Real-Time Obstacle Avoidance for Telerobotic Systems Based on Equipotential Surface

OpenAIRE

Xin Li; Aiguo Song; Huijun Li; Wei Lu; Chen Mao

2012-01-01

Redundant manipulators offer a dual advantage of flexibility and dexterity and can be used in many civilian and military areas. However, operating such systems by teleoperation is challenging because of the redundancy and unstructured task environment, which result in the human operator suffering a huge burden when telemanipulator is facing the complicated obstacles. The existing methods usually use some off-line algorithms to solve the problem of obstacle avoidance. It is difficult for them ...

Whole-arm obstacle avoidance system conceptual design

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.

1993-04-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. The conceptual design for a sensing system that will provide protection against such collisions is described herein. The whole-arm obstacle avoidance system consists of a set of sensor ''bracelets,'' which cover the surface area of the manipulator links to the maximum extent practical, and a host processor. The host processor accepts commands from the robot control system, controls the operation of the sensors, manipulates data received from the bracelets, and makes the data available to the manipulator control system. The bracelets consist of a subset of the sensors, associated sensor interface electronics, and a bracelet interface. Redundant communications links between the host processor and the bracelets are provided, allowing single-point failure protection. The system allows reporting of 8-bit data from up to 1000 sensors at a minimum of 50 Hz. While the initial prototype implementation of the system utilizes capacitance proximity sensor, the system concept allows multiple types of sensors. These sensors are uniquely addressable, allowing remote calibration, thresholding at the bracelet, and correlation of a sensor measurement with the associated sensor and its location on the manipulator. Variable resolution allows high-speed, single-bit sensing as well as lower-speed higher-resolution sensing, which is necessary for sensor calibration and potentially useful in control

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

Directory of Open Access Journals (Sweden)

Fang Wu

2017-05-01

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

Patient-Centered Care; Physicians’ View of Obstacles against and Ideas for Implementation

Directory of Open Access Journals (Sweden)

Faisal Abdullatif Alnasir

2016-04-01

Full Text Available To implement proper family medicine practice and to get the best of it, the concept of patient-centered care (PCC has to be put into use. Studies have found that one of the most important advantages of PCC is the increase in the patients' quality of life. PCC has been recognized as a marker of quality in health service delivery with its improvement. However, the physicians’ belief is essential for its implementation. A cross-sectional study was done to find out what family physicians think of PCC and what they believe are the obstacles that block from its use in Bahrain. Twenty-eight family physicians (FPs working in the primary health care centers were arbitrarily culled from a pool of doctors. To all a pre-designed questionnaire was sent that contained three parts; demographic information, type of facilities that they work and whether it is promoting PCC practice and the last was concerned with the physicians’ view about the barrier against its implementation and what they cerebrate that could avail in promoting it. The results showed that the majority of the participants were family physicians working in governmental health centers. More than 85% knew the congruous definition of PCC and 96.4% thought that the most common barrier for not implementing PCC approach is the time constraint while almost 93% thought that the short duration of time of the consultation is another impediment for implementing PCC. Withal, 57.1% and 53.6% of FPs thought that language and the doctor’s communication skills are other barriers respectively. Since the ultimate aim of provision of health care in any country is the optimal health of the population and since PCC practice could fortify and avail in achieving that goal, it is recommended that policy makers and health authorities are required to abstract all obstacles that works against implementing PCC and change the work environment in order to make it facile for the practitioners to apply PCC practice

Obstacle avoidance test using a sensor-based autonomous robotic system

International Nuclear Information System (INIS)

Fujii, Yoshio; Suzuki, Katsuo

1998-12-01

From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

Extreme event medicine: considerations for the organisation of out-of-hospital care during obstacle, adventure and endurance competitions.

Science.gov (United States)

Laskowski-Jones, Linda; Caudell, Michael J; Hawkins, Seth C; Jones, Lawrence J; Dymond, Chelsea A; Cushing, Tracy; Gupta, Sanjey; Young, David S; Starling, Jennifer M; Bounds, Richard

2017-10-01

Obstacle, adventure and endurance competitions in challenging or remote settings are increasing in popularity. A literature search indicates a dearth of evidence-based research on the organisation of medical care for wilderness competitions. The organisation of medical care for each event is best tailored to specific race components, participant characteristics, geography, risk assessments, legal requirements, and the availability of both local and outside resources. Considering the health risks and logistical complexities inherent in these events, there is a compelling need for guiding principles that bridge the fields of wilderness medicine and sports medicine in providing a framework for the organisation of medical care delivery during wilderness and remote obstacle, adventure and endurance competitions. This narrative review, authored by experts in wilderness and operational medicine, provides such a framework. The primary goal is to assist organisers and medical providers in planning for sporting events in which participants are in situations or locations that exceed the capacity of local emergency medical services resources. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

The comparison of spatial accessibility measures between non-obstacle and obstacle oriented based on gravity model

Science.gov (United States)

Han, Zhi-Gang; Cui, Cai-Hui

2009-10-01

Spatial accessibility denotes the ease with which activities may be reached from a given location using a particular transportation system. There are a number of accessibility measures methods and models, such as time of access to city centre, mean travel costs and opportunity accessibility. But these methods or models ignore the existence of obstacles. In fact, there are many kinds of obstacles in the world, such as rivers, railways, etc. The paper reviews the progress of accessibility measures, and introduces the obstacle to the accessibility measures. Meanwhile, through the analysis of A* algorithm, the advantage of A* algorithm that could avoid obstacles is put forward. Based on the above mentioned, the obstacle oriented accessibility measures based on simple gravity model is discussed in details. Finally, a case study is fulfilled by comparison between the obstacle oriented and non-obstacle accessibility measures.

Obstacle mean-field game problem

KAUST Repository

Gomes, Diogo A.; Patrizi, Stefania

2015-01-01

In this paper, we introduce and study a first-order mean-field game obstacle problem. We examine the case of local dependence on the measure under assumptions that include both the logarithmic case and power-like nonlinearities. Since the obstacle operator is not differentiable, the equations for first-order mean field game problems have to be discussed carefully. Hence, we begin by considering a penalized problem. We prove this problem admits a unique solution satisfying uniform bounds. These bounds serve to pass to the limit in the penalized problem and to characterize the limiting equations. Finally, we prove uniqueness of solutions. © European Mathematical Society 2015.

A Hybrid Architecture for Vision-Based Obstacle Avoidance

Directory of Open Access Journals (Sweden)

Mehmet Serdar Güzel

2013-01-01

Full Text Available This paper proposes a new obstacle avoidance method using a single monocular vision camera as the only sensor which is called as Hybrid Architecture. This architecture integrates a high performance appearance-based obstacle detection method into an optical flow-based navigation system. The hybrid architecture was designed and implemented to run both methods simultaneously and is able to combine the results of each method using a novel arbitration mechanism. The proposed strategy successfully fused two different vision-based obstacle avoidance methods using this arbitration mechanism in order to permit a safer obstacle avoidance system. Accordingly, to establish the adequacy of the design of the obstacle avoidance system, a series of experiments were conducted. The results demonstrate the characteristics of the proposed architecture, and the results prove that its performance is somewhat better than the conventional optical flow-based architecture. Especially, the robot employing Hybrid Architecture avoids lateral obstacles in a more smooth and robust manner than when using the conventional optical flow-based technique.

Obstacles to comprehensive dental care in patients with sustained limitations of their decision-making abilities: findings from a Delphi study.

Science.gov (United States)

Blaizot, Alessandra; Catteau, Céline; Delfosse, Caroline; Hamel, Olivier; Trentesaux, Thomas

2018-06-01

The objective of this study was to explore the therapeutic limitations experienced by a panel of special-care dentists in France when treating patients with sustained limitations of their decision-making abilities. We used a Delphi technique conducted in three rounds from 01 June 2014 to 30 September 2015. A first questionnaire comprising open-ended questions was addressed to 72 panellists. A content analysis of the returned questionnaires served to draft a second questionnaire comprising closed-ended questions; this was sent to the 28 panellists who responded in the first round. A third questionnaire was sent to the 20 panellists who responded in the second round to give them an opportunity to reconsider their response in the context of the second-round response group. Sixteen panellists answered the last round. A large majority agreed on the importance of providing comprehensive care, but they encountered obstacles at two time points: (i) when proposing the care; and (ii) when setting it up. The panel put forward recommendations in two main areas: (i) the training of those involved in oral health decisions; and (ii) dental care management and organization of the care system. The study provided a foundation for building future orientations in health care for patients with limited decision-making abilities. © 2018 Eur J Oral Sci.

Laser Obstacle Detection System Flight Testing

National Research Council Canada - National Science Library

Davis, Timothy

2003-01-01

...). The Aviation Applied Technology Directorate (AATD) was contracted to mount the HELLAS sensor on the nose of a UH-60L Blackhawk helicopter and to conduct flight tests to evaluate the HELLAS obstacle detection sensor...

An obstacle detection system using binocular stereo fisheye lenses for planetary rover navigation

Science.gov (United States)

Liu, L.; Jia, J.; Li, L.

In this paper we present an implementation of an obstacle detection system using binocular stereo fisheye lenses for planetary rover navigation The fisheye lenses can improve image acquisition efficiency and handle minimal clearance recovery problem because they provide a large field of view However the fisheye lens introduces significant distortion in the image and this will make it much more difficult to find a one-to-one correspondence In addition we have to improve the system accuracy and efficiency for robot navigation To compute dense depth maps accurately in real time the following five key issues are considered 1 using lookup tables for a tradeoff between time and space in fisheye distortion correction and correspondence matching 2 using an improved incremental calculation scheme for algorithmic optimization 3 multimedia instruction set MMX implementation 4 consistency check to remove wrong stereo matching problems suffering from occlusions or mismatches 5 constraints of the recovery space To realize obstacle detection robustly we use the following three steps 1 extracting the ground plane parameters using Randomized Hough Transform 2 filtering the ground and background 3 locating the obstacles by using connected region detection Experimental results show the system can run at 3 2fps in 2 0GHz PC with 640X480 pixels

Obstacle Detection for Intelligent Transportation Systems Using Deep Stacked Autoencoder and k-Nearest Neighbor Scheme

KAUST Repository

Dairi, Abdelkader; Harrou, Fouzi; Sun, Ying; Senouci, Mohamed

2018-01-01

Obstacle detection is an essential element for the development of intelligent transportation systems so that accidents can be avoided. In this study, we propose a stereovisionbased method for detecting obstacles in urban environment. The proposed method uses a deep stacked auto-encoders (DSA) model that combines the greedy learning features with the dimensionality reduction capacity and employs an unsupervised k-nearest neighbors algorithm (KNN) to accurately and reliably detect the presence of obstacles. We consider obstacle detection as an anomaly detection problem. We evaluated the proposed method by using practical data from three publicly available datasets, the Malaga stereovision urban dataset (MSVUD), the Daimler urban segmentation dataset (DUSD), and Bahnhof dataset. Also, we compared the efficiency of DSA-KNN approach to the deep belief network (DBN)-based clustering schemes. Results show that the DSA-KNN is suitable to visually monitor urban scenes.

Obstacle Detection for Intelligent Transportation Systems Using Deep Stacked Autoencoder and k-Nearest Neighbor Scheme

KAUST Repository

Dairi, Abdelkader

2018-04-30

Obstacle detection is an essential element for the development of intelligent transportation systems so that accidents can be avoided. In this study, we propose a stereovisionbased method for detecting obstacles in urban environment. The proposed method uses a deep stacked auto-encoders (DSA) model that combines the greedy learning features with the dimensionality reduction capacity and employs an unsupervised k-nearest neighbors algorithm (KNN) to accurately and reliably detect the presence of obstacles. We consider obstacle detection as an anomaly detection problem. We evaluated the proposed method by using practical data from three publicly available datasets, the Malaga stereovision urban dataset (MSVUD), the Daimler urban segmentation dataset (DUSD), and Bahnhof dataset. Also, we compared the efficiency of DSA-KNN approach to the deep belief network (DBN)-based clustering schemes. Results show that the DSA-KNN is suitable to visually monitor urban scenes.

Electromagnetic obstacle detection in close distance

Science.gov (United States)

Kurzela, Michał; Burd, Aleksander

2016-09-01

The main topic is the electronic system, designed and built to help car drivers during parking. It uses electromagnetism phenomena for making an estimation of arrangement of obstacles. The device works with close distance (about 5-15cm), depending on the material from which the obstacle is made.

Obstacles and Challenges to Gender Parity. Political Violence, Electoral System and Interculturalism

Directory of Open Access Journals (Sweden)

Laura Albaine

2015-05-01

Full Text Available This study is a contribution to the debate about the adoption of gender parity policies in Latin America analyzing particular obstacles and challenges related to the implementation of this principle. Electoral systems tend to either optimize or reduce the impact of such gender parity measures. As well as with quotas, the size of the electoral district and the kind of electoral list system are the two variables that most influence the effective implementation of these measures. At the same time, the socio-cultural context also influences the process of implementation of gender parity measures. In patriarchal societies –with high levels of gender-based violence– electoral processes are often characterized by gender-based harassment and political violence, one of the greatest obstacles for increasing women’s political participation. These situations are further complicated in societies which are also characterized by ethnic and cultural diversity, presenting the challenge of including women who are also discriminated against for their ethno-cultural identity.

Obstacles in the Utilisation of Maternal Health Care Services in Murarai-II C.D. Block, Birbhum District, West Bengal, India

Directory of Open Access Journals (Sweden)

Alokananda Ghosh

2017-03-01

Full Text Available Improving maternal health was one of the eight Millennium Development Goals (MDGs and now it is one of the targets of 17 point Sustainable Development Goals (SDGs. The utilisation of Maternal Health Care Services (MHCSs is a complex phenomenon and it is influenced by several factors, like-health care seeking behaviour of the cohorts belonging to different socio-economic and cultural background, distance of the facility centres, type and conditions of the roads including undulating surface, transportation cost, type and availability of transportation mode along with the factors related to the accountability and surveillances of the health care services. Therefore, clear understanding and discussion is needed to draw an association between MHCSs and its influential factors. The objectives of the study are to estimate the impact of accessibility on the underserved status of MHCSs and on the utilisation of MHCSs through paucity index. In addition, the study aims to evaluate the causal relationships between underserved situation and obstacle score with the paucity index of MHCS utilisation. The empirical observation unfolds that the provision and utilisation of MHCSs are strongly dependent on accessibility and distance. The situation is aggravating for proper delivery of services, which is responsible for the increasing obstacle score and paucity index, especially in remote sub- centres of Murarai-II C.D. Block of Birbhum District.

Obstacle Recognition Based on Machine Learning for On-Chip LiDAR Sensors in a Cyber-Physical System

Directory of Open Access Journals (Sweden)

Fernando Castaño

2017-09-01

Full Text Available Collision avoidance is an important feature in advanced driver-assistance systems, aimed at providing correct, timely and reliable warnings before an imminent collision (with objects, vehicles, pedestrians, etc.. The obstacle recognition library is designed and implemented to address the design and evaluation of obstacle detection in a transportation cyber-physical system. The library is integrated into a co-simulation framework that is supported on the interaction between SCANeR software and Matlab/Simulink. From the best of the authors’ knowledge, two main contributions are reported in this paper. Firstly, the modelling and simulation of virtual on-chip light detection and ranging sensors in a cyber-physical system, for traffic scenarios, is presented. The cyber-physical system is designed and implemented in SCANeR. Secondly, three specific artificial intelligence-based methods for obstacle recognition libraries are also designed and applied using a sensory information database provided by SCANeR. The computational library has three methods for obstacle detection: a multi-layer perceptron neural network, a self-organization map and a support vector machine. Finally, a comparison among these methods under different weather conditions is presented, with very promising results in terms of accuracy. The best results are achieved using the multi-layer perceptron in sunny and foggy conditions, the support vector machine in rainy conditions and the self-organized map in snowy conditions.

Obstacle Recognition Based on Machine Learning for On-Chip LiDAR Sensors in a Cyber-Physical System.

Science.gov (United States)

Castaño, Fernando; Beruvides, Gerardo; Haber, Rodolfo E; Artuñedo, Antonio

2017-09-14

Collision avoidance is an important feature in advanced driver-assistance systems, aimed at providing correct, timely and reliable warnings before an imminent collision (with objects, vehicles, pedestrians, etc.). The obstacle recognition library is designed and implemented to address the design and evaluation of obstacle detection in a transportation cyber-physical system. The library is integrated into a co-simulation framework that is supported on the interaction between SCANeR software and Matlab/Simulink. From the best of the authors' knowledge, two main contributions are reported in this paper. Firstly, the modelling and simulation of virtual on-chip light detection and ranging sensors in a cyber-physical system, for traffic scenarios, is presented. The cyber-physical system is designed and implemented in SCANeR. Secondly, three specific artificial intelligence-based methods for obstacle recognition libraries are also designed and applied using a sensory information database provided by SCANeR. The computational library has three methods for obstacle detection: a multi-layer perceptron neural network, a self-organization map and a support vector machine. Finally, a comparison among these methods under different weather conditions is presented, with very promising results in terms of accuracy. The best results are achieved using the multi-layer perceptron in sunny and foggy conditions, the support vector machine in rainy conditions and the self-organized map in snowy conditions.

Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

DEFF Research Database (Denmark)

Hermann, Dan; Galeazzi, Roberto; Andersen, Jens Christian

2015-01-01

This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30 m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. ...... performance using sensor fusion of radar and computer vision....

Research on UAV Intelligent Obstacle Avoidance Technology During Inspection of Transmission Line

Science.gov (United States)

Wei, Chuanhu; Zhang, Fei; Yin, Chaoyuan; Liu, Yue; Liu, Liang; Li, Zongyu; Wang, Wanguo

Autonomous obstacle avoidance of unmanned aerial vehicle (hereinafter referred to as UAV) in electric power line inspection process has important significance for operation safety and economy for UAV intelligent inspection system of transmission line as main content of UAV intelligent inspection system on transmission line. In the paper, principles of UAV inspection obstacle avoidance technology of transmission line are introduced. UAV inspection obstacle avoidance technology based on particle swarm global optimization algorithm is proposed after common obstacle avoidance technologies are studied. Stimulation comparison is implemented with traditional UAV inspection obstacle avoidance technology which adopts artificial potential field method. Results show that UAV inspection strategy of particle swarm optimization algorithm, adopted in the paper, is prominently better than UAV inspection strategy of artificial potential field method in the aspects of obstacle avoidance effect and the ability of returning to preset inspection track after passing through the obstacle. An effective method is provided for UAV inspection obstacle avoidance of transmission line.

Statistics of dislocation pinning at localized obstacles

Energy Technology Data Exchange (ETDEWEB)

Dutta, A. [S. N. Bose National Centre for Basic Sciences, Salt Lake, Kolkata 700098 (India); Bhattacharya, M., E-mail: mishreyee@vecc.gov.in; Barat, P. [Variable Energy Cyclotron Centre, 1/AF Bidhannagar, Kolkata 700064 (India)

2014-10-14

Pinning of dislocations at nanosized obstacles like precipitates, voids, and bubbles is a crucial mechanism in the context of phenomena like hardening and creep. The interaction between such an obstacle and a dislocation is often studied at fundamental level by means of analytical tools, atomistic simulations, and finite element methods. Nevertheless, the information extracted from such studies cannot be utilized to its maximum extent on account of insufficient information about the underlying statistics of this process comprising a large number of dislocations and obstacles in a system. Here, we propose a new statistical approach, where the statistics of pinning of dislocations by idealized spherical obstacles is explored by taking into account the generalized size-distribution of the obstacles along with the dislocation density within a three-dimensional framework. Starting with a minimal set of material parameters, the framework employs the method of geometrical statistics with a few simple assumptions compatible with the real physical scenario. The application of this approach, in combination with the knowledge of fundamental dislocation-obstacle interactions, has successfully been demonstrated for dislocation pinning at nanovoids in neutron irradiated type 316-stainless steel in regard to the non-conservative motion of dislocations. An interesting phenomenon of transition from rare pinning to multiple pinning regimes with increasing irradiation temperature is revealed.

Plant root and shoot dynamics during subsurface obstacle interaction

Science.gov (United States)

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

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

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

Science.gov (United States)

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

2013-01-01

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

Operation management system evaluation in the central Finland health care district - end users' view of system implementation.

Science.gov (United States)

Lemmetty, Kaisa; Häyrinen, Eija

2005-01-01

In this paper we evaluate the implementation of the operation management system in the Central Finland Health Care District. The implementation of the operation management system changed the practice of operation management for the surgical clinic and concerned 500 personnel in total. A survey was carried out to investigate the end users' views on the system's usefulness, usability and the training and user support provided. The users' possibilities to accomplish their tasks and the kind of obstacles they face in operation management were explored. The assessment revealed that more end support is needed after the system implementation, even though a generally positive attitude towards the system was manifested among the staff.

The academic story: introducing the clinical nurse leader role in a multifacility health care system.

Science.gov (United States)

Moore, Penny

2013-01-01

Introducing the clinical nurse leader (CNL) role in a multifacility health care system is an exciting but obstacle-filled journey. This story includes facilitating factors, opportunities, and successes plus suggestions for other academic-practice partners considering implementing the CNL role. A sample course sequence with course descriptions is provided. Copyright © 2013 Elsevier Inc. All rights reserved.

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

Science.gov (United States)

Lockerby, C. E.

1979-01-01

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

[Development of child mental health services in Lithuania: achievements and obstacles].

Science.gov (United States)

Pūras, Dainius

2002-01-01

In 1990, political, economic and social changes in Lithuania introduced the possibility to develop for the first time in nations's history an effective and modern system of child mental health services. During the period between 1990 and 1995 a new model of services was developed in the Department of Social pediatrics and child psychiatry of Vilnius University. The model included development of child and adolescent psychiatric services, as well as early intervention services for infants and preschool children with developmental disabilities. The emphasis, following recommendations of WHO and existing international standards, was made on deinstitutionalization and development of family-oriented and community-based services, which have been ignored by previous system. In the first half of 90's of 20th century, new training programs for professionals were introduced, more than 50 methods of assessment, treatment and rehabilitation, new for Lithuanian clinical practice, were implemented, and a new model of services, including primary, secondary and tertiary level of prevention, was introduced in demonstration sites. However, during next phase of development, in 1997-2001, serious obstacles for replicating new approaches across the country, have been identified, which threatened successful implementation of the new model of services into everyday clinical practice. Analysis of obstacles, which are blocking development of new approaches in the field of child mental health, is presented in the article. The main obstacles, identified during analysis of socioeconomic context, planning and utilization of resources, running of the system of services and evaluation of outcomes, are as follows: lack of intersectorial cooperation between health, education and social welfare systems; strong tradition of discrimination of psychosocial interventions in funding schemes of health services; societal attitudes, which tend to discriminate and stigmatize marginal groups, including

Obstacle avoidance for kinematically redundant robots using an adaptive fuzzy logic algorithm

International Nuclear Information System (INIS)

Beheshti, M.T.H.; Tehrani, A.K.

1999-05-01

In this paper the Adaptive Fuzzy Logic approach for solving the inverse kinematics of redundant robots in an environment with obstacles is presented. The obstacles are modeled as convex bodies. A fuzzy rule base that is updated via an adaptive law is used to solve the inverse kinematic problem. Additional rules have been introduced to take care of the obstacles avoidance problem. The proposed method has advantages such as high accuracy, simplicity of computations and generality for all redundant robots. Simulation results illustrate much better tracking performance than the dynamic base solution for a given trajectory in cartesian space, while guaranteeing a collision-free trajectory and observation of a mechanical joint limit

Unsupervised obstacle detection in driving environments using deep-learning-based stereovision

KAUST Repository

Dairi, Abdelkader; Harrou, Fouzi; Senouci, Mohamed; Sun, Ying

2017-01-01

A vision-based obstacle detection system is a key enabler for the development of autonomous robots and vehicles and intelligent transportation systems. This paper addresses the problem of urban scene monitoring and tracking of obstacles based on unsupervised, deep-learning approaches. Here, we design an innovative hybrid encoder that integrates deep Boltzmann machines (DBM) and auto-encoders (AE). This hybrid auto-encode (HAE) model combines the greedy learning features of DBM with the dimensionality reduction capacity of AE to accurately and reliably detect the presence of obstacles. We combine the proposed hybrid model with the one-class support vector machines (OCSVM) to visually monitor an urban scene. We also propose an efficient approach to estimating obstacles location and track their positions via scene densities. Specifically, we address obstacle detection as an anomaly detection problem. If an obstacle is detected by the OCSVM algorithm, then localization and tracking algorithm is executed. We validated the effectiveness of our approach by using experimental data from two publicly available dataset, the Malaga stereovision urban dataset (MSVUD) and the Daimler urban segmentation dataset (DUSD). Results show the capacity of the proposed approach to reliably detect obstacles.

Unsupervised obstacle detection in driving environments using deep-learning-based stereovision

KAUST Repository

Dairi, Abdelkader

2017-12-06

A vision-based obstacle detection system is a key enabler for the development of autonomous robots and vehicles and intelligent transportation systems. This paper addresses the problem of urban scene monitoring and tracking of obstacles based on unsupervised, deep-learning approaches. Here, we design an innovative hybrid encoder that integrates deep Boltzmann machines (DBM) and auto-encoders (AE). This hybrid auto-encode (HAE) model combines the greedy learning features of DBM with the dimensionality reduction capacity of AE to accurately and reliably detect the presence of obstacles. We combine the proposed hybrid model with the one-class support vector machines (OCSVM) to visually monitor an urban scene. We also propose an efficient approach to estimating obstacles location and track their positions via scene densities. Specifically, we address obstacle detection as an anomaly detection problem. If an obstacle is detected by the OCSVM algorithm, then localization and tracking algorithm is executed. We validated the effectiveness of our approach by using experimental data from two publicly available dataset, the Malaga stereovision urban dataset (MSVUD) and the Daimler urban segmentation dataset (DUSD). Results show the capacity of the proposed approach to reliably detect obstacles.

Obstacle avoidance handling and mixed integer predictive control for space robots

Science.gov (United States)

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

2018-04-01

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

Carriageway actual parameters determination system development to form virtual road scene in the authentically recognizable road marking absence and negative obstacle presence

Science.gov (United States)

Groshev, A. M.; Groshev, S. M.; Tumasov, A. V.; Romanov, A. D.

2018-02-01

This paper presents the development of the carriageway actual parameters determination system to form a virtual road scene in the authentically recognizable road marking absence and negative obstacles presence. The sensors used in defining the vehicle position and the obstacles are given. The developed system will be able to function independently and also work collaboratively with the other ADAS functions increasing the functional quality of the system.

A Robust Obstacle Avoidance for Service Robot Using Bayesian Approach

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Widodo Budiharto

2011-03-01

Full Text Available The objective of this paper is to propose a robust obstacle avoidance method for service robot in indoor environment. The method for obstacles avoidance uses information about static obstacles on the landmark using edge detection. Speed and direction of people that walks as moving obstacle obtained by single camera using tracking and recognition system and distance measurement using 3 ultrasonic sensors. A new geometrical model and maneuvering method for moving obstacle avoidance introduced and combined with Bayesian approach for state estimation. The obstacle avoidance problem is formulated using decision theory, prior and posterior distribution and loss function to determine an optimal response based on inaccurate sensor data. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to service robot also presented. Various experiments show that our proposed method very fast, robust and successfully implemented to service robot called Srikandi II that equipped with 4 DOF arm robot developed in our laboratory.

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

Science.gov (United States)

Mou, Xiaozheng; Wang, Han

2018-01-01

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

Obstacle detection method, obstacle removing method, device and production line for practicing the methods

International Nuclear Information System (INIS)

Yoneyama, Takao; Ishimatsu, Tsuneo; Komata, Hisashi; Suzuki, Keisaburo.

1997-01-01

The present invention provides techniques for detecting and removing obstacles, which can be applied to pipelines and vessels to be used in structures such as nuclear power structures and electric power generation facilities. Namely, when the pipelines or vessels are in any of the stages, namely, production, installation, before the use after installation and before the reuse after inspection, obstacles remaining in the pipelines and vessels are blown off by using a fluid jetting mechanism (air compressor). Elastic waves generated when the blown off obstacles abut against the pipelines and vessels are detected by using a sensor. As a result, the remaining obstacles can be detected during any one of the stages described above. The blowing is repeated till the absence of the obstacles is confirmed by elastic wave signals detected by the sensor. As a result, the remaining obstacles can be removed. (I.S.)

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

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Wei Zhang

2017-11-01

Full Text Available In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV, this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment.

Relay Placement for FSO Multihop DF Systems With Link Obstacles and Infeasible Regions

KAUST Repository

Zhu, Bingcheng; Cheng, Julian; Alouini, Mohamed-Slim; Wu, Lenan

2015-01-01

Optimal relay placement is studied for free-space optical multihop communication with link obstacles and infeasible regions. An optimal relay placement scheme is proposed to achieve the lowest outage probability, enable the links to bypass obstacles

Automatic Quadcopter Control Avoiding Obstacle Using Camera with Integrated Ultrasonic Sensor

Science.gov (United States)

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

2018-04-01

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

Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

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Zheping Yan

2013-01-01

Full Text Available To avoid obstacle in the unknown environment for unmanned undersea vehicle (UUV, an obstacle avoiding system based on improved vector field histogram (VFH is designed. Forward looking sonar is used to detect the environment, and the divisional sonar modal is applied to deal with the measure uncertainty. To adapt to the VFH, rolling occupancy grids are used for the map building, and high accuracy details of local environment are obtained. The threshold is adaptively adjusted by the statistic of obstacles to solve the problem that VFH is sensitive to threshold. To improve the environment adaptability, the hybrid-behaviors strategy is proposed, which selects the optimal avoidance command according to the motion status and environment character. The simulation shows that UUV could avoid the obstacles fast and escape from the U shape obstacles.

Overcoming Obstacles to Drug Repositioning in Japan

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Yuhei Nishimura

2017-10-01

Full Text Available Drug repositioning (DR is the process of identifying new indications for existing drugs. DR usually focuses on drugs that have cleared phase-I safety trials but has yet to show efficacy for the intended indication. Therefore, DR can probably skip the preclinical and phase-I study, which can reduce the cost throughout drug development. However, the expensive phase-II/III trials are required to establish efficacy. The obstacles to DR include identification of new indications with a high success rate in clinical studies, obtaining funding for clinical studies, patent protection, and approval systems. To tackle these obstacles, various approaches have been applied to DR worldwide. In this perspective, we provide representative examples of DR and discuss the ongoing efforts to overcome obstacles to DR in Japan.

Obstacle evasion in free-space optical communications utilizing Airy beams

Science.gov (United States)

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

2018-03-01

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

Obstacles to the use of natural gas in electric markets

International Nuclear Information System (INIS)

Lynch, M.M.

1992-01-01

A brief overview of the New England Electric System (NEES) and its current and planned natural gas fired generation is presented. Some statistics are given that indicate that electric generation is the biggest growth market for natural gas, underscoring the importance of overcoming the obstacles to the use of gas in electric generation markets. What is seen as the major obstacles to gas use in the electric power industry and some ways to overcome these obstacles are reviewed

An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems

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Jialiang Wang

2014-01-01

Full Text Available Flocking behavior is a common phenomenon in nature, such as flocks of birds and groups of fish. In order to make the agents effectively avoid obstacles and fast form flocking towards the direction of destination point, this paper proposes a fast multiagent obstacle avoidance (FMOA algorithm. FMOA is illustrated based on the status of whether the flocking has formed. If flocking has not formed, agents should avoid the obstacles toward the direction of target. If otherwise, these agents have reached the state of lattice and then these agents only need to avoid the obstacles and ignore the direction of target. The experimental results show that the proposed FMOA algorithm has better performance in terms of flocking path length. Furthermore, the proposed FMOA algorithm is applied to the formation flying of quad-rotor helicopters. Compared with other technologies to perform the localization of quad-rotor helicopter, this paper innovatively constructs a smart environment by deploying some wireless sensor network (WSN nodes using the proposed localization algorithm. Finally, the proposed FMOA algorithm is used to conduct the formation flying of these quad-rotor helicopters in the smart environment.

Navigation integrity monitoring and obstacle detection for enhanced-vision systems

Science.gov (United States)

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

2001-08-01

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

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

Science.gov (United States)

Zheng, Li; Yi, Ruan

2009-11-01

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

Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

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Mingyue Cui

2012-11-01

Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system

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Kandathil Jom J.

2018-01-01

Full Text Available One of the primary ability of an intelligent mobile robot system is obstacle avoidance. BUG algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, BUG algorithms assume only local knowledge of the environment and a global goal. Among the variations of the BUG algorithms that prevail, BUG-0, BUG-1 and BUG-2 are the more prominent versions. The exhaustive search algorithm present in BUG-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the BUG-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from BUG-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem.

Robust obstacle detection for unmanned surface vehicles

Science.gov (United States)

Qin, Yueming; Zhang, Xiuzhi

2018-03-01

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

Prefrontal cortex activation during obstacle negotiation: What's the effect size and timing?

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Maidan, Inbal; Shustak, Shiran; Sharon, Topaz; Bernad-Elazari, Hagar; Geffen, Nimrod; Giladi, Nir; Hausdorff, Jeffrey M; Mirelman, Anat

2018-04-01

Obstacle negotiation is a daily activity that requires the integration of sensorimotor and cognitive information. Recent studies provide evidence for the important role of prefrontal cortex during obstacle negotiation. We aimed to explore the effects of obstacle height and available response time on prefrontal activation. Twenty healthy young adults (age: 30.1 ± 1.0 years; 50% women) walked in an obstacle course while negotiating anticipated and unanticipated obstacles at heights of 50 mm and 100 mm. Prefrontal activation was measured using a functional near-infrared spectroscopy system. Kinect cameras measured the obstacle negotiation strategy. Prefrontal activation was defined based on mean level of HbO 2 before, during and after obstacle negotiation and the HbO 2 slope from gait initiation and throughout the task. Changes between types of obstacles were assessed using linear-mix models and partial correlation analyses evaluated the relationship between prefrontal activation and the distance between the feet as the subjects traversed the obstacles. Different obstacle heights showed similar changes in prefrontal activation measures (p > 0.210). However, during unanticipated obstacles, the slope of the HbO 2 response was steeper (p = 0.048), as compared to anticipated obstacles. These changes in prefrontal activation during negotiation of unanticipated obstacles were correlated with greater distance of the leading foot after the obstacles (r = 0.831, p = 0.041). These findings are the first to show that the pattern of prefrontal activation depends on the nature of the obstacle. More specifically, during unanticipated obstacles the recruitment of the prefrontal cortex is faster and greater than during negotiating anticipated obstacles. These results provide evidence of the important role of the prefrontal cortex and the ability of healthy young adults to tailor the activation pattern to different types of obstacles. Copyright © 2018

Doctors' health: obstacles and enablers to returning to work.

Science.gov (United States)

Cohen, D; Rhydderch, M; Reading, P; Williams, S

2015-08-01

For doctors returning to work after absence due to ill-health or performance concerns, the obstacles can seem insurmountable. Doctors' perspectives of these obstacles have been investigated. To support them more effectively, the perspectives of organizations that interact with such doctors should also be considered. To explore the obstacles and enablers to doctors' return to work after long-term absence from the perspective of key organizations involved in assessment and support. We identified organizations operating in the field of doctors' health, well-being and performance. We conducted semi-structured, 30-45 min telephone interviews with representatives of the organizations, exploring problems that they had encountered that were experienced by doctors with health or performance concerns returning to work after absence of a month or longer. We analysed our field notes using theoretical analysis. We conducted 11 telephone interviews. Data analysis identified four key themes of obstacles and enablers to returning to work: 'communication', 'return to work', 'finance and funding' and 'relationships and engagement'. Sub-themes relating to the organization and the individual also emerged. Organizations responsible for supporting doctors back to work reported poor communication as a significant obstacle to doctors returning to work after illness. They also reported differences between specialities, employing organizations, occupational health departments and human resources in terms of knowledge and expertise in supporting doctors with complex issues. Clear communication channels, care pathways and support processes, such as workplace advocates, were perceived as strong enablers to return to work for doctors after long-term absence. © The Author 2015. Published by Oxford University Press on behalf of the Society of Occupational Medicine. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Path planning for first responders in the presence of moving obstacles

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Zhiyong Wang

2015-06-01

Full Text Available Navigation services have gained much importance for all kinds of human activities ranging from tourist navigation to support of rescue teams in disaster management. However, despite the considerable amount of route guidance research that has been performed, many issues that are related to navigation for first responders still need to be addressed. During disasters, emergencies can result in different types of moving obstacles (e.g., fires, plumes, floods, which make some parts of the road network temporarily unavailable. After such incidents occur, responders have to go to different destinations to perform their tasks in the environment affected by the disaster. Therefore they need a path planner that is capable of dealing with such moving obstacles, as well as generating and coordinating their routes quickly and efficiently. During the past decades, more and more hazard simulations, which can modify the models with incorporation of dynamic data from the field, have been developed. These hazard simulations use methods such as data assimilation, stochastic estimation, and adaptive measurement techniques, and are able to generate more reliable results of hazards. This would allow the hazard simulation models to provide valuable information regarding the state of road networks affected by hazards, which supports path planning for first responders among the moving obstacles. The objective of this research is to develop an integrated navigation system for first responders in the presence of moving obstacles. Such system should be able to navigate one or more responders to one or multiple destinations avoiding the moving obstacles, using the predicted information of the moving obstacles generated from by hazard simulations. In this dissertation, the objective we have is expressed as the following research question: How do we safely and efficiently navigate one or more first responders to one or more destinations avoiding moving obstacles? To address

Reciprocally-Rotating Velocity Obstacles

KAUST Repository

Giese, Andrew

2014-05-01

© 2014 IEEE. Modern multi-agent systems frequently use highlevel planners to extract basic paths for agents, and then rely on local collision avoidance to ensure that the agents reach their destinations without colliding with one another or dynamic obstacles. One state-of-the-art local collision avoidance technique is Optimal Reciprocal Collision Avoidance (ORCA). Despite being fast and efficient for circular-shaped agents, ORCA may deadlock when polygonal shapes are used. To address this shortcoming, we introduce Reciprocally-Rotating Velocity Obstacles (RRVO). RRVO generalizes ORCA by introducing a notion of rotation for polygonally-shaped agents. This generalization permits more realistic motion than ORCA and does not suffer from as much deadlock. In this paper, we present the theory of RRVO and show empirically that it does not suffer from the deadlock issue ORCA has, permits agents to reach goals faster, and has a comparable collision rate at the cost of performance overhead quadratic in the (typically small) user-defined parameter δ.

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

Science.gov (United States)

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

2016-01-01

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

Path Generation by Avoiding Obstacles using the Intersection of Bodies

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Komák Martin

2018-02-01

Full Text Available We will discuss the problem of path finding in 3D space with an obstacle. The thesis deals with the problem of searching for the shortest path between the individual points in the space so that this path does not come into collision with an obstacle. A system has been designed to construct paths in cross-sectional planes of the given object representing an obstacle, based on its surface contour. The system solves the issue of loading STL format, creating cross-sectional planes of the object, intersection between geometric shapes, and generation of lines around the contour of the object in 2D. An experiment was performed, in which we have been moving around a model of a jet aircraft and its results are described in the conclusion.

Design of railway obstacle detection prototype

CSIR Research Space (South Africa)

Xungu, Sipho A

2017-11-01

Full Text Available Survey Inspection Device (SID) test prototype platform to serve as an early warning system for locomotives and was to travel 2km ahead of a locomotive in order to inspect the railway for possible obstacles such as human beings, livestock and collisions...

