolution architecture for path planning, based on a collection of weak methods is proposed. Finally, the role that sensors can play for an on-line use of sensor data is examined.

Comparison of analysis methods for airway quantification

NASA Astrophysics Data System (ADS)

Odry, Benjamin L.; Kiraly, Atilla P.; Novak, Carol L.; Naidich, David P.

2012-03-01

Diseased airways have been known for several years as a possible contributing factor to airflow limitation in Chronic Obstructive Pulmonary Diseases (COPD). Quantification of disease severity through the evaluation of airway dimensions - wall thickness and lumen diameter - has gained increased attention, thanks to the availability of multi-slice computed tomography (CT). Novel approaches have focused on automated methods of measurement as a faster and more objective means that the visual assessment routinely employed in the clinic. Since the Full-Width Half-Maximum (FWHM) method of airway measurement was introduced two decades ago [1], several new techniques for quantifying airways have been detailed in the literature, but no approach has truly become a standard for such analysis. Our own research group has presented two alternative approaches for determining airway dimensions, one involving a minimum path and the other active contours [2, 3]. With an increasing number of techniques dedicated to the same goal, we decided to take a step back and analyze the differences of these methods. We consequently put to the test our two methods of analysis and the FWHM approach. We first measured a set of 5 airways from a phantom of known dimensions. Then we compared measurements from the three methods to those of two independent readers, performed on 35 airways in 5 patients. We elaborate on the differences of each approach and suggest conclusions on which could be defined as the best one.

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.

Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle

PubMed Central

Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

2011-01-01

This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV. PMID:22247660

Multiresolution motion planning for autonomous agents via wavelet-based cell decompositions.

PubMed

Cowlagi, Raghvendra V; Tsiotras, Panagiotis

2012-10-01

We present a path- and motion-planning scheme that is "multiresolution" both in the sense of representing the environment with high accuracy only locally and in the sense of addressing the vehicle kinematic and dynamic constraints only locally. The proposed scheme uses rectangular multiresolution cell decompositions, efficiently generated using the wavelet transform. The wavelet transform is widely used in signal and image processing, with emerging applications in autonomous sensing and perception systems. The proposed motion planner enables the simultaneous use of the wavelet transform in both the perception and in the motion-planning layers of vehicle autonomy, thus potentially reducing online computations. We rigorously prove the completeness of the proposed path-planning scheme, and we provide numerical simulation results to illustrate its efficacy.

Microgravity experiments on a granular gas of elongated grains

NASA Astrophysics Data System (ADS)

Harth, K.; Trittel, T.; Kornek, U.; Höme, S.; Will, K.; Strachauer, U.; Stannarius, R.

2013-06-01

Granular gases represent well-suited systems to investigate statistical granular dynamics. The literature comprises numerous investigations of ensembles of spherical or irregularly shaped grains. Mainly computer models, analytical theories and experiments restricted to two dimensions were reported. In three-dimensions, the gaseous state can only be maintained by strong external excitation, e. g. vibrations or electro-magnetic fields, or in microgravity. A steady state, where the dynamics of a weakly disturbed granular gas are governed by particle-particle collisions, is hard to realize with spherical grains due to clustering. We present the first study of a granular gas of elongated cylinders in three dimensions. The mean free path is considerably reduced with respect to spheres at comparable filling fractions. The particles can be tracked in 3D over a sequence of frames. In a homogeneous steady state, we find non-Gaussian velocity distributions and a lack of equipartition of kinetic energy. We discuss the relations between energy input and vibrating plate accelerations. At the request of the authors and the Proceedings Editors, the PDF file of this article has been updated to amend some references present in the PDF file submitted to AIP Publishing. The references affected are listed here:[1] (c) K. Nichol and K. E. Daniels, Phys. Rev. Lett. 108, 018001 (2012); [11] (e) P. G. de Gennes and J. Prost, The Physics of Liquid Crystals, Clarendon Press, Oxford (1993); [17] (b) K. Harth, et al., Phys. Rev. Lett. 110, 144102 (2013).A LaTeX processing error resulted in changes to the authors reference formatting, which was not detected prior to publication. Due apologies are given to the authors for this oversight. The updated article PDF was published on 12 August 2013.

Comparison of time required for traditional versus virtual orthognathic surgery treatment planning.

PubMed

Wrzosek, M K; Peacock, Z S; Laviv, A; Goldwaser, B R; Ortiz, R; Resnick, C M; Troulis, M J; Kaban, L B

2016-09-01

Virtual surgical planning (VSP) is a tool for predicting complex surgical movements in three dimensions and it may reduce preoperative laboratory time. A prospective study to compare the time required for standard preoperative planning versus VSP was conducted at Massachusetts General Hospital from January 2014 through January 2015. Workflow data for bimaxillary cases planned by both standard techniques and VSP were recorded in real time. Time spent was divided into three parts: (1) obtaining impressions, face-bow mounting, and model preparation; (2) occlusal analysis and modification, model surgery, and splint fabrication; (3) online VSP session. Average times were compared between standard treatment planning (sum of parts 1 and 2) and VSP (sum of parts 1 and 3). Of 41 bimaxillary cases included, 20 were simple (symmetric) and 21 were complex (asymmetry and segmental osteotomies). Average times for parts 1, 2, and 3 were 4.43, 3.01, and 0.67h, respectively. The average time required for standard treatment planning was 7.45h and for VSP was 5.10h, a 31% time reduction (P<0.001). By eliminating all or some components of part 1, time savings may increase to as much as 91%. This study indicates that in an academic setting, VSP reduces the time required for treatment planning of bimaxillary orthognathic surgery cases. Copyright © 2016 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

Safety climate and the theory of planned behavior: towards the prediction of unsafe behavior.

PubMed

Fogarty, Gerard J; Shaw, Andrew

2010-09-01

The present study is concerned with the human factors that contribute to violations in aviation maintenance. Much of our previous research in this area has been based on safety climate surveys and the analysis of relations among core dimensions of climate. In this study, we tap into mainstream psychological theory to help clarify the mechanisms underlying the links between climate and behavior. Specifically, we demonstrate the usefulness of Ajzen's (1991, 2001) Theory of Planned Behavior (TPB) to understanding violation behaviors in aircraft maintenance. A questionnaire was administered to 307 aircraft maintenance workers. Constructs measured by the survey included perceptions of management attitudes to safety, own attitudes to violations, intention to violate, group norms, workplace pressures, and violations. A model based on the TPB illustrated hypothetical connections among these variables. Path analyses using AMOS suggested some theoretically justifiable modifications to the model. Fit statistics of the revised model were excellent with intentions, group norms, and personal attitudes combining to explain 50% of the variance in self-reported violations. The model highlighted the importance of management attitudes and group norms as direct and indirect predictors of violation behavior. We conclude that the TPB is a useful tool for understanding the psychological background to the procedural violations so often associated with incidents and accidents. 2009 Elsevier Ltd. All rights reserved.

Incorporating target registration error into robotic bone milling

NASA Astrophysics Data System (ADS)

Siebold, Michael A.; Dillon, Neal P.; Webster, Robert J.; Fitzpatrick, J. Michael

2015-03-01

Robots have been shown to be useful in assisting surgeons in a variety of bone drilling and milling procedures. Examples include commercial systems for joint repair or replacement surgeries, with in vitro feasibility recently shown for mastoidectomy. Typically, the robot is guided along a path planned on a CT image that has been registered to the physical anatomy in the operating room, which is in turn registered to the robot. The registrations often take advantage of the high accuracy of fiducial registration, but, because no real-world registration is perfect, the drill guided by the robot will inevitably deviate from its planned path. The extent of the deviation can vary from point to point along the path because of the spatial variation of target registration error. The allowable deviation can also vary spatially based on the necessary safety margin between the drill tip and various nearby anatomical structures along the path. Knowledge of the expected spatial distribution of registration error can be obtained from theoretical models or experimental measurements and used to modify the planned path. The objective of such modifications is to achieve desired probabilities for sparing specified structures. This approach has previously been studied for drilling straight holes but has not yet been generalized to milling procedures, such as mastoidectomy, in which cavities of more general shapes must be created. In this work, we present a general method for altering any path to achieve specified probabilities for any spatial arrangement of structures to be protected. We validate the method via numerical simulations in the context of mastoidectomy.

The eye of the storm: Balancing my storm of family, career and self

NASA Astrophysics Data System (ADS)

Horton, K. Renee

2008-03-01

In knowing that the path I travel is not the usual path traveled by most; this has turned out to be the best path for me and my family. It is very important to prioritize what is important to you and then define the best path for you versus choosing a path and the path chooses your prioritizes. Coming from a loving and supportive middle class upbringing created a deep sense of family and the importance of family. Early in my life I was determined to have children and a career. Over the last ten years there have been several obstacles to overcome in my storm, but with careful planning, due diligence, and a support system to help maintain calm at the center of my storm I have been able to achieve my goals of pursuing my Doctorate. A complete research plan was put into place into choosing the institution that I would further my academic endeavors in the same manner in which my dissertation research topic has been defined. Just as any successful business, all persons involved in my future success were consulted with equal input into the new endeavor with the full understanding of what this new plan entailed. We decided on the University of Alabama for several reasons: location, weather, flexibility, policies, research and my ability to make a change in the face of science. According to my advisor, I will do that in about two and half years at my graduation ceremony when I become the first African American to receive a PhD in Material Science from the University of Alabama.

