Hysteresis modeling and identification of a dielectric electro-active polymer actuator using an APSO-based nonlinear Preisach NARX fuzzy model

International Nuclear Information System (INIS)

Truong, Bui Ngoc Minh; Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2013-01-01

Dielectric electro-active polymer (DEAP) materials are attractive since they are low cost, lightweight and have a large deformation capability. They have no operating noise, very low electric power consumption and higher performance and efficiency than competing technologies. However, DEAP materials generally have strong hysteresis as well as uncertain and nonlinear characteristics. These disadvantages can limit the efficiency in the use of DEAP materials. To address these limitations, this research will present the combination of the Preisach model and the dynamic nonlinear autoregressive exogenous (NARX) fuzzy model-based adaptive particle swarm optimization (APSO) identification algorithm for modeling and identification of the nonlinear behavior of one typical type of DEAP actuator. Firstly, open loop input signals are applied to obtain nonlinear features and to investigate the responses of the DEAP actuator system. Then, a Preisach model can be combined with a dynamic NARX fuzzy structure to estimate the tip displacement of a DEAP actuator. To optimize all unknown parameters of the designed combination, an identification scheme based on a least squares method and an APSO algorithm is carried out. Finally, experimental validation research is carefully completed, and the effectiveness of the proposed model is evaluated by employing various input signals. (paper)

Gait adjustments in obstacle crossing, gait initiation and gait termination after a recent lower limb amputation

NARCIS (Netherlands)

Vrieling, Aline H.; van Keeken, Helco G.; Schoppen, Tanneke; Hof, At L.; Otten, Bert; Halbertsma, Jan P. K.; Postema, Klaas

Objective: To describe the adjustments in gait characteristics of obstacle crossing, gait initiation and gait termination that occur in subjects with a recent lower limb amputation during the rehabilitation process. Design: Prospective and descriptive study. Subjects: Fourteen subjects with a recent

Retinal Vessel Segmentation Based on Primal-Dual Asynchronous Particle Swarm Optimisation (pdAPSO Algorithm

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E. G. Dada

2017-04-01

Full Text Available Acute damage to the retina vessel has been identified to be main reason for blindness and impaired vision all over the world. A timely detection and control of these illnesses can greatly decrease the number of loss of sight cases. Developing a high performance unsupervised retinal vessel segmentation technique poses an uphill task. This paper presents study on the Primal-Dual Asynchronous Particle Swarm Optimisation (pdAPSO method for the segmentation of retinal vessels. A maximum average accuracy rate 0.9243 with an average specificity of sensitivity rate of 0.9834 and average sensitivity rate of 0.5721 were achieved on DRIVE database. The proposed method produces higher mean sensitivity and accuracy rates in the same range of very good specificity.

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

Effect of Coriolis forces in a rotating channel with dimples and protrusions

International Nuclear Information System (INIS)

Elyyan, Mohammad A.; Tafti, Danesh K.

2010-01-01

Large-eddy simulations are used to investigate the effect of Coriolis forces and dimple depth on heat transfer and friction in a channel with dimples and protrusions on either side. Two geometries with two different dimple-protrusion depths, δ = 0.2 and 0.3 of channel height are investigated over a wide range of rotation numbers, Ro b = -0.77 to 1.10 based on mean velocity and channel height. It is found that the dimple side of the channel is much more sensitive to destabilizing rotational Coriolis forces than the protrusion side of the channel, although both dimples and protrusions react to the stabilizing effects of Coriolis forces on the leading side. The dimpled surface on the trailing side experiences a large increase in heat transfer coefficient from an augmentation ratio of 1.9 for stationary flow to 3.5 at Ro b = 0.77 for δ = 0.2, and from 2.3 to a maximum of 3.8 for δ = 0.3. Placing protrusion on the trailing side, however, only increases the augmentation ratio to between 3.25 and 3.7 from the stationary values of 3.0 and 3.4 for δ = 0.2 and 0.3, respectively. The dimpled leading side experiences a large drop in heat transfer to between augmentation ratios of 1.1 and 1.4 for the two dimple depths. The protrusion surface on the leading side also experiences a large drop in augmentation from 3.0 for a stationary channel to 1.3 at Ro b = 0.77 for δ = 0.2 and from 3.4 to 1.8 at Ro b = 1.1 for δ = 0.3. The results lead to the conclusion that for low rotation numbers |Ro b | b | > 0.2, dimples on the trailing side of the duct give better overall performance. Between the two depths, the deeper dimple/protrusion (δ = 0.3) gives higher heat transfer augmentation at the price of more frictional losses ranging from 6 to 10 versus 3 to 5 for depth δ = 0.2.

The motor deficits caused by Parkinson's disease are not able to block adjustments for a safe strategy during obstacle crossing in individuals with moderate disease

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Vinícius Alota Ignácio Pereira

2015-12-01

Full Text Available Abstract The aim of this study was to verify whether patients with Parkinson's disease (PD are able to adjust their motor behavior according to restrictions imposed by the task instruction during walking with obstacle crossing. Eighteen elderly people (moderate motor compromise with a diagnosis of PD walked on a pathway and cross an obstacle according to the following conditions: walking at preferred velocity; walking at maximum vertical elevation of the feet to cross the obstacle; walking at maximum step length to cross the obstacle; walking at maximum velocity. The modulations were directly related to the instructions provided to patients with PD before performing each task, which seems to indicate that attentional cues can influence and benefit strategies during obstacle crossing. In conclusion, patients with PD are able to adjust walking during obstacle crossing according to instructions given to them, which increases their safety.

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.

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

Interactions of bluff-body obstacles with turbulent airflows affecting evaporative fluxes from porous surfaces

Science.gov (United States)

Haghighi, Erfan; Or, Dani

2015-11-01

Bluff-body obstacles interacting with turbulent airflows are common in many natural and engineering applications (from desert pavement and shrubs over natural surfaces to cylindrical elements in compact heat exchangers). Even with obstacles of simple geometry, their interactions within turbulent airflows result in a complex and unsteady flow field that affects surface drag partitioning and transport of scalars from adjacent evaporating surfaces. Observations of spatio-temporal thermal patterns on evaporating porous surfaces adjacent to bluff-body obstacles depict well-defined and persistent zonation of evaporation rates that were used to construct a simple mechanistic model for surface-turbulence interactions. Results from evaporative drying of sand surfaces with isolated cylindrical elements (bluff bodies) subjected to constant turbulent airflows were in good agreement with model predictions for localized exchange rates. Experimental and theoretical results show persistent enhancement of evaporative fluxes from bluff-rough surfaces relative to smooth flat surfaces under similar conditions. The enhancement is attributed to formation of vortices that induce a thinner boundary layer over part of the interacting surface footprint. For a practical range of air velocities (0.5-4.0 m/s), low-aspect ratio cylindrical bluff elements placed on evaporating sand surfaces enhanced evaporative mass losses (relative to a flat surface) by up to 300% for high density of elements and high wind velocity, similar to observations reported in the literature. Concepts from drag partitioning were used to generalize the model and upscale predictions to evaporation from surfaces with multiple obstacles for potential applications to natural bluff-rough surfaces.

The Metalloprotease Mpl Supports Listeria monocytogenes Dissemination through Resolution of Membrane Protrusions into Vacuoles.

Science.gov (United States)

Alvarez, Diego E; Agaisse, Hervé

2016-06-01

Listeria monocytogenes is an intracellular pathogen that disseminates within the intestinal epithelium through acquisition of actin-based motility and formation of plasma membrane protrusions that project into adjacent cells. The resolution of membrane protrusions into vacuoles from which the pathogen escapes results in bacterial spread from cell to cell. This dissemination process relies on the mlp-actA-plcB operon, which encodes ActA, a bacterial nucleation-promoting factor that mediates actin-based motility, and PlcB, a phospholipase that mediates vacuole escape. Here we investigated the role of the metalloprotease Mpl in the dissemination process. In agreement with previous findings showing that Mpl is required for PlcB activation, infection of epithelial cells with the ΔplcB or Δmpl strains resulted in the formation of small infection foci. As expected, the ΔplcB strain displayed a strong defect in vacuole escape. However, the Δmpl strain showed an unexpected defect in the resolution of protrusions into vacuoles, in addition to the expected but mild defect in vacuole escape. The Δmpl strain displayed increased levels of ActA on the bacterial surface in protrusions. We mapped an Mpl-dependent processing site in ActA between amino acid residues 207 to 238. Similar to the Δmpl strain, the ΔactA207-238 strain displayed increased levels of ActA on the bacterial surface in protrusions. Although the ΔactA207-238 strain displayed wild-type actin-based motility, it formed small infection foci and failed to resolve protrusions into vacuoles. We propose that, in addition to its role in PlcB processing and vacuole escape, the metalloprotease Mpl is required for ActA processing and protrusion resolution. Copyright © 2016, American Society for Microbiology. All Rights Reserved.

Optimal measurement for "posterolateral protrusion" of the vertebral artery at the craniovertebral junction using computed tomography angiography

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Junichi Ohya

2014-01-01

Full Text Available Purpose: Among extraosseous abnormalities of the vertebral artery (VA at the craniovertebral junction (CVJ, available evidence regarding "posterolateral protrusion," the VA running distant from the groove over the superior surface of the posterior arch of the atlas, is limited. The purpose of this study was to determine the optimal measurement to indicate posterolateral protrusion of the VA. Materials and Methods: Computed tomography angiography (CTA images of 40 consecutive patients with cervical disease were reviewed. Ultimately, 66 arteries were included in this study. Five parameters predicted to indicate posterolateral protrusion of the VA were defined (A-E and measured by two surgeons twice over a 2-week interval. Intraclass correlation coefficients (ICC were used to examine intra-observer reproducibility and inter-observer reliability. Receiver operating characteristic (ROC curve analysis was performed to determine the most optimal parameter to predict posterolateral protrusion of the VA. Results: Excellent inter-observer reliability and intra-observer reproducibility were obtained for all parameters (ICC = 0.87-0.99. Among them, parameter A, defined as the maximal length from the outer surface of the VA to the outer surface of the posterior arch of the atlas, was most accurately described posterolateral protrusion of the VA. The optimal cut-off value of parameter A obtained with ROC curves was 8.3 mm (sensitivity 97.5%, specificity 100%. Conclusions: The measurement in this study can quantitatively evaluate the posterolateral protrusion of the VA. Before posterior surgery at the CVJ, pre-operative CTA can help surgeons detect anomalous VA and reduce the risk of intra-operative VA injury.

Gap junctions are selectively associated with interlocking ball-and-sockets but not protrusions in the lens.

Science.gov (United States)

Biswas, Sondip K; Lee, Jai Eun; Brako, Lawrence; Jiang, Jean X; Lo, Woo-Kuen

2010-11-09

Ball-and-sockets and protrusions are specialized interlocking membrane domains between lens fibers of all species studied. Ball-and-sockets and protrusions are similar in their shape, size, and surface morphology, and are traditionally believed to play a key role in maintaining fiber-to-fiber stability. Here, we evaluate the hypothesis that ball-and-sockets and protrusions possess important structural and functional differences during fiber cell differentiation and maturation. Intact lenses of leghorn chickens (E7 days to P62 weeks old) and rhesus monkeys (1.5-20 years old) were studied with SEM, freeze-fracture TEM, freeze-fracture immunogold labeling (FRIL), and filipin cytochemistry for membrane cholesterol detection. SEM showed that ball-and-sockets were distributed along the long and short sides of hexagonal fiber cells, whereas protrusions were located along the cell corners, from superficial to deep cortical regions in both chicken and monkey lenses. Importantly, by freeze-fracture TEM, we discovered the selective association of gap junctions with all ball-and-sockets examined, but not with protrusions, in both species. In the embryonic chicken lens (E18), the abundant distribution of ball-and-socket gap junctions was regularly found in an approximate zone extending at least 300 μm deep from the equatorial surface of the superficial cortical fibers. Many ball-and-socket gap junctions often protruded deeply into neighboring cells. However, in the mature fibers of monkey lenses, several ball-and-sockets exhibited only partial occupancy of gap junctions with disorganized connexons, possibly due to degradation of gap junctions during fiber maturation and aging. FRIL analysis confirmed that both connexin46 (Cx46) and connexin50 (Cx50) antibodies specifically labeled ball-and-socket gap junctions, but not protrusions. Furthermore, filipin cytochemistry revealed that the ball-and-socket gap junctions contained different amounts of cholesterol (i.e., cholesterol

Numerical investigation of thermal-hydraulic performance of channel with protrusions by turbulent cross flow jet

Science.gov (United States)

Sahu, M. K.; Pandey, K. M.; Chatterjee, S.

2018-05-01

In this two dimensional numerical investigation, small rectangular channel with right angled triangular protrusions in the bottom wall of test section is considered. A slot nozzle is placed at the middle of top wall of channel which impinges air normal to the protruded surface. A duct flow and nozzle flow combined to form cross flow which is investigated for heat transfer enhancement of protruded channel. The governing equations for continuity, momentum, energy along with SST k-ω turbulence model are solved with finite volume based Computational fluid dynamics code ANSYS FLUENT 14.0. The range of duct Reynolds number considered for this analysis is 8357 to 51760. The ratios of pitch of protrusion to height of duct considered are 0.5, 0.64 and 0.82. The ratios of height of protrusion to height of duct considered are 0.14, 0.23 and 0.29. The effect of duct Reynolds number, pitch and height of protrusion on thermal-hydraulic performance is studied under cross flow condition. It is found that heat transfer rate is more at relatively larger pitch and small pressure drop is found in case of low height of protrusion.

CFD simulations to study the effects of wall protrusions on microfluidic mixing

Science.gov (United States)

Sarkar, Sourav; Singh, K. K.; Shankar, V.; Shenoy, K. T.

2015-08-01

In this study the effects of different types of wall protrusions on microfluidic mixing are studied using computational fluid dynamics (CFD) simulations. Two new protrusions, single first bracket protrusions and double opposite first bracket protrusions (DOFBPs), are conceptualized, evaluated through CFD simulations and compared to protrusions having standard geometrical shapes, e.g. rectangular protrusions, triangular protrusions and semicircular protrusions. In the range of Reynolds numbers covered in this study, the microchannel having an opposed T-junction and DOFBPs is found to provide good mixing. A hybrid approach relying on the modification of microfluidic junctions as well as wall protrusions for enhancing microfluidic mixing is also evaluated. The microchannel based on the hybrid approach of an OA 10°-20°-165° WY-junction and DOFBPs is also found to provide very good mixing for a wide range of Reynolds numbers.

Modeling the Excess Cell Surface Stored in a Complex Morphology of Bleb-Like Protrusions.

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Maryna Kapustina

2016-03-01

Full Text Available Cells transition from spread to rounded morphologies in diverse physiological contexts including mitosis and mesenchymal-to-amoeboid transitions. When these drastic shape changes occur rapidly, cell volume and surface area are approximately conserved. Consequently, the rounded cells are suddenly presented with a several-fold excess of cell surface whose area far exceeds that of a smooth sphere enclosing the cell volume. This excess is stored in a population of bleb-like protrusions (BLiPs, whose size distribution is shown by electron micrographs to be skewed. We introduce three complementary models of rounded cell morphologies with a prescribed excess surface area. A 2D Hamiltonian model provides a mechanistic description of how discrete attachment points between the cell surface and cortex together with surface bending energy can generate a morphology that satisfies a prescribed excess area and BLiP number density. A 3D random seed-and-growth model simulates efficient packing of BLiPs over a primary rounded shape, demonstrating a pathway for skewed BLiP size distributions that recapitulate 3D morphologies. Finally, a phase field model (2D and 3D posits energy-based constitutive laws for the cell membrane, nematic F-actin cortex, interior cytosol, and external aqueous medium. The cell surface is equipped with a spontaneous curvature function, a proxy for the cell surface-cortex couple, that is a priori unknown, which the model "learns" from the thin section transmission electron micrograph image (2D or the "seed and growth" model image (3D. Converged phase field simulations predict self-consistent amplitudes and spatial localization of pressure and stress throughout the cell for any posited stationary morphology target and cell compartment constitutive properties. The models form a general framework for future studies of cell morphological dynamics in a variety of biological contexts.

Transanal protrusion of intussusceptions in children

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Ezomike Uchechukwu Obiora

2014-01-01

Full Text Available Background: The aim of the following study is to report our management experience and outcome of transanal protrusion of intussusceptions. Patients and Methods: Retrospective analysis of all cases of intussusceptions protruding through the anal opening from January 2008 to June 2013. Results: Of 62 cases of intussusceptions, transanal protrusion occurred in 10 patients (16% anal protrusion rate with a male:female ratio of 2:3. They were aged 4-96 months (mean 22.6 ± 30.7, median 7.5 months. Six were infants while four were above 1 year. Duration of symptoms ranged from 2 to 14 days (mean 5.9 days ± 3.4 with only two patients presenting within 48 h. Clinical features included vomiting (100%, abdominal pains (100%, bloody mucoid stool (100%, abdominal distension (90%, and palpable left iliac fossa mass (70%. Three patients had preceding diarrhoea (30% and two had preceding upper respiratory tract infection (20%. Duration of hospital stay ranged from 5 to 23 days (mean 12 days ± 5.6. Findings at surgery included seven ileocolic and two colocolic intussusceptions (one patient died before surgery. Operative procedures were right hemicolectomy (5, operative manual reduction (3, left hemicolectomy (1 giving a 67% bowel resection rate. One patient died giving a 10% mortality rate. Conclusion: Transanal protrusion occurred more in females and is associated with late presentation, older age, high bowel resection rate, and high mortality.

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.

Experimental and numerical investigation of dimplelike protrusions employed in recent heat exchangers

International Nuclear Information System (INIS)

Preibisch, S; Dietzel, D; Buschmann, M H; Friebe, C

2011-01-01

This study is motivated by the observation that recent investigations of dimpled surfaces employed for enhancing heat transfer rarely go beyond general parameters like pressure losses and heat transfer performance. Here, we explore a real world dimpled cross-flow heat exchanger. In particular, we are interested in the global parameters, but also in the local flow situation around a single dimplelike protrusion. Detailed PIV-experiments and simulations of the local flow around single protrusions and groups of them reveal the flow structures essential for heat transfer. These local results are brought in conjunction with the general performance of the heat exchanger. Based on local results, simulations of the complete heat exchanger are carried out which are found to be in reasonable agreement with the global parameters found experimentally.

Condylar guidance: correlation between protrusive interocclusal record and panoramic radiographic image: a pilot study.

Science.gov (United States)

Tannamala, Pavan Kumar; Pulagam, Mahesh; Pottem, Srinivas R; Swapna, B

2012-04-01

The purpose of this study was to compare the sagittal condylar angles set in the Hanau articulator by use of a method of obtaining an intraoral protrusive record to those angles found using a panoramic radiographic image. Ten patients, free of signs and symptoms of temporomandibular disorder and with intact dentition were selected. The dental stone casts of the subjects were mounted on a Hanau articulator with a springbow and poly(vinyl siloxane) interocclusal records. For all patients, the protrusive records were obtained when the mandible moved forward by approximately 6 mm. All procedures for recording, mounting, and setting were done in the same session. The condylar guidance angles obtained were tabulated. A panoramic radiographic image of each patient was made with the Frankfurt horizontal plane parallel to the floor of the mouth. Tracings of the radiographic images were made. The horizontal reference line was marked by joining the orbitale and porion. The most superior and most inferior points of the curvatures were identified. These two lines were connected by a straight line representing the mean curvature line. Angles made by the intersection of the mean curvature line and the horizontal reference line were measured. The results were subjected to statistical analysis with a significance level of p record method. The mean condylar guidance angle between the right and left side by both the methods was not statistically significant. The comparison of mean condylar guidance angles between the right side of the protrusive record method and the right side of the panoramic radiographic method and the left side of the protrusive record method and the left side of the panoramic radiographic method (p= 0.071 and p= 0.057, respectively) were not statistically significant. Within the limitations of this study, it was concluded that the protrusive condylar guidance angles obtained by panoramic radiograph may be used in programming semi-adjustable articulators. © 2012

Investigation of thermo-fluid behavior of mixed convection heat transfer of different dimples-protrusions wall patterns to heat transfer enhancement

Science.gov (United States)

Sobhani, M.; Behzadmehr, A.

2018-05-01

This study is a numerical investigation of the effect of improving heat transfer namely, modified rough (dimples and protrusions) surfaces on the mixed convective heat transfer of a turbulent flow in a horizontal tube. The effects of different dimples-protrusions arrangements on the improving the thermal performance of a rough tube are investigated at various Richardson numbers. Three dimensional governing equations are discretized by the finite-volume technique. Based on the obtained results the dimples-protrusions arrangements are modified to find a suitable configuration for which heat transfer coefficient and pressure drop to be balanced. Modified dimples-protrusions arrangements that shows higher performance is presented. Its average thermal performance 18% and 11% is higher than the other arrangements. In addition, the results show that roughening a smooth tube is more effective at the higher Richardson number.

Independently evolved upper jaw protrusion mechanisms show convergent hydrodynamic function in teleost fishes.

Science.gov (United States)

Staab, Katie Lynn; Holzman, Roi; Hernandez, L Patricia; Wainwright, Peter C

2012-05-01

A protrusible upper jaw has independently evolved multiple times within teleosts and has been implicated in the success of two groups in particular: Acanthomorpha and Cypriniformes. We use digital particle image velocimetry (DPIV) to compare suction feeding flow dynamics in a representative of each of these clades: goldfish and bluegill. Using DPIV, we contrast the spatial pattern of flow, the temporal relationship between flow and head kinematics, and the contribution of jaw protrusion to the forces exerted on prey. As expected, the spatial patterns of flow were similar in the two species. However, goldfish were slower to reach maximal kinematic excursions, and were more flexible in the relative timing of jaw protrusion, other jaw movements and suction flows. Goldfish were also able to sustain flow speeds for a prolonged period of time as compared with bluegill, in part because goldfish generate lower peak flow speeds. In both species, jaw protrusion increased the force exerted on the prey. However, slower jaw protrusion in goldfish resulted in less augmentation of suction forces. This difference in force exerted on prey corresponds with differences in trophic niches and feeding behavior of the two species. The bluegill uses powerful suction to capture insect larvae whereas the goldfish uses winnowing to sort through detritus and sediment. The kinethmoid of goldfish may permit jaw protrusion that is independent of lower jaw movement, which could explain the ability of goldfish to decouple suction flows (due to buccal expansion) from upper jaw protrusion. Nevertheless, our results show that jaw protrusion allows both species to augment the force exerted on prey, suggesting that this is a fundamental benefit of jaw protrusion to suction feeders.

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.

APPLICATION OF DSM IN OBSTACLE CLEARANCE SURVEYING OF AERODROME

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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.

Microstructure Evolution and Protrusion of Electroplated Cu-Filled Through-Silicon Vias Subjected to Thermal Cyclic Loading

Science.gov (United States)

Chen, Si; An, Tong; Qin, Fei; Chen, Pei

2017-10-01

Through-silicon vias (TSVs) have become an important technology for three-dimensional integrated circuit (3D IC) packaging. Protrusion of electroplated Cu-filled vias is a critical reliability issue for TSV technology. In this work, thermal cycling tests were carried out to identify how the microstructure affects protrusion during thermal cycling. Cu protrusion occurs when the loading temperature is higher than 149°C. During the first five thermal cycles, the grain size of Cu plays a dominant role in the protrusion behavior. Larger Cu grain size before thermal cycling results in greater Cu protrusion. With increasing thermal cycle number, the effect of the Cu grain size reduces and the microstrain begins to dominate the Cu protrusion behavior. Higher magnitude of microstrain within Cu results in greater protrusion increment during subsequent thermal cycles. When the thermal cycle number reaches 25, the protrusion rate of Cu slows down due to strain hardening. After 30 thermal cycles, the Cu protrusion stabilizes within the range of 1.92 μm to 2.09 μm.

Influence of bimaxillary protrusion on the perception of smile esthetics.

Science.gov (United States)

Almutairi, Terki K; Albarakati, Sahar F; Aldrees, Abdullah M

2015-01-01

To evaluate the impact of bimaxillary protrusion on smile esthetics as perceived by dental professionals and laypersons. One hundred and fifty evaluators, equally distributed into their respective panels (orthodontists, general dentists, and laypersons), participated in this cross-sectional study conducted in April to December 2012 in Riyadh, Saudi Arabia. The patient sample consisted of 14 female patients divided equally into 2 groups: bimaxillary protrusion patients, and patients who have had 4-premolar extraction treatment. Two standardized photographs (frontal and three-quarter close-up smile views), and a lateral cephalogram were taken for each patient. The evaluators were asked to rate the attractiveness of each photo according to a 100-mm visual analog scale. These esthetic ratings were correlated with the patients' cephalometric measurements. The bimaxillary protrusion group was rated significantly as less attractive than the treatment group by each evaluator panel. Panel comparison showed that laypeople were less receptive of bimaxillary protrusion than dental professionals. Frontal and three-quarter views of the same smiles were not similarly rated for esthetic perceptions. Correlational analysis revealed that the dentoalveolar measurement with the highest significant negative correlation to the smile esthetics was the upper incisors to palatal plane (U1-PP) angle. Patients with bimaxillary protrusion were found to be less attractive than patients who were treated for the condition. This was especially evident among the laypersons. An increase in the upper incisor inclination, as well as a decrease in the interincisal angle compounds the bimaxillary effect. 

Measurements of the Curvature of Protrusions/Retrusions on Migrating Recrystallization Boundaries

DEFF Research Database (Denmark)

Zhang, Yubin; Godfrey, A.; Juul Jensen, Dorte

2009-01-01

Two methods to quantify protrusions/retrusions and to estimate local boundary curvature from sample plane sections are proposed. The methods are used to evaluate the driving force due to curvature of the protrusions/retrusions for partially recrystallized pure nickel cold rolled to 96% reduction...

Mechanisms of leading edge protrusion in interstitial migration

Science.gov (United States)

Wilson, Kerry; Lewalle, Alexandre; Fritzsche, Marco; Thorogate, Richard; Duke, Tom; Charras, Guillaume

2013-01-01

While the molecular and biophysical mechanisms underlying cell protrusion on two-dimensional substrates are well understood, our knowledge of the actin structures driving protrusion in three-dimensional environments is poor, despite relevance to inflammation, development and cancer. Here we report that, during chemotactic migration through microchannels with 5 μm × 5 μm cross-sections, HL60 neutrophil-like cells assemble an actin-rich slab filling the whole channel cross-section at their front. This leading edge comprises two distinct F-actin networks: an adherent network that polymerizes perpendicular to cell-wall interfaces and a ‘free’ network that grows from the free membrane at the cell front. Each network is polymerized by a distinct nucleator and, due to their geometrical arrangement, the networks interact mechanically. On the basis of our experimental data, we propose that, during interstitial migration, medial growth of the adherent network compresses the free network preventing its retrograde movement and enabling new polymerization to be converted into forward protrusion. PMID:24305616

Self-organized antireflection CuIn(S,Se)_2 nano-protrusions on flexible substrates by ion erosion based on CuInS_2 nanocrystal precursor inks

International Nuclear Information System (INIS)

Yen, Yu-Ting; Wang, Yi-Chung; Chen, Chia-Wei; Tsai, Hung-Wei; Chen, Yu-Ze; Hu, Fan; Chueh, Yu-Lun

2015-01-01

Highlights: • CuIn(S,Se)_2 nano-protrusions were demonstrated on 36-cm"2 flexible substrates. • Nano-protrusions were created by ion erosion on selenized CuInS_2 nanocrystal precursor inks. • Tilt orientations and remarkable anti-reflectance characteristics of nano-protrusions can be precisely controlled. - Abstract: In this work, an approach to achieve surface nano-protrusions on a chalcopyrite CuIn(S,Se)_2 thin film was demonstrated. Home-made CuInS_2 nanocrystals with average diameter of 20 nm were prepared and characterized. By applying ion erosion process on the CuIn(S,Se)_2 film, large-area self-aligned nano-protrusions can be formed. Interestingly, the process can be applied on flexible substrate where the CuIn(S,Se)_2 film remains intact with no visible cracking after several bending tests. In addition, reflectance spectra reveal the extraordinary anti-reflectance characteristics of nano-protrusions on the CuIn(S,Se)_2 film with the incident light from 350 to 2000 nm. A 36-cm"2 CuIn(S,Se)_2 film with nano-protrusions on flexible molybdenum foil substrate has been demonstrated, which demonstrated the feasibility of developing low cost with a high optical absorption CuIn(S,Se)_2 flexible thin film.