VISION BASED OBSTACLE DETECTION IN UAV IMAGING

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S. Badrloo

2017-08-01

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

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

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Carlos Fernández

2013-04-01

Full Text Available At present, the topic of automated vehicles is one of the most promising research areas in the field of Intelligent Transportation Systems (ITS. The use of automated vehicles for public transportation also contributes to reductions in congestion levels and to improvements in traffic flow. Moreover, electrical public autonomous vehicles are environmentally friendly, provide better air quality and contribute to energy conservation. The driverless public transportation systems, which are at present operating in some airports and train stations, are restricted to dedicated roads and exhibit serious trouble dynamically avoiding obstacles in the trajectory. In this paper, an electric autonomous mini-bus is presented. All datasets used in this article were collected during the experiments carried out in the demonstration event of the 2012 IEEE Intelligent Vehicles Symposium that took place in Alcalá de Henares (Spain. The demonstration consisted of a route 725 metres long containing a list of latitude-longitude points (waypoints. The mini-bus was capable of driving autonomously from one waypoint to another using a GPS sensor. Furthermore, the vehicle is provided with a multi-beam Laser Imaging Detection and Ranging (LIDAR sensor for surrounding reconstruction and obstacle detection. When an obstacle is detected in the planned path, the planned route is modified in order to avoid the obstacle and continue its way to the end of the mission. On the demonstration day, a total of 196 attendees had the opportunity to get a ride on the vehicles. A total of 28 laps were successfully completed in full autonomous mode in a private circuit located in the National Institute for Aerospace Research (INTA, Spain. In other words, the system completed 20.3 km of driverless navigation and obstacle avoidance.

Women's orgasm obstacles: A qualitative study.

Science.gov (United States)

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

2017-08-01

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

The Obstacles Facing the Flow of the Electronic Information in the Arab World

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Samir Yahya Umri

2006-12-01

Full Text Available This research views the most important obstacles facing the flow of electronic information in Arab world; with an illustration about the effect of each obstacle on the flowing of the information, and the special recommendation to overcome it. the research states 4 main obstacles; they are: number of internet users and the weakness of the infrastructure in our Arab world, the spam e-mails, the Bugs and vulnerabilities in the operating systems that allow hackers to attack the information systems, and the spread of the electronic pornography on the internet

Factors influencing obstacle crossing performance in patients with Parkinson's disease.

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Ying-Yi Liao

Full Text Available BACKGROUND: Tripping over obstacles is the major cause of falls in community-dwelling patients with Parkinson's disease (PD. Understanding the factors associated with the obstacle crossing behavior may help to develop possible training programs for crossing performance. This study aimed to identify the relationships and important factors determining obstacle crossing performance in patients with PD. METHODS: Forty-two idiopathic patients with PD (Hoehn and Yahr stages I to III participated in this study. Obstacle crossing performance was recorded by the Liberty system, a three-dimensional motion capture device. Maximal isometric strength of the lower extremity was measured by a handheld dynamometer. Dynamic balance and sensory integration ability were assessed using the Balance Master system. Movement velocity (MV, maximal excursion (ME, and directional control (DC were obtained during the limits of stability test to quantify dynamic balance. The sum of sensory organization test (SOT scores was used to quantify sensory organization ability. RESULTS: Both crossing stride length and stride velocity correlated significantly with lower extremity muscle strength, dynamic balance control (forward and sideward, and sum of SOT scores. From the regression model, forward DC and ankle dorsiflexor strength were identified as two major determinants for crossing performance (R(2 = .37 to.41 for the crossing stride length, R(2 = .43 to.44 for the crossing stride velocity. CONCLUSIONS: Lower extremity muscle strength, dynamic balance control and sensory integration ability significantly influence obstacle crossing performance. We suggest an emphasis on muscle strengthening exercises (especially ankle dorsiflexors, balance training (especially forward DC, and sensory integration training to improve obstacle crossing performance in patients with PD.

Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.

Science.gov (United States)

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

2016-01-01

Accurate motor control is required when walking around obstacles in order to avoid collisions. When vision is unavailable, sensory substitution can be used to improve locomotion through the environment. Tactile sensory substitution devices (SSDs) are electronic travel aids, some of which indicate the distance of an obstacle using the rate of vibration of a transducer on the skin. We investigated how accurately such an SSD guided navigation in an obstacle circumvention task. Using an SSD, 12 blindfolded participants navigated around a single flat 0.6 x 2 m obstacle. A 3-dimensional Vicon motion capture system was used to quantify various kinematic indices of human movement. Navigation performance under full vision was used as a baseline for comparison. The obstacle position was varied from trial to trial relative to the participant, being placed at two distances 25 cm to the left, right or directly ahead. Under SSD guidance, participants navigated without collision in 93% of trials. No collisions occurred under visual guidance. Buffer space (clearance between the obstacle and shoulder) was larger by a factor of 2.1 with SSD guidance than with visual guidance, movement times were longer by a factor of 9.4, and numbers of velocity corrections were larger by a factor of 5 (all p<0.05). Participants passed the obstacle on the side affording the most space in the majority of trials for both SSD and visual guidance conditions. The results are consistent with the idea that SSD information can be used to generate a protective envelope during locomotion in order to avoid collisions when navigating around obstacles, and to pass on the side of the obstacle affording the most space in the majority of trials.

Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.

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Andrew J Kolarik

Full Text Available Accurate motor control is required when walking around obstacles in order to avoid collisions. When vision is unavailable, sensory substitution can be used to improve locomotion through the environment. Tactile sensory substitution devices (SSDs are electronic travel aids, some of which indicate the distance of an obstacle using the rate of vibration of a transducer on the skin. We investigated how accurately such an SSD guided navigation in an obstacle circumvention task. Using an SSD, 12 blindfolded participants navigated around a single flat 0.6 x 2 m obstacle. A 3-dimensional Vicon motion capture system was used to quantify various kinematic indices of human movement. Navigation performance under full vision was used as a baseline for comparison. The obstacle position was varied from trial to trial relative to the participant, being placed at two distances 25 cm to the left, right or directly ahead. Under SSD guidance, participants navigated without collision in 93% of trials. No collisions occurred under visual guidance. Buffer space (clearance between the obstacle and shoulder was larger by a factor of 2.1 with SSD guidance than with visual guidance, movement times were longer by a factor of 9.4, and numbers of velocity corrections were larger by a factor of 5 (all p<0.05. Participants passed the obstacle on the side affording the most space in the majority of trials for both SSD and visual guidance conditions. The results are consistent with the idea that SSD information can be used to generate a protective envelope during locomotion in order to avoid collisions when navigating around obstacles, and to pass on the side of the obstacle affording the most space in the majority of trials.

Diffusion induced flow on a wedge-shaped obstacle

International Nuclear Information System (INIS)

Zagumennyi, Ia V; Dimitrieva, N F

2016-01-01

In this paper the problem of evolution of diffusion induced flow on a wedge-shaped obstacle is analyzed numerically. The governing set of fundamental equations is solved using original solvers from the open source OpenFOAM package on supercomputer facilities. Due to breaking of naturally existing diffusion flux of a stratifying agent by the impermeable surface of the wedge a complex multi-level vortex system of compensatory fluid motions is formed around the obstacle. Sharp edges of the obstacle generate extended high-gradient horizontal interfaces which are clearly observed in laboratory experiments by high-resolution Schlieren visualization. Formation of an intensive pressure depression zone in front of the leading vertex of the wedge is responsible for generation of propulsive force resulting in a self-displacement of the obstacle along the neutral buoyancy horizon in a stably stratified environment. The size of the pressure deficiency area near the sharp vertex of a concave wedge is about twice that for a convex one. This demonstrates a more intensive propulsion mechanism in case of the concave wedge and, accordingly, a higher velocity of its self-movement in a continuously stratified medium. (paper)

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

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

2018-03-21

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

Bi-stability in cooperative transport by ants in the presence of obstacles.

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Jonathan E Ron

2018-05-01

Full Text Available To cooperatively carry large food items to the nest, individual ants conform their efforts and coordinate their motion. Throughout this expedition, collective motion is driven both by internal interactions between the carrying ants and a response to newly arrived informed ants that orient the cargo towards the nest. During the transport process, the carrying group must overcome obstacles that block their path to the nest. Here, we investigate the dynamics of cooperative transport, when the motion of the ants is frustrated by a linear obstacle that obstructs the motion of the cargo. The obstacle contains a narrow opening that serves as the only available passage to the nest, and through which single ants can pass but not with the cargo. We provide an analytical model for the ant-cargo system in the constrained environment that predicts a bi-stable dynamic behavior between an oscillatory mode of motion along the obstacle and a convergent mode of motion near the opening. Using both experiments and simulations, we show how for small cargo sizes, the system exhibits spontaneous transitions between these two modes of motion due to fluctuations in the applied force on the cargo. The bi-stability provides two possible problem solving strategies for overcoming the obstacle, either by attempting to pass through the opening, or take large excursions to circumvent the obstacle.

Interaction of turbulent deflagrations with representative flow obstacles

International Nuclear Information System (INIS)

Durst, B.; Ardey, N.; Mayinger, F.

1997-01-01

In the case of a gradual release of hydrogen in the course of an assumed, severe accident in a light water reactor, the combustion will normally start out as a slow deflagration. Acceleration of an initially slow flame due to interactions of chemical kinetics and turbulent heat and mass transfer can result in very high flame speeds. Therefore, in order to assess hydrogen mitigation techniques, detailed knowledge about flame acceleration and interaction of flames with obstacles is required. The reported investigations are aimed at the investigation of the mechanisms responsible for turbulent flame acceleration and improving present correlations for estimates and models for numerical simulations of hydrogen combustion processes. A medium-scale square cross-section setup is employed, using flow obstacles with shapes representative for reactor containments. The global flame speed is deduced from measurements using thermocouples, pressure transducers and photodiodes. Measurements using a two-component LDA-system are being carried through in order to correlate global flame spread and local turbulence parameters. Results indicate that low blockage-ratio obstacles only marginally influence the flame, as disturbances which are induced remain local to the vicinity of the obstacle and die out very quickly downstream thereof. Flow visualizations by means of a Schlieren setup indicate very complex flow structures in the vicinity of obstacles. The results are being used to validate turbulent reaction models. A model based on probability density functions (pdf) of assumed shape has been developed and initial calculations are presented. (author)

A Mobile Robot Sonar System with Obstacle Avoidance.

Science.gov (United States)

1994-03-01

WITH OBSTACLE - AVOIDANCE __ by __ Patrick Gerard Byrne March 1994 Thesis Advisor : Yutaka Kanayama Approved for public release; distribution is...point p is on a line L whose normal has an orientation a and whose distance from the origin is r (Figure 5). This method has an advantage in expressing...sonar(FRONTR); Wine(&pl); while(hitl I >’- 100.0 11 hitl 1 - 0.0 ){ hitl I = sonar(FRONTR); I skipO; line(&p3); gat- robO (&posit 1); while(positl.x

How to Pay for Health Care.

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Porter, Michael E; Kaplan, Robert S

2016-01-01

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

Supersonic flows past an obstacle in Yukawa liquids

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Charan, Harish; Ganesh, Rajaraman

2018-04-01

Shock formation, when a supersonic flow passes a stationary obstacle, is ubiquitous in nature. Considering particles mediating via a Yukawa-type interaction as a prototype for a strongly coupled complex plasma, characterized by coupling strength (Γ, ratio of the average potential to kinetic energy per particle) and screening parameter (κ, ratio of the mean inter-particle distance to the shielding length), we address the fundamental problem of supersonic fluid flow U0, past a stationary obstacle immersed in this strongly coupled system. We here report the results on the bow shocks formed in Yukawa liquids when the liquid flows at speeds larger than the speed of sound in the system. Depending on the values of Mach number MC L=U/0 CL , where CL is the longitudinal speed of sound in the system, the bow shocks are found to be either traveling or localized. We find that for the transonic flows (0.8 ≲ MC L≲ 1.2), the bow shocks travel in the upstream direction opposite to the incoming fluid. The phase velocity of the traveling bow shocks is found to be a non-monotonous function of κ, varying as ∝1 /k1.11 at a fixed value of Γ, and is found to be independent of Γ at a fixed value of κ. It is observed that for the flow values with MC L>1.5 , the shock waves do not travel in the upstream direction but instead form a stationary arc like structure around the obstacle. For the fluid flows with 1 ≲ MC L≲ 2.6 , secondary bow shocks are seen to emerge behind the stationary obstacle which travel in the downstream direction, and the phase velocity of these secondary bow shocks is found to be equal to that of the primary bow shocks.

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

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

2016-06-01

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

Surface obstacles in pulsatile flow

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Carr, Ian A.; Plesniak, Michael W.

2017-11-01

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

Resonances for Obstacles in Hyperbolic Space

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Hintz, Peter; Zworski, Maciej

2017-12-01

We consider scattering by star-shaped obstacles in hyperbolic space and show that resonances satisfy a universal bound { Im λ ≤ - 1/2 } , which is optimal in dimension 2. In odd dimensions we also show that { Im λ ≤ - μ/ρ } for a universal constant {μ} , where { ρ } is the radius of a ball containing the obstacle; this gives an improvement for small obstacles. In dimensions 3 and higher the proofs follow the classical vector field approach of Morawetz, while in dimension 2 we obtain our bound by working with spaces coming from general relativity. We also show that in odd dimensions resonances of small obstacles are close, in a suitable sense, to Euclidean resonances.

Directed cell migration in the presence of obstacles

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Grima Ramon

2007-01-01

Full Text Available Abstract Background Chemotactic movement is a common feature of many cells and microscopic organisms. In vivo, chemotactic cells have to follow a chemotactic gradient and simultaneously avoid the numerous obstacles present in their migratory path towards the chemotactic source. It is not clear how cells detect and avoid obstacles, in particular whether they need a specialized biological mechanism to do so. Results We propose that cells can sense the presence of obstacles and avoid them because obstacles interfere with the chemical field. We build a model to test this hypothesis and find that this naturally enables efficient at-a-distance sensing to be achieved with no need for a specific and active obstacle-sensing mechanism. We find that (i the efficiency of obstacle avoidance depends strongly on whether the chemotactic chemical reacts or remains unabsorbed at the obstacle surface. In particular, it is found that chemotactic cells generally avoid absorbing barriers much more easily than non-absorbing ones. (ii The typically low noise in a cell's motion hinders the ability to avoid obstacles. We also derive an expression estimating the typical distance traveled by chemotactic cells in a 3D random distribution of obstacles before capture; this is a measure of the distance over which chemotaxis is viable as a means of directing cells from one point to another in vivo. Conclusion Chemotactic cells, in many cases, can avoid obstacles by simply following the spatially perturbed chemical gradients around obstacles. It is thus unlikely that they have developed specialized mechanisms to cope with environments having low to moderate concentrations of obstacles.

Obstacle problems in mathematical physics

CERN Document Server

Rodrigues, J-F

1987-01-01

The aim of this research monograph is to present a general account of the applicability of elliptic variational inequalities to the important class of free boundary problems of obstacle type from a unifying point of view of classical Mathematical Physics.The first part of the volume introduces some obstacle type problems which can be reduced to variational inequalities. Part II presents some of the main aspects of the theory of elliptic variational inequalities, from the abstract hilbertian framework to the smoothness of the variational solution, discussing in general the properties of the free boundary and including some results on the obstacle Plateau problem. The last part examines the application to free boundary problems, namely the lubrication-cavitation problem, the elastoplastic problem, the Signorini (or the boundary obstacle) problem, the dam problem, the continuous casting problem, the electrochemical machining problem and the problem of the flow with wake in a channel past a profile.

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

Science.gov (United States)

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

2014-01-01

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

A Novel Artificial Immune Algorithm for Spatial Clustering with Obstacle Constraint and Its Applications

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Liping Sun

2014-01-01

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

Tracked robot controllers for climbing obstacles autonomously

Science.gov (United States)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Experimental Investigation on the Detection of Obstacles by a Mobile Robot

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Zoltan-Iosif Korka

2017-06-01

Full Text Available The paper presents an experimental investigation regarding the detection of obstacles in the workspace of a mobile robot. The traveling time of mobile robot on wheels, while moving on four with same length routes but with different shapes, was investigated. In this context, the average time to avoid an obstacle was determined, concluding with regard to the sensorial system of the robot.

Optical Flow based Robot Obstacle Avoidance

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Kahlouche Souhila

2008-11-01

Full Text Available In this paper we try to develop an algorithm for visual obstacle avoidance of autonomous mobile robot. The input of the algorithm is an image sequence grabbed by an embedded camera on the B21r robot in motion. Then, the optical flow information is extracted from the image sequence in order to be used in the navigation algorithm. The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth. The strategy consists in balancing the amount of left and right side flow to avoid obstacles, this technique allows robot navigation without any collision with obstacles. The robustness of the algorithm will be showed by some examples.

Mittag–Leffler's function, Vekua transform and an inverse obstacle scattering problem

International Nuclear Information System (INIS)

Ikehata, Masaru

2010-01-01

This paper studies a prototype of inverse obstacle scattering problems whose governing equation is the Helmholtz equation in two dimensions. An explicit method to extract information about the location and shape of unknown obstacles from the far-field operator with a fixed wave number is given. The method is based on an explicit construction of a modification of Mittag–Leffler's function via the Vekua transform and the study of the asymptotic behaviour; an explicit density in the Herglotz wavefunction that approximates the modification of Mittag–Leffler's function in the bounded domain surrounding unknown obstacles; a system of inequalities derived from Kirsch's factorization formula of the far-field operator. Then an indicator function which can be calculated from the far-field operator acting on the density is introduced. It is shown that the asymptotic behaviour of the indicator function yields information about the visible part of the exterior of the obstacles

Obstacles to and motivation for successful breast-feeding

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A-M Bergh

1993-03-01

Full Text Available This study determined obstetric physiotherapists' perceptions about major obstacles to and methods of motivation for successful breast-feeding by means of the Friedman non-parametric procedure for the two-way analysis of variance. Three categories of obstacles were identified: maternal obstacles, health professionals and society. Maternal obstacles mentioned most were insufficient motivation (25% and knowledge (24%, anxiety (14%, fatigue (14%, and employment (14%. Obstacles related to health professionals included tack of support for mothers (20%, inappropriate lactation management (19%, lack of knowledge (15%, negative attitudes (5% and staff shortages (5%. With regard to society, lack of support (27% and life-styles (29% were identified as significant obstacles. The two most significantly important methods of motivation were information and education (53% and contact with other breast-feeders (27%. It is concluded that breast-feeding education efforts can be improved by identifying obstacles to breast-feeding and methods of motivation and that the Friedman test may be a statistical procedure to consider for determining priorities.

Real-time obstacle and collision avoidance system for fixed wing unmanned aerial systems

Science.gov (United States)

Esposito, Julien F.

The first original contribution of this research is the Advanced Mapping and Waypoint Generator (AMWG), a piece of software which processes publicly available elevation data in order to only retain the information necessary for a given altitude-specific flight mission. The AMWG is what makes systematic offline trajectory possible. The AMWG first creates altitude groups in order to discard elevations points which are not relevant to a specific mission because of the altitude flown at. Those groups referred to as altitude layers can in turn be reused if the original layer becomes unsafe for the altitude range in use, and the other layers are used for altitude re-scheduling in order to update the current altitude layer to a safer layer. Each layer is bounded by a lower and higher altitude, within which terrain contours are considered constant according to a conservative approach involving the principle of natural erosion. The AMWG then proceeds to obstacle contours extraction using threshold and edge detection vision algorithms. A simplification of those obstacle contours and their corresponding free space zones counterparts is performed using a fixed -tolerance Douglas-Peucker algorithm. This simplification allows free space zones to be described by vectors instead of point clouds, which enables UAS point location. The final product of the AWMG is a network of connected free space trapezoidal cells with embedded connectivity information referred to as the Synthetic Terrain Avoidance (STA network). The walls of the trapezoidal cells are then extruded as the AWMG essentially approximates a three-dimensional world by considering it as a stratification of two-dimensional layers, but the real-time phase needs 3D support. Using the graph conceptual view and the depth first search algorithm, all the connected cell sequences joining the departure to the arrival cell can be listed, a capability which is used during aircraft rerouting. By connecting two adjacent cells

Nonholonomic feedback control among moving obstacles

Science.gov (United States)

Armstrong, Stephen Gregory

A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.

UOBPRM: A uniformly distributed obstacle-based PRM

KAUST Repository

Yeh, Hsin-Yi

2012-10-01

This paper presents a new sampling method for motion planning that can generate configurations more uniformly distributed on C-obstacle surfaces than prior approaches. Here, roadmap nodes are generated from the intersections between C-obstacles and a set of uniformly distributed fixed-length segments in C-space. The results show that this new sampling method yields samples that are more uniformly distributed than previous obstacle-based methods such as OBPRM, Gaussian sampling, and Bridge test sampling. UOBPRM is shown to have nodes more uniformly distributed near C-obstacle surfaces and also requires the fewest nodes and edges to solve challenging motion planning problems with varying narrow passages. © 2012 IEEE.

Obstacles to nutrition labeling in restaurants.

Science.gov (United States)

Almanza, B A; Nelson, D; Chai, S

1997-02-01

This study determined the major obstacles that foodservices face regarding nutrition labeling. Survey questionnaire was conducted in May 1994. In addition to demographic questions, the directors were asked questions addressing willingness, current practices, and perceived obstacles related to nutrition labeling. Sixty-eight research and development directors of the largest foodservice corporations as shown in Restaurants & Institutions magazine's list of the top 400 largest foodservices (July 1993). P tests were used to determine significance within a group for the number of foodservices that were currently using nutrition labeling, perceived impact of nutrition labeling on sales, and perceived responsibility to add nutrition labels. Regression analysis was used to determine the importance of factors on willingness to label. Response rate was 45.3%. Most companies were neutral about their willingness to use nutrition labeling. Two thirds of the respondents were not currently using nutrition labels. Only one third thought that it was the foodservice's responsibility to provide such information. Several companies perceived that nutrition labeling would have a potentially negative effect on annual sales volume. Major obstacles were identified as menu or personnel related, rather than cost related. Menu-related obstacles included too many menu variations, limited space on the menu for labeling, and loss of flexibility in changing the menu. Personnel-related obstacles included difficulty in training employees to implement nutrition labeling, and not enough time for foodservice personnel to implement nutrition labeling. Numerous opportunities will be created for dietetics professionals in helping foodservices overcome these menu- or personnel-related obstacles.

Computer usage among nurses in rural health-care facilities in South Africa: obstacles and challenges.

Science.gov (United States)

Asah, Flora

2013-04-01

This study discusses factors inhibiting computer usage for work-related tasks among computer-literate professional nurses within rural healthcare facilities in South Africa. In the past two decades computer literacy courses have not been part of the nursing curricula. Computer courses are offered by the State Information Technology Agency. Despite this, there seems to be limited use of computers by professional nurses in the rural context. Focus group interviews held with 40 professional nurses from three government hospitals in northern KwaZulu-Natal. Contributing factors were found to be lack of information technology infrastructure, restricted access to computers and deficits in regard to the technical and nursing management support. The physical location of computers within the health-care facilities and lack of relevant software emerged as specific obstacles to usage. Provision of continuous and active support from nursing management could positively influence computer usage among professional nurses. A closer integration of information technology and computer literacy skills into existing nursing curricula would foster a positive attitude towards computer usage through early exposure. Responses indicated that change of mindset may be needed on the part of nursing management so that they begin to actively promote ready access to computers as a means of creating greater professionalism and collegiality. © 2011 Blackwell Publishing Ltd.

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

International Nuclear Information System (INIS)

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

2016-01-01

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

Women’s orgasm obstacles: A qualitative study

Science.gov (United States)

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

2017-01-01

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

Women’s orgasm obstacles: A qualitative study

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Maryam Nekoolaltak

2017-09-01

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

Transition to Motherhood as an Immigrant: Risks and Obstacles

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Ruveyde Aydin

2017-09-01

Full Text Available The process of transition to motherhood that brings along a number of vital changes may be full of risks and difficulties for immigrant mothers. Poverty, being unfamiliar with the language of the country that the mother migrated, inability of healthcare policies in covering healthcare expenses of immigrants, insufficiency of social assistance and loneliness may negatively affect health of mother and infant. Postpartum immigrant mothers are seen depression, anxiety, stress and social isolation because of these obstacles. Therefore, health care professionals, who provide care to immigrant mothers, should clarify immigrant mothers' religious, cultural beliefs and attitudes. Procurement of peer support is important by developing care programs special to immigrant mothers and ensuring immigrant women to come together. Increase in the number of translators in hospitals and prepara-tion of education materials in native language of mothers will improve the level of benefiting from healthcare services. [Psikiyatride Guncel Yaklasimlar - Current Approaches in Psychiatry 2017; 9(3.000: 250-262

StereoBox: A Robust and Efficient Solution for Automotive Short-Range Obstacle Detection

Directory of Open Access Journals (Sweden)

Alberto Broggi

2007-07-01

Full Text Available This paper presents a robust method for close-range obstacle detection with arbitrarily aligned stereo cameras. System calibration is performed by means of a dense grid to remove perspective and lens distortion after a direct mapping between image pixels and world points. Obstacle detection is based on the differences between left and right images after transformation phase and with a polar histogram, it is possible to detect vertical structures and to reject noise and small objects. Found objects' world coordinates are transmitted via CAN bus; the driver can also be warned through an audio interface. The proposed algorithm can be useful in different automotive applications, requiring real-time segmentation without any assumption on background. Experimental results proved the system to be robust in several envitonmental conditions. In particular, the system has been tested to investigate presence of obstacles in blind spot areas around heavy goods vehicles (HGVs and has been mounted on three different prototypes at different heights.

StereoBox: A Robust and Efficient Solution for Automotive Short-Range Obstacle Detection

Directory of Open Access Journals (Sweden)

Broggi Alberto

2007-01-01

Full Text Available This paper presents a robust method for close-range obstacle detection with arbitrarily aligned stereo cameras. System calibration is performed by means of a dense grid to remove perspective and lens distortion after a direct mapping between image pixels and world points. Obstacle detection is based on the differences between left and right images after transformation phase and with a polar histogram, it is possible to detect vertical structures and to reject noise and small objects. Found objects' world coordinates are transmitted via CAN bus; the driver can also be warned through an audio interface. The proposed algorithm can be useful in different automotive applications, requiring real-time segmentation without any assumption on background. Experimental results proved the system to be robust in several envitonmental conditions. In particular, the system has been tested to investigate presence of obstacles in blind spot areas around heavy goods vehicles (HGVs and has been mounted on three different prototypes at different heights.

Obstacles: their impact on thinking and beyond thinking

NARCIS (Netherlands)

Marguc, J.; van Kleef, G.A.; Förster, J.; Contreras, D.A.

2010-01-01

People encounter myriads of obstacles throughout their lives. Those can be big or small, such as a fallen tree blocking the road to work or life circumstances that make it hard for an adolescent to obtain a university degree. What are the effects of such obstacles? Could it be that obstacles have an

APPLICATION OF DSM IN OBSTACLE CLEARANCE SURVEYING OF AERODROME

Directory of Open Access Journals (Sweden)

X. Qiao

2016-06-01

Full Text Available Compared to the wide use of digital elevation model (DEM, digital surface model (DSM receives less attention because that it is composed by not only terrain surface, but also vegetations and man-made objects which are usually regarded as useless information. Nevertheless, these objects are useful for the identification of obstacles around an aerodrome. The primary objective of the study was to determine the applicability of DSM in obstacle clearance surveying of aerodrome. According to the requirements of obstacle clearance surveying at QT airport, aerial and satellite imagery were used to generate DSM, by means of photogrammetry, which was spatially analyzed with the hypothetical 3D obstacle limitation surfaces (OLS to identify the potential obstacles. Field surveying was then carried out to retrieve the accurate horizontal position and height of the obstacles. The results proved that the application of DSM could make considerable improvement in the efficiency of obstacle clearance surveying of aerodrome.

Private health care sector investment in Brazil: opportunities and obstacles.

Science.gov (United States)

Brandt, Reynaldo

2003-01-01

The Brazilian health system is based upon the constitutional right formulated in 1988, according to which health is the peoples' right and duty of the State. So being, it is essentially the government's responsibility, expressed in the so-called Sistema Unico de Saúde--SUS (single health system) Since its creation, however, it admits the existence of a supplementary health system, left to the private sector. In general terms, the public system is considered unsatisfactory in the services it renders. Its resources are distributed heterogeneously, favoring centers of advanced medical practice, to the detriment of basic health care. The supplementary system is considered of better quality, however with great variations and frequent accusations of being essentially profit driven, instead of being driven to the needs of the assisted population. The growing search for health plans is a direct consequence of the image perceived by the population regarding the quality and accessibility of the public services, as well as of the peoples' growing consciousness of their needs, rights and duties as citizens. The need for continuous quality improvement and cost reduction offers numberless opportunities for actions and investments. Initiatives to identify and implement the best medical practices, medical guidelines and actions are essential regarding those illnesses which are most frequent, of higher cost and of greater risk. Health plans and healthcare providers will necessarily have to focus on their common client. Therefore, organizations must be created in order to develop initiatives aimed to the quality of patient care, as well as to the collection and dissemination of data regarding the production and results of the main service providers. Consequently, immense opportunities are being opened for investments in the area of Information Technology, collection, analysis, and data dissemination. This paper analyses the main trends in the Brazilian health sector and from the

Interaction of a vacuum arc plasma beam with an obstacle positioned normal to the plasma flow

International Nuclear Information System (INIS)

Zarchin, O; Zhitomirsky, V N; Goldsmith, S; Boxman, R L

2003-01-01

The effect of an obstacle positioned normal to a plasma jet produced by a vacuum arc plasma source on the radial distribution of ion flux in the vicinity of the obstacle was studied. This study was motivated by interest in the mutual influence of tightly packed substrates on coatings in industrial vacuum arc deposition systems. The experimental system consisted of a vacuum arc plasma source, a straight plasma duct, and a multi-probe consisting of a removable disc obstacle and a set of ring probes for measuring the radial ion flux. A dc arc discharge was ignited in vacuum between a truncated cone-shaped Cu cathode and an annular anode. The plasma jet produced by cathode spots passed through the anode aperture into the straight plasma duct. An axial magnetic field guided the plasma jet in the duct. The multi-probe consisted of a removable disc obstacle and a set of five ring probes for measuring the radial plasma flux as a function of distance from the disc obstacle. The rings and the disc probes were coaxially arranged on the multi-probe assembly and positioned so that plasma from the source passed through the ring probes and then encountered the disc. The influence of the obstacle was determined by measuring the ring ion currents, both in the presence of the obstacle, and when the disc obstacle was removed. The difference between the measured ion currents with and without the obstacle was interpreted to be the contribution of reflected or sputtered particles from the obstacle to the radial ion flux. The ring probes were biased by -60 V with respect to the grounded anode, to collect the saturated ion current. The multi-probe was connected to a movable stem, and positioned at different distances from the plasma source. A plasma density of ∼6 x 10 17 m -3 was estimated in this study based on the ion current to the obstacle. The radial ion flux collected by the ring probes increased by 20-25% due to the presence of the obstacle. As the calculated mean free path for

Foot strike patterns after obstacle clearance during running.

Science.gov (United States)

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

2002-01-01

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

Mathematical Models of Smart Obstacles

Science.gov (United States)

2006-10-01

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

Implementation of Obstacle-Avoidance Control for an Autonomous Omni-Directional Mobile Robot Based on Extension Theory

Directory of Open Access Journals (Sweden)

Yi-Chung Lai

2012-10-01

Full Text Available The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.

SMART STICK DESIGN WITH OBSTACLE DETECTION AND NAVIGATION AS THE HELPING TOOL FOR BLIND PEOPLE

OpenAIRE

Sumar Hadi*, Susilo Adi Widyanto, Paryanto, Kurnia Chamid, Rachmat Muhamad Andika

2018-01-01

Smart stick designed for the blind people, this appliance can help detect obstacles with the use of infrared sensor, ultrasonic and water. The obstacles in a distance of about 3 m can be detected assistance from this sensor. In addition, we use GPS (Global Positioning System) to give the position and navigation on the stick. Using GPS (Global Positioning System) help the blind people reaches its destination. GPS (Global Positioning System) recipients to get the location of the latest and the ...

Exploring the Obstacles to Implementing Economic Mechanisms to Stimulate Antibiotic Research and Development: A Multi-Actor and System-Level Analysis.

Science.gov (United States)

Baraldi, Enrico; Ciabuschi, Francesco; Leach, Ross; Morel, Chantal M; Waluszewski, Alexandra

2016-05-01

This Article examines the potential stakeholder-related obstacles hindering the implementation of mechanisms to re-ignite the development of novel antibiotics. Proposed economic models and incentives to drive such development include: Public Funding of Research and Development ("R&D"), Tax Incentives, Milestone Prizes, End Payments, Intellectual Property ("IP") and Exclusivity Extensions, Pricing and Reimbursement Incentives, Product Development Partnerships ("PDPs"), and the Options Market for Antibiotics model. Drawing on personal experience and understanding of the antibiotic field, as well as stakeholder consultation and numerous expert meetings within the DRIVE-AB project and Uppsala Health Summit 2015, the Authors identify obstacles attributable to the following actors: Universities and Research Institutes, Small and Medium-sized Enterprises ("SMEs"), Large Pharmaceutical Companies, Marketing Approval Regulators, Payors, Healthcare Providers, National Healthcare Authorities, Patients, and Supranational Institutions. The analysis also proposes a characterization and ranking of the difficulty associated with implementing the reviewed mechanisms. Public Funding of R&D, Pricing and Reimbursement Incentives, and PDPs are mechanisms expected to meet highly systemic barriers (i.e., obstacles across the entire antibiotic value chain), imposing greater implementation challenges in that they require convincing and involving several motivationally diverse actors in order to have much effect.

Obstacles to implementation; Huerden auf dem Weg in die Praxis

Energy Technology Data Exchange (ETDEWEB)

Klempert, Oliver

2010-11-23

Photovoltaic systems have always promised autonomy to customers. The new German Renewables Act (Erneuerbare-Energien-Gesetz) provides reimbursement for self-consumption of power generated on site. However, there are still many obstacles to overcome. (orig.)

Locomotor circumvention strategies are altered by stroke: I. Obstacle clearance.

Science.gov (United States)

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2017-06-15

Functional locomotion requires the ability to adapt to environmental challenges such as the presence of stationary or moving obstacles. Difficulties in obstacle circumvention often lead to restricted community ambulation in individuals with stroke. The objective of this study was to contrast obstacle circumvention strategies between post-stroke (n = 12) and healthy individuals (n = 12) performing locomotor and perceptuomotor (joystick navigation) tasks with different obstacle approaches. Participants walked and navigated with a joystick towards a central target, in a virtual environment simulating a large room, while avoiding an obstacle that either remained stationary at the pre-determined point of intersection or moved from head-on or diagonally 30° left/right. The outcome measures included dynamic clearance (DC), instantaneous distance from obstacle at crossing (IDC), number of collisions and preferred side of circumvention. These measures were compared between groups (stroke vs. healthy), obstacle parameter (stationary vs. moving head-on) and direction of approach (left/paretic vs. right/non-paretic). DC was significantly larger when circumventing a moving obstacle that approached head-on as compared to a stationary obstacle for both groups during both tasks, while not significantly different in either diagonal approach in either group. IDC was smaller in the stroke group while walking and larger in both groups during joystick navigation when avoiding moving as compared to stationary obstacle. IDC was significantly larger in the stroke group compared to controls for diagonal approaches during walking, wherein two different strategies emerged amongst individuals with stroke: circumventing to the same (V same n = 6) or opposite (V opp n = 4) side of obstacle approach. This behavior was not seen in the perceptuomotor task, wherein post-stroke participants circumvented to opposite side of the obstacle approach as seen in healthy participants. In the

Slow maturation of planning in obstacle avoidance in humans

NARCIS (Netherlands)

Corporaal, Sharissa H A; Swinnen, Stephan P.; Duysens, Jacques; Bruijn, Sjoerd M.

2016-01-01

Complex gait (e.g., obstacle avoidance) requires a higher cognitive load than simple steady-state gait, which is a more automated movement. The higher levels of the central nervous system, responsible for adjusting motor plans to complex gait, develop throughout childhood into adulthood. Therefore,

Thermally activated plastic flow in the presence of multiple obstacle types

International Nuclear Information System (INIS)

Dong, Y; Curtin, W A

2012-01-01

The rate- and temperature-dependent plastic flow in a material containing two types of thermally activatable obstacles to dislocation motion is studied both numerically and theoretically in a regime of relative obstacle densities for which the zero-temperature stress is additive. The numerical methods consider the low-density ‘forest’ obstacles first as point obstacles and then as extended obstacles having a finite interaction length with the dislocation, while the high-density ‘solute’ obstacles are treated as point obstacles. Results show that the finite-temperature flow stresses due to different obstacle strengthening mechanisms are additive, as proposed by Kocks et al, only when all strengthening obstacles can be approximated as point-like obstacles. When the activation distance of the low-density extended obstacles exceeds the spacing between the high-density obstacles, the finite-temperature flow stress is non-additive and the effective activation energy differs from that of the Kocks et al model. An analytical model for the activation energy versus flow stress is proposed, based on analysis of the simulation results, to account for the effect of the finite interaction length. In this model, for high forest activation energies, the point-pinning solute obstacles provide a temperature-dependent backstress σ b on dislocation and the overall activation energy is otherwise controlled by the forest activation energy. The model predictions agree well with numerical results for a wide range of obstacle properties, clearly showing the effect due to the finite interaction between dislocation and the obstacles. The implications of our results on the activation volume are discussed with respect to experimental results on solute-strengthened fcc alloys. (paper)

Biologically-Inspired Adaptive Obstacle Negotiation Behavior of Hexapod Robots

Directory of Open Access Journals (Sweden)

Dennis eGoldschmidt

2014-01-01

Full Text Available Neurobiological studies have shown that insects are able to adapt leg movements and posture for obstacle negotiation in changing environments. Moreover, the distance to an obstacle where an insect begins to climb is found to be a major parameter for successful obstacle negotiation. Inspired by these findings, we present an adaptive neural control mechanism for obstacle negotiation behavior in hexapod robots. It combines locomotion control, backbone joint control, local leg reflexes, and neural learning. While the first three components generate locomotion including walking and climbing, the neural learning mechanism allows the robot to adapt its behavior for obstacle negotiation with respect to changing conditions, e.g., variable obstacle heights and different walking gaits. By successfully learning the association of an early, predictive signal (conditioned stimulus, CS and a late, reflex signal (unconditioned stimulus, UCS, both provided by ultrasonic sensors at the front of the robot, the robot can autonomously find an appropriate distance from an obstacle to initiate climbing. The adaptive neural control was developed and tested first on a physical robot simulation, and was then successfully transferred to a real hexapod robot, called AMOS II. The results show that the robot can efficiently negotiate obstacles with a height up to 85% of the robot's leg length in simulation and 75% in a real environment.

Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance

Directory of Open Access Journals (Sweden)

Nabil M. Hewahi

2017-07-01

Full Text Available The robots science has been developed over the past few years, where robots have become used to accomplish difficult, repetitive or accurate tasks, which are very hard for humans to carry out. In this paper, we propose an algorithm to control the motion of a swarm of robots and make them able to avoid obstacles. The proposed solution is based on forming the robots in circular fashion. A group set of robots consists of multiple groups of robots, each group of robots consists of robots forming a circular shape and each group set is a circular form of robots. The proposed algorithm is concerned with first locating the randomly generated robots in groups and secondly with the swarm robot motion and finally with the swarm obstacle avoidance and swarm reorganization after crossing the obstacle. The proposed algorithm has been simulated with five different obstacles with various numbers of randomly generated robots. The results show that the swarm in the circular form can deal with the obstacles very effectively by passing the obstacles smoothly. The proposed algorithm has been compared with flocking algorithm and it is shown that the circular formation algorithm does not need extensive computation after obstacle avoidance whereas the flocking algorithm needs extensive computation. In addition, the circular formation algorithm maintains every robot in its group after avoiding the obstacles whereas with flocking algorithm does not.

