WorldWideScience

Sample records for coverage path planning

  1. Intelligent coverage path planning for agricultural robots and autonomous machines on three-dimensional terrain

    DEFF Research Database (Denmark)

    Hameed, Ibahim

    2014-01-01

    Field operations should be done in a manner that minimizes time and travels over the field surface. Automated and intelligent path planning can help to find the best coverage path so that costs of various field operations can be minimized. The algorithms for generating an optimized field coverage...

  2. Complete coverage path planning of a random polygon - A FroboMind component

    DEFF Research Database (Denmark)

    Aslund, Sebastian; Jensen, Kjeld; Jørgensen, Rasmus Nyholm

    solution where all the steps in the process is included: Segmentation of a data set, creation of a configuration space, decomposition of a polygon, global and local path planning. To achieve this, a series of known algorithms are used including some tweaks and improvements to create a solid foundation...

  3. Sampling-Based Coverage Path Planning for Complex 3D Structures

    Science.gov (United States)

    2012-09-01

    Planned route for inspection of the modified kayak hull. The inspec- tion is planned for sensing at 0.1-0.3 m range, with the equivalent of DIDSON pitch...148 6-13 Selected waypoints from the planned inspection of the modified kayak are illustrated...within its boundaries. . . . 150 6-14 Selected waypoints from the planned inspection of the modified kayak are illustrated, comparing the planned view

  4. Optimal Path Planning and Control of Quadrotor Unmanned Aerial Vehicle for Area Coverage

    Science.gov (United States)

    Fan, Jiankun

    An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot on board. Its flight is controlled either autonomously by computers onboard the vehicle, or remotely by a pilot on the ground, or by another vehicle. In recent years, UAVs have been used more commonly than prior years. The example includes areo-camera where a high speed camera was attached to a UAV which can be used as an airborne camera to obtain aerial video. It also could be used for detecting events on ground for tasks such as surveillance and monitoring which is a common task during wars. Similarly UAVs can be used for relaying communication signal during scenarios when regular communication infrastructure is destroyed. The objective of this thesis is motivated from such civilian operations such as search and rescue or wildfire detection and monitoring. One scenario is that of search and rescue where UAV's objective is to geo-locate a person in a given area. The task is carried out with the help of a camera whose live feed is provided to search and rescue personnel. For this objective, the UAV needs to carry out scanning of the entire area in the shortest time. The aim of this thesis to develop algorithms to enable a UAV to scan an area in optimal time, a problem referred to as "Coverage Control" in literature. The thesis focuses on a special kind of UAVs called "quadrotor" that is propelled with the help of four rotors. The overall objective of this thesis is achieved via solving two problems. The first problem is to develop a dynamic control model of quadrtor. In this thesis, a proportional-integral-derivative controller (PID) based feedback control system is developed and implemented on MATLAB's Simulink. The PID controller helps track any given trajectory. The second problem is to design a trajectory that will fulfill the mission. The planed trajectory should make sure the quadrotor will scan the whole area without missing any part to make sure that the quadrotor will find the lost

  5. Cooperative path planning of unmanned aerial vehicles

    CERN Document Server

    Tsourdos, Antonios; Shanmugavel, Madhavan

    2010-01-01

    An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in...

  6. Path planning in changeable environments

    NARCIS (Netherlands)

    Nieuwenhuisen, D.

    2007-01-01

    This thesis addresses path planning in changeable environments. In contrast to traditional path planning that deals with static environments, in changeable environments objects are allowed to change their configurations over time. In many cases, path planning algorithms must facilitate quick

  7. Side-to-side 3D coverage path planning approach for agricultural robots to minimize skip/overlap areas between swaths

    DEFF Research Database (Denmark)

    Hameed, Ibrahim; la Cour-Harbo, Anders; Osen, O. L.

    2016-01-01

    Automated path planning is important for the automation and optimization of field operations. It can provide the waypoints required for guidance, navigation and control of agricultural robots and autonomous tractors throughout the execution of these field operations. In agriculture, field...