Incorporating Target Registration Error Into Robotic Bone Milling

PubMed Central

Siebold, Michael A.; Dillon, Neal P.; Webster, Robert J.; Fitzpatrick, J. Michael

2015-01-01

Robots have been shown to be useful in assisting surgeons in a variety of bone drilling and milling procedures. Examples include commercial systems for joint repair or replacement surgeries, with in vitro feasibility recently shown for mastoidectomy. Typically, the robot is guided along a path planned on a CT image that has been registered to the physical anatomy in the operating room, which is in turn registered to the robot. The registrations often take advantage of the high accuracy of fiducial registration, but, because no real-world registration is perfect, the drill guided by the robot will inevitably deviate from its planned path. The extent of the deviation can vary from point to point along the path because of the spatial variation of target registration error. The allowable deviation can also vary spatially based on the necessary safety margin between the drill tip and various nearby anatomical structures along the path. Knowledge of the expected spatial distribution of registration error can be obtained from theoretical models or experimental measurements and used to modify the planned path. The objective of such modifications is to achieve desired probabilities for sparing specified structures. This approach has previously been studied for drilling straight holes but has not yet been generalized to milling procedures, such as mastoidectomy, in which cavities of more general shapes must be created. In this work, we present a general method for altering any path to achieve specified probabilities for any spatial arrangement of structures to be protected. We validate the method via numerical simulations in the context of mastoidectomy. PMID:26692630

Balance failure in single limb stance due to ankle sprain injury: an analysis of center of pressure using the fractal dimension method.

PubMed

Doherty, Cailbhe; Bleakley, Chris; Hertel, Jay; Caulfield, Brian; Ryan, John; Delahunt, Eamonn

2014-01-01

Instrumented postural control analysis plays an important role in evaluating the effects of injury on dynamic stability during balance tasks, and is often conveyed with measures based on the displacement of the center-of-pressure (COP) assessed with a force platform. However, the desired outcome of the task is frequently characterized by a loss of dynamic stability, secondary to injury. Typically, these failed trials are discarded during research investigations, with the potential loss of informative data pertaining to task success. The novelty of the present study is that COP characteristics of failed trials in injured participants are compared to successful trial data in another injured group, and a control group of participants, using the fractal dimension (FD) method. Three groups of participants attempted a task of eyes closed single limb stance (SLS): twenty-nine participants with acute ankle sprain successfully completed the task on their non-injured limb (successful injury group); twenty eight participants with acute ankle sprain failed their attempt on their injured limb (failed injury group); sixteen participants with no current injury successfully completed the task on their non-dominant limb (successful non-injured group). Between trial analyses of these groups revealed significant differences in COP trajectory FD (successful injury group: 1.58±0.06; failed injury group: 1.54±0.07; successful non-injured group: 1.64±0.06) with a large effect size (0.27). These findings demonstrate that successful eyes-closed SLS is characterized by a larger FD of the COP path when compared to failed trials, and that injury causes a decrease in COP path FD. Copyright © 2014 Elsevier B.V. All rights reserved.

Route planning in a four-dimensional environment

NASA Technical Reports Server (NTRS)

Slack, M. G.; Miller, D. P.

1987-01-01

Robots must be able to function in the real world. The real world involves processes and agents that move independently of the actions of the robot, sometimes in an unpredictable manner. A real-time integrated route planning and spatial representation system for planning routes through dynamic domains is presented. The system will find the safest most efficient route through space-time as described by a set of user defined evaluation functions. Because the route planning algorthims is highly parallel and can run on an SIMD machine in O(p) time (p is the length of a path), the system will find real-time paths through unpredictable domains when used in an incremental mode. Spatial representation, an SIMD algorithm for route planning in a dynamic domain, and results from an implementation on a traditional computer architecture are discussed.

Predicting healthy and unhealthy behaviors through physical education: A self-determination theory-based longitudinal approach.

PubMed

Ferriz, R; González-Cutre, D; Sicilia, Á; Hagger, M S

2016-05-01

The aim of this study was to evaluate the relations between three dimensions of the structured teaching environment (promotion of theoretical knowledge, physical learning, and health improvement) in physical education (PE) and the adoption of health-related behaviors by students. The study adopted a two-occasion longitudinal design based on self-determination theory (SDT). PE students (N = 654, mean age = 16.13, SD = .77) completed measures of perceived structured teaching environment, satisfaction of basic psychological needs and motivation for PE, and healthy (physical activity, sport participation, and healthy eating) and unhealthy (consumption of tobacco, alcohol, and drugs) behaviors at the beginning and end of the first year of post-compulsory secondary education. Path analysis of the proposed relations among variables supported SDT tenets and showed positive relations between the three dimensions of the structured teaching environment, the satisfaction of basic psychological needs, and autonomous motivation in PE. Autonomous motivation contributed to an explanation of variance in two healthy behaviors, physical activity and sport participation. However, no relation was found among motivation in PE, healthy eating, and consumption of tobacco, alcohol, and drugs. These results show negligible trans-contextual influence of SDT motivational factors in PE on other healthy behaviors beyond physical activity. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Strategic planning processes and hospital financial performance.

PubMed

Kaissi, Amer A; Begun, James W

2008-01-01

Many common management practices in healthcare organizations, including the practice of strategic planning, have not been subject to widespread assessment through empirical research. If management practice is to be evidence-based, evaluations of such common practices need to be undertaken. The purpose of this research is to provide evidence on the extent of strategic planning practices and the association between hospital strategic planning processes and financial performance. In 2006, we surveyed a sample of 138 chief executive officers (CEOs) of hospitals in the state of Texas about strategic planning in their organizations and collected financial information on the hospitals for 2003. Among the sample hospitals, 87 percent reported having a strategic plan, and most reported that they followed a variety of common practices recommended for strategic planning-having a comprehensive plan, involving physicians, involving the board, and implementing the plan. About one-half of the hospitals assigned responsibility for the plan to the CEO. We tested the association between these planning characteristics in 2006 and two measures of financial performance for 2003. Three dimensions of the strategic planning process--having a strategic plan, assigning the CEO responsibility for the plan, and involving the board--are positively associated with earlier financial performance. Further longitudinal studies are needed to evaluate the cause-and-effect relationship between planning and performance.

Introduction of a computer-based method for automated planning of reduction paths under consideration of simulated muscular forces.

PubMed

Buschbaum, Jan; Fremd, Rainer; Pohlemann, Tim; Kristen, Alexander

2017-08-01

Reduction is a crucial step in the surgical treatment of bone fractures. Finding an optimal path for restoring anatomical alignment is considered technically demanding because collisions as well as high forces caused by surrounding soft tissues can avoid desired reduction movements. The repetition of reduction movements leads to a trial-and-error process which causes a prolonged duration of surgery. By planning an appropriate reduction path-an optimal sequence of target-directed movements-these problems should be overcome. For this purpose, a computer-based method has been developed. Using the example of simple femoral shaft fractures, 3D models are generated out of CT images. A reposition algorithm aligns both fragments by reconstructing their broken edges. According to the criteria of a deduced planning strategy, a modified A*-algorithm searches collision-free route of minimal force from the dislocated into the computed target position. Muscular forces are considered using a musculoskeletal reduction model (OpenSim model), and bone collisions are detected by an appropriate method. Five femoral SYNBONE models were broken into different fracture classification types and were automatically reduced from ten randomly selected displaced positions. Highest mean translational and rotational error for achieving target alignment is [Formula: see text] and [Formula: see text]. Mean value and standard deviation of occurring forces are [Formula: see text] for M. tensor fasciae latae and [Formula: see text] for M. semitendinosus over all trials. These pathways are precise, collision-free, required forces are minimized, and thus regarded as optimal paths. A novel method for planning reduction paths under consideration of collisions and muscular forces is introduced. The results deliver additional knowledge for an appropriate tactical reduction procedure and can provide a basis for further navigated or robotic-assisted developments.

Conceptualizing and Exemplifying Science Teachers' Assessment Expertise

NASA Astrophysics Data System (ADS)

Geaney Lyon, Edward

2013-05-01

Although research in science education has led to new assessment forms and functions, the reality is that little work has been done to unpack and capture what it means for a teacher to develop expertise at assessing science. The purpose of this paper is two-fold. First, I suggest a conceptualization of assessment expertise that is organized around three dimensions: (a) designing aligned and theoretically cohesive assessment (Design), (b) using assessment to support students' science learning (Use), and (c) equitably assessing language minorities (Equity). The second purpose is to suggest and exemplify various levels of teaching expertise across the three conceptual dimensions using written assessment plans gathered from a study on secondary science pre-service teachers' assessment growth. The contribution of this paper lies in its further conceptual development of assessment expertise, instantiated in a rubric, which can spark discussion about how to capture the range of assessment practices that might be found in science classrooms as well as move toward a potential learning progression of assessment expertise.