Sensor-based whole-arm obstacle avoidance utilizing ASIC technology

International Nuclear Information System (INIS)

Wintenberg, A.L.; Ericson, M.N.; Babcock, S.M.; Armstrong, G.A.; Britton, C.L. Jr.; Butler, P.L.; Hamel, W.R.; Newport, D.F.

1993-01-01

Operation of manipulator systems in poorly defined work environments often presents a significant hazard to both the robotic assembly and the environment. In applications relating to the Environmental Restoration and Waste Management (ER ampersand WM) Program, many of the environments are considered hazardous, both, in the structure and composition of the environment Use of a sensing system that provides information to the manipulator control unit regarding obstacles in close proximity will provide protection against collisions. In this paper, a hierarchical design and implementation of a whole-arm obstacle avoidance system is presented. The system is based on capacitive sensors configured as bracelets for proximity sensing. Each bracelet contains a number of sensor nodes and a processor for sensor node control and readout, and communications with a higher level host, common to all bracelets. The host controls the entire sensing network and communicates proximity information to the manipulator controller. The overall architecture of this system is discussed with detail on the individual system modules. Details of an application specific integrated circuit (ASIC) designed to implement the sensor node electronics are presented. Justifications for the general measurement methods and associated implementation are discussed. Additionally, the current state of development including measured dam is presented

Ep for efficient stochastic control with obstacles

NARCIS (Netherlands)

Mensink, T.; Verbeek, J.; Kappen, H.J.

2010-01-01

Abstract. We address the problem of continuous stochastic optimal control in the presence of hard obstacles. Due to the non-smooth character of the obstacles, the traditional approach using dynamic programming in combination with function approximation tends to fail. We consider a recently

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

Science.gov (United States)

Shim, Youngbo; Kim, Gon-Woo

2018-03-29

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

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

Directory of Open Access Journals (Sweden)

Youngbo Shim

2018-03-01

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

Multi-Modal Detection and Mapping of Static and Dynamic Obstacles in Agriculture for Process Evaluation

Directory of Open Access Journals (Sweden)

Timo Korthals

2018-03-01

Full Text Available Today, agricultural vehicles are available that can automatically perform tasks such as weed detection and spraying, mowing, and sowing while being steered automatically. However, for such systems to be fully autonomous and self-driven, not only their specific agricultural tasks must be automated. An accurate and robust perception system automatically detecting and avoiding all obstacles must also be realized to ensure safety of humans, animals, and other surroundings. In this paper, we present a multi-modal obstacle and environment detection and recognition approach for process evaluation in agricultural fields. The proposed pipeline detects and maps static and dynamic obstacles globally, while providing process-relevant information along the traversed trajectory. Detection algorithms are introduced for a variety of sensor technologies, including range sensors (lidar and radar and cameras (stereo and thermal. Detection information is mapped globally into semantical occupancy grid maps and fused across all sensors with late fusion, resulting in accurate traversability assessment and semantical mapping of process-relevant categories (e.g., crop, ground, and obstacles. Finally, a decoding step uses a Hidden Markov model to extract relevant process-specific parameters along the trajectory of the vehicle, thus informing a potential control system of unexpected structures in the planned path. The method is evaluated on a public dataset for multi-modal obstacle detection in agricultural fields. Results show that a combination of multiple sensor modalities increases detection performance and that different fusion strategies must be applied between algorithms detecting similar and dissimilar classes.

Gaze and motor behavior of people with PD during obstacle circumvention.

Science.gov (United States)

Simieli, Lucas; Vitório, Rodrigo; Rodrigues, Sérgio Tosi; Zago, Paula Fávaro Polastri; Ignacio Pereira, Vinícius Alota; Baptista, André Macari; de Paula, Pedro Henrique Alves; Penedo, Tiago; Almeida, Quincy J; Barbieri, Fabio Augusto

2017-10-01

The aim of this study was to analyze the motor and visual strategies used when walking around (circumvention) an obstacle in patients with Parkinson's disease (PD), in addition to the effects of dopaminergic medication on these strategies. To answer the study question, people with PD (15) and neurologically healthy individuals (15 - CG) performed the task of obstacle circumvention during walking (5 trials of unobstructed walking and obstacle circumvention). The following parameters were analyzed: body clearance (longer mediolateral distance during obstacle circumvention of the center of mass -CoM- to the obstacle), horizontal distance (distance of the CoM at the beginning of obstacle circumvention to the obstacle), circumvention strategy ("lead-out" or "lead-in" strategy), spatial-temporal of each step, and number of fixations, the mean duration of the fixations and time of fixations according to areas of interest. In addition, the variability of each parameter was calculated. The results indicated that people with PD and the CG presented similar obstacle circumvention strategies (no differences between groups for body clearance, horizontal distance to obstacle, or obstacle circumvention strategy), but the groups used different adjustments to perform these strategies (people with PD performed adjustments during both the approach and circumvention steps and presented greater visual dependence on the obstacle; the CG adjusted only the final step before obstacle circumvention). Moreover, without dopaminergic medication, people with PD reduced body clearance and increased the use of a "lead-out" strategy, variability in spatial-temporal parameters, and dependency on obstacle information, increasing the risk of contact with the obstacle during circumvention. Copyright © 2017 Elsevier B.V. All rights reserved.

Quantized flocking control for second-order multiple agents with obstacle avoidance

Directory of Open Access Journals (Sweden)

Chunguang Li

2016-01-01

Full Text Available A quantized flocking control for a group of second-order multiple agents with obstacle avoidance is proposed to address the problem of the exchange of information needed for quantification. With a reasonable assumption, a logarithmic or uniform quantizer is used for the exchange of relative position and velocity information between adjacent agents and the virtual leader, moving at a steady speed along a straight line, and a distributed flocking algorithm with obstacle avoidance capability is designed based on the quantitative information. The Lyapunov stability criterion of nonsmooth systems and the invariance principle are used to prove the stability of these systems. The simulations and experiments are presented to demonstrate the feasibility and effectiveness of the proposed approach.

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

Science.gov (United States)

Zhao, Ming; Han, Baoling

2016-11-01

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

Classification of obstacle shape for generating walking path of humanoid robot

International Nuclear Information System (INIS)

Park, Chan Soo; Kim, Do Ik

2013-01-01

To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load

Classification of obstacle shape for generating walking path of humanoid robot

Energy Technology Data Exchange (ETDEWEB)

Park, Chan Soo; Kim, Do Ik [Korea Institute of Science and Technology, Seoul (Korea, Republic of)

2013-02-15

To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load.

Antenatal and obstetric care in Afghanistan--a qualitative study among health care receivers and health care providers.

Science.gov (United States)

Rahmani, Zuhal; Brekke, Mette

2013-05-06

Despite attempts from the government to improve ante- and perinatal care, Afghanistan has once again been labeled "the worst country in which to be a mom" in Save the Children's World's Mothers' Report. This study investigated how pregnant women and health care providers experience the existing antenatal and obstetric health care situation in Afghanistan. Data were obtained through one-to-one semi-structured interviews of 27 individuals, including 12 women who were pregnant or had recently given birth, seven doctors, five midwives, and three traditional birth attendants. The interviews were carried out in Kabul and the village of Ramak in Ghazni Province. Interviews were taped, transcribed, and analyzed according to the principles of Giorgi's phenomenological analysis. Antenatal care was reported to be underused, even when available. Several obstacles were identified, including a lack of knowledge regarding the importance of antenatal care among the women and their families, financial difficulties, and transportation problems. The women also reported significant dissatisfaction with the attitudes and behavior of health personnel, which included instances of verbal and physical abuse. According to the health professionals, poor working conditions, low salaries, and high stress levels contributed to this matter. Personal contacts inside the hospital were considered necessary for receiving high quality care, and bribery was customary. Despite these serious concerns, the women expressed gratitude for having even limited access to health care, especially treatment provided by a female doctor. Health professionals were proud of their work and enjoyed the opportunity to help their community. This study identified several obstacles which must be addressed to improve reproductive health in Afghanistan. There was limited understanding of the importance of antenatal care and a lack of family support. Financial and transportation problems led to underuse of available care

On cylindrically converging shock waves shaped by obstacles

Energy Technology Data Exchange (ETDEWEB)

Eliasson, V; Henshaw, W D; Appelo, D

2007-07-16

Motivated by recent experiments, numerical simulations were performed of cylindrically converging shock waves. The converging shocks impinged upon a set of zero to sixteen regularly space obstacles. For more than two obstacles the resulting diffracted shock fronts formed polygonal shaped patterns near the point of focus. The maximum pressure and temperature as a function of number of obstacles were studied. The self-similar behavior of cylindrical, triangular and square-shaped shocks were also investigated.

An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

Directory of Open Access Journals (Sweden)

David Zapata

2013-01-01

Full Text Available There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.

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

Science.gov (United States)

Strauss, Moshe; Glinsky, Michael E.

2012-06-01

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

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

Science.gov (United States)

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

2009-01-01

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

Relay Placement for FSO Multihop DF Systems With Link Obstacles and Infeasible Regions

KAUST Repository

Zhu, Bingcheng

2015-05-19

Optimal relay placement is studied for free-space optical multihop communication with link obstacles and infeasible regions. An optimal relay placement scheme is proposed to achieve the lowest outage probability, enable the links to bypass obstacles of various geometric shapes, and place the relay nodes in specified available regions. When the number of relay nodes is large, the searching space can grow exponentially, and thus, a grouping optimization technique is proposed to reduce the searching time. We numerically demonstrate that the grouping optimization can provide suboptimal solutions close to the optimal solutions, but the average searching time linearly grows with the number of relay nodes. Two useful theorems are presented to reveal insights into the optimal relay locations. Simulation results show that our proposed optimization framework can effectively provide desirable solution to the problem of optimal relay nodes placement. © 2015 IEEE.

The Integrated Nordic End-User Electricity Market - Feasibility and identified obstacles

International Nuclear Information System (INIS)

2006-02-01

The report identifies the various obstacles that currently exist which prevent the formation of a truly integrated Nordic electricity end-user market. The obstacles have been divided into three categories: technical, regulatory and commercial. NordREG proposes that to further integrate the Nordic end-user electricity markets, a number of differences of technical, legal and market nature ought to be gradually harmonized in order to facilitate market entry and cross-border trade. Technical obstacles: Especially the following problems related to the data and metering systems should be solved: Transferred messages, information and message timing should be harmonised; Message format should be decided; A common data transmission protocol should be specified. New solutions like web-based solutions should be studied; The identification of the final customers' metering point should be harmonised. Regulatory obstacles: The identified regulatory obstacles relate to three areas, namely the division of tasks between monopoly and competitive activities, the operation and duties of distribution network operators including how these are regulated, and the legal framework to provide protection for small end users. On the basis of the review of regulatory obstacles, the following recommendations are made: The principles of neutrality and the way these principles are being supervised by the regulator is a key issue to improve the functioning of the Nordic end-user market. Regulators should seek to harmonise regulation on neutrality and put it high on the agenda in a forthcoming process of market integration; The procedures for switching supplier should be as smooth, easy and quick as possible. It is also important that suppliers, especially the new market entrants, can participate in reliable, transparent and fluent switching practices, since this lowers the threshold for entering other than domestic electricity market. The switching model should be harmonised for the Nordic end

The Integrated Nordic End-User Electricity Market - Feasibility and identified obstacles

Energy Technology Data Exchange (ETDEWEB)

NONE

2006-02-15

The report identifies the various obstacles that currently exist which prevent the formation of a truly integrated Nordic electricity end-user market. The obstacles have been divided into three categories: technical, regulatory and commercial. NordREG proposes that to further integrate the Nordic end-user electricity markets, a number of differences of technical, legal and market nature ought to be gradually harmonized in order to facilitate market entry and cross-border trade. Technical obstacles: Especially the following problems related to the data and metering systems should be solved: Transferred messages, information and message timing should be harmonised; Message format should be decided; A common data transmission protocol should be specified. New solutions like web-based solutions should be studied; The identification of the final customers' metering point should be harmonised. Regulatory obstacles: The identified regulatory obstacles relate to three areas, namely the division of tasks between monopoly and competitive activities, the operation and duties of distribution network operators including how these are regulated, and the legal framework to provide protection for small end users. On the basis of the review of regulatory obstacles, the following recommendations are made: The principles of neutrality and the way these principles are being supervised by the regulator is a key issue to improve the functioning of the Nordic end-user market. Regulators should seek to harmonise regulation on neutrality and put it high on the agenda in a forthcoming process of market integration; The procedures for switching supplier should be as smooth, easy and quick as possible. It is also important that suppliers, especially the new market entrants, can participate in reliable, transparent and fluent switching practices, since this lowers the threshold for entering other than domestic electricity market. The switching model should be harmonised for the Nordic end

TB case detection in Tajikistan – analysis of existing obstacles

Directory of Open Access Journals (Sweden)

Alexei Korobitsyn

2013-10-01

Full Text Available Background: Tajikistan National TB Control ProgramObjective: (1 To identify the main obstacles to increasing TB Detection in Tajikistan. (2 To identify interventions that improve TB detection.Methods: Review of the available original research data, health normative base, health systems performance and national economic data, following WHO framework for detection of TB cases, which is based on three scenarios of why incident cases of TB may not be notified.Results: Data analysis revealed that some aspects of TB case detection are more problematic than others and that there are gaps in the knowledge of specific obstacles to TB case detection. The phenomenon of “initial default” in Tajikistan has been documented; however, it needs to be studied further. The laboratory services detect infectious TB cases effectively; however, referrals of appropriate suspects for TB diagnosis may lag behind. The knowledge about TB in the general population has improved. Yet, the problem of TB related stigma persists, thus being an obstacle for effective TB detection. High economic cost of health services driven by under-the-table payments was identified as another barrier for access to health services.Conclusion: Health system strengthening should become a primary intervention to improve case detection in Tajikistan. More research on reasons contributing to the failure to register TB cases, as well as factors underlying stigma is needed.

Towards a fully-fledged integration of spiritual care and medical care

NARCIS (Netherlands)

Kruizinga, R.; Scherer-Rath, M.; Schilderman, J. B. A. M.; Puchalski, C. M.; van Laarhoven, H. W. M.

2017-01-01

In this article we aim to set out current problems that hinder a fully-fledged integration of spiritual and medical care that address these obstacles. We discuss the following five statements: 1. Spiritual care requires a clear and inclusive definition of spirituality; 2. Empirical evidence for

Towards a fully-fledged integration of spiritual care and medical care

NARCIS (Netherlands)

Kruizinga, R.; Scherer-Rath, M.; Schilderman, J.B.A.M.; Puchalski, C.; Laarhoven, H.W.M. van

2018-01-01

In this article, we aimed to set out current problems that hinder a fully fledged integration of spiritual and medical care, which address these obstacles. We discuss the following five statements: 1) spiritual care requires a clear and inclusive definition of spirituality; 2) empirical evidence for

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

Science.gov (United States)

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

2018-01-01

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

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

Science.gov (United States)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Andrew J Kolarik

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

Obstacle-avoiding robot with IR and PIR motion sensors

Science.gov (United States)

Ismail, R.; Omar, Z.; Suaibun, S.

2016-10-01

Obstacle avoiding robot was designed, constructed and programmed which may be potentially used for educational and research purposes. The developed robot will move in a particular direction once the infrared (IR) and the PIR passive infrared (PIR) sensors sense a signal while avoiding the obstacles in its path. The robot can also perform desired tasks in unstructured environments without continuous human guidance. The hardware was integrated in one application board as embedded system design. The software was developed using C++ and compiled by Arduino IDE 1.6.5. The main objective of this project is to provide simple guidelines to the polytechnic students and beginners who are interested in this type of research. It is hoped that this robot could benefit students who wish to carry out research on IR and PIR sensors.

A Framework for Obstacles Avoidance of Humanoid Robot Using Stereo Vision

Directory of Open Access Journals (Sweden)

Widodo Budiharto

2013-04-01

Full Text Available In this paper, we propose a framework for multiple moving obstacles avoidance strategy using stereo vision for humanoid robot in indoor environment. We assume that this model of humanoid robot is used as a service robot to deliver a cup to customer from starting point to destination point. We have successfully developed and introduced three main modules to recognize faces, to identify multiple moving obstacles and to initiate a maneuver. A group of people who are walking will be tracked as multiple moving obstacles. Predefined maneuver to avoid obstacles is applied to robot because the limitation of view angle from stereo camera to detect multiple obstacles. The contribution of this research is a new method for multiple moving obstacles avoidance strategy with Bayesian approach using stereo vision based on the direction and speed of obstacles. Depth estimation is used to obtain distance calculation between obstacles and the robot. We present the results of the experiment of the humanoid robot called Gatotkoco II which is used our proposed method and evaluate its performance. The proposed moving obstacles avoidance strategy was tested empirically and proved effective for humanoid robot.

Real Time Vision System for Obstacle Detection and Localization on FPGA

OpenAIRE

Alhamwi , Ali; Vandeportaele , Bertrand; Piat , Jonathan

2015-01-01

International audience; Obstacle detection is a mandatory function for a robot navigating in an indoor environment especially when interaction with humans is done in a cluttered environment. Commonly used vision-based solutions like SLAM (Simultaneous Localization and Mapping) or optical flow tend to be computation intensive and require powerful computation resources to meet low speed real-time constraints. Solutions using LIDAR (Light Detection And Ranging) sensors are more robust but not co...

DEVELOPMENT OF FRANCHISING IN CROATIA OBSTACLES AND POLICY RECOMMENDATIONS

Directory of Open Access Journals (Sweden)

Mirela Alpeza

2015-11-01

Full Text Available Franchising is very popular growth model but despite the wide application of franchising in the developed countries of the world, its impact on the Croatian economy is still marginal. The purpose of this research is to identify the obstacles and challenges to a wider application of franchising in Croatia and generate policy recommendations for removing the identified obstacles. Obstacles and recommendations are identified on the basis of a conducted longitudinal qualitative research, the first phase of which was conducted in 2006, and second in 2014. The overall results of this research were presented in a form of PEST analysis and compared with the results of the 2006 research aiming to detect changes (improvements/ deterioration in individual areas of the research political, economic, legal and technologic factors of influence on the development of franchising in Croatia. Based on the detected changes, conclusions and policy recommendations were identified.The obstacles can be divided in two categories: franchising specific barriers and general business related obstacles for doing business in Croatia. Without removing most of these obstacles, it is unrealistic to expect high growth of franchising activities in Croatia in near future.

Algorithm for Spatial Clustering with Obstacles

OpenAIRE

El-Sharkawi, Mohamed E.; El-Zawawy, Mohamed A.

2009-01-01

In this paper, we propose an efficient clustering technique to solve the problem of clustering in the presence of obstacles. The proposed algorithm divides the spatial area into rectangular cells. Each cell is associated with statistical information that enables us to label the cell as dense or non-dense. We also label each cell as obstructed (i.e. intersects any obstacle) or non-obstructed. Then the algorithm finds the regions (clusters) of connected, dense, non-obstructed cells. Finally, th...

Performance characteristics of solar air heater with surface mounted obstacles

International Nuclear Information System (INIS)

Bekele, Adisu; Mishra, Manish; Dutta, Sushanta

2014-01-01

Highlights: • Solar air heater with delta shaped obstacles have been studied. • Obstacle angle of incidence strongly affects the thermo-hydraulic performance. • Thermal performance of obstacle mounted collectors is superior to smooth collectors. • Thermo-hydraulic performance of the present SAH is higher than those in previous studies. - Abstract: The performance of conventional solar air heaters (SAHs) can be improved by providing obstacles on the heated wall (i.e. on the absorber plate). Experiments have been performed to collect heat transfer and flow-friction data from an air heater duct with delta-shaped obstacles mounted on the absorber surface and having an aspect ratio 6:1 resembling the conditions close to the solar air heaters. This study encompassed for the range of Reynolds number (Re) from 2100 to 30,000, relative obstacle height (e/H) from 0.25 to 0.75, relative obstacle longitudinal pitch (P l /e) from 3/2 to 11/2, relative obstacle transverse pitch (P t /b) from 1 to 7/3 and the angle of incidence (α) varied from 30° to 90°. The thermo-hydraulic performance characteristics of SAH have been compared with the previous published works and the optimum range of the geometries have been explored for the better performance of such air-heaters compared to the other designs of solar air heaters

Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner

OpenAIRE

LABAYRADE, R; ROYERE, C; GRUYER, D; AUBERT, D

2003-01-01

The authors propose in this paper a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features of these two sensors to perform robust, accurate and real-time detection of multi-obstacles in the automotive context. The proposed system is able to estimate the position and the height, width and depth of generic obstacles at video frame rate (25 frames per second). The vehicle pitch, estimated by stereovision, is used to filter laser sca...

Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner

OpenAIRE

LABAYRADE, R; ROYERE, C; GRUYER, D; AUBERT, D

2005-01-01

We propose a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features and cope with the drawbacks of these two sensors to perform robust, accurate and real time-detection of multi-obstacles in the automotive context. The proposed system is able to estimate the position and the height, width and depth of generic obstacles at video frame rate (25 frames per second). The vehicle pitch, estimated by stereovision, is used to filter lase...

Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision

Directory of Open Access Journals (Sweden)

Achmad Jazidie

2011-12-01

Full Text Available In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination. The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera. We have developed and introduced 3 main modules to recognize faces, to identify multiple moving obstacles and to maneuver of robot. A group of people who is walking will be tracked as a multiple moving obstacle, and the speed, direction, and distance of the moving obstacles is estimated by a stereo camera in order that the robot can maneuver to avoid the collision. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. We present the results of the experiment of the service robot called Srikandi III which uses our proposed method and we also evaluate its performance. Experiments shown that our proposed method working well, and Bayesian approach proved increasing the estimation perform for absence and direction of moving obstacle.

Reciprocally-Rotating Velocity Obstacles

KAUST Repository

Giese, Andrew; Latypov, Daniel; Amato, Nancy M.

2014-01-01

obstacles. One state-of-the-art local collision avoidance technique is Optimal Reciprocal Collision Avoidance (ORCA). Despite being fast and efficient for circular-shaped agents, ORCA may deadlock when polygonal shapes are used. To address this shortcoming

The influence of roughness and obstacle on wind power map

International Nuclear Information System (INIS)

Abas Ab Wahab; Mohd Fadhil Abas; Mohd Hafiz Ismail

2006-01-01

In the development of wind energy in Malaysia, the need for wind power map of Peninsular Malaysia has aroused. The map is needed to help in determining the potential areas where low wind speed wind turbines could operate optimally. In establishing the wind power map the effects of roughness and obstacles have been investigated. Wind data from 24 meteorological stations around the country have been utilized in conjunction with the respective local roughness and obstacles. Two sets of wind power maps have been developed i.e. the wind power maps with and without roughness and obstacles. These two sets of wind power maps exhibit great significant amount of difference in the wind power values especially in the inland areas where the wind power map without roughness and obstacles gives much lower values than those with roughness and obstacles. This paper outlines the process of establishing the two sets of wind power map as well as discussing the influence of roughness and obstacles based on the results obtained

The Influence of Topographic Obstacles on Basaltic Lava Flow Morphologies

Science.gov (United States)

von Meerscheidt, H. C.; Brand, B. D.; deWet, A. P.; Bleacher, J. E.; Hamilton, C. W.; Samuels, R.

2014-12-01

Smooth pāhoehoe and jagged ´áā represent two end-members of a textural spectrum that reflects the emplacement characteristics of basaltic lava flows. However, many additional textures (e.g., rubbly and slabby pāhoehoe) reflect a range of different process due to lava flow dynamics or interaction with topography. Unfortunately the influence of topography on the distribution of textures in basaltic lava flows is not well-understood. The 18 ± 1.0 ka Twin Craters lava flow in the Zuni-Bandera field (New Mexico, USA) provides an excellent site to study the morphological changes of a lava flow that encountered topographic obstacles. The flow field is 0.2-3.8 km wide with a prominent central tube system that intersects and wraps around a 1000 m long ridge, oriented perpendicular to flow. Upstream of the ridge, the flow has low-relief inflation features extending out and around the ridge. This area includes mildly to heavily disrupted pāhoehoe with interdispersed agglutinated masses, irregularly shaped rubble and lava balls. Breakouts of ´áā and collapse features are also common. These observations suggest crustal disruption due to flow-thickening upstream from the ridge and the movement of lava out and around the obstacle. While the ridge influenced the path of the tube, which wraps around the southern end of the ridge, the series of collapse features and breakouts of ´áā along the tube system are more likely a result of changes in flux throughout the tube system because these features are found both upstream and downstream of the obstacle. This work demonstrates that topography can significantly influence the formation history and surface disruption of a flow field, and in some cases the influence of topography can be separated from the influences of changes in flux along a tube system.

Anthropometric record to be used in Centers for Family Health Support: possibilities and obstacles

Directory of Open Access Journals (Sweden)

Camila Fabiana Rossi Squarcini

2015-02-01

Full Text Available DOI: http://dx.doi.org/10.5007/1980-0037.2015v17n2p248   A model of an anthropometric record to be used in the Núcleos de Apoio à Saúde da Família (Centers for Family Health Support in Brazil has been proposed in the literature, showing the logistics of use. The aim of this study was to discuss the anthropometric record, showing the potential and obstacles of its use. It was observed that, for adults, the screening measures (body mass index and waist circumference for the determination of the risk of cardiovascular and metabolic diseases can be considered promising, although the Basic Health Care network already uses these measures. Nevertheless, the supplementary assessment (skinfold thickness and body circumferences could be another potential possibility, except for the time spent to perform this assessment and the lack of studies of the cost-benefit of these anthropometric techniques. It was concluded that the anthropometric record proposed is an important instrument for improving the quality of the service provided to users of the Basic Health Care System; however, some adjustments, such as the removal of skinfold measurements as part of primary care, should be taken into consideration.

Obstacle detection by stereo vision of fast correlation matching

International Nuclear Information System (INIS)

Jeon, Seung Hoon; Kim, Byung Kook

1997-01-01

Mobile robot navigation needs acquiring positions of obstacles in real time. A common method for performing this sensing is through stereo vision. In this paper, indoor images are acquired by binocular vision, which contains various shapes of obstacles. From these stereo image data, in order to obtain distances to obstacles, we must deal with the correspondence problem, or get the region in the other image corresponding to the projection of the same surface region. We present an improved correlation matching method enhancing the speed of arbitrary obstacle detection. The results are faster, simple matching, robustness to noise, and improvement of precision. Experimental results under actual surroundings are presented to reveal the performance. (author)

Reducing Ex-offender Health Disparities through the Affordable Care Act: Fostering Improved Health Care Access and Linkages to Integrated Care

Directory of Open Access Journals (Sweden)

Lacreisha Ejike-King

2014-04-01

Full Text Available Despite steadily declining incarceration rates overall, racial and ethnic minorities, namely African Americans, Latinos, and American Indians and Alaska Natives, continue to be disproportionately represented in the justice system. Ex-offenders commonly reenter communities with pressing health conditions but encounter obstacles to accessing care and remaining in care. The lack of health insurance coverage and medical treatment emerge as the some of the most reported reentry health needs and may contribute to observed health disparities. Linking ex-offenders to care and services upon release increases the likelihood that they will remain in care and practice successful disease management. The Affordable Care Act (ACA offers opportunities to address health disparities experienced by the reentry population that places them at risk for negative health outcomes and recidivism. Coordinated efforts to link ex-offenders with these newly available opportunities may result in a trajectory for positive health and overall well-being as they reintegrate into society.

International medical law and its impact on the ukrainian health care legislation.

Science.gov (United States)

Pashkov, Vitalii; Udovyka, Larysa; Dichko, Hanna

2018-01-01

Introduction: The Ukrainian state has an urgent necessity of rapid search for essentially new legal and organizational forms of the healthcare system, reform of the legal regulation of healthcare services provision. In the context of European integration, the advancement of the medical industry reform is closely related to consideration of international standards and norms of health care. The aim: To study the impact of international medical law on the Ukrainian health care legislation. Materials and methods: International and Ukrainian regulations and documents on health care were used in the research. System and structural, functional and legal comparative methods as well as systematization, analysis and synthesis were determinative in the research process. Review: Systematization of international documents on health care was made. The major problems in the Ukrainian health care legislation were determined in terms of their conformity with the international legislative norms. The expediency of the Medical Code adoption was grounded and its structure was defined. Conclusions: Most health care international acts are ratified by Ukraine and their provisions are implemented in the legislation. Simultaneously, there is a row of problems, which hinder the Ukrainian health care development and place obstacles in the way of European integration. To remove these obstacles, it is expedient to create a codified act - the Medical Code, which would systematize the provisions of the current medical laws and regulations and fill in the existing gaps in the legal regulation of health care.

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

Science.gov (United States)

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

2018-04-01

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

Image-guided neurosurgery. Global concept of a surgical tele-assistance using obstacle detection robotics

International Nuclear Information System (INIS)

Desgeorges, M.; Bellegou, N.; Faillot, Th.; Cordoliani, Y.S.; Dutertre, G.; Blondet, E.; Soultrait, F. de; Boissy, J.M.

2000-01-01

Surgical tele-assistance significantly increases accuracy of surgical gestures, especially in the case of brain tumor neurosurgery. The robotic device is tele-operated through a microscope and the surgeon's gestures are guided by real-time overlaying of the X-ray imagery in the microscope. During the device's progression inside the brain, the focus is ensured by the microscope auto-focus feature. The surgeon can thus constantly check his position on the field workstation. Obstacles to avoid or dangerous areas can be previewed in the operation field. This system is routinely used for 5 years in the neurosurgery division of the Val de Grace hospital. More than 400 brain surgery operations have been done using it. An adaptation is used for rachis surgery. Other military hospitals begin to be equipped with similar systems. It will be possible to link them for data transfer. When it will be operational, such a network it will show what could be, in the future, a medical/surgical remote-assistance system designed to take care of wounded/critical conditions people, including assistance to surgical gestures. (authors)

Electrolocation-based underwater obstacle avoidance using wide-field integration methods

International Nuclear Information System (INIS)

Dimble, Kedar D; Faddy, James M; Humbert, J Sean

2014-01-01

Weakly electric fish are capable of efficiently performing obstacle avoidance in dark and navigationally challenging aquatic environments using electrosensory information. This sensory modality enables extraction of relevant proximity information about surrounding obstacles by interpretation of perturbations induced to the fish’s self-generated electric field. In this paper, reflexive obstacle avoidance is demonstrated by extracting relative proximity information using spatial decompositions of the perturbation signal, also called an electric image. Electrostatics equations were formulated for mathematically expressing electric images due to a straight tunnel to the electric field generated with a planar electro-sensor model. These equations were further used to design a wide-field integration based static output feedback controller. The controller was implemented in quasi-static simulations for environments with complicated geometries modelled using finite element methods to demonstrate sense and avoid behaviours. The simulation results were confirmed by performing experiments using a computer operated gantry system in environments lined with either conductive or non-conductive objects acting as global stimuli to the field of the electro-sensor. The proposed approach is computationally inexpensive and readily implementable, making underwater autonomous navigation in real-time feasible. (paper)

DEVELOPMENT OF FRANCHISING IN CROATIA OBSTACLES AND POLICY RECOMMENDATIONS

OpenAIRE

Alpeza, Mirela; Erceg, Aleksandar; Oberman Peterka, Sunčica

2015-01-01

Franchising is very popular growth model but despite the wide application of franchising in the developed countries of the world, its impact on the Croatian economy is still marginal. The purpose of this research is to identify the obstacles and challenges to a wider application of franchising in Croatia and generate policy recommendations for removing the identified obstacles. Obstacles and recommendations are identified on the basis of a conducted longitudinal qualitative research, the firs...

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

Science.gov (United States)

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

2011-11-01

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

Using Thermal Radiation in Detection of Negative Obstacles

Science.gov (United States)

Rankin, Arturo L.; Matthies, Larry H.

2009-01-01

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

Minimum-link paths among obstacles in the plane

NARCIS (Netherlands)

Mitchell, J.S.B.; Rote, G.; Woeginger, G.J.

1992-01-01

Given a set of nonintersecting polygonal obstacles in the plane, thelink distance between two pointss andt is the minimum number of edges required to form a polygonal path connectings tot that avoids all obstacles. We present an algorithm that computes the link distance (and a corresponding

The Study of Cooperative Obstacle Avoidance Method for MWSN Based on Flocking Control

Directory of Open Access Journals (Sweden)

Zuo Chen

2014-01-01

Full Text Available Compared with the space fixed feature of traditional wireless sensor network (WSN, mobile WSN has better robustness and adaptability in unknown environment, so that it is always applied in the research of target tracking. In order to reach the target, the nodes group should find a self-adaptive method to avoid the obstacles together in their moving directions. Previous methods, which were based on flocking control model, realized the strategy of obstacle avoidance by means of potential field. However, these may sometimes lead the nodes group to fall into a restricted area like a trap and never get out of it. Based on traditional flocking control model, this paper introduced a new cooperative obstacle avoidance model combined with improved SA obstacle avoidance algorithm. It defined the tangent line of the intersection of node’s velocity line and the edge of obstacle as the steering direction. Furthermore, the cooperative obstacle avoidance model was also improved in avoiding complex obstacles. When nodes group encounters mobile obstacles, nodes will predict movement path based on the spatial location and velocity of obstacle. And when nodes group enters concave obstacles, nodes will temporarily ignore the gravity of the target and search path along the edge of the concave obstacles. Simulation results showed that cooperative obstacle avoidance model has significant improvement on average speed and time efficiency in avoiding obstacle compared with the traditional flocking control model. It is more suitable for obstacle avoidance in complex environment.

The study of cooperative obstacle avoidance method for MWSN based on flocking control.

Science.gov (United States)

Chen, Zuo; Ding, Lei; Chen, Kai; Li, Renfa

2014-01-01

Compared with the space fixed feature of traditional wireless sensor network (WSN), mobile WSN has better robustness and adaptability in unknown environment, so that it is always applied in the research of target tracking. In order to reach the target, the nodes group should find a self-adaptive method to avoid the obstacles together in their moving directions. Previous methods, which were based on flocking control model, realized the strategy of obstacle avoidance by means of potential field. However, these may sometimes lead the nodes group to fall into a restricted area like a trap and never get out of it. Based on traditional flocking control model, this paper introduced a new cooperative obstacle avoidance model combined with improved SA obstacle avoidance algorithm. It defined the tangent line of the intersection of node's velocity line and the edge of obstacle as the steering direction. Furthermore, the cooperative obstacle avoidance model was also improved in avoiding complex obstacles. When nodes group encounters mobile obstacles, nodes will predict movement path based on the spatial location and velocity of obstacle. And when nodes group enters concave obstacles, nodes will temporarily ignore the gravity of the target and search path along the edge of the concave obstacles. Simulation results showed that cooperative obstacle avoidance model has significant improvement on average speed and time efficiency in avoiding obstacle compared with the traditional flocking control model. It is more suitable for obstacle avoidance in complex environment.

Investigation of administrative obstacles to family physician program in urban areas of Iran

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Javad Javan noughabi

2017-06-01

Full Text Available Health is regarded as one of the basic rights of each person in society; so governments are obligated to provide it equally for everyone. The best way to achieve this goal is the establishment of health insurance with the orientation of family physician and the strategic referral system. Yet, such programs will not be successful without encouraging people to participate and changing social behaviors. The aim of the present study was to investigate the administrative obstacles and problems to family physician program in urban areas of Iran. This study was a qualitative research conducted. A purposive sampling method was employed and the data were gathered via semi-structured interview with open-ended questions and document examination. All the interviews were recorded digitally and immediately transcribed verbatim. They were finally analyzed based on framework analysis. The participants' detailed descriptions showed that systemic, environmental, and human related factors were the main obstacles to the implementation of family physician plan. Since the success and performance of each program effectively cannot be obtained without people’s acceptance and collaboration, the necessity of training and giving information rapidly and timely to the residents in urban areas is felt more than ever. Also, making authorities aware of the obstacles expressed by people can be helpful in harmonizing the program with people’s requests; and can result in overcoming the challenges and obstacles facing the program.

Construction of Fisheye Lens Inverse Perspective Mapping Model and Its Applications of Obstacle Detection

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Chin-Teng Lin

2010-01-01

Full Text Available In this paper, we develop a vision based obstacle detection system by utilizing our proposed fisheye lens inverse perspective mapping (FLIPM method. The new mapping equations are derived to transform the images captured by the fisheye lens camera into the undistorted remapped ones under practical circumstances. In the obstacle detection, we make use of the features of vertical edges on objects from remapped images to indicate the relative positions of obstacles. The static information of remapped images in the current frame is referred to determining the features of source images in the searching stage from either the profile or temporal IPM difference image. The profile image can be acquired by several processes such as sharpening, edge detection, morphological operation, and modified thinning algorithms on the remapped image. The temporal IPM difference image can be obtained by a spatial shift on the remapped image in the previous frame. Moreover, the polar histogram and its post-processing procedures will be used to indicate the position and length of feature vectors and to remove noises as well. Our obstacle detection can give drivers the warning signals within a limited distance from nearby vehicles while the detected obstacles are even with the quasi-vertical edges.

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

Science.gov (United States)

Chang, Kai; Xia, Yuanqing; Huang, Kaoli

2016-01-01

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

Research on the Obstacle Negotiation Strategy for the Heavy-duty Six-legged Robot based on Force Control

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Li Mantian

2017-01-01

Full Text Available To make heavy-duty six-legged robots without environment reconstruction system negotiate obstacles after the earthquake successfully, an obstacle negotiation strategy is described in this paper. The reflection strategy is generated by the information of plantar force sensors and Bezier Curve is used to plan trajectory. As the heavy-duty six-legged robot has a large inertia, force controller is necessary to ensure the robot not to lose stability while negotiating obstacles. Impedance control is applied to reduce the impact of collision and active force control is applied to adjust the pose of the robot. The robot can walk through zones that are filled with obstacles automatically because of force control. Finally, the algorithm is verified in a simulation environment.

Effect of form of obstacle on speed of crowd evacuation

Science.gov (United States)

Yano, Ryosuke

2018-03-01

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

Biologically-Inspired Adaptive Obstacle Negotiation Behavior of Hexapod Robots

DEFF Research Database (Denmark)

Goldschmidt, Dennis; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

by these findings, we present an adaptive neural control mechanism for obstacle negotiation behavior in hexapod robots. It combines locomotion control, backbone joint control, local leg reflexes, and neural learning. While the first three components generate locomotion including walking and climbing, the neural...... learning mechanism allows the robot to adapt its behavior for obstacle negotiation with respect to changing conditions, e.g., variable obstacle heights and different walking gaits. By successfully learning the association of an early, predictive signal (conditioned stimulus, CS) and a late, reflex signal...... (unconditioned stimulus, UCS), both provided by ultrasonic sensors at the front of the robot, the robot can autonomously find an appropriate distance from an obstacle to initiate climbing. The adaptive neural control was developed and tested first on a physical robot simulation, and was then successfully...

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

Science.gov (United States)

Singh, Harkirat; Wahi, Pankaj

2017-08-01

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

Life on Mount Obstacle: Disease of existence as condition and possibility

DEFF Research Database (Denmark)

Aggerholm, Kenneth; Jespersen, Ejgil

will analyze various kinds of human meaning that can be found on Mount Obstacle, departing from two key positions: First, Camus (1967) used The Myth of Sisyphus to describe how the experience of obstacles is a human condition. In cases of disability this condition is of course more evident, but the task...... is still to create meaning from this absurd condition. Sisyphus is to Camus an ’absurd hero’ because he is aware of and acknowledges the challenge that he is condemned to. This means that the struggle to overcome the necessary obstacle can become a meaningful pursuit, wherefore Camus concluded: ”The...... be illustrated by Suits’ (2005) classical treatise on game playing. By choosing to climb Mount Obstacle the activity of climbing becomes an end in itself, which opens for experiencing the intrinsic value related to voluntarily attempting to overcome the unnecessary obstacle. In both cases life on Mount Obstacle...