Unique Asymmetric Protrusion of Nerve Cord in the Amphioxus, Branchiostoma belcheri

Science.gov (United States)

Nozaki, Masumi; Terakado, Kiyoshi; Kubokawa, Kaoru

The amphioxus is the only surviving prevertebrate segmented chordate. In this animal Hatschek's pit has long been regarded as a putative homologue of the adenohypophysis because of the presence of secretory granules and immunoreactive cells to vertebrate gonadotrophic hormone in this organ. We found that the nerve cord extends a protrusion to the pit along the right side of the notochord. Furthermore, secretory granules were found not only in the pit but also in the protrusion of the nerve cord. These results suggest that Hatschek's pit and the nerve protrusion are homologous to the adenohypophysis and neurohypophysis, respectively. We believe that this is an evidence for the presence of the neuroendocrine link between the central nervous system and Hatschek's pit in the amphioxus.

Carotid artery protrusion and dehiscence in patients with acromegaly.

Science.gov (United States)

Sasagawa, Yasuo; Tachibana, Osamu; Doai, Mariko; Hayashi, Yasuhiko; Tonami, Hisao; Iizuka, Hideaki; Nakada, Mitsutoshi

2016-10-01

Acromegaly is a systemic disease which causes multiple bony alterations. Some authors reported that acromegalic patients have risk factors for an intraoperative vascular injury due to the specific anatomical features of their sphenoid sinus. The objective of our study was to analyze the anatomic characteristics of sphenoid sinus in acromegalic patients compared with controls, by evaluation of computed tomography (CT) findings. We examined 45 acromegalic (acromegaly group) and 45 non-acromegalic patients (control group) with pituitary adenomas who were matched for sex, age, height, tumor size, and cavernous sinus invasion (Knosp grade). Preoperative CT of the pituitary region including the sphenoid sinus was used to evaluate the following anatomic characteristics: type of sphenoid sinus (sellar or pre-sellar/conchal); intrasphenoid septa (non/single or multiple); carotid artery protrusion; carotid artery dehiscence; intercarotid distance. Sixteen acromegalic patients (35.5 %) and 6 controls (13.3 %) had carotid artery protrusion. Additionally, 10 acromegalic patients (22.2 %) and 3 controls (6.6 %) had carotid artery dehiscence. Carotid artery protrusion and dehiscence were more frequent in the acromegaly group than in control group (p = 0.013 and 0.035, respectively). Other anatomic characteristics (type of sphenoid sinus, intrasphenoid septa, and intracarotid distance) showed no significant differences between acromegaly and control groups. Our study suggests that carotid artery protrusion and dehiscence occur more frequently among acromegalic patients, compared with non-acromegalic patients. It is important for surgeons to be aware of these anatomic variations to avoid vital complications, such as carotid injuries, during surgery.

Preferential control of basal dendritic protrusions by EphB2.

Directory of Open Access Journals (Sweden)

Matthew S Kayser

2011-02-01

Full Text Available The flow of information between neurons in many neural circuits is controlled by a highly specialized site of cell-cell contact known as a synapse. A number of molecules have been identified that are involved in central nervous system synapse development, but knowledge is limited regarding whether these cues direct organization of specific synapse types or on particular regions of individual neurons. Glutamate is the primary excitatory neurotransmitter in the brain, and the majority of glutamatergic synapses occur on mushroom-shaped protrusions called dendritic spines. Changes in the morphology of these structures are associated with long-lasting modulation of synaptic strength thought to underlie learning and memory, and can be abnormal in neuropsychiatric disease. Here, we use rat cortical slice cultures to examine how a previously-described synaptogenic molecule, the EphB2 receptor tyrosine kinase, regulates dendritic protrusion morphology in specific regions of the dendritic arbor in cortical pyramidal neurons. We find that alterations in EphB2 signaling can bidirectionally control protrusion length, and knockdown of EphB2 expression levels reduces the number of dendritic spines and filopodia. Expression of wild-type or dominant negative EphB2 reveals that EphB2 preferentially regulates dendritic protrusion structure in basal dendrites. Our findings suggest that EphB2 may act to specify synapse formation in a particular subcellular region of cortical pyramidal neurons.

Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

Directory of Open Access Journals (Sweden)

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.

Wakes behind surface-mounted obstacles: Impact of aspect ratio, incident angle, and surface roughness

Science.gov (United States)

Tobin, Nicolas; Chamorro, Leonardo P.

2018-03-01

The so-called wake-moment coefficient C˜h and lateral wake deflection of three-dimensional windbreaks are explored in the near and far wake. Wind-tunnel experiments were performed to study the functional dependence of C˜h with windbreak aspect ratio, incidence angle, and the ratio of the windbreak height and surface roughness (h /z0 ). Supported with the data, we also propose basic models for the wake deflection of the windbreak in the near and far fields. The near-wake model is based on momentum conservation considering the drag on the windbreak, whereas the far-wake counterpart is based on existing models for wakes behind surface-mounted obstacles. Results show that C˜h does not change with windbreak aspect ratios of 10 or greater; however, it may be lower for an aspect ratio of 5. C˜h is found to change roughly with the cosine of the incidence angle, and to depend strongly on h /z0 . The data broadly support the proposed wake-deflection models, though better predictions could be made with improved knowledge of the windbreak drag coefficient.

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

Directory of Open Access Journals (Sweden)

Xin Li

2012-09-01

Full Text Available 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 to meet the requirements of real-time teleoperation in some unknown environment. This paper presents an on-line method for a telerobotic system to take advantage of redundancy to avoid obstacle, which is based on real-time sensor information. With this method, the human operator can focus attention on the end-effector operation regardless of the obstacle avoidance of other parts. The effectiveness and advantage of the method are well demonstrated by experiments.

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.

Coordination of membrane and actin cytoskeleton dynamics during filopodia protrusion.

Directory of Open Access Journals (Sweden)

Changsong Yang

2009-05-01

Full Text Available Leading edge protrusion of migrating cells involves tightly coordinated changes in the plasma membrane and actin cytoskeleton. It remains unclear whether polymerizing actin filaments push and deform the membrane, or membrane deformation occurs independently and is subsequently stabilized by actin filaments. To address this question, we employed an ability of the membrane-binding I-BAR domain of IRSp53 to uncouple the membrane and actin dynamics and to induce filopodia in expressing cells. Using time-lapse imaging and electron microscopy of IRSp53-I-BAR-expressing B16F1 melanoma cells, we demonstrate that cells are not able to protrude or maintain durable long extensions without actin filaments in their interior, but I-BAR-dependent membrane deformation can create a small and transient space at filopodial tips that is subsequently filled with actin filaments. Moreover, the expressed I-BAR domain forms a submembranous coat that may structurally support these transient actin-free protrusions until they are further stabilized by the actin cytoskeleton. Actin filaments in the I-BAR-induced filopodia, in contrast to normal filopodia, do not have a uniform length, are less abundant, poorly bundled, and display erratic dynamics. Such unconventional structural organization and dynamics of actin in I-BAR-induced filopodia suggests that a typical bundle of parallel actin filaments is not necessary for generation and mechanical support of the highly asymmetric filopodial geometry. Together, our data suggest that actin filaments may not directly drive the protrusion, but only stabilize the space generated by the membrane deformation; yet, such stabilization is necessary for efficient protrusion.

Effect of microscale protrusions on local fluid flow and mass transport in the presence of forced convection

Energy Technology Data Exchange (ETDEWEB)

Matzen, Gehard W. [Univ. of California, Berkeley, CA (United States)

1997-01-01

Three-dimensional creeping flow around single, axisymmetric protrusions is studied numerically using the boundary-integral technique. Emphasis is placed upon cylindrical protrusions on plane walls for various height-to-radius (h-to-a) aspect ratios, but cones and sections of spheres protruding from plane walls are also briefly examined. The presented items include shear-stress distributions, shear-stress contours, extents of the fluid-flow disturbance, total forces and torques on the cylinders, streamlines, and skin-friction lines. Also included is a discussion of flow topology around axisymmetric geometries. No flow reversal is observed for cylindrical protrusions with aspect ratios greater than 2.4 to 2.6. At higher aspect ratios, the fluid tends to be swept around cylindrical protrusions with little vertical motion. At lower aspect ratios, the strength of the recirculation increases, and the recirculation region becomes wider in the transverse direction and narrower in the flow direction. Also, the recirculation pattern begins to resemble the closed streamline patterns in two-dimensional flow over square ridges. However, unlike two-dimensional flow, closed streamline patterns are not observed. For arbitrary axisymmetric geometries, the extent of the fluid-flow disturbance can be estimated with the total force that is exerted on the protrusion. When the same force is exerted on protrusions with different aspect ratios, the protrusion with the higher aspect ratio tends to have a greater disturbance in the flow direction and a smaller disturbance in the transverse direction. The total force exerted on cylindrical protrusions with rounded corners is only slightly lower than the total force exerted on cylindrical protrusions with sharp corners.

Assessment of Normal Eyeball Protrusion Using Computed Tomographic Imaging and Three-Dimensional Reconstruction in Korean Adults.

Science.gov (United States)

Shin, Kang-Jae; Gil, Young-Chun; Lee, Shin-Hyo; Kim, Jeong-Nam; Yoo, Ja-Young; Kim, Soon-Heum; Choi, Hyun-Gon; Shin, Hyun Jin; Koh, Ki-Seok; Song, Wu-Chul

2017-01-01

The aim of the present study was to assess normal eyeball protrusion from the orbital rim using two- and three-dimensional images and demonstrate the better suitability of CT images for assessment of exophthalmos. The facial computed tomographic (CT) images of Korean adults were acquired in sagittal and transverse views. The CT images were used in reconstructing three-dimensional volume of faces using computer software. The protrusion distances from orbital rims and the diameters of eyeballs were measured in the two views of the CT image and three-dimensional volume of the face. Relative exophthalmometry was calculated by the difference in protrusion distance between the right and left sides. The eyeball protrusion was 4.9 and 12.5 mm in sagittal and transverse views, respectively. The protrusion distances were 2.9 mm in the three-dimensional volume of face. There were no significant differences between right and left sides in the degree of protrusion, and the difference was within 2 mm in more than 90% of the subjects. The results of the present study will provide reliable criteria for precise diagnosis and postoperative monitoring using CT imaging of diseases such as thyroid-associated ophthalmopathy and orbital tumors.

Signaling by Cellular Protrusions: Keeping the Conversation Private.

Science.gov (United States)

Buszczak, Michael; Inaba, Mayu; Yamashita, Yukiko M

2016-07-01

Information exchange between different cells makes multicellular life possible. Signaling between cells can occur over long distances, as in the case of hormone signaling, or it can take place over short distances between immediately juxtaposed neighbors, as in the case of stem cell-niche signaling. The ability of signal-sending and -receiving cells to communicate with one another in a specific manner is of paramount importance in the proper development and function of tissues. Growing evidence indicates that different cellular protrusions help to achieve specificity in signaling that occurs between distinct cell types. Here, we focus on new roles for cellular protrusions in cell-to-cell communication, drawing special attention to how stem cells use specialized extensions to promote reception of self-renewing signals emanating from the niche. Copyright © 2016 Elsevier Ltd. All rights reserved.

Membrane Protrusion Coarsening and Nanotubulation within Giant Unilamellar Vesicles

KAUST Repository

Węgrzyn, Ilona

2011-11-16

Hydrophobic side groups on a stimuli-responsive polymer, encapsulated within a single giant unilamellar vesicle, enable membrane attachment during compartment formation at elevated temperatures. We thermally modulated the vesicle through implementation of an IR laser via an optical fiber, enabling localized directed heating. Polymer-membrane interactions were monitored using confocal imaging techniques as subsequent membrane protrusions occurred and lipid nanotubes formed in response to the polymer hydrogel contraction. These nanotubes, bridging the vesicle membrane to the contracting hydrogel, were retained on the surface of the polymer compartment, where they were transformed into smaller vesicles in a process reminiscent of cellular endocytosis. This development of a synthetic vesicle system containing a stimuli-responsive polymer could lead to a new platform for studying inter/intramembrane transport through lipid nanotubes. © 2011 American Chemical Society.

Membrane Protrusion Coarsening and Nanotubulation within Giant Unilamellar Vesicles

KAUST Repository

Węgrzyn, Ilona; Jeffries, Gavin D. M.; Nagel, Birgit; Katterle, Martin; Gerrard, Simon R.; Brown, Tom; Orwar, Owe; Jesorka, Aldo

2011-01-01

implementation of an IR laser via an optical fiber, enabling localized directed heating. Polymer-membrane interactions were monitored using confocal imaging techniques as subsequent membrane protrusions occurred and lipid nanotubes formed in response

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.

Clostridium difficile toxin CDT induces formation of microtubule-based protrusions and increases adherence of bacteria.

Directory of Open Access Journals (Sweden)

Carsten Schwan

2009-10-01

Full Text Available Clostridium difficile causes antibiotic-associated diarrhea and pseudomembranous colitis by production of the Rho GTPase-glucosylating toxins A and B. Recently emerging hypervirulent Clostridium difficile strains additionally produce the binary ADP-ribosyltransferase toxin CDT (Clostridium difficile transferase, which ADP-ribosylates actin and inhibits actin polymerization. Thus far, the role of CDT as a virulence factor is not understood. Here we report by using time-lapse- and immunofluorescence microscopy that CDT and other binary actin-ADP-ribosylating toxins, including Clostridium botulinum C2 toxin and Clostridium perfringens iota toxin, induce redistribution of microtubules and formation of long (up to >150 microm microtubule-based protrusions at the surface of intestinal epithelial cells. The toxins increase the length of decoration of microtubule plus-ends by EB1/3, CLIP-170 and CLIP-115 proteins and cause redistribution of the capture proteins CLASP2 and ACF7 from microtubules at the cell cortex into the cell interior. The CDT-induced microtubule protrusions form a dense meshwork at the cell surface, which wrap and embed bacterial cells, thereby largely increasing the adherence of Clostridia. The study describes a novel type of microtubule structure caused by less efficient microtubule capture and offers a new perspective for the pathogenetic role of CDT and other binary actin-ADP-ribosylating toxins in host-pathogen interactions.

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)

[Treatment of adult bimaxillary arch protrusion with micro-implant anchorage].

Science.gov (United States)

Chen, Cheng; Zhang, Xiao-Rong

2015-02-01

In this study, micro-implants were used in 15 adult patients with mild and moderate bimaxillary arch protrusion or crowding. Cephalometric analysis was used to analyze hard and soft-tissues change before and after treatment, with the aim to investigate the effects of treatment on adult bimaxillary arch protrusion with micro-implant anchorage. Fifteen adult patients with mild and moderate bimaxillary arch protrusion were selected in this study. Micro-implants were inserted into the zygomaticoalveolar ridge of maxilla and the external oblique line of mandible. A NiTi coil spring was attached to the micro-implant to drag the whole upper and lower dentition for distal movement. Cephalometrics were taken before and after treatment, and the changes of soft and hard-tissue profile were studied. SPSS13.0 software package was used to analyze the data. (1)Sixty micro-implants remained stable.(2)SNA, SNB had no significant changes (P>0.05), and the relationship between the maxilla and the mandible did not change significantly. U1/NA, U1-NA, L1/NB, L1-NB and U1/L1 changes in hard tissue had significant difference in cephalometric measurement (PMicro-implant can provide not only excellent skeletal anchorage but also a novel way to distalize the whole dentition efficiently.

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 ...

Prominin-2 expression increases protrusions, decreases caveolae and inhibits Cdc42 dependent fluid phase endocytosis

Energy Technology Data Exchange (ETDEWEB)

Singh, Raman Deep, E-mail: Takhter.Ramandeep@mayo.edu; Schroeder, Andreas S.; Scheffer, Luana; Holicky, Eileen L.; Wheatley, Christine L.; Marks, David L., E-mail: Marks.david@mayo.edu; Pagano, Richard E.

2013-05-10

Highlights: •Prominin-2 expression induced protrusions that co-localized with lipid raft markers. •Prominin-2 expression decreased caveolae, caveolar endocytosis and increased pCav1. •Prominin-2 expression inhibited fluid phase endocytosis by inactivation of Cdc42. •These endocytic effects can be reversed by adding exogenous cholesterol. •Caveolin1 knockdown restored fluid phase endocytosis in Prominin2 expressing cells. -- Abstract: Background: Membrane protrusions play important roles in biological processes such as cell adhesion, wound healing, migration, and sensing of the external environment. Cell protrusions are a subtype of membrane microdomains composed of cholesterol and sphingolipids, and can be disrupted by cholesterol depletion. Prominins are pentaspan membrane proteins that bind cholesterol and localize to plasma membrane (PM) protrusions. Prominin-1 is of great interest as a marker for stem and cancer cells, while Prominin-2 (Prom2) is reportedly restricted to epithelial cells. Aim: To characterize the effects of Prom-2 expression on PM microdomain organization. Methods: Prom2-fluorescent protein was transfected in human skin fibroblasts (HSF) and Chinese hamster ovary (CHO) cells for PM raft and endocytic studies. Caveolae at PM were visualized using transmission electron microscopy. Cdc42 activation was measured and caveolin-1 knockdown was performed using siRNAs. Results: Prom2 expression in HSF and CHO cells caused extensive Prom2-positive protrusions that co-localized with lipid raft markers. Prom2 expression significantly decreased caveolae at the PM, reduced caveolar endocytosis and increased caveolin-1 phosphorylation. Prom2 expression also inhibited Cdc42-dependent fluid phase endocytosis via decreased Cdc42 activation. Effects on endocytosis were reversed by addition of cholesterol. Knockdown of caveolin-1 by siRNA restored Cdc42 dependent fluid phase endocytosis in Prom2-expressing cells. Conclusions: Prom2 protrusions primarily

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.

An evaluation of self-esteem and quality of life in orthodontic patients: effects of crowding and protrusion.

Science.gov (United States)

Jung, Min-Ho

2015-09-01

To evaluate the effect of dental crowding and lip protrusion on self-esteem and quality of life (QOL) in female orthodontic patients with Class I malocclusion. The study sample consisted of 201 patients (mean age 22.6 ± 3.0 years) who sought orthodontic treatment. All the patients were evaluated before treatment in terms of their degree of dental crowding and lip protrusion. Rosenberg's Self-Esteem Scale and the Orthognathic Quality of Life Questionnaire (OQLQ) were used to determine self-esteem and QOL and to evaluate whether these values were related to malocclusion severity. The results indicated that severe crowding and severe protrusion can result in lower self-esteem and poorer QOL (P self-esteem and QOL scores than severe crowding or protrusion patients.

Glenoid fossa position in Class III malocclusion associated with mandibular protrusion.

Science.gov (United States)

Innocenti, Cristina; Giuntini, Veronica; Defraia, Efisio; Baccetti, Tiziano

2009-04-01

Our aim in this study was to investigate the position of the glenoid fossa in subjects with Class III malocclusion associated with mandibular protrusion to better clarify the role of this craniofacial component in Class III skeletal disharmony. A sample of 30 subjects, aged 8 years +/- 6 months, with skeletal and dental Class III malocclusion associated with mandibular protrusion, normal skeletal vertical relationships, and normal mandibular dimensions, was compared with a control group of 33 subjects with skeletal and dental Class I relationships. The comparisons between the Class III group and the control group on the cephalometric measures for the assessment of glenoid fossa position were performed with the Mann-Whitney U test at P <0.05. Subjects with Class III malocclusion had a significantly more mesial position of the glenoid fossa, when compared with the control group as measured with 3 parameters. An anterior position of the glenoid fossa is a possible diagnostic anatomic feature of Class III malocclusion associated with mandibular protrusion. An effective measurement to evaluate glenoid fossa position in craniofacial relationships is the cephalometric distance from the glenoid fossa to the frontomaxillary-nasal suture.

Directed cell migration in the presence of obstacles

Directory of Open Access Journals (Sweden)

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.

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,

Agenesis of mandibular second premolar in patient with dental bimaxillary protrusion

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Carlos Alberto Estevanell Tavares

Full Text Available ABSTRACT The present study reports the treatment carried out in a patient with mandibular second premolar agenesis associated with early loss of a deciduous second molar, deep overbite, severe overjet and dentoalveolar bimaxillary protrusion, which led to lip incompetence and a convex facial profile. The main objectives of this treatment were: to eliminate the spaces in mandibular arch, correct overbite, as well as eliminate bimaxillary protrusion and lip incompetence, thus leading to a balanced profile. The case was presented to the Brazilian Board of Orthodontics and Dentofacial Orthopedics (BBO as part of the requirements to obtain the title of BBO diplomate.

Fluxes of water through aquaporin 9 weaken membrane-cytoskeleton anchorage and promote formation of membrane protrusions.

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Thommie Karlsson

Full Text Available All modes of cell migration require rapid rearrangements of cell shape, allowing the cell to navigate within narrow spaces in an extracellular matrix. Thus, a highly flexible membrane and a dynamic cytoskeleton are crucial for rapid cell migration. Cytoskeleton dynamics and tension also play instrumental roles in the formation of different specialized cell membrane protrusions, viz. lamellipodia, filopodia, and membrane blebs. The flux of water through membrane-anchored water channels, known as aquaporins (AQPs has recently been implicated in the regulation of cell motility, and here we provide novel evidence for the role of AQP9 in the development of various forms of membrane protrusion. Using multiple imaging techniques and cellular models we show that: (i AQP9 induced and accumulated in filopodia, (ii AQP9-associated filopodial extensions preceded actin polymerization, which was in turn crucial for their stability and dynamics, and (iii minute, local reductions in osmolarity immediately initiated small dynamic bleb-like protrusions, the size of which correlated with the reduction in osmotic pressure. Based on this, we present a model for AQP9-induced membrane protrusion, where the interplay of water fluxes through AQP9 and actin dynamics regulate the cellular protrusive and motile activity of cells.

Lower bounds for protrusion replacement by counting equivalence classes

NARCIS (Netherlands)

Jansen, B.M.P.; Wulms, J.J.H.M.; Guo, J.; Hermelin, D.

2017-01-01

Garnero et al. [SIAM J. Discrete Math. 2015, 29(4):1864-1894] recently introduced a framework based on dynamic programming to make applications of the protrusion replacement technique constructive and to obtain explicit upper bounds on the involved constants. They show that for several graph

Lower bounds for protrusion replacement by counting equivalence classes

NARCIS (Netherlands)

Jansen, B.M.P.; Wulms, J.J.H.M.

2016-01-01

Garnero et al. [SIAM J. Discrete Math. 2015, 29(4):1864--1894] recently introduced a framework based on dynamic programming to make applications of the protrusion replacement technique constructive and to obtain explicit upper bounds on the involved constants. They show that for several graph

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)

Capturing 2D transient surface data of granular flows against obstacles with an RGB-D sensor

Science.gov (United States)

Caviedes-Voullieme, Daniel; Juez, Carmelo; Murillo, Javier; Garcia-Navarro, Pilar

2014-05-01

Landslides are an ubiquitous natural hazard, and therefore human infrastructure and settlements are often at risk in mountainous regions. In order to better understand and predict landslides, systematic studies of the phenomena need to be undertaken. In particular, computational tools which allow for analysis of field problems require to be thoroughly tested, calibrated and validated under controlled conditions. And to do so, it is necessary for such controlled experiments to be fully characterized in the same terms as the numerical model requires. This work presents an experimental study of dry granular flow over a rough bed with topography which resembles a mountain valley. It has an upper region with a very high slope. The geometry of the bed describes a fourth order polynomial curve, with a low point with zero slope, and afterwards a short region with adverse slope. Obstacles are present in the lower regions which are used as model geometries of human structures. The experiments consisted of a sudden release a mass of sand on the upper region, and allowing it to flow downslope. Furthermore, it has been frequent in previous studies to measure final states of the granular mass at rest, but seldom has transient data being provided, and never for the entire field. In this work we present transient measurements of the moving granular surfaces, obtained with a consumer-grade RGB-D sensor. The sensor, developed for the videogame industry, allows to measure the moving surface of the sand, thus obtaining elevation fields. The experimental results are very consistent and repeatable. The measured surfaces clearly show the distinctive features of the granular flow around the obstacles and allow to qualitatively describe the different flow patterns. More importantly, the quantitative description of the granular surface allows for benchmarking and calibration of predictive numerical models, key in scaling the small-scale experimental knowledge into the field.

When an object appears unexpectedly: foot placement during obstacle circumvention in children and adults with Developmental Coordination Disorder.

Science.gov (United States)

Wilmut, K; Barnett, A L

2017-10-01

Adjustments to locomotion to avoid an obstacle require a change to the usual pattern of foot placement, i.e. changes to step length and/or step width. Previous studies have demonstrated a difficulty in individuals with Developmental Coordination Disorder (DCD) in controlling stability while both stepping over and while circumventing an obstacle. In a previous study, we have considered the way in which individuals with DCD prepare for the possibility of an obstacle appearing (Wilmut and Barnett in Exp Brain Res 235:1531-1340, 2017). Using a parallel data set from this same task on the same individuals, the aim of the current study was to investigate the exact nature of changes in foot placement during obstacle avoidance, as this was not clear from previous work. Children and adults aged from 7 to 34 years of age took part in the study. Forty-four met the criteria for a diagnosis of DCD and there were 44 typically developing (TD) age and gender-matched controls. Participants walked at a comfortable pace down an 11 m walkway; on 6 out of 36 trials a 'gate' closed across their pathway which required circumvention. These 6 'gate close' trials were analysed for this study. The number and magnitude of step length and step width adjustments were similar across the DCD and TD groups, however, the younger children (7-11 years) made a greater number of early adjustments compared to the older children and adults (12-34 years of age). In contrast the adults made a greater number of adjustments later in the movement compared to the children. In terms of foot placement adjustments a clear preference was seen across all participants to use adjustments which resulted in reducing step length, stepping away from the obstacle and a combination of these. Apart from subtle differences, the individuals with DCD make step placements to circumvent an obstacle in line with their peers. It is suggested that the choice of foot placement strategy in individuals with DCD, although in line

Short Lives with Long-Lasting Effects: Filopodia Protrusions in Neuronal Branching Morphogenesis.

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George Leondaritis

Full Text Available The branching behaviors of both dendrites and axons are part of a neuronal maturation process initiated by the generation of small and transient membrane protrusions. These are highly dynamic, actin-enriched structures, collectively called filopodia, which can mature in neurons to form stable branches. Consequently, the generation of filopodia protrusions is crucial during the formation of neuronal circuits and involves the precise control of an interplay between the plasma membrane and actin dynamics. In this issue of PLOS Biology, Hou and colleagues identify a Ca2+/CaM-dependent molecular machinery in dendrites that ensures proper targeting of branch formation by activation of the actin nucleator Cobl.

Study of the Effect of Turbulence and Large Obstacles on the Evaporation from Bare Soil Surface through Coupled Free-flow and Porous-medium Flow Model

Science.gov (United States)

Gao, B.; Smits, K. M.