An industrial robot singular trajectories planning based on graphs and neural networks

NASA Astrophysics Data System (ADS)

Łęgowski, Adrian; Niezabitowski, Michał

2016-06-01

Singular trajectories are rarely used because of issues during realization. A method of planning trajectories for given set of points in task space with use of graphs and neural networks is presented. In every desired point the inverse kinematics problem is solved in order to derive all possible solutions. A graph of solutions is made. The shortest path is determined to define required nodes in joint space. Neural networks are used to define the path between these nodes.

Planning Minimum-Energy Paths in an Off-Road Environment with Anisotropic Traversal Costs and Motion Constraints

DTIC Science & Technology

1989-06-01

problems, and (3) weighted-region problems. Since the minimum-energy path-planning problem addressed in this dissertation is a hybrid between the two...contains components that are strictly vehicle dependent, components that are strictly terrain dependent, and components representing a hybrid of...Single Segment Braking/Multiple Segment Hybrid Using Eq. (3.46), the traversal cost U 1,.-1 can be rewritten as Uop- 1 = mgD Itan01 , (4.12a) and the

Vervet monkey (Chlorocebus pygerythrus) behavior in a multi-destination route: Evidence for planning ahead when heuristics fail.

PubMed

Teichroeb, Julie Annette; Smeltzer, Eve Ann

2018-01-01

Animal paths are analogous to intractable mathematical problems like the Traveling Salesman Problem (TSP) and the shortest path problem (SPP). Both the TSP and SPP require an individual to find the shortest path through multiple targets but the TSP demands a return to the start, while the SPP does not. Vervet monkeys are very efficient in solving TSPs but this species is a multiple central place forager that does not always return to the same sleeping site and thus theoretically should be selected to find solutions to SPPs rather than TSPs. We examined path choice by wild vervets in an SPP experimental array where the shortest paths usually differed from those consistent with common heuristic strategies, the nearest-neighbor rule (NNR-go to the closest resource that has not been visited), and the convex hull (put a mental loop around sites, adding inner targets in order of distance from the edge)-an efficient strategy for TSPs but not SPPs. In addition, humans solving SPPs use an initial segment strategy (ISS-choose the straightest path at the beginning, only turning when necessary) and we looked at vervet paths consistent with this strategy. In 615 trials by single foragers, paths usually conformed to the NNR and rarely the slightly more efficient convex hull, supporting that vervets may be selected to solve SPPs. Further, like humans solving SPPs, vervets showed a tendency to use the ISS. Paths consistent with heuristics dropped off sharply, and use of the shortest path increased, when heuristics led to longer paths showing trade-offs in efficiency versus cognitive load. Two individuals out of 17, found the shortest path most often, showing inter-individual variation in path planning. Given support for the NNR and the ISS, we propose a new rule-of-thumb termed the "region heuristic" that vervets may apply in multi-destination routes.

Vervet monkey (Chlorocebus pygerythrus) behavior in a multi-destination route: Evidence for planning ahead when heuristics fail

PubMed Central

Smeltzer, Eve Ann

2018-01-01

Animal paths are analogous to intractable mathematical problems like the Traveling Salesman Problem (TSP) and the shortest path problem (SPP). Both the TSP and SPP require an individual to find the shortest path through multiple targets but the TSP demands a return to the start, while the SPP does not. Vervet monkeys are very efficient in solving TSPs but this species is a multiple central place forager that does not always return to the same sleeping site and thus theoretically should be selected to find solutions to SPPs rather than TSPs. We examined path choice by wild vervets in an SPP experimental array where the shortest paths usually differed from those consistent with common heuristic strategies, the nearest-neighbor rule (NNR–go to the closest resource that has not been visited), and the convex hull (put a mental loop around sites, adding inner targets in order of distance from the edge)–an efficient strategy for TSPs but not SPPs. In addition, humans solving SPPs use an initial segment strategy (ISS–choose the straightest path at the beginning, only turning when necessary) and we looked at vervet paths consistent with this strategy. In 615 trials by single foragers, paths usually conformed to the NNR and rarely the slightly more efficient convex hull, supporting that vervets may be selected to solve SPPs. Further, like humans solving SPPs, vervets showed a tendency to use the ISS. Paths consistent with heuristics dropped off sharply, and use of the shortest path increased, when heuristics led to longer paths showing trade-offs in efficiency versus cognitive load. Two individuals out of 17, found the shortest path most often, showing inter-individual variation in path planning. Given support for the NNR and the ISS, we propose a new rule-of-thumb termed the “region heuristic” that vervets may apply in multi-destination routes. PMID:29813105

Simultaneous determination of sample thickness, tilt, and electron mean free path using tomographic tilt images based on Beer-Lambert law

PubMed Central

Yan, Rui; Edwards, Thomas J.; Pankratz, Logan M.; Kuhn, Richard J.; Lanman, Jason K.; Liu, Jun; Jiang, Wen

2015-01-01

Cryo-electron tomography (cryo-ET) is an emerging technique that can elucidate the architecture of macromolecular complexes and cellular ultrastructure in a near-native state. Some important sample parameters, such as thickness and tilt, are needed for 3-D reconstruction. However, these parameters can currently only be determined using trial 3-D reconstructions. Accurate electron mean free path plays a significant role in modeling image formation process essential for simulation of electron microscopy images and model-based iterative 3-D reconstruction methods; however, their values are voltage and sample dependent and have only been experimentally measured for a limited number of sample conditions. Here, we report a computational method, tomoThickness, based on the Beer-Lambert law, to simultaneously determine the sample thickness, tilt and electron inelastic mean free path by solving an overdetermined nonlinear least square optimization problem utilizing the strong constraints of tilt relationships. The method has been extensively tested with both stained and cryo datasets. The fitted electron mean free paths are consistent with reported experimental measurements. The accurate thickness estimation eliminates the need for a generous assignment of Z-dimension size of the tomogram. Interestingly, we have also found that nearly all samples are a few degrees tilted relative to the electron beam. Compensation of the intrinsic sample tilt can result in horizontal structure and reduced Z-dimension of tomograms. Our fast, pre-reconstruction method can thus provide important sample parameters that can help improve performance of tomographic reconstruction of a wide range of samples. PMID:26433027

Simultaneous determination of sample thickness, tilt, and electron mean free path using tomographic tilt images based on Beer-Lambert law.

PubMed

Yan, Rui; Edwards, Thomas J; Pankratz, Logan M; Kuhn, Richard J; Lanman, Jason K; Liu, Jun; Jiang, Wen

2015-11-01

Cryo-electron tomography (cryo-ET) is an emerging technique that can elucidate the architecture of macromolecular complexes and cellular ultrastructure in a near-native state. Some important sample parameters, such as thickness and tilt, are needed for 3-D reconstruction. However, these parameters can currently only be determined using trial 3-D reconstructions. Accurate electron mean free path plays a significant role in modeling image formation process essential for simulation of electron microscopy images and model-based iterative 3-D reconstruction methods; however, their values are voltage and sample dependent and have only been experimentally measured for a limited number of sample conditions. Here, we report a computational method, tomoThickness, based on the Beer-Lambert law, to simultaneously determine the sample thickness, tilt and electron inelastic mean free path by solving an overdetermined nonlinear least square optimization problem utilizing the strong constraints of tilt relationships. The method has been extensively tested with both stained and cryo datasets. The fitted electron mean free paths are consistent with reported experimental measurements. The accurate thickness estimation eliminates the need for a generous assignment of Z-dimension size of the tomogram. Interestingly, we have also found that nearly all samples are a few degrees tilted relative to the electron beam. Compensation of the intrinsic sample tilt can result in horizontal structure and reduced Z-dimension of tomograms. Our fast, pre-reconstruction method can thus provide important sample parameters that can help improve performance of tomographic reconstruction of a wide range of samples. Copyright © 2015 Elsevier Inc. All rights reserved.