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

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Akshaya Srikanth Bhagavathula

2018-03-01

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

From Diabetes Care to Diabetes Cure—The Integration of Systems Biology, eHealth, and Behavioral Change

Directory of Open Access Journals (Sweden)

Ben van Ommen

2018-01-01

Full Text Available From a biological view, most of the processes involved in insulin resistance, which drives the pathobiology of type 2 diabetes, are reversible. This theoretically makes the disease reversible and curable by changing dietary habits and physical activity, particularly when adopted early in the disease process. Yet, this is not fully implemented and exploited in health care due to numerous obstacles. This article reviews the state of the art in all areas involved in a diabetes cure-focused therapy and discusses the scientific and technological advancements that need to be integrated into a systems approach sustainable lifestyle-based healthcare system and economy. The implementation of lifestyle as cure necessitates personalized and sustained lifestyle adaptations, which can only be established by a systems approach, including all relevant aspects (personalized diagnosis and diet, physical activity and stress management, self-empowerment, motivation, participation and health literacy, all facilitated by blended care and ehealth. Introduction of such a systems approach in type 2 diabetes therapy not only requires a concerted action of many stakeholders but also a change in healthcare economy, with new winners and losers. A “call for action” is put forward to actually initiate this transition. The solution provided for type 2 diabetes is translatable to other lifestyle-related disorders.

Advection endash diffusion around a curved obstacle

International Nuclear Information System (INIS)

Ahluwalia, D.S.; Keller, J.B.; Knessl, C.

1998-01-01

Advection and diffusion of a substance around a curved obstacle is analyzed when the advection velocity is large compared to the diffusion velocity, i.e., when the Peclet number is large. Asymptotic expressions for the concentration are obtained by the use of boundary layer theory, matched asymptotic expansions, etc. The results supplement and extend previous ones for straight obstacles. They apply to electrophoresis, the flow of ground water, chromatography, sedimentation, etc. copyright 1998 American Institute of Physics

Localization of small obstacles in Stokes flow

International Nuclear Information System (INIS)

Caubet, Fabien; Dambrine, Marc

2012-01-01

We want to detect small obstacles immersed in a fluid flowing in a larger bounded domain Ω in the three-dimensional case. We assume that the fluid motion is governed by the steady-state Stokes equations. We make a measurement on a part of the exterior boundary ∂Ω and then take a Kohn–Vogelius approach to locate these obstacles. We use here the notion of the topological derivative in order to determine the number of objects and their rough locations. Thus we first establish an asymptotic expansion of the solution of the Stokes equations in Ω when we add small obstacles inside. Then, we use it to find a topological asymptotic expansion of the considered Kohn–Vogelius functional which gives us the formula of its topological gradient. Finally, we make some numerical simulations exploring the efficiency and the limits of this method. (paper)

Sensor-based whole-arm obstacle avoidance for unstructured environments

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Armstrong, G.A.; Britton, C.L. Jr.; Hamel, W.R.

1992-01-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. However, many hazardous environments are unstructured or poorly defined, providing a significant potential for collisions between manipulators and the environment. In order to allow applications of robotics in such situations, a sensing system is under development which will provide protection against collisions. Specifics of this system including system architecture and projected implementation are described

Interaction of debris with a solid obstacle: Numerical analysis

International Nuclear Information System (INIS)

Kosinska, Anna

2010-01-01

The subject of this research is the propagation of a cloud of solid particles formed from an explosion-damaged construction. The main objective is the interaction of the cloud (debris) with a solid beam located at some distance from the explosion. The mathematical model involves the flow of the gas using standard conservation equations, and this part of the model is solved numerically. The solid particles are treated as a system of solid points (so-called Lagrangian approach), whose motion is the result of the flowing gas as well as collisions with obstacles. These two issues are described respectively by Newton's second law and the hard-sphere model. The model is used to simulate various cases where the influence of different parameters like the value of the pressure of the explosion, the particle size, the number of particles and the obstacle location are investigated. The results are presented as snapshots of particle location, and also as the particle total momentum during collision with the beam.

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

Science.gov (United States)

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

1996-06-01

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

Does osteoporosis predispose falls? a study on obstacle avoidance and balance confidence

Directory of Open Access Journals (Sweden)

Duysens Jacques

2011-01-01

Full Text Available Abstract Background Osteoporosis is associated with changes in balance and physical performance and has psychosocial consequences which increase the risk of falling. Most falls occur during walking; therefore an efficient obstacle avoidance performance might contribute to a reduction in fall risk. Since it was shown that persons with osteoporosis are unstable during obstacle crossing it was hypothesized that they more frequently hit obstacles, specifically under challenging conditions. The aim of the study was to investigate whether obstacle avoidance ability was affected in persons with osteoporosis compared to a comparison group of a community sample of older adults. Methods Obstacle avoidance performance was measured on a treadmill and compared between persons with osteoporosis (n = 85 and the comparison group (n = 99. The obstacle was released at different available response times (ART to create different levels of difficulty by increasing time pressure. Furthermore, balance confidence, measured with the short ABC-questionnaire, was compared between the groups. Results No differences were found between the groups in success rates on the obstacle avoidance task (p = 0.173. Furthermore, the persons with osteoporosis had similar levels of balance confidence as the comparison group (p = 0.091. The level of balance confidence was not associated with the performance on the obstacle avoidance task (p = 0.145. Conclusion Obstacle avoidance abilities were not impaired in persons with osteoporosis and they did not experience less balance confidence than the comparison group. These findings imply that persons with osteoporosis do not have an additional risk of falling because of poorer obstacle avoidance abilities.

Cellular neural networks for motion estimation and obstacle detection

Directory of Open Access Journals (Sweden)

D. Feiden

2003-01-01

Full Text Available Obstacle detection is an important part of Video Processing because it is indispensable for a collision prevention of autonomously navigating moving objects. For example, vehicles driving without human guidance need a robust prediction of potential obstacles, like other vehicles or pedestrians. Most of the common approaches of obstacle detection so far use analytical and statistical methods like motion estimation or generation of maps. In the first part of this contribution a statistical algorithm for obstacle detection in monocular video sequences is presented. The proposed procedure is based on a motion estimation and a planar world model which is appropriate to traffic scenes. The different processing steps of the statistical procedure are a feature extraction, a subsequent displacement vector estimation and a robust estimation of the motion parameters. Since the proposed procedure is composed of several processing steps, the error propagation of the successive steps often leads to inaccurate results. In the second part of this contribution it is demonstrated, that the above mentioned problems can be efficiently overcome by using Cellular Neural Networks (CNN. It will be shown, that a direct obstacle detection algorithm can be easily performed, based only on CNN processing of the input images. Beside the enormous computing power of programmable CNN based devices, the proposed method is also very robust in comparison to the statistical method, because is shows much less sensibility to noisy inputs. Using the proposed approach of obstacle detection in planar worlds, a real time processing of large input images has been made possible.

Homogenization of variational inequalities for obstacle problems

International Nuclear Information System (INIS)

Sandrakov, G V

2005-01-01

Results on the convergence of solutions of variational inequalities for obstacle problems are proved. The variational inequalities are defined by a non-linear monotone operator of the second order with periodic rapidly oscillating coefficients and a sequence of functions characterizing the obstacles. Two-scale and macroscale (homogenized) limiting variational inequalities are obtained. Derivation methods for such inequalities are presented. Connections between the limiting variational inequalities and two-scale and macroscale minimization problems are established in the case of potential operators.

Obstacle detection and avoiding of quadcopter

Science.gov (United States)

Wang, Dizhong; Lin, Jiajian

2017-10-01

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

Regional differences analysis of land use efficiency and obstacle degree in Xianning-Yueyang-Jiujiang area

Directory of Open Access Journals (Sweden)

Chengshun Song

2017-03-01

Full Text Available This paper established an evaluation index system for the land use efficiency from social, economic, ecological and environmental aspects, and adopted the variation coefficient TOPSIS method and obstacle degree model to analyze the regional differences of land use efficiency and obstacle degree in Xianning, Yueyang and Jiujiang. The results showed that: (1 During 2000-2010, the land use efficiency in these regions had an increasing tendency and the regional differences were small. In Yueyang and Jiujiang, there were four stages, that is low, moderate, good and excellent; while in Xianning, there were only three stages, that is low, moderate and good; (2 The economic level was the greatest obstacle factor affecting the land use efficiency in these regions, followed by the environmental quality, ecological status, social development, and the regional differences in these aspects were not so obvious; (3 Per area financial revenue, the output of comprehensive utilization of “three wastes” and per capita GDP were the top three obstacle factors and the regional differences in these aspects were not so obvious.

Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft

Science.gov (United States)

Owlia, Shahboddin

The GeoSurv II is an Unmanned Aerial Vehicle (UAV) being developed by Carleton University and Sander Geophysics. This thesis is in support of the GeoSurv II project. The objective of the GeoSurv II project is to create a fully autonomous UAV capable of performing geophysical surveys. In order to achieve this level of autonomy, the UAV, which due to the nature of its surveys flies at low altitude, must be able to avoid potential obstacles such as trees, powerlines, telecommunication towers, etc. Developing a method to avoid these obstacles is the objective of this thesis. The literature is rich in methods for trajectory planning and mid-air collision avoidance with other aircraft. In contrast, in this thesis, a method for avoiding static obstacles that are not known a priori is developed. The potential flow theory and panel method are borrowed from fluid mechanics and are employed to generate evasive maneuvers when obstacles are encountered. By means of appropriate modelling of obstacles, the aircraft's constraints are taken into account such that the evasive maneuvers are feasible for the UAV. Moreover, the method is developed with consideration of the limitations of obstacle detection in GeoSurv II. Due to the unavailability of the GeoSurv II aircraft, and the lack of a complete model for GeoSurv II, the method developed is implemented on the non-linear model of the Aerosonde UAV. The Aerosonde model is then subjected to various obstacle scenarios and it is seen that the UAV successfully avoids the obstacles.

A computational study for investigating acoustic streaming and tissue heating during high intensity focused ultrasound through blood vessel with an obstacle

Science.gov (United States)

Parvin, Salma; Sultana, Aysha

2017-06-01

The influence of High Intensity Focused Ultrasound (HIFU) on the obstacle through blood vessel is studied numerically. A three-dimensional acoustics-thermal-fluid coupling model is employed to compute the temperature field around the obstacle through blood vessel. The model construction is based on the linear Westervelt and conjugate heat transfer equations for the obstacle through blood vessel. The system of equations is solved using Finite Element Method (FEM). We found from this three-dimensional numerical study that the rate of heat transfer is increasing from the obstacle and both the convective cooling and acoustic streaming can considerably change the temperature field.

Development of an optimal velocity selection method with velocity obstacle

Energy Technology Data Exchange (ETDEWEB)

Kim, Min Geuk; Oh, Jun Ho [KAIST, Daejeon (Korea, Republic of)

2015-08-15

The Velocity obstacle (VO) method is one of the most well-known methods for local path planning, allowing consideration of dynamic obstacles and unexpected obstacles. Typical VO methods separate a velocity map into a collision area and a collision-free area. A robot can avoid collisions by selecting its velocity from within the collision-free area. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method for choosing optimal velocity components using the concept of pass-time and vertical clearance is proposed for the efficient movement of a robot. The pass-time is the time required for a robot to pass by an obstacle. By generating a latticized available velocity map for a robot, each velocity component can be evaluated using a cost function that considers the pass-time and other aspects. From the output of the cost function, even a velocity component that will cause a collision in the future can be chosen as a final velocity if the pass-time is sufficiently long enough.

Propagation of spiral waves pinned to circular and rectangular obstacles.

Science.gov (United States)

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

2015-05-01

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

CONCERT MANAGEMENT IN CROATIA: OBSTACLES AND CHALLENGES

Directory of Open Access Journals (Sweden)

Irina Basara

2016-12-01

Full Text Available The concept of concert management in the Republic of Croatia encounters numerous obstacles in any attempt to institutionalize it. Unlike other countries in the European Union, there is no register of the concert stages, venues as well as facilities for the provision of hearing / consumption of music in the form of performances. Process management organization is incomplete, and institutions that are closely associated with such events do not carry out the classification, categorization and analysis of events that are within the concerts' domain. Commercial music, economically far most cost-effective, is completely ignored and within the framework of cultural events not even the slightest attention is given to it. On the contrary, it is considered the music of poor quality and completely irrelevant. This paper tries to frame the mentioned genre, which includes various musical directions that economically bring significant benefits and help the survival of these related activities indirectly, and ultimately have a positive impact on the economy. Comparing global trends it speaks about the position of the Croatian music industry and lists the main obstacles for setting up a solid foundation for the construction of an adequate system of indexation of concert businesses that, as part of the creative industries records a meteoric economic growth.

Student Obstacles in Solving Algebraic Thinking Problems

Science.gov (United States)

Andini, W.; Suryadi, D.

2017-09-01

The aim of this research is to analize the student obstacles on solving algebraic thinking problems in low grades elementary school. This research is a preliminary qualitative research, and involved 66 students of grade 3 elementary school. From the analysis student test results, most of student experience difficulty in solving algebraic thinking problems. The main obstacle is the student’s difficulty in understanding the problem of generalizing the pattern because the students are not accustomed to see the rules that exist in generalize the pattern.

Challenges Encountered by Vietnamese Nurses When Caring for Patients With Cancer.

Science.gov (United States)

Thuy Nguyen, Ly; Clemenceau Annoussamy, Lourdes; LeBaron, Virginia T

2017-03-01

Providing holistic care is acknowledged as central to providing quality care for patients with cancer, but providing competent nursing care consistent with these approaches remains a challenge for nurses in Vietnam. Obstacles for Vietnamese oncology nurses include their low status, the limited scope of nursing practice, work overload in a hierarchical system, and cultural beliefs that view death and dying as taboo. Additional research to support oncology nurses in Vietnam must acknowledge the merits of improving nursing education as an important strategy for enhancing nursing autonomy, quality of care, and outcomes for the increasing number of patients with cancer in low- and middle-income countries.

The determinants of long-term care utilization and equity of access to care among older adults in Dong-Ku of Incheon Metropolitan city, South Korea.

Science.gov (United States)

Park, J M

2005-01-01

Under the current health care system, around three percent of the elderly remain uninsured. Based on the 2003 Dong-Ku Health Status Survey and the Aday and Andersen Access Framework, the present study examined the social and behavioral determinants of long-term care utilization and the extent to which equity in the use of long-term care services for the elderly has been achieved. The results indicate that universal health insurance system has not yielded a fully equitable distribution of services. Type of coverage and resource availability do not remain predictors of long-term care utilization. The data suggest that a universal health insurance system exists in South Korea with significant access problems for the population without insurance. Access differences also arise from obstacles in expanding the scope and level of plan benefits due to financial disparity among insurers. Health policy reforms must continue to concentrate on extending insurance coverage to the uninsured and establishing long-term insurance system for the elderly.

Managed care: employers' influence on the health care system.

Science.gov (United States)

Corder, K T; Phoon, J; Barter, M

1996-01-01

Health care reform is a complex issue involving many key sectors including providers, consumers, insurers, employers, and the government. System changes must involve all sectors for reform to be effective. Each sector has a responsibility to understand not only its own role in the health care system, but the roles of others as well. The role of business employers is often not apparent to health care providers, especially nurses. Understanding the influence employers have on the health care system is vital if providers want to be proactive change agents ensuring quality care.

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

Science.gov (United States)

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

2018-02-02

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

Emergent oscillations assist obstacle negotiation during ant cooperative transport

Science.gov (United States)

Gelblum, Aviram; Pinkoviezky, Itai; Fonio, Ehud; Gov, Nir S.; Feinerman, Ofer

2016-01-01

Collective motion by animal groups is affected by internal interactions, external constraints, and the influx of information. A quantitative understanding of how these different factors give rise to different modes of collective motion is, at present, lacking. Here, we study how ants that cooperatively transport a large food item react to an obstacle blocking their path. Combining experiments with a statistical physics model of mechanically coupled active agents, we show that the constraint induces a deterministic collective oscillatory mode that facilitates obstacle circumvention. We provide direct experimental evidence, backed by theory, that this motion is an emergent group effect that does not require any behavioral changes at the individual level. We trace these relaxation oscillations to the interplay between two forces; informed ants pull the load toward the nest whereas uninformed ants contribute to the motion’s persistence along the tangential direction. The model’s predictions that oscillations appear above a critical system size, that the group can spontaneously transition into its ordered phase, and that the system can exhibit complete rotations are all verified experimentally. We expect that similar oscillatory modes emerge in collective motion scenarios where the structure of the environment imposes conflicts between individually held information and the group’s tendency for cohesiveness. PMID:27930304

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

Science.gov (United States)

Chen, Xueye; Zhao, Zhongyi

2017-04-29

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

Overcoming obstacles against effective solar lighting interventions in South Asia

International Nuclear Information System (INIS)

Wong, Sam

2012-01-01

Basing on our devised World Bank’s ‘Design Principles’ for effective renewable energy projects in developing countries and an in-depth analysis of our two solar lighting projects in Bangladesh and India, this paper explores three key obstacles that constrain poor people from obtaining solar lighting: financial exclusion, weak governance, and passive NGO and customer participation. The low take-up rate has a social and psychological impact. This paper recommends creating easy access to credit, establishing a robust complaint system, and developing strategic partnership to overcome the obstacles. - Research Highlights: ► To provide a critical analysis of the World Bank's 'Design Principles' for renewable energy policies in developing countries. ► To explain why some solar lighting projects do not work and how the barriers can be overcome. ► To highlight the roles of poverty, governance and technical support in solar lighting design.

Surrounding Moving Obstacle Detection for Autonomous Driving Using Stereo Vision

Directory of Open Access Journals (Sweden)

Hao Sun

2013-06-01

Full Text Available Detection and tracking surrounding moving obstacles such as vehicles and pedestrians are crucial for the safety of mobile robotics and autonomous vehicles. This is especially the case in urban driving scenarios. This paper presents a novel framework for surrounding moving obstacles detection using binocular stereo vision. The contributions of our work are threefold. Firstly, a multiview feature matching scheme is presented for simultaneous stereo correspondence and motion correspondence searching. Secondly, the multiview geometry constraint derived from the relative camera positions in pairs of consecutive stereo views is exploited for surrounding moving obstacles detection. Thirdly, an adaptive particle filter is proposed for tracking of multiple moving obstacles in surrounding areas. Experimental results from real-world driving sequences demonstrate the effectiveness and robustness of the proposed framework.

Obstacle Avoidance for Redundant Manipulators Utilizing a Backward Quadratic Search Algorithm

Directory of Open Access Journals (Sweden)

Tianjian Hu

2016-06-01

Full Text Available Obstacle avoidance can be achieved as a secondary task by appropriate inverse kinematics (IK resolution of redundant manipulators. Most prior literature requires the time-consuming determination of the closest point to the obstacle for every calculation step. Aiming at the relief of computational burden, this paper develops what is termed a backward quadratic search algorithm (BQSA as another option for solving IK problems in obstacle avoidance. The BQSA detects possible collisions based on the root property of a category of quadratic functions, which are derived from ellipse-enveloped obstacles and the positions of each link's end-points. The algorithm executes a backward search for possible obstacle collisions, from the end-effector to the base, and avoids obstacles by utilizing a hybrid IK scheme, incorporating the damped least-squares method, the weighted least-norm method and the gradient projection method. Some details of the hybrid IK scheme, such as values of the damped factor, weights and the clamping velocity, are discussed, along with a comparison of computational load between previous methods and BQSA. Simulations of a planar seven-link manipulator and a PUMA 560 robot verify the effectiveness of BQSA.

Intuitive Robot Tasks with Augmented Reality and Virtual Obstacles

OpenAIRE

Gaschler, Andre;Springer, Maximilian;Rickert, Markus;Knoll, Alois

2017-01-01

Today's industrial robots require expert knowledge and are not profitable for small and medium sized enterprises with their small lot sizes. It is our strong belief that more intuitive robot programming in an augmented reality robot work cell can dramatically simplify re-programming and leverage robotics technology in short production cycles. In this paper, we present a novel augmented reality system for defining virtual obstacles, specifying tool positions, and specifying robot tasks. We eva...

A Game Theory-Based Obstacle Avoidance Routing Protocol for Wireless Sensor Networks

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Shujun Bi

2011-09-01

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

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

NARCIS (Netherlands)

Marguc, J.; Förster, J.; van Kleef, G.A.

2011-01-01

Can obstacles prompt people to look at the "big picture" and open up their minds? Do the cognitive effects of obstacles extend beyond the tasks with which they interfere? These questions were addressed in 6 studies involving both physical and nonphysical obstacles and different measures of global

Dynamics of cylindrical converging shock waves interacting with aerodynamic obstacle arrays

Energy Technology Data Exchange (ETDEWEB)

Vignati, F.; Guardone, A., E-mail: alberto.guardone@polimi.it [Department of Aerospace Science and Technology, Politecnico di Milano, via La Masa 34, 20156 Milano (Italy)

2015-06-15

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

Dynamics of cylindrical converging shock waves interacting with aerodynamic obstacle arrays

International Nuclear Information System (INIS)

Vignati, F.; Guardone, A.

2015-01-01

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

Effects of Delta-Shaped Obstacles on the Thermal Performance of Solar Air Heater

Directory of Open Access Journals (Sweden)

Adisu Bekele

2011-01-01

Full Text Available An experimental investigation has been carried out to study the effect of delta-shaped obstacles mounted on the absorber surface of an air heater duct with an aspect ratio 6 : 1 resembling the conditions close to solar air heaters. This study encompassed the Reynolds number (Re ranging from 3400 to 27600, longitudinal pitch of the obstacle (Pl/e varied from 3/2 to 11/2, and relative obstacle height (e/H varied from 0.25 to 0.75. The relative obstacle transverse pitch (Pt/b=7/3 and the angle of attack of flow on obstacle = 90° are kept constant during the whole experimentation. By comparing the heat transfer data obtained from the obstacle-mounted duct with that of smooth duct under similar geometrical and flow conditions, the obstacle-mounted duct enhances the heat transfer by 3.6-times at Re = 7276.82, Pl/e=3/2, and e/H=0.75.

Gendered Obstacles Faced by Historical Women in Physics and Astronomy

Science.gov (United States)

Jones, Kristen M.

2007-12-01

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

Obstacles to Small Innovative Companies’ Development: Case Study of Nizhny Novgorod Region

Directory of Open Access Journals (Sweden)

Nadezhda Butryumova

2015-12-01

Full Text Available The article presents the survey results of obstacles to small innovative companies as a case study of Nizhny Novgorod region of Russia as an area with high innovative potential and great level of socio-economic indicators. Based on the semi-structural personal interviews with 19 experts - the management of support infrastructure, results shows some typical for this region impediments: bureaucracy; lack of trust, poor collaboration within the innovation system; poor information support; legislative obstacles to innovations and intellectual property protection; low interest of large companies in collaboration with small ones. The findings and recommendations can help policy-makers to meet the needs of small innovative companies, and increase the innovative activity of small firms through the improvement of the assistance programs.

Multigrid Computation of Stratified Flow over Two-Dimensional Obstacles

Science.gov (United States)

Paisley, M. F.

1997-09-01

A robust multigrid method for the incompressible Navier-Stokes equations is presented and applied to the computation of viscous flow over obstacles in a bounded domain under conditions of neutral stability and stable density stratification. Two obstacle shapes have been used, namely a vertical barrier, for which the grid is Cartesian, and a smooth cosine-shaped obstacle, for which a boundary-conforming transformation is incorporated. Results are given for laminar flows at low Reynolds numbers and turbulent flows at a high Reynolds number, when a simple mixing length turbulence model is included. The multigrid algorithm is used to compute steady flows for each obstacle at low and high Reynolds numbers in conditions of weak static stability, defined byK=ND/πU≤ 1, whereU,N, andDare the upstream velocity, bouyancy frequency, and domain height respectively. Results are also presented for the vertical barrier at low and high Reynolds number in conditions of strong static stability,K> 1, when lee wave motions ensure that the flow is unsteady, and the multigrid algorithm is used to compute the flow at each timestep.

Automatic guidance and control laws for helicopter obstacle avoidance

Science.gov (United States)

Cheng, Victor H. L.; Lam, T.

1992-01-01

The authors describe the implementation of a full-function guidance and control system for automatic obstacle avoidance in helicopter nap-of-the-earth (NOE) flight. The guidance function assumes that the helicopter is sufficiently responsive so that the flight path can be readily adjusted at NOE speeds. The controller, basically an autopilot for following the derived flight path, was implemented with parameter values to control a generic helicopter model used in the simulation. Evaluation of the guidance and control system with a 3-dimensional graphical helicopter simulation suggests that the guidance has the potential for providing good and meaningful flight trajectories.

Facilitators and obstacles in pre-hospital medical response to earthquakes: a qualitative study

Science.gov (United States)

2011-01-01

Background Earthquakes are renowned as being amongst the most dangerous and destructive types of natural disasters. Iran, a developing country in Asia, is prone to earthquakes and is ranked as one of the most vulnerable countries in the world in this respect. The medical response in disasters is accompanied by managerial, logistic, technical, and medical challenges being also the case in the Bam earthquake in Iran. Our objective was to explore the medical response to the Bam earthquake with specific emphasis on pre-hospital medical management during the first days. Methods The study was performed in 2008; an interview based qualitative study using content analysis. We conducted nineteen interviews with experts and managers responsible for responding to the Bam earthquake, including pre-hospital emergency medical services, the Red Crescent, and Universities of Medical Sciences. The selection of participants was determined by using a purposeful sampling method. Sample size was given by data saturation. Results The pre-hospital medical service was divided into three categories; triage, emergency medical care and transportation, each category in turn was identified into facilitators and obstacles. The obstacles identified were absence of a structured disaster plan, absence of standardized medical teams, and shortage of resources. The army and skilled medical volunteers were identified as facilitators. Conclusions The most compelling, and at the same time amenable obstacle, was the lack of a disaster management plan. It was evident that implementing a comprehensive plan would not only save lives but decrease suffering and enable an effective praxis of the available resources at pre-hospital and hospital levels. PMID:21575233

Facilitators and obstacles in pre-hospital medical response to earthquakes: a qualitative study.

Science.gov (United States)

Djalali, Ahmadreza; Khankeh, Hamidreza; Öhlén, Gunnar; Castrén, Maaret; Kurland, Lisa

2011-05-16

Earthquakes are renowned as being amongst the most dangerous and destructive types of natural disasters. Iran, a developing country in Asia, is prone to earthquakes and is ranked as one of the most vulnerable countries in the world in this respect. The medical response in disasters is accompanied by managerial, logistic, technical, and medical challenges being also the case in the Bam earthquake in Iran. Our objective was to explore the medical response to the Bam earthquake with specific emphasis on pre-hospital medical management during the first days. The study was performed in 2008; an interview based qualitative study using content analysis. We conducted nineteen interviews with experts and managers responsible for responding to the Bam earthquake, including pre-hospital emergency medical services, the Red Crescent, and Universities of Medical Sciences. The selection of participants was determined by using a purposeful sampling method. Sample size was given by data saturation. The pre-hospital medical service was divided into three categories; triage, emergency medical care and transportation, each category in turn was identified into facilitators and obstacles. The obstacles identified were absence of a structured disaster plan, absence of standardized medical teams, and shortage of resources. The army and skilled medical volunteers were identified as facilitators. The most compelling, and at the same time amenable obstacle, was the lack of a disaster management plan. It was evident that implementing a comprehensive plan would not only save lives but decrease suffering and enable an effective praxis of the available resources at pre-hospital and hospital levels.

Modeling spatial navigation in the presence of dynamic obstacles: a differential games approach.

Science.gov (United States)

Darekar, Anuja; Goussev, Valery; McFadyen, Bradford J; Lamontagne, Anouk; Fung, Joyce

2018-03-01

Obstacle circumvention strategies can be shaped by the dynamic interaction of an individual (evader) and an obstacle (pursuer). We have developed a mathematical model with predictive and emergent components, using experimental data from seven healthy young adults walking toward a target while avoiding collision with a stationary or moving obstacle (approaching head-on, or diagonally 30° left or right) in a virtual environment. Two linear properties from the predictive component enable the evader to predict the minimum distance between itself and the obstacle at all times, including the future intersection of trajectories. The emergent component uses the classical differential games model to solve for an optimal circumvention while reaching the target, wherein the locomotor strategy is influenced by the obstacle, target, and the evader velocity. Both model components were fitted to a different set of experimental data obtained from five poststroke and healthy participants to derive the minimum predicted distance (predictive component) and obstacle influence dimensions (emergent component) during circumvention. Minimum predicted distance between evader and pursuer was kept constant when the evader was closest to the obstacle in all participants. Obstacle influence dimensions varied depending on obstacle approach condition and preferred side of circumvention, reflecting differences in locomotor strategies between poststroke and healthy individuals. Additionally, important associations between model outputs and observed experimental outcomes were found. The model, supported by experimental data, suggests that both predictive and emergent processes can shape obstacle circumvention strategies in healthy and poststroke individuals. NEW & NOTEWORTHY Obstacle circumvention during goal-directed locomotion is modeled with a new mathematical approach comprising both predictive and emergent elements. The major novelty is using differential games solutions to illustrate the

[The federal government discourse during the political decentralization process and the obstacles to implement the Brazilian Public Health Care System].

Science.gov (United States)

Pellegrini, Bárbara

2007-01-01

A discourse analysis carried out on basic operating standard Norma Operacional Básica do Sistema Unico de Saúde (NOB-SUS 01/96) of the Brazilian public health care system aiming at locating signs that could allow to identify lines of thought which have influenced health care policies prioritized by the federal administration. The author points out a peculiarity in the kind of discourse employed by the ministry directive: its structure is based on isolated aspects of legislation and on ideas advocated by other discourse communities, articulated with redefined legal principles - an effort towards authorizing the official reasoning in favor of the relevance in keeping the decentralization process under the control of the federal administration. The analysis concludes that an infra-legal standard can neither grant state and federal administrations a hierarchical superiority (mediation function) over municipal administrations, nor can it transfer the legal responsibilities pertaining to Health Councils over to inter-administration commissions (Comissões Intergestores) , thus making the former mere decision ratifiers. This study found that granting privileges not contemplated in the legislation to state and federal administrations surfaced again and more strongly so in 2001 in yet another operating standard.

Interaction of debris with a solid obstacle: numerical analysis.

Science.gov (United States)

Kosinska, Anna

2010-05-15

The subject of this research is the propagation of a cloud of solid particles formed from an explosion-damaged construction. The main objective is the interaction of the cloud (debris) with a solid beam located at some distance from the explosion. The mathematical model involves the flow of the gas using standard conservation equations, and this part of the model is solved numerically. The solid particles are treated as a system of solid points (so-called Lagrangian approach), whose motion is the result of the flowing gas as well as collisions with obstacles. These two issues are described respectively by Newton's second law and the hard-sphere model. The model is used to simulate various cases where the influence of different parameters like the value of the pressure of the explosion, the particle size, the number of particles and the obstacle location are investigated. The results are presented as snapshots of particle location, and also as the particle total momentum during collision with the beam. Copyright (c) 2009 Elsevier B.V. All rights reserved.

Anesthesia information management systems

OpenAIRE

Feri Štivan; Janez Benedik; Tomaž Lužar

2014-01-01

Introduction: The use of anesthesia information management systems (AIMS) is on the increase. This is particularly true for academic anesthesia departments. The main reasons for slow adoption of these systems in the past are financial barriers associated with implementation of these systems and their not so traditionally obvious potential to improve patient care. In addition, a major obstacle to acceptance of this technology is the concern of users over the impact of the electronic anesthesia...

Distance Determination Method for Normally Distributed Obstacle Avoidance of Mobile Robots in Stochastic Environments

Directory of Open Access Journals (Sweden)

Jinhong Noh

2016-04-01

Full Text Available Obstacle avoidance methods require knowledge of the distance between a mobile robot and obstacles in the environment. However, in stochastic environments, distance determination is difficult because objects have position uncertainty. The purpose of this paper is to determine the distance between a robot and obstacles represented by probability distributions. Distance determination for obstacle avoidance should consider position uncertainty, computational cost and collision probability. The proposed method considers all of these conditions, unlike conventional methods. It determines the obstacle region using the collision probability density threshold. Furthermore, it defines a minimum distance function to the boundary of the obstacle region with a Lagrange multiplier method. Finally, it computes the distance numerically. Simulations were executed in order to compare the performance of the distance determination methods. Our method demonstrated a faster and more accurate performance than conventional methods. It may help overcome position uncertainty issues pertaining to obstacle avoidance, such as low accuracy sensors, environments with poor visibility or unpredictable obstacle motion.

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

Directory of Open Access Journals (Sweden)

Peter Christiansen

2016-11-01

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

Dynamic Obstacle Clearing for Real-time Character Animation

OpenAIRE

Glardon, Pascal; Boulic, Ronan; Thalmann, Daniel

2006-01-01

This paper proposes a novel method to control virtual characters in dynamic environments. A virtual character is animated by a locomotion and jumping engine, enabling production of continuous parameterized motions. At any time during runtime, flat obstacles (e.g. a puddle of water) can be created and placed in front of a character. The method first decides whether the character is able to get around or jump over the obstacle. Then the motion parameters are accordingly modified. The transition...

Current trauma care system and trauma care training in China

Directory of Open Access Journals (Sweden)

Lian-Yang Zhang

2018-04-01

Full Text Available Trauma is a life-threatening “modern disease”. The outcomes could only be optimized by cost-efficient and prompt trauma care, which embarks on the improvement of essential capacities and conceptual revolution in addition to the disruptive innovation of the trauma care system. According to experiences from the developed countries, systematic trauma care training is the cornerstone of the generalization and the improvement on the trauma care, such as the Advance Trauma Life Support (ATLS. Currently, the pre-hospital emergency medical services (EMS has been one of the essential elements of infrastructure of health services in China, which is also fundamental to the trauma care system. Hereby, the China Trauma Care Training (CTCT with independent intellectual property rights has been initiated and launched by the Chinese Trauma Surgeon Association to extend the up-to-date concepts and techniques in the field of trauma care as well to reinforce the generally well-accepted standardized protocols in the practices. This article reviews the current status of the trauma care system as well as the trauma care training. Keywords: Trauma care system, Trauma care training, China

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

Science.gov (United States)

Thagard, Paul; Findlay, Scott

2010-01-01

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

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

Science.gov (United States)

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

2017-01-01

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

Healthcare in Equatorial Guinea, West Africa: obstacles and barriers to care.

Science.gov (United States)

Reuter, Kim Eleanor; Geysimonyan, Aurora; Molina, Gabriela; Reuter, Peter Robert

2014-01-01

The provision of healthcare services in developing countries has received increasing attention, but inequalities persist. One nation with potential inequalities in healthcare services is Equatorial Guinea (Central-West Africa). Mitigating these inequalities is difficult, as the Equatoguinean healthcare system remains relatively understudied. In this study, we interviewed members of the healthcare community in order to: 1) learn which diseases are most common and the most common cause of death from the perspective of healthcare workers; and 2) gain an understanding of the healthcare community in Equatorial Guinea by describing how: a) healthcare workers gain their professional knowledge; b) summarizing ongoing healthcare programs aimed at the general public; c) discussing conflicts within the healthcare community and between the public and healthcare providers; d) and addressing opportunities to improve healthcare delivery. We found that some causes of death, such as serious injuries, may not be currently treatable in country, potentially due to a lack of resources and trauma care facilities. In addition, training and informational programs for both healthcare workers and the general public may not be effectively transmitting information to the intended recipients. This presents hurdles to the healthcare community, both in terms of having professional competence in healthcare delivery and in having a community that is receptive to medical care. Our data also highlight government-facility communication as an opportunity for improvement. Our research is an important first step in understanding the context of healthcare delivery in Equatorial Guinea, a country that is relatively data poor.

[Economic aspects of integrated care].

Science.gov (United States)

Lange, A; Braun, S; Greiner, W

2012-05-01

For more than 10 years integrated care has been an inherent part of the German healthcare system. The aims of selective contracts are to minimize interface problems between outpatient and inpatient sectors, generalist und specialist care as well as to intensify competition. Despite repeated efforts by the legislator, comprehensive integrated healthcare is still limited to a few flagship projects. This is mainly due to low incentives on the part of both suppliers and customers. Therefore, this article focuses on the economic aspects of integrated care. From a theoretical perspective, integrated care improves efficiency in the healthcare sector by reducing interface problems and asymmetric information as well as by intensifying competition. In practice, however, there are a number of obstacles to implementation. Particularly noteworthy are the financial difficulties in addition to problems regarding sectoral budgeting and the long-term nature of investments. However, the political environment and thus the financial arrangements within the statutory health insurance seem to be more important for further development of integrated care in Germany than the financing issues.

Implementation of national palliative care guidelines in Swedish acute care hospitals: A qualitative content analysis of stakeholders' perceptions.

Science.gov (United States)

Lind, S; Wallin, L; Brytting, T; Fürst, C J; Sandberg, J

2017-11-01

In high-income countries a large proportion of all deaths occur in hospitals. A common way to translate knowledge into clinical practice is developing guidelines for different levels of health care organisations. During 2012, national clinical guidelines for palliative care were published in Sweden. Later, guidance for palliative care was issued by the National Board of Health and Welfare. The aim of this study was two-fold: to investigate perceptions regarding these guidelines and identify obstacles and opportunities for implementation of them in acute care hospitals. Interviews were conducted with local politicians, chief medical officers and health professionals at acute care hospitals. The Consolidated Framework for Implementation Research was used in a directed content analysis approach. The results showed little knowledge of the two documents at all levels of the health care organisation. Palliative care was primarily described as end of life care and only few of the participants talked about the opportunity to integrate palliative care early in a disease trajectory. The environment and culture at hospitals, characterised by quick decisions and actions, were perceived as obstacles to implementation. Health professionals' expressed need for palliative care training is an opportunity for implementation of clinical guidelines. There is a need for further implementation of palliative care in hospitals. One option for further research is to evaluate implementation strategies tailored to acute care. Copyright © 2017 Elsevier B.V. All rights reserved.

Nuclear power: obstacles and solutions

International Nuclear Information System (INIS)

Hart, R.S.

2002-01-01

Nuclear power has a history extending over more than 50 years; it has been pursued both for military power applications (primarily aircraft carrier and submarine propulsion) and for commercial power applications. Nuclear power has benefited from many hundreds of billions of dollars in research, development, design, construction, and operations expenditures, and has received substantial attention and support world-wide, having being implemented by most developed countries, including all of the G-7 countries, and several developing countries (for example, India, China, and Republic of Korea). In spite of this long history, massive development effort, and unprecedented financial commitment, nuclear power has failed to achieve commercial success, having captured less than 5% of the world's primary energy supply market. There are many factors contributing to the stagnation/decline of the commercial nuclear power business. These factors include: non competitive economics, lengthy construction schedules, large and demanding human resource requirements, safety concerns, proliferation concerns, waste management concerns, the high degree of government financial and political involvement necessary, and the incompatibility of the available nuclear power plant designs with most process heat applications due to their temperature limitations and/or large heat output. An examination of the obstacles to deployment of nuclear power plants of current design suggest a set of requirements for new nuclear power plants, which may overcome or circumvent these obstacles. These requirements include: inherent characteristics that will achieve reactor shutdown under any postulated accident condition; the removal of decay heat by natural and passive means; no safety dependence on operator actions and tolerant to operator error, and malicious or incompetent operator action; and, economic viability in relatively small unit sizes. Many innovative reactor technologies and concepts are under

Nuclear power: obstacles and solutions

International Nuclear Information System (INIS)

Hart, R.S.