2017-12-01

Evaporation is a strongly coupled exchange process of mass, momentum and energy between the atmosphere and the soil. Several mechanisms influence evaporation, such as the atmospheric conditions, the structure of the soil surface, and the physical properties of the soil. Among the previous studies associated with evaporation modeling, most efforts use uncoupled models which simplify the influences of the atmosphere and soil through the use of resistance terms. Those that do consider the coupling between the free flow and porous media flow mainly consider flat terrain with grain-scale roughness. However, larger obstacles, which may form drags or ridges allowing normal convective air flow through the soil, are common in nature and may affect the evaporation significantly. Therefore, the goal of this work is to study the influence of large obstacles such as wavy surfaces on the flow behavior within the soil and exchange processes to the atmosphere under turbulent free-flow conditions. For simplicity, the soil surface with large obstacles are represented by a simple wavy surface. To do this, we modified a previously developed theory for two-phase two-component porous-medium flow, coupling it to single-phase two-component turbulent flow to simulate and analyze the evaporation from wavy soil surfaces. Detailed laboratory scale experiments using a wind tunnel interfaced with a porous media tank were carried out to test the modeling results. The characteristics of turbulent flow across a permeable wavy surface are discussed. Results demonstrate that there is an obvious recirculation zone formed at the surface, which is special because of the accumulation of water vapor and the thicker boundary layer in this area. In addition, the influences of both the free flow and porous medium on the evaporation are also analyzed. The porous medium affects the evaporation through the amount of water it can provide to the soil surface; while the atmosphere influences the evaporation

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

Analysis and experimental investigation for collimator reflective mirror surface deformation adjustment

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Chia-Yen Chan

2017-01-01

Full Text Available Collimator design is essential for meeting the requirements of high-precision telescopes. The collimator diameter should be larger than that of the target for alignment. Special supporting structures are required to reduce the gravitational deformation and control the surface deformation induced by the mounting force when inspecting large-aperture primary mirrors (M1. A ZERODURÂŽ mirror 620 mm in diameter for a collimator was analyzed using the finite element method to obtain the deformation induced by the supporting structures and adjustment mechanism. Zernike polynomials were also adopted to fit the optical surface and separate corresponding aberrations. The computed and measured wavefront aberration configurations for the collimator M1 were obtained complementally. The wavefront aberrations were adjusted using fine adjustment screws using 3D optical path differences map of the mirror surface. Through studies using different boundary conditions and inner ring support positions, it is concluded that the optical performance was excellent under a strong enough supporter. The best adjustment position was attained and applied to the actual collimator M1 to prove the correctness of the simulation results.

Incremental benefit of three-dimensional transesophageal echocardiography in the assessment of left main coronary artery stent protrusion.

Science.gov (United States)

Arisha, Mohammed J; Hsiung, Ming C; Ahmad, Amier; Nanda, Navin C; Elkaryoni, Ahmed; Mohamed, Ahmed H; Yin, Wei-Hsian

2017-06-01

Ostial lesions represent a challenging clinical scenario and percutaneous intervention (PCI) of left main coronary artery ostial lesions has been associated with postintervention complications, including protrusion of deployed stents into a sinus of Valsalva or aortic root. We report a case of stent protrusion into the aortic root following aorto-ostial left main coronary artery PCI, in which three-dimensional transesophageal echocardiography (3DTEE) provided incremental benefit over standard two-dimensional images. Specifically, 3DTEE confirmed the presence of stent protrusion by allowing clear visualization of the stent scaffold, in addition to characterizing the relationship between the stent and surrounding structures. © 2017, Wiley Periodicals, Inc.

Tratamento da má oclusão de Classe II, divisão 1 de Angle, com protrusão maxilar utilizando-se recursos ortopédicos Class II, division 1, with maxillar protrusion's treatment employing orthopedic approachs

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Carla Maria Melleiro Gimenez

2007-12-01

Full Text Available OBJETIVO: o presente trabalho tem o propósito de apresentar uma revisão da literatura acerca do tratamento da má oclusão de Classe II, divisão 1 de Angle, tendo a protrusão maxilar como o principal componente dessa má oclusão, durante a fase de crescimento e desenvolvimento craniofacial. Serão apresentadas as características de cada um desses aparelhos, os seus componentes, a forma adequada de utilização, os seus mecanismos de ação e, principalmente, os seus efeitos em todo o complexo dentofacial. CONCLUSÃO: nos casos em que se verifica apenas a protrusão maxilar, sem envolvimento mandibular, e se faz necessário o controle vertical, pode ser indicado o AEB, conjugado ao aparelho removível derivado do aparelho preconizado por Thurow. Já nas situações de combinação da protrusão maxilar com a retrusão mandibular, uma opção de tratamento é o ativador combinado à ancoragem extrabucal.AIM: The purpose of this research is to review the literature about the treatment of Class II, division 1 malocclusion with maxillary protrusion, during the growth and development period. This review addresses the characteristics of these appliances, their components, correct use, action mechanisms, and mainly their consequences in dentofacial complex. CONCLUSIONS: In patients with maxillary protrusion and with no mandibular component, it may be indicated the use of a maxillary splint similar to the one suggested by Thurow. However, in patients with maxillary protrusion and mandibular retrusion, it may be indicated an activator associated with extra oral anchorage.

Localization of cesium on montmorillonite surface investigated by frequency modulation atomic force microscopy

Science.gov (United States)

Araki, Yuki; Satoh, Hisao; Okumura, Masahiko; Onishi, Hiroshi

2017-11-01

Cation exchange of clay mineral is typically analyzed without microscopic study of the clay surfaces. In order to reveal the distribution of exchangeable cations at the clay surface, we performed in situ atomic-scale observations of the surface changes in Na-rich montmorillonite due to exchange with Cs cations using frequency modulation atomic force microscopy (FM-AFM). Lines of protrusion were observed on the surface in aqueous CsCl solution. The amount of Cs of the montmorillonite particles analyzed by energy dispersive X-ray spectrometry was consistent with the ratio of the number of linear protrusions to all protrusions in the FM-AFM images. The results showed that the protrusions represent adsorbed Cs cations. The images indicated that Cs cations at the surface were immobile, and their occupancy remained constant at 10% of the cation sites at the surface with different immersion times in the CsCl solution. This suggests that the mobility and the number of Cs cations at the surface are controlled by the permanent charge of montmorillonite; however, the Cs distribution at the surface is independent of the charge distribution of the inner silicate layer. Our atomic-scale observations demonstrate that surface cations are distributed in different ways in montmorillonite and mica.

Modulating the nanorods protrusion from poly(allylamine hydrochloride)-g-pyrene microcapsules by 1-pyrenesulfonic acid sodium salt.

Science.gov (United States)

Guan, Erjia; Wang, Tianxiang; Wang, Zhipeng; Gao, Changyou

2013-09-01

It was found previously that the Schiff base bonds in poly(allylamine hydrochloride)-g-pyrene (PAH-Py) microcapsules (MCs) are hydrolyzed at pH 2 within 1 h, leading to disassembly of the MCs and protrusion of pyrene aldehyde (Py) nanorods (NRs) on the capsule surface. Herein, we found a new way to modulate the protrusion of NRs by addition of 1-pyrenesulfonic acid sodium salt (PySO3Na). Along with the increase in PySO3Na to Py molar ratio in the MCs solution, the protrusion of NRs was progressively blocked and even inhibited at a ratio of 2.3, and at this condition, the microcapsules were stable under pH 2 for 24 h. After the composite microcapsules with excess PySO3Na were washed with a pH 10 solution and then incubated in a pH 2 solution, the NRs could be protruded from the MCs again. The fluorescence peak position of the PAH-Py/PySO3Na MCs gradually red-shifted with a decrease in pH value, and a sharp transition occurred at p H3.6, demonstrating the formation of pyrene excimers between the PySO3Na small molecules and the pendant Py groups on the PAH chain. The formed excimers take the role of blocking the self-assembly of cleaved Py molecules instead of inhibiting the hydrolysis of the Schiff base, whereas the MCs were stabilized by the charge interaction between PySO3Na and PAH backbone and the hydrophobic interaction between the pyrene rings. Copyright © 2013 Elsevier Inc. All rights reserved.

AFM tip-sample convolution effects for cylinder protrusions

Science.gov (United States)

Shen, Jian; Zhang, Dan; Zhang, Fei-Hu; Gan, Yang

2017-11-01

A thorough understanding about the AFM tip geometry dependent artifacts and tip-sample convolution effect is essential for reliable AFM topographic characterization and dimensional metrology. Using rigid sapphire cylinder protrusions (diameter: 2.25 μm, height: 575 nm) as the model system, a systematic and quantitative study about the imaging artifacts of four types of tips-two different pyramidal tips, one tetrahedral tip and one super sharp whisker tip-is carried out through comparing tip geometry dependent variations in AFM topography of cylinders and constructing the rigid tip-cylinder convolution models. We found that the imaging artifacts and the tip-sample convolution effect are critically related to the actual inclination of the working cantilever, the tip geometry, and the obstructive contacts between the working tip's planes/edges and the cylinder. Artifact-free images can only be obtained provided that all planes and edges of the working tip are steeper than the cylinder sidewalls. The findings reported here will contribute to reliable AFM characterization of surface features of micron or hundreds of nanometers in height that are frequently met in semiconductor, biology and materials fields.

An Accounting Mechanism of the Protrusion Effect in the Annular Channel When Calculating the Leontiev Tube

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N. A. Kiselev

2017-01-01

Full Text Available The paper analyses a technique to calculate the Leontiev tube and shows that there are several ways to increase operating efficiency of this device of gas-dynamic energy separation. Application of regular relief (dimples and protrusions on the wall between supersonic and subsonic channels is one of them.Analyses the results available in publications of experimentally numerically investigated influence of semi-spherical protrusions in the slot channels on the enhancement of heat transfer and drag coefficients at various Reynolds numbers.Shows that at the laminar flow owing to semi-spherical protrusions in the slot channel a heat transfer coefficient can be 1.1‑2.6 times increased with simultaneous 1.7‑4.8 times growth of drag coefficient (as compared to the smooth channel.At transition and turbulent flows the heat transfer enhancement, because of shallow dimples (depth-to-print diameter ratio is from 0.1 to 0.25, can reach 1.1‑2.4 times, with simultaneous 1.2‑7.9 times growth of the drag coefficient (as compared to smooth channel.Using the higher protrusions can provide up to 3.0‑3.5 times heat transfer intensification, but in this case there is an outrunning growth of the drag coefficient.It is shown that the staggered array of the shallow spherical protrusions is advisable to use for heat transfer enhancement in the subsonic channel of the Leontiev tube. The shallow spherical dimples correspond to them and operate as heat transfer intensifiers in the supersonic channel.The paper proposes a mechanism that enables taking into consideration an impact of the protrusions in the slot channel on the intensification of the heat transfer and momentum processes when calculating the gas-dynamic energy separation device (Leontiev tube using the known (earlier published technique.The study has been implemented under supporting Grant no. 15-08-08428 of the Russian Foundation for Basic Research.

The effect of micro nano multi-scale structures on the surface wettability

International Nuclear Information System (INIS)

Lee, Sang Min; Jung, Im Deok; Ko, Jong Soo

2008-01-01

Surface wettability in terms of the size of the micro nano structures has been examined. To evaluate the influence of the nano structures on the contact angles, we fabricated two different kinds of structures: square-pillar-type microstructure with nano-protrusions and without nano-protrusions. Microstructure and nanostructure arrays were fabricated by Deep Reactive Ion Etching (DRIE) and Reactive Ion Etching (RIE) processes, respectively. And Plasma Polymerized FluoroCarbon (PPFC) was finally deposited onto the fabricated structures. Average value of the measured contact angles from microstructures with nano-protrusions was 6.37 .deg. higher than that from microstructures without nano-protrusions. This result indicates that the nano-protrusions give a crucial effect to increase the contact angle

A Graphical User Interface for Software-assisted Tracking of Protein Concentration in Dynamic Cellular Protrusions.

Science.gov (United States)

Saha, Tanumoy; Rathmann, Isabel; Galic, Milos

2017-07-11

Filopodia are dynamic, finger-like cellular protrusions associated with migration and cell-cell communication. In order to better understand the complex signaling mechanisms underlying filopodial initiation, elongation and subsequent stabilization or retraction, it is crucial to determine the spatio-temporal protein activity in these dynamic structures. To analyze protein function in filopodia, we recently developed a semi-automated tracking algorithm that adapts to filopodial shape-changes, thus allowing parallel analysis of protrusion dynamics and relative protein concentration along the whole filopodial length. Here, we present a detailed step-by-step protocol for optimized cell handling, image acquisition and software analysis. We further provide instructions for the use of optional features during image analysis and data representation, as well as troubleshooting guidelines for all critical steps along the way. Finally, we also include a comparison of the described image analysis software with other programs available for filopodia quantification. Together, the presented protocol provides a framework for accurate analysis of protein dynamics in filopodial protrusions using image analysis software.

Primary extra-skeletal Ewing's sarcoma mimicking a disc protrusion.

Science.gov (United States)

Ruelle, A; Boccardo, M

1987-07-01

One of the rarest cases of primary epidural neoplasm is a soft tissue sarcoma histologically similar to Ewing's sarcoma of the bone. In the literature only eleven cases of such an extra-skeletal Ewing's sarcoma have been described. The authors report an additional case presenting as a disc protrusion in a young male. The authors include some diagnostic, prognostic and nosologic remarks about this condition.

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.

[Comparison between J-hook and micro-implant anchorage in the treatment of patients with bimaxillary protrusion].

Science.gov (United States)

Chen, Wen-Jing; Li, Qing-Yi; Gong, Ai-Xiu; Hu, Fang; Gu, Yong-Jia

2008-02-01

To compare the difference between J-hook and micro-implant anchorage in the treatment of patient with bimaxillary protrusion. Thirty patients with bimaxillary protrusion were divided into two groups (J-hook and micro-implant groups) and treated with MBT appliance. Four first premolars were extracted in all patients. Cephalometric analyses were carried out before and after treatment. In J-hook group and micro-implant group,computerized cephalometric analysis revealed that before treatment U6C-PP was (12.4 +/- 0.2) mm and (12.5 +/- 0.1) mm, respectively,and after treatment U6C-PP was (12.6 +/- 0.1) mm and (12.8 +/- 0.1) mm,respectively. The difference between J-hook group and microimplant group was significant (P micro-implant group was not significant. Both J-hook and micro-implant could provide adequate anchorage in the treatment of patients with bimaxillary protrusion.

Room-temperature growth of a carbon nanofiber on the tip of conical carbon protrusions

International Nuclear Information System (INIS)

Tanemura, Masaki; Okita, T.; Yamauchi, H.; Tanemura, S.; Morishima, R.

2004-01-01

Glassy carbon was Ar + -ion bombarded with a simultaneous Mo supply under ultrahigh vacuum conditions using a microprotrusion fabrication system that consists of a differentially pumped ion gun and a seed-material supply source. Conical protrusions were formed by sputtering with a seed supply, and carbon nanofibers (CNFs) grew on the tips even at room temperature. The length of CNFs reached up to ∼10 μm, and their diameter was almost uniform (50 nm) in the growth direction. The short CNFs aligned in the ion beam direction, whereas the long ones were non-aligned. The CNF growth on a glassy carbon surface was ascribed to the enhanced surface texturing and to the massive redeposition of C atoms onto cones, both of which are specific to the oblique ion bombardment: The former would lead to an increase in the number of possible nucleation sites for the CNF growth, and the C atoms arising from the latter process would migrate toward the conical tips, thus forming CNFs

Modeling wind adjustment factor and midflame wind speed for Rothermel's surface fire spread model

Science.gov (United States)

Patricia L. Andrews

2012-01-01

Rothermel's surface fire spread model was developed to use a value for the wind speed that affects surface fire, called midflame wind speed. Models have been developed to adjust 20-ft wind speed to midflame wind speed for sheltered and unsheltered surface fuel. In this report, Wind Adjustment Factor (WAF) model equations are given, and the BehavePlus fire modeling...

Thermal history-based etching

Science.gov (United States)

Simpson, John T.

2017-11-28

A method for adjusting an etchability of a first borosilicate glass by heating the first borosilicate glass; combining the first borosilicate glass with a second borosilicate glass to form a composite; and etching the composite with an etchant. A material having a protrusive phase and a recessive phase, where the protrusive phase protrudes from the recessive phase to form a plurality of nanoscale surface features, and where the protrusive phase and the recessive phase have the same composition.

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)

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.

A Study on the Relationships among Surface Variables to Adjust the Height of Surface Temperature for Data Assimilation.

Science.gov (United States)

Kang, J. H.; Song, H. J.; Han, H. J.; Ha, J. H.

2016-12-01

The observation processing system, KPOP (KIAPS - Korea Institute of Atmospheric Prediction Systems - Package for Observation Processing) have developed to provide optimal observations to the data assimilation system for the KIAPS Integrated Model (KIM). Currently, the KPOP has capable of processing almost all of observations for the KMA (Korea Meteorological Administration) operational global data assimilation system. The height adjustment of SURFACE observations are essential for the quality control due to the difference in height between observation station and model topography. For the SURFACE observation, it is usual to adjust the height using lapse rate or hypsometric equation, which decides values mainly depending on the difference of height. We have a question of whether the height can be properly adjusted following to the linear or exponential relationship solely with regard to the difference of height, with disregard the atmospheric conditions. In this study, firstly we analyse the change of surface variables such as temperature (T2m), pressure (Psfc), humidity (RH2m and Q2m), and wind components (U and V) according to the height difference. Additionally, we look further into the relationships among surface variables . The difference of pressure shows a strong linear relationship with difference of height. But the difference of temperature according to the height shows a significant correlation with difference of relative humidity than with the height difference. A development of reliable model for the height-adjustment of surface temperature is being undertaken based on the preliminary results.

Treatment of Angle Class I Malocclusion with Severe Bimaxillary Protrusion using Miniscrew Implants and Periodontal Ligament Distraction

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K C Prabhat

2014-01-01

Full Text Available Bimaxillary dentoalveolar protrusion is common in Asian population. In this patient with procumbent upper and lower lips, excessive lip strain, proclined and protruded maxillary and mandibular incisors with vertical growth pattern, an acceptable treatment result, was achieved with 4-first-premolar extractions. This case report is presented with the aim, to describe the treatment approach for bimaxillary dentoalveolar protrusion using miniscrew implants for anchorage in upper arch and periodontal ligament distraction for canine retraction in lower arch and then retraction of incisors into the newly formed bone distal to lateral incisor. Treatment was completed in 18 months. The patient profile was improved, with reduction in lip procumbency, decrease in lip eversion and protrusion, and decrease mentalis strain. Dentally, the interincisal angulation improved significantly because both the maxillary and mandibular incisors were uprighted after space closer.

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)

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.

Channel surface plasmons in a continuous and flat graphene sheet

Science.gov (United States)

Chaves, A. J.; Peres, N. M. R.; da Costa, D. R.; Farias, G. A.

2018-05-01

We derive an integral equation describing surface-plasmon polaritons in graphene deposited on a substrate with a planar surface and a dielectric protrusion in the opposite surface of the dielectric slab. We show that the problem is mathematically equivalent to the solution of a Fredholm equation, which we solve exactly. In addition, we show that the dispersion relation of the channel surface plasmons is determined by the geometric parameters of the protrusion alone. We also show that such a system supports both even and odd modes. We give the electrostatic potential and the intensity plot of the electrostatic field, which clearly show the transverse localized nature of the surface plasmons in a continuous and flat graphene sheet.

Histological and morphological evaluation of condylar cartilage of young rats in response to stimulation of mandibular protrusion

OpenAIRE

Milena Peixoto Nogueira de Sá; Adilson Luiz Ramos; Jacqueline Nelises Zanoni; Fabrício Dias de Souza; Daniele Esteves Pepelascov; Raquel Sano Suga Terada

2017-01-01

The aim of this study was to evaluate the histogical and morphological aspects of the condyle in response to mandibular protrusion induced by composite resin occlusal planes. Thirty five-week-old male Wistar rats were selected and randomly divided in two groups. One group received a composite resin type of oclusal plane that induced mandibular protrusion, and the other was the control group, without treatment. Animals were euthanized after experimental time intervals of 7, 21 and 30 days. For...

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.

Salient Point Detection in Protrusion Parts of 3D Object Robust to Isometric Variations

Science.gov (United States)

Mirloo, Mahsa; Ebrahimnezhad, Hosein

2018-03-01

In this paper, a novel method is proposed to detect 3D object salient points robust to isometric variations and stable against scaling and noise. Salient points can be used as the representative points from object protrusion parts in order to improve the object matching and retrieval algorithms. The proposed algorithm is started by determining the first salient point of the model based on the average geodesic distance of several random points. Then, according to the previous salient point, a new point is added to this set of points in each iteration. By adding every salient point, decision function is updated. Hence, a condition is created for selecting the next point in which the iterative point is not extracted from the same protrusion part so that drawing out of a representative point from every protrusion part is guaranteed. This method is stable against model variations with isometric transformations, scaling, and noise with different levels of strength due to using a feature robust to isometric variations and considering the relation between the salient points. In addition, the number of points used in averaging process is decreased in this method, which leads to lower computational complexity in comparison with the other salient point detection algorithms.

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.)

Temporomandibular joint movement; Evaluation of protrusive splint therapy with GRASS MR imaging

Energy Technology Data Exchange (ETDEWEB)

Maeda, M.; Itou, S.; Ishii, Y.; Yamamoto, K.; Kawamura, Y.; Matsuda, T.; Hayashi, N.; Ishii, J. (Dept. of Radiology, Dept. of Oral and Maxillofacial Surgery, Fukui Medical School (Japan))

1992-09-01

Ten temporomandibular joints (TMJs) of 5 healthy volunteers and 19 TMJs of internal derangements in 16 patients with splint therapy were examined with MR imaging. T1-weighted images were obtained only in the closed mouth position, and gradient recalled acquisition in steady state (GRASS) images were obtained in active opening and closing phases, allowing a pseudodynamic display of TMJ movement. All patients received protrusive splint treatment. The usefulness of MR imaging to assess the efficacy of splint therapy was evaluated. Corrected disk position with the splint in place was clearly demonstrated in 9 TMJs, corresponding with elimination of reciprocal clicking. Ten other TMJs of anterior disk displacement without reduction showed uncorrected disk position by the splint. This information could confirm the therapeutic efficacy, or suggest other treatment alternatives. GRASS MR imaging can provide accurate and physiologic information about disk function in initial and follow-up assessment of protrusive splint therapy. (orig.).

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.

Report of a Class I bimaxillary dental protrusion case with extraction of first premolars treated with Clarity™ SL MBT appliances

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Hugo Trevisi

2013-01-01

Full Text Available Bimaxillary protrusion cases are common in orthodontic practice. For the best facial outcome, the biomechanics can often be challenging. A class I bimaxillary protrusion case is presented below illustrating the careful application of extractions and bracket prescription. The case highlights how self-ligating brackets and high precision bracket positioning can reduce the need for additional anchorage.

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.

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.

Control of cell behavior on PTFE surface using ion beam irradiation

International Nuclear Information System (INIS)

Kitamura, Akane; Kobayashi, Tomohiro; Meguro, Takashi; Suzuki, Akihiro; Terai, Takayuki

2009-01-01

A polytetrafluoroethylene (PTFE) surface is smooth and biologically inert, so that cells cannot attach to it. Ion beam irradiation of the PTFE surface forms micropores and a melted layer, and the surface is finally covered with a large number of small protrusions. Recently, we found that cells could adhere to this irradiated PTFE surface and spread over the surface. Because of their peculiar attachment behavior, these surfaces can be used as biological tools. However, the factors regulating cell adhesion are still unclear, although some new functional groups formed by irradiation seem to contribute to this adhesion. To control cell behavior on PTFE surfaces, we must determine the effects of the outermost irradiated surface on cell adhesion. In this study, we removed the thin melted surface layer by postirradiation annealing and investigated cell behavior on the surface. On the surface irradiated with 3 x 10 16 ions/cm 2 , cells spread only on the remaining parts of the melted layer. From these results, it is clear that the melted layer had a capacity for cell attachment. When the surface covered with protrusions was irradiated with a fluence of 1 x 10 17 ions/cm 2 , the distribution of cells changed after the annealing process from 'sheet shaped' into multicellular aggregates with diameters of around 50 μm. These results indicate that we can control cell behavior on PTFE surfaces covered with protrusions using irradiation and subsequent annealing. Multicellular spheroids can be fabricated for tissue engineering using this surface.

PROTRUSION OF THE DEVICE - A COMPLICATION OF CATHETER CLOSURE OF PATENT DUCTUS-ARTERIOSUS

NARCIS (Netherlands)

OTTENKAMP, J; HESS, J; TALSMA, MD; BUISLIEM, TN

Objective-To assess the medium term results of percutaneous transvenous closure of patent ductus arteriosus, in particular with regard to protrusion of the device with or without turbulence of the bloodflow. Design-Clinical examination and echocardiographic study (cross sectional Doppler, and colour

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.

Infantile Perineal Protrusion in Two Monochorionic Twins

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Paola Cavicchioli

2014-11-01

Full Text Available Case Report - Two female monochorionic-monoamniotic twins showed the same kind of infantile perineal protrusion (IPP at birth. Lesions in both twins progressively healed until resolution in 6 weeks' time; none of the twins have manifested, till date, alvus disturbances. Discussion and Literature Review - A literature review numbers approximately 100 reports of IPP. This condition has been classically classified into three categories: congenital/familiar (i.e., female sex, positive parental history of IPP, acquired (mainly due to constipation, and associated with lichen sclerosus et atrophicus. Conclusions and Final Remarks - This case report describes, for the first time, the presence of IPP in monochorionic-monoamniotic twins, supporting the existence of hereditary/genetic factors in the developing of this condition.

Outer membrane protein A (OmpA: a new player in shigella flexneri protrusion formation and inter-cellular spreading.

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Cecilia Ambrosi

Full Text Available Outer membrane protein A (OmpA is a multifaceted predominant outer membrane protein of Escherichia coli and other Enterobacteriaceae whose role in the pathogenesis of various bacterial infections has recently been recognized. Here, the role of OmpA on the virulence of Shigella flexneri has been investigated. An ompA mutant of wild-type S. flexneri 5a strain M90T was constructed (strain HND92 and it was shown to be severely impaired in cell-to-cell spreading since it failed to plaque on HeLa cell monolayers. The lack of OmpA significantly reduced the levels of IcsA while the levels of cell associated and released IcsP-cleaved 95 kDa amino-terminal portion of the mature protein were similar. Nevertheless, the ompA mutant displayed IcsA exposed across the entire bacterial surface. Surprisingly, the ompA mutant produced proper F-actin comet tails, indicating that the aberrant IcsA exposition at bacterial lateral surface did not affect proper activation of actin-nucleating proteins, suggesting that the absence of OmpA likely unmasks mature or cell associated IcsA at bacterial lateral surface. Moreover, the ompA mutant was able to invade and to multiply within HeLa cell monolayers, although internalized bacteria were found to be entrapped within the host cell cytoplasm. We found that the ompA mutant produced significantly less protrusions than the wild-type strain, indicating that this defect could be responsible of its inability to plaque. Although we could not definitely rule out that the ompA mutation might exert pleiotropic effects on other S. flexneri genes, complementation of the ompA mutation with a recombinant plasmid carrying the S. flexneri ompA gene clearly indicated that a functional OmpA protein is required and sufficient for proper IcsA exposition, plaque and protrusion formation. Moreover, an independent ompA mutant was generated. Since we found that both mutants displayed identical virulence profile, these results further supported the

Radiofrequency thermocoagulation for the treatment of lumbar intervertebral disc protrusion: a clinical observation of 30 cases

International Nuclear Information System (INIS)

Gong Weidong; Li Yazhou; Cao Wei; Yang Wei; Zhang Peng; Wang Zhimin; Wu Zhiqun

2010-01-01

Objective: To observe the clinical effects and safety of radiofrequency thermocoagulation in treating the lumbar intervertebral disc protrusion. Methods: Thirty patients with lumbar intervertebral disc protrusion, whose diagnoses were confirmed by clinical manifestations and CT findings, were involved in this study. The needle was punctured to the target point of the diseased intervertebral space under C-arm fluoroscopic guidance. After the testing of sensory nerve, motor nerve and temperature was made, the target needles were heated until the nerve radiofrequency temperature meter reached the point of 92 degree C. This point of temperature was held for 100 seconds and the procedure was repeated for four cycles. Results: Six months after the treatment, all patients showed an obvious improvement in VAS, which decreased from 7.83 ± 0.33 before operation to 2.37 ± 0.48 after treatment (P < 0.05). According to the modified Macnab therapeutic evaluation criteria, excellent result was seen in 9, good result in 12, fair result in 5 and poor result in 4 cases, with a total effective rate of 86.7%. No serious complications occurred in all patients. Conclusion: Radiofrequency thermocoagulation is an effective and safe method for the treatment of lumbar intervertebral disc protrusion. (authors)

A Missense Mutation in SLC45A2 Is Associated with Albinism in Several Small Long Haired Dog Breeds.