Dissociable Modulation of Overt Visual Attention in Valence and Arousal Revealed by Topology of Scan Path

PubMed Central

Ni, Jianguang; Jiang, Huihui; Jin, Yixiang; Chen, Nanhui; Wang, Jianhong; Wang, Zhengbo; Luo, Yuejia; Ma, Yuanye; Hu, Xintian

2011-01-01

Emotional stimuli have evolutionary significance for the survival of organisms; therefore, they are attention-grabbing and are processed preferentially. The neural underpinnings of two principle emotional dimensions in affective space, valence (degree of pleasantness) and arousal (intensity of evoked emotion), have been shown to be dissociable in the olfactory, gustatory and memory systems. However, the separable roles of valence and arousal in scene perception are poorly understood. In this study, we asked how these two emotional dimensions modulate overt visual attention. Twenty-two healthy volunteers freely viewed images from the International Affective Picture System (IAPS) that were graded for affective levels of valence and arousal (high, medium, and low). Subjects' heads were immobilized and eye movements were recorded by camera to track overt shifts of visual attention. Algebraic graph-based approaches were introduced to model scan paths as weighted undirected path graphs, generating global topology metrics that characterize the algebraic connectivity of scan paths. Our data suggest that human subjects show different scanning patterns to stimuli with different affective ratings. Valence salient stimuli (with neutral arousal) elicited faster and larger shifts of attention, while arousal salient stimuli (with neutral valence) elicited local scanning, dense attention allocation and deep processing. Furthermore, our model revealed that the modulatory effect of valence was linearly related to the valence level, whereas the relation between the modulatory effect and the level of arousal was nonlinear. Hence, visual attention seems to be modulated by mechanisms that are separate for valence and arousal. PMID:21494331

Religion and spirituality along the suicidal path.

PubMed

Colucci, Erminia; Martin, Graham

2008-04-01

The inner experience of spiritual and religious feelings is an integral part of the everyday lives of many individuals. For over 100 years the role of religion as a deterrent to suicidal behavior has been studied in various disciplines. We attempt to systematize the existing literature investigating the relationship between religion/spirituality and suicide in this paper. After an overview of the attitudes of the dominant religions (e.g., Catholicism, Islam, and Buddhism) toward suicide, the three main theories that have speculated regarding the link between religion and suicide are presented: "integration theory" (Durkheim, 1897/1997), "religious commitment theory" (Stack, 1983a; Stark, 1983), and "network theory" (Pescosolido & Georgianna, 1989). Subsequent to this theoretical introduction, we report on studies on religion/spirituality keeping the suicidal path as a reference: from suicidal ideation to nonlethal suicidal behavior to lethal suicidal behavior. Studies presenting indications of religious beliefs as a possible risk factor for suicidal behavior are also presented. The last section reviews possible intervention strategies for suicidal patients and suicide survivors. Indications for future research, such as more studies on nonreligious forms of spirituality and the use of qualitative methodology to achieve a better and deeper understanding of the spiritual dimension of suicidal behavior and treatment, are offered.

Collision avoidance in commercial aircraft Free Flight via neural networks and non-linear programming.

PubMed

Christodoulou, Manolis A; Kontogeorgou, Chrysa

2008-10-01

In recent years there has been a great effort to convert the existing Air Traffic Control system into a novel system known as Free Flight. Free Flight is based on the concept that increasing international airspace capacity will grant more freedom to individual pilots during the enroute flight phase, thereby giving them the opportunity to alter flight paths in real time. Under the current system, pilots must request, then receive permission from air traffic controllers to alter flight paths. Understandably the new system allows pilots to gain the upper hand in air traffic. At the same time, however, this freedom increase pilot responsibility. Pilots face a new challenge in avoiding the traffic shares congested air space. In order to ensure safety, an accurate system, able to predict and prevent conflict among aircraft is essential. There are certain flight maneuvers that exist in order to prevent flight disturbances or collision and these are graded in the following categories: vertical, lateral and airspeed. This work focuses on airspeed maneuvers and tries to introduce a new idea for the control of Free Flight, in three dimensions, using neural networks trained with examples prepared through non-linear programming.

Polymer-based platform for microfluidic systems

DOEpatents

Benett, William [Livermore, CA; Krulevitch, Peter [Pleasanton, CA; Maghribi, Mariam [Livermore, CA; Hamilton, Julie [Tracy, CA; Rose, Klint [Boston, MA; Wang, Amy W [Oakland, CA

2009-10-13

A method of forming a polymer-based microfluidic system platform using network building blocks selected from a set of interconnectable network building blocks, such as wire, pins, blocks, and interconnects. The selected building blocks are interconnectably assembled and fixedly positioned in precise positions in a mold cavity of a mold frame to construct a three-dimensional model construction of a microfluidic flow path network preferably having meso-scale dimensions. A hardenable liquid, such as poly (dimethylsiloxane) is then introduced into the mold cavity and hardened to form a platform structure as well as to mold the microfluidic flow path network having channels, reservoirs and ports. Pre-fabricated elbows, T's and other joints are used to interconnect various building block elements together. After hardening the liquid the building blocks are removed from the platform structure to make available the channels, cavities and ports within the platform structure. Microdevices may be embedded within the cast polymer-based platform, or bonded to the platform structure subsequent to molding, to create an integrated microfluidic system. In this manner, the new microfluidic platform is versatile and capable of quickly generating prototype systems, and could easily be adapted to a manufacturing setting.

Intersectoral planning for city health development.

PubMed

Green, Geoff

2012-04-01

The article reviews the evolution and process of city health development planning (CHDP) in municipalities participating in the European Network of Healthy Cities organized by the European Region of the World Health Organization. The concept of CHDP combines elements from three theoretical domains: (a) health development, (b) city governance, and (c) urban planning. The setting was the 77 cities which participated in Phase IV (2003-2008) of the network. Evidence was gathered principally from a general evaluation questionnaire sent to all network cities. CHDPs are strategic documents giving direction to municipalities and partner agencies. Analysis revealed a trend away from "classic" CHDPs with a primary focus on health development towards ensuring a health dimension to other sector plans, and into the overarching strategies of city governments. Linked to the Phase IV priority themes of Healthy aging and healthy urban planning, cities further developed the concept and application of human-centered sustainability. More work is required to utilize cost-benefit analysis and health impact assessment to unmask the synergies between health and economic prosperity.

[Sustainability focus in the health plans of the autonomous communities: sustainable development as an opportunity].

PubMed

Moyano-Santiago, Miguel A; Rivera-Lirio, Juana M

2016-01-01

To determine the degree to which the health plans of the autonomous communities focus on the usual three dimensions of sustainability: economic, social and environmental, both in the general level of discourse and in the different areas of intervention. A qualitative study was conducted through content analysis of a large sample of documents. The specific methodology was analysis of symbolic and operational sensitivity in a sample of eleven health plans of the Spanish state. Social aspects, such as social determinants or vulnerable groups, are receiving increasing attention from the health planner, although there is room to strengthen attention to environmental issues and to provide specific interventions in economic terms. The analysis demonstrates the incipient state of health plans as strategic planning documents that integrate economic, social and environmental aspects and contribute to the sustainability of the different health systems of the country. Copyright © 2016 SESPAS. Published by Elsevier Espana. All rights reserved.

Assessment of Barriers to Essential Surgical Care in Two Communities in the Upper West Region, Ghana.

PubMed

Gyedu, Adam; Boakye, Godfred; Dally, Charles K; Agbeko, Anita Eseenam; Abantanga, Francis A; Kushner, Adam L; Stewart, Barclay T

2017-01-01

Systematic assessments of individual-and community-level barriers to surgical care (BSC) in low-and middle-income countries that might inform potential interventions are lacking. We used a novel tool to assess BSC systematically during a surgical outreach in two communities in Upper West region, Ghana. Results were scored in three dimensions of barriers to care (acceptability, affordability, and accessibility); higher dimension scores signified less salient barriers. A total index out of 10 was derived. In total, 169 individuals participated in Nadowli (68, 40%) and in Nandom (101, 60%). Nadowli had fewer BSC than Nandom (median index 7.8 vs 7.2; p < .001). Dimension scores ranged from 10.8 to 14.5 out of 18 points. Fear or mistrust of surgical care and stigma were reported more frequently in Nandom (p < .001). Reported barriers were not always the same in each community. Systematically defining barriers to essential surgical care provides an opportunity for planning targeted interventions at the community-level.

Do Workplace Literacy Programs Promote High Skills or Low Wages? Suggestions for Future Evaluations of Workplace Literacy Programs.

ERIC Educational Resources Information Center

Sarmiento, Tony

Workplace literacy programs can support the path toward either low wages or high skills. Instead of the "high skill" path, most U.S. companies follow the "low wage" path. Depending on who is involved, which program goals are selected, and what planning process is followed, a workplace literacy program can maintain outdated workplaces or foster…

Air Vehicle Path Planning

DTIC Science & Technology

2001-12-13

6-18 6.13. Apollonius Circle for the Case of Two Unequal Power Radars . . . 6-20 6.14. Solution Triangle...Voronoi edge is an Apollonius circle [32, 19]. In this section, we are concerned with the optimality of the Voronoi path for the two radar exposure...Comparison of Cost vs. Path Length for Constrained Trajectories Around and Between Two Radars 6-18 from the two radars is an Apollonius circle

Mid-L/D Lifting Body Entry Demise Analysis

NASA Technical Reports Server (NTRS)

Ling, Lisa

2017-01-01

The mid-lift-to-drag ratio (mid-L/D) lifting body is a fully autonomous spacecraft under design at NASA for enabling a rapid return of scientific payloads from the International Space Station (ISS). For contingency planning and risk assessment for the Earth-return trajectory, an entry demise analysis was performed to examine three potential failure scenarios: (1) nominal entry interface conditions with loss of control, (2) controlled entry at maximum flight path angle, and (3) controlled entry at minimum flight path angle. The objectives of the analysis were to predict the spacecraft breakup sequence and timeline, determine debris survival, and calculate the debris dispersion footprint. Sensitivity analysis was also performed to determine the effect of the initial pitch rate on the spacecraft stability and breakup during the entry. This report describes the mid-L/D lifting body and presents the results of the entry demise and sensitivity analyses.