  8. (Quickly) Testing the Tester via Path Coverage

    Science.gov (United States)

    Groce, Alex

    2009-01-01

    The configuration complexity and code size of an automated testing framework may grow to a point that the tester itself becomes a significant software artifact, prone to poor configuration and implementation errors. Unfortunately, testing the tester by using old versions of the software under test (SUT) may be impractical or impossible: test framework changes may have been motivated by interface changes in the tested system, or fault detection may become too expensive in terms of computing time to justify running until errors are detected on older versions of the software. We propose the use of path coverage measures as a "quick and dirty" method for detecting many faults in complex test frameworks. We also note the possibility of using techniques developed to diversify state-space searches in model checking to diversify test focus, and an associated classification of tester changes into focus-changing and non-focus-changing modifications.

  9. Characterizing the Path Coverage of Random Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Moslem Noori

    2010-01-01

    Full Text Available Wireless sensor networks are widely used in security monitoring applications to sense and report specific activities in a field. In path coverage, for example, the network is in charge of monitoring a path and discovering any intruder trying to cross it. In this paper, we investigate the path coverage properties of a randomly deployed wireless sensor network when the number of sensors and also the length of the path are finite. As a consequence, Boolean model, which has been widely used previously, is not applicable. Using results from geometric probability, we determine the probability of full path coverage, distribution of the number of uncovered gaps over the path, and the probability of having no uncovered gaps larger than a specific size. We also find the cumulative distribution function (cdf of the covered part of the path. Based on our results on the probability of full path coverage, we derive a tight upper bound for the number of nodes guaranteeing the full path coverage with a desired reliability. Through computer simulations, it is verified that for networks with nonasymptotic size, our analysis is accurate where the Boolean model can be inaccurate.

  10. A Fair Path Toward Universal Coverage: National Case Study for ...

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

    A Fair Path Toward Universal Coverage: National Case Study for Ethiopia, Uganda, and Zambia. As national health systems in developing countries make progress toward achieving universal health service coverage, many face ethical challenges. In its 2010 World Health Report, the World Health Assembly called on the ...

  11. Multi-level Indoor Path Planning Method

    NARCIS (Netherlands)

    Xiong, Q.; Zhu, Q.; Zlatanova, S.; Du, Z.; Zhang, Y.; Zeng, L.

    2015-01-01

    Indoor navigation is increasingly widespread in complex indoor environments, and indoor path planning is the most important part of indoor navigation. Path planning generally refers to finding the most suitable path connecting two locations, while avoiding collision with obstacles. However, it is a

  12. Path Dependence and Universal Health Coverage: The Case of Egypt

    Directory of Open Access Journals (Sweden)

    Ayman Fouda

    2017-12-01

    Full Text Available Universal health coverage (UHC is the big objective in health policy which several countries are seeking to achieve. Egypt is no different and its endeavors to attain UHC have been going on since the 1960s. This article discusses the status of UHC in Egypt using theories of political science and economics by analyzing the historical transformations in the Egyptian health system and its institutional settings. This article then specifically examines the path dependence theory against the sociopolitical background of Egypt and assesses any pattern between the theory and the current UHC status in Egypt. The important finding of this analysis is that the health policies and reforms in Egypt have been significantly influenced and limited by its historical institutional structure and development. Both the health policies and the institutional settings adopted a dependent path that limited Egypt’s endeavors to achieve the universal coverage. This dependent path also yielded many of the present-day challenges as in the weaknesses of the healthcare financing system and the inability to extend health coverage to the poor and the informal sector. These challenges subsequently had a negative impact on the accessibility of the healthcare services.

  13. Path Dependence and Universal Health Coverage: The Case of Egypt.

    Science.gov (United States)

    Fouda, Ayman; Paolucci, Francesco

    2017-01-01

    Universal health coverage (UHC) is the big objective in health policy which several countries are seeking to achieve. Egypt is no different and its endeavors to attain UHC have been going on since the 1960s. This article discusses the status of UHC in Egypt using theories of political science and economics by analyzing the historical transformations in the Egyptian health system and its institutional settings. This article then specifically examines the path dependence theory against the sociopolitical background of Egypt and assesses any pattern between the theory and the current UHC status in Egypt. The important finding of this analysis is that the health policies and reforms in Egypt have been significantly influenced and limited by its historical institutional structure and development. Both the health policies and the institutional settings adopted a dependent path that limited Egypt's endeavors to achieve the universal coverage. This dependent path also yielded many of the present-day challenges as in the weaknesses of the healthcare financing system and the inability to extend health coverage to the poor and the informal sector. These challenges subsequently had a negative impact on the accessibility of the healthcare services.