Science.gov (United States)

Wijesena, Hiruni R; Schmutz, Sheila M

2015-01-01

Homozygosity for a large deletion in the solute carrier family 45, member 2 (SLC45A2) gene causes oculocutaneous albinism (OCA) in the Doberman Pinscher breed. An albino Lhasa Apso did not have this g.27141_31223del (CanFam2) deletion in her SLC45A2 sequence. Therefore, SLC45A2 was investigated in this female Lhasa Apso to search for other possible variants that caused her albinism. The albino Lhasa Apso was homozygous for a nonsynonymous substitution in the seventh exon, a c.1478G>A base change that resulted in a glycine to aspartic acid substitution (p.G493D). This mutation was not found in a wolf, a coyote, or any of the 15 other Lhasa Apso dogs or 32 other dogs of breeds related to the Lhasa Apso. However, an albino Pekingese, 2 albino Pomeranians, and an albino mixed breed dog that was small and long haired were also homozygous for the 493D allele. The colored puppies of the albino Lhasa Apso and the colored dam of the 2 albino Pomeranians were heterozygous for this allele. However, an albino Pug was homozygous for the 493G allele and therefore although we suggest the 493D allele causes albinism when homozygous in several small, long haired dog breeds, it does not explain all albinism in dogs. A variant effect prediction for the albino Lhasa Apso confirms that p.G493D is a deleterious substitution, and a topology prediction for SLC45A2 suggests that the 11th transmembrane domain where the 493rd amino acid was located, has an altered structure. © The American Genetic Association 2015. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

A mechanism of leading-edge protrusion in the absence of Arp2/3 complex.

Science.gov (United States)

Suraneni, Praveen; Fogelson, Ben; Rubinstein, Boris; Noguera, Philippe; Volkmann, Niels; Hanein, Dorit; Mogilner, Alex; Li, Rong

2015-03-01

Cells employ protrusive leading edges to navigate and promote their migration in diverse physiological environments. Classical models of leading-edge protrusion rely on a treadmilling dendritic actin network that undergoes continuous assembly nucleated by the Arp2/3 complex, forming ruffling lamellipodia. Recent work demonstrated, however, that, in the absence of the Arp2/3 complex, fibroblast cells adopt a leading edge with filopodia-like protrusions (FLPs) and maintain an ability to move, albeit with altered responses to different environmental signals. We show that formin-family actin nucleators are required for the extension of FLPs but are insufficient to produce a continuous leading edge in fibroblasts lacking Arp2/3 complex. Myosin II is concentrated in arc-like regions of the leading edge in between FLPs, and its activity is required for coordinated advancement of these regions with formin-generated FLPs. We propose that actomyosin contraction acting against membrane tension advances the web of arcs between FLPs. Predictions of this model are verified experimentally. The dependence of myosin II in leading-edge advancement helps explain the previously reported defect in directional movement in the Arpc3-null fibroblasts. We provide further evidence that this defect is cell autonomous during chemotaxis. © 2015 Suraneni et al. This article is distributed by The American Society for Cell Biology under license from the author(s). Two months after publication it is available to the public under an Attribution–Noncommercial–Share Alike 3.0 Unported Creative Commons License (http://creativecommons.org/licenses/by-nc-sa/3.0).

Diagnosis of cervical intervertebral disc protrusion and the relation between localization of the lesion and the neurological symptoms

International Nuclear Information System (INIS)

Isu, Toyohiko; Iwasaki, Yoshinobu; Abe, Hiroshi; Miyasaka, Kazuo; Tashiro, Kunio; Tsuru, Mitsuo; Ito, Terufumi.

1985-01-01

In the cervical disc disease, computed tomography (CT) myelographic and conventional myelographic findings were surgically confirmed. The authors classified the disc protrusion into two types, and demonstrated the characteristic features of these two types in CT myelography and conventional myelography. Moreover, the correlation with the localization of the disc protrusion and the laterality of the myelopathy are discussed. All cases were obtained using a late generation scanner and the patient in the supine position with the neck in the neutral position. Using conventional myelography, all examinations were obtained with the neck in a flexion, neutral and extended positions. Twenty-two patients with cervical disc disease operated on by an anterior approach were studied by CT myelography and conventional myelography. According to the style of the compression on the spinal cord, the cervical disc protrusion was classified into two main groups, the subligamentous type and epiligamentous type. This study included 10 patients of the subligamentous type and 12 patients of the epiligamentous type. The localization of the disc protrusion and the laterality of the myelopathy often corresponded with each other. Not only the localization of the lesion, but also the pincer effect, especially the oblique pincer effect, which is reinforced by dynamic factors, are important in the understanding of the manifestations of myelopathy. In the subligamentous type, the main cause of the myelopathy is considered to be the mechanical pressure by the prolapsed nucleus pulposus. In the epiligamentous type, on the other hand, it is believed to be the pincer effect, reinforced by dynamic factors. (author)

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.

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.

Space Closure with Loop Mechanics for Treatment of Bimaxillary Protrusion: A Case Report

Science.gov (United States)

Sanjay, N; Rajesh, R N G; Scindia, Rajat; Ajith, Sreedevi D

2015-01-01

This case report intends to highlight the space closure with tear drop loop mechanics for bimaxillary protrusion. Loops can be fabricated in a sectional or full arch wire, and closing loops are usually used in loop mechanics for extraction space closure. The major advantage of loop mechanics is the lack of friction between the bracket and arch wire during space closure. An adult patient with bimaxillary protrusion reported to the clinic. The patient was treated successfully by maximum retraction of maxillary and mandibular anterior teeth after extraction of all first premolars. Space closure was begun using a moment differential between posterior and anterior segments created by a Tear drop loop. Anterior teeth were moved with bodily movement, and no anchorage loss of the posterior segments was seen using a Tear drop loop spring. A stable result with normal over jet and overbite was achieved with retraction of maxillary and mandibular anterior teeth. With a Tear drop loop, individual biomechanical responses can be achieved, and it is possible to calculate force magnitude for every patient. PMID:26028908

A study on normal value of eyeball protrusion in Korean adult using CT

International Nuclear Information System (INIS)

Song, Chi Sung; Chang, Kee Hyun

1984-01-01

CT may be valuably used in determination of proptosis. Normal value of eyeball protrusion was measured in normal Koreans using CT. Among 86 Koreans, 26 have normal both eyes, but 60 have one normal eye with one abnormal eye (chiefly, proptosis and and eyeball tumor). The results of 112 eyes are as follows: Absolute measurement of 'a', that is, the distance between cornea and IZL (interzygomatic line) is 16.0±3.4 mm in male (for 63 eye), 15.7±4.0 mm in female for 49 eyes. Ratio of 'a' over 'A' (A-P diameter of eyeball) is 57±12% is male (for 63 eye), 57±14% in female (for 49 eye) Discrepancy of eyeball protrusion between both eyes is 0.67±1.5 mm (for 26 adults). Practically, normal range of eyeball prtotrusion ('a') is 12.6 mm < male < 19.4 mm, 11.7 mm < female < 19.7 mm. 'a/A' ratio over 70% and over 2mm discrepancy between both eyes are also suggested as genuine exophthalmos

Path Planning Method in Multi-obstacle Marine Environment

Science.gov (United States)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

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

[Comparing the anchorage effects of micro-implant and J hook on treating patients with maxillary protrusion].

Science.gov (United States)

Wu, Xin; Liu, Guo-yuan; Jiang, Yong-lian

2015-10-01

To investigate the differences in anchorage effects between micro-implants and J hook in treating patients with Class II division 1 maxillary protrusion. Thirty-one cases of adult patients with Class II division 1 maxillary protrusion were treated. They were divided into 2 groups depending on their selection. The first group included 17 patients for micro-implant anchorage, who adopted micro-implant and sliding mechanism to close maxillary extraction space and depress the mandibular molar. The second group encompassed 14 cases for J hook, who adopted sliding mechanism, J hooks in high traction and Class II intermaxillary traction to close extraction space. X-ray lateral cephalometric radiographs were measured before and after treatment, and SPSS16.0 software package was employed to compare the differences in soft and hard tissue changes before and after treatment between 2 groups. There were statistically significant differences in SNB, ANB, MP-FH, U1-Y, U6-Y, L6-MP, NLA, and UL-Y between the 2 groups before and after treatment, while there was no significant difference in SNA, U1-SN, U1-X, and U6-X between the 2 groups. In treating patients with Class II division 1 maxillary protrusion, micro-implant has stronger anchorage effects than J hook, while at the same time depressing the mandibular molars, and making it more favorable to improve Class II faces.

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.

APC/β-catenin-rich complexes at membrane protrusions regulate mammary tumor cell migration and mesenchymal morphology

International Nuclear Information System (INIS)

Odenwald, Matthew A; Prosperi, Jenifer R; Goss, Kathleen H

2013-01-01

The APC tumor suppressor is mutated or downregulated in many tumor types, and is prominently localized to punctate clusters at protrusion tips in migratory cells, such as in astrocytes where it has been implicated in directed cell motility. Although APC loss is considered an initiating event in colorectal cancer, for example, it is less clear what role APC plays in tumor cell motility and whether loss of APC might be an important promoter of tumor progression in addition to initiation. The localization of APC and β-catenin was analyzed in multiple cell lines, including non-transformed epithelial lines treated with a proteasome inhibitor or TGFβ to induce an epithelial-to-mesenchymal transition (EMT), as well as several breast cancer lines, by immunofluorescence. APC expression was knocked down in 4T07 mammary tumor cells using lentiviral-mediated delivery of APC-specific short-hairpin (sh) RNAs, and assessed using quantitative (q) reverse-transcriptase (RT)-PCR and western blotting. Tumor cell motility was analyzed by performing wound-filling assays, and morphology via immunofluorescence (IF) and phase-contrast microscopy. Additionally, proliferation was measured using BrdU incorporation, and TCF reporter assays were performed to determine β-catenin/TCF-mediated transcriptional activity. APC/β-catenin-rich complexes were observed at protrusion ends of migratory epithelial cells treated with a proteasome inhibitor or when EMT has been induced and in tumor cells with a mesenchymal, spindle-like morphology. 4T07 tumor cells with reduced APC levels were significantly less motile and had a more rounded morphology; yet, they did not differ significantly in proliferation or β-catenin/TCF transcriptional activity. Furthermore, we found that APC/β-catenin-rich complexes at protrusion ends were dependent upon an intact microtubule cytoskeleton. These findings indicate that membrane protrusions with APC/β-catenin-containing puncta control the migratory potential and

APC/β-catenin-rich complexes at membrane protrusions regulate mammary tumor cell migration and mesenchymal morphology

Science.gov (United States)

2013-01-01

Background The APC tumor suppressor is mutated or downregulated in many tumor types, and is prominently localized to punctate clusters at protrusion tips in migratory cells, such as in astrocytes where it has been implicated in directed cell motility. Although APC loss is considered an initiating event in colorectal cancer, for example, it is less clear what role APC plays in tumor cell motility and whether loss of APC might be an important promoter of tumor progression in addition to initiation. Methods The localization of APC and β-catenin was analyzed in multiple cell lines, including non-transformed epithelial lines treated with a proteasome inhibitor or TGFβ to induce an epithelial-to-mesenchymal transition (EMT), as well as several breast cancer lines, by immunofluorescence. APC expression was knocked down in 4T07 mammary tumor cells using lentiviral-mediated delivery of APC-specific short-hairpin (sh) RNAs, and assessed using quantitative (q) reverse-transcriptase (RT)-PCR and western blotting. Tumor cell motility was analyzed by performing wound-filling assays, and morphology via immunofluorescence (IF) and phase-contrast microscopy. Additionally, proliferation was measured using BrdU incorporation, and TCF reporter assays were performed to determine β-catenin/TCF-mediated transcriptional activity. Results APC/β-catenin-rich complexes were observed at protrusion ends of migratory epithelial cells treated with a proteasome inhibitor or when EMT has been induced and in tumor cells with a mesenchymal, spindle-like morphology. 4T07 tumor cells with reduced APC levels were significantly less motile and had a more rounded morphology; yet, they did not differ significantly in proliferation or β-catenin/TCF transcriptional activity. Furthermore, we found that APC/β-catenin-rich complexes at protrusion ends were dependent upon an intact microtubule cytoskeleton. Conclusions These findings indicate that membrane protrusions with APC/β-catenin-containing puncta

Automatic guidance and control laws for helicopter obstacle avoidance

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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.

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

Science.gov (United States)

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

[Peculiarities of clinico-neurological signs of the intervertebral discs protrusions in lumbar portion of vertebral column in patients of various age].

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Khyzniak, M V; Pryĭmak, E V

2013-11-01

Clinico-neurological signs of the discogenic pain syndromes, caused by intervertebral disc (IVD) protrusion in a lumbar portion of vertebral column, were analyzed. The strict indications were substantiated for application of the puncture treatment methods for the discogenic pain syndromes in patients of various ages. Clinico-neurological signs of the IVD protrusions constitute the important criterion while the treatment method selection. Differentiated application of the puncture methods permits to improve the treatment results in the patients of various age.

Exploring performance obstacles of intensive care nurses.

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Gurses, Ayse P; Carayon, Pascale

2009-05-01

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

Cellular blebs: pressure-driven, axisymmetric, membrane protrusions

KAUST Repository

Woolley, Thomas E.

2013-07-16

Blebs are cellular protrusions that are used by cells for multiple purposes including locomotion. A mechanical model for the problem of pressure-driven blebs based on force and moment balances of an axisymmetric shell model is proposed. The formation of a bleb is initiated by weakening the shell over a small region, and the deformation of the cellular membrane from the cortex is obtained during inflation. However, simply weakening the shell leads to an area increase of more than 4 %, which is physically unrealistic. Thus, the model is extended to include a reconfiguration process that allows large blebs to form with small increases in area. It is observed that both geometric and biomechanical constraints are important in this process. In particular, it is shown that although blebs are driven by a pressure difference across the cellular membrane, it is not the limiting factor in determining bleb size. © 2013 Springer-Verlag Berlin Heidelberg.

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

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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

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

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.

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.

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

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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

Tracked robot controllers for climbing obstacles autonomously

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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.

Outcomes and prognostic factors in revision hip arthroplasty for severe intra-pelvic cup protrusion: 246 cases.

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Epinette, J-A; Mertl, P; Combourieu, B; Goncalves, H; Blairon, A; Ehlinger, M; Tabutin, J

2015-10-01

The outcome of revision total hip arthroplasty (THA) for intra-pelvic cup protrusion is unclear. Hence, we conducted a large retrospective study to clarify the surgical strategy (hip lever arm and cup mechanical fixation) and the outcomes of reconstruction for severe intra-pelvic cup protrusion. We hypothesized that restoration of the anatomic hip centre in such acetabular revisions decreased the risk of recurrent loosening. The study included 246 THA procedures (in 220 patients), with a follow-up of 5.2 ± 4.9 years (1-24.2) after the index surgery. Bone loss was estimated using the SOFCOT classification (grade III or IV in 80% of cases) and the Paprosky classification (IIIA or IIIB in 58% of cases). Quality of the reconstruction was assessed on X-rays according to the correction of the protrusion and position of the hip centre of rotation. After a clinical follow-up of at least 5 years, with a mean of 9.9 ± 4.1 years (5-24 years), the mean Postel-Merle d'Aubigné score was 14.2 ± 3.1 and the mean Harris Hip Score was 78.0 ± 18.7. Cup protrusion was partially or completely corrected in every case and cup position was normal in 27 (11%) cases. The centre of rotation was within 10mm of the physiological position in 158 (64.2%) cases, acceptable in 77 (31.3%) cases, ascended in 9 (3.7%) cases, and worsened in 1 (0.4%) case. Revision for cup or cup and femoral failures was required in 24 (9.8%) cases. Cumulative survival rates with cup loosening as the endpoint were 88.5% after 5 years, 79.9% after 10 years, and 63.9% at last follow-up at 13.6 years. Our hypothesis that restoration of anatomic hip centre decreased the risk of recurrent loosening was not verified: success or failure in restoring the normal centre of rotation did not correlate significantly with final cup status. Recurrent aseptic loosening was the cause of failure in 9.8% of cases. Ensuring long-term effective mechanical stability had a greater impact on global outcomes than restoring an ideal

Observation of a Ag protrusion on a Ag2S island using a scanning tunneling microscope

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Takeo Ohno

2015-01-01

Full Text Available A silver sulfide (Ag2S island as an ionic conductor in resistive switching memories was formed and a protrusion of silver from the Ag2S formed by an electrochemical reaction was observed using a scanning tunneling microscope.

Optical Flow based Robot Obstacle Avoidance

Directory of Open Access Journals (Sweden)

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.

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.

Measuring adhesion on rough surfaces using atomic force microscopy with a liquid probe

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Juan V. Escobar

2017-04-01

Full Text Available We present a procedure to perform and interpret pull-off force measurements during the jump-off-contact process between a liquid drop and rough surfaces using a conventional atomic force microscope. In this method, a micrometric liquid mercury drop is attached to an AFM tipless cantilever to measure the force required to pull this drop off a rough surface. We test the method with two surfaces: a square array of nanometer-sized peaks commonly used for the determination of AFM tip sharpness and a multi-scaled rough diamond surface containing sub-micrometer protrusions. Measurements are carried out in a nitrogen atmosphere to avoid water capillary interactions. We obtain information about the average force of adhesion between a single peak or protrusion and the liquid drop. This procedure could provide useful microscopic information to improve our understanding of wetting phenomena on rough surfaces.

The evolution of jaw protrusion mechanics is tightly coupled to bentho-pelagic divergence in damselfishes (Pomacentridae).

Science.gov (United States)

Cooper, W James; Carter, Casey B; Conith, Andrew J; Rice, Aaron N; Westneat, Mark W

2017-02-15

Most species-rich lineages of aquatic organisms have undergone divergence between forms that feed from the substrate (benthic feeding) and forms that feed from the water column (pelagic feeding). Changes in trophic niche are frequently accompanied by changes in skull mechanics, and multiple fish lineages have evolved highly specialized biomechanical configurations that allow them to protrude their upper jaws toward the prey during feeding. Damselfishes (family Pomacentridae) are an example of a species-rich lineage with multiple trophic morphologies and feeding ecologies. We sought to determine whether bentho-pelagic divergence in the damselfishes is tightly coupled to changes in jaw protrusion ability. Using high-speed video recordings and kinematic analysis, we examined feeding performance in 10 species that include three examples of convergence on herbivory, three examples of convergence on omnivory and two examples of convergence on planktivory. We also utilized morphometrics to characterize the feeding morphology of an additional 40 species that represent all 29 damselfish genera. Comparative phylogenetic analyses were then used to examine the evolution of trophic morphology and biomechanical performance. We find that pelagic-feeding damselfishes (planktivores) are strongly differentiated from extensively benthic-feeding species (omnivores and herbivores) by their jaw protrusion ability, upper jaw morphology and the functional integration of upper jaw protrusion with lower jaw abduction. Most aspects of cranial form and function that separate these two ecological groups have evolved in correlation with each other and the evolution of the functional morphology of feeding in damselfishes has involved repeated convergence in form, function and ecology. © 2017. Published by The Company of Biologists Ltd.

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.

Obstacles to and motivation for successful breast-feeding

Directory of Open Access Journals (Sweden)

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.

Percutaneous closure of patent ductus arteriosus in children using amplatzer duct occluder II: relationship between PDA type and risk of device protrusion into the descending aorta.

Science.gov (United States)

Masri, Samer; El Rassi, Issam; Arabi, Mariam; Tabbakh, Anas; Bitar, Fadi

2015-08-01

To compare the efficacy and safety of Amplatzer Duct Occluder II (ADOII) among the various patent ductus arteriosus (PDA) types, and to assess the association between development of aortic obstruction and the PDA type in terms of measurable parameters as the device angulation and distance of upper end protrusion into the aortic lumen. Retrospective cohort study involving 50 consecutive subjects who underwent ADO II device closure of PDA. The median age and weight at intervention were 13 months (5.5 months to 18 years) and 11 (6-67) kg respectively. The median smallest ductal diameter by angiography was 3.2 (1.9-5.4) mm. Thirty two patients had type A PDA, 5 had type C, 5 had type D, and 8 had type E. Residual shunt was seen in only 1 patient who had a tubular PDA and resolved within 2 months of the procedure. No device embolization or pulmonary side protrusion were noted. There was a 16% aortic protrusion rate. The median distance of protrusion of the upper end of the device into the aortic lumen was 3.1 (0-9) mm and the median angle formed between the aortic end of the device and the PDA take-off was 10.4 (0-80.6) degrees. These latter parameters of aortic obstruction were significantly higher in the non-conical PDA group as compared to the conical PDA. Nevertheless, there was no significant coarctation due to aortic retention disc protrusion. Device closure of PDA using the ADO II is a safe procedure for chosen types of PDA. We demonstrated a novel technique for objective assessment of device protrusion into the descending aorta based on measurable parameters. ADOII device closure of non-conical PDAs warrants closer follow ups. © 2015 Wiley Periodicals, Inc.

Three-dimensional matrix fiber alignment modulates cell migration and MT1-MMP utility by spatially and temporally directing protrusions

Science.gov (United States)

Fraley, Stephanie I.; Wu, Pei-Hsun; He, Lijuan; Feng, Yunfeng; Krisnamurthy, Ranjini; Longmore, Gregory D.; Wirtz, Denis

2015-10-01

Multiple attributes of the three-dimensional (3D) extracellular matrix (ECM) have been independently implicated as regulators of cell motility, including pore size, crosslink density, structural organization, and stiffness. However, these parameters cannot be independently varied within a complex 3D ECM protein network. We present an integrated, quantitative study of these parameters across a broad range of complex matrix configurations using self-assembling 3D collagen and show how each parameter relates to the others and to cell motility. Increasing collagen density resulted in a decrease and then an increase in both pore size and fiber alignment, which both correlated significantly with cell motility but not bulk matrix stiffness within the range tested. However, using the crosslinking enzyme Transglutaminase II to alter microstructure independently of density revealed that motility is most significantly predicted by fiber alignment. Cellular protrusion rate, protrusion orientation, speed of migration, and invasion distance showed coupled biphasic responses to increasing collagen density not predicted by 2D models or by stiffness, but instead by fiber alignment. The requirement of matrix metalloproteinase (MMP) activity was also observed to depend on microstructure, and a threshold of MMP utility was identified. Our results suggest that fiber topography guides protrusions and thereby MMP activity and motility.

Histologic effects of mandibular protrusion splints in antigen-induced TMJ arthritis in rabbits

OpenAIRE

von Bremen, Julia; K?hler, Kernt; Siudak, Krystyna; Zahner, Daniel; Ruf, Sabine

2017-01-01

Background Although it is common clinical practice to treat children with Juvenile Idiopathic Arthritis (JIA) with functional appliances, the scientific evidence for this is limited. The aim of this study was to study the histologic effects of mandibular protrusion splints in temporomandibular joint (TMJ) arthritis in rabbits. Methods Twenty-eight ten-week old New Zealand white rabbits were randomly divided into four groups: AO (TMJ arthritis, no splint), AS (TMJ arthritis, mandibular splint ...

A Case of Maxillary Protrusion with Congenitally Missing Canine Teeth in the Mandible

OpenAIRE

松井, 啓至; 酒徳, 明彦

1996-01-01

A patient that had a maxillary protrusion with congenitally missing canine teeth in the mandible was successfully treated with the extraction of the maxillary first premolars. The patient's cooperation in wearing headgear appliance was highly favorable. Her profile changes were pronounced and esthetically pleasing. A review of her post-treatment records revealed an excellent esthetic and occlusal result even though the first premolars were aligned instead of the canine teeth in the mandible. ...

Proper Measurement of the Prostate Volume by Transrectal Ultrasound: Experimental Study about the Prostate with Focal Intravesical Protrusion of the Enlarged Central Gland

Energy Technology Data Exchange (ETDEWEB)

Moon, Sung Kyoung; Kim, Hyoung Jung; Lim, Joo Won; Lee, Dong Ho; Ko, Young Tae [Kyung Hee University Hospital, Seoul (Korea, Republic of)

2008-06-15

To evaluate the proper volume measurement of prostate with focal intravesical protrusion of enlarged central gland by comparison between methods using craniocaudal length from top of protruded central gland and from prostate base near bladder neck to prostate apex. We made 20 prostate models with focal intravesical protrusion (volume range: 20{approx}50 mL, height of protrusion: about 1 cm) using devil's tongue jelly. Two radiologists measured volume of models 3 times by two kinds of methods using craniocaudal length from top of protruded central gland (method 1) and from prostate base near bladder neck (method 2) by transrectal ultrasound. The accuracy of volume measurement of models was evaluated statistically by comparing their average volume to true volume. Intra- and interobserver agreement was also evaluated. Average true volume of models was 31.05 mL. Each average volume using method 1 by two observers was 37.07 mL and 38.56 mL. Each average volume using method 2 was 30.69 mL and 31.55 mL. Volume measurement using method 2 was approximated to true volume of prostate statistically (p = .654, .823). There was no significant inter- and intra-observer variation in both methods. To measure the accurate volume of prostate with focal intravesical protrusion of enlarged central gland, its craniocaudal length should be measured from prostate base near bladder neck

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

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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.

Chrysler Upset Protrusion Joining Techniques for Joining Dissimilar Metals

Energy Technology Data Exchange (ETDEWEB)

Logan, Stephen [FCA US LLC, Auburn Hills, MI (United States)

2017-09-28

The project goal was to develop and demonstrate a robust, cost effective, and versatile joining technique, known as Upset Protrusion Joining (UPJ), for joining challenging dissimilar metal com-binations, especially those where one of the metals is a die cast magnesium (Mg) component. Since two of the key obstacles preventing more widespread use of light metals (especially in high volume automotive applications) are 1) a lack of robust joining techniques and 2) susceptibility to galvanic corrosion, and since the majority of the joint combinations evaluated in this project include die cast Mg (the lightest structural metal) as one of the two materials being joined, and since die casting is the most common and cost effective process for producing Mg components, then successful project completion provides a key enabler to high volume application of lightweight materials, thus potentially leading to reduced costs, and encouraging implementation of lightweight multi-material vehicles for significant reductions in energy consumption and reduced greenhouse gas emissions. Eco-nomic benefits to end-use consumers are achieved primarily via the reduction in fuel consumption. Unlike currently available commercial processes, the UPJ process relies on a very robust mechanical joint rather than intermetallic bonding, so the more cathodic material can be coated prior to joining, thus creating a robust isolation against galvanic attack on the more anodic material. Additionally, since the UPJ protrusion is going through a hole that can be pre-drilled or pre-punched prior to coating, the UPJ process is less likely to damage the coating when the joint is being made. Further-more, since there is no additional cathodic material (such as a steel fastener) used to create the joint, there is no joining induced galvanic activity beyond that of the two parent materials. In accordance with its originally proposed plan, this project has successfully developed process variants of UPJ to enable

Obstacle detection system for underground mining vehicles

Energy Technology Data Exchange (ETDEWEB)

Cohen, P.; Polotski, V.; Piotte, M.; Melamed, F. [Ecole Polytechnique de Montreal, Montreal, PQ (Canada)

1998-01-01

A device for detecting obstacles by autonomous vehicles navigating in mine drifts is described. The device is based upon structured lighting and the extraction of relevant features from images of obstacles. The system uses image profile changes, ground and wall irregularities, disturbances of the vehicle`s trajectory, and impaired visibility to detect obstacles, rather than explicit three-dimensional scene reconstruction. 7 refs., 5 figs.