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

NASA Technical Reports Server (NTRS)

Birge, Brian

2013-01-01

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

Habitat mosaics and path analysis can improve biological conservation of aquatic biodiversity in ecosystems with low-head dams

USGS Publications Warehouse

Hitchman, Sean M.; Mather, Martha E.; Smith, Joseph M.; Fencl, Jane S.

2018-01-01

Conserving native biodiversity depends on restoring functional habitats in the face of human-induced disturbances. Low-head dams are a ubiquitous human impact that degrades aquatic ecosystems worldwide. To improve our understanding of how low-head dams impact habitat and associated biodiversity, our research examined complex interactions among three spheres of the total environment. i.e., how low-head dams (anthroposphere) affect aquatic habitat (hydrosphere), and native biodiversity (biosphere) in streams and rivers. Creation of lake-like habitats upstream of low-head dams is a well-documented major impact of dams. Alterations downstream of low head dams also have important consequences, but these downstream dam effects are more challenging to detect. In a multidisciplinary field study at five dammed and five undammed sites within the Neosho River basin, KS, we tested hypotheses about two types of habitat sampling (transect and mosaic) and two types of statistical analyses (analysis of covariance and path analysis). We used fish as our example of biodiversity alteration. Our research provided three insights that can aid environmental professionals who seek to conserve and restore fish biodiversity in aquatic ecosystems threatened by human modifications. First, a mosaic approach identified habitat alterations below low-head dams (e.g. increased proportion of riffles) that were not detected using the more commonly-used transect sampling approach. Second, the habitat mosaic approach illustrated how low-head dams reduced natural variation in stream habitat. Third, path analysis, a statistical approach that tests indirect effects, showed how dams, habitat, and fish biodiversity interact. Specifically, path analysis revealed that low-head dams increased the proportion of riffle habitat below dams, and, as a result, indirectly increased fish species richness. Furthermore, the pool habitat that was created above low-head dams dramatically decreased fish species richness. As we show here, mosaic habitat sampling and path analysis can help conservation practitioners improve science-based management plans for disturbed aquatic systems worldwide.

Habitat mosaics and path analysis can improve biological conservation of aquatic biodiversity in ecosystems with low-head dams.

PubMed

Hitchman, Sean M; Mather, Martha E; Smith, Joseph M; Fencl, Jane S

2018-04-01

Conserving native biodiversity depends on restoring functional habitats in the face of human-induced disturbances. Low-head dams are a ubiquitous human impact that degrades aquatic ecosystems worldwide. To improve our understanding of how low-head dams impact habitat and associated biodiversity, our research examined complex interactions among three spheres of the total environment. i.e., how low-head dams (anthroposphere) affect aquatic habitat (hydrosphere), and native biodiversity (biosphere) in streams and rivers. Creation of lake-like habitats upstream of low-head dams is a well-documented major impact of dams. Alterations downstream of low head dams also have important consequences, but these downstream dam effects are more challenging to detect. In a multidisciplinary field study at five dammed and five undammed sites within the Neosho River basin, KS, we tested hypotheses about two types of habitat sampling (transect and mosaic) and two types of statistical analyses (analysis of covariance and path analysis). We used fish as our example of biodiversity alteration. Our research provided three insights that can aid environmental professionals who seek to conserve and restore fish biodiversity in aquatic ecosystems threatened by human modifications. First, a mosaic approach identified habitat alterations below low-head dams (e.g. increased proportion of riffles) that were not detected using the more commonly-used transect sampling approach. Second, the habitat mosaic approach illustrated how low-head dams reduced natural variation in stream habitat. Third, path analysis, a statistical approach that tests indirect effects, showed how dams, habitat, and fish biodiversity interact. Specifically, path analysis revealed that low-head dams increased the proportion of riffle habitat below dams, and, as a result, indirectly increased fish species richness. Furthermore, the pool habitat that was created above low-head dams dramatically decreased fish species richness. As we show here, mosaic habitat sampling and path analysis can help conservation practitioners improve science-based management plans for disturbed aquatic systems worldwide. Copyright © 2017 Elsevier B.V. All rights reserved.

A computer-guided bone block harvesting procedure: a proof-of-principle case report and technical notes.

PubMed

De Stavola, Luca; Fincato, Andrea; Albiero, Alberto Maria

2015-01-01

During autogenous mandibular bone harvesting, there is a risk of damage to anatomical structures, as the surgeon has no three-dimensional control of the osteotomy planes. The aim of this proof-of-principle case report is to describe a procedure for harvesting a mandibular bone block that applies a computer-guided surgery concept. A partially dentate patient who presented with two vertical defects (one in the maxilla and one in the mandible) was selected for an autogenous mandibular bone block graft. The bone block was planned using a computer-aided design process, with ideal bone osteotomy planes defined beforehand to prevent damage to anatomical structures (nerves, dental roots, etc) and to generate a surgical guide, which defined the working directions in three dimensions for the bone-cutting instrument. Bone block dimensions were planned so that both defects could be repaired. The projected bone block was 37.5 mm in length, 10 mm in height, and 5.7 mm in thickness, and it was grafted in two vertical bone augmentations: an 8 × 21-mm mandibular defect and a 6.5 × 18-mm defect in the maxilla. Supraimposition of the preoperative and postoperative computed tomographic images revealed a procedure accuracy of 0.25 mm. This computer-guided bone harvesting technique enables clinicians to obtain sufficient autogenous bone to manage multiple defects safely.

Radar research on thunderstorms and lightning

NASA Technical Reports Server (NTRS)

Rust, W. D.; Doviak, R. J.

1982-01-01

Applications of Doppler radar to detection of storm hazards are reviewed. Normal radar sweeps reveal data on reflectivity fields of rain drops, ionized lightning paths, and irregularities in humidity and temperature. Doppler radar permits identification of the targets' speed toward or away from the transmitter through interpretation of the shifts in the microwave frequency. Wind velocity fields can be characterized in three dimensions by the use of two radar units, with a Nyquist limit on the highest wind speeds that may be recorded. Comparisons with models numerically derived from Doppler radar data show substantial agreement in storm formation predictions based on information gathered before the storm. Examples are provided of tornado observations with expanded Nyquist limits, gust fronts, turbulence, lightning and storm structures. Obtaining vertical velocities from reflectivity spectra is discussed.

Five-dimensional gauge theory and compactification on a torus

NASA Astrophysics Data System (ADS)

Haghighat, Babak; Vandoren, Stefan

2011-09-01

We study five-dimensional minimally supersymmetric gauge theory compactified on a torus down to three dimensions, and its embedding into string/M-theory using geometric engineering. The moduli space on the Coulomb branch is hyperkähler equipped with a metric with modular transformation properties. We determine the one-loop corrections to the metric and show that they can be interpreted as worldsheet and D1-brane instantons in type IIB string theory. Furthermore, we analyze instanton corrections coming from the solitonic BPS magnetic string wrapped over the torus. In particular, we show how to compute the path-integral for the zero-modes from the partition function of the M5 brane, or, using a 2d/4d correspondence, from the partition function of N=4 SYM theory on a Hirzebruch surface.

Utilisation of three-dimensional printed heart models for operative planning of complex congenital heart defects.

PubMed

Olejník, Peter; Nosal, Matej; Havran, Tomas; Furdova, Adriana; Cizmar, Maros; Slabej, Michal; Thurzo, Andrej; Vitovic, Pavol; Klvac, Martin; Acel, Tibor; Masura, Jozef

2017-01-01

To evaluate the accuracy of the three-dimensional (3D) printing of cardiovascular structures. To explore whether utilisation of 3D printed heart replicas can improve surgical and catheter interventional planning in patients with complex congenital heart defects. Between December 2014 and November 2015 we fabricated eight cardiovascular models based on computed tomography data in patients with complex spatial anatomical relationships of cardiovascular structures. A Bland-Altman analysis was used to assess the accuracy of 3D printing by comparing dimension measurements at analogous anatomical locations between the printed models and digital imagery data, as well as between printed models and in vivo surgical findings. The contribution of 3D printed heart models for perioperative planning improvement was evaluated in the four most representative patients. Bland-Altman analysis confirmed the high accuracy of 3D cardiovascular printing. Each printed model offered an improved spatial anatomical orientation of cardiovascular structures. Current 3D printers can produce authentic copies of patients` cardiovascular systems from computed tomography data. The use of 3D printed models can facilitate surgical or catheter interventional procedures in patients with complex congenital heart defects due to better preoperative planning and intraoperative orientation.