2001-01-01

Nuclear power has a history extending over more than 50 years; it has been pursued both for military power applications (primarily aircraft carrier and submarine propulsion) and for commercial power applications. Nuclear power has benefited from many hundreds of billions of dollars in research, development, design, construction, and operations expenditures, and has received substantial attention and support world-wide, having being implemented by most developed countries, including all of the G-7 countries, and several developing countries (for example, India, China, and Republic of Korea). In spite of this long history, massive development effort, and unprecedented financial commitment, nuclear power has failed to achieve commercial success, having captured less than 5% of the world's primary energy supply market. There are many factors contributing to the stagnation/decline of the commercial nuclear power business. These factors include: non competitive economics, lengthy construction schedules, large and demanding human resource requirements, safety concerns, proliferation concerns, waste management concerns, the high degree of government financial and political involvement necessary, and the incompatibility of the available nuclear power plant designs with most process heat applications due to their temperature limitations and/or large heat output. An examination of the obstacles to deployment of nuclear power plants of current design suggest a set of requirements for new nuclear power plants, which may overcome or circumvent these obstacles. These requirements include: inherent characteristics that will achieve reactor shutdown under any postulated accident condition; the removal of decay heat by natural and passive means; no safety dependence on operator actions and tolerant to operator error, and malicious or incompetent operator action; and, economic viability in relatively small unit sizes. Many innovative reactor technologies and concepts are under

Scattering of electromagnetic waves by obstacles

CERN Document Server

Kristensson, Gerhard

2016-01-01

The main purpose of Scattering of Electromagnetic Waves by Obstacles is to give a theoretical treatment of the scattering phenomena, and to illustrate numerical computations of some canonical scattering problems for different geometries and materials.

Respiratory care management information systems.

Science.gov (United States)

Ford, Richard M

2004-04-01

Hospital-wide computerized information systems evolved from the need to capture patient information and perform billing and other financial functions. These systems, however, have fallen short of meeting the needs of respiratory care departments regarding work load assessment, productivity management, and the level of outcome reporting required to support programs such as patient-driven protocols. The respiratory care management information systems (RCMIS) of today offer many advantages over paper-based systems and hospital-wide computer systems. RCMIS are designed to facilitate functions specific to respiratory care, including assessing work demand, assigning and tracking resources, charting, billing, and reporting results. RCMIS incorporate mobile, point-of-care charting and are highly configurable to meet the specific needs of individual respiratory care departments. Important and substantial benefits can be realized with an RCMIS and mobile, wireless charting devices. The initial and ongoing costs of an RCMIS are justified by increased charge capture and reduced costs, by way of improved productivity and efficiency. It is not unusual to recover the total cost of an RCMIS within the first year of its operation. In addition, such systems can facilitate and monitor patient-care protocols and help to efficiently manage the vast amounts of information encountered during the practitioner's workday. Respiratory care departments that invest in RCMIS have an advantage in the provision of quality care and in reducing expenses. A centralized respiratory therapy department with an RCMIS is the most efficient and cost-effective way to monitor work demand and manage the hospital-wide allocation of respiratory care services.

An Approach for Indoor Path Computation among Obstacles that Considers User Dimension

Directory of Open Access Journals (Sweden)

Liu Liu

2015-12-01

Full Text Available People often transport objects within indoor environments, who need enough space for the motion. In such cases, the accessibility of indoor spaces relies on the dimensions, which includes a person and her/his operated objects. This paper proposes a new approach to avoid obstacles and compute indoor paths with respect to the user dimension. The approach excludes inaccessible spaces for a user in five steps: (1 compute the minimum distance between obstacles and find the inaccessible gaps; (2 group obstacles according to the inaccessible gaps; (3 identify groups of obstacles that influence the path between two locations; (4 compute boundaries for the selected groups; and (5 build a network in the accessible area around the obstacles in the room. Compared to the Minkowski sum method for outlining inaccessible spaces, the proposed approach generates simpler polygons for groups of obstacles that do not contain inner rings. The creation of a navigation network becomes easier based on these simple polygons. By using this approach, we can create user- and task-specific networks in advance. Alternatively, the accessible path can be generated on the fly before the user enters a room.

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

Science.gov (United States)

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

2015-12-01

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

Consumer energy-conservation policy in Canada: behavioural and institutional obstacles

Energy Technology Data Exchange (ETDEWEB)

McDougall, G.H.G. (Wilfrid Laurier Univ., Waterloo, Ontario); Mank, R.B.

1982-09-01

This paper posits that if consumer energy-conservation policy is to succeed in Canada, both behavioral and institutional obstacles must be identified and overcome. The behavioral barriers, identified through a national household survey, include consumer resistance to policies that affect their lifestyles. The institutional barriers obtained from a series of interviews with government officials, include weak federal-provincial relations. Viewed from a federal perspective, these obstacles are discussed and then linked to policy types. A prior understanding of the obstacles that a particular program type is likely to face should allow more-effective execution of the program and enhance the probability of success. 11 references, 7 tables.

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

Science.gov (United States)

Thagard, Paul; Findlay, Scott

2010-06-01

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

Barriers to postnatal care and exclusive breastfeeding among ...

African Journals Online (AJOL)

Conclusion: Poor knowledge and inaccessibility to health facilities were the main obstacles to postnatal care while the practice of exclusive breastfeeding was limited by the stress and mothers refusal. Keywords: Exclusive breastfeeding, postnatal care, southeastern Nigeria, urban women. Nigerian Medical Journal | Vol.

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

Directory of Open Access Journals (Sweden)

Hoyeon Kim

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

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

Science.gov (United States)

Jia, Bao-zhi; Zhu, Ming

2013-12-01

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

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

Science.gov (United States)

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

2016-01-01

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

Uniqueness and numerical methods in inverse obstacle scattering

International Nuclear Information System (INIS)

Kress, Rainer

2007-01-01

The inverse problem we consider in this tutorial is to determine the shape of an obstacle from the knowledge of the far field pattern for scattering of time-harmonic plane waves. In the first part we will concentrate on the issue of uniqueness, i.e., we will investigate under what conditions an obstacle and its boundary condition can be identified from a knowledge of its far field pattern for incident plane waves. We will review some classical and some recent results and draw attention to open problems. In the second part we will survey on numerical methods for solving inverse obstacle scattering problems. Roughly speaking, these methods can be classified into three groups. Iterative methods interpret the inverse obstacle scattering problem as a nonlinear ill-posed operator equation and apply iterative schemes such as regularized Newton methods, Landweber iterations or conjugate gradient methods for its solution. Decomposition methods, in principle, separate the inverse scattering problem into an ill-posed linear problem to reconstruct the scattered wave from its far field and the subsequent determination of the boundary of the scatterer from the boundary condition. Finally, the third group consists of the more recently developed sampling methods. These are based on the numerical evaluation of criteria in terms of indicator functions that decide whether a point lies inside or outside the scatterer. The tutorial will give a survey by describing one or two representatives of each group including a discussion on the various advantages and disadvantages

76 FR 4061 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Science.gov (United States)

2011-01-24

..., Randolph County, Takeoff Minimums and Obstacle DP, Orig El Dorado, KS, Captain Jack Thomas/El Dorado... Minimums and Obstacle DP, Amdt 3 Cook, MN, Cook Muni, Takeoff Minimums and Obstacle DP, Orig Duluth, MN...

Terrain Mapping and Obstacle Detection Using Gaussian Processes

DEFF Research Database (Denmark)

Kjærgaard, Morten; Massaro, Alessandro Salvatore; Bayramoglu, Enis

2011-01-01

In this paper we consider a probabilistic method for extracting terrain maps from a scene and use the information to detect potential navigation obstacles within it. The method uses Gaussian process regression (GPR) to predict an estimate function and its relative uncertainty. To test the new...... show that the estimated maps follow the terrain shape, while protrusions are identified and may be isolated as potential obstacles. Representing the data with a covariance function allows a dramatic reduction of the amount of data to process, while maintaining the statistical properties of the measured...... and interpolated features....

Collective rotations of active particles interacting with obstacles

Science.gov (United States)

Mokhtari, Zahra; Aspelmeier, Timo; Zippelius, Annette

2017-10-01

We consider active particles in a heterogeneous medium, modeled by static, random obstacles. In accordance with the known tendency of active particles to cluster, we observe accumulation and crystallization of active particles around the obstacles which serve as nucleation sites. In the limit of high activity, the crystals start to rotate spontaneously, resembling a rotating rigid body. We trace the occurrence of these oscillations to the enhanced attraction of particles whose orientation points along the rotational velocity as compared to those whose orientation points in the opposite direction.

Investigation of obstacles against effective crisis management in earthquake

Directory of Open Access Journals (Sweden)

Mahmood Nekoei-Moghadam

2016-03-01

Full Text Available Floods, hurricanes, landslides, hurricanes, tornadoes, earthquakes are events that a large group of people on earth are affected. In December 2003, the residents of Bam, Iran experienced an earthquake that measured 6.6 on the Richter scale and destroyed more than 90% of the city. The purpose of this study was to investigate obstacles against effective crisis management with considering service received by individuals in the Bam earthquake. In this study, domestic journals, foreign dissertations in Persian bases such as Google scholar, Magiran, IranMedex, SID and in English bases such as PubMed, Web of Science, Google scholar were used. The results of this study showed that there were many problems in various aspects of planning including: lack of coherent programs, lack of attention to the needs of health care, poor coordination between agencies and organizations and lack of appropriate training of volunteers and people.

Home Health Care (HHC) Managers Perceptions About Challenges and Obstacles that Hinder HHC Services in Jordan

Science.gov (United States)

Ajlouni, Musa T.; Dawani, Hania; Diab, Salah M.

2015-01-01

Home care aims at supporting people with various degrees of dependency to remain at home rather than use residential, long-term, or institutional-based nursing care. Demographic, epidemiological, social, and cultural trends in Jordan as in other countries are changing the traditional patterns of care with growing emphasis on home care. The purpose of this study is to highlight the most common challenges related to home health care (HHC) services in Jordan as perceived by the managers of HHC agencies. Methods: a descriptive qualitative design that depends on focus group discussions has been used to collect data from a sample of 18 managers who met the selection criteria and who are willing to participate, the study found that, the main challenges of HHC services as perceived by managers were: shortage of female staff, lack of governance and regulation, poor management, unethical practices, lack of referral systems, and low accessibility of the poor and less privileged as HHC services are not included in health insurance schemes, it concludes also that the home health care industry in Jordan is facing many challenges and problems that may have negative effects on the effectiveness, efficiency, equity and quality of services and should be addressed by health policy makers. PMID:25946949

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

Science.gov (United States)

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

2008-01-01

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

Virtual obstacle crossing: Reliability and differences in stroke survivors who prospectively experienced falls or no falls.

Science.gov (United States)

Punt, Michiel; Bruijn, Sjoerd M; Wittink, Harriet; van de Port, Ingrid G; Wubbels, Gijs; van Dieën, Jaap H

2017-10-01

Stroke survivors often fall during walking. To reduce fall risk, gait testing and training with avoidance of virtual obstacles is gaining popularity. However, it is unknown whether and how virtual obstacle crossing is associated with fall risk. The present study assessed whether obstacle crossing characteristics are reliable and assessed differences in stroke survivors who prospectively experienced falls or no falls. We recruited twenty-nine community dwelling chronic stroke survivors. Participants crossed five virtual obstacles with increasing lengths. After a break, the test was repeated to assess test-retest reliability. For each obstacle length and trial, we determined; success rate, leading limb preference, pre and post obstacle distance, margins of stability, toe clearance, and crossing step length and speed. Subsequently, fall incidence was monitored using a fall calendar and monthly phone calls over a six-month period. Test-retest reliability was poor, but improved with increasing obstacle-length. Twelve participants reported at least one fall. No association of fall incidence with any of the obstacle crossing characteristics was found. Given the absence of height of the virtual obstacles, obstacle avoidance may have been relatively easy, allowing participants to cross obstacles in multiple ways, increasing variability of crossing characteristics and reducing the association with fall risk. These finding cast some doubt on current protocols for testing and training of obstacle avoidance in stroke rehabilitation. Copyright © 2017 Elsevier B.V. All rights reserved.

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

Directory of Open Access Journals (Sweden)

Filippo Sanfilippo

2017-03-01

Full Text Available In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

Health professionals perceive teamwork with relatives as an obstacle in their daily work - a focus group interview.

Science.gov (United States)

Laursen, Jannie; Broholm, Malene; Rosenberg, Jacob

2017-09-01

Health professionals must often balance between different rationalities within the hospital organisation. Having adequate time with patients, shorter waiting time and the ability to greater professional autonomy have been shown to help provide a higher quality of care. Empathy and sympathy appear to be crucial components for the health professionals and their relationship to patients. The aim of this study was to explore health professionals' experiences of relatives to critically ill patients in order to identify aspects that may facilitate a better understanding of this teamwork. The study was descriptive and exploratory and had a qualitative design with a phenomenological/hermeneutic orientation for the interviews. Focus group was the chosen methodology. The study comprised 19 health professionals in four focus groups. Two themes emerged from the interviews: the hospital culture does not integrate relatives, and health professionals felt that relatives took their resources and saw them as an obstacle in their daily work. Health professionals felt divided between the system and the individual sphere, which makes it difficult for them to integrate relatives more and see them as participants in a natural teamwork for the benefit of the patient. © 2016 Nordic College of Caring Science.

OBSTACLES TO ONLINE SHOPPING: IMPACT OF GENDER AND INTERNET SECURITY ISSUES

Directory of Open Access Journals (Sweden)

AHU GENİS-GRUBER

2013-06-01

Full Text Available In the latest technology era, the widespread usage of internet enabled individuals to interact continuously and led to altered buying behavior patterns. Literature focuses on the critical effects in the field. Among many antecedents to online shopping, previous studies point out two important obstacles:  (i acceptance and tendency to use technology in accordance with gender perceptions and (ii internet security problems. This study analyzes the impact of these two prominent factors on e-commerce utilization by studying the effects of these factors through primary and secondary data; a survey designed specifically for this analysis and the cross-country data from Eurostat. The findings show that while internet security problems significantly impact online shopping behavior, the evidence is mixed for the impact of gender. The results of this paper provide insights for a successful e-commerce transaction and identify important obstacles to be avoided for an efficient e-commerce system.

Satellite Images-Based Obstacle Recognition and Trajectory Generation for Agricultural Vehicles

Directory of Open Access Journals (Sweden)

Mehmet Bodur

2015-12-01

Full Text Available In this study, a method for the generation of tracking trajectory points, detection and positioning of obstacles in agricultural fields have been presented. Our principal contribution is to produce traceable GPS trajectories for agricultural vehicles to be utilized by path planning algorithms, rather than a new path planning algorithm. The proposed system works with minimal initialization requirements, specifically, a single geographical coordinate entry of an agricultural field. The automation of agricultural plantation requires many aspects to be addressed, many of which have been covered in previous studies. Depending on the type of crop, different agricultural vehicles may be used in the field. However, regardless of their application, they all follow a specified trajectory in the field. This study takes advantage of satellite images for the detection and positioning of obstacles, and the generation of GPS trajectories in the agricultural realm. A set of image processing techniques is applied in Matlab for detection and positioning.

Constructing target product profiles (TPPs) to help vaccines overcome post-approval obstacles

OpenAIRE

Lee, Bruce Y.; Burke, Donald S.

2009-01-01

As history has demonstrated, post-approval obstacles can impede a vaccine’s use and potentially lead to its withdrawal. Addressing these potential obstacles when changes in a vaccine’s technology can still be easily made may improve a vaccine’s chances of success. Augmented vaccine target product profiles (TPPs) can help vaccine scientists better understand and anticipate these obstacles and galvanize conversations among various vaccine stakeholders (e.g., scientists, marketers, business deve...

Anomalous diffusion due to hindering by mobile obstacles undergoing Brownian motion or Orstein-Ulhenbeck processes.

Science.gov (United States)

Berry, Hugues; Chaté, Hugues

2014-02-01

In vivo measurements of the passive movements of biomolecules or vesicles in cells consistently report "anomalous diffusion," where mean-squared displacements scale as a power law of time with exponent αmovement hindrance by obstacles is often invoked. However, our understanding of how hindered diffusion leads to subdiffusion is based on diffusion amidst randomly located immobile obstacles. Here, we have used Monte Carlo simulations to investigate transient subdiffusion due to mobile obstacles with various modes of mobility. Our simulations confirm that the anomalous regimes rapidly disappear when the obstacles move by Brownian motion. By contrast, mobile obstacles with more confined displacements, e.g., Orstein-Ulhenbeck motion, are shown to preserve subdiffusive regimes. The mean-squared displacement of tracked protein displays convincing power laws with anomalous exponent α that varies with the density of Orstein-Ulhenbeck (OU) obstacles or the relaxation time scale of the OU process. In particular, some of the values we observed are significantly below the universal value predicted for immobile obstacles in two dimensions. Therefore, our results show that subdiffusion due to mobile obstacles with OU type of motion may account for the large variation range exhibited by experimental measurements in living cells and may explain that some experimental estimates are below the universal value predicted for immobile obstacles.

Sensor-based whole-arm obstacle avoidance for unstructured environments

International Nuclear Information System (INIS)

Wintenberg, AL.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.; Hamel, W.R.

1992-01-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined work spaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. A sensing system under development, which will provide protection against such collisions, is described in this paper

Multi-Modal Obstacle Detection in Unstructured Environments with Conditional Random Fields

DEFF Research Database (Denmark)

Kragh, Mikkel; Underwood, James

modality. Geometrically, tall grass, fallen leaves, or terrain roughness can mistakenly be perceived as non-traversable or might even obscure actual obstacles. Likewise, traversable grass or dirt roads and obstacles such as trees and bushes might be visually ambiguous. In this paper, we combine appearance...

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

Science.gov (United States)

Zhang, Qi; Wang, Yaxing; Lian, Zhen

2017-07-15

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

C1,1 regularity for degenerate elliptic obstacle problems

Science.gov (United States)

Daskalopoulos, Panagiota; Feehan, Paul M. N.

2016-03-01

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

Care for children with special health care needs in a managed care system: a patient satisfaction survey.

Science.gov (United States)

Flynn, J M; Bravo, C J; Reyes, O

2001-09-01

In 1994 the government of Puerto Rico adopted a capitated managed health care system for the medically indigent. The new law has been implemented in most municipalities. A survey of children with special health care needs treated at a tertiary pediatric center under the capitated managed care system and the prior non-capitated system was analyzed using the Consumer Assessments of Health Plan Survey (CHAPS) instrument. One third of the patients who were under the new capitated managed care system were not satisfied with the medial care they were receiving. The parents of children with multidisciplinary conditions found it much more difficult to access care at the tertiary center. It took parents two years to learn to navigate within the capitated managed care system. Studies to measure outcome and health quality of children with special health care needs in capitated managed health care programs must be developed to learn how the potential benefits of managed care can be maximized and the potential harms minimized. The purpose of this study was to analyze the accessibility and satisfaction of caretakers of children with special health care needs under a capitated managed health care system.

Recovering an obstacle using integral equations

KAUST Repository

Rundell, William

2009-01-01

. It is assumed that the physical situation is modelled by harmonic functions and the boundary condition on the obstacle is one of Dirichlet type. The purpose of this paper is to answer some of the questions raised in a recent paper that introduced a nonlinear

Can biomedical and traditional health care providers work together? Zambian practitioners' experiences and attitudes towards collaboration in relation to STIs and HIV/AIDS care: a cross-sectional study

Directory of Open Access Journals (Sweden)

Höjer Bengt

2006-07-01

Full Text Available Abstract Background The World Health Organization's World health report 2006: Working together for health underscores the importance of human resources for health. The shortage of trained health professionals is among the main obstacles to strengthening low-income countries' health systems and to scaling up HIV/AIDS control efforts. Traditional health practitioners are increasingly depicted as key resources to HIV/AIDS prevention and care. An appropriate and effective response to the HIV/AIDS crisis requires reconsideration of the collaboration between traditional and biomedical health providers (THPs and BHPs. The aim of this paper is to explore biomedical and traditional health practitioners' experiences of and attitudes towards collaboration and to identify obstacles and potential opportunities for them to collaborate regarding care for patients with sexually transmitted infections (STIs and HIV/AIDS. Methods We conducted a cross-sectional study in two Zambian urban sites, using structured questionnaires. We interviewed 152 biomedical health practitioners (BHPs and 144 traditional health practitioners (THPs who reported attending to patients with STIs and HIV/AIDS. Results The study showed a very low level of experience of collaboration, predominated by BHPs training THPs (mostly traditional birth attendants on issues of safe delivery. Intersectoral contacts addressing STIs and HIV/AIDS care issues were less common. However, both groups of providers overwhelmingly acknowledged the potential role of THPs in the fight against HIV/AIDS. Obstacles to collaboration were identified at the policy level in terms of legislation and logistics. Lack of trust in THPs by individual BHPs was also found to inhibit collaboration. Nevertheless, as many as 40% of BHPs expressed an interest in working more closely with THPs. Conclusion There is indication that practitioners from both sectors seem willing to strengthen collaboration with each other. However

Towards systemic sustainable performance of TBI care systems: emergency leadership frontiers.

Science.gov (United States)

Caro, Denis H J

2010-11-10

Traumatic brain injuries (TBIs) continue as a twenty-first century subterranean and almost invisible scourge internationally. TBI care systems provide a safety net for survival, recovery, and reintegration into social communities from this scourge, particularly in Canada, the European Union, and the USA. This paper examines the underlying issues of systemic performance and sustainability of TBI care systems, in the light of decreasing care resources and increasing demands for services. This paper reviews the extant literature on TBI care systems, systems reengineering, and emergency leadership literature. This paper presents a seven care layer paradigm, which forms the essence of systemic performance in the care of patients with TBIs. It also identifies five key strategic drivers that hold promise for the future systemic sustainability of TBI care systems. Transformational leadership and engagement from the international emergency medical community is the key to generating positive change. The sustainability/performance care framework is relevant and pertinent for consideration internationally and in the context of other emergency medical populations.

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

Science.gov (United States)

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

2012-11-01

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

Visualizing news: obstacles, challenges, and solutions

NARCIS (Netherlands)

Dr. Piet Bakker; Gerard Smit; Yael de Haan; Laura Buijs

2013-01-01

Depicting news graphically is considered an apt way to deal with challenges of modern journalism: to disclose big data, and present news attractively, visually, and fast to grasp. This study delves into reported obstacles and challenges for the production of news visualizations. It focuses on the

Obstacles in the climate policy arena

International Nuclear Information System (INIS)

Manders, T.; Tang, P.

2001-01-01

Implementing climate policy is not a straightforward matter. International negotiations during the recent climate conference in The Hague ended in disagreement. With the present position of the United States chances to reach an agreement are even slimmer than ever. One of the obstacles is to what extent trade in emission rights should be allowed. Economically speaking, there are strong arguments for allowing as much flexibility as possible. Ironically, our analysis shows that the party favouring restrictions on emissions trade, the European Union, suffers most from curtailing flexibility. Another obstacle which comes up when addressing more ambitious goals in climate policy is the involvement of developing countries. A treaty should aim at emissions reductions in developing countries as well. If the potentially serious consequences of the greenhouse effect are to be avoided, that is even essential. To induce these reductions, the developed countries could consider to compensate the developing countries. For industrialised countries compensation has the effect to raise the costs of climate policy considerably

Diversity in Defining End of Life Care: An Obstacle or the Way Forward?

Science.gov (United States)

Gysels, Marjolein; Evans, Natalie; Meñaca, Arantza; Higginson, Irene J.; Harding, Richard; Pool, Robert

2013-01-01

Aim The terms used to describe care at the end of life (EoL), and its definitions, have evolved over time and reflect the changes in meaning the concept has undergone as the field develops. We explore the remit of EoL care as defined by experts in EoL care, from across Europe and beyond, to understand its current usage and meanings. Method A qualitative survey attached to a call for expertise on cultural issues in EoL care was sent to experts in the field identified through the literature, European EoL care associations, and conferences targeted at EoL care professionals. Respondents were asked to identify further contacts for snowball recruitment.The responses were analysed using content and discourse analysis. Results Responses were received from 167 individuals (33% response rate), mainly from academics (39%) and clinical practitioners working in an academic context (23%) from 19 countries in Europe and beyond. 29% of respondents said explicitly that there was no agreed definition of EoL care in practice and only 14% offered a standard definition (WHO, or local institution). 2% said that the concept of EoL care was not used in their country, and 5% said that there was opposition to the concept for religious or cultural reasons. Two approaches were identified to arrive at an understanding of EoL care: exclusively by drawing boundaries through setting time frames, and inclusively by approaching its scope in an integrative way. This led to reflections about terminology and whether defining EoL care is desirable. Conclusion The global expansion of EoL care contributes to the variety of interpretations of what it means. This complicates the endeavour of defining the field. However, when diversity is taken seriously it can open up new perspectives to underpin the ethical framework of EoL care. PMID:23844145

System for measuring the coordinates of tire surfaces in transient conditions when rolling over obstacles: description of the system and performance analysis.

Science.gov (United States)

Castellini, Paolo; Di Giuseppe, Andrea

2008-06-01

This paper describes the development of a system for measuring surface coordinates (commonly known as "shape measurements") which is able to give the temporal evolution of the position of the tire sidewall in transient conditions (such as during braking, when there are potholes or when the road surface is uneven) which may or may not be reproducible. The system is based on the well-known technique of projecting and observing structured light using a digital camera with an optical axis which is slanted with respect to the axis of the projector. The transient nature of the phenomenon has led to the development of specific innovative solutions as regards image processing algorithms. This paper briefly describes the components which make up the measuring system and presents the results of the measurements carried out on the drum bench. It then analyses the performance of the measuring system and the sources of uncertainty which led to the development of the system for a specific dynamic application: impact with an obstacle (cleat test). The measuring system guaranteed a measurement uncertainty of 0.28 mm along the Z axis (the axial direction of the tire) with a measurement range of 250(X) x 80(Y) x 25(Z) mm(3), with the tire rolling at a speed of up to 30 km/h.

Structural Obstacles against Order of Law in Safavid Iran

Directory of Open Access Journals (Sweden)

Hamid Ebadollahi

2010-04-01

Full Text Available While focusing on the teleological matters, most of the studies about the roots of disorder and anarchy in Iran attempt to explain the “present” obstacles against order of law; the present study aims to analyze the structural-historical conditions affecting the “possibility and impossibility of the order of law in Iran”. In the former studies, “Iran’s history” is inversely applied in order to explain the present situation of society. Instead of interpreting the determining social structures in the history, such studies attempts to understand “contemporary Iran”. Furthermore, applying comparative-fundamentalist method, they base their analysis on the economic or political conditions of the matter. However, the present study claims that the general theory of social transformation –either the Marxian or Weberian- -that is produced approaching western medieval societies- could not explain roots of disorder and anarchy in Iran. Instead, applying a structuralist model, and focusing on “articulation” in analysis, the present study aims to explore the historical obstacles against the order of law in the history of Iran (rather than western medieval history. Thus, it claims that the main root of “disorder in the history of Iran” is the governing system of political, martial, and economic management in Iran.

Characteristics of leading forelimb movements for obstacle avoidance during locomotion in rats.

Science.gov (United States)

Aoki, Sho; Sato, Yamato; Yanagihara, Dai

2012-10-01

Walking smoothly and safely often involves stepping over an obstacle. The purpose of this study was to examine forelimb movements and toe trajectories in stepping over an obstacle during overground locomotion in rats. We performed a kinematic analysis of forelimb movements and measured electromyographic (EMG) activities in the biceps and triceps brachii of the forelimbs. We found that mean toe height just above the obstacle was lower in the leading forelimb than in the trailing forelimb. The toe positions of the leading forelimb at maximal elevation over the obstacle (peak toe position) were closer to the upper edge of the obstacle than those of the trailing forelimb. The linear distance between peak toe position and the upper edge of the obstacle was significantly less in the leading forelimb compared to the trailing forelimb. The peak toe position of the leading forelimb spatially corresponds to the transition point from flexion to extension of the elbow joint. This transition appeared to be controlled mainly by an offset of EMG activity of the elbow flexor, the biceps brachii muscle. In contrast, the trailing forelimb appeared to be controlled by the shoulder and wrist joints. These results suggest that the toe trajectory of the leading forelimb is more accurately regulated than that of the trailing forelimb. In addition, the activities of the elbow flexor may in part contribute to the toe trajectory of the leading forelimb. Copyright © 2012 Elsevier Ireland Ltd and the Japan Neuroscience Society. All rights reserved.

UOBPRM: A uniformly distributed obstacle-based PRM

KAUST Repository

Yeh, Hsin-Yi; Thomas, Shawna; Eppstein, David; Amato, Nancy M.

2012-01-01

This paper presents a new sampling method for motion planning that can generate configurations more uniformly distributed on C-obstacle surfaces than prior approaches. Here, roadmap nodes are generated from the intersections between C

Obstacles to Scientific Research in Light of a Number of Variables

Science.gov (United States)

Algadheeb, Nourah A.; Almeqren, Monira A.

2014-01-01

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

La gestión de úlceras por presión en residencias de mayores: Obstáculos y facilitadores The management of pressure ulcers in nursing home care: Obstacles and facilitators

Directory of Open Access Journals (Sweden)

Manuel Rodríguez Palma

2010-09-01

Full Text Available Introducción y objetivos: las úlceras por presión (UPP son un problema que repercute negativamente en la calidad de vida del anciano, contribuyendo a la morbilidad y mortalidad de la población institucionalizada. La heterogénea realidad de la asistencia y la variabilidad epidemiológica de estas lesiones dificultan su abordaje en las instituciones socio-sanitarias. Intentaremos conocer la gestión de las UPP en las residencias de mayores y los obstáculos que impiden su adecuado manejo, planteando estrategias para optimizar los cuidados. Método: revisión bibliográfica en bases de datos nacionales e internacionales. Resultados: la adopción e implementación de las mejores directrices de prevención y tratamiento de UPP ofrece una elevada variabilidad. Se detectan obstáculos a nivel de dirección e instituciones, costes económicos y materiales, formación, actitudes y motivaciones del personal, implantación y cuidados. Conclusiones: el uso de programas adaptados a los centros, el compromiso mantenido de la institución, planes globales y multidimensionales, formación interdisciplinar y evaluación continua serían algunas de las recomendaciones para la mejora de los cuidados de prevención y tratamiento de ancianos con UPP.Introduction and aims: the PU is a problem that adversely affects the quality of life among the elderly, contributing to morbidity and mortality in the institutionalized population. The heterogeneous reality of care and epidemiological variability of these injuries make it difficult to approach in socio-sanitary institutions. Knowing the management of pressure ulcers in nursing homes and obstacles to its proper management, raising strategies to optimize care. Method: literature review on the basis of national and international data. Results: the adoption and implementation of best practice guidelines for prevention and treatment of PU offers a high variability. Obstacles are detected at the managerial and

Collaborative learning practices : teacher and student perceived obstacles to effective student collaboration

NARCIS (Netherlands)

Le Nhu Ngoc Ha, H.; Janssen, J.J.H.M.; Wubbels, Theo

2018-01-01

While the educational literature mentions several obstacles affecting the effectiveness of collaborative learning (CL), they have often been investigated through the perceptions of only one actor, either teachers or students. Therefore, some sources of obstacles that teachers and students encounter

Obstacles of Teaching Mathematics Faced by the Class Teachers in Jordan

Science.gov (United States)

Nejem, Khamis Mousa; Muhanna, Waffa

2013-01-01

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

Policy choices in dementia care-An exploratory analysis of the Alberta continuing care system (ACCS) using system dynamics.

Science.gov (United States)

Cepoiu-Martin, Monica; Bischak, Diane P

2018-02-01

The increase in the incidence of dementia in the aging population and the decrease in the availability of informal caregivers put pressure on continuing care systems to care for a growing number of people with disabilities. Policy changes in the continuing care system need to address this shift in the population structure. One of the most effective tools for assessing policies in complex systems is system dynamics. Nevertheless, this method is underused in continuing care capacity planning. A system dynamics model of the Alberta Continuing Care System was developed using stylized data. Sensitivity analyses and policy evaluations were conducted to demonstrate the use of system dynamics modelling in this area of public health planning. We focused our policy exploration on introducing staff/resident benchmarks in both supportive living and long-term care (LTC). The sensitivity analyses presented in this paper help identify leverage points in the system that need to be acknowledged when policy decisions are made. Our policy explorations showed that the deficits of staff increase dramatically when benchmarks are introduced, as expected, but at the end of the simulation period, the difference in deficits of both nurses and health care aids are similar between the 2 scenarios tested. Modifying the benchmarks in LTC only versus in both supportive living and LTC has similar effects on staff deficits in long term, under the assumptions of this particular model. The continuing care system dynamics model can be used to test various policy scenarios, allowing decision makers to visualize the effect of a certain policy choice on different system variables and to compare different policy options. Our exploration illustrates the use of system dynamics models for policy making in complex health care systems. © 2017 John Wiley & Sons, Ltd.

Obstacle Avoidance of a Mobile Robot with Hierarchical Structure

Energy Technology Data Exchange (ETDEWEB)

Park, Chan Gyu [Yeungnam College of Science and Technolgy, Taegu (Korea)

2001-06-01

This paper proposed a new hierarchical fuzzy-neural network algorithm for navigation of a mobile robot within unknown dynamic environment. Proposed navigation algorithm used the learning ability of the neural network and the feasibility of control highly nonlinear system of fuzzy theory. The proposed navigation algorithm used fuzzy algorithm for goal approach and fuzzy-network for effective collision avoidance. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective to escape in stationary and moving obstacles environment. (author). 11 refs., 14 figs., 2 tabs.

Flow through a very porous obstacle in a shallow channel.

Science.gov (United States)

Creed, M J; Draper, S; Nishino, T; Borthwick, A G L

2017-04-01

A theoretical model, informed by numerical simulations based on the shallow water equations, is developed to predict the flow passing through and around a uniform porous obstacle in a shallow channel, where background friction is important. This problem is relevant to a number of practical situations, including flow through aquatic vegetation, the performance of arrays of turbines in tidal channels and hydrodynamic forces on offshore structures. To demonstrate this relevance, the theoretical model is used to (i) reinterpret core flow velocities in existing laboratory-based data for an array of emergent cylinders in shallow water emulating aquatic vegetation and (ii) reassess the optimum arrangement of tidal turbines to generate power in a tidal channel. Comparison with laboratory-based data indicates a maximum obstacle resistance (or minimum porosity) for which the present theoretical model is valid. When the obstacle resistance is above this threshold the shallow water equations do not provide an adequate representation of the flow, and the theoretical model over-predicts the core flow passing through the obstacle. The second application of the model confirms that natural bed resistance increases the power extraction potential for a partial tidal fence in a shallow channel and alters the optimum arrangement of turbines within the fence.

Political Obstacles to Regionalization of the SUS: perceptions of Municipal Health Secretaries with seat in the Bipartite Interagency Commissions.

Science.gov (United States)

Moreira, Marcelo Rasga; Ribeiro, José Mendes; Ouverney, Assis Mafort

2017-04-01

This paper aims to identify and analyze the political obstacles to the implementation of Organizational Contract of Public Action (COAP) based on the perceptions of municipal health secretaries of Bipartite Interagency Commissions (CIB). For this purpose, we interviewed 195 secretaries (92% of the total) from October 2015 to August 2016. Based on the approach of policy analysis, the main hurdles identified were, in short, a traditional obstacle (lack of resources), one that has been gaining strength in recent years (judicialization of politics) and another, perhaps unheard of: the party-political system and the State Executive Branch are the great absentees in the coalitions in support of SUS regionalization policies. We can conclude that such obstacles indicate an extremely negative setting for the implementation of the COAP and other SUS regionalization policies. Thus, it is incumbent upon those involved to reflect, negotiate and build consensus on improving the health of the population and overcome such obstacles if, of course, they embrace the authors' concept that regionalization is fundamental for the SUS.

Advancing LGBT Health Care Policies and Clinical Care Within a Large Academic Health Care System: A Case Study.

Science.gov (United States)

Ruben, Mollie A; Shipherd, Jillian C; Topor, David; AhnAllen, Christopher G; Sloan, Colleen A; Walton, Heather M; Matza, Alexis R; Trezza, Glenn R

2017-01-01

Culturally competent health care is especially important among sexual and gender minority patients because poor cultural competence contributes to health disparities. There is a need to understand how to improve health care quality and delivery for lesbian, gay, bisexual, and transgender (LGBT) veterans in particular, because they have unique physical and mental health needs as both LGBT individuals and veterans. The following article is a case study that focuses on the policy and clinical care practices related to LGBT clinical competency, professional training, and ethical provision of care for veteran patients in the VA Boston Healthcare System. We apply Betancourt et al.'s (2003) cultural competence framework to outline the steps that VA Boston Healthcare System took to increase cultural competency at the organizational, structural, and clinical level. By sharing our experiences, we aim to provide a model and steps for other health care systems and programs, including other VA health care systems, large academic health care systems, community health care systems, and mental health care systems, interested in developing LGBT health initiatives.

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

Science.gov (United States)

Higaki, Mitsuo; Maekawa, Yasunori; Nakahara, Yuu

2018-05-01

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

A neuroplasticity-inspired neural circuit for acoustic navigation with obstacle avoidance that learns smooth motion paths

DEFF Research Database (Denmark)

Shaikh, Danish; Manoonpong, Poramate

2018-01-01

steered the robot towards an acoustic target. The architecture mapped sound direction information, extracted by a model of the peripheral auditory system of lizards, to appropriate wheel velocities. An obstacle avoidance behaviour using distance information overrode the wheel velocities during navigation...

Anticipatory Postural Control of Stability during Gait Initiation Over Obstacles of Different Height and Distance Made Under Reaction-Time and Self-Initiated Instructions.