Histological and morphological evaluation of condylar cartilage of young rats in response to stimulation of mandibular protrusion

Directory of Open Access Journals (Sweden)

Milena Peixoto Nogueira de Sá

2017-08-01

Full Text Available The aim of this study was to evaluate the histogical and morphological aspects of the condyle in response to mandibular protrusion induced by composite resin occlusal planes. Thirty five-week-old male Wistar rats were selected and randomly divided in two groups. One group received a composite resin type of oclusal plane that induced mandibular protrusion, and the other was the control group, without treatment. Animals were euthanized after experimental time intervals of 7, 21 and 30 days. For histological analysis, thickness of the proliferative, serial and hypertrophic layers was measured, as well as each layer separately. The highest difference in cartilage thickness was observed at day 21, showing a significant increase of the proliferative layer. There were also other histomorphological changes related to occlusal plane interference. Condylar forward repositioning induced by composite occlusal planes influenced the endochondral ossification, increasing the proliferative layer.

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.

A Hybrid Architecture for Vision-Based Obstacle Avoidance

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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.

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.

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

Directory of Open Access Journals (Sweden)

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.

Modeling the synergy of cofilin and Arp2/3 in lamellipodial protrusive activity.

Science.gov (United States)

Tania, Nessy; Condeelis, John; Edelstein-Keshet, Leah

2013-11-05

Rapid polymerization of actin filament barbed ends generates protrusive forces at the cell edge, leading to cell migration. Two important regulators of free barbed ends, cofilin and Arp2/3, have been shown to work in synergy (net effect greater than additive). To explore this synergy, we model the dynamics of F-actin at the leading edge, motivated by data from EGF-stimulated mammary carcinoma cells. We study how synergy depends on the localized rates and relative timing of cofilin and Arp2/3 activation at the cell edge. The model incorporates diffusion of cofilin, membrane protrusion, F-actin capping, aging, and severing by cofilin and branch nucleation by Arp2/3 (but not G-actin recycling). In a well-mixed system, cofilin and Arp2/3 can each generate a large pulse of barbed ends on their own, but have little synergy; high synergy occurs only at low activation rates, when few barbed ends are produced. In the full spatially distributed model, both synergy and barbed-end production are significant over a range of activation rates. Furthermore, barbed-end production is greatest when Arp2/3 activation is delayed relative to cofilin. Our model supports a direct role for cofilin-mediated actin polymerization in stimulated cell migration, including chemotaxis and cancer invasion. Copyright © 2013 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Genomic and pathogenic analysis of a Muscovy duck parvovirus strain causing short beak and dwarfism syndrome without tongue protrusion.

Science.gov (United States)

Fu, Qiuling; Huang, Yu; Wan, Chunhe; Fu, Guanghua; Qi, Baomin; Cheng, Longfei; Shi, Shaohua; Chen, Hongmei; Liu, Rongchang; Chen, Zhenhai

2017-12-01

In 2008, clinical cases of short beak and dwarfism syndrome (SBDS) caused by Muscovy duck parvovirus (MDPV) infection were found in mule duck and Taiwan white duck farms in Fujian, China. A MDPV LH strain causing duck SBDS without tongue protrusion was isolated in this study. Phylogenetic analysis show that the MDPV LH strain was clustered together with other MDPV strains, but divergent from GPV isolates. Two major fragment deletions were found in the inverted terminal repeats (ITR) of MDPV LH similar to the ones in the ITR of MDPV GX5, YY and SAAS-SHNH strains. To investigate the pathogenicity of the MDPV LH strain, virus infection of young mule ducks was performed. The infected ducks showed SBDS symptoms including retard growth and shorten beaks without tongue protrusion. Atrophy of thymus, spleen and bursa of Fabricius was identified in the infected ducks. The results show that MDPV LH strain is moderately pathogenic to mule duck, leading to occurrence of SBDS. As far as we know, it is the first study showing that SBDS without tongue protrusion, and atrophy of thymus, spleen and bursa of Fabricius possibly associated with immunosuppression were found in the MDPV-infected ducks. The established duck-MDPV-SBDS system will help us to further work on the virus pathogenesis and develop efficacious vaccine against MDPV infection. Copyright © 2017. Published by Elsevier Ltd.

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.

A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

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Hongzhe Jin

2017-01-01

Full Text Available This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

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.

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

A stereo vision-based obstacle detection system in vehicles

Science.gov (United States)

Huh, Kunsoo; Park, Jaehak; Hwang, Junyeon; Hong, Daegun

2008-02-01

Obstacle detection is a crucial issue for driver assistance systems as well as for autonomous vehicle guidance function and it has to be performed with high reliability to avoid any potential collision with the front vehicle. The vision-based obstacle detection systems are regarded promising for this purpose because they require little infrastructure on a highway. However, the feasibility of these systems in passenger car requires accurate and robust sensing performance. In this paper, an obstacle detection system using stereo vision sensors is developed. This system utilizes feature matching, epipoplar constraint and feature aggregation in order to robustly detect the initial corresponding pairs. After the initial detection, the system executes the tracking algorithm for the obstacles. The proposed system can detect a front obstacle, a leading vehicle and a vehicle cutting into the lane. Then, the position parameters of the obstacles and leading vehicles can be obtained. The proposed obstacle detection system is implemented on a passenger car and its performance is verified experimentally.

Asymptotic solutions for flow in microchannels with ridged walls and arbitrary meniscus protrusion

Science.gov (United States)

Kirk, Toby

2017-11-01

Flow over structured surfaces exhibiting apparent slip, such as parallel ridges, have received much attention experimentally and numerically, but analytical and asymptotic solutions that account for the microstructure have so far been limited to unbounded geometries such as shear-driven flows. Analysis for channel flows has been limited to (close to) flat interfaces spanning the grooves between ridges, but in applications the interfaces (menisci) can highly protrude and have a significant impact on the apparent slip. In this presentation, we consider pressure-driven flow through a microchannel with longitudinal ridges patterning one or both walls. With no restriction on the meniscus protrusion, we develop explicit formulae for the slip length using a formal matched asymptotic expansion. Assuming the ratio of channel height to ridge period is large, the periodicity is confined to an inner layer close to the ridges, and the expansion is found to all algebraic orders. As a result, the error is exponentially small and, under a further ``diluteness'' assumption, the explicit formulae are compared to finite element solutions. They are found to have a very wide range of validity in channel height (even when the menisci can touch the opposing wall) and so are useful for practitioners.

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

Multilevel variance estimators in MLMC and application for random obstacle problems

KAUST Repository

Chernov, Alexey

2014-01-06

The Multilevel Monte Carlo Method (MLMC) is a recently established sampling approach for uncertainty propagation for problems with random parameters. In this talk we present new convergence theorems for the multilevel variance estimators. As a result, we prove that under certain assumptions on the parameters, the variance can be estimated at essentially the same cost as the mean, and consequently as the cost required for solution of one forward problem for a fixed deterministic set of parameters. We comment on fast and stable evaluation of the estimators suitable for parallel large scale computations. The suggested approach is applied to a class of scalar random obstacle problems, a prototype of contact between deformable bodies. In particular, we are interested in rough random obstacles modelling contact between car tires and variable road surfaces. Numerical experiments support and complete the theoretical analysis.

Multilevel variance estimators in MLMC and application for random obstacle problems

KAUST Repository

Chernov, Alexey; Bierig, Claudio

2014-01-01

The Multilevel Monte Carlo Method (MLMC) is a recently established sampling approach for uncertainty propagation for problems with random parameters. In this talk we present new convergence theorems for the multilevel variance estimators. As a result, we prove that under certain assumptions on the parameters, the variance can be estimated at essentially the same cost as the mean, and consequently as the cost required for solution of one forward problem for a fixed deterministic set of parameters. We comment on fast and stable evaluation of the estimators suitable for parallel large scale computations. The suggested approach is applied to a class of scalar random obstacle problems, a prototype of contact between deformable bodies. In particular, we are interested in rough random obstacles modelling contact between car tires and variable road surfaces. Numerical experiments support and complete the theoretical analysis.

Numerical procedure for fluid-structure interaction with structure displacements limited by a rigid obstacle

Directory of Open Access Journals (Sweden)

Yakhlef O.

2017-06-01

Full Text Available A fixed point algorithmis proposed to solve a fluid-structure interaction problem with the supplementary constraint that the structure displacements are limited by a rigid obstacle. Fictitious domain approach with penalization is used for the fluid equations. The surface forces from the fluid acting on the structure are computed using the fluid solution in the structure domain. The continuity of the fluid and structure velocities is imposed through the penalization parameter. The constraint of non-penetration of the elastic structure into the rigid obstacle is treated weakly. A convex constrained optimization problem is solved in order to get the structure displacements. Numerical results are presented.

The effect of a flat-plate-type obstacle on the thin liquid film accompanied by a high speed gas flow

International Nuclear Information System (INIS)

Fukano, Tohru; Kadoguchi, Katsuhiko; Kanamori, Mikio; Tominaga, Akira.

1989-01-01

A flatplate-type obstacle, which simulates a grid-type spacer in a nuclear reactor, is set in an air-water cocurrent stratified flow to investigate liquid film breakdown occurring near the obstacle. We made detailed visual observations and measurements of the velocity profile of the air flow and the axial distributions of liquid film thickness and static pressure near the obstacle. Experimental parameters were the inclination of the rectangular duct, the configuration of the obstacle, i.e., with and without a projection and a hole, which is bored in order to delay the onset of dry patch formation near the obstacle and the gap between the plate and the lower-wall surface. The results show that the plate itself does not promote dry patch formation but the projection, even if it is in contact with the wall surface at only one point, has a strong effect on the liquid film breakdown. In general the film breakdown occurs in front of the projection in a wide range of flow conditions due to the leading edge down-wash of the stream and due also to the rejection of water by gravitational force in the case of the upward flow in the inclined duct. By setting a hole in or in front of the projection the occurrence of the dry patch formation is delayed. (author)

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

Superhydrophobic Polyimide via Ultraviolet Photooxidation: The Evolution of Surface Morphology and Hydrophobicity under Different Ultraviolet Intensities

Directory of Open Access Journals (Sweden)

Hongyu Gu

2015-01-01

Full Text Available Ultraviolet (UV photooxidation has recently been developed to fabricate superhydrophobic polyimide (PI films in combination with fluoroalkylsilane modification. However, it remains unclear whether the surface morphology and hydrophobicity are sensitive to technical parameters such as UV intensity and radiation environment. Herein, we focus on the effects of UV intensity on PI surface structure and wettability to gain comprehensive understanding and more effective control of this technology. Scanning electron microscopy (SEM and atomic force microscopy (AFM results showed that UV intensity governed the evolutionary pattern of surface morphology: lower UV intensity (5 mW/cm2 facilitated in-plane expansion of dendritic protrusions while stronger UV (10 and 15 mW/cm2 encouraged localized growth of protrusions in a piling-up manner. Surface roughness and hydrophobicity maximized at the intensity of 10 mW/cm2, as a consequence of the slowed horizontal expansion and preferred vertical growth of the protrusions when UV intensity increased. Based on these results, the mechanism that surface micro/nanostructures developed in distinct ways when exposed to different UV intensities was proposed. Though superhydrophobicity (water contact angle larger than 150° can be achieved at UV intensity not less than 10 mW/cm2, higher intensity decreased the effectiveness. Therefore, the UV photooxidation under 10 mW/cm2 for 72 h is recommended to fabricate superhydrophobic PI films.

Scattering theory of walking droplets in the presence of obstacles

International Nuclear Information System (INIS)

Dubertrand, Rémy; Hubert, Maxime; Schlagheck, Peter; Vandewalle, Nicolas; Bastin, Thierry; Martin, John

2016-01-01

We aim to describe a droplet bouncing on a vibrating bath using a simple and highly versatile model inspired from quantum mechanics. Close to the Faraday instability, a long-lived surface wave is created at each bounce, which serves as a pilot wave for the droplet. This leads to so called walking droplets or walkers. Since the seminal experiment by Couder et al (2006 Phys. Rev. Lett. 97 154101) there have been many attempts to accurately reproduce the experimental results.We propose to describe the trajectories of a walker using a Green function approach. The Green function is related to the Helmholtz equation with Neumann boundary conditions on the obstacle(s) and outgoing boundary conditions at infinity. For a single-slit geometry our model is exactly solvable and reproduces some general features observed experimentally. It stands for a promising candidate to account for the presence of arbitrary boundaries in the walker’s dynamics. (paper)

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

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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.

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

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.

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.

Path planning for first responders in the presence of moving obstacles

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Zhiyong Wang

2015-06-01

obstacles like plumes; 3. MOAAstar–III/Uncertainty, which can handle the uncertainty in predictions of moving obstacles and incorporate the profile of responders into the routing. We have applied the developed prototype navigation system to different navigation cases with moving obstacles. The main conclusions drawn from our applications are summarized as follows: • In the proposed taxonomy, we have identified 16 navigation cases that could occur in disaster response and need to be investigated. In addressing these navigation problems, it would be quite useful to employ computer simulations and models, which can make reliable predicted information about responders, the targets, and obstacles, in finding safe routes for the responders. • The approach we provide is general and not limited to the cases of plumes and fires. In our data model, the data about the movement of hazards is represented as moving polygons. This allows the data model to be easily adjusted to merge and organize information from models of different types of disasters. For example, the areas that are affected by floods can also be represented as moving polygons. To facilitate the route calculation, not only the data of obstacles but also the information about the state of road networks affected by obstacles need to be structured and stored in the database. • In planning routes for responders, the routing algorithms should incorporate the dynamic data of obstacles to be able to avoid the hazards. Besides, other factors, such as the operation time of tasks, the required arrival time, and departure time, also need to be considered to achieve the objectives in a rescue process, e.g., to minimize the delays caused by the moving obstacles. • The profile of responders is quite important for generation of feasible routes for a specific disaster situation. The responders may have different protective equipment that allows them to pass through different types of moving obstacles, and thus can have

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.

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.

Matrix metalloproteinases regulate the formation of dendritic spine head protrusions during chemically induced long-term potentiation.

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Zsuzsanna Szepesi

Full Text Available Dendritic spines are are small membranous protrusions that extend from neuronal dendrites and harbor the majority of excitatory synapses. Increasing evidence has shown that matrix metalloproteinases (MMPs, a family of extracellularly acting and Zn(2+-dependent endopeptidases, are able to rapidly modulate dendritic spine morphology. Spine head protrusions (SHPs are filopodia-like processes that extend from the dendritic spine head, representing a form of postsynaptic structural remodeling in response to altered neuronal activity. Herein, we show that chemically induced long-term potentiation (cLTP in dissociated hippocampal cultures upregulates MMP-9 activity that controls the formation of SHPs. Blocking of MMPs activity or microtubule dynamics abolishes the emergence of SHPs. In addition, autoactive recombinant MMP-9, promotes the formation of SHPs in organotypic hippocampal slices. Furthermore, spines with SHPs gained postsynaptic α-amino-3-hydroxyl-5-methyl-4-isoxazole propionic acid (AMPA receptors upon cLTP and the synaptic delivery of AMPA receptors was controlled by MMPs. The present results strongly imply that MMP-9 is functionally involved in the formation of SHPs and the control of postsynaptic receptor distribution upon cLTP.

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

Science.gov (United States)

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

Investigation of split-off dimers on the Si(001)2x1 surface

International Nuclear Information System (INIS)

Schofield, S.R.; O'Brien, J.L.; Curson, N.J.; Simmons, M.Y.; Clark, R.G.

2002-01-01

Full text: A detailed knowledge of the nature of crystalline defects on the Si(001)2x1 surface is becoming increasingly important as more research effort is dedicated to producing atomic-scale electronic devices. Here we present high-resolution scanning tunnelling microscopy (STM) images and ab initio pseudopotential calculations of an unusual defect of the silicon (001) surface called the split-off dimer. In high-resolution filled-state images, split-off dimers appear as a pair of protrusions, in contrast to the surrounding surface dimers that appear as 'bean-shaped' protrusions. We show that π-bonding does not exist between the atoms of the split-off dimer, but instead, the dimer atoms form π-bonds with two second layer atoms as part of a tetramer bonding arrangement. We discuss the strain associated with split-off dimer defects and describe how this strain significantly affects the bonding arrangements and local density of states around these defects

A Robust Obstacle Avoidance for Service Robot Using Bayesian Approach

Directory of Open Access Journals (Sweden)

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.

Formation of carbon nanotubes in the graphite surface by Ar ion sputtering

International Nuclear Information System (INIS)

Wang Zhenxia; Zhu Fuying; Wang Wenmin; Yu Guoqing; Ruan Meiling; Zhang Huiming; Zhu Jingping

1998-01-01

The authors have investigated structures and topography features of sputtered graphite surface using scanning electron microscopy (SEM) and transmission electron microscopy (TEM), and demonstrated that carbon nanotubes can be grown up by sputtered-atom deposition on a protrusion of topography feature

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

Radar-based collision avoidance for unmanned surface vehicles

Science.gov (United States)

Zhuang, Jia-yuan; Zhang, Lei; Zhao, Shi-qi; Cao, Jian; Wang, Bo; Sun, Han-bing

2016-12-01

Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV's heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.

Anti-predatory particle swarm optimization: Solution to nonconvex economic dispatch problems

Energy Technology Data Exchange (ETDEWEB)

Selvakumar, A. Immanuel [Department of Electrical and Electronics Engineering, Karunya Institute of Technology and Sciences, Coimbatore 641114, Tamilnadu (India); Thanushkodi, K. [Department of Electronics and Instrumentation Engineering, Government College of Technology, Coimbatore 641013, Tamilnadu (India)

2008-01-15

This paper proposes a new particle swarm optimization (PSO) strategy namely, anti-predatory particle swarm optimization (APSO) to solve nonconvex economic dispatch problems. In the classical PSO, the movement of a particle (bird) is governed by three behaviors: inertial, cognitive and social. The cognitive and social behaviors are the components of the foraging activity, which help the swarm of birds to locate food. Another activity that is observed in birds is the anti-predatory nature, which helps the swarm to escape from the predators. In this work, the anti-predatory activity is modeled and embedded in the classical PSO to form APSO. This inclusion enhances the exploration capability of the swarm. To validate the proposed APSO model, it is applied to two test systems having nonconvex solution spaces. Satisfactory results are obtained when compared with previous approaches. (author)

Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

Science.gov (United States)

Polanowski, Piotr; Sikorski, Andrzej

2016-08-04

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

Lattice Boltzmann Study of Bubbles on a Patterned Superhydrophobic Surface under Shear Flow

Science.gov (United States)

Chen, Wei; Wang, Kai; Hou, Guoxiang; Leng, Wenjun

2018-01-01

This paper studies shear flow over a 2D patterned superhydrophobic surface using lattice Boltzmann method (LBM). Single component Shan-Chen multiphase model and Carnahan-Starling EOS are adopted to handle the liquid-gas flow on superhydrophobic surface with entrapped micro-bubbles. The shape of bubble interface and its influence on slip length under different shear rates are investigated. With increasing shear rate, the bubble interface deforms. Then the contact lines are depinned from the slot edges and move downstream. When the shear rate is high enough, a continuous gas layer forms. If the protrusion angle is small, the gas layer forms and collapse periodically, and accordingly the slip length changes periodically. While if the protrusion angle is large, the gas layer is steady and separates the solid wall from liquid, resulting in a very large slip length.

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.

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.

Critical Care Nurses' Suggestions to Improve End-of-Life Care Obstacles: Minimal Change Over 17 Years.

Science.gov (United States)

Beckstrand, Renea L; Hadley, Kacie Hart; Luthy, Karlen E; Macintosh, Janelle L B

Critical-care nurses (CCNs) provide end-of-life (EOL) care on a daily basis as 1 in 5 patients dies while in intensive care units. Critical-care nurses overcome many obstacles to perform quality EOL care for dying patients. The purposes of this study were to collect CCNs' current suggestions for improving EOL care and determine if EOL care obstacles have changed by comparing results to data gathered in 1998. A 72-item questionnaire regarding EOL care perceptions was mailed to a national, geographically dispersed, random sample of 2000 members of the American Association of Critical-Care Nurses. One of 3 qualitative questions asked CCNs for suggestions to improve EOL care. Comparative obstacle size (quantitative) data were previously published. Of the 509 returned questionnaires, 322 (63.3%) had 385 written suggestions for improving EOL care. Major themes identified were ensuring characteristics of a good death, improving physician communication with patients and families, adjusting nurse-to-patient ratios to 1:1, recognizing and avoiding futile care, increasing EOL education, physicians who are present and "on the same page," not allowing families to override patients' wishes, and the need for more support staff. When compared with data gathered 17 years previously, major themes remained the same but in a few cases changed in order and possible causation. Critical-care nurses' suggestions were similar to those recommendations from 17 years ago. Although the order of importance changed minimally, the number of similar themes indicated that obstacles to providing EOL care to dying intensive care unit patients continue to exist over time.

Cross-Cultural Peer Mentoring: One Approach to Enhancing White Faculty Adjustment at Black Colleges

Science.gov (United States)

Louis, Dave A.

2015-01-01

White faculty members at Black colleges in the United States face numerous social obstacles. Exploring the experiences of White faculty members at four historically Black colleges and universities (HBCUs) and their adjustment to a minority status assists the comprehension of issues surrounding this subgroup. Utilizing a phenomenological approach,…

Noise characteristics and flow field of an impinging jet on a conical obstacle

Energy Technology Data Exchange (ETDEWEB)

Liu, Xin; Xie, Junlong; Shu, Shuiming; Zhang, Yi, E-mail: hustxjl@163.com [School of Energy and Power Engineering, Huazhong University of Science and Technology, Wuhan, 430074 (China)

2017-12-15

The noise characteristics and flow field of a low-speed impinging jet on a conical obstacle have been numerically simulated using the kinetic energy transport subgrid-scale model of the large-eddy simulation method. Noise measurement is carried out to validate the proposed simulation method. The effects of the impinging distance on the development, separation and diffusion of vortices on the back of the conical obstacle are investigated. The jet structure is better preserved and the vorticity value becomes larger as the impinging distance increases. Simulation results of the noise spectrums and overall sound pressure level (OASPL) agree well with the experimental data. The noise spectrums are analyzed and combined with simulation results for the flow field. When the impinging distance is small, the main acoustic sources with the broadband characteristic consist of the dipole source produced by pressure fluctuation on the surface of the obstacle, and the quadrupole source produced by vortices. As the impinging distance increases, the quadrupole source becomes the major acoustic source with low-frequency characteristics. In addition, the OASPL of the impinging jet is obtained at different impinging distances. (paper)

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...

Expandable antivibration bar for heat transfer tubes of a pressurized water reactor steam generator

International Nuclear Information System (INIS)

Appleman, R.H.

1987-01-01

This patent describes a pressurized water reactor steam generator having spaced rows of heat transfer tubes through which primary coolant from the reactor flows, the tubes being of a U-shaped design, with the U-bend portions of the U-shaped tubes stabilized by antivibration bars. The improvement described here comprises expandable antivibration bars for stabilizing the U-bend portions of the U-shaped tubes, the expandable bars having a pair of adjustable rods, formed from a pair of rod sections affixed to a connector, one rod section of each of the pair of rod sections having a plurality of protrusions. Each of the protrusions has slidable surfaces thereon. The other rod section of each of the pair of rod sections has indentations, each of the indentations having slidable surfaces thereon complementary to the sliding surfaces of the protrusions, such that the rods are expandable from a first cross-sectional width less than the spacing between two adjacent rows of the tubes, to a second cross-sectional width greater than the first cross-sectional width. The expanded rods are adapted to contact tubes of the two adjacent rows of the tubes

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

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.

Development of a Low-Cost Electronic Wheelchair with Obstacle Avoidance Feature

Directory of Open Access Journals (Sweden)

Edwin Romeroso Arboleda

2015-12-01

Full Text Available  A low-cost electronic wheelchair was designed and developed which can perform the similar functions and features as a commercially available wheelchair. It also provides obstacle avoidance capability as added value. The electronic wheelchair was  realized by modification of a lightweight manual wheelchair. It uses two electric motors each of 320 W 24 V DC, 5-24 VDC 6 A H-bride drivers, and a 12 V 17 Ah rechargeable lead acid battery. It equipped with switches, joystick, infrared sensors and ultrasonic sensors. A GizduinoAtMega 328 microcontroller is used to read and interpret commands. User’s acceptance evaluation results shows that the developed low-cost wheelchair is able to receive and interpret commands provided by the joystick, detect if a person  is seated on it, navigate to avoid obstacles as well as to detect edge and stairs. Technical evaluation result shows that on a flat surface it could move at the speed of around 39.9 m/minute without load and 32 m/minute with 80 kg load. At 10 degrees inclined surface, the maximum weight limit is 30 kg with the speed of 12 m/minute. At 20 degrees inclined surface, the maximum weight limit is 10 kg with the speed of 3 m/minute. Regarding cost, it is just a fraction of a cost compared to the commercially available model. Therefore, the developed wheelchair offers an option for potential users who cannot afford to buy the commercially available one.

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

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.

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

Geometric Measure Theory and Minimal Surfaces

CERN Document Server

Bombieri, Enrico

2011-01-01

W.K. ALLARD: On the first variation of area and generalized mean curvature.- F.J. ALMGREN Jr.: Geometric measure theory and elliptic variational problems.- E. GIUSTI: Minimal surfaces with obstacles.- J. GUCKENHEIMER: Singularities in soap-bubble-like and soap-film-like surfaces.- D. KINDERLEHRER: The analyticity of the coincidence set in variational inequalities.- M. MIRANDA: Boundaries of Caciopoli sets in the calculus of variations.- L. PICCININI: De Giorgi's measure and thin obstacles.

Influence of temporal pressure constraint on the biomechanical organization of gait initiation made with or without an obstacle to clear.

Science.gov (United States)

Yiou, Eric; Fourcade, Paul; Artico, Romain; Caderby, Teddy

2016-06-01

Many daily motor tasks have to be performed under a temporal pressure constraint. This study aimed to explore the influence of such constraint on motor performance and postural stability during gait initiation. Young healthy participants initiated gait at maximal velocity under two conditions of temporal pressure: in the low-pressure condition, gait was self-initiated (self-initiated condition, SI); in the high-pressure condition, it was initiated as soon as possible after an acoustic signal (reaction-time condition, RT). Gait was initiated with and without an environmental constraint in the form of an obstacle to be cleared placed in front of participants. Results showed that the duration of postural adjustments preceding swing heel-off ("anticipatory postural adjustments", APAs) was shorter, while their amplitude was larger in RT compared to SI. These larger APAs allowed the participants to reach equivalent postural stability and motor performance in both RT and SI. In addition, the duration of the execution phase of gait initiation increased greatly in the condition with an obstacle to be cleared (OBST) compared to the condition without an obstacle (NO OBST), thereby increasing lateral instability and thus involving larger mediolateral APA. Similar effects of temporal pressure were obtained in NO OBST and OBST. This study shows the adaptability of the postural system to temporal pressure in healthy young adults initiating gait. The outcome of this study may provide a basis for better understanding the aetiology of balance impairments with the risk of falling in frail populations while performing daily complex tasks involving a whole-body progression.