Brief communication: On direct impact probability of landslides on vehicles

NASA Astrophysics Data System (ADS)

Nicolet, Pierrick; Jaboyedoff, Michel; Cloutier, Catherine; Crosta, Giovanni B.; Lévy, Sébastien

2016-04-01

When calculating the risk of railway or road users of being killed by a natural hazard, one has to calculate a temporal spatial probability, i.e. the probability of a vehicle being in the path of the falling mass when the mass falls, or the expected number of affected vehicles in case such of an event. To calculate this, different methods are used in the literature, and, most of the time, they consider only the dimensions of the falling mass or the dimensions of the vehicles. Some authors do however consider both dimensions at the same time, and the use of their approach is recommended. Finally, a method considering an impact on the front of the vehicle is discussed.

Brief Communication: On direct impact probability of landslides on vehicles

NASA Astrophysics Data System (ADS)

Nicolet, P.; Jaboyedoff, M.; Cloutier, C.; Crosta, G. B.; Lévy, S.

2015-12-01

When calculating the risk of railway or road users to be killed by a natural hazard, one has to calculate a "spatio-temporal probability", i.e. the probability for a vehicle to be in the path of the falling mass when the mass falls, or the expected number of affected vehicles in case of an event. To calculate this, different methods are used in the literature, and, most of the time, they consider only the dimensions of the falling mass or the dimensions of the vehicles. Some authors do however consider both dimensions at the same time, and the use of their approach is recommended. Finally, a method considering an impact on the front of the vehicle in addition is discussed.

Conformal correlation functions in the Brownian loop soup

NASA Astrophysics Data System (ADS)

Camia, Federico; Gandolfi, Alberto; Kleban, Matthew

2016-01-01

We define and study a set of operators that compute statistical properties of the Brownian loop soup, a conformally invariant gas of random Brownian loops (Brownian paths constrained to begin and end at the same point) in two dimensions. We prove that the correlation functions of these operators have many of the properties of conformal primaries in a conformal field theory, and compute their conformal dimension. The dimensions are real and positive, but have the novel feature that they vary continuously as a periodic function of a real parameter. We comment on the relation of the Brownian loop soup to the free field, and use this relation to establish that the central charge of the loop soup is twice its intensity.

Rapid, parallel path planning by propagating wavefronts of spiking neural activity

PubMed Central

Ponulak, Filip; Hopfield, John J.

2013-01-01

Efficient path planning and navigation is critical for animals, robotics, logistics and transportation. We study a model in which spatial navigation problems can rapidly be solved in the brain by parallel mental exploration of alternative routes using propagating waves of neural activity. A wave of spiking activity propagates through a hippocampus-like network, altering the synaptic connectivity. The resulting vector field of synaptic change then guides a simulated animal to the appropriate selected target locations. We demonstrate that the navigation problem can be solved using realistic, local synaptic plasticity rules during a single passage of a wavefront. Our model can find optimal solutions for competing possible targets or learn and navigate in multiple environments. The model provides a hypothesis on the possible computational mechanisms for optimal path planning in the brain, at the same time it is useful for neuromorphic implementations, where the parallelism of information processing proposed here can fully be harnessed in hardware. PMID:23882213

A comparison of communication modes for delivery of air traffic control clearance amendments in transport category aircraft

NASA Technical Reports Server (NTRS)

Chandra, D.; Bussolari, S. R.; Hansman, R. J.

1989-01-01

A user centered evaluation is performed on the use of flight deck automation for display and control of aircraft horizontal flight path. A survey was distributed to pilots with a wide range of experience with the use of flight management computers in transport category aircraft to determine the acceptability and use patterns as reflected by the need for information displayed on the electronic horizontal situation indicator. A summary of survey results and planned part-task simulation to compare three communication modes (verbal, alphanumeric, graphic) are presented.

Fast and automatic depth control of iterative bone ablation based on optical coherence tomography data

NASA Astrophysics Data System (ADS)

Fuchs, Alexander; Pengel, Steffen; Bergmeier, Jan; Kahrs, Lüder A.; Ortmaier, Tobias

2015-07-01

Laser surgery is an established clinical procedure in dental applications, soft tissue ablation, and ophthalmology. The presented experimental set-up for closed-loop control of laser bone ablation addresses a feedback system and enables safe ablation towards anatomical structures that usually would have high risk of damage. This study is based on combined working volumes of optical coherence tomography (OCT) and Er:YAG cutting laser. High level of automation in fast image data processing and tissue treatment enables reproducible results and shortens the time in the operating room. For registration of the two coordinate systems a cross-like incision is ablated with the Er:YAG laser and segmented with OCT in three distances. The resulting Er:YAG coordinate system is reconstructed. A parameter list defines multiple sets of laser parameters including discrete and specific ablation rates as ablation model. The control algorithm uses this model to plan corrective laser paths for each set of laser parameters and dynamically adapts the distance of the laser focus. With this iterative control cycle consisting of image processing, path planning, ablation, and moistening of tissue the target geometry and desired depth are approximated until no further corrective laser paths can be set. The achieved depth stays within the tolerances of the parameter set with the smallest ablation rate. Specimen trials with fresh porcine bone have been conducted to prove the functionality of the developed concept. Flat bottom surfaces and sharp edges of the outline without visual signs of thermal damage verify the feasibility of automated, OCT controlled laser bone ablation with minimal process time.

Financial planning considerations at retirement.

PubMed

Cole, R J

1998-03-01

The process of retirement planning is a difficult one for a physician. The Planning process should address the areas of Investment Planning, Estate Planning, and Risk Management. This article examines each of these dimensions with special emphasis on Modern Portfolio Theory as the basis for investment planning.

Path Complexity in Virtual Water Maze Navigation: Differential Associations with Age, Sex, and Regional Brain Volume.

PubMed

Daugherty, Ana M; Yuan, Peng; Dahle, Cheryl L; Bender, Andrew R; Yang, Yiqin; Raz, Naftali

2015-09-01

Studies of human navigation in virtual maze environments have consistently linked advanced age with greater distance traveled between the start and the goal and longer duration of the search. Observations of search path geometry suggest that routes taken by older adults may be unnecessarily complex and that excessive path complexity may be an indicator of cognitive difficulties experienced by older navigators. In a sample of healthy adults, we quantify search path complexity in a virtual Morris water maze with a novel method based on fractal dimensionality. In a two-level hierarchical linear model, we estimated improvement in navigation performance across trials by a decline in route length, shortening of search time, and reduction in fractal dimensionality of the path. While replicating commonly reported age and sex differences in time and distance indices, a reduction in fractal dimension of the path accounted for improvement across trials, independent of age or sex. The volumes of brain regions associated with the establishment of cognitive maps (parahippocampal gyrus and hippocampus) were related to path dimensionality, but not to the total distance and time. Thus, fractal dimensionality of a navigational path may present a useful complementary method of quantifying performance in navigation. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Path attenuation statistics influenced by orientation of rain cells

NASA Technical Reports Server (NTRS)

Goldhirsh, J.

1976-01-01

The influence of path azimuth on fade and space diversity statistics associated with propagation along earth-satellite paths at a frequency of 18 GHz is examined. A radar rain reflectivity data base obtained during the summer of 1973 is injected into a modeling program and the attenuation along parallel earth-satellite paths are obtained for a conglomeration of azimuths. Statistics are separated into two groupings: one pertaining to earth-satellite paths oriented in the northwest-southeast and the other in the northeast-southwest quadrants using a fixed elevation angle of 45 deg. The latter case shows fading to be greater with a degraded space diversity suggesting rain cells to be elongated along this direction. Cell dimensions are analyzed for both sets of quadrants and are found to have average values larger by 2 km in the northeast-southwest quadrants; a result consistent with the fade and space diversity results. Examination of the wind direction for the 14 rain days of data analyzed shows good correlation of the average or median wind directions with the directions of maximum fading and degraded space diversity.

[Philanthropic hospitals and the operation of provider-owned health plans in Brazil].

PubMed

Lima, Sheyla Maria Lemos; Portela, Margareth C; Ugá, Maria Alicia Dominguez; Barbosa, Pedro Ribeiro; Gerschman, Silvia; Vasconcellos, Miguel Murat

2007-02-01

To describe the management performance of philanthropic hospitals that operate their own health plans, in comparison with philanthropic hospitals as a whole in Brazil. The managerial structures of philanthropic hospitals that operated their own health plans were compared with those seen in a representative group from the philanthropic hospital sector, in six dimensions: management and planning, economics and finance, human resources, technical services, logistics services and information technology. Data from a random sample of 69 hospitals within the philanthropic hospital sector and 94 philanthropic hospitals that operate their own health plans were evaluated. In both cases, only the hospitals with less than 599 beds were included. The results identified for the hospitals that operate their own health plans were more positive in all the managerial dimensions compared. In particular, the economics and finance and information technology dimensions were highlighted, for which more than 50% of the hospitals that operated their own health plans presented almost all the conditions considered. The philanthropic hospital sector is important in providing services to the Brazilian Health System (SUS). The challenges in maintaining and developing these hospitals impose the need to find alternatives. Stimulation of a public-private partnership in this segment, by means of operating provider-owned health plans or providing services to other health plans that work together with SUS, is a field that deserves more in-depth analysis.