Science.gov (United States)

Yiou, Eric; Artico, Romain; Teyssedre, Claudine A; Labaune, Ombeline; Fourcade, Paul

2016-01-01

Despite the abundant literature on obstacle crossing in humans, the question of how the central nervous system (CNS) controls postural stability during gait initiation with the goal to clear an obstacle remains unclear. Stabilizing features of gait initiation include anticipatory postural adjustments (APAs) and lateral swing foot placement. To answer the above question, 14 participants initiated gait as fast as possible in three conditions of obstacle height, three conditions of obstacle distance and one obstacle-free (control) condition. Each of these conditions was performed with two levels of temporal pressure: reaction-time (high-pressure) and self-initiated (low-pressure) movements. A mechanical model of the body falling laterally under the influence of gravity and submitted to an elastic restoring force is proposed to assess the effect of initial (foot-off) center-of-mass position and velocity (or "initial center-of-mass set") on the stability at foot-contact. Results showed that the anticipatory peak of mediolateral (ML) center-of-pressure shift, the initial ML center-of-mass velocity and the duration of the swing phase, of gait initiation increased with obstacle height, but not with obstacle distance. These results suggest that ML APAs are scaled with swing duration in order to maintain an equivalent stability across experimental conditions. This statement is strengthened by the results obtained with the mechanical model, which showed how stability would be degraded if there was no adaptation of the initial center-of-mass set to swing duration. The anteroposterior (AP) component of APAs varied also according to obstacle height and distance, but in an opposite way to the ML component. Indeed, results showed that the anticipatory peak of backward center-of-pressure shift and the initial forward center-of-mass set decreased with obstacle height, probably in order to limit the risk to trip over the obstacle, while the forward center-of-mass velocity at foot

ANTICIPATORY POSTURAL CONTROL OF STABILITY DURING GAIT INITIATION OVER OBSTACLES OF DIFFERENT HEIGHT AND DISTANCE MADE UNDER REACTION-TIME AND SELF-INITIATED INSTRUCTIONS

Directory of Open Access Journals (Sweden)

Eric Yiou

2016-09-01

Full Text Available Despite the abundant literature on obstacle crossing in humans, the question of how the central nervous system (CNS controls postural stability during gait initiation with the goal to clear an obstacle remains unclear. Stabilizing features of gait initiation include anticipatory postural adjustments (APAs and lateral swing foot placement. To answer the above question, fourteen participants initiated gait as fast as possible in three conditions of obstacle height, three conditions of obstacle distance, and one obstacle-free (control condition. Each of these conditions was performed with two levels of temporal pressure: reaction-time (high-pressure and self-initiated (low-pressure movements. A mechanical model of the body falling laterally under the influence of gravity and submitted to an elastic restoring force is proposed to assess the effect of initial (foot-off center-of-mass position and velocity (or initial center-of-mass set on stability at foot-contact. Results showed that the anticipatory peak of mediolateral center-of-pressure shif, the initial mediolateral center-of-mass velocity and the duration of the swing phase of gait initiation increased with obstacle height, but not with obstacle distance. These results suggest that mediolateral APAs are scaled with swing duration in order to maintain an equivalent stability across experimental conditions. This statement is strengthened by the results obtained with the mechanical model, which showed how stability would be degraded if there was no adaptation of the initial center-of-mass set to swing duration. The anteroposterior component of APAs varied also according to obstacle height and distance, but in an opposite way to the mediolateral component. Indeed, results showed that the anticipatory peak of backward center-of-pressure shift and the initial forward center-of-mass set decreased with obstacle height, probably in order to limit the risk to trip over the obstacle, while the forward

Usage of Business Simulation Games in Croatia: Perceived Obstacles

Directory of Open Access Journals (Sweden)

Jovana Zoroja

2013-09-01

Full Text Available Business simulation games (BSGs enhance learning, since they actively involve students in the educational process through game playing. They began to play important role in business education in many universities in Croatia. However, quantitative information on their usage in higher educational institutions (HEIs in Croatia is still scarce. Goals of the paper are to explore: (1 differences among BSGs users and non-users according to demographic characteristics, (2 differences among BSGs users and non-users according to perceived obstacles of BSGs usage, and (3 impact of both demographic characteristics and perceived obstacles on the decision on usage or not-usage of BSGs. A survey was taken in business and economics departments of HEIs in Croatia. A regression model has been used to test the impact of demographic characteristics of educators and the perceived obstacles to the usage of BSGs in educational practice. Results indicate that BSGs usage is currently at a low level, mainly due to the lack of funds and management support. Academic rank, gender, and attitude toward new technologies also impact BSGs usage.

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

Science.gov (United States)

Ducarne, Loïc; Ainalis, Daniel; Kouroussis, Georges

2018-01-15

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

Convective heat transfer in supercritical flows of CO_2 in tubes with and without flow obstacles

International Nuclear Information System (INIS)

Eter, Ahmad; Groeneveld, Dé; Tavoularis, Stavros

2017-01-01

Highlights: • Measurements of supercritical heat transfer in tubes equipped with obstacles were obtained and compared with results in base tubes. • In general, flow obstacles improve supercritical heat transfer, but under certain conditions have a negative effect on it. • New correlations describing obstacle-enhanced supercritical heat transfer in the liquid-like and gas-like regimes are fitted to the data. - Abstract: Heat transfer measurements to CO_2-cooled tubes with and without flow obstacles at supercritical pressures were obtained at the University of Ottawa’s supercritical pressure test facility. The effects of obstacle geometry (obstacle pitch, obstacle shape, flow blockage) on the wall temperature and heat transfer coefficient were investigated. Tests were performed for vertical upward flow in a directly heated 8 mm ID tube for a pressure range from 7.69 to 8.36 MPa, a mass flux range from 200 to 1184 kg/m"2 s, and a heat flux range from 1 to 175 kW/m"2. The results are presented graphically in plots of wall temperature and heat transfer coefficient vs. bulk specific enthalpy of the fluid. The effects of flow parameters and flow obstacle geometry on supercritical heat transfer for both normal and deteriorated heat transfer are discussed. A comparison of the measurements with leading prediction methods for supercritical heat transfer in bare tubes and for spacer effects is also presented. The optimum increase in heat transfer coefficient was found to be for blunt obstacles, having a large flow blockage, and a short obstacle pitch.

A proposed UAV for indoor patient care.

Science.gov (United States)

Todd, Catherine; Watfa, Mohamed; El Mouden, Yassine; Sahir, Sana; Ali, Afrah; Niavarani, Ali; Lutfi, Aoun; Copiaco, Abigail; Agarwal, Vaibhavi; Afsari, Kiyan; Johnathon, Chris; Okafor, Onyeka; Ayad, Marina

2015-09-10

Indoor flight, obstacle avoidance and client-server communication of an Unmanned Aerial Vehicle (UAV) raises several unique research challenges. This paper examines current methods and associated technologies adapted within the literature toward autonomous UAV flight, for consideration in a proposed system for indoor healthcare administration with a quadcopter. We introduce Healthbuddy, a unique research initiative towards overcoming challenges associated with indoor navigation, collision detection and avoidance, stability, wireless drone-server communications and automated decision support for patient care in a GPS-denied environment. To address the identified research deficits, a drone-based solution is presented. The solution is preliminary as we develop and refine the suggested algorithms and hardware system to achieve the research objectives.

Intelligence-Based Multi-Resolution 3D Visual Modeling, Registration And Obstacle Avoidance Capabilities For Unmanned Vehicles, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The use of truly autonomous vehicles (UV) has been hampered by a lack of sophisticated and resource efficient obstacle avoidance systems. Current approaches have...

Direction of single obstacle circumvention in middle-aged children.

Science.gov (United States)

Hackney, Amy L; Van Ruymbeke, Nicole; Bryden, Pamela J; Cinelli, Michael E

2014-01-01

When required to walk around a stationary object, adults use the location of the goal to set up their locomotor axis and obstacles presented along the locomotor axis will repel the individual towards the side that affords more space [1]. Research has yet to examine whether children can identify the locomotor axis and choose their paths accordingly. Therefore, the current study examined the factors that influence the direction in which children choose to deviate around a single obstacle and whether the presence or absence of a goal influences path selection and trajectory. Ten children (age: 7.1 years±0.8) walked along a 9 m path and avoided a single obstacle that was located in one of three locations (midline, 15 cm to the right or 15 cm to the left). On half the trials, an end-goal was visible from the start of the path while the other half of the trials had no visible goal. The results demonstrate that: (1) children are able to perceive and move towards more open space but are more variable when the end-goal is not visible; (2) children are capable of maintaining an elliptical-shaped protective envelope when avoiding a single obstacle regardless of whether or not the locomotor axis is established; and (3) although children are capable of choosing paths that afford the most space, the manner in which they arrive at their goal is not driven by factors similar to adults. Copyright © 2014 Elsevier B.V. All rights reserved.

Water in the presence of inert Lennard-Jones obstacles

Science.gov (United States)

Kurtjak, Mario; Urbic, Tomaz

2014-04-01

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

Visually guided obstacle avoidance in the box jellyfish Tripedalia cystophora and Chiropsella bronzie

DEFF Research Database (Denmark)

Garm, A; O'Connor, M; Parkefelt, L

2007-01-01

Box jellyfish, cubomedusae, possess an impressive total of 24 eyes of four morphologically different types. Two of these eye types, called the upper and lower lens eyes, are camera-type eyes with spherical fish-like lenses. Compared with other cnidarians, cubomedusae also have an elaborate...... behavioral repertoire, which seems to be predominantly visually guided. Still, positive phototaxis is the only behavior described so far that is likely to be correlated with the eyes. We have explored the obstacle avoidance response of the Caribbean species Tripedalia cystophora and the Australian species...... a tendency to follow the intensity contrast between the obstacle and the surroundings (chamber walls). In the flow chamber Tripedalia cystophora displayed a stronger obstacle avoidance response than Chiropsella bronzie since they had less contact with the obstacles. This seems to follow differences...

Private sector in public health care systems

OpenAIRE

Matějusová, Lenka

2008-01-01

This master thesis is trying to describe the situation of private sector in public health care systems. As a private sector we understand patients, private health insurance companies and private health care providers. The focus is placed on private health care providers, especially in ambulatory treatment. At first there is a definition of health as a main determinant of a health care systems, definition of public and private sectors in health care systems and the difficulties at the market o...

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

Science.gov (United States)

Reardon, Betty

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

Teaching medical ethics to meet the realities of a changing health care system.

Science.gov (United States)

Millstone, Michael

2014-06-01

The changing context of medical practice--bureaucratic, political, or economic--demands that doctors have the knowledge and skills to face these new realities. Such changes impose obstacles on doctors delivering ethical care to vulnerable patient populations. Modern medical ethics education requires a focus upon the knowledge and skills necessary to close the gap between the theory and practice of ethical care. Physicians and doctors-in-training must learn to be morally sensitive to ethical dilemmas on the wards, learn how to make professionally grounded decisions with their patients and other medical providers, and develop the leadership, dedication, and courage to fulfill ethical values in the face of disincentives and bureaucratic challenges. A new core focus of medical ethics education must turn to learning how to put ethics into practice by teaching physicians to realistically negotiate the new institutional maze of 21st-century medicine.

Health Literacy and Access to Care

Science.gov (United States)

Janke, Alex

2016-01-01

Despite well-documented links between low health literacy, low rates of health insurance coverage, and poor health outcomes, there has been almost no research on the relationship between low health literacy and self-reported access to care. This study analyzed a large, nationally representative sample of community-dwelling adults ages 50 and older to estimate the relationship between low health literacy and self-reported difficulty obtaining care. We found that individuals with low health literacy were significantly more likely than individuals with adequate health literacy to delay or forego needed care or to report difficulty finding a provider, even after controlling for other factors including health insurance coverage, employment, race/ethnicity, poverty, and general cognitive function. They were also more likely to lack a usual source of care, although this result was only marginally significant after controlling for other factors. The results show that in addition to any obstacles that low health literacy creates within the context of the clinical encounter, low health literacy also reduces the probability that people get in the door of the health care system in a timely way. PMID:27043757

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

Science.gov (United States)

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

2017-10-01

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

The quality of visual information about the lower extremities influences visuomotor coordination during virtual obstacle negotiation.

Science.gov (United States)

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

2018-05-09

Successful negotiation of obstacles during walking relies on the integration of visual information about the environment with ongoing locomotor commands. When information about the body and environment are removed through occlusion of the lower visual field, individuals increase downward head pitch angle, reduce foot placement precision, and increase safety margins during crossing. However, whether these effects are mediated by loss of visual information about the lower extremities, the obstacle, or both remains to be seen. Here, we used a fully immersive, virtual obstacle negotiation task to investigate how visual information about the lower extremities is integrated with information about the environment to facilitate skillful obstacle negotiation. Participants stepped over virtual obstacles while walking on a treadmill with one of three types of visual feedback about the lower extremities: no feedback, end-point feedback, or a link-segment model. We found that absence of visual information about the lower extremities led to an increase in the variability of leading foot placement after crossing. The presence of a visual representation of the lower extremities promoted greater downward head pitch angle during the approach to and subsequent crossing of an obstacle. In addition, having greater downward head pitch was associated with closer placement of the trailing foot to the obstacle, further placement of the leading foot after the obstacle, and higher trailing foot clearance. These results demonstrate that the fidelity of visual information about the lower extremities influences both feed-forward and feedback aspects of visuomotor coordination during obstacle negotiation.

Diversity in Defining End of Life Care: An Obstacle or the Way Forward?

NARCIS (Netherlands)

Gysels, M.; Evans, N.C.; Menaca, A.; Higginson, I.J.; Harding, R.; Pool, R.

2013-01-01

Aim:The terms used to describe care at the end of life (EoL), and its definitions, have evolved over time and reflect the changes in meaning the concept has undergone as the field develops. We explore the remit of EoL care as defined by experts in EoL care, from across Europe and beyond, to

Diversity in defining end of life care: an obstacle or the way forward?

NARCIS (Netherlands)

Gysels, M.; Evans, N.; Meñaca, A.; Higginson, I.J.; Harding, R; Pool, R.

2013-01-01

Aim: The terms used to describe care at the end of life (EoL), and its definitions, have evolved over time and reflect the changes in meaning the concept has undergone as the field develops. We explore the remit of EoL care as defined by experts in EoL care, from across Europe and beyond, to

Harnessing atomistic simulations to predict the rate at which dislocations overcome obstacles

Science.gov (United States)

Saroukhani, S.; Nguyen, L. D.; Leung, K. W. K.; Singh, C. V.; Warner, D. H.

2016-05-01

Predicting the rate at which dislocations overcome obstacles is key to understanding the microscopic features that govern the plastic flow of modern alloys. In this spirit, the current manuscript examines the rate at which an edge dislocation overcomes an obstacle in aluminum. Predictions were made using different popular variants of Harmonic Transition State Theory (HTST) and compared to those of direct Molecular Dynamics (MD) simulations. The HTST predictions were found to be grossly inaccurate due to the large entropy barrier associated with the dislocation-obstacle interaction. Considering the importance of finite temperature effects, the utility of the Finite Temperature String (FTS) method was then explored. While this approach was found capable of identifying a prominent reaction tube, it was not capable of computing the free energy profile along the tube. Lastly, the utility of the Transition Interface Sampling (TIS) approach was explored, which does not need a free energy profile and is known to be less reliant on the choice of reaction coordinate. The TIS approach was found capable of accurately predicting the rate, relative to direct MD simulations. This finding was utilized to examine the temperature and load dependence of the dislocation-obstacle interaction in a simple periodic cell configuration. An attractive rate prediction approach combining TST and simple continuum models is identified, and the strain rate sensitivity of individual dislocation obstacle interactions is predicted.

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

Science.gov (United States)

Qu, Fenglong; Yang, Jiaqing; Zhang, Bo

2018-01-01

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

Research of Obstacle Recognition Technology in Cross-Country Environment for Unmanned Ground Vehicle

Directory of Open Access Journals (Sweden)

Zhao Yibing

2014-01-01

Full Text Available Being aimed at the obstacle recognition problem of unmanned ground vehicles in cross-country environment, this paper uses monocular vision sensor to realize the obstacle recognition of typical obstacles. Firstly, median filtering algorithm is applied during image preprocessing that can eliminate the noise. Secondly, image segmentation method based on the Fisher criterion function is used to segment the region of interest. Then, morphological method is used to process the segmented image, which is preparing for the subsequent analysis. The next step is to extract the color feature S, color feature a and edge feature “verticality” of image are extracted based on the HSI color space, the Lab color space, and two value images. Finally multifeature fusion algorithm based on Bayes classification theory is used for obstacle recognition. Test results show that the algorithm has good robustness and accuracy.

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

Optimal motion for a robot manipulator is obtained by nonlinear programming. The objective of optimal motion is minimizing energy consumption of manipulator arm with fixed traveling time in the presence of obstacles. The geometric path is not predetermined. The total trajectory is described in terms of cubic B-spline polynomials and the coefficients of them are obtained to minimize a specific performance index. Obstacle avoidance is performed by the method that the square sum of penetration growth distances between every obstacles and robot links is included in the performance index with appropriate weighting coefficient. In all examples tested here, the solutions were converged to unique optimal trajectories from different initial ones. The optimal geometric path obtained in this research can be used in minimum time trajectory planning. (author)

Health care delivery systems.

NARCIS (Netherlands)

Stevens, F.; Zee, J. van der

2007-01-01

A health care delivery system is the organized response of a society to the health problems of its inhabitants. Societies choose from alternative health care delivery models and, in doing so, they organize and set goals and priorities in such a way that the actions of different actors are effective,

Obstacles of Achieving Total Quality in the Faculty of Education in Alexandria University from Staff’s Perspective

Directory of Open Access Journals (Sweden)

Khaled Salah Hanafy Mahmoud

2018-03-01

Full Text Available This study investigated obstacles that prevent achieving total quality in the faculty of Education in Alexandria University from the point of view of the faculty members in order to provide methods for overcoming such obstacles. The study also aimed to measure the impact of the variables (gender – academic rank – the major on the staff's views in the fields of (teaching, learning – scientific research – community service – university administration – staff's personal aspects. The study was based on the descriptive method and used a questionnaire to a sample of (100 teaching staff members who were randomly selected. The results revealed that the obstacles were as follows: i obstacles of university administration with a mean of (4.5 indicating a very high agreement score, ii obstacles of teaching and learning process with a mean of (4.2 indicating a high agreement score, iii obstacles of the scientific research with a mean of (3.9 indicating a high agreement score, iv obstacles of the community service with a mean of (3.5 indicating a high agreement score and v obstacles related to the staff members’ personal aspects with a mean of (3.4 indicating an average agreement score. The results showed no statistically significant differences between the staff's views regarding about obstacles of applying total quality in the Faculty of Education, Alexandria University attributed to gender, academic rank or major. Keywords: Quality, Faculty of education, Staff members, TQM obstacles.

Obstacle circumvention and eye coordination during walking to least and most affected side in people with Parkinson's disease.

Science.gov (United States)

Barbieri, Fabio Augusto; Polastri, Paula Favaro; Gobbi, Lilian Teresa Bucken; Simieli, Lucas; Pereira, Vinicius Ignácio Alota; Baptista, André Macari; Moretto, Gabriel Felipe; Fiorelli, Carolina Menezes; Imaizumi, Luis Felipe Itikawa; Rodrigues, Sérgio Tosi

2018-07-02

The mechanisms that contribute to gait asymmetry in people with Parkinson's disease (PD) are unclear, mainly during gait with greater environmental demand, such as when an obstacle is circumvented while walking. The aim of this study was to investigate the effects of obstacle circumvention of the least and most affected side on motor and gaze behavior in people with PD under/without the effects of dopaminergic medication. Fifteen people with PD and 15 matched-control individuals were instructed to walk along a pathway, at a self-selected velocity, and to circumvent an obstacle, avoiding contact with it. Each participant performed five trials for each side. Kinematic parameters, mediolateral and horizontal body clearance to the obstacle, strategy to circumvent the obstacle, and gaze behavior were calculated. Parameters were grouped according to the side that the obstacle was circumvented and compared by three-way ANOVAs. Both people with PD and the control group presented asymmetry to circumvent an obstacle during walking, however this was exacerbated in people with PD. Individuals with PD presented safe strategies (largest mediolateral and horizontal body clearance to the obstacle, "lead-out" strategy, and higher number and time of fixations on the obstacle) during obstacle circumvention for the least affected side compared to the most affected side. In addition, positive effects of dopaminergic medication on body clearance, spatial-temporal parameters, and gaze behavior were evidenced only when the obstacle was circumvented to the least affected side. The obstacle circumvention to the most affected side is risky for people with PD. Copyright © 2017 Elsevier B.V. All rights reserved.

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

Science.gov (United States)

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

2016-05-01

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

Corruption in health-care systems and its effect on cancer care in Africa.

Science.gov (United States)

Mostert, Saskia; Njuguna, Festus; Olbara, Gilbert; Sindano, Solomon; Sitaresmi, Mei Neni; Supriyadi, Eddy; Kaspers, Gertjan

2015-08-01

At the government, hospital, and health-care provider level, corruption plays a major role in health-care systems in Africa. The returns on health investments of international financial institutions, health organisations, and donors might be very low when mismanagement and dysfunctional structures of health-care systems are not addressed. More funding might even aggravate corruption. We discuss corruption and its effects on cancer care within the African health-care system in a sociocultural context. The contribution of high-income countries in stimulating corruption is also described. Corrupt African governments cannot be expected to take the initiative to eradicate corruption. Therefore, international financial institutions, health organisations, and financial donors should use their power to demand policy reforms of health-care systems in Africa troubled by the issue of corruption. These modifications will ameliorate the access and quality of cancer care for patients across the continent, and ultimately improve the outcome of health care to all patients. Copyright © 2015 Elsevier Ltd. All rights reserved.

Czechoslovakia's changing health care system.

Science.gov (United States)

Raffel, M W; Raffel, N K

1992-01-01

Before World War II, Czechoslovakia was among the most developed European countries with an excellent health care system. After the Communist coup d'etat in 1948, the country was forced to adapt its existing health care system to the Soviet model. It was planned and managed by the government, financed by general tax money, operated in a highly centralized, bureaucratic fashion, and provided service at no direct charge at the time of service. In recent years, the health care system had been deteriorating as the health of the people had also been declining. Life expectancy, infant mortality rates, and diseases of the circulatory system are higher than in Western European countries. In 1989, political changes occurred in Czechoslovakia that made health care reform possible. Now health services are being decentralized, and the ownership of hospitals is expected to be transferred to communities, municipalities, churches, charitable groups, or private entities. Almost all health leaders, including hospital directors and hospital department heads, have been replaced. Physicians will be paid according to the type and amount of work performed. Perhaps the most important reform is the establishment of an independent General Health Care Insurance Office financed directly by compulsory contributions from workers, employers, and government that will be able to negotiate with hospitals and physicians to determine payment for services.

Entire solutions for bistable lattice differential equations with obstacles

CERN Document Server

Hoffman, Aaron; Vleck, E S Van

2018-01-01

The authors consider scalar lattice differential equations posed on square lattices in two space dimensions. Under certain natural conditions they show that wave-like solutions exist when obstacles (characterized by "holes") are present in the lattice. Their work generalizes to the discrete spatial setting the results obtained in Berestycki, Hamel, and Matuno (2009) for the propagation of waves around obstacles in continuous spatial domains. The analysis hinges upon the development of sub and super-solutions for a class of discrete bistable reaction-diffusion problems and on a generalization of a classical result due to Aronson and Weinberger that concerns the spreading of localized disturbances.

Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

NARCIS (Netherlands)

Stuyt, Floran H.A.; Römer, GertWillem R.B.E.; Stuyt, Harry .J.A.

2007-01-01

The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm

The effects of a flow obstacle on liquid film flowing concurrently with air in a horizontal rectangular duct

International Nuclear Information System (INIS)

Fukano, Tohru; Tominaga, Akira; Morikawa, Kengo.

1986-01-01

The aspect of a liquid film flowing near a flat plate type obstacle was observed, and the liquid film thickness and the entrainment were measured under a wide range of gas and liquid flow rates. The results are summarized as follows: (1) The configurations of film flows near the obstacle are classified according to whether (a) the liquid film climbs over the obstacle or not, (b) the air flows under the obstacle or not, or (c) the liquid film swells or sinks just upstream or downstream of the obstacle. (2) The lower the liquid flow rate, the larger the effect of the obstacle on the film thickness. (3) The generation of entrainment is regulated by the obstacle when the air volumetric flux is high and by the disturbance wave when it is low. (author)

Convective heat transfer in supercritical flows of CO{sub 2} in tubes with and without flow obstacles

Energy Technology Data Exchange (ETDEWEB)

Eter, Ahmad, E-mail: eng.eter@yahoo.com; Groeneveld, Dé, E-mail: degroeneveld@gmail.com; Tavoularis, Stavros, E-mail: stavros.tavoularis@uottawa.ca

2017-03-15

Highlights: • Measurements of supercritical heat transfer in tubes equipped with obstacles were obtained and compared with results in base tubes. • In general, flow obstacles improve supercritical heat transfer, but under certain conditions have a negative effect on it. • New correlations describing obstacle-enhanced supercritical heat transfer in the liquid-like and gas-like regimes are fitted to the data. - Abstract: Heat transfer measurements to CO{sub 2}-cooled tubes with and without flow obstacles at supercritical pressures were obtained at the University of Ottawa’s supercritical pressure test facility. The effects of obstacle geometry (obstacle pitch, obstacle shape, flow blockage) on the wall temperature and heat transfer coefficient were investigated. Tests were performed for vertical upward flow in a directly heated 8 mm ID tube for a pressure range from 7.69 to 8.36 MPa, a mass flux range from 200 to 1184 kg/m{sup 2} s, and a heat flux range from 1 to 175 kW/m{sup 2}. The results are presented graphically in plots of wall temperature and heat transfer coefficient vs. bulk specific enthalpy of the fluid. The effects of flow parameters and flow obstacle geometry on supercritical heat transfer for both normal and deteriorated heat transfer are discussed. A comparison of the measurements with leading prediction methods for supercritical heat transfer in bare tubes and for spacer effects is also presented. The optimum increase in heat transfer coefficient was found to be for blunt obstacles, having a large flow blockage, and a short obstacle pitch.

Excavating obstacles and enablers to internationalization at home

NARCIS (Netherlands)

Beelen, Jos; Woldegiyorgis, Ayenachew A.; Rumbley, Laura E.; de Wit, Hans

2017-01-01

Gives an overview of my research as a visiting scholar at The Boston College Center for International Higher Education. This research classifies these obstacles and enablers in four categories: disciplinary, external, internal and personal.

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

Science.gov (United States)

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

2010-11-01

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

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

Science.gov (United States)

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

2012-05-16

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

Authoritarian physicians and patients' fear of being labeled 'difficult' among key obstacles to shared decision making.

Science.gov (United States)

Frosch, Dominick L; May, Suepattra G; Rendle, Katharine A S; Tietbohl, Caroline; Elwyn, Glyn

2012-05-01

Relatively little is known about why some patients are reluctant to engage in a collaborative discussion with physicians about their choices in health care. To explore this issue further, we conducted six focus-group sessions with forty-eight people in the San Francisco Bay Area. In the focus groups, we found that participants voiced a strong desire to engage in shared decision making about treatment options with their physicians. However, several obstacles inhibit those discussions. These include the fact that even relatively affluent and well-educated patients feel compelled to conform to socially sanctioned roles and defer to physicians during clinical consultations; that physicians can be authoritarian; and that the fear of being categorized as "difficult" prevents patients from participating more fully in their own health care. We argue that physicians may not be aware of a need to create a safe environment for open communication to facilitate shared decision making. Rigorous measures of patient engagement, and of the degree to which health care decisions truly reflect patient preferences, are needed to advance shared decision making in clinical practice.

Critical care nursing: Embedded complex systems.

Science.gov (United States)

Trinier, Ruth; Liske, Lori; Nenadovic, Vera

2016-01-01

Variability in parameters such as heart rate, respiratory rate and blood pressure defines healthy physiology and the ability of the person to adequately respond to stressors. Critically ill patients have lost this variability and require highly specialized nursing care to support life and monitor changes in condition. The critical care environment is a dynamic system through which information flows. The critical care unit is typically designed as a tree structure with generally one attending physician and multiple nurses and allied health care professionals. Information flow through the system allows for identification of deteriorating patient status and timely interventionfor rescue from further deleterious effects. Nurses provide the majority of direct patient care in the critical care setting in 2:1, 1:1 or 1:2 nurse-to-patient ratios. The bedside nurse-critically ill patient relationship represents the primary, real-time feedback loop of information exchange, monitoring and treatment. Variables that enhance information flow through this loop and support timely nursing intervention can improve patient outcomes, while barriers can lead to errors and adverse events. Examining patient information flow in the critical care environment from a dynamic systems perspective provides insights into how nurses deliver effective patient care and prevent adverse events.

Trauma care system in Iran

Directory of Open Access Journals (Sweden)

Zargar Moussa

2011-06-01

Full Text Available 【Abstract】Objective: The high burden of injuries in Iran necessitates the establishment of a comprehensive trauma care system. The purpose of this paper is to de- scribe the current status of trauma system regarding the components and function. Methods: The current status of trauma system in all components of a trauma system was described through ex- pert panels and semi-structured interviews with trauma spe- cialists and policy makers. Results: Currently, various organizations are involved in prevention, management and rehabilitation of injuries, but an integrative system approach to trauma is rather deficient. There has been ongoing progress in areas of pub- lic education through media, traffic regulation reinforcement, hospital care and prehospital services. Meanwhile, there are gaps regarding financing, legislations and education of high risk groups. The issues on education and training stan- dards of the front line medical team and continuing educa- tion and evaluation are yet to be addressed. Trauma regis- try has been piloted in some provinces, but as it needs the well-developed infrastructure (regarding staff, maintenance, financial resources, it is not yet established in our system of trauma care. Conclusions: It seems that one of the problems with trauma care in Iran is lack of coordination among trauma system organizations. Although the clinical management of trauma patients has improved in our country in the recent decade, decreasing the burden of injuries necessitates an organized approach to prevention and management of trauma in the context of a trauma system. Key words: Emergency medical services; Trauma centers; Wounds and injuries

The Child Health Care System in Italy.

Science.gov (United States)

Corsello, Giovanni; Ferrara, Pietro; Chiamenti, Gianpietro; Nigri, Luigi; Campanozzi, Angelo; Pettoello-Mantovani, Massimo

2016-10-01

Pediatric care in Italy has been based during the last 40 years on the increased awareness of the importance of meeting the psychosocial and developmental needs of children and of the role of families in promoting the health and well-being of their children. The pediatric health care system in Italy is part of the national health system. It is made up of 3 main levels of intervention: first access/primary care, secondary care/hospital care, and tertiary care based on specialty hospital care. This overview will also include a brief report on neonatal care, pediatric preventive health care, health service accreditation programs, and postgraduate training in pediatrics. The quality of the Italian child health care system is now considered to be in serious danger because of the restriction of investments in public health caused both by the 2008 global and national economic crisis and by a reduction of the pediatric workforce as a result of progressively insufficient replacement of specialists in pediatrics. Copyright © 2016 Elsevier Inc. All rights reserved.

Understanding Obstacles to Peace: Actors, Interests, and Strategies ...

International Development Research Centre (IDRC) Digital Library (Canada)

2011-02-24

Feb 24, 2011 ... Understanding Obstacles to Peace: Actors, Interests, and Strategies in Africa's ... The case studies all employ methods of “thick description” process tracing ... Addressing Africa's unmet need for family planning by intensifying ...

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

Science.gov (United States)

Höttecke, Dietmar; Silva, Cibelle Celestino

2011-03-01

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

A Primary Care System to Improve Health Care Efficiency: Lessons from Ecuador.

Science.gov (United States)

Aldulaimi, Sommer; Mora, Francisco E

2017-01-01

Ecuador is a country with few resources to spend on health care. Historically, Ecuador has struggled to find a model for health care that is efficient, effective, and available to all people in the country, even those in underserved and rural communities. In 2000, the Ecuador Ministry of Public Health implemented a new system of health care that used primary care as its platform. Since then, Ecuador has been able to increase its health care efficiency, increasing its ranking from 111 of 211 countries worldwide in 2000, to 20 of 211 countries in 2014. This article briefly reviews the new components of the system implemented in Ecuador and examines the tools used to accomplish this. The discussion also compares and contrasts the Ecuador and US systems, and identifies concepts and policies from Ecuador that could improve the US system. © Copyright 2017 by the American Board of Family Medicine.

The Charter on Professionalism for Health Care Organizations.

Science.gov (United States)

Egener, Barry E; Mason, Diana J; McDonald, Walter J; Okun, Sally; Gaines, Martha E; Fleming, David A; Rosof, Bernie M; Gullen, David; Andresen, May-Lynn

2017-08-01

In 2002, the Physician Charter on Medical Professionalism was published to provide physicians with guidance for decision making in a rapidly changing environment. Feedback from physicians indicated that they were unable to fully live up to the principles in the 2002 charter partly because of their employing or affiliated health care organizations. A multistakeholder group has developed a Charter on Professionalism for Health Care Organizations, which may provide more guidance than charters for individual disciplines, given the current structure of health care delivery systems.This article contains the Charter on Professionalism for Health Care Organizations, as well as the process and rationale for its development. For hospitals and hospital systems to effectively care for patients, maintain a healthy workforce, and improve the health of populations, they must attend to the four domains addressed by the Charter: patient partnerships, organizational culture, community partnerships, and operations and business practices. Impacting the social determinants of health will require collaboration among health care organizations, government, and communities.Transitioning to the model hospital described by the Charter will challenge historical roles and assumptions of both its leadership and staff. While the Charter is aspirational, it also outlines specific institutional behaviors that will benefit both patients and workers. Lastly, this article considers obstacles to implementing the Charter and explores avenues to facilitate its dissemination.

Language as a barrier to care for Xhosa-speaking patients at a ...

African Journals Online (AJOL)

Background. Disease is closely linked to the social context in which we live. Difficulty with communication, cultural incompatibility between patients and health care providers and socioeconomic obstacles are important barriers to quality care when doctors and patients come from different backgrounds and speak different ...

75 FR 22215 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Science.gov (United States)

2010-04-28

... and Obstacle DP, Amdt 1 Pauls Valley, OK, Pauls Valley Muni, RNAV (GPS) RWY 17, Orig Madras, OR..., Amdt 1 Honesdale, PA, Cherry Ridge, Takeoff Minimums and Obstacle DP, Amdt 4 Pickens, SC, Pickens...

Investigating flow patterns in a channel with complex obstacles using the lattice Boltzmann method

Energy Technology Data Exchange (ETDEWEB)

Yojina, Jiraporn; Ngamsaad, Waipot; Nuttavut, Narin; Triampo, Darapond; Lenbury, Yongwimon; Sriyab, Somchai; Triampo, Wannapong [Faculty of Science, Mahidol University, Bangkok (Thailand); Kanthang, Paisan [Rajamangala University of Technology, Bangkok (Thailand)

2010-10-15

In this work, mesoscopic modeling via a computational lattice Boltzmann method (LBM) is used to investigate the flow pattern phenomena and the physical properties of the flow field around one and two square obstacles inside a two-dimensional channel with a fixed blockage ratio,{beta} =14 , centered inside a 2D channel, for a range of Reynolds numbers (Re) from 1 to 300. The simulation results show that flow patterns can initially exhibit laminar flow at low Re and then make a transition to periodic, unsteady, and, finally, turbulent flow as the Re get higher. Streamlines and velocity profiles and a vortex shedding pattern are observed. The Strouhal numbers are calculated to characterize the shedding frequency and flow dynamics. The effect of the layouts or configurations of the obstacles are also investigated, and the possible connection between the mixing process and the appropriate design of a chemical mixing system is discussed

The effect of submerged obstacles on circular fronts propagating into water at rest

International Nuclear Information System (INIS)

Mvungi, J.R.

1986-03-01

In this paper, the effect of vertical walled obstacles on circular fronts propagating on the surface of shallow water is discussed. The amplitude of the transmitted acceleration waves is determined together with a recurrence relation for the reflection and transmission coefficients at successive obstacle walls. (author)

Obstacles Facing the Iranian Basketball Academy

OpenAIRE

Hamta Hadian; Mohamad Reza Boroumand; Saeed Amirnejad; Masoud Najafi

2016-01-01

This study, which is a strategic study with a mixed research approach aimed to identify obstacles facing the academies of Iranian Basketball Federation. The population comprises board of directors and committees responsible for Education and Talent Spotting Association, academy administrators, physical education instructors, qualified experts, professors, coaches, referees and heads of delegations who were asked via interviews and questionnaire (exploratory manner) to state internal and exter...

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

Science.gov (United States)

Qiu, Huaxin; Duan, Haibin

2017-11-01

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

[Corruption and health care system].

Science.gov (United States)

Marasović Šušnjara, Ivana

2014-06-01

Corruption is a global problem that takes special place in health care system. A large number of participants in the health care system and numerous interactions among them provide an opportunity for various forms of corruption, be it bribery, theft, bureaucratic corruption or incorrect information. Even though it is difficult to measure the amount of corruption in medicine, there are tools that allow forming of the frames for possible interventions.

A Method to Identify Flight Obstacles on Digital Surface Model

Institute of Scientific and Technical Information of China (English)

ZHAO Min; LIN Xinggang; SUN Shouyu; WANG Youzhi

2005-01-01

In modern low-altitude terrain-following guidance, a constructing method of the digital surface model (DSM) is presented in the paper to reduce the threat to flying vehicles of tall surface features for safe flight. The relationship between an isolated obstacle size and the intervals of vertical- and cross-section in the DSM model is established. The definition and classification of isolated obstacles are proposed, and a method for determining such isolated obstacles in the DSM model is given. The simulation of a typical urban district shows that when the vertical- and cross-section DSM intervals are between 3 m and 25 m, the threat to terrain-following flight at low-altitude is reduced greatly, and the amount of data required by the DSM model for monitoring in real time a flying vehicle is also smaller. Experiments show that the optimal results are for an interval of 12.5 m in the vertical- and cross-sections in the DSM model, with a 1:10 000 DSM scale grade.

An Explanation for Internet Use Obstacles Concerning E-Learning in Iran

Directory of Open Access Journals (Sweden)

Ali Rabiee

2013-07-01

Full Text Available E-learning is advancing in Iran right now. The Iranian higher education system is applying electronic learning in order to conquer the limitations of the existing education system. These limitations include the growing number of applicants for entering universities, lack of classrooms for education, and universities’ tensions in replying to these needs. Also, ease of access to e-learning and a lack of financial resources are reasons for applying e-learning in Iran. In addition, the Iranian higher education system wants to progress with global changes in the information era and they see it as necessary to acquire information and knowledge. Meanwhile, web technology enjoys a special and significant role. This paper investigated barriers to using internet technology for e-learning in the Iranian context. The methodology employed both qualitative and quantitative techniques. In the qualitative stage, exploratory observations of eight virtual institutes for higher education and interviews with 20 experts in these institutes were used. The analysis of the data showed that socio-cultural, structural, educational, economic, and legal factors were the most prominent obstacles to web technology use; each factor comprised a number of components. So as to check the primacy of the factors and the extracted components at large, the researchers developed a Likert-type questionnaire; the questionnaire, which comprised the five types of obstacles and their related components, enjoyed a high degree of validity and reliability. Twenty students in each of the eight institutes were asked to fill out the questionnaire. The analysis of the data showed that socio-cultural factors are the most influential barriers to use of the Internet in e-learning.

Cognitive systems engineering in health care

CERN Document Server

Bisantz, Ann M; Fairbanks, Rollin J

2014-01-01

Cognitive Engineering for Better Health Care Systems, Ann M. Bisantz, Rollin J. Fairbanks, and Catherine M. BurnsThe Role of Cognitive Engineering in Improving Clinical Decision Support, Anne Miller and Laura MilitelloTeam Cognitive Work Analysis as an Approach for Understanding Teamwork in Health Care, Catherine M. BurnsCognitive Engineering Design of an Emergency Department Information System, Theresa K. Guarrera, Nicolette M. McGeorge, Lindsey N. Clark, David T. LaVergne, Zachary A. Hettinger, Rollin J. Fairbanks, and Ann M. BisantzDisplays for Health Care Teams: A Conceptual Framework and Design Methodology, Avi ParushInformation Modeling for Cognitive Work in a Health Care System, Priyadarshini R. PennathurSupport for ICU Clinician Cognitive Work through CSE, Christopher Nemeth, Shilo Anders, Jeffrey Brown, Anna Grome, Beth Crandall, and Jeremy PamplinMatching Cognitive Aids and the "Real Work" of Health Care in Support of Surgical Microsystem Teamwork, Sarah Henrickson Parker and Shawna J. PerryEngageme...

Energy dissipation by submarine obstacles during landslide impact on reservoir - potentially avoiding catastrophic dam collapse

Science.gov (United States)

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

2017-04-01

Dense geophysical mass flows such as landslides, debris flows and debris avalanches may generate super tsunami waves as they impact water bodies such as the sea, hydraulic reservoirs or mountain lakes. Here, we apply a comprehensive and general two-phase, physical-mathematical mass flow model (Pudasaini, 2012) that consists of non-linear and hyperbolic-parabolic partial differential equations for mass and momentum balances, and present novel, high-resolution simulation results for two-phase flows, as a mixture of solid grains and viscous fluid, impacting fluid reservoirs with obstacles. The simulations demonstrate that due to the presence of different obstacles in the water body, the intense flow-obstacle-interaction dramatically reduces the flow momentum resulting in the rapid energy dissipation around the obstacles. With the increase of obstacle height overtopping decreases but, the deflection and capturing (holding) of solid mass increases. In addition, the submarine solid mass is captured by the multiple obstacles and the moving mass decreases both in amount and speed as each obstacle causes the flow to deflect into two streams and also captures a portion of it. This results in distinct tsunami and submarine flow dynamics with multiple surface water and submarine debris waves. This novel approach can be implemented in open source GIS modelling framework r.avaflow, and be applied in hazard mitigation, prevention and relevant engineering or environmental tasks. This might be in particular for process chains, such as debris impacts in lakes and subsequent overtopping. So, as the complex flow-obstacle-interactions strongly and simultaneously dissipate huge energy at impact such installations potentially avoid great threat against the integrity of the dam. References: Pudasaini, S. P. (2012): A general two-phase debris flow model. J. Geophys. Res. 117, F03010, doi: 10.1029/ 2011JF002186.