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.

Weather Radar Adjustment Using Runoff from Urban Surfaces

DEFF Research Database (Denmark)

Ahm, Malte; Rasmussen, Michael Robdrup

2017-01-01

Weather radar data used for urban drainage applications are traditionally adjusted to point ground references, e.g., rain gauges. However, the available rain gauge density for the adjustment is often low, which may lead to significant representativeness errors. Yet, in many urban catchments, rain...

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.

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.

Directory of Open Access Journals (Sweden)

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.

Overcoming Obstacles to Drug Repositioning in Japan

Directory of Open Access Journals (Sweden)

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.

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.

A patient with protrusion and multiple missing teeth treated with autotransplantation and space closure.

Science.gov (United States)

Ko, Jeong-Min; Paik, Cheol-Ho; Choi, Simon; Baek, Seung-Hak

2014-05-01

To present a patient treated with submerging autotransplantation (SA) of an immature premolar and subsequent orthodontic space closure (OSC) and to report a 10-year follow-up result. A 10-year-old boy had multiple missing premolars with an asymmetric pattern (maxillary right first and second premolars, teeth 14 and 15; maxillary left second premolar, tooth 25; and mandibular right second premolar, tooth 45). After considering several treatment options, tooth 35 with immature root development underwent SA into the missing site of tooth 15 at a depth 5 mm below the occlusal plane and was stabilized with sutures to create a symmetric missing condition of the premolars in the four quadrants. Three months after autotransplantation, spontaneous eruption of the transplanted tooth was observed. Nine months after autotransplantation, presence of the lamina dura of the transplanted tooth was confirmed with a periapical radiograph. Active orthodontic treatment was initiated to reduce lip protrusion by closing the missing spaces of teeth 14, 25, 35, and 45 and to correct dental midline deviation. After 33 months of active orthodontic treatment, Class I canine and molar relationships were obtained. During the 10-year follow-up, the pulp vitality of the transplanted tooth was maintained without any pathologic findings, including root resorption or pulp canal obliteration. In a patient with lip protrusion and multiple congenitally missing premolars with an asymmetric pattern, SA of one premolar from the normal quadrant into the quadrant missing two premolars with subsequent OSC of the missing sites of the other premolars can be an effective treatment modality.

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...

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...

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.

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.

Energy and exergy analysis of a new flat-plate solar air heater having different obstacles on absorber plates

International Nuclear Information System (INIS)

Akpinar, Ebru Kavak; Kocyigit, Fatih

2010-01-01

This study experimentally investigates performance analysis of a new flat-plate solar air heater (SAH) with several obstacles (Type I, Type II, Type III) and without obstacles (Type IV). Experiments were performed for two air mass flow rates of 0.0074 and 0.0052 kg/s. The first and second laws of efficiencies were determined for SAHs and comparisons were made among them. The values of first law efficiency varied between 20% and 82%. The values of second law efficiency changed from 8.32% to 44.00%. The highest efficiency were determined for the SAH with Type II absorbent plate in flow channel duct for all operating conditions, whereas the lowest values were obtained for the SAH without obstacles (Type IV). The results showed that the efficiency of the solar air collectors depends significantly on the solar radiation, surface geometry of the collectors and extension of the air flow line. The largest irreversibility was occurring at the SAH without obstacles (Type IV) collector in which collector efficiency is smallest. At the end of this study, the energy and exergy relationships are delivered for different SAHs.

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)

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)

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.

The Pseudopod System for Axon-Glia Interactions: Stimulation and Isolation of Schwann Cell Protrusions that Form in Response to Axonal Membranes.

Science.gov (United States)

Poitelon, Yannick; Feltri, M Laura

2018-01-01

In the peripheral nervous system, axons dictate the differentiation state of Schwann cells. Most of this axonal influence on Schwann cells is due to juxtacrine interactions between axonal transmembrane molecules (e.g., the neuregulin growth factor) and receptors on the Schwann cell (e.g., the ErbB2/ErbB3 receptor). The fleeting nature of this interaction together with the lack of synchronicity in the development of the Schwann cell population limits our capability to study this phenomenon in vivo. Here we present a simple Boyden Chamber-based method to study this important cell-cell interaction event. We isolate the early protrusions of Schwann cells that are generated in response to juxtacrine stimulation by sensory neuronal membranes. This method is compatible with a large array of current biochemical analyses and provides an effective approach to study biomolecules that are differentially localized in Schwann cell protrusions and cell bodies in response to axonal signals. A similar approach can be extended to different kinds of cell-cell interactions.

76 FR 80448 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2011-12-23

... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. EP 290 (Sub-No. 5) (2012-1)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the first quarter 2012 rail cost adjustment factor (RCAF...

On the occurrence of burnout downstream of a flow obstacle in boiling two-phase upward flow within a vertical annular channel

International Nuclear Information System (INIS)

Mori, Shoji; Tominaga, Akira; Fukano, Tohru

2004-01-01

If a flow obstruction such as a spacer is set in a boiling two-phase flow within an annular channel, the inner tube of which is used as a heater, the temperature on the surface of the heater tube is severely affected by the existence of the spacer. In some case the spacer has a cooling effect, and in the other case it causes the dryout of the cooling liquid film on the heating surface resulting in the burnout of the tube. But the burnout mechanism near the spacer is not still clear. In the present paper we discus the influence of the flow obstacle on the occurrence of burnout downstream of the flow obstacle in boiling two-phase upward flow within a vertical annular channel. (author)

EnWG 4.0. Promoting overdue adjustments

International Nuclear Information System (INIS)

Busch, Robert; Koehler, Anne

2016-01-01

In addition to the the White Paper of the Federal Ministry of Economics and in the draft bill of an electricity market law proposed - Largely uncontroversial - ''Anyway measures'' there is further need for adjustment of the Energy Industry Act (En WG). This is largely known for years. So far done is little. It is about more transparency in the grid regulation, removing obstacles to competition in the electricity and gas market and the coupling of the sectors. The Federal Association of New Energy e. V. (bne) has compiled proposals on how the En WG can meet the requirements of the new energy word. [de

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.

Adjoint Methods for Adjusting Three-Dimensional Atmosphere and Surface Properties to Fit Multi-Angle Multi-Pixel Polarimetric Measurements

Science.gov (United States)

Martin, William G.; Cairns, Brian; Bal, Guillaume

2014-01-01

This paper derives an efficient procedure for using the three-dimensional (3D) vector radiative transfer equation (VRTE) to adjust atmosphere and surface properties and improve their fit with multi-angle/multi-pixel radiometric and polarimetric measurements of scattered sunlight. The proposed adjoint method uses the 3D VRTE to compute the measurement misfit function and the adjoint 3D VRTE to compute its gradient with respect to all unknown parameters. In the remote sensing problems of interest, the scalar-valued misfit function quantifies agreement with data as a function of atmosphere and surface properties, and its gradient guides the search through this parameter space. Remote sensing of the atmosphere and surface in a three-dimensional region may require thousands of unknown parameters and millions of data points. Many approaches would require calls to the 3D VRTE solver in proportion to the number of unknown parameters or measurements. To avoid this issue of scale, we focus on computing the gradient of the misfit function as an alternative to the Jacobian of the measurement operator. The resulting adjoint method provides a way to adjust 3D atmosphere and surface properties with only two calls to the 3D VRTE solver for each spectral channel, regardless of the number of retrieval parameters, measurement view angles or pixels. This gives a procedure for adjusting atmosphere and surface parameters that will scale to the large problems of 3D remote sensing. For certain types of multi-angle/multi-pixel polarimetric measurements, this encourages the development of a new class of three-dimensional retrieval algorithms with more flexible parametrizations of spatial heterogeneity, less reliance on data screening procedures, and improved coverage in terms of the resolved physical processes in the Earth?s atmosphere.

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.

Intelligent sizing of a series hybrid electric power-train system based on Chaos-enhanced accelerated particle swarm optimization

International Nuclear Information System (INIS)

Zhou, Quan; Zhang, Wei; Cash, Scott; Olatunbosun, Oluremi; Xu, Hongming; Lu, Guoxiang

2017-01-01

Highlights: • A novel algorithm for hybrid electric powertrain intelligent sizing is introduced and applied. • The proposed CAPSO algorithm is capable of finding the real optimal result with much higher reputation. • Logistic mapping is the most effective strategy to build CAPSO. • The CAPSO gave more reliable results and increased the efficiency by 1.71%. - Abstract: This paper firstly proposed a novel HEV sizing method using the Chaos-enhanced Accelerated Particle Swarm Optimization (CAPSO) algorithm and secondly provided a demonstration on sizing a series hybrid electric powertrain with investigations of chaotic mapping strategies to achieve the global optimization. In this paper, the intelligent sizing of a series hybrid electric powertrain is formulated as an integer multi-objective optimization issue by modelling the powertrain system. The intelligent sizing mechanism based on APSO is then introduced, and 4 types of the most effective chaotic mapping strategy are investigated to upgrade the standard APSO into CAPSO algorithms for intelligent sizing. The evaluation of the intelligent sizing systems based on standard APSO and CAPSOs are then performed. The Monte Carlo analysis and reputation evaluation indicate that the CAPSO outperforms the standard APSO for finding the real optimal sizing result with much higher reputation, and CAPSO with logistic mapping strategy is the most effective algorithm for HEV powertrain components intelligent sizing. In addition, this paper also performs the sensitivity analysis and Pareto analysis to help engineers customize the intelligent sizing system.

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.

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

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.

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.

Association between metabolic syndrome and intravesical prostatic protrusion in patients with benign prostatic enlargement and lower urinary tract symptoms (MIPS Study).

Science.gov (United States)

Russo, Giorgio I; Regis, Federica; Spatafora, Pietro; Frizzi, Jacopo; Urzì, Daniele; Cimino, Sebastiano; Serni, Sergio; Carini, Marco; Gacci, Mauro; Morgia, Giuseppe

2018-05-01

To investigate the association between metabolic syndrome (MetS) and morphological features of benign prostatic enlargement (BPE), including total prostate volume (TPV), transitional zone volume (TZV) and intravesical prostatic protrusion (IPP). Between January 2015 and January 2017, 224 consecutive men aged >50 years presenting with lower urinary tract symptoms (LUTS) suggestive of BPE were recruited to this multicentre cross-sectional study. MetS was defined according to International Diabetes Federation criteria. Multivariate linear and logistic regression models were performed to verify factors associated with IPP, TZV and TPV. Patients with MetS were observed to have a significant increase in IPP (P < 0.01), TPV (P < 0.01) and TZV (P = 0.02). On linear regression analysis, adjusted for age and metabolic factors of MetS, we found that high-density lipoprotein (HDL) cholesterol was negatively associated with IPP (r = -0.17), TPV (r = -0.19) and TZV (r = -0.17), while hypertension was positively associated with IPP (r = 0.16), TPV (r = 0.19) and TZV (r = 0.16). On multivariate logistic regression analysis adjusted for age and factors of MetS, hypertension (categorical; odds ratio [OR] 2.95), HDL cholesterol (OR 0.94) and triglycerides (OR 1.01) were independent predictors of TPV ≥ 40 mL. We also found that HDL cholesterol (OR 0.86), hypertension (OR 2.0) and waist circumference (OR 1.09) were significantly associated with TZV ≥ 20 mL. On age-adjusted logistic regression analysis, MetS was significantly associated with IPP ≥ 10 mm (OR 34.0; P < 0.01), TZV ≥ 20 mL (OR 4.40; P < 0.01) and TPV ≥ 40 mL (OR 5.89; P = 0.03). We found an association between MetS and BPE, demonstrating a relationship with IPP. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

Modified protrusion arch for anterior crossbite correction - a case report.

Science.gov (United States)

Roy, Abhishek Singha; Singh, Gulshan Kr; Tandon, Pradeep; Chaudhary, Ramsukh

2013-01-01

Borderline and mild skeletal Class III relationships in adult patients are usually treated by orthodontic camouflage. Reasonably rood results have been achieved with nonsurgical teatment of anterior crossbite. Class III malocclusion may be associated with mandibular prognathism, maxillary retrognathism, or both. Class III maxillary retrognathism generally involves anterior crossbite, which must be opened if upper labial brackets are to be bonded. If multiple teeth are in crossbite, after opening the bite usual step is to ligate forward or advancement arch made of 0.018" or 0.020" stainless steel or NiTi wire main arch that must be kept separated 2 mm from the slot ofupper incisor braces. Two stops or omegas are made 1 mm mesial to the tubes of the molar bands that will impede main arch from slipping,and in this manner the arch will push the anterior teeth forward Here we have fabricated a modified multiple loop protrusion arch to correct an anterior crossbite with severe crowding that was not amenable to correct by advancement arches.

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

Science.gov (United States)

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.

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.

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.

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.

Investigation of the Effects of Tire Inflation Pressure and Forward Speed of Driven Wheel on Horizontal Impact of Passing Rectangular Obstacle

Directory of Open Access Journals (Sweden)

H Mohammadzadeh

2013-09-01

Full Text Available The tire-mechanics models have been developed for the study of wheel movement on the road or soil surface while these models are unlikely to describe the motion of wheels on uneven surfaces. Due to dynamical complexity of this phenomena and the importance of this subject for farm conditions and the wheel carrier devices, the present research aimed to investigate the effects of several parameters on the wheel passing the obstacle. The experiments were carried out using single wheel tester in soil bin condition. The results indicated a relatively linear relationship between the impact force applied on tire and forward speed of wheel and also the height of rectangular obstacle. The effect of inflation pressure was inversed in the range of complete formed tire’s body on impact force and in low levels of tire inflation pressure; tire’s body damps the maximum impact forces. The medium levels of pressure (about 150-200 kPa resulted in less horizontal force that applied on the wheel for different levels of forward speed and obstacle’s height. Tractive force for passing obstacle was increased by raising forward speed and the obstacle’s height.

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.

Transition from regular to irregular reflection of cylindrical converging shock waves over convex obstacles

Science.gov (United States)

Vignati, F.; Guardone, A.

2017-11-01

An analytical model for the evolution of regular reflections of cylindrical converging shock waves over circular-arc obstacles is proposed. The model based on the new (local) parameter, the perceived wedge angle, which substitutes the (global) wedge angle of planar surfaces and accounts for the time-dependent curvature of both the shock and the obstacle at the reflection point, is introduced. The new model compares fairly well with numerical results. Results from numerical simulations of the regular to Mach transition—eventually occurring further downstream along the obstacle—point to the perceived wedge angle as the most significant parameter to identify regular to Mach transitions. Indeed, at the transition point, the value of the perceived wedge angle is between 39° and 42° for all investigated configurations, whereas, e.g., the absolute local wedge angle varies in between 10° and 45° in the same conditions.

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.

On the Concept of Electrode to Discharge Phenomena in Surface Roughness With Reference Strongly Electronegative Gases

DEFF Research Database (Denmark)

McAllister, Iain Wilson

1986-01-01

The use of geometrically well-defined protrusions in studies es of the effects of electrode surface roughness upon the insulation strength of strongly electronegative gases is discussed. It is argued that, with respect to the roughness associated with production processes, the dimensions of artif...

On the occurrence of burnout downstream of the flow obstacle in boiling two-phase upward flow within a vertical annular channel

International Nuclear Information System (INIS)

Mori, Shoji; Fukano, Tohru

2003-01-01

If a flow obstruction such as a spacer is set in a boiling two-phase flow within an annular channel, the inner tube of which is used as a heater, the temperature on the surface of the heater tube is severely affected by the existence of the spacer. In some cases the spacer has a cooling effect, and in the other case it causes the dryout of the cooling liquid film on the heating surface resulting in the burnout of the tube. But the thermo-fluid dynamic mechanism to cause burnout near the spacer is not still clear. In the present paper we discuss the influence of the flow obstacle on the occurrence of burnout downstream of the flow obstacle in boiling two-phase upward flow within a vertical annular channel. (author)

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

Directory of Open Access Journals (Sweden)

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.

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.

Adatom Fe(III on the hematite surface: Observation of a key reactive surface species

Directory of Open Access Journals (Sweden)

Rosso Kevin M

2004-06-01

Full Text Available The reactivity of a mineral surface is determined by the variety and population of different types of surface sites (e.g., step, kink, adatom, and defect sites. The concept of "adsorbed nutrient" has been built into crystal growth theories, and many other studies of mineral surface reactivity appeal to ill-defined "active sites." Despite their theoretical importance, there has been little direct experimental or analytical investigation of the structure and properties of such species. Here, we use ex-situ and in-situ scanning tunneling microcopy (STM combined with calculated images based on a resonant tunneling model to show that observed nonperiodic protrusions and depressions on the hematite (001 surface can be explained as Fe in an adsorbed or adatom state occupying sites different from those that result from simple termination of the bulk mineral. The number of such sites varies with sample preparation history, consistent with their removal from the surface in low pH solutions.

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

Modeling and evaluating of surface roughness prediction in micro-grinding on soda-lime glass considering tool characterization

Science.gov (United States)

Cheng, Jun; Gong, Yadong; Wang, Jinsheng

2013-11-01

The current research of micro-grinding mainly focuses on the optimal processing technology for different materials. However, the material removal mechanism in micro-grinding is the base of achieving high quality processing surface. Therefore, a novel method for predicting surface roughness in micro-grinding of hard brittle materials considering micro-grinding tool grains protrusion topography is proposed in this paper. The differences of material removal mechanism between convention grinding process and micro-grinding process are analyzed. Topography characterization has been done on micro-grinding tools which are fabricated by electroplating. Models of grain density generation and grain interval are built, and new predicting model of micro-grinding surface roughness is developed. In order to verify the precision and application effect of the surface roughness prediction model proposed, a micro-grinding orthogonally experiment on soda-lime glass is designed and conducted. A series of micro-machining surfaces which are 78 nm to 0.98 μm roughness of brittle material is achieved. It is found that experimental roughness results and the predicting roughness data have an evident coincidence, and the component variable of describing the size effects in predicting model is calculated to be 1.5×107 by reverse method based on the experimental results. The proposed model builds a set of distribution to consider grains distribution densities in different protrusion heights. Finally, the characterization of micro-grinding tools which are used in the experiment has been done based on the distribution set. It is concluded that there is a significant coincidence between surface prediction data from the proposed model and measurements from experiment results. Therefore, the effectiveness of the model is demonstrated. This paper proposes a novel method for predicting surface roughness in micro-grinding of hard brittle materials considering micro-grinding tool grains protrusion

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.

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.

A temporal PIV study of flame/obstacle generated vortex interactions within a semi-confined combustion chamber

Science.gov (United States)

Jarvis, S.; Hargrave, G. K.

2006-01-01

Experimental data obtained using a new multiple-camera digital particle image velocimetry (PIV) technique are presented for the interaction between a propagating flame and the turbulent recirculating velocity field generated during flame-solid obstacle interaction. The interaction between the gas movement and the obstacle creates turbulence by vortex shedding and local wake recirculations. The presence of turbulence in a flammable gas mixture can wrinkle a flame front, increasing the flame surface area and enhancing the burning rate. To investigate propagating flame/turbulence interaction, a novel multiple-camera digital PIV technique was used to provide high spatial and temporal characterization of the phenomenon for the turbulent flow field in the wake of three sequential obstacles. The technique allowed the quantification of the local flame speed and local flow velocity. Due to the accelerating nature of the explosion flow field, the wake flows develop 'transient' turbulent fields. Multiple-camera PIV provides data to define the spatial and temporal variation of both the velocity field ahead of the propagating flame and the flame front to aid the understanding of flame-vortex interaction. Experimentally obtained values for flame displacement speed and flame stretch are presented for increasing vortex complexity.

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.

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

Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System

Directory of Open Access Journals (Sweden)

Manuel F. Silva

2012-01-01

Full Text Available This paper presents a climbing robot with wheeled locomotion and adhesion through permanent magnets, developed with the intention of being used in the inspection of different types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, and ship hulls. In this paper are presented the main considerations thought for its project, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture, and the human-machine interface developed for the manual and automatic control of the vehicle while in operation. Although it can be manually controlled, the vehicle is designed to have a semiautonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing slightly irregular and curved surfaces with a large radius.

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.

[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.

[Epidural pharmacotherapy in the treatment of the pain syndrome in osteochondrosis complicated by intervertebral discs protrusion of lumbar part of the vertebral column].

Science.gov (United States)

Khizhniak, M V; Priĭmak, E V

2013-03-01

Experience of application of intralaminar epidural pharmacotherapy for the treatment of the pain syndrome in the patients, suffering osteochondrosis of lumbar portion of vertebral column, complicated by intervertebral discs protrusion, was summarized. The method introduction permits to escape the operative intervention performance for complicated osteochondrosis.

Obstacles to action in arthritis: a community case-control study.

Science.gov (United States)

Hutton, Ingrid; Gamble, Greg; McLean, Grant; Butcher, Hugh; Gow, Peter; Dalbeth, Nicola

2009-07-01

Despite the benefits of physical activity, people with arthritis are less active than the general population. The aim of this study was to determine the motivators and obstacles to physical activity for adults with arthritis. Participants were identified from the Obstacles to Action Study, a community based study of 8163 adults, which explored barriers and motivators to physical activity. A 1:1 case-control study was designed; cases were identified as those participants who reported arthritis (n = 1106). Each case was matched with an age, sex and ethnicity-matched non-arthritis control (n = 1106). Cases were less likely to achieve recommended physical activity targets (58.8% vs. 68.1% P = 0.00001). Furthermore, fewer people with arthritis believed that physical activity would help them lead healthy lives (86.7% vs. 91.3% P = 0.006) or viewed physical activity as a priority (53.8% vs. 59.8% P = 0.005). Cases were less confident in their abilities to try a new activity (37.1% vs. 43.7% P = 0.002) or maintain a healthy weight (65.0% vs. 74.3% P = 0.00001). Cases also reported greater negative impact scores for barriers to activity, particularly arthritis, accessibility, cost and discomfort while exercising. Motivators and environmental barriers to activity were similar for cases and controls. These findings persisted after adjusting for educational level, body mass index and comorbidities. People with arthritis are less active and demonstrate different attitudes toward physical activity. Although people with arthritis identify similar environmental barriers, they have different psychosocial barriers. In order to design effective physical activity programs for people with arthritis, these barriers must be specifically addressed.

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...

Avoiding obstacles by using a proximity infrared sensor skin

Institute of Scientific and Technical Information of China (English)

Cao Zhengcai; Fu Yili; Wu Qidi; Wang Shuguo; Wang Guangguo

2007-01-01

Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot surface to form soft sensor skin is very difficult with the traditional technology, hi this paper we propose a new method to realize such a skin. By implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped freely. The developed sensor skin is a large-area, flexible array of infrared sensors with data processing capabilities. Depending on the skin electronics, it endows its carrier with an ability to sense its surroundings. The structure, the method of infrared sensor signal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

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

Science.gov (United States)

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

2017-09-01

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

Preparation and characterization of soy protein films with a durable water resistance-adjustable and antimicrobial surface.

Science.gov (United States)

Li, Shuzhao; Donner, Elizabeth; Xiao, Huining; Thompson, Michael; Zhang, Yachuan; Rempel, Curtis; Liu, Qiang

2016-12-01

A water resistant surface was first obtained by immobilizing hydrophobic copolymers, poly (styrene-co-glycidyl methacrylate) (PSG), with functional groups on soy protein isolate (SPI) films. XPS and AFM results showed that PSG copolymers were immobilized on the film by chemical bonding, and formed a rough surface with some bumps because of the segregation of two different phases on PSG copolymers. Water resistance of the modified films could be adjusted dramatically by further immobilizing different amounts of guanidine-based antimicrobial polymers, poly (hexamethylene guanidine hydrochloride) (PHMG) on the resulting hydrophobic surface. The introduction of hydrophilic PHMG on the resulting surface generated many micropores, which potentially increased the water uptake of the modified films. Furthermore, the modified SPI films showed higher thermostability compared to native SPI film and broad-spectrum antimicrobial activity by contact killing, attributed to the presence of PHMG on the surface. The modified SPI film with a multi-functional surface showed potential for applications in the packaging and medical fields. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.

Surface modifying method for metal member

International Nuclear Information System (INIS)

Amano, Kazuo; Enomoto, Kunio; Hirano, Akihiko; Hirano, Atsuya; Hattori, Shigeo; Hayashi, Eisaku; Ueyama, Toshiharu; Hayashi, Makoto

1998-01-01

A surface of a metal member such as carbon steel to be used in a corrosion circumstance such as in a nuclear power plant and a thermoelectric plant are polished. A printing method is conducted for removing obstacles on the surface of the member. Namely, a photographing printing paper immersed in a diluted sulfuric acid solution is appended tightly to the portion with its surface polished smoothly. Sulfur present in the form of an obstacle of MnS or present alone in the material reacts with the sulfuric acid to form a sulfuric acid gas, and reacts with Ag of the printing paper to discolor the printing paper to brown. When a peeled printing paper is discolored to brown, sulfur printing is repeated. After conforming that the peeled printing paper is white, the surface is washed. Subsequently, surface plasticization is conducted by water jet peening or shot peening. (I.N.)

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

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.

ASPECTS OF OBSTACLES FOR APPLYING ACTIVITY BASED COSTING (ABC SYSTEM IN EGYPTIAN FIRMS

Directory of Open Access Journals (Sweden)

Petru STEFEA

2013-10-01

Full Text Available The following investigation aims to determine the aspects of obstacles for applying Activity Based Costing (ABC system in the Egyptian case and the significant differences among the effects of such obstacles . The Study used the survey method to describe and analyze the obstacles in some Egyptian firms. The population of the study is Egyptian manufacturing firms. This survey used the number of 392 questionnaires that were used throughout the total of 23 Egyptian manufacturing firms, during the first half of 2013. Finally, the study found some influencing obstacles for applying this system (ABC and there were significant differences among the aspects of obstacles for applying ABC system in the Egyptian manufacturing firms.

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.

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...

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

Directory of Open Access Journals (Sweden)

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.

2D transient granular flows over obstacles: experimental and numerical work

Science.gov (United States)

Juez, Carmelo; Caviedes-Voullième, Daniel; Murillo, Javier; García-Navarro, Pilar

2016-04-01

Landslides are an ubiquitous natural hazard, and therefore human infrastructure and settlements are often at risk in mountainous regions. In order to better understand and predict landslides, systematic studies of the phenomena need to be undertaken. In particular, computational tools which allow for analysis of field problems require to be thoroughly tested, calibrated and validated under controlled conditions. And to do so, it is necessary for such controlled experiments to be fully characterized in the same terms as the numerical model requires. This work presents an experimental study of dry granular flow over a rough bed with topography which resembles a mountain valley. It has an upper region with a very high slope. The geometry of the bed describes a fourth order polynomial curve, with a low point with zero slope, and afterwards a short region with adverse slope. Obstacles are present in the lower regions which are used as model geometries of human structures. The experiments consisted of a sudden release a mass of sand on the upper region, and allowing it to flow downslope. Furthermore, it has been frequent in previous studies to measure final states of the granular mass at rest, but seldom has transient data being provided, and never for the entire field. In this work we present transient measurements of the moving granular surfaces, obtained with a consumer-grade RGB-D sensor. The sensor, developed for the videogame industry, allows to measure the moving surface of the sand, thus obtaining elevation fields. The experimental results are very consistent and repeatable. The measured surfaces clearly show the distinctive features of the granular flow around the obstacles and allow to qualitatively describe the different flow patterns. More importantly, the quantitative description of the granular surface allows for benchmarking and calibration of predictive numerical models, key in scaling the small-scale experimental knowledge into the field. In addition, as

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.

Chemical nanocavitation of surfaces to enhance the utility of stainless steel as a medical material.