The value of integrating policy people and space in research.

PubMed

Hecker, Louise; Birla, Ravi K

2009-03-01

In this article, we address several tangible and intangible factors, which are difficult to quantify and often overlooked yet are crucial for research success. We discuss three dimensions which encompass: (1) policy, (2) people, and (3) space. Policies, such as rules and regulations, define the culture of any research program/initiative. Governing rules and regulations defined within these policies are dictated by cultural values. Individuals who exhibit strong leadership, promote innovation, and exercise strategic planning often determine the governing policies. People are the most valuable asset available to any institution. Ensuring the professional growth (personal and scientific) and creating an environment which supports collaborative and collegial research through teamwork are factors that are important for individuals. Space, the physical work environment, is the third dimension of our model and is often an underutilized resource. In addition to the physical layout and design of the space, creating a positive work atmosphere which supports research initiatives is equally important and can create valuable momentum to research efforts. Collectively, these three dimensions (policy, people, and space) have a significant impact on the success of any research initiative. The primary objective of this article is to create awareness and emphasize the importance of implementing these variables within research initiatives in academic settings.

The Magnetohydrodynamic Kelvin-Helmholtz Instability: A Three-dimensional Study of Nonlinear Evolution

NASA Astrophysics Data System (ADS)

Ryu, Dongsu; Jones, T. W.; Frank, Adam

2000-12-01

We investigate through high-resolution three-dimensional simulations the nonlinear evolution of compressible magnetohydrodynamic flows subject to the Kelvin-Helmholtz instability. As in our earlier work, we have considered periodic sections of flows that contain a thin, transonic shear layer but are otherwise uniform. The initially uniform magnetic field is parallel to the shear plane but oblique to the flow itself. We confirm in three-dimensional flows the conclusion from our two-dimensional work that even apparently weak magnetic fields embedded in Kelvin-Helmholtz unstable plasma flows can be fundamentally important to nonlinear evolution of the instability. In fact, that statement is strengthened in three dimensions by this work because it shows how field-line bundles can be stretched and twisted in three dimensions as the quasi-two-dimensional Cat's Eye vortex forms out of the hydrodynamical motions. In our simulations twisting of the field may increase the maximum field strength by more than a factor of 2 over the two-dimensional effect. If, by these developments, the Alfvén Mach number of flows around the Cat's Eye drops to unity or less, our simulations suggest that magnetic stresses will eventually destroy the Cat's Eye and cause the plasma flow to self-organize into a relatively smooth and apparently stable flow that retains memory of the original shear. For our flow configurations, the regime in three dimensions for such reorganization is 4<~MAx<~50, expressed in terms of the Alfvén Mach number of the original velocity transition and the initial Alfvén speed projected to the flow plan. When the initial field is stronger than this, the flow either is linearly stable (if MAx<~2) or becomes stabilized by enhanced magnetic tension as a result of the corrugated field along the shear layer before the Cat's Eye forms (if MAx>~2). For weaker fields the instability remains essentially hydrodynamic in early stages, and the Cat's Eye is destroyed by the hydrodynamic secondary instabilities of a three-dimensional nature. Then, the flows evolve into chaotic structures that approach decaying isotropic turbulence. In this stage, there is considerable enhancement to the magnetic energy due to stretching, twisting, and turbulent amplification, which is retained long afterward. The magnetic energy eventually catches up to the kinetic energy, and the nature of flows becomes magnetohydrodynamic. Decay of the magnetohydrodynamic turbulence is enhanced by dissipation accompanying magnetic reconnection. Hence, in three dimensions as in two dimensions, very weak fields do not modify substantially the character of the flow evolution but do increase global dissipation rates.

Pedestrian flow-path modeling to support tsunami-evacuation planning

NASA Astrophysics Data System (ADS)

Wood, N. J.; Jones, J. M.; Schmidtlein, M.

2015-12-01

Near-field tsunami hazards are credible threats to many coastal communities throughout the world. Along the U.S. Pacific Northwest coast, low-lying areas could be inundated by a series of catastrophic tsunamis potentially arriving in a matter of minutes following a Cascadia subduction zone (CSZ) earthquake. We developed a geospatial-modeling method for characterizing pedestrian-evacuation flow paths and evacuation basins to support evacuation and relief planning efforts for coastal communities in this region. We demonstrate this approach using the coastal communities of Aberdeen, Hoquiam, and Cosmopolis in southwestern Grays Harbor County, Washington (USA), where previous research suggests approximately 20,500 people (99% of the residents in tsunami-hazard zones) will likely have enough time to evacuate before tsunami-wave arrival. Geospatial, anisotropic, path distance models were developed to map the most efficient pedestrian paths to higher ground from locations within the tsunami-hazard zone. This information was then used to identify evacuation basins, outlining neighborhoods sharing a common evacuation pathway to safety. We then estimated the number of people traveling along designated evacuation pathways and arriving at pre-determined safe assembly areas, helping determine shelter demand and relief support (e.g., for elderly individuals or tourists). Finally, we assessed which paths may become inaccessible due to earthquake-induced ground failures, a factor which may impact an individual's success in reaching safe ground. The presentation will include a discussion of the implications of our analysis for developing more comprehensive coastal community tsunami-evacuation planning strategies worldwide.

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

DTIC Science & Technology

2006-02-17

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

Navigating the Path to a Biomedical Science Career

NASA Astrophysics Data System (ADS)

Zimmerman, Andrea McNeely

The number of biomedical PhD scientists being trained and graduated far exceeds the number of academic faculty positions and academic research jobs. If this trend is compelling biomedical PhD scientists to increasingly seek career paths outside of academia, then more should be known about their intentions, desires, training experiences, and career path navigation. Therefore, the purpose of this study was to understand the process through which biomedical PhD scientists are trained and supported for navigating future career paths. In addition, the study sought to determine whether career development support efforts and opportunities should be redesigned to account for the proportion of PhD scientists following non-academic career pathways. Guided by the social cognitive career theory (SCCT) framework this study sought to answer the following central research question: How does a southeastern tier 1 research university train and support its biomedical PhD scientists for navigating their career paths? Key findings are: Many factors influence PhD scientists' career sector preference and job search process, but the most influential were relationships with faculty, particularly the mentor advisor; Planned activities are a significant aspect of the training process and provide skills for career success; and Planned activities provided skills necessary for a career, but influential factors directed the career path navigated. Implications for practice and future research are discussed.

Software for Project-Based Learning of Robot Motion Planning

ERIC Educational Resources Information Center

Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

2013-01-01

Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can…

Planning nonlinear access paths for temporal bone surgery.

PubMed

Fauser, Johannes; Sakas, Georgios; Mukhopadhyay, Anirban

2018-05-01

Interventions at the otobasis operate in the narrow region of the temporal bone where several highly sensitive organs define obstacles with minimal clearance for surgical instruments. Nonlinear trajectories for potential minimally invasive interventions can provide larger distances to risk structures and optimized orientations of surgical instruments, thus improving clinical outcomes when compared to existing linear approaches. In this paper, we present fast and accurate planning methods for such nonlinear access paths. We define a specific motion planning problem in [Formula: see text] with notable constraints in computation time and goal pose that reflect the requirements of temporal bone surgery. We then present [Formula: see text]-RRT-Connect: two suitable motion planners based on bidirectional Rapidly exploring Random Tree (RRT) to solve this problem efficiently. The benefits of [Formula: see text]-RRT-Connect are demonstrated on real CT data of patients. Their general performance is shown on a large set of realistic synthetic anatomies. We also show that these new algorithms outperform state-of-the-art methods based on circular arcs or Bézier-Splines when applied to this specific problem. With this work, we demonstrate that preoperative and intra-operative planning of nonlinear access paths is possible for minimally invasive surgeries at the otobasis.

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.

Validity and reliability analysis of the planned behavior theory scale related to the testicular self-examination in a Turkish context.

PubMed

Iyigun, Emine; Tastan, Sevinc; Ayhan, Hatice; Kose, Gulsah; Acikel, Cengizhan

2016-06-01

This study aimed to determine the validity and reliability levels of the Planned Behavior Theory Scale as related to a testicular self-examination. The study was carried out in a health-profession higher-education school in Ankara, Turkey, from April to June 2012. The study participants comprised 215 male students. Study data were collected by using a questionnaire, a planned behavior theory scale related to testicular self-examination, and Champion's Health Belief Model Scale (CHBMS). The sub-dimensions of the planned behavior theory scale, namely those of intention, attitude, subjective norms and self-efficacy, were found to have Cronbach's alpha values of between 0.81 and 0.89. Exploratory factor analysis showed that items of the scale had five factors that accounted for 75% of the variance. Of these, the sub-dimension of intention was found to have the highest level of contribution. A significant correlation was found between the sub-dimensions of the testicular self-examination planned behavior theory scale and those of CHBMS (p < 0.05). The findings suggest that the Turkish version of the testicular self-examination Planned Behavior Theory Scale is a valid and reliable measurement for Turkish society.