  14. Integrated assignment and path planning

    Science.gov (United States)

    Murphey, Robert A.

    2005-11-01

    A surge of interest in unmanned systems has exposed many new and challenging research problems across many fields of engineering and mathematics. These systems have the potential of transforming our society by replacing dangerous and dirty jobs with networks of moving machines. This vision is fundamentally separate from the modern view of robotics in that sophisticated behavior is realizable not by increasing individual vehicle complexity, but instead through collaborative teaming that relies on collective perception, abstraction, decision making, and manipulation. Obvious examples where collective robotics will make an impact include planetary exploration, space structure assembly, remote and undersea mining, hazardous material handling and clean-up, and search and rescue. Nonetheless, the phenomenon driving this technology trend is the increasing reliance of the US military on unmanned vehicles, specifically, aircraft. Only a few years ago, following years of resistance to the use of unmanned systems, the military and civilian leadership in the United States reversed itself and have recently demonstrated surprisingly broad acceptance of increasingly pervasive use of unmanned platforms in defense surveillance, and even attack. However, as rapidly as unmanned systems have gained acceptance, the defense research community has discovered the technical pitfalls that lie ahead, especially for operating collective groups of unmanned platforms. A great deal of talent and energy has been devoted to solving these technical problems, which tend to fall into two categories: resource allocation of vehicles to objectives, and path planning of vehicle trajectories. An extensive amount of research has been conducted in each direction, yet, surprisingly, very little work has considered the integrated problem of assignment and path planning. This dissertation presents a framework for studying integrated assignment and path planning and then moves on to suggest an exact

  15. Feasible Path Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2014-01-01

    Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

  16. Direct Entry Minimal Path UAV Loitering Path Planning

    Directory of Open Access Journals (Sweden)

    Jay P. Wilhelm

    2017-04-01

    Full Text Available Fixed Wing Unmanned Aerial Vehicles (UAVs performing Intelligence, Surveillance and Reconnaissance (ISR typically fly over Areas of Interest (AOIs to collect sensor data of the ground from the air. If needed, the traditional method of extending sensor collection time is to loiter or turn circularly around the center of an AOI. Current Autopilot systems on small UAVs can be limited in their feature set and typically follow a waypoint chain system that allows for loitering, but requires that the center of the AOI to be traversed which may produce unwanted turns outside of the AOI before entering the loiter. An investigation was performed to compare the current loitering techniques against two novel smart loitering methods. The first method investigated, Tangential Loitering Path Planner (TLPP, utilized paths tangential to the AOIs to enter and exit efficiently, eliminating unnecessary turns outside of the AOI. The second method, Least Distance Loitering Path Planner (LDLPP, utilized four unique flight maneuvers that reduce transit distances while eliminating unnecessary turns outside of the AOI present in the TLPP method. Simulation results concluded that the Smart Loitering Methods provide better AOI coverage during six mission scenarios. It was also determined that the LDLPP method spends less time in transit between AOIs. The reduction in required transit time could be used for surveying additional AOIs.

  17. Aircraft Path Planning under Adverse Weather Conditions

    Directory of Open Access Journals (Sweden)

    Xie Z.

    2016-01-01

    Full Text Available In recent years, flight safety is still one of the main issues for all airlines. En route civil airplanes may encounter adverse weather conditions. Some fatal airplane accidents happened because of the weather disturbance. Moreover, we should also design path to avoid the prohibited area. Therefore a good path planning algorithm plays an increasingly important role in air traffic management. An efficient path planning algorithm can help the plane to avoid severe weather conditions, restricted areas and moving obstacles to ensure the safety of the cabin crews and passengers. Here, we build our algorithm based on the A* search algorithm. Moreover, our algorithm can also find the path with least energy costs. As a result, our algorithm can improve the safety operation of the airplanes and reduce the workload of pilots and air traffic controllers.

  18. Practical path planning among movable obstacles

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Pang C.; Hwang, Yong K.

    1990-09-05

    Path planning among movable obstacles is a practical problem that is in need of a solution. In this paper an efficient heuristic algorithm that uses a generate-and-test paradigm: a good'' candidate path is hypothesized by a global planner and subsequently verified by a local planner. In the process of formalizing the problem, we also present a technique for modeling object interactions through contact. Our algorithm has been tested on a variety of examples, and was able to generate solutions within 10 seconds. 5 figs., 27 refs.