Science.gov (United States)

Rodriguez-Contreras, Alejandra; Guadarrama Bello, Dainelys; Flynn, Sam; Variola, Fabio; Wuest, James D; Nanci, Antonio

2018-01-01

While stainless steel is a broadly used alloy with interesting mechanical properties, its applications in medicine suffers from inherent biocompatibility limitations. An attractive opportunity to improve its performance is to alter its surface, but this has proven challenging. We now show how high range anodization conditions using H 2 SO 4 /H 2 O 2 as an atypical electrolyte can efficiently nanocavitate the surface of both stainless steel SS304 and SS316 and create a topography with advantageous biomedical characteristics. We describe the structural and chemical features of the resulting surfaces, and propose a nanocorrosion/transpassivation/repassivation mechanism for its creation. Our approach creates a thin mesoporous layer of crystalline oxide that selectively promotes mammalian cell activity and limits bacterial adhesion. The modified surfaces favor the formation and maturation of focal adhesion plaques and environment-sensing filopodia with abundant extra small lateral membrane protrusions, suggesting an increase in membrane fluidity. These protrusions represent a yet undescribed cellular response. Such surfaces promise to facilitate the integration of implantable SS devices, in general. In addition, our strategy simultaneously provides a simple, commercially attractive way to control the adhesion of microorganisms, making nanostructured stainless steel broadly useful in hospital environments, in manufacturing medical devices, as well as offering possibilities for non-medical applications. Crown Copyright © 2017. Published by Elsevier B.V. All rights reserved.

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.

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

Directory of Open Access Journals (Sweden)

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.

Expression of the BMP receptor Alk3 in the second heart field is essential for development of the dorsal mesenchymal protrusion and atrioventricular septation

NARCIS (Netherlands)

Briggs, Laura E.; Phelps, Aimee L.; Brown, Elizabeth; Kakarla, Jayant; Anderson, Robert H.; van den Hoff, Maurice J. B.; Wessels, Andy

2013-01-01

The dorsal mesenchymal protrusion (DMP) is a prong of mesenchyme derived from the second heart field (SHF) located at the venous pole of the developing heart. Recent studies have shown that perturbation of its development is associated with the pathogenesis of atrioventricular (AV) septal defect.

Nano-scale surface modification of materials with slow, highly charged ion beams

International Nuclear Information System (INIS)

Sakurai, M.; Tona, M.; Takahashi, S.; Watanabe, H.; Nakamura, N.; Yoshiyasu, N.; Yamada, C.; Ohtani, S.; Sakaue, H.A.; Kawase, Y.; Mitsumori, K.; Terui, T.; Mashiko, S.

2007-01-01

Some results on surface modification of Si and graphite with highly charged ions (HCIs) are presented. Modified surfaces were observed using scanning tunneling microscopy. Crater-like structure with a diameter in nm region is formed on a Si(1 1 1)-(7 x 7) surface by the incidence of a single HCI. The protrusion structure is formed on a highly oriented pyrolytic graphite surface on the other hand, and the structure becomes an active site for molecular adsorption. A new, intense HCI source and an experimental apparatus are under development in order to process and observe aligned nanostructures created by the impact of collimated HCI beam

Facet-dependent photocatalytic mechanisms of anatase TiO2: A new sight on the self-adjusted surface heterojunction

International Nuclear Information System (INIS)

Gao, Shujun; Wang, Wei; Ni, Yaru; Lu, Chunhua; Xu, Zhongzi

2015-01-01

Efficient separation of photo-generated electrons and holes is crucial for improving the photocatalytic activity of semiconductor photocatalysts. In the present study, we show surface heterojunction is existed on anatase TiO 2 with exposed {101}, {010}, {001}, and {110} facets. With the help of selective Pt deposition, it is found the Schottky junction together with proper surface heterojunction is helpful to separate the photo-generated electrons and holes. Moreover, the photo-reduction and photo-oxidation activities of the facets are depended on the reaction systems, resulting in self-adjusted surface heterojunction. The as-prepared photocatalyst will give the highest phenol degradation efficiency when Pt nanoparticles are only deposited on the {101} and {010} facets. In contrast, more Pt deposited on the {001} and {110} facets will decrease the photocatalytic activity. The average phenol degradation rate, which will gradually reduce along with the increased phenol concentration, of TiO 2 (20 mg) is ca. 1.59 mg/min when its concentration is lower than 8 mg/L. However, similar results have not been observed in P25-based reaction systems, evidencing the great influence of self-adjusted surface heterojunction. This study may be helpful to understand the photocatalytic mechanisms of semiconductor photocatalysts with exposed different facets. Thus more efficient practical application of the photocatalysts for environment protection can be reached. - Highlights: • Surface heterojunction is systematically discussed on TiO 2 with various facets. • The surface heterojunction is found to be closely related to the reaction systems. • Proper surface heterojunction and Schottky junction is positive for photocatalysis. • A new sight is given to sufficiently unleash the fascinating properties of TiO 2 . • More efficient practical application can be reached

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.

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

Design and Optimal Research of a Non-Contact Adjustable Magnetic Adhesion Mechanism for a Wall-Climbing Welding Robot

Directory of Open Access Journals (Sweden)

Minghui Wu

2013-01-01

Full Text Available Wall-climbing welding robots (WCWRs can replace workers in manufacturing and maintaining large unstructured equipment, such as ships. The adhesion mechanism is the key component of WCWRs. As it is directly related to the robot's ability in relation to adsorbing, moving flexibly and obstacle-passing. In this paper, a novel non-contact adjustably magnetic adhesion mechanism is proposed. The magnet suckers are mounted under the robot's axils and the sucker and wall are in non-contact. In order to pass obstacles, the sucker and the wheel unit can be pulled up and pushed down by a lifting mechanism. The magnetic adhesion force can be adjusted by changing the height of the gap between the sucker and the wall by the lifting mechanism. In order to increase the adhesion force, the value of the sucker's magnetic energy density (MED is maximized by optimizing the magnet sucker's structure parameters with a finite element method. Experiments prove that the magnetic adhesion mechanism has enough adhesion force and that the WCWR can complete wall-climbing work within a large unstructured environment.

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...

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

Directory of Open Access Journals (Sweden)

Andrés Cela

2012-12-01

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

[The application of Edgewise technique auxillary with extra oral anchorage and class III elastic in the treatment of bimaxillary protrusion.].

Science.gov (United States)

Liu, H H; Weng, S E; Chen, R J

1995-12-01

In the treatment of growing bimaxillary protrusion patients,Edgewise technique auxillary with extra oral anchorage and class III elastic help to improve the patient's chin shape,recover his beauty of lower facial part and get a good occlusion along with the growing of mandible.The purpose of this study is:analysis the force system in the treatment and evaluate the result of the treatment with some typical cases.

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.

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.

Viability of Using Diamond Field Emitter Array Cathodes in Free Electron Lasers

Science.gov (United States)

2010-06-01

essential component of a field emitter array is the shape of the electric field lines and equipotential lines at the surface of the array. The...BARRIER AND QUANTUM TUNNELING ...........25 B. FIELD ENHANCEMENT AND SURFACE PROTRUSIONS .........26 C. ELECTRIC FIELDS AND ELECTRON TRAVEL...26 Figure 4. Diagram of a protrusion (triangular in shape) from the surface of a cathode. The protrusion is of height h, with a

[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.

MODIS Aerosol Optical Depth Bias Adjustment Using Machine Learning Algorithms

Science.gov (United States)

Albayrak, Arif; Wei, Jennifer; Petrenko, Maksym; Lary, David; Leptoukh, Gregory

2011-01-01

To monitor the earth atmosphere and its surface changes, satellite based instruments collect continuous data. While some of the data is directly used, some others such as aerosol properties are indirectly retrieved from the observation data. While retrieved variables (RV) form very powerful products, they don't come without obstacles. Different satellite viewing geometries, calibration issues, dynamically changing atmospheric and earth surface conditions, together with complex interactions between observed entities and their environment affect them greatly. This results in random and systematic errors in the final products.

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...

Cone-beam computed tomography-based diagnosis and treatment simulation for a patient with a protrusive profile and a gummy smile

Science.gov (United States)

Imamura, Toshihiro; Kokai, Satoshi; Ono, Takashi

2018-01-01

For patients with bimaxillary protrusion, significant retraction and intrusion of the anterior teeth are sometimes essential to improve the facial profile. However, severe root resorption of the maxillary incisors occasionally occurs after treatment because of various factors. For instance, it has been reported that approximation or invasion of the incisive canal by the anterior tooth roots during retraction may cause apical root damage. Thus, determination of the position of the maxillary incisors is key for orthodontic diagnosis and treatment planning in such cases. Cone-beam computed tomography (CBCT) may be useful for simulating the post-treatment position of the maxillary incisors and surrounding structures in order to ensure safe teeth movement. Here, we present a case of Class II malocclusion with bimaxillary protrusion, wherein apical root damage due to treatment was minimized by pretreatment evaluation of the anatomical structures and simulation of the maxillary central incisor movement using CBCT. Considerable retraction and intrusion of the maxillary incisors, which resulted in a significant improvement in the facial profile and smile, were achieved without severe root resorption. Our findings suggest that CBCT-based diagnosis and treatment simulation may facilitate safe and dynamic orthodontic tooth movement, particularly in patients requiring maximum anterior tooth retraction. PMID:29732305

Concentration of filaggrin monomers, its metabolites and corneocyte surface texture in individuals with a history of atopic dermatitis and controls

DEFF Research Database (Denmark)

Engebretsen, Kristiane A; Bandier, Josefine; Kezic, Sanja

2018-01-01

BACKGROUND: Atopic dermatitis (AD) is characterized by skin barrier dysfunction. Notably, a high number of nano-scale protrusions on the surface of corneocytes, which can be expressed by the Dermal Texture Index (DTI), was recently associated with pediatric AD, loss-of-function mutations in filag...

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

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.

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...

Fabrication of non-aging superhydrophobic surfaces by packing flower-like hematite particles

Science.gov (United States)

Cao, Anmin; Cao, Liangliang; Gao, Di

2008-03-01

We demonstrate the fabrication of non-aging superhydrophobic surfaces by packing flower-like micrometer-sized hematite particles. Although hematite is intrinsically hydrophilic, the nanometer-sized protrusions on the particles form textures with overhanging structures that prevent water from entering into the textures and induce a macroscopic superhydrophobic phenomenon. These superhydrophobic surfaces do not age even in extremely oxidative environments---they retain the superhydrophobicity after being stored in ambient laboratory air for 4 months, heated to 800 degree C in air for 10 hours, and exposed to ultraviolet ozone for 10 hours.

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.

A surface science compatible epifluorescence microscope for inspection of samples under ultra high vacuum and cryogenic conditions.

Science.gov (United States)

Marquardt, Christian; Paulheim, Alexander; Rohbohm, Nils; Merkel, Rudolf; Sokolowski, Moritz

2017-08-01

We modified an epi-illumination light microscope and mounted it on an ultra high vacuum chamber for investigating samples used in a surface science experiment. For easy access and bake out, all optical components are placed outside the vacuum and the sample is imaged through a glass window. The microscope can be operated in reflection brightfield or epifluorescence mode to image the sample surface or fluorescent dye molecules adsorbed on it. The homemade sample mounting was made compatible for the use under the microscope; sample temperatures as low as 6 K can be achieved. The performance of the microscope is demonstrated on two model samples: Brightfield-images of a well-prepared Ag(100) surface show a macroscopic corrugation of the surface, although low energy electron diffraction data indicate a highly ordered crystalline surface. The surface shows macroscopic protrusions with flat regions, about 20-200 μm in diameter, in between. Fluorescence images of diluted 3,4,9,10-perylene tetracarboxylicacid dianhydride (PTCDA) molecules adsorbed on an ultrathin epitaxial KCl film on the Ag(100) surface show a shading effect at surface protrusions due to an inclined angle of incidence of the PTCDA beam during deposition. For some preparations, the distribution of the fluorescence intensity is inhomogeneous and shows a dense network of bright patches about 5 μm in diameter related to the macroscopic corrugation of the surface. We propose that such a light microscope can aid many surface science experiments, especially those dealing with epitaxial growth or fluorescent materials.

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

Directory of Open Access Journals (Sweden)

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.

Obstacles to Self-Care From The Viewpoint of TypeII Diabetic Patients and Guidelines to Remove Them

Directory of Open Access Journals (Sweden)

Khalil Zalak

2012-10-01

Full Text Available Background and objective: Little studies using a limited number of questionnaires cannot reflect the depth and complication of diabetic patients about self-care. However, using the qualitative research method, it is possible to find out the depth of patients’ experiences of this illness. The purpose of this study was to find individual and environmental obstacles which affect self-care on these patients and to investigate patients’ viewpoint of this disease.Materials and Methods: In this qualitative study, group interview and case interview have been used. This study was carried out in two phases and at the end of the interview patients were provided with necessary teaching about the principals of self-care.Results: In general, 5 categories of obstacles to self-care in type 2 diabetes were identified which include: physical obstacles, economical obstacles, social obstacles, educational obstacles, and psychic obstacles. Social, educational and psychic obstacles are in latter classes.Conclusion: The results of this study showed that a high percentage of patients with type 2 diabetes face serious obstacles in the way of self-care and the most numerous and important obstacles in their opinion are physical and economical obstacles. Considering that developing countries face a shortage of resources, dealing with physical obstacles can bring satisfaction to patients and on the other hand, dealing with these obstacles requires less cooperation from exterior organizations.

Design of application specific long period waveguide grating filters using adaptive particle swarm optimization algorithms

International Nuclear Information System (INIS)

Semwal, Girish; Rastogi, Vipul

2014-01-01

We present design optimization of wavelength filters based on long period waveguide gratings (LPWGs) using the adaptive particle swarm optimization (APSO) technique. We demonstrate optimization of the LPWG parameters for single-band, wide-band and dual-band rejection filters for testing the convergence of APSO algorithms. After convergence tests on the algorithms, the optimization technique has been implemented to design more complicated application specific filters such as erbium doped fiber amplifier (EDFA) amplified spontaneous emission (ASE) flattening, erbium doped waveguide amplifier (EDWA) gain flattening and pre-defined broadband rejection filters. The technique is useful for designing and optimizing the parameters of LPWGs to achieve complicated application specific spectra. (paper)

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

Directory of Open Access Journals (Sweden)

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.

Can weak-resilience-signals (WRS) reveal obstacles compromising (rail-)system resilience?

NARCIS (Netherlands)

Siegel, A.W.; Schraagen, J.M.C.

2015-01-01

Analysis of accidents in socio-technical systems frequently reveals unnoticed obstacles, which have grown to become the main cause of incubation and surprise at failure (Dekker, 2011). Thus far, it has proven to be a challenge to identify those unnoticed obstacles upfront among the tremendous number

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

Science.gov (United States)

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

2010-08-15

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

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...

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

Micro-nano hierarchically structured nylon 6,6 surfaces with unique wettability.

Science.gov (United States)

Zhang, Liang; Zhang, Xiaoyan; Dai, Zhen; Wu, Junjie; Zhao, Ning; Xu, Jian

2010-05-01

A micro-nano hierarchically structured nylon 6,6 surface was easily fabricated by phase separation. Nylon 6,6 plate was swelled by formic acid and then immersed in a coagulate bath to precipitate. Micro particles with nano protrusions were generated and linked together covering over the surface. After dried up, the as-formed surface showed superhydrophilic ability. Inspired by lotus only employing 2-tier structure and ordinary plant wax to maintain superhydrophobicity, paraffin wax, a low surface energy material, was used to modify the hierarchically structured nylon 6,6 surface. The resultant surface had water contact angle (CA) of 155.2+/-1.3 degrees and a low sliding angle. The whole process was carried on under ambient condition and only need a few minutes. Copyright 2010 Elsevier Inc. All rights reserved.

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

Experimental study of gas entrainment from surface swirl

Energy Technology Data Exchange (ETDEWEB)

Moudjed, B., E-mail: brahim.moudjed@cea.fr; Excoffon, J.; Riva, R.; Rossi, L., E-mail: lionel.rossi@cea.fr

2016-12-15

Gas entrainment from surface swirls is characterized using water experiments. A free surface shear flow is generated in an open channel flow. A suction nozzle is set at the bottom of the test section to induce a downward flow and provoke gas entrainment. An important originality of these experiments is the possibility to change the inlet condition so as to generate different turbulent shear flows. This is done by adding obstacles of different sizes and shapes at the end of a flat plate separating the inlet flow from a “stagnant” water area. Velocity fields and profiles, measured with the PIV technique, are provided both to describe the inlet conditions corresponding to various geometries and flow rates, and to characterize the temporal average shear flow generated within the centre part of the channel. Gas entrainment mappings are established from direct observations of the different flow configurations. These new results show that the threshold for the suction velocities required to entrain gas are similar for the configurations with small obstacles and the flat plate configuration triggering a standard shear flow. Increasing the size of the obstacles promotes gas entrainment and reduces the threshold values of the suction velocity to trigger gas entrainment. Shadowgraphy with image processing is used to present new results characterizing the geometrical properties of surface swirls and the quantity of gas entrained. Inlet configurations with obstacles generate larger surface swirls which move upstream from the suction nozzle centre whereas they are situated downstream with the flat plate configuration. Moreover, dimensionless power laws are found to be good approximations for the surface swirl width and the quantity of gas entrained. In addition to provide new insights about gas entrainment in analytical configurations relevant to Sodium cooled fast nuclear reactor, these results should provide different test cases for the validation of MCFD codes.

Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -

KAUST Repository

Denny, Jory

2011-09-01

Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.

Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -

KAUST Repository

Denny, Jory; Amato, Nancy M.

2011-01-01

Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.

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

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.

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

Directory of Open Access Journals (Sweden)

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.

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…

Combined use of miniscrews and clear appliances for the treatment of bialveolar protrusion without conventional brackets.

Science.gov (United States)

Choi, Nak-Chun; Park, Young-Chel; Jo, Yong-Min; Lee, Kee-Joon

2009-05-01

The increasing demand for esthetic orthodontic treatment has led to the development of tooth-colored and even "invisible" appliances. Although sequential removable clear aligners have several advantages over conventional bracket systems, they have some limitations in extraction treatment. This case report presents the esthetic extraction treatment of a patient with bialveolar protrusion; conventional brackets were not used. The treatment was completed in 2 steps. The first step involved segmental retraction of the anterior teeth by using miniscrews and an anterior lingual splint with a clear lever arm. The second step involved alignment and finishing by using sequential removable clear aligners. The patient's esthetic demands were fulfilled successfully during treatment, and satisfactory facial profile and occlusion were achieved after treatment.

Vocal anatomy, tongue protrusion behaviour and the acoustics of rutting roars in free-ranging Iberian red deer stags (Cervus elaphus hispanicus).

Science.gov (United States)

Frey, Roland; Volodin, Ilya; Volodina, Elena; Carranza, Juan; Torres-Porras, Jerónimo

2012-03-01

Roaring in rutting Iberian red deer stags Cervus elaphus hispanicus is unusual compared to other subspecies of red deer, which radiated from the Iberian refugium after the last glacial maximum. In all red deer stags, the larynx occupies a permanent low mid-neck resting position and is momentarily retracted almost down to the rostral end of the sternum during the production of rutting calls. Simultaneous with the retraction of the larynx, male Iberian red deer pronouncedly protrude the tongue during most of their rutting roars. This poses a mechanical challenge for the vocal tract (vt) and for the hyoid apparatus, as tongue and larynx are strongly pulled in opposite directions. This study (i) examines the vocal anatomy and the acoustics of the rutting roars in free-ranging male C. e. hispanicus; (ii) establishes a potential mechanism of simultaneous tongue protrusion and larynx retraction by applying a two-dimensional model based on graphic reconstructions in single video frames of unrestrained animals; and (iii) advances a hypothesis of evaporative cooling by tongue protrusion in the males of a subspecies of red deer constrained to perform all of the exhausting rutting activities, including acoustic display, in a hot and arid season. © 2012 The Authors. Journal of Anatomy © 2012 Anatomical Society.

76 FR 59483 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2011-09-26

... the decision may be purchased by contacting the Office of Public Assistance, Governmental Affairs, and...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the fourth quarter 2011 Rail Cost Adjustment...

The role of intravesical prostatic protrusion (IPP) in the evaluation and treatment of bladder outlet obstruction (BOO).

Science.gov (United States)

Kuo, Tricia L C; Teo, Jonathan S M; Foo, K T

2016-04-01

Intravesical prostatic protrusion (IPP) may be an underutilized modality for the assessment of bladder outlet obstruction (BOO). Pressure flow studies or urodynamics have long been the gold standard for the evaluation of lower urinary tract symptoms (LUTS) in men but are invasive, time-consuming and costly. Potentially, IPP may be a useful adjunct prior to performing urodynamics. Measurement of IPP is taken in the sagittal view, using the transabdominal ultrasound. It is the vertical height from the tip of the protrusion to the base of the prostate. This technique was previously described. We reviewed previous publications that studied the accuracy, positive predictive value and clinical use of IPP. In addition, we noted the comments regarding the challenges of using this technique. IPP has been shown to have a positive predictive value of 72% for BOO. It has been calculated to have an area under curve (AUC) value of 0.71 and 0.84 in some stuies. Clinically, it may be used to predict the outcome of a trial without catheter following acute retention of urine. Patients with higher IPP grade were noted to have a higher risk of clinical progression. Studies have also shown that men with higher IPP are poorer responders to medical treatment such as α-blockers. Compared to other modalities, the advantage of IPP in assessing BOO may be its easy applicability and non-invasive nature. Therefore, there is a consideration for a larger role of IPP in bedside assessment and management of BOO in daily practice. Neurourol. Urodynam. 35:535-537, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

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

Successful treatment of Class II malocclusion with bidental protrusion using standard edgewise prescription

Directory of Open Access Journals (Sweden)

Mohd Ayaz

2016-01-01

Full Text Available This case report deals with the successful orthodontic treatment of a 14-year-old female patient having Class II malocclusion with bidental protrusion using standard edgewise prescription. She reported with forwardly placed upper front teeth and difficulty in closing lips. She had prognathic maxilla, retrognathic mandible, and full cusp Class II molar and canine relation bilaterally with overjet of 7 mm. She was in cervical vertebrae maturation indicator Stage IV. The case was treated by fixed extraction mechanotherapy. Interarch Class II mechanics was used to retract the upper incisor and to mesialize the lower molars. Simultaneously, Class I mechanics was used to upright lower incisors. Tip back bend, curve of Spee, and extra palatal root torque were incorporated in upper archwire to maintain molars in upright position and prevent extrusion and deepening of bite, respectively. There was satisfactory improvement in facial profile at the end of 24 months. After a follow-up of 6 months, occlusion was stable.

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…

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.

76 FR 37191 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2011-06-24

... our Web site, http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the third quarter 2011 Rail Cost Adjustment...

75 FR 80895 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2010-12-23

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the first quarter 2011 Rail Cost Adjustment...

77 FR 37958 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2012-06-25

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the third quarter 2012 rail cost adjustment...

78 FR 37660 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2013-06-21

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board approves the third quarter 2013 Rail Cost Adjustment Factor...

78 FR 17764 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2013-03-22

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the second quarter 2013 Rail Cost Adjustment...

76 FR 16037 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2011-03-22

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the second quarter 2011 Rail Cost Adjustment...

75 FR 58019 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2010-09-23

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the fourth quarter 2010 Rail Cost Adjustment...

Fabrication of anti-adhesion surfaces on aluminium substrates of rubber plastic moulds using electrolysis plasma treatment

Science.gov (United States)

Meng, Jianbing; Dong, Xiaojuan; Wei, Xiuting; Yin, Zhanmin

2015-04-01

An anti-adhesion surface with a water contact angle of 167° was fabricated on aluminium samples of rubber plastic moulds by electrolysis plasma treatment using mixed electrolytes of C6H5O7(NH4)3 and Na2SO4, followed by fluorination. To optimise the fabrication conditions, several important processing parameters such as the discharge voltage, discharge time, concentrations of supporting electrolyte and stearic acid ethanol solution were examined systematically. Using scanning electron microscopy (SEM) to analyse surfaces morphology, micrometer scale pits, and protrusions were found on the surface, with numerous nanometer mastoids contained in the protrusions. These binary micro/nano-scale structures, which are similar to the micro-structures of soil-burrowing animals, play a critical role in achieving low adhesion properties. Otherwise, the anti-adhesion behaviours of the resulting samples were analysed by the atomic force microscope (AFM), Fourier-transform infrared spectrophotometer (FTIR), electrons probe micro-analyzer (EPMA), optical contact angle meter, digital Vickers microhardness (Hv) tester, and electronic universal testing. The results show that the electrolysis plasma treatment does not require complex processing parameters, using a simple device, and is an environment-friendly and effective method. Under the optimised conditions, the contact angle (CA) for the modified anti-adhesion surface is up to 167°, the sliding angle (SA) is less than 2°, roughness of the sample surface is only 0.409μm. Moreover, the adhesion force and Hv are 0. 9KN and 385, respectively.

Fabrication of anti-adhesion surfaces on aluminium substrates of rubber plastic moulds using electrolysis plasma treatment

Directory of Open Access Journals (Sweden)

Jianbing Meng

2015-04-01

Full Text Available An anti-adhesion surface with a water contact angle of 167° was fabricated on aluminium samples of rubber plastic moulds by electrolysis plasma treatment using mixed electrolytes of C6H5O7(NH43 and Na2SO4, followed by fluorination. To optimise the fabrication conditions, several important processing parameters such as the discharge voltage, discharge time, concentrations of supporting electrolyte and stearic acid ethanol solution were examined systematically. Using scanning electron microscopy (SEM to analyse surfaces morphology, micrometer scale pits, and protrusions were found on the surface, with numerous nanometer mastoids contained in the protrusions. These binary micro/nano-scale structures, which are similar to the micro-structures of soil-burrowing animals, play a critical role in achieving low adhesion properties. Otherwise, the anti-adhesion behaviours of the resulting samples were analysed by the atomic force microscope (AFM, Fourier-transform infrared spectrophotometer (FTIR, electrons probe micro-analyzer (EPMA, optical contact angle meter, digital Vickers microhardness (Hv tester, and electronic universal testing. The results show that the electrolysis plasma treatment does not require complex processing parameters, using a simple device, and is an environment-friendly and effective method. Under the optimised conditions, the contact angle (CA for the modified anti-adhesion surface is up to 167°, the sliding angle (SA is less than 2°, roughness of the sample surface is only 0.409μm. Moreover, the adhesion force and Hv are 0. 9KN and 385, respectively.

Supersonic flows past an obstacle in Yukawa liquids

Science.gov (United States)

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.

77 FR 58910 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2012-09-24

..., http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the fourth quarter 2012 rail cost adjustment factor (RCAF...

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.

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.

Effects of Obstacles on the Dynamics of Kinesins, Including Velocity and Run Length, Predicted by a Model of Two Dimensional Motion.

Directory of Open Access Journals (Sweden)

Woochul Nam

Full Text Available Kinesins are molecular motors which walk along microtubules by moving their heads to different binding sites. The motion of kinesin is realized by a conformational change in the structure of the kinesin molecule and by a diffusion of one of its two heads. In this study, a novel model is developed to account for the 2D diffusion of kinesin heads to several neighboring binding sites (near the surface of microtubules. To determine the direction of the next step of a kinesin molecule, this model considers the extension in the neck linkers of kinesin and the dynamic behavior of the coiled-coil structure of the kinesin neck. Also, the mechanical interference between kinesins and obstacles anchored on the microtubules is characterized. The model predicts that both the kinesin velocity and run length (i.e., the walking distance before detaching from the microtubule are reduced by static obstacles. The run length is decreased more significantly by static obstacles than the velocity. Moreover, our model is able to predict the motion of kinesin when other (several motors also move along the same microtubule. Furthermore, it suggests that the effect of mechanical interaction/interference between motors is much weaker than the effect of static obstacles. Our newly developed model can be used to address unanswered questions regarding degraded transport caused by the presence of excessive tau proteins on microtubules.