Paths from Erich Fromm: Thinking Authority Pedagogically.

ERIC Educational Resources Information Center

Weiner, Eric J.

2003-01-01

Drawing from psychologist Eric Fromm's work, this article confronts the relationship between individualism on one hand, and the ability for individuals to think collectively and transform social structures on the other. States that in this context, atomization becomes a dimension of both fascism and capitalism, one that positions freedom as the…

Hayabusa Re-Entry: Trajectory Analysis and Observation Mission Design

NASA Technical Reports Server (NTRS)

Cassell, Alan M.; Winter, Michael W.; Allen, Gary A.; Grinstead, Jay H.; Antimisiaris, Manny E.; Albers, James; Jenniskens, Peter

2011-01-01

On June 13th, 2010, the Hayabusa sample return capsule successfully re-entered Earth s atmosphere over the Woomera Prohibited Area in southern Australia in its quest to return fragments from the asteroid 1998 SF36 Itokawa . The sample return capsule entered at a super-orbital velocity of 12.04 km/sec (inertial), making it the second fastest human-made object to traverse the atmosphere. The NASA DC-8 airborne observatory was utilized as an instrument platform to record the luminous portion of the sample return capsule re-entry (60 sec) with a variety of on-board spectroscopic imaging instruments. The predicted sample return capsule s entry state information at 200 km altitude was propagated through the atmosphere to generate aerothermodynamic and trajectory data used for initial observation flight path design and planning. The DC- 8 flight path was designed by considering safety, optimal sample return capsule viewing geometry and aircraft capabilities in concert with key aerothermodynamic events along the predicted trajectory. Subsequent entry state vector updates provided by the Deep Space Network team at NASA s Jet Propulsion Laboratory were analyzed after the planned trajectory correction maneuvers to further refine the DC-8 observation flight path. Primary and alternate observation flight paths were generated during the mission planning phase which required coordination with Australian authorities for pre-mission approval. The final observation flight path was chosen based upon trade-offs between optimal viewing requirements, ground based observer locations (to facilitate post-flight trajectory reconstruction), predicted weather in the Woomera Prohibited Area and constraints imposed by flight path filing deadlines. To facilitate sample return capsule tracking by the instrument operators, a series of two racetrack flight path patterns were performed prior to the observation leg so the instruments could be pointed towards the region in the star background where the sample return capsule was expected to become visible. An overview of the design methodologies and trade-offs used in the Hayabusa re-entry observation campaign are presented.

Financial Planning for Retirement: An Imperative for Baby Boomer Women.

ERIC Educational Resources Information Center

Glass, J. Conrad, Jr.; Kilpatrick, Beverly B.

1998-01-01

Many women fail to plan for retirement due to economic constraints, interrupted career paths, lower earnings, gender bias, gender-role socialization, self-esteem, role definition, locus of control, or risk tolerance. Retirement education must address women's specific issues regarding financial planning. (SK)

SU-F-T-198: Dosimetric Comparison of Carbon and Proton Radiotherapy for Recurrent Nasopharynx Carcinoma

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

Sheng, Y; Zhao, J; Wang, W

2016-06-15

Purpose: Various radiotherapy planning methods for locally recurrent nasopharynx carcinoma (R-NPC) have been proposed. The purpose of this study was to compare carbon and proton therapy for the treatment of R-NPC in terms of dose coverage for target volume and sparing for organs at risk (OARs). Methods: Six patients who were suffering from R-NPC and treated using carbon therapy were selected for this study. Treatment plans with a total dose of 57.5Gy (RBE) in 23 fractions were made using SIEMENS Syngo V11. An intensity-modulated radiotherapy optimization method was chosen for carbon plans (IMCT) while for proton plans both intensity-modulated radiotherapymore » (IMPT) and single beam optimization (proton-SBO) methods were chosen. Dose distributions, dose volume parameters, and selected dosimetric indices for target volumes and OARs were compared for all treatment plans. Results: All plans provided comparable PTV coverage. The volume covered by 95% of the prescribed dose was comparable for all three plans. The average values were 96.11%, 96.24% and 96.11% for IMCT, IMPT, and proton-SBO respectively. A significant reduction of the 80% and 50% dose volumes were observed for the IMCT plans compared to the IMPT and proton-SBO plans. Critical organs lateral to the target such as brain stem and spinal cord were better spared by IMPT than by proton-SBO, while IMCT spared those organs best. For organs in the beam path, such as parotid glands, the mean dose results were similar for all three plans. Conclusion: Carbon plans yielded better dose conformity than proton plans. They provided similar or better target coverage while significantly lowering the dose for normal tissues. Dose sparing for critical organs in IMPT plans was better than proton-SBO, however, IMPT is known to be more sensitive to range uncertainties. For proton plans it is essential to find a balance between the two optimization methods.« less

A multi-institutional study of independent calculation verification in inhomogeneous media using a simple and effective method of heterogeneity correction integrated with the Clarkson method.

PubMed

Jinno, Shunta; Tachibana, Hidenobu; Moriya, Shunsuke; Mizuno, Norifumi; Takahashi, Ryo; Kamima, Tatsuya; Ishibashi, Satoru; Sato, Masanori

2018-05-21

In inhomogeneous media, there is often a large systematic difference in the dose between the conventional Clarkson algorithm (C-Clarkson) for independent calculation verification and the superposition-based algorithms of treatment planning systems (TPSs). These treatment site-dependent differences increase the complexity of the radiotherapy planning secondary check. We developed a simple and effective method of heterogeneity correction integrated with the Clarkson algorithm (L-Clarkson) to account for the effects of heterogeneity in the lateral dimension, and performed a multi-institutional study to evaluate the effectiveness of the method. In the method, a 2D image reconstructed from computed tomography (CT) images is divided according to lines extending from the reference point to the edge of the multileaf collimator (MLC) or jaw collimator for each pie sector, and the radiological path length (RPL) of each line is calculated on the 2D image to obtain a tissue maximum ratio and phantom scatter factor, allowing the dose to be calculated. A total of 261 plans (1237 beams) for conventional breast and lung treatments and lung stereotactic body radiotherapy were collected from four institutions. Disagreements in dose between the on-site TPSs and a verification program using the C-Clarkson and L-Clarkson algorithms were compared. Systematic differences with the L-Clarkson method were within 1% for all sites, while the C-Clarkson method resulted in systematic differences of 1-5%. The L-Clarkson method showed smaller variations. This heterogeneity correction integrated with the Clarkson algorithm would provide a simple evaluation within the range of -5% to +5% for a radiotherapy plan secondary check.

[Impulsivity: What are the consequences on compliance to rehabilitation?].

PubMed

Cancel, A; Naudet, F; Rousseau, P F; Millet, B; Drapier, D

2016-08-01

Impulsivity is a transnosographical dimension with major consequences on medical care with which psychiatrists are frequently confronted. Furthermore, compliance is a major variable that can affect the efficiency of therapeutics and hospitalizations in psychiatry. A study was carried out in three drug and alcohol rehabilitation hospitalization units to find out if impulsivity can have consequences on compliance. The studied population was composed of 85 patients aged from 18 to 70, hospitalized for one or more addiction disorders in a psychometric hospital in Vannes (France). Impulsivity was measured for all patients with the BIS-11 at the beginning of the rehabilitation program. Because no tool to evaluate a total rehab program compliance existed, a scale, used at the end of the hospitalization, was created to measure patient compliance. This score was composed of two simple numeric scales (one used by the nurses and one used by the patient's psychiatrist) and a coefficient of hospitalization duration that was the ratio of completed to planned days of hospitalization. Correlations were made between the different dimensions: impulsivity and compliance, impulsivity and hospitalization conditions, compliance and hospitalization conditions (voluntary or involuntary, planned by a psychiatrist or not, etc.). The main statistically significant result of the study was a negative correlation existing between the motor dimension of impulsivity and compliance (r=-0.37 and P=0.001). The other dimensions of impulsivity showed no significant correlation with compliance score. The study revealed that the different hospitalization conditions showed no link with compliance or impulsivity. These original results show that motor impulsive patients need an adaptation of the rehabilitation programs. Shorter programs might be more efficient. Copyright © 2015 L’Encéphale, Paris. Published by Elsevier Masson SAS. All rights reserved.

Airline meteorological requirements

NASA Technical Reports Server (NTRS)

Chandler, C. L.; Pappas, J.

1985-01-01

A brief review of airline meteorological/flight planning is presented. The effects of variations in meteorological parameters upon flight and operational costs are reviewed. Flight path planning through the use of meteorological information is briefly discussed.