  19. Adaptive path planning algorithm for cooperating unmanned air vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Cunningham, C T; Roberts, R S

    2001-02-08

    An adaptive path planning algorithm is presented for cooperating Unmanned Air Vehicles (UAVs) that are used to deploy and operate land-based sensor networks. The algorithm employs a global cost function to generate paths for the UAVs, and adapts the paths to exceptions that might occur. Examples are provided of the paths and adaptation.

  20. An Adaptive Path Planning Algorithm for Cooperating Unmanned Air Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Cunningham, C.T.; Roberts, R.S.

    2000-09-12

    An adaptive path planning algorithm is presented for cooperating Unmanned Air Vehicles (UAVs) that are used to deploy and operate land-based sensor networks. The algorithm employs a global cost function to generate paths for the UAVs, and adapts the paths to exceptions that might occur. Examples are provided of the paths and adaptation.

  1. Ethical Perspective: Five Unacceptable Trade-offs on the Path to Universal Health Coverage

    Directory of Open Access Journals (Sweden)

    Ole Frithjof Norheim

    2015-11-01

    Full Text Available This article discusses what ethicists have called “unacceptable trade-offs” in health policy choices related to universal health coverage (UHC. Since the fiscal space is constrained, trade-offs need to be made. But some trade-offs are unacceptable on the path to universal coverage. Unacceptable choices include, among other examples from low-income countries, to expand coverage for services with lower priority such as coronary bypass surgery before securing universal coverage for high-priority services such as skilled birth attendance and services for easily preventable or treatable fatal childhood diseases. Services of the latter kind include oral rehydration therapy for children with diarrhea and antibiotics for children with pneumonia. The article explains why such trade-offs are unfair and unacceptable even if political considerations may push in the opposite direction.

  2. Ethical Perspective: Five Unacceptable Trade-offs on the Path to Universal Health Coverage.

    Science.gov (United States)

    Norheim, Ole Frithjof

    2015-10-11

    This article discusses what ethicists have called "unacceptable trade-offs" in health policy choices related to universal health coverage (UHC). Since the fiscal space is constrained, trade-offs need to be made. But some trade-offs are unacceptable on the path to universal coverage. Unacceptable choices include, among other examples from low-income countries, to expand coverage for services with lower priority such as coronary bypass surgery before securing universal coverage for high-priority services such as skilled birth attendance and services for easily preventable or treatable fatal childhood diseases. Services of the latter kind include oral rehydration therapy for children with diarrhea and antibiotics for children with pneumonia. The article explains why such trade-offs are unfair and unacceptable even if political considerations may push in the opposite direction. © 2015 by Kerman University of Medical Sciences.

  3. Analysis of construction dynamic plan using fuzzy critical path method

    Directory of Open Access Journals (Sweden)

    Kurij Kazimir V.

    2014-01-01

    Full Text Available Critical Path Method (CPM technique has become widely recognized as valuable tool for the planning and scheduling large construction projects. The aim of this paper is to present an analytical method for finding the Critical Path in the precedence network diagram where the duration of each activity is represented by a trapezoidal fuzzy number. This Fuzzy Critical Path Method (FCPM uses a defuzzification formula for trapezoidal fuzzy number and applies it on the total float (slack time for each activity in the fuzzy precedence network to find the critical path. The method presented in this paper is very effective in determining the critical activities and finding the critical paths.

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

    Science.gov (United States)

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

    2017-07-20

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

  5. Path planning using optically computed potential fields

    Science.gov (United States)

    Reid, Max B.

    1993-01-01

    An algorithm for the optical computation of potential field maps suitable for mobile robot navigation is described and experimentally produced maps and paths are presented. The parallel analog optical computation employs a two-dimensional spatial light modulator on which an image of the potential field map is generated. Optically calculated fields contain no local minima, tend to produce paths centered in gaps between obstacles, and produce paths which give preference to wide gaps. Calculation of 128 x 128 pixel fields at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

  6. Multi-AGV path planning with double-path constraints by using an improved genetic algorithm.

    Science.gov (United States)

    Han, Zengliang; Wang, Dongqing; Liu, Feng; Zhao, Zhiyong

    2017-01-01

    This paper investigates an improved genetic algorithm on multiple automated guided vehicle (multi-AGV) path planning. The innovations embody in two aspects. First, three-exchange crossover heuristic operators are used to produce more optimal offsprings for getting more information than with the traditional two-exchange crossover heuristic operators in the improved genetic algorithm. Second, double-path constraints of both minimizing the total path distance of all AGVs and minimizing single path distances of each AGV are exerted, gaining the optimal shortest total path distance. The simulation results show that the total path distance of all AGVs and the longest single AGV path distance are shortened by using the improved genetic algorithm.