Locomotor adjustments for circumvention of an obstacle in the travel path.

Science.gov (United States)

Vallis, Lori Ann; McFadyen, Bradford J

2003-10-01

Independent living requires the navigation of a surrounding environment which is often cluttered with obstacles. When walking around an obstacle in the travel path, safe clearance requires some degree of body-segment reorientation. While body-segmental coordination strategies have been well studied for steering tasks that require moving the body in a new walking direction, it has never been established just what coordination strategies are used in different walking tasks. To address this issue, the current study was designed to investigate the timing of body segment coordination strategies and whole-body anticipatory locomotor adjustments employed when circumventing an obstacle placed in the travel path. Six healthy adults were asked to walk at their natural pace during unobstructed walking, as well as during avoidance to the right or left of a cylindrical obstacle (OBS) located in the travel path. Data analyzed were center of mass (COM) clearance from the OBS, forward velocity, step length and width, yaw angles of the head and trunk, roll angle of the trunk, and medial-lateral COM displacement. Onset of change in these variables from unobstructed walking was calculated as the time from OBS crossing. Avoidance involved two equally used strategies: lead limb close to or away from the OBS during the crossing step. Medial-lateral COM deviations were controlled by changes in step width without changes in trunk roll. There were no differences in the onset times of body segment reorientation for path deviation. These results are in contrast to previous studies on change in travel direction where the head segment initiates the body reorientation. Contrary to a steering task, circumventing an obstacle requires a different coordination for a transient change in COM trajectory with the underlying travel-direction maintained.

Integrated Health Care Systems and Indigenous Medicine: Reflections from the Sub-Sahara African Region

Directory of Open Access Journals (Sweden)

Beth Maina Ahlberg

2017-09-01

Full Text Available Indigenous or traditional medicine has, since the 1970s, been widely regarded as a resource likely to contribute to strengthening the health care systems in low income countries. This paper examines the state of traditional medicine using evidence from three case studies in Central Kenya. While the cases are too few to represent the broad diversity of cultures and related healing systems in the Sub-Sahara African Region, the way they seem to refute the main assumptions in the integration discourse is important, also because studies from other countries in the region report perspectives, similar to the case studies in Kenya. It is often argued that people continue to use traditional medicine because it is affordable, available, and culturally familiar. Its integration into the health care system would therefore promote cultural familiarity. The case studies however point to the loss of essential cultural elements central to traditional medicine in this particular area while users travel long distances to reach the healers. In addition, there are significant paradigm differences that may present obstacles to integration of the two systems. More problematic however is that integration is, as in many development interventions, a top-down policy that is rarely based on contextual realities and conditions. Instead, integration is often defined and dominated by biomedical professionals and health planners who may be unfamiliar or even hostile to some aspects of traditional medicine. Furthermore, integration efforts have tended to embrace selected components mostly herbal medicine. This has led to isolating herbal medicine from spiritualism, which may in turn affect the holistic perspective of traditional medicine. While familiarity and relevance may explain the continued use of traditional medicine, its services may not be as readily available, accessible, or even affordable as is often asserted. Globalization set in motion through colonization and

Thermal activation of dislocations in large scale obstacle bypass

Science.gov (United States)

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

2017-08-01

Dislocation dynamics simulations have been used extensively to predict hardening caused by dislocation-obstacle interactions, including irradiation defect hardening in the athermal case. Incorporating the role of thermal energy on these interactions is possible with a framework provided by harmonic transition state theory (HTST) enabling direct access to thermally activated reaction rates using the Arrhenius equation, including rates of dislocation-obstacle bypass processes. Moving beyond unit dislocation-defect reactions to a representative environment containing a large number of defects requires coarse-graining the activation energy barriers of a population of obstacles into an effective energy barrier that accurately represents the large scale collective process. The work presented here investigates the relationship between unit dislocation-defect bypass processes and the distribution of activation energy barriers calculated for ensemble bypass processes. A significant difference between these cases is observed, which is attributed to the inherent cooperative nature of dislocation bypass processes. In addition to the dislocation-defect interaction, the morphology of the dislocation segments pinned to the defects play an important role on the activation energies for bypass. A phenomenological model for activation energy stress dependence is shown to describe well the effect of a distribution of activation energies, and a probabilistic activation energy model incorporating the stress distribution in a material is presented.

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

Science.gov (United States)

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

2017-08-01

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

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

DEFF Research Database (Denmark)

Naumov, I. V.; Kabardin, I. K.; Mikkelsen, Robert Flemming

2016-01-01

and associated pulsations as a function of the incoming flow structures were measured by strain gauges. The flow condition in front of the rotor was measured with high temporal accuracy using LDA and power coefficients were determine as function of tip speed ratio for different obstacle positions. Furthermore......Obstacles like forests, ridges and hills can strongly affect the velocity profile in front of a wind turbine rotor. The present work aims at quantifying the influence of nearby located obstacles on the performance and wake characteristics of a downstream located wind turbine. Here the influence......, PIV measurements were carried out to study the development of the mean velocity deficit profiles of the wake behind the wind turbine model under the influence of the wake generated by the obstacle. By use of regression techniques to fit the velocity profiles it was possible to determine velocity...

System impact research - increasing public health and health care system performance.

Science.gov (United States)

Malmivaara, Antti

2016-01-01

Interventions directed to system features of public health and health care should increase health and welfare of patients and population. To build a new framework for studies aiming to assess the impact of public health or health care system, and to consider the role of Randomized Controlled Trials (RCTs) and of Benchmarking Controlled Trials (BCTs). The new concept is partly based on the author's previous paper on the Benchmarking Controlled Trial. The validity and generalizability considerations were based on previous methodological studies on RCTs and BCTs. The new concept System Impact Research (SIR) covers all the studies which aim to assess the impact of the public health system or of the health care system on patients or on population. There are two kinds of studies in System Impact Research: Benchmarking Controlled Trials (observational) and Randomized Controlled Trials (experimental). The term impact covers in particular accessibility, quality, effectiveness, safety, efficiency, and equality. System Impact Research - creating the scientific basis for policy decision making - should be given a high priority in medical, public health and health economic research, and should also be used for improving performance. Leaders at all levels of health and social care can use the evidence from System Impact Research for the benefit of patients and population. Key messages The new concept of SIR is defined as a research field aiming at assessing the impacts on patients and on populations of features of public health and health and social care systems or of interventions trying to change these features. SIR covers all features of public health and health and social care system, and actions upon these features. The term impact refers to all effects caused by the public health and health and social care system or parts of it, with particular emphasis on accessibility, quality, effectiveness, adverse effects, efficiency, and equality of services. SIR creates the

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

Science.gov (United States)

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

2017-07-01

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

Effects of overweight and obese body mass on motor planning and motor skills during obstacle crossing in children.

Science.gov (United States)

Gill, Simone V; Hung, Ya-Ching

2014-01-01

Little is known about how obesity relates to motor planning and skills during functional tasks. We collected 3-D kinematics and kinetics as normal weight (n=10) and overweight/obese (n=12) children walked on flat ground and as they crossed low, medium, and high obstacles. We investigated if motor planning and motor skill impairments were evident during obstacle crossing. Baseline conditions showed no group differences (all ps>.05). Increased toe clearance was found on low obstacles (p=.01) for the overweight/obese group and on high obstacles (p=.01) for the normal weight group. With the crossing leg, the overweight/obese group had larger hip abduction angles (p=.01) and medial ground reaction forces (p=.006) on high obstacles and high anterior ground reaction forces on low obstacles (p=.001). With the trailing leg, overweight/obese children had higher vertical ground reaction forces on high obstacles (p=.005) and higher knee angles (p=.01) and anterior acceleration in the center of mass (p=.01) on low obstacles. These findings suggest that differences in motor planning and skills in overweight/obese children may be more apparent during functional activities. Copyright © 2013 Elsevier Ltd. All rights reserved.

Neuroepigenomics: Resources, Obstacles, and Opportunities.

Science.gov (United States)

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

2015-01-01

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

Neuroepigenomics: resources, obstacles, and opportunities

Directory of Open Access Journals (Sweden)

John S. Satterlee

2015-01-01

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

An optimized field coverage planning approach for navigation of agricultural robots in fields involving obstacle areas

DEFF Research Database (Denmark)

Hameed, Ibahim; Bochtis, D.; Sørensen, C.A.

2013-01-01

-field obstacle areas, the headland paths generation for the field and each obstacle area, the implementation of a genetic algorithm to optimize the sequence that the field robot vehicle will follow to visit the blocks, and an algorithmically generation of the task sequences derived from the farmer practices......Technological advances combined with the demand of cost efficiency and environmental considerations lead farmers to review their practices towards the adoption of new managerial approaches including enhanced automation. The application of field robots is one of the most promising advances among....... This approach has proven that it is possible to capture the practices of farmers and embed these practices in an algorithmic description providing a complete field area coverage plan in a form prepared for execution by the navigation system of a field robot....

Learn to Avoid or Overcome Leadership Obstacles

Science.gov (United States)

D'Auria, John

2015-01-01

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

Portuguese primary school children's conceptions about digestion: identification of learning obstacles

Science.gov (United States)

Silva, Rui Graça; Lima, Nelson; Coquet, Eduarda; Clément, Pierre

2004-09-01

A cross-sectional study of Portuguese primary school pupils' conceptions on digestion and the digestive tract was carried out before and after teaching this topic. Pupils of the prior four school years (5/6 to 9/10 year old) drew what happens to a cookie inside their body. In some cases they also wrote a short text or were interviewed. To identify their level of graphic development, they produced a free-hand drawing. The main conceptual changes in explaining digestion were strongly linked to teaching. Children's previous conceptions were not epistemological obstacles to learning about digestion. The main obstacles were of didactical origin, as images of primary school books do not represent (i) the path of food from the intestine into the blood, (associated to the epistemological obstacle of the permeability of the gut wall); (ii) a clear continuous tract from stomach to anus, which causes a specific confusion at the intestine level.

[A Maternal Health Care System Based on Mobile Health Care].

Science.gov (United States)

Du, Xin; Zeng, Weijie; Li, Chengwei; Xue, Junwei; Wu, Xiuyong; Liu, Yinjia; Wan, Yuxin; Zhang, Yiru; Ji, Yurong; Wu, Lei; Yang, Yongzhe; Zhang, Yue; Zhu, Bin; Huang, Yueshan; Wu, Kai

2016-02-01

Wearable devices are used in the new design of the maternal health care system to detect electrocardiogram and oxygen saturation signal while smart terminals are used to achieve assessments and input maternal clinical information. All the results combined with biochemical analysis from hospital are uploaded to cloud server by mobile Internet. Machine learning algorithms are used for data mining of all information of subjects. This system can achieve the assessment and care of maternal physical health as well as mental health. Moreover, the system can send the results and health guidance to smart terminals.

Dementia Care: Intersecting Informal Family Care and Formal Care Systems

Directory of Open Access Journals (Sweden)

Prabhjot Singh

2014-01-01

Full Text Available Dementia is one of the major causes of disability and dependence amongst older people and previous research has highlighted how the well-being of people with dementia is inherently connected to the quality of their relationships with their informal carers. In turn, these carers can experience significant levels of emotional stress and physical burden from the demands of caring for a family member with dementia, yet their uptake of formal services tends to be lower than in other conditions related to ageing. This paper is based on a qualitative study undertaken in the Australian state of Queensland and explores issues of access to and use of formal services in dementia care from the perspective of the informal family carers. It identifies three critical points at which changes in policy and practice in the formal care system could improve the capability of informal carers to continue to care for their family member with dementia: when symptoms first become apparent and a diagnosis is sought; when the condition of the person with dementia changes resulting in a change to their support needs; and when the burden of informal care being experienced by the carer is so great that some form of transition appears to be immanent in the care arrangement.

MEDICARE PAYMENTS AND SYSTEM-LEVEL HEALTH-CARE USE

Science.gov (United States)

ROBBINS, JACOB A.

2015-01-01

The rapid growth of Medicare managed care over the past decade has the potential to increase the efficiency of health-care delivery. Improvements in care management for some may improve efficiency system-wide, with implications for optimal payment policy in public insurance programs. These system-level effects may depend on local health-care market structure and vary based on patient characteristics. We use exogenous variation in the Medicare payment schedule to isolate the effects of market-level managed care enrollment on the quantity and quality of care delivered. We find that in areas with greater enrollment of Medicare beneficiaries in managed care, the non–managed care beneficiaries have fewer days in the hospital but more outpatient visits, consistent with a substitution of less expensive outpatient care for more expensive inpatient care, particularly at high levels of managed care. We find no evidence that care is of lower quality. Optimal payment policies for Medicare managed care enrollees that account for system-level spillovers may thus be higher than those that do not. PMID:27042687

Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

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Widodo Budiharto

2015-01-01

Full Text Available For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system.

Advancing Army Women as Senior Leaders - Understanding the Obstacles

National Research Council Canada - National Science Library

Ellefson, Kristi

1998-01-01

This paper examined through research, whether any evidence exists which indicates that, army women are confronted with inherent obstacles as they try to advance through the ranks to senior level positions...

Obstacles to Gender Parity in Engineering Education

Science.gov (United States)

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

2008-01-01

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

Healthy younger and older adults control foot placement to avoid small obstacles during gait primarily by modulating step width

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Schulz Brian W

2012-10-01

Full Text Available Abstract Background Falls are a significant problem in the older population. Most falls occur during gait, which is primarily regulated by foot placement. Variability of foot placement has been associated with falls, but these associations are inconsistent and generally for smooth, level flooring. This study investigates the control of foot placement and the associated gait variability in younger and older men and women (N=7/group, total N=28 while walking at three different speeds (slow, preferred, and fast across a control surface with no obstacles and surfaces with multiple (64 small (10cm long ×13mm high visible and hidden obstacles. Results Minimum obstacle distance between the shoe and nearest obstacle during each footfall was greater on the visible obstacles surface for older subjects because some of them chose to actively avoid obstacles. This obstacle avoidance strategy was implemented primarily by modulating step width and to a lesser extent step length as indicated by linear regressions of step width and length variability on minimum obstacle distance. Mean gait speed, step length, step width, and step time did not significantly differ by subject group, flooring surface, or obstacle avoidance strategy. Conclusions Some healthy older subjects choose to actively avoid small obstacles that do not substantially perturb their gait by modulating step width and, to a lesser extent, step length. It is not clear if this obstacle avoidance strategy is appropriate and beneficial or overcautious and maladaptive, as it results in fewer obstacles encountered at a consequence of a less efficient gait pattern that has been shown to indicate increased fall risk. Further research is needed on the appropriateness of strategy selection when the environmental demands and/or task requirements have multiple possible completion strategies with conflicting objectives (i.e. perceived safety vs. efficiency.

The Nigerian health care system: Need for integrating adequate medical intelligence and surveillance systems

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Menizibeya Osain Welcome

2011-01-01

Full Text Available Objectives : As an important element of national security, public health not only functions to provide adequate and timely medical care but also track, monitor, and control disease outbreak. The Nigerian health care had suffered several infectious disease outbreaks year after year. Hence, there is need to tackle the problem. This study aims to review the state of the Nigerian health care system and to provide possible recommendations to the worsening state of health care in the country. To give up-to-date recommendations for the Nigerian health care system, this study also aims at reviewing the dynamics of health care in the United States, Britain, and Europe with regards to methods of medical intelligence/surveillance. Materials and Methods : Databases were searched for relevant literatures using the following keywords: Nigerian health care, Nigerian health care system, and Nigerian primary health care system. Additional keywords used in the search were as follows: United States (OR Europe health care dynamics, Medical Intelligence, Medical Intelligence systems, Public health surveillance systems, Nigerian medical intelligence, Nigerian surveillance systems, and Nigerian health information system. Literatures were searched in scientific databases Pubmed and African Journals OnLine. Internet searches were based on Google and Search Nigeria. Results : Medical intelligence and surveillance represent a very useful component in the health care system and control diseases outbreak, bioattack, etc. There is increasing role of automated-based medical intelligence and surveillance systems, in addition to the traditional manual pattern of document retrieval in advanced medical setting such as those in western and European countries. Conclusion : The Nigerian health care system is poorly developed. No adequate and functional surveillance systems are developed. To achieve success in health care in this modern era, a system well grounded in routine

An observational study of foot lifts asymmetry during obstacle avoidance

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Ujjawal Singh Tomar

2012-01-01

Full Text Available Background: Specific information regarding obstacle-clearance strategies used by community-dwelling young and elderly is scant in the literature, and physical barriers encountered in real-life situations have not been used in most of the studies. Aim: The aim of this study is to determine foot lift asymmetry during obstacle avoidance in young and elderly subjects. Settings and Design: This was an observational study. Materials and Methods: Thirty elderly and 30 young individuals were taken for the study. All the subjects were evaluated using different scales and foot lift asymmetry was measured on a walkway using three obstacles of different heights. Results: The mean and standard deviation (SD value of the asymmetric index of the young was 3.25±0.28 and the mean and SD value of the asymmetric index of the elderly was 3.53±0.47. The asymmetric index of the elderly population was found to be higher than that of the younger population. Conclusion: The asymmetric index of the elderly population was found to be higher than that of the younger population, though it is not clinically significant.

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

Science.gov (United States)

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

2012-01-01

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

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

Science.gov (United States)

Nomura, Kyoko; Gohchi, Kengo

2012-11-01

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

Induced vibrations facilitate traversal of cluttered obstacles

Science.gov (United States)

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

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

Step characteristics during obstacle avoidance in hemiplegic stroke

NARCIS (Netherlands)

Otter, A; Haart, M; Mulder, T; Duysens, J

Whereas several animal studies have indicated the important role of the motor cortex in the control of voluntary gait modifications, little is known about the effects of cortical lesions on gait adaptability in humans. Obstacle avoidance tasks provide an adequate paradigm to study the adaptability

Obstacles towards small business development in the Emfuleni district / Guillaume de Swardt

OpenAIRE

De Swardt, Guillaume

2006-01-01

Small businesses are essential for stimulating growth and alleviating poverty. The main aim of this study is to gather information regarding obstacles that withhold the small business sector from further development. This implies that attention will be given to the role of the entrepreneur, the small business sector and the role that business planning plays, in order to identify, minimise and possibly overcome the identified obstacles. Although small business is not an absolute...

Sedimentation control in the reservoirs by using an obstacle

Indian Academy of Sciences (India)

2Faculty of Water Sciences Engineering, Shahid Chamran University, Ahwaz, Iran. 3Department of ... some experiments were carried out without an obstacle. Results showed ..... Design and management of dams, reservoirs and watersheds ...

The vortex mechanism of suppression of tsunami waves by underwater obstacles

Science.gov (United States)

Boshenyatov, B. V.

2017-12-01

A theoretical model explaining the effect of anomalous suppression of the energy (up to 70%) of tsunami-type waves by thin (compared to the wavelength) underwater obstacles is developed based on the integral laws of conservation of mass and energy fluxes. It is shown that the analytical dependences for the coefficients of reflection and transmission of waves across an underwater obstacle that have been obtained using the theoretical model proposed by the author agree with the results of the experiments and numerical simulation based on the complete Navier-Stokes equations.

Comparative analysis of organizational obstacles to CHP/DH

Energy Technology Data Exchange (ETDEWEB)

Ruedig, W.

1986-04-01

An explanation is given of the vast differences between the countries of Western Europe in the adoption of combined heat and power (CHP) for district heating (DH). The history of this technology in FR Germany and the UK is analysed in detail, and experiences of other countries are reviewed. It is concluded that the over centralization of the electricity supply industry is a major obstacle in the widespread adoption of combined heat and power and district heating. Significant improvements of energy efficiency would thus require organizational reforms giving greater powers to local energy organizations. This, however, should not imply total decentralization of energy supply. Instead, a two-tier system is proposed in which central organizations remain responsible for bulk supply but where local or regional bodies are in charge of all gas, electricity and heat supplies to the final user.

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

Science.gov (United States)

Peralta, Emmanuel; Vargas, Héctor; Hermosilla, Gabriel

2018-01-01

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

Cascading a systolic array and a feedforward neural network for navigation and obstacle avoidance using potential fields

Science.gov (United States)

Plumer, Edward S.

1991-01-01

A technique is developed for vehicle navigation and control in the presence of obstacles. A potential function was devised that peaks at the surface of obstacles and has its minimum at the proper vehicle destination. This function is computed using a systolic array and is guaranteed not to have local minima. A feedfoward neural network is then used to control the steering of the vehicle using local potential field information. In this case, the vehicle is a trailer truck backing up. Previous work has demonstrated the capability of a neural network to control steering of such a trailer truck backing to a loading platform, but without obstacles. Now, the neural network was able to learn to navigate a trailer truck around obstacles while backing toward its destination. The network is trained in an obstacle free space to follow the negative gradient of the field, after which the network is able to control and navigate the truck to its target destination in a space of obstacles which may be stationary or movable.

Efficiency performance of China's health care delivery system.

Science.gov (United States)

Zhang, Luyu; Cheng, Gang; Song, Suhang; Yuan, Beibei; Zhu, Weiming; He, Li; Ma, Xiaochen; Meng, Qingyue

2017-07-01

Improving efficiency performance of the health care delivery system has been on the agenda for the health system reform that China initiated in 2009. This study examines the changes in efficiency performance and determinants of efficiency after the reform to provide evidence to assess the progress of the reform from the perspective of efficiency. Descriptive analysis, Data Envelopment Analysis, the Malmquist Index, and multilevel regressions are used with data from multiple sources, including the World Bank, the China Health Statistical Yearbook, and routine reports. The results indicate that over the last decade, health outcomes compared with health investment were relatively higher in China than in most other countries worldwide, and the trend was stable. The overall efficiency and total factor productivity increased after the reform, indicating that the reform was likely to have had a positive impact on the efficiency performance of the health care delivery system. However, the health care delivery structure showed low system efficiency, mainly attributed to the weakened primary health care system. Strengthening the primary health care system is central to enhancing the future performance of China's health care delivery system. Copyright © 2017 John Wiley & Sons, Ltd.

Regional Multiteam Systems in Cancer Care Delivery

Science.gov (United States)

Monson, John R.T.; Rizvi, Irfan; Savastano, Ann; Green, James S.A.; Sevdalis, Nick

2016-01-01

Teamwork is essential for addressing many of the challenges that arise in the coordination and delivery of cancer care, especially for the problems that are presented by patients who cross geographic boundaries and enter and exit multiple health care systems at various times during their cancer care journeys. The problem of coordinating the care of patients with cancer is further complicated by the growing number of treatment options and modalities, incompatibilities among the vast variety of technology platforms that have recently been adopted by the health care industry, and competing and misaligned incentives for providers and systems. Here we examine the issue of regional care coordination in cancer through the prism of a real patient journey. This article will synthesize and elaborate on existing knowledge about coordination approaches for complex systems, in particular, in general and cancer care multidisciplinary teams; define elements of coordination derived from organizational psychology and human factors research that are applicable to team-based cancer care delivery; and suggest approaches for improving multidisciplinary team coordination in regional cancer care delivery and avenues for future research. The phenomenon of the mobile, multisystem patient represents a growing challenge in cancer care. Paradoxically, development of high-quality, high-volume centers of excellence and the ease of virtual communication and data sharing by using electronic medical records have introduced significant barriers to effective team-based cancer care. These challenges urgently require solutions. PMID:27650833

Age-related kinematic changes in late visual-cueing during obstacle circumvention.

Science.gov (United States)

Paquette, Maxime R; Vallis, Lori Ann

2010-06-01

On a daily basis, we are challenged by common environmental obstacles (e.g. street posts) that require simple and often rapid modifications to our gait patterns to avoid collisions. Poor vision appears to be responsible for important reductions in postural stability during gait; and therefore, individuals with impaired vision, such as the elderly, may be at a greater risk of falling, especially under conditions where stepping avoidance strategies may be constrained by the environment. The purpose of the current study was to examine the body segment and eye-gaze reorientation strategy, role of base of support, as well as visual areas of interest attended to by healthy young (YA) and older adults (OA) when only given limited time, one stride, to prepare for an obstacle circumvention task. Six YA and six OA were asked to perform ten walking trials which required them to circumvent an obstacle in their travel path. Participants used one of two avoidance strategies, either lead leg crossing-over trail leg (narrow base of support) or lead leg stepping-out (wide base of support). Results indicate that base of support constraints did not affect segment reorientation sequence in either age group. The general segment reorientation sequence in YA was initiated by trunk yaw and head yaw, followed by gaze and finally, by M-L foot deviation. No trunk roll deviations were observed. In OA, the general segment reorientation sequence was the following: trunk yaw and trunk roll, gaze and finally, M-L foot deviation. No head yaw deviations were observed. Our findings suggest that YA utilized a foot placement strategy to perform the transient change in travel direction while OA relied on a hip strategy. In addition, YA spent more time gazing straight ahead at the obstacle and the wall, while OA spent more time looking at the ground. This strategy indicates that OA use a more cautious strategy to safely avoid the obstacle. Findings from the present work contribute further knowledge

Obstacles of Academic Productivity of Faculty Members in the Education College at Jeddah University as Perceived by them

Directory of Open Access Journals (Sweden)

Fahad Abdulrahamn Almalki

2017-12-01

Full Text Available The purpose of the study was to investigate the obstacles of academic productivity of faculty members in the education college at Jeddah University as perceived by them. The study adopted the descriptive analytical approach by using a questionnaire to collect data. The researcher developed the questionnaire which consisted of (46 items and were distributed over four themes. The questionnaire was checked for its validity and reliability. Then, it was administrated to a sample of (80 faculty members in the education faculty at Jeddah University. The findings of the study were as follows: The effect of university and society obstacles on academic productivity was given a high rate. On the other hand, the effect of personal obstacles and academic publication received an average rate. The society obstacles were ranked first, while academic publication obstacles were in the last rank. There were statistically significant differences which were attributed to the differences in academic rank in the obstacles related to university, society and personal and academic publication in favor of the assistant professor rank. There were also statistically significant differences that were attributed to years of experience in university obstacles in favor of (1-5 years experience and (more than 10 years experience. On the other hand, there were no differences in university, society and personal obstacles. There were no statistically significant differences attributed to the variable of the university from which the faculty members got their PhD degree. In addition, there were statistically significant differences attributed to nationality in university, personal and society obstacles while there were no differences in the variable of academic publication. The study recommended the need to increase funds to be allocated for academic productivity. Keywords: Academic productivity, Faculty members, Obstacles, Universities.

Communication and interoperability for serial comparison in continuous health care--the new challenges.

Science.gov (United States)

Zywietz, Christoph

2004-01-01

The evolution of information technology and of telematics and increasing efforts to establish an electronic health record stimulate the development and introduction of new concepts in health care. However, compared to other application areas, e.g., tourism, banking, commerce etc. the use of information technology in health care is still of limited success. In hospitals as well in ambulatory medicine (General Practitioner systems) computers are often only used for administrative purposes. Fully operational Hospital Information Systems (HIS) are rare and often island solutions. The situation is somewhat better for department systems (DIS), e.g., where image analysis, processing of biochemical data or of biosignals is in the clinical focus. Even before we have solved the various problems in health care data processing and management within the "conventional" care institutions new challenges are coming up with concepts of telemedicine for assisted and non-assisted home care for patients with chronic diseases or people at high risk. The major challenges for provision of tele-monitoring and alarming services are improvement of communication and interoperability of devices and care providers. A major obstacle in achieving such goals are lack of standards for devices as well for procedures and a lack of databases with information on "normal" variability of many medical parameters to be monitored by serial comparison in continuous medical care. Some of these aspects will be discussed in more detail.

Modeling and Analysis of the Obstacle-Avoidance Strategies for a Mobile Robot in a Dynamic Environment

Directory of Open Access Journals (Sweden)

Rui Wang

2015-01-01

Full Text Available Obstacle avoidance is a key performance of mobile robots. However, its experimental verification is rather difficult, due to the probabilistic behaviors of both the robots and the obstacles. This paper presents the Markov Decision Process based probabilistic formal models for three obstacle-avoidance strategies of a mobile robot in an uncertain dynamic environment. The models are employed to make analyses in PRISM, and the correctness of the analysis results is verified by MATLAB simulations. Finally, the minimum time and the energy consumption are determined by further analyses in PRISM, which prove to be useful in finding the optimal strategy. The present work provides a foundation for the probabilistic formal verification of more complicated obstacle-avoidance strategies.

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

Science.gov (United States)

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

2014-01-01

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

Clustering with Obstacles in Spatial Databases

OpenAIRE

El-Zawawy, Mohamed A.; El-Sharkawi, Mohamed E.

2009-01-01

Clustering large spatial databases is an important problem, which tries to find the densely populated regions in a spatial area to be used in data mining, knowledge discovery, or efficient information retrieval. However most algorithms have ignored the fact that physical obstacles such as rivers, lakes, and highways exist in the real world and could thus affect the result of the clustering. In this paper, we propose CPO, an efficient clustering technique to solve the problem of clustering in ...

Modular organization of muscle activity patterns in the leading and trailing limbs during obstacle clearance in healthy adults.

Science.gov (United States)

MacLellan, Michael J

2017-07-01

Human locomotor patterns require precise adjustments to successfully navigate complex environments. Studies suggest that the central nervous system may control such adjustments through supraspinal signals modifying a basic locomotor pattern at the spinal level. To explore this proposed control mechanism in the leading and trailing limbs during obstructed walking, healthy young adults stepped over obstacles measuring 0.1 and 0.2 m in height. Unobstructed walking with no obstacle present was also performed as a baseline. Full body three-dimensional kinematic data were recorded and electromyography (EMG) was collected from 14 lower limb muscles on each side of the body. EMG data were analyzed using two techniques: by mapping the EMG data to the approximate location of the motor neuron pools on the lumbosacral enlargement of the spinal cord and by applying a nonnegative matrix factorization algorithm to unilateral and bilateral muscle activations separately. Results showed that obstacle clearance may be achieved not only with the addition of a new activation pattern in the leading limb, but with a temporal shift of a pattern present during unobstructed walking in both the leading and trailing limbs. An investigation of the inter-limb coordination of these patterns suggested a strong bilateral linkage between lower limbs. These results highlight the modular organization of muscle activation in the leading and trailing limbs, as well as provide a mechanism of control when implementing a locomotor adjustment when stepping over an obstacle.

Women in academic medicine: perceived obstacles to advancement.

Science.gov (United States)

Bennett, N M; Nickerson, K G

1992-01-01

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

A clinician-driven home care delivery system.

Science.gov (United States)

August, D A; Faubion, W C; Ryan, M L; Haggerty, R H; Wesley, J R

1993-12-01

The financial, entrepreneurial, administrative, and legal forces acting within the home care arena make it difficult for clinicians to develop and operate home care initiatives within an academic setting. HomeMed is a clinician-initiated and -directed home care delivery system wholly owned by the University of Michigan. The advantages of a clinician-directed system include: Assurance that clinical and patient-based factors are the primary determinants of strategic and procedural decisions; Responsiveness of the system to clinician needs; Maintenance of an important role for the referring physician in home care; Economical clinical research by facilitation of protocol therapy in ambulatory and home settings; Reduction of lengths of hospital stays through clinician initiatives; Incorporation of outcome analysis and other research programs into the mission of the system; Clinician commitment to success of the system; and Clinician input on revenue use. Potential disadvantages of a clinician-based system include: Entrepreneurial, financial, and legal naivete; Disconnection from institutional administrative and data management resources; and Inadequate clinician interest and commitment. The University of Michigan HomeMed experience demonstrates a model of clinician-initiated and -directed home care delivery that has been innovative, profitable, and clinically excellent, has engendered broad physician, nurse, pharmacist, and social worker enthusiasm, and has supported individual investigator clinical protocols as well as broad outcomes research initiatives. It is concluded that a clinician-initiated and -directed home care program is feasible and effective, and in some settings may be optimal.

Dynamic clearance measure to evaluate locomotor and perceptuo-motor strategies used for obstacle circumvention in a virtual environment.

Science.gov (United States)

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2015-04-01

Circumvention around an obstacle entails a dynamic interaction with the obstacle to maintain a safe clearance. We used a novel mathematical interpolation method based on the modified Shepard's method of Inverse Distance Weighting to compute dynamic clearance that reflected this interaction as well as minimal clearance. This proof-of-principle study included seven young healthy, four post-stroke and four healthy age-matched individuals. A virtual environment designed to assess obstacle circumvention was used to administer a locomotor (walking) and a perceptuo-motor (navigation with a joystick) task. In both tasks, participants were asked to navigate towards a target while avoiding collision with a moving obstacle that approached from either head-on, or 30° left or right. Among young individuals, dynamic clearance did not differ significantly between obstacle approach directions in both tasks. Post-stroke individuals maintained larger and smaller dynamic clearance during the locomotor and the perceptuo-motor task respectively as compared to age-matched controls. Dynamic clearance was larger than minimal distance from the obstacle irrespective of the group, task and obstacle approach direction. Also, in contrast to minimal distance, dynamic clearance can respond differently to different avoidance behaviors. Such a measure can be beneficial in contrasting obstacle avoidance behaviors in different populations with mobility problems. Copyright © 2015 Elsevier B.V. All rights reserved.

Water Tank Experiments on Stratified Flow over Double Mountain-Shaped Obstacles at High-Reynolds Number

Directory of Open Access Journals (Sweden)

Ivana Stiperski

2017-01-01

Full Text Available In this article, we present an overview of the HyIV-CNRS-SecORo (Hydralab IV-CNRS-Secondary Orography and Rotors Experiments laboratory experiments carried out in the CNRM (Centre National de Recherches Météorologiques large stratified water flume. The experiments were designed to systematically study the influence of double obstacles on stably stratified flow. The experimental set-up consists of a two-layer flow in the water tank, with a lower neutral and an upper stable layer separated by a sharp density discontinuity. This type of layering over terrain is known to be conducive to a variety of possible responses in the atmosphere, from hydraulic jumps to lee waves and highly turbulent rotors. In each experiment, obstacles were towed through the tank at a constant speed. The towing speed and the size of the tank allowed high Reynolds-number flow similar to the atmosphere. Here, we present the experimental design, together with an overview of laboratory experiments conducted and their results. We develop a regime diagram for flow over single and double obstacles and examine the parameter space where the secondary obstacle has the largest influence on the flow. Trapped lee waves, rotors, hydraulic jumps, lee-wave interference and flushing of the valley atmosphere are successfully reproduced in the stratified water tank. Obstacle height and ridge separation distance are shown to control lee-wave interference. Results, however, differ partially from previous findings on the flow over double ridges reported in the literature due to the presence of nonlinearities and possible differences in the boundary layer structure. The secondary obstacle also influences the transition between different flow regimes and makes trapped lee waves possible for higher Froude numbers than expected for an isolated obstacle.

A reciprocity formulation for the EM scattering by an obstacle within a large open cavity

Science.gov (United States)

Pathak, Prabhakar H.; Burkholder, Robert J.

1993-01-01

A formulation based on a generalized reciprocity theorem is developed for analyzing the external high frequency EM scattering by a complex obstacle inside a relatively arbitrary open-ended waveguide cavity when it is illuminated by an external source. This formulation is also extended to include EM fields whose time dependence may be nonperiodic. A significant advantage of this formulation is that it allows one to break up the analysis into two independent parts; one deals with the waveguide cavity shape alone and the other with the obstacle alone. The external scattered field produced by the obstacle (in the presence of the waveguide cavity structure) is given in terms of a generalized reciprocity integral over a surface S(T) corresponding to the interior waveguide cavity cross section located conveniently but sufficiently close to the obstacle. Furthermore, the fields coupled into the cavity from the source in the exterior region generally need to propagate only one-way via the open front end (which is directly illuminated) to the interior surface S(T) in this approach, and not back, in order to find the external field scattered by the obstacle.

THE GROWING NATURAL FOODS MARKET: OPPORTUNITIES AND OBSTACLES FOR MASS MARKET SUPERMARKETS

OpenAIRE

Richman, Nessa J.

2000-01-01

Seven serious obstacles hinder the success of mass market grocery stores that try to succeed in the natural foods market. Finding timely and complete market information, linking with natural foods suppliers, and pricing and marketing natural foods are the three most important. Uncertainty about future standards for natural foods is the only major obstacle for natural foods stores. The problems facing mass market stores trying to succeed in the natural foods market are related to the market st...

Effect of a provincial system of stroke care delivery on stroke care and outcomes

Science.gov (United States)

Kapral, Moira K.; Fang, Jiming; Silver, Frank L.; Hall, Ruth; Stamplecoski, Melissa; O’Callaghan, Christina; Tu, Jack V.

2013-01-01

Background: Systems of stroke care delivery have been promoted as a means of improving the quality of stroke care, but little is known about their effectiveness. We assessed the effect of the Ontario Stroke System, a province-wide strategy of regionalized stroke care delivery, on stroke care and outcomes in Ontario, Canada. Methods: We used population-based provincial administrative databases to identify all emergency department visits and hospital admissions for acute stroke and transient ischemic attack from Jan. 1, 2001, to Dec. 31, 2010. Using piecewise regression analyses, we assessed the effect of the full implementation of the Ontario Stroke System in 2005 on the proportion of patients who received care at stroke centres, and on rates of discharge to long-term care facilities and 30-day mortality after stroke. Results: We included 243 287 visits by patients with acute stroke or transient ischemic attack. The full implementation of the Ontario Stroke System in 2005 was associated with an increase in rates of care at stroke centres (before implementation: 40.0%; after implementation: 46.5%), decreased rates of discharge to long-term care facilities (before implementation: 16.9%; after implementation: 14.8%) and decreased 30-day mortality for hemorrhagic (before implementation: 38.3%; after implementation: 34.4%) and ischemic stroke (before implementation: 16.3%; after implementation: 15.7%). The system’s implementation was also associated with marked increases in the proportion of patients who received neuroimaging, thrombolytic therapy, care in a stroke unit and antithrombotic therapy. Interpretation: The implementation of an organized system of stroke care delivery was associated with improved processes of care and outcomes after stroke. PMID:23713072

Modelling dislocation-obstacle interactions in metals exposed to an irradiation environment

International Nuclear Information System (INIS)

Bacon, D.J.; Osetsky, Yu.N.

2005-01-01

Irradiation of metals with high-energy atomic particles creates obstacles to glide, such as voids, dislocation loops, stacking-fault tetrahedra and irradiation-induced precipitates through which dislocations have to move during plastic flow. Approximations based on the elasticity theory of defects offer the simplest treatment of strengthening, but are deficient in many respects. It is now widely recognised that a multiscale modelling approach should be used, wherein the mechanisms and strength parameters of interaction are derived by simulation of the atomic level to feed higher-level treatments based on continuum mechanics. Atomic-scale simulation has been developed to provide quantitative information on the influence of stress, strain rate and temperature. Recent results of modelling dislocations gliding under stress against obstacles in a variety of metals across a range of temperature are considered. The effects observed include cutting, absorbing and dragging obstacles. Simulations of 0 K provide for direct comparison with results from continuum mechanics, and although some processes can be represented within the continuum treatment of dislocations, others cannot

Reforming the health care system: implications for health care marketers.