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

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.

Congruence and Incongruence in Adolescents' and Parents' Perceptions of the Family: Using Response Surface Analysis to Examine Links with Adolescents' Psychological Adjustment.

Science.gov (United States)

Human, Lauren J; Dirks, Melanie A; DeLongis, Anita; Chen, Edith

2016-10-01

Parents and adolescents often hold discrepant views about the family environment and these discrepancies may in turn influence adolescents' psychological adjustment. The current study examined how adolescent-parent perceptions of family routines and chaos, and their congruence and incongruence, relate to adolescents' self-reported psychological adjustment (depressive symptoms and perceived stress), both concurrently (N dyads = 261; 53 % female) and 2 years later (N dyads = 118; 50 % female). Using polynomial regression and response surface analysis, results indicated that adolescents' perceptions of the family environment were a stronger predictor of adolescents' adjustment than parents' perceptions (76 % mothers), concurrently and over time. However, both congruence and incongruence in adolescent-parent perceptions were also related to adolescents' adjustment. Specifically, congruently negative adolescent-parent perceptions were associated with worse concurrent adolescent adjustment. Further, incongruence defined by more negativity in adolescents' versus parents' perceptions was associated with worse adolescent psychological adjustment, concurrently and over time. In sum, in addition to the strong links between adolescents' perceptions of the family and their own psychological adjustment, examining how congruent and incongruent adolescents' perceptions are with parents' perceptions may shed additional light on how the family environment relates to adolescent adjustment.

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...

A Synchronous-Asynchronous Particle Swarm Optimisation Algorithm

Science.gov (United States)

Ab Aziz, Nor Azlina; Mubin, Marizan; Mohamad, Mohd Saberi; Ab Aziz, Kamarulzaman

2014-01-01

In the original particle swarm optimisation (PSO) algorithm, the particles' velocities and positions are updated after the whole swarm performance is evaluated. This algorithm is also known as synchronous PSO (S-PSO). The strength of this update method is in the exploitation of the information. Asynchronous update PSO (A-PSO) has been proposed as an alternative to S-PSO. A particle in A-PSO updates its velocity and position as soon as its own performance has been evaluated. Hence, particles are updated using partial information, leading to stronger exploration. In this paper, we attempt to improve PSO by merging both update methods to utilise the strengths of both methods. The proposed synchronous-asynchronous PSO (SA-PSO) algorithm divides the particles into smaller groups. The best member of a group and the swarm's best are chosen to lead the search. Members within a group are updated synchronously, while the groups themselves are asynchronously updated. Five well-known unimodal functions, four multimodal functions, and a real world optimisation problem are used to study the performance of SA-PSO, which is compared with the performances of S-PSO and A-PSO. The results are statistically analysed and show that the proposed SA-PSO has performed consistently well. PMID:25121109

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…

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

Science.gov (United States)

Mohd Zin, Zalhan; Ibrahim, Ratnawati

2011-06-01

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

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.

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

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.

Antireflective surface structures in glass by self-assembly of SiO2 nanoparticles and wet etching.

Science.gov (United States)

Maier, Thomas; Bach, David; Müllner, Paul; Hainberger, Rainer; Brückl, Hubert

2013-08-26

We describe the fabrication of an antireflective surface structure with sub-wavelength dimensions on a glass surface using scalable low-cost techniques involving sol-gel coating, thermal annealing, and wet chemical etching. The glass surface structure consists of sand dune like protrusions with 250 nm periodicity and a maximum peak-to-valley height of 120 nm. The antireflective structure increases the transmission of the glass up to 0.9% at 700 nm, and the transmission remains enhanced over a wide spectral range and for a wide range of incident angles. Our measurements reveal a strong polarization dependence of the transmission change.

Experimental Investigation on the Detection of Obstacles by a Mobile Robot

Directory of Open Access Journals (Sweden)

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.

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)

77 FR 17121 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2012-03-23

... decision may be purchased by contacting the Office of Public Assistance, Governmental Affairs, and...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, Department of Transportation. ACTION: Approval of rail cost adjustment factor. [[Page 17122

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.

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

Directory of Open Access Journals (Sweden)

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

75 FR 16575 - Railroad Cost Recovery Procedures-Productivity Adjustment

Science.gov (United States)

2010-04-01

...)] Railroad Cost Recovery Procedures--Productivity Adjustment AGENCY: Surface Transportation Board. ACTION: Adoption of a railroad cost recovery procedures productivity adjustment. SUMMARY: By decision served on February 1, 2010, the Board proposed to adopt 1.010 (1.0% per year) as the 2008 productivity adjustment, as...

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.

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.

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.

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.

Kinect-Based Moving Human Tracking System with Obstacle Avoidance

Directory of Open Access Journals (Sweden)

Abdel Mehsen Ahmad

2017-04-01

Full Text Available This paper is an extension of work originally presented and published in IEEE International Multidisciplinary Conference on Engineering Technology (IMCET. This work presents a design and implementation of a moving human tracking system with obstacle avoidance. The system scans the environment by using Kinect, a 3D sensor, and tracks the center of mass of a specific user by using Processing, an open source computer programming language. An Arduino microcontroller is used to drive motors enabling it to move towards the tracked user and avoid obstacles hampering the trajectory. The implemented system is tested under different lighting conditions and the performance is analyzed using several generated depth images.

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

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.

High resolution imaging of surface patterns of single bacterial cells

International Nuclear Information System (INIS)

Greif, Dominik; Wesner, Daniel; Regtmeier, Jan; Anselmetti, Dario

2010-01-01

We systematically studied the origin of surface patterns observed on single Sinorhizobium meliloti bacterial cells by comparing the complementary techniques atomic force microscopy (AFM) and scanning electron microscopy (SEM). Conditions ranged from living bacteria in liquid to fixed bacteria in high vacuum. Stepwise, we applied different sample modifications (fixation, drying, metal coating, etc.) and characterized the observed surface patterns. A detailed analysis revealed that the surface structure with wrinkled protrusions in SEM images were not generated de novo but most likely evolved from similar and naturally present structures on the surface of living bacteria. The influence of osmotic stress to the surface structure of living cells was evaluated and also the contribution of exopolysaccharide and lipopolysaccharide (LPS) by imaging two mutant strains of the bacterium under native conditions. AFM images of living bacteria in culture medium exhibited surface structures of the size of single proteins emphasizing the usefulness of AFM for high resolution cell imaging.

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.

Fabrication of anti-adhesion surfaces on aluminium substrates of rubber plastic moulds using electrolysis plasma treatment

Energy Technology Data Exchange (ETDEWEB)

Meng, Jianbing, E-mail: jianbingmeng@126.com; Dong, Xiaojuan; Wei, Xiuting; Yin, Zhanmin [School of Mechanical Engineering, Shandong University of Technology, Zibo, 255049 (China)

2015-04-15

An anti-adhesion surface with a water contact angle of 167° was fabricated on aluminium samples of rubber plastic moulds by electrolysis plasma treatment using mixed electrolytes of C{sub 6}H{sub 5}O{sub 7}(NH{sub 4}){sub 3} and Na{sub 2}SO{sub 4}, followed by fluorination. To optimise the fabrication conditions, several important processing parameters such as the discharge voltage, discharge time, concentrations of supporting electrolyte and stearic acid ethanol solution were examined systematically. Using scanning electron microscopy (SEM) to analyse surfaces morphology, micrometer scale pits, and protrusions were found on the surface, with numerous nanometer mastoids contained in the protrusions. These binary micro/nano-scale structures, which are similar to the micro-structures of soil-burrowing animals, play a critical role in achieving low adhesion properties. Otherwise, the anti-adhesion behaviours of the resulting samples were analysed by the atomic force microscope (AFM), Fourier-transform infrared spectrophotometer (FTIR), electrons probe micro-analyzer (EPMA), optical contact angle meter, digital Vickers microhardness (Hv) tester, and electronic universal testing. The results show that the electrolysis plasma treatment does not require complex processing parameters, using a simple device, and is an environment-friendly and effective method. Under the optimised conditions, the contact angle (CA) for the modified anti-adhesion surface is up to 167°, the sliding angle (SA) is less than 2°, roughness of the sample surface is only 0.409μm. Moreover, the adhesion force and H{sub v} are 0. 9KN and 385, respectively.

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.

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 ...

Microscale surface modifications for heat transfer enhancement.

Science.gov (United States)

Bostanci, Huseyin; Singh, Virendra; Kizito, John P; Rini, Daniel P; Seal, Sudipta; Chow, Louis C

2013-10-09

In this experimental study, two surface modification techniques were investigated for their effect on heat transfer enhancement. One of the methods employed the particle (grit) blasting to create microscale indentations, while the other used plasma spray coating to create microscale protrusions on Al 6061 (aluminum alloy 6061) samples. The test surfaces were characterized using scanning electron microscopy (SEM) and confocal scanning laser microscopy. Because of the surface modifications, the actual surface area was increased up to 2.8× compared to the projected base area, and the arithmetic mean roughness value (Ra) was determined to vary from 0.3 μm for the reference smooth surface to 19.5 μm for the modified surfaces. Selected samples with modified surfaces along with the reference smooth surface were then evaluated for their heat transfer performance in spray cooling tests. The cooling system had vapor-atomizing nozzles and used anhydrous ammonia as the coolant in order to achieve heat fluxes up to 500 W/cm(2) representing a thermal management setting for high power systems. Experimental results showed that the microscale surface modifications enhanced heat transfer coefficients up to 76% at 500 W/cm(2) compared to the smooth surface and demonstrated the benefits of these practical surface modification techniques to enhance two-phase heat transfer process.

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.

On the performance of accelerated particle swarm optimization for charging plug-in hybrid electric vehicles

Directory of Open Access Journals (Sweden)

Imran Rahman

2016-03-01

Full Text Available Transportation electrification has undergone major changes since the last decade. Success of smart grid with renewable energy integration solely depends upon the large-scale penetration of plug-in hybrid electric vehicles (PHEVs for a sustainable and carbon-free transportation sector. One of the key performance indicators in hybrid electric vehicle is the State-of-Charge (SoC which needs to be optimized for the betterment of charging infrastructure using stochastic computational methods. In this paper, a newly emerged Accelerated particle swarm optimization (APSO technique was applied and compared with standard particle swarm optimization (PSO considering charging time and battery capacity. Simulation results obtained for maximizing the highly nonlinear objective function indicate that APSO achieves some improvements in terms of best fitness and computation time.

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...

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...

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.

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

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.

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.

Adjustment of Turbulent Boundary-Layer Flow to Idealized Urban Surfaces: A Large-Eddy Simulation Study

Science.gov (United States)

Cheng, Wai-Chi; Porté-Agel, Fernando

2015-05-01

Large-eddy simulations (LES) are performed to simulate the atmospheric boundary-layer (ABL) flow through idealized urban canopies represented by uniform arrays of cubes in order to better understand atmospheric flow over rural-to-urban surface transitions. The LES framework is first validated with wind-tunnel experimental data. Good agreement between the simulation results and the experimental data are found for the vertical and spanwise profiles of the mean velocities and velocity standard deviations at different streamwise locations. Next, the model is used to simulate ABL flows over surface transitions from a flat homogeneous terrain to aligned and staggered arrays of cubes with height . For both configurations, five different frontal area densities , equal to 0.028, 0.063, 0.111, 0.174 and 0.250, are considered. Within the arrays, the flow is found to adjust quickly and shows similar structure to the wake of the cubes after the second row of cubes. An internal boundary layer is identified above the cube arrays and found to have a similar depth in all different cases. At a downstream location where the flow immediately above the cube array is already adjusted to the surface, the spatially-averaged velocity is found to have a logarithmic profile in the vertical. The values of the displacement height are found to be quite insensitive to the canopy layout (aligned vs. staggered) and increase roughly from to as increases from 0.028 to 0.25. Relatively larger values of the aerodynamic roughness length are obtained for the staggered arrays, compared with the aligned cases, and a maximum value of is found at for both configurations. By explicitly calculating the drag exerted by the cubes on the flow and the drag coefficients of the cubes using our LES results, and comparing the results with existing theoretical expressions, we show that the larger values of for the staggered arrays are related to the relatively larger drag coefficients of the cubes for that

Adaptive pixel-to-pixel projection intensity adjustment for measuring a shiny surface using orthogonal color fringe pattern projection

Science.gov (United States)

Chen, Chao; Gao, Nan; Wang, Xiangjun; Zhang, Zonghua

2018-05-01

Three-dimensional (3D) shape measurement based on fringe pattern projection techniques has been commonly used in various fields. One of the remaining challenges in fringe pattern projection is that camera sensor saturation may occur if there is a large range of reflectivity variation across the surface that causes measurement errors. To overcome this problem, a novel fringe pattern projection method is proposed to avoid image saturation and maintain high-intensity modulation for measuring shiny surfaces by adaptively adjusting the pixel-to-pixel projection intensity according to the surface reflectivity. First, three sets of orthogonal color fringe patterns and a sequence of uniform gray-level patterns with different gray levels are projected onto a measured surface by a projector. The patterns are deformed with respect to the object surface and captured by a camera from a different viewpoint. Subsequently, the optimal projection intensity at each pixel is determined by fusing different gray levels and transforming the camera pixel coordinate system into the projector pixel coordinate system. Finally, the adapted fringe patterns are created and used for 3D shape measurement. Experimental results on a flat checkerboard and shiny objects demonstrate that the proposed method can measure shiny surfaces with high accuracy.

75 FR 17462 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2010-04-06

... decision may be purchased by contacting the office of Public Assistance, Governmental Affairs, and...-2)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the second quarter 2010 Rail Cost...

Prevalência de mordida aberta anterior e protrusão dentária em pré-escolares da cidade do Recife (PE, Brasil Prevalence of anterior open bite and overjet preschoolers in the city of Recife (PE, Brazil

Directory of Open Access Journals (Sweden)

Ana Flávia Granville-Garcia

2010-10-01

Full Text Available O objetivo deste trabalho foi verificar a prevalência de maloclusões (mordida aberta anterior, protrusão dentária e sua associação com idade, gênero e tipo de escola em 2.651 pré-escolares da cidade do Recife, PE, Brasil. As crianças foram sentadas em cadeiras escolares na sala da própria creche/escola para a execução do exame clínico; os menores de dois anos foram atendidos no sistema perna-perna ou joelho-joelho, por meio de iluminação natural e artificial. A protrusão dentária foi considerada quando sobressaliência maior que 3 mm, mensurada por meio de sonda periodontal milimetrada. A mordida aberta anterior foi registrada quando não houve contato com os dentes anteriores e os posteriores se mantiveram em oclusão. Foi registrada em ficha clínica a combinação dos dois tipos de maloclusão, ou seja, de mordida aberta e de protrusão dentária. Os dados foram avaliados estatisticamente pelo teste Qui-quadrado e a medida para avaliar a associação entre os eventos foi o odds ratio. A prevalência de protrusão dentária foi 66,1% e mordida aberta anterior, 19,8%; houve associação entre as maloclusões, idade e tipo de escola, porém não houve associação estatisticamente significante entre maloclusão e gênero. Conclui-se que a prevalência de maloclusões em pré-escolares foi elevada e esteve associada à idade e tipo de escola.The objective of this work was to verify the prevalence of malocclusions (anterior open bite, overjet and its association with age, gender and type of school with a sample of 2,651 preschool children in the city of Recife, PE, Brazil. The children were seated in school chairs in the room of the day care/school for the clinical exam, children aging two years or less were assisted in the system knee-knee, through natural and artificial illumination. The dental protrusion was verified when the overjet was larger than 3 mm through periodontal probe in millimeters. The presence of anterior open

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

Directory of Open Access Journals (Sweden)

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.

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.

On the nano-hillock formation induced by slow highly charged ions on insulator surfaces

Science.gov (United States)

Lemell, C.; El-Said, A. S.; Meissl, W.; Gebeshuber, I. C.; Trautmann, C.; Toulemonde, M.; Burgdörfer, J.; Aumayr, F.

2007-10-01

We discuss the creation of nano-sized protrusions on insulating surfaces using slow highly charged ions. This method holds the promise of forming regular structures on surfaces without inducing defects in deeper lying crystal layers. We find that only projectiles with a potential energy above a critical value are able to create hillocks. Below this threshold no surface modification is observed. This is similar to the track and hillock formation induced by swift (˜GeV) heavy ions. We present a model for the conversion of potential energy stored in the projectiles into target-lattice excitations (heat) and discuss the possibility to create ordered structures using the guiding effect observed in insulating conical structures.

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.

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.

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...

77 FR 76169 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2012-12-26

....stb.dot.gov . Copies of the decision may be purchased by contacting the Office of Public Assistance...)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board, DOT. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the AAR's proposed rebasing calculations and...

Changes of occlusal plane inclination after orthodontic treatment with four premolars extraction in dento-alveolar bimaxillary protrusion cases

Directory of Open Access Journals (Sweden)

NR Yuliawati Zenab

2009-07-01

Full Text Available The purpose of this study was to find out whether there were changes in occlusal plane inclination after fixed orthodontic treatment of bimaxillary protrusion cases where extraction of four first premolars was needed using the standard Edgewise appliances. The sample was fourteen orthodontic patients, aged above sixteen years old, no sexual discrimination, treated with fixed appliances at Orthodontic Specialist Clinic Faculty of Dentistry Universitas Padjadjaran. The method was a pre-post design which compared occlusal plane inclination obtained from tracings of lateral cephalograms before and after orthodontic treatment. The results were calculated with the paired t-test analysis. The study revealed that there were no significant changes in occlusal plane inclination after the orthodontic treatment.

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.

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.

75 FR 35877 - Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2010-06-23

... available on our Web site, http://www.stb.dot.gov . Copies of the decision may be purchased by contacting...-3)] Quarterly Rail Cost Adjustment Factor AGENCY: Surface Transportation Board. ACTION: Approval of rail cost adjustment factor. SUMMARY: The Board has approved the third quarter 2010 rail cost...

Cell shape dynamics: from waves to migration.

Directory of Open Access Journals (Sweden)

Meghan K Driscoll

Full Text Available We observe and quantify wave-like characteristics of amoeboid migration. Using the amoeba Dictyostelium discoideum, a model system for the study of chemotaxis, we demonstrate that cell shape changes in a wave-like manner. Cells have regions of high boundary curvature that propagate from the leading edge toward the back, usually along alternating sides of the cell. Curvature waves are easily seen in cells that do not adhere to a surface, such as cells that are electrostatically repelled from surfaces or cells that extend over the edge of micro-fabricated cliffs. Without surface contact, curvature waves travel from the leading edge to the back of a cell at -35 µm/min. Non-adherent myosin II null cells do not exhibit these curvature waves. At the leading edge of adherent cells, curvature waves are associated with protrusive activity. Like regions of high curvature, protrusive activity travels along the boundary in a wave-like manner. Upon contact with a surface, the protrusions stop moving relative to the surface, and the boundary shape thus reflects the history of protrusive motion. The wave-like character of protrusions provides a plausible mechanism for the zig-zagging of pseudopods and for the ability of cells both to swim in viscous fluids and to navigate complex three dimensional topography.

75 FR 33379 - Railroad Cost Recovery Procedures-Productivity Adjustment; Quarterly Rail Cost Adjustment Factor

Science.gov (United States)

2010-06-11

... information is contained in the Board's June 14, 2010 decision, which is available on our website at http://www.stb.dot.gov . Copies of the decision may be purchased by contacting the office of Public... Cost Adjustment Factor AGENCY: Surface Transportation Board. [[Page 33380

Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves

Directory of Open Access Journals (Sweden)

Oren Gal

2011-01-01

Full Text Available Most of the present work for unmanned surface vehicle (USV navigation does not take into account environmental disturbances such as ocean waves, winds, and currents. In some scenarios, waves should be treated as special case of dynamic obstacle and can be critical to USV’s safety. For the first time, this paper presents unique concept facing this challenge by combining ocean waves' formulation with the probabilistic velocity obstacle (PVO method for autonomous navigation. A simple navigation algorithm is presented in order to apply the method of USV’s navigation in presence of waves. A planner simulation dealing with waves and obstacles avoidance is introduced.

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…

Protrusive intrusion, dehydration and polymorphism in minerals as possible reason of seismic activity, relation between ophiolite belts and seismic zonation of the territory of Armenia

Science.gov (United States)

Harutyunyan, A. V.; Petrosyan, H. M.

2010-05-01

In the basis of multiple geological and geophysical data, also on the results of investigations seismic and density properties of rocks at high termobaric conditions, we proposed the petrophisical section and model of evolution of Earth crust of the territory of Armenia. On the proposed model the following interrelated problems are debated: forming of ophiolite belts and volcanic centers, genesis of hydrocarbons by organic and inorganic ways, and also reasons of originating of seismic centers. The reasons of originating of seismic centers in different depths of Earth crust, are miscellaneous. According to the model of Earth crust evolution the ophiolite belts are formed due to permanent protrusive intrusion of serpentinized masses from the foot of the crust (35-50km) into upper horizons. It is natural to assume, that the permanent intrusion of serpentinizd masses through deep faults has drastically occurred accompanying with seismic shakings. This process encourages the development of deep faults. The protrusive intrusion of serpentinized masse accompanied with partial dehydration of serpentinites and serpentinized ultrabasites and new mineral formation. The processes was accompanied also with drastic change of seismic waves and volumes up to 30%. Experiments at high termobaric conditions show, that some minerals undergone polymorphous transformations, accompanied with phase change and drastic change of rocks volume. Particularly plastic calcite, included in the composition of metamorphic rocks to run into the cracks expends and diversifies them. The process described cause some general effects similar to those of the process of dilatancy. Therefore, the protrusive intrusion of serpentinized masses into upper horizons, it dehydrations and polymorphous transformations in different minerals, may be cause of geo-dynamic processes at different depths of Earth crust. It may be assumed, that those processes permanently occur nowadays as well. Comparing the maps of

Excitation of Surface Electromagnetic Waves on Railroad Rail

Science.gov (United States)

1978-03-31

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

Pd adsorption on Si(1 1 3) surface: STM and XPS study

International Nuclear Information System (INIS)

Hara, Shinsuke; Yoshimura, Masamichi; Ueda, Kazuyuki

2008-01-01

Pd-induced surface structures on Si(1 1 3) have been studied by scanning tunneling microscopy (STM) and X-ray photoelectron spectroscopy (XPS). In the initial process of the Pd adsorption below 0.10 ML, Pd silicide (Pd 2 Si) clusters are observed to form randomly on the surface. By increasing the Pd coverage to 0.10 ML, the clusters cover the entire surface, and an amorphous layer is formed. After annealing the Si(1 1 3)-Pd surface at 600 deg. C, various types of islands and chain protrusions appears. The agglomeration, coalescence and crystallization of these islands are observed by using high temperature (HT-) STM. It is also found by XPS that the islands correspond to Pd 2 Si structure. On the basis of these results, evolution of Pd-induced structures at high temperatures is in detail discussed

Accurate tool height control by bearing gap adjustment

NARCIS (Netherlands)

Wielen, van der A.M.; Schellekens, P.H.J.; Jaartsveld, F.T.M.

2002-01-01

Face turning of optical surfaces on precision lathes needs high precision tool height adjustment, which may be a difficult and time-consuming task. In this paper we present a new tool adjustment mechanism based on varying the bearing gap height of the hydrostatic bearings present in precision lathe

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)

An observational study of foot lifts asymmetry during obstacle avoidance

Directory of Open Access Journals (Sweden)

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.

Obstacles and facilitators of open visiting policy in Intensive Care Units:A qualitative study

Directory of Open Access Journals (Sweden)

Shiva Khaleghparast

2016-07-01

Full Text Available Open visiting policy in intensive care units is proposed as an essential requirement for patients and their families, so this study is aimed to explain open visiting policy obstacles and facilitators from patients, families and health team members’ viewpoint. This qualitative study implemented in intensive care units of a hospital specialized in cardiology in Tehran-Iran. Patients’, families’, nurses’, doctors’ and guards’ viewpoint was determined regarding open visiting policy obstacles and facilitators by semi-structured interviews. Data analysis method was conventional approach of qualitative content analysis with thematic technique. Data analysis was performed using Max QDA10 software. Two main categories of data regarding open visiting obstacles and facilitators were extracted. Factors related to service systems and visitors derived from open visiting obstacles, and factors related to management system and personnel derived from open visiting facilitators. One of the most important obstacles of open visiting policy implementation is shortage of staff and personnel negative attitude. Regarding open visiting policy facilitators, designing visiting cards for close family and observing specific rules, modification of intensive care unit structure and facilities for families are useful. Finally, what is important as an open visiting policy implementation facilitator is presence of nursing profession as a humanitarian and ethical profession.

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

Directory of Open Access Journals (Sweden)

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.

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.

Re-examination of Oostenbroek et al. (2016): evidence for neonatal imitation of tongue protrusion.

Science.gov (United States)

Meltzoff, Andrew N; Murray, Lynne; Simpson, Elizabeth; Heimann, Mikael; Nagy, Emese; Nadel, Jacqueline; Pedersen, Eric J; Brooks, Rechele; Messinger, Daniel S; Pascalis, Leonardo De; Subiaul, Francys; Paukner, Annika; Ferrari, Pier F

2017-09-27

The meaning, mechanism, and function of imitation in early infancy have been actively discussed since Meltzoff and Moore's (1977) report of facial and manual imitation by human neonates. Oostenbroek et al. (2016) claim to challenge the existence of early imitation and to counter all interpretations so far offered. Such claims, if true, would have implications for theories of social-cognitive development. Here we identify 11 flaws in Oostenbroek et al.'s experimental design that biased the results toward null effects. We requested and obtained the authors' raw data. Contrary to the authors' conclusions, new analyses reveal significant tongue-protrusion imitation at all four ages tested (1, 3, 6, and 9 weeks old). We explain how the authors missed this pattern and offer five recommendations for designing future experiments. Infant imitation raises fundamental issues about action representation, social learning, and brain-behavior relations. The debate about the origins and development of imitation reflects its importance to theories of developmental science. © 2017 John Wiley & Sons Ltd.

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.

DRA-01 - analysis of the dispersion conditions of a liquefied gas in near field and obstacles. Progress report for the operations A and B bibliographic synthesis; DRA-01 - analyse des conditions de dispersion d'un gaz liquefie en champ proche en presence d'obstacles. Rapport d'etape pour les operations a et b synthese bibliographique

Energy Technology Data Exchange (ETDEWEB)

Duplantier, S.

2001-07-01

Many industrial activities need the storage of liquefied gas, on the site. These gases are often toxic and easily set on fire. The aim of this study is to realize a tool taking into account an obstacle and a release following a pipe breaking, which is one of the most widely prevalent configuration in the industry. The first part presents a bibliographic study to take stock on the two phase jet simulation and a drop impact on a solid surface. In the second part, the described models have been used to realize a first simulation in order to evaluate the quantity of collected product by an obstacle placed on the two phase jet trajectory. (A.L.B.)

Practical obstacles and their mitigation strategies in compressional optical coherence elastography of biological tissues

Directory of Open Access Journals (Sweden)

Vladimir Y. Zaitsev

2017-11-01

Full Text Available In this paper, we point out some practical obstacles arising in realization of compressional optical coherence elastography (OCE that have not attracted sufficient attention previously. Specifically, we discuss (i complications in quantification of the Young modulus of tissues related to partial adhesion between the OCE probe and soft intervening reference layer sensor, (ii distorting influence of tissue surface curvature/corrugation on the subsurface strain distribution mapping, (iii ways of signal-to-noise ratio (SNR enhancement in OCE strain mapping when periodic averaging is not realized, and (iv potentially significant influence of tissue elastic nonlinearity on quantification of its stiffness. Potential practical approaches to mitigate the effects of these complications are also described.

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.

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.

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.

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 ...

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.

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.