  7. Mobile robot dynamic path planning based on improved genetic algorithm

    Science.gov (United States)

    Wang, Yong; Zhou, Heng; Wang, Ying

    2017-08-01

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

  8. Reactive Path Planning Approach for Docking Robots in Unknown Environment

    Directory of Open Access Journals (Sweden)

    Peng Cui

    2017-01-01

    Full Text Available Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.

  9. A Hybrid 3D Path Planning Method for UAVs

    DEFF Research Database (Denmark)

    Ortiz-Arroyo, Daniel

    2015-01-01

    This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a flexible normalized on-line fuzzy controller to find shortest paths. Our method, targeted to low altitude domains, is simple and efficient. Our preliminary resu...

  10. MRPPSim: A Multi-Robot Path Planning Simulation

    OpenAIRE

    Ebtehal Turki Saho Alotaibi; Hisham Al-Rawi

    2016-01-01

    Multi-robot path planning problem is an interesting problem of research having great potential for several optimization problems in the world. In multi-robot path planning problem domain (MRPP), robots must move from their start locations to their goal locations avoiding collisions with each other. MRPP is a relevant problem in several domains, including; automatic packages inside a warehouse, automated guided vehicles, planetary exploration, robotics mining, and video games. This work introd...

  11. Points-Based Safe Path Planning of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Khuram Shahzad

    2015-07-01

    Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g., working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.

  12. Constrained motion control on a hemispherical surface: path planning.

    Science.gov (United States)

    Berman, Sigal; Liebermann, Dario G; McIntyre, Joseph

    2014-03-01

    Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding paths and their relationship with task dynamics, we simulated various control policies. The simulations demonstrated that following a geodesic path (the shortest path between 2 points on a sphere) is advantageous not only in terms of path length but also in terms of motor planning and sensitivity to motor command errors. These stem from the fact that the applied forces lie in a single plane (that of the geodesic path). To test whether human subjects indeed follow the geodesic, and to see how such motion compares to other paths, we recorded movements in a virtual haptic-visual environment from 11 healthy subjects. The task comprised point-to-point motion between targets at two elevations (30° and 60°). Three typical choices of paths were observed from a frontal plane projection of the paths: circular arcs, straight lines, and arcs close to the geodesic path for each elevation. Based on the measured hand paths, we applied k-means blind separation to divide the subjects into three groups and compared performance indicators. The analysis confirmed that subjects who followed paths closest to the geodesic produced faster and smoother movements compared with the others. The "better" performance reflects the dynamical advantages of following the geodesic path and may also reflect invariant features of control policies used to produce such a surface-constrained motion.

  13. Rapidly Exploring Random Trees Used for Mobile Robots Path Planning

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, S.

    2005-01-01

    Roč. 12, č. 4 (2005), s. 231-238 ISSN 1802-1484. [Mechatronics, Robot ics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : path planning * mobile robot Subject RIV: JD - Computer Applications, Robot ics

  14. Finding the optimal-path maps for path planning across weighted regions

    Energy Technology Data Exchange (ETDEWEB)

    Rowe, N.C.; Alexander, R.S.

    2000-02-01

    Optimal-path maps tell robots or people the best way to reach a goal point from anywhere in a known terrain area, eliminating most of the need to plan during travel. The authors address the construction of optimal-path maps for two-dimensional polygonal weighted-region terrain, terrain partitioned into polygonal areas such that the cost per unit of distance traveled is homogeneous and isotropic within each area. This is useful for overland route planning across varied ground surfaces and vegetation. The authors propose a new algorithm that recursively partitions terrain into regions of similar optimal-path behavior, and defines corresponding path subspaces for these regions. This process constructs a piecewise-smooth function of terrain position whose gradient direction is everywhere the optimal-path direction, permitting quick path finding. The algorithm used is more complicated than the current path-caching and wavefront-propagation algorithms, but it gives more accurate maps requiring less space to represent. Experiments with an implementation confirm the practicality of the authors' algorithm.