Science.gov (United States)

Petrochuk, M A; Javalgi, R G

1996-01-01

Health care reform has become the dominant domestic policy issue in the United States. President Clinton, and the Democratic leaders in the House and Senate have all proposed legislation to reform the system. Regardless of the plan which is ultimately enacted, health care delivery will be radically changed. Health care marketers, given their perspective, have a unique opportunity to ensure their own institutions' success. Organizational, managerial, and marketing strategies can be employed to deal with the changes which will occur. Marketers can utilize personal strategies to remain proactive and successful during an era of health care reform. As outlined in this article, responding to the health care reform changes requires strategic urgency and action. However, the strategies proposed are practical regardless of the version of health care reform legislation which is ultimately enacted.

Closed-loop strategies for patient care systems.

Science.gov (United States)

Pauldine, Ronald; Beck, George; Salinas, Jose; Kaczka, David W

2008-04-01

Military operations, mass casualty events, and remote work sites present unique challenges to providers of immediate medical care, who may lack the necessary skills for optimal clinical management. Moreover, the number of patients in these scenarios may overwhelm available health care resources. Recent applications of closed-loop control (CLC) techniques to critical care medicine may offer possible solutions for such environments. Here, feedback of a monitored variable or group of variables is used to control the state or output of a dynamic system. Some potential advantages of CLC in patient management include limiting task saturation when there is simultaneous demand for cognitive and active clinical intervention, improving quality of care through optimization of the titration of medications, conserving limited consumable supplies, preventing secondary insults in traumatic brain injury, shortening the duration of mechanical ventilation, and achieving appropriate goal-directed resuscitation. The uses of CLC systems in critical care medicine have been increasingly explored across a wide range of therapeutic modalities. This review will provide an overview of control system theory as applied to critical care medicine that must be considered in the design of autonomous CLC systems, and introduce a number of clinical applications under development in the context of deployment of such applications to austere environments.

ANALYSIS OF STUDENTS’ LEARNING OBSTACLES ON LEARNING INVERS FUNCTION MATERIAL

Directory of Open Access Journals (Sweden)

Krisna Satrio Perbowo

2017-09-01

Full Text Available This research is based on the presence of obstacle in learning mathematics on inverse function. This research aims to analyze the learning obstacle, to know the types of error that is suffered by the students in learning inverse function. Kind of this kualitative research descriptive with data triangulation. The research subjects are high school students which is contained of 74 students and was taken 6 students to be main sample. The data of students’ error is obtained from the writen test result, the students’ false answers are identified into the type of error. Then it was chosen several students to be interviewed. Which the analysis result finding data in this research showed there are 4 types of errors, which are concept error, procedure error, counting error and concluding error. An obstacle which appear in learning inverse function is influenced by two factors, i.e internal factor and eksternal factor. Internal factor is showed by the students’ motivation in following learning and students’ skill in receiving learning material. While the eksternal factor is showed by the curriculum which applied in school with acceleration class caused many narrow learning time, teaching materials that is less complete with the discussion of question sample.

Practice Parameter on Child and Adolescent Mental Health Care in Community Systems of Care

Science.gov (United States)

Journal of the American Academy of Child and Adolescent Psychiatry, 2007

2007-01-01

This parameter presents overarching principles and practices for child and adolescent mental health care in community systems of care. Community systems of care are defined broadly as comprising the wide array of child-serving agencies, programs, and practitioners (both public and private), in addition to natural community supports such as…

Opportunities and obstacles in child and adolescent mental health services in low- and middle-income countries: a review of the literature.

Science.gov (United States)

Juengsiragulwit, Dutsadee

2015-01-01

Lower-income, less developed countries have few child and adolescent mental health professionals and a low availability of paediatric community mental health care. Child mental health professionals in low- and middle-income countries (LMICs) must therefore balance comprehensive tertiary care for the minority and provision of child and adolescent mental health services (CAMHS) within primary health care to serve the majority. This review aimed to identify the obstacles to, and opportunities for, providing CAMHS in LMICs. Articles from PsychInfo and PubMed, published up to November 2011, were retrieved using the search terms "child and adolescent", "mental health services", "child psychiatry", "low- and middle-income countries", "low-income countries" and "developing countries". Articles were then retrieved from PubMed alone, using these search terms plus the individual country names of 154 LMICs. Fifty-four articles were retrieved from PsychInfo and 632 from PubMed. Searching PubMed with 154 LMIC names retrieved seven related articles. Inclusion criteria were (i) articles relating to CAMHS or child psychiatric services; (ii) subjects included in the articles were inhabitants of LMICs or developing countries; (iii) articles reported in English. After removal of duplicates, 22 articles remained. The contents of these articles were categorized and analysed by use of the six domains of the World Health Organization assessment instrument for mental health systems (WHO-AIMS), a tool developed to collect information on available resources within mental health systems. The provision of CAMHS in LMICs clearly needs a specific strategy to maximize the potential of limited resources. Mental health-policy and awareness campaigns are powerful measures to drive CAMHS. Training in CAMH for primary health-care professionals, and integration of CAMHS into existing primary health-care services, is essential in resource-constrained settings. A wide gap in research into CAMHS still

Using information technology for an improved pharmaceutical care delivery in developing countries. Study case: Benin.

Science.gov (United States)

Edoh, Thierry Oscar; Teege, Gunnar

2011-10-01

One of the problems in health care in developing countries is the bad accessibility of medicine in pharmacies for patients. Since this is mainly due to a lack of organization and information, it should be possible to improve the situation by introducing information and communication technology. However, for several reasons, standard solutions are not applicable here. In this paper, we describe a case study in Benin, a West African developing country. We identify the problem and the existing obstacles for applying standard ECommerce solutions. We develop an adapted system approach and describe a practical test which has shown that the approach has the potential of actually improving the pharmaceutical care delivery. Finally, we consider the security aspects of the system and propose an organizational solution for some specific security problems.

Toward a 21st-century health care system: Recommendations for health care reform

NARCIS (Netherlands)

K. Arrow (Kenneth); A. Auerbach (Alan); J. Bertko (John); L.P. Casalino (Lawrence Peter); F.J. Crosson (Francis); A. Enthoven (Alain); E. Falcone; R.C. Feldman; V.R. Fuchs (Victor); A.M. Garber (Alan); M.R. Gold (Marthe Rachel); D.A. Goldman; G.K. Hadfield (Gillian); M.A. Hall (Mark Ann); R.I. Horwitz (Ralph); M. Hooven; P.D. Jacobson (Peter); T.S. Jost (Timothy Stoltzfus); L.J. Kotlikoff; J. Levin (Jonathan); S. Levine (Sharon); R. Levy; K. Linscott; H.S. Luft; R. Mashal; D. McFadden (Daniel); D. Mechanic (David); D. Meltzer (David); J.P. Newhouse (Joseph); R.G. Noll (Roger); J.B. Pietzsch (Jan Benjamin); P. Pizzo (Philip); R.D. Reischauer (Robert); S. Rosenbaum (Sara); W. Sage (William); L.D. Schaeffer (Leonard Daniel); E. Sheen; B.N. Silber (Bernie Michael); J. Skinner (Jonathan Robert); S.M. Shortell (Stephen); S.O. Thier (Samuel); S. Tunis (Sean); L. Wulsin Jr.; P. Yock (Paul); G.B. Nun; S. Bryan (Stirling); O. Luxenburg (Osnat); W.P.M.M. van de Ven (Wynand); J. Cooper (Jim)

2009-01-01

textabstractThe coverage, cost, and quality problems of the U.S. health care system are evident. Sustainable health care reform must go beyond financing expanded access to care to substantially changing the organization and delivery of care. The FRESH-Thinking Project (www.fresh-thinking.org) held a

Barriers to health care for undocumented immigrants: a literature review

Science.gov (United States)

Hacker, Karen; Anies, Maria; Folb, Barbara L; Zallman, Leah

2015-01-01

With the unprecedented international migration seen in recent years, policies that limit health care access have become prevalent. Barriers to health care for undocumented immigrants go beyond policy and range from financial limitations, to discrimination and fear of deportation. This paper is aimed at reviewing the literature on barriers to health care for undocumented immigrants and identifying strategies that have or could be used to address these barriers. To address study questions, we conducted a literature review of published articles from the last 10 years in PubMed using three main concepts: immigrants, undocumented, and access to health care. The search yielded 341 articles of which 66 met study criteria. With regard to barriers, we identified barriers in the policy arena focused on issues related to law and policy including limitations to access and type of health care. These varied widely across countries but ultimately impacted the type and amount of health care any undocumented immigrant could receive. Within the health system, barriers included bureaucratic obstacles including paperwork and registration systems. The alternative care available (safety net) was generally limited and overwhelmed. Finally, there was evidence of widespread discriminatory practices within the health care system itself. The individual level focused on the immigrant’s fear of deportation, stigma, and lack of capital (both social and financial) to obtain services. Recommendations identified in the papers reviewed included advocating for policy change to increase access to health care for undocumented immigrants, providing novel insurance options, expanding safety net services, training providers to better care for immigrant populations, and educating undocumented immigrants on navigating the system. There are numerous barriers to health care for undocumented immigrants. These vary by country and frequently change. Despite concerns that access to health care attracts

OBSTACLES IN THE APPLICATION OF MICROENCAPSULATION IN ISLET TRANSPLANTATION

NARCIS (Netherlands)

DEVOS, P; WOLTERS, GHJ; FRITSCHY, WM; VANSCHILFGAARDE, R

Several factors stand in the way of successful clinical transplantation of alginate-polylysine-alginate microencapsulated pancreatic islets. These obstacles can be classified into three categories. The first regards the technical aspects of the production process. Limiting factors are the

Smooth Jerk-Bounded Optimal Path Planning of Tricycle Wheeled Mobile Manipulators in the Presence of Environmental Obstacles

Directory of Open Access Journals (Sweden)

Moharam Habibnejad Korayem

2012-10-01

Full Text Available In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obstacles. This paper presents a general formulation based on the combination of the potential field method and optimal control theory in order to plan the smooth point-to-point path of the tricycle mobile manipulators. The nonholonomic constraints of the tricycle mobile base are taken into account in the dynamic formulation of the system and then the optimality conditions are derived considering jerk restrictions and obstacle avoidance. Furthermore, by means of the potential field method, a new formulation of a repulsive potential function is proposed for collision avoidance between any obstacle and each part of the mobile manipulator. In addition, to ensure the accurate placement of the end effector on the target point an attractive potential function is applied to the optimal control formulation. Next, a mixed analytical-numerical algorithm is proposed to generate the point-to-point optimal path. Finally, the proposed method is verified by a number of simulations on a two-link tricycle manipulator.

77 FR 41668 - Standard Instrument Approach Procedures, and Takeoff Minimums and Obstacle Departure Procedures...

Science.gov (United States)

2012-07-16

... Obstacle DP, Amdt 2 Swainsboro, GA, Emanuel County, VOR/DME-A, Amdt 3, CANCELED Tifton, GA, Henry Tift... Minimums and Obstacle DP, Amdt 1 Pensacola, FL, Pensacola Gulf Coast Rgnl, VOR RWY 8, Amdt 4 Augusta, GA, Augusta Rgnl at Bush Field, ILS OR LOC RWY 17, Amdt 9 Augusta, GA, Augusta Rgnl at Bush Field, ILS OR LOC...

Psychiatric care in the German prison system.

Science.gov (United States)

Lehmann, Marc

2012-01-01

The purpose of this paper is to describe the nature of medical care within the German penal system. German prison services provide health care for all inmates, including psychiatric care. The reached level of equivalence of care and ethical problems and resource limitations are discussed and the way of legislation in this field since 2006 reform on federal law is described. The article summarizes basic data on German prison health care for mentally ill inmates. The legislation process and factors of influence are pointed out. A description of how psychiatric care is organized in German prisons follows. It focuses on the actual legal situation including European standards of prison health care and prevention of torture, psychiatric care in German prisons themselves, self harm and addiction. Associated problems such as blood born diseases and tuberculosis are included. The interactions between prison staff and health care personal and ethic aspects are discussed. The legislation process is still going on and there is still a chance to improve psychiatric care. Mental health problems are the major challenge for prison health care. Factors such as special problems of migrants, shortage of professionals and pure statistic data are considered. The paper provides a general overview on psychiatric services in prison and names weak points and strengths of the system.

Primary care training and the evolving healthcare system.

Science.gov (United States)

Peccoralo, Lauren A; Callahan, Kathryn; Stark, Rachel; DeCherrie, Linda V

2012-01-01

With growing numbers of patient-centered medical homes and accountable care organizations, and the potential implementation of the Patient Protection and Affordable Care Act, the provision of primary care in the United States is expanding and changing. Therefore, there is an urgent need to create more primary-care physicians and to train physicians to practice in this environment. In this article, we review the impact that the changing US healthcare system has on trainees, strategies to recruit and retain medical students and residents into primary-care internal medicine, and the preparation of trainees to work in the changing healthcare system. Recruitment methods for medical students include early preclinical exposure to patients in the primary-care setting, enhanced longitudinal patient experiences in clinical clerkships, and primary-care tracks. Recruitment methods for residents include enhanced ambulatory-care training and primary-care programs. Financial-incentive programs such as loan forgiveness may encourage trainees to enter primary care. Retaining residents in primary-care careers may be encouraged via focused postgraduate fellowships or continuing medical education to prepare primary-care physicians as both teachers and practitioners in the changing environment. Finally, to prepare primary-care trainees to effectively and efficiently practice within the changing system, educators should consider shifting ambulatory training to community-based practices, encouraging resident participation in team-based care, providing interprofessional educational experiences, and involving trainees in quality-improvement initiatives. Medical educators in primary care must think innovatively and collaboratively to effectively recruit and train the future generation of primary-care physicians. © 2012 Mount Sinai School of Medicine.

Open Source, Open Standards, and Health Care Information Systems

Science.gov (United States)

2011-01-01

Recognition of the improvements in patient safety, quality of patient care, and efficiency that health care information systems have the potential to bring has led to significant investment. Globally the sale of health care information systems now represents a multibillion dollar industry. As policy makers, health care professionals, and patients, we have a responsibility to maximize the return on this investment. To this end we analyze alternative licensing and software development models, as well as the role of standards. We describe how licensing affects development. We argue for the superiority of open source licensing to promote safer, more effective health care information systems. We claim that open source licensing in health care information systems is essential to rational procurement strategy. PMID:21447469

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

Science.gov (United States)

Campbell, Eric; Bagchi, Prosenjit

2017-11-01

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

Overcoming the Obstacles to Establishing a Democratic State in Afghanistan

National Research Council Canada - National Science Library

Young, Dennis O

2007-01-01

.... This project looks at several of those obstacles to democracy in Afghanistan, to include the absence of a democratic history and tradition, an endemic culture of corruption, a pervasive narcotics...

System impact research – increasing public health and health care system performance

Science.gov (United States)

Malmivaara, Antti

2016-01-01

Abstract Background Interventions directed to system features of public health and health care should increase health and welfare of patients and population. Aims To build a new framework for studies aiming to assess the impact of public health or health care system, and to consider the role of Randomized Controlled Trials (RCTs) and of Benchmarking Controlled Trials (BCTs). Methods The new concept is partly based on the author's previous paper on the Benchmarking Controlled Trial. The validity and generalizability considerations were based on previous methodological studies on RCTs and BCTs. Results The new concept System Impact Research (SIR) covers all the studies which aim to assess the impact of the public health system or of the health care system on patients or on population. There are two kinds of studies in System Impact Research: Benchmarking Controlled Trials (observational) and Randomized Controlled Trials (experimental). The term impact covers in particular accessibility, quality, effectiveness, safety, efficiency, and equality. Conclusions System Impact Research – creating the scientific basis for policy decision making - should be given a high priority in medical, public health and health economic research, and should also be used for improving performance. Leaders at all levels of health and social care can use the evidence from System Impact Research for the benefit of patients and population.Key messagesThe new concept of SIR is defined as a research field aiming at assessing the impacts on patients and on populations of features of public health and health and social care systems or of interventions trying to change these features.SIR covers all features of public health and health and social care system, and actions upon these features. The term impact refers to all effects caused by the public health and health and social care system or parts of it, with particular emphasis on accessibility, quality, effectiveness, adverse effects, efficiency

Movement of dislocations through a random array of weak obstacles of finite width

International Nuclear Information System (INIS)

Labusch, R.; Schwarz, R.B.

1976-01-01

The movement of a dislocation through a random array of weak obstacles of finite width has been simulated with the aid of a digital computer. Through a normalization of the equation of motion it is shown that in the absence of inertial effects the flow stress is a function of a single parameter eta 0 = (y 0 /l/sub s/)√(2 GAMMA/F/sub y/), where y 0 is the range of the dislocation-obstacle interaction force in the direction perpendicular to the dislocation, l/sub s/ is the average distance between obstacles, F/sub y/ is the strength of the interaction force, and GAMMA is the dislocation line tension. The calculations suggest a relation of the form sigma = A (1 + eta 0 B)/sup 1 / 3 / for the flow stress, where A and B are constants

Early Obstacle Detection and Avoidance for All to All Traffic Pattern in Wireless Sensor Networks

Science.gov (United States)

Huc, Florian; Jarry, Aubin; Leone, Pierre; Moraru, Luminita; Nikoletseas, Sotiris; Rolim, Jose

This paper deals with early obstacles recognition in wireless sensor networks under various traffic patterns. In the presence of obstacles, the efficiency of routing algorithms is increased by voluntarily avoiding some regions in the vicinity of obstacles, areas which we call dead-ends. In this paper, we first propose a fast convergent routing algorithm with proactive dead-end detection together with a formal definition and description of dead-ends. Secondly, we present a generalization of this algorithm which improves performances in all to many and all to all traffic patterns. In a third part we prove that this algorithm produces paths that are optimal up to a constant factor of 2π + 1. In a fourth part we consider the reactive version of the algorithm which is an extension of a previously known early obstacle detection algorithm. Finally we give experimental results to illustrate the efficiency of our algorithms in different scenarios.

Palliative care in Argentina: perspectives from a country in crisis.

Science.gov (United States)

De Simone, Gustavo G

2003-01-01

Argentina is a large South American country with a high prevalence of chronic disease-related mortality and a clear need for implementation of palliative care. Primary concerns related to palliative care are cultural, socio-economic and educational. Increasing poverty, patients and families receiving inadequate information about their diagnosis or prognosis, drug availability and costs, and insufficient knowledge by health care providers are obstacles to palliative care. Palliative care programs are developing throughout the country and methods by which they are meeting their needs are described. Several Argentinean palliative care initiatives are described and the role of the Pallium Latinomérica training program is discussed.

Sex Education in Spain: Teachers' Views of Obstacles

Science.gov (United States)

Martinez, Jose L.; Carcedo, Rodrigo J.; Fuertes, Antonio; Vicario-Molina, Isabel; Fernandez-Fuertes, Andres A.; Orgaz, Begona

2012-01-01

This paper offers an overview of the current state, difficulties, limitations and future possibilities for sex education in Spain. On the basis of a study involving 3760 teachers from all provinces in Spain, a detailed analysis of the obstacles at legislative, school and teacher levels was developed. Significant weaknesses were found at each of…

Special Semiotic Characters: What is an Obstacle-Sign?

Directory of Open Access Journals (Sweden)

Gary Genosko

2013-11-01

Full Text Available This article regains an understudied exposition from Michel Foucault’s Discipline and Punish concerning the nuanced semio-techniques that constitute a punitive city perfused with obstacle-signs. The semiotic import of these signs are explicated and then brought into contemporary focus with regard to their political efficacy in drunk-driving campaigns.

Deindustrialization of Kosovo and establishment of the private sector in Kosovo - Obstacles

Directory of Open Access Journals (Sweden)

Dr.Sc. Ymer Havolli

2013-02-01

Full Text Available This paper aims at analysing activities, and some of the causes of deindustrialization of Kosovo’s economy, and the stage of initial establishment of the private sector in Kosovo. The purpose of the paper is to present the current situation and development orientations, namely to review some of the obstacles from the perspective of entrepreneurs, with a view of eliminating such obstacles and fostering development. The paper shall provide a comparison of exports and imports, with a special focus on obstacles to Kosovo’s SMEs. This paper shall prove an overview on the situation of SME development and its sectors, and it is an effort to mirror the main obstacles preventing competitiveness and development of the sector. The analysis in this paper represent an effort to inform stakeholders with the sector, and help interested parties to take necessary action in improving the situation in the sector, and to assist sectors in benefitting from business opportunities, by creating a business development conducive environment, so that the changes occurring in the sector feed economic development, foster employment and help in attracting foreign investments The main goal of the paper is to provide a basis for informing various actors involved in industrial development policy making in Kosovo. On the other hand, it is also an effort to contribute in consolidating information and statistical records, with a view of providing an accurate overview on Kosovo’s industry.

3rd International Conference on Health Care Systems Engineering

CERN Document Server

Li, Jingshan; Matta, Andrea; Sahin, Evren; Vandaele, Nico; Visintin, Filippo

2017-01-01

This book presents statistical processes for health care delivery and covers new ideas, methods and technologies used to improve health care organizations. It gathers the proceedings of the Third International Conference on Health Care Systems Engineering (HCSE 2017), which took place in Florence, Italy from May 29 to 31, 2017. The Conference provided a timely opportunity to address operations research and operations management issues in health care delivery systems. Scientists and practitioners discussed new ideas, methods and technologies for improving the operations of health care systems, developed in close collaborations with clinicians. The topics cover a broad spectrum of concrete problems that pose challenges for researchers and practitioners alike: hospital drug logistics, operating theatre management, home care services, modeling, simulation, process mining and data mining in patient care and health care organizations.

Combustion of hydrogen/air/steam mixtures in a repeated obstacle field

International Nuclear Information System (INIS)

Kumar, R.K.; Bowles, E.M.; Koroll, G.W.

1994-01-01

Combustion experiments with hydrogen/air/steam mixtures were performed in a cylindrical vessel of 1.5-m internal diameter and 5.7-m height in a repeated obstacle field. The investigations included hydrogen concentrations in the range of 10 to 20% and steam concentrations of up to 30%. For the mixtures investigated, the flame accelerated very rapidly in the vessel, reached a peak value, and decelerated equally rapidly For hydrogen/air mixtures with hydrogen concentrations above 15%, the flame speeds reached values well in excess of the sonic velocity in the mixture. Addition of steam reduced the flame speed and the peak pressure, however, the reduction was significant only for steam concentrations >20%. Experiments performed with different obstacle spacings and flow blockages indicated that flame speed decreased with increased spacing and increased with increased blockage. The effect of initial pressure on flame speed was found to be small. For a given mixture, the peak flame speed was found to be independent of the igniter location. Simple empirical correlations have been proposed to calculate the flame speeds and peak pressures in a closed vessel with closely spaces repeated obstacles. (author)

Aquaponics business in Europe : some legal obstacles and solutions

OpenAIRE

Joly, Agnes; Junge, Ranka; Bardocz, Tamas

2015-01-01

The authors gathered information on perceived impact of current legislation on entrepreneurial possibilities in developing commercial aquaponics in Europe. The paper highlights the detected obstacles, and the solutions developed to address the legislative issues. Three main issues outlined are: administration, environment, and safety.

Innovating Responsibly in ICT for Ageing: Drivers, Obstacles and Implementation

Directory of Open Access Journals (Sweden)

Kate Chatfield

2017-06-01

Full Text Available Responsible research and innovation (RRI is a nascent concept, promoted actively by the European Union and other policy makers around the world. Hitherto, this concept has been associated primarily with publicly funded activities but given the considerable proportion of research and innovation that is undertaken in the private sector, RRI will be rendered irrelevant unless it is adopted by industry. This paper introduces a private sector perspective of RRI, specifically that of the information and communication technology (ICT industry, working in the field of healthy ageing. Drawing upon empirical data from 30 in-depth interviews with key industry representatives from across Europe, it explores: (a the level of awareness of RRI; (b the drivers and obstacles influencing its implementation; and (c the factors deemed vital for facilitation of RRI in industry. The findings paint a varied picture, including significant concerns about adoption of RRI in an industry environment where the economic implications of all activities must be considered carefully. However, some companies have found their own ways to balance financial and altruistic goals, suggesting that there is both a willingness and a place for an RRI-type governance framework within the private sector.

Zika virus: Vaccine initiatives and obstacles

Directory of Open Access Journals (Sweden)

Reema Mukherjee

2017-01-01

Full Text Available Over 130,000 humans in Brazil are infected with Zika virus (ZIKV since March 2015, and presently 29 countries in Americas have reported local autochthonous ZIKV transmission. Besides the associated clinical features, Brazil has also reported a temporal and spatial association of ZIKV with Guillain-Barre syndrome (GBS and Zika fetal syndrome. ZIKV vaccine approaches include purified inactivated virus, nucleic acid-based vaccines (DNA, RNA, live vector vaccines, subunit vaccines, virus-like particle technologies, and live recombinant vaccines similar to the technologies used against other human flaviviruses. At present, 15 commercial entities are involved in the development of ZIKV vaccine. Vaccines developed through different approaches would have their own inherent advantages and disadvantages. The presentation of disease in different populations and lack of clarity on the pathogenesis and complications is the most important obstacle. Second, Zika belongs to a genus that is notorious for the antibody-mediated enhancement of infection, which proved to be a stumbling block during the development of the dengue vaccine. Identifying large naive and yet uninfected at-risk populations may be an obstacle to demonstrating efficacy. Next, the association of Zika with GBS is being researched since the vaccine may have the potential to provoke similar neuropathophysiologic mechanisms. Zika's association with adverse fetal outcomes necessitates that pregnant women and women of childbearing age are considered for evaluating vaccines, which form a vulnerable group for vaccine trials.

A web-based laboratory information system to improve quality of care of tuberculosis patients in Peru: functional requirements, implementation and usage statistics.

Science.gov (United States)

Blaya, Joaquin A; Shin, Sonya S; Yagui, Martin J A; Yale, Gloria; Suarez, Carmen Z; Asencios, Luis L; Cegielski, J Peter; Fraser, Hamish S F

2007-10-28

Multi-drug resistant tuberculosis patients in resource-poor settings experience large delays in starting appropriate treatment and may not be monitored appropriately due to an overburdened laboratory system, delays in communication of results, and missing or error-prone laboratory data. The objective of this paper is to describe an electronic laboratory information system implemented to alleviate these problems and its expanding use by the Peruvian public sector, as well as examine the broader issues of implementing such systems in resource-poor settings. A web-based laboratory information system "e-Chasqui" has been designed and implemented in Peru to improve the timeliness and quality of laboratory data. It was deployed in the national TB laboratory, two regional laboratories and twelve pilot health centres. Using needs assessment and workflow analysis tools, e-Chasqui was designed to provide for improved patient care, increased quality control, and more efficient laboratory monitoring and reporting. Since its full implementation in March 2006, 29,944 smear microscopy, 31,797 culture and 7,675 drug susceptibility test results have been entered. Over 99% of these results have been viewed online by the health centres. High user satisfaction and heavy use have led to the expansion of e-Chasqui to additional institutions. In total, e-Chasqui will serve a network of institutions providing medical care for over 3.1 million people. The cost to maintain this system is approximately US$0.53 per sample or 1% of the National Peruvian TB program's 2006 budget. Electronic laboratory information systems have a large potential to improve patient care and public health monitoring in resource-poor settings. Some of the challenges faced in these settings, such as lack of trained personnel, limited transportation, and large coverage areas, are obstacles that a well-designed system can overcome. e-Chasqui has the potential to provide a national TB laboratory network in Peru

Do Danes enjoy a high performing chronic care system?

DEFF Research Database (Denmark)

Hernández-Quevedo, Christina; Olejaz, Maria; Juul, Annegrete

2012-01-01

The trends in population health in Denmark are similar to those in most Western European countries. Major health issues include, among others, the high prevalence of chronic illnesses and lifestyle related risk factors such as obesity, tobacco, physical inactivity and alcohol. This has pressed...... the health system towards a model of provision of care based on the management of chronic care conditions. While the Chronic Care Model was introduced in 2005, the Danish health system does not fulfil the ten key preconditions that would characterise a high-performing chronic care system. As revealed...... in a recent report, the fragmented structure of the Danish health system poses challenges in providing effectively coordinated care to patients with chronic diseases....

Even low alcohol concentrations affect obstacle avoidance reactions in healthy senior individuals

Directory of Open Access Journals (Sweden)

Nienhuis Bart

2010-09-01

Full Text Available Abstract Background Alcohol is a commonly used social drug and driving under influence is a well-established risk factor for traffic accidents1. To improve road safety, legal limits are set for blood alcohol concentration (BAC and driving, usually at 0.05% (most European countries or 0.08% (most US states, Canada and UK. In contrast, for walking there are no legal limits, yet there are numerous accounts of people stumbling and falling after drinking. Alcohol, even at these low concentrations, affects brain function and increases fall risk. An increased fall risk has been associated with impaired obstacle avoidance skills. Low level BACs are likely to affect obstacle avoidance reactions during gait, since the brain areas that are presumably involved in these reactions have been shown to be influenced by alcohol. Therefore we investigated the effect of low to moderate alcohol consumption on such reactions. Thirteen healthy senior individuals (mean(SD age: 61.5(4.4 years, 9 male were subjected to an obstacle avoidance task on a treadmill after low alcohol consumption. Fast stepping adjustments were required to successfully avoid suddenly appearing obstacles. Response times and amplitudes of the m. biceps femoris, a prime mover, as well as avoidance failure rates were assessed. Findings After the first alcoholic drink, 12 of the 13 participants already had slower responses. Without exception, all participants' biceps femoris response times were delayed after the final alcoholic drink (avg ± sd:180 ± 20 ms; p r = 0.6; p Conclusions The present results clearly show that even with BACs considered to be safe for driving, obstacle avoidance reactions are inadequate, late, and too small. This is likely to contribute to an increased fall risk. Therefore we suggest that many of the alcohol-related falls are the result of the disruptive effects of alcohol on the online corrections of the ongoing gait pattern when walking under challenging conditions.

Orientation to the patient as a marketing strategy in the Romanian healthcare system.

Science.gov (United States)

Coculescu, B I; Coculescu, E C; Purcărea, V L

2016-01-01

In the context of the European political and socio-economic changes of the early 90s, health care reform in Romania has become inevitable, both for patients and for health professionals in the system. The first stage of the health care reform in Romania is focused on decentralization and improving primary health care. The Romanian medical system is currently in the process of changing the mentality, which requires time, patience, and perseverance, despite the unforeseeable or resistance inevitably faced. It is a commonly known and recognized fact that in this painful period of transition, Romanian medicine, like other fields too, has traveled a winding road, with obstacles (medical malpractices, scandals in the press related to the misappropriation of funds or underfunding of the public health system, etc.) often hard to overcome.

Recovering an obstacle using integral equations

KAUST Repository

Rundell, William

2009-05-01

We consider the inverse problem of recovering the shape, location and surface properties of an object where the surrounding medium is both conductive and homogeneous and we measure Cauchy data on an accessible part of the exterior boundary. It is assumed that the physical situation is modelled by harmonic functions and the boundary condition on the obstacle is one of Dirichlet type. The purpose of this paper is to answer some of the questions raised in a recent paper that introduced a nonlinear integral equation approach for the solution of this type of problem.

An Empirical Analysis of Chinese College Learners' Obstacles to MOOC Learning in an English Context

Science.gov (United States)

Liu, Liangxing

2017-01-01

This article reports a study applying an exploratory factor analysis to discovering the underlying factor structure of Chinese college students' obstacles to learning MOOC in an English context. Seven obstacle factors are identified: 1. academic and language skills; 2. internet skills; 3. course instruction/management; 4. learning motivations; 5.…

Managed Care Approaches to Children's Services within Public Systems of Care.

Science.gov (United States)

Pumariega, Andres; Fallon, Theodore, Jr.

This report presents two discussions of conceptual and infrastructure issues that state mental health systems serving children with emotional disturbances must consider to make an effective transition towards a managed care organization of services under Medicaid. The first discussion, "Clinical Experiences in Managed Care Implementation for…

Malign neglect: assessing older women's health care experiences in prison.

Science.gov (United States)

Aday, Ronald; Farney, Lori

2014-09-01

The problem of providing mandated medical care has become commonplace as correctional systems in the United States struggle to manage unprecedented increases in its aging prison population. This study explores older incarcerated women's perceptions of prison health care policies and their day-to-day survival experiences. Aggregate data obtained from a sample of 327 older women (mean age = 56) residing in prison facilities in five Southern states were used to identify a baseline of health conditions and needs for this vulnerable group. With an average of 4.2 chronic health conditions, frequently histories of victimization, and high rates of mental health issues, the women's experiences of negotiating health care was particularly challenging. By incorporating the voices of older women, we expose the contradictions, dilemmas, and obstacles they experience in their attempts to obtain health care. It is clear from the personal accounts shared that, despite court mandates, penal harm practices such as delaying or denying medical treatment as well as occasional staff indifferences are common in women's prisons. With older women having the greatest need for health care, an age- and gender-sensitive approach is recommended.

A decision technology system for health care electronic commerce.

Science.gov (United States)

Forgionne, G A; Gangopadhyay, A; Klein, J A; Eckhardt, R

1999-08-01

Mounting costs have escalated the pressure on health care providers and payers to improve decision making and control expenses. Transactions to form the needed decision data will routinely flow, often electronically, between the affected parties. Conventional health care information systems facilitate flow, process transactions, and generate useful decision information. Typically, such support is offered through a series of stand-alone systems that lose much useful decision knowledge and wisdom during health care electronic commerce (e-commerce). Integrating the stand-alone functions can enhance the quality and efficiency of the segmented support, create synergistic effects, and augment decision-making performance and value for both providers and payers. This article presents an information system that can provide complete and integrated support for e-commerce-based health care decision making. The article describes health care e-commerce, presents the system, examines the system's potential use and benefits, and draws implications for health care management and practice.

Evolving Systems of Care with Total Clinical Outcomes Management

Science.gov (United States)

Lyons, John S.; Epstein, Richard A.; Jordan, Neil

2010-01-01

The current article proposes that further specification of the system of care concept is required. Based on the assertions that the system of care concept (a) refers to an ideal as opposed to an observable phenomenon, and (b) is engaged in offering transformational experiences, the authors propose that the system of care definition must be…

Transformational change in health care systems: an organizational model.

Science.gov (United States)

Lukas, Carol VanDeusen; Holmes, Sally K; Cohen, Alan B; Restuccia, Joseph; Cramer, Irene E; Shwartz, Michael; Charns, Martin P

2007-01-01

The Institute of Medicine's 2001 report Crossing the Quality Chasm argued for fundamental redesign of the U.S. health care system. Six years later, many health care organizations have embraced the report's goals, but few have succeeded in making the substantial transformations needed to achieve those aims. This article offers a model for moving organizations from short-term, isolated performance improvements to sustained, reliable, organization-wide, and evidence-based improvements in patient care. Longitudinal comparative case studies were conducted in 12 health care systems using a mixed-methods evaluation design based on semistructured interviews and document review. Participating health care systems included seven systems funded through the Robert Wood Johnson Foundation's Pursuing Perfection Program and five systems with long-standing commitments to improvement and high-quality care. Five interactive elements appear critical to successful transformation of patient care: (1) Impetus to transform; (2) Leadership commitment to quality; (3) Improvement initiatives that actively engage staff in meaningful problem solving; (4) Alignment to achieve consistency of organization goals with resource allocation and actions at all levels of the organization; and (5) Integration to bridge traditional intra-organizational boundaries among individual components. These elements drive change by affecting the components of the complex health care organization in which they operate: (1) Mission, vision, and strategies that set its direction and priorities; (2) Culture that reflects its informal values and norms; (3) Operational functions and processes that embody the work done in patient care; and (4) Infrastructure such as information technology and human resources that support the delivery of patient care. Transformation occurs over time with iterative changes being sustained and spread across the organization. The conceptual model holds promise for guiding health care

[Costs of maternal-infant care in an institutionalized health care system].

Science.gov (United States)

Villarreal Ríos, E; Salinas Martínez, A M; Guzmán Padilla, J E; Garza Elizondo, M E; Tovar Castillo, N H; García Cornejo, M L

1998-01-01

Partial and total maternal and child health care costs were estimated. The study was developed in a Primary Care Health Clinic (PCHC) and a General Hospital (GH) of a social security health care system. Maternal and child health care services, type of activity and frequency utilization during 1995, were defined; cost examination was done separately for the PCHC and the GH. Estimation of fixed cost included departmentalization, determination of inputs, costs, basic services disbursements, and weighing. These data were related to depreciation, labor period and productivity. Estimation of variable costs required the participation of field experts; costs corresponded to those registered in billing records. The fixed cost plus the variable cost determined the unit cost, which multiplied by the of frequency of utilization generated the prenatal care, labor and delivery care, and postnatal care cost. The sum of these three equaled the maternal and child health care cost. The prenatal care cost was $1,205.33, the labor and delivery care cost was $3,313.98, and the postnatal care was $559.91. The total cost of the maternal and child health care corresponded to $5,079.22. Cost information is valuable for the health care personnel for health care planning activities.

Obstacle detection contribution for automotive applications; Contribution a la detection d'obstacles pour la voiture intelligente

Energy Technology Data Exchange (ETDEWEB)

Wahl, M.

1997-12-05

On the one hand, this Ph-D Thesis deals with a new architectural approach for automotive applications implementing heterogeneous sensor data fusion, and on the other hand, it explains the data pre-processing algorithm of a microwave radar. Firstly, the analysis of both PROCHIP2 and PROLAB2 obstacle detection demonstrators (cf. the European PROMETHEUS research program about smart cars) has led us to propose a new functional architecture. Our approach introduces a sensor data pre-processing level. Data are then running at the local sensor before being transferred to data fusion architectures (that classically receives data whose meaning has also been noised by the application distribution). Secondly, an elementary simulator has been designed in order to complement our database composed of experimental microwave radar data. It is able to generate radar data for basic highway traffic scenarios. With both experimental and simulated data, a deterministic radar data pre-processing algorithm has been designed. It reduces the amount of data to be transferred by converting the local radar data into a higher semantic information: it gives more pertinent data (for example: velocities...) to the data fusion level; in particular, it predicts the obstacle path. Finally, some perspectives have been set out. Firstly, an H {infinity} estimation approach is used to reduce the data disruption effect that alters the radar data and, secondly, a controller has been proposed with the goal of decreasing the effect of car pitching. (author)

The critical care cascade: a systems approach.

Science.gov (United States)

Ghosh, Rishi; Pepe, Paul

2009-08-01

To emphasize the evolving body of evidence that supports the need for a more seamless and interconnected continuum of patient care for a growing compendium of critical care conditions, starting in the prehospital and emergency department (ED) phases of management and continuing through ICU and rehabilitation services. The care of critically ill and injured patients has become increasingly complex. It now has been demonstrated that, for a number of such critical care conditions, optimal management not only relies heavily on the talents of highly coordinated, multidisciplinary teams, but it also may require shared responsibilities across a continuum of longitudinal care involving numerous specialties and departments. This continuum usually needs to begin in the prehospital and ED settings with management extending through specialized in-hospital diagnostic and interventional suites to traditional ICU and rehabilitation programs. In recent years, examples of these conditions have included the development of systems of care for trauma, cardiac arrest, myocardial infarction, stroke, sepsis syndromes, toxicology and other critical illnesses. Although the widespread implementation of such multidisciplinary, multispecialty critical care cascades of care has been achieved most commonly in trauma care, current healthcare delivery systems generally tend to employ compartmentalized organization for the majority of other critical care patients. Accordingly, optimal systematic care often breaks down in the management of these complex patients due to barriers such as lack of interoperable communication between teams, disjointed transfers between services, unnecessary time-consuming, re-evaluations and transitional pauses in time-dependent circumstances, deficiencies in cross-disciplinary education and quality assurance loops, and significant variability in patient care practices. Such barriers can lead to adverse outcomes in this fragile patient population. This article discusses