  15. Universal Health Coverage - The Critical Importance of Global Solidarity and Good Governance Comment on "Ethical Perspective: Five Unacceptable Trade-offs on the Path to Universal Health Coverage".

    Science.gov (United States)

    Reis, Andreas A

    2016-06-07

    This article provides a commentary to Ole Norheim' s editorial entitled "Ethical perspective: Five unacceptable trade-offs on the path to universal health coverage." It reinforces its message that an inclusive, participatory process is essential for ethical decision-making and underlines the crucial importance of good governance in setting fair priorities in healthcare. Solidarity on both national and international levels is needed to make progress towards the goal of universal health coverage (UHC). © 2016 by Kerman University of Medical Sciences.

  16. Research on the ant colony algorithm in robot path planning

    Science.gov (United States)

    Wang, Yong; Ma, Jianming; Wang, Ying

    2017-05-01

    Using the A* algorithm principle proposed adaptive adjustment heuristic function, to reduce the degree of divergence algorithm; The state transition of the next ant improvement strategies, to improve the diversity of path planning solution; Control the change of the pheromone, to avoid algorithm trapped in local optimal solution; The improved ant colony algorithm makes the robot along an optimal or suboptimal path to arrive at the target.

  17. Life Extending Minimum-Time Path Planning for Hexapod Robot

    Directory of Open Access Journals (Sweden)

    Xin Wu

    2011-06-01

    Full Text Available This paper presents a minimum‐time path planning scheme for life‐extending operation of legged robots, illustrated with a six‐legged walking robot (hexapod. The focus of this study is on extending the bearing fatigue life for leg joints. As a typical treatment, the minimum‐time path planning is performed through a bisecting‐plane (BP algorithm with the constraints of maximum joint angular velocity and acceleration. Based on bearing fatigue life theory, its fatigue life increases while the dynamic radial force on the bearing decreases. By imposing more rigorous constraint on the dynamic radial force, the minimum‐time path planning algorithm is thus revised by reinforcing the constraint of maximum radial force based on the expectation of life extension. A symmetric hexapod with 18 degree‐of‐freedom (DOF is adopted as the illustrative example for simulation study. The simulation results validate the effectiveness of possible life extending with moderate compromise in transient performance.

  18. Life Extending Minimum-Time Path Planning for Hexapod Robot

    Directory of Open Access Journals (Sweden)

    Xin Wu

    2011-06-01

    Full Text Available This paper presents a minimum-time path planning scheme for life-extending operation of legged robots, illustrated with a six-legged walking robot (hexapod. The focus of this study is on extending the bearing fatigue life for leg joints. As a typical treatment, the minimum-time path planning is performed through a bisecting-plane (BP algorithm with the constraints of maximum joint angular velocity and acceleration. Based on bearing fatigue life theory, its fatigue life increases while the dynamic radial force on the bearing decreases. By imposing more rigorous constraint on the dynamic radial force, the minimum-time path planning algorithm is thus revised by reinforcing the constraint of maximum radial force based on the expectation of life extension. A symmetric hexapod with 18 degree-of-freedom (DOF is adopted as the illustrative example for simulation study. The simulation results validate the effectiveness of possible life extending with moderate compromise in transient performance.

  19. Collision-free path planning in multi-dimensional environments

    Directory of Open Access Journals (Sweden)

    Edwin Francis Cárdenas

    2011-05-01

    Full Text Available  Reliable path-planning and generation of collision-free trajectories has become an area of active research over the past decade where the field robotics has probably been the most active area. This paper's main objective is to analyse the advantages and disadvantages of two of the most popular techniques used in collision-free trajectory generation in n-dimensional spaces. The importance of analysing such techniques within a generalised framework is evident as path-planning is used in a variety of fields such as designing medical drugs, computer animation and artificial intelligence and, of course, robotics. The review provided in this paper starts by drawing a historical map of path-planning and the techniques used in its early stages. The main concepts involved in artificial potential fields and probabilistic roadmaps will be addressed as these are the most influential methods and have been widely used in specialised literature. 

  20. Survey of Robot 3D Path Planning Algorithms

    Directory of Open Access Journals (Sweden)

    Liang Yang

    2016-01-01

    Full Text Available Robot 3D (three-dimension path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints. The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.

  1. A bat algorithm with mutation for UCAV path planning.

    Science.gov (United States)

    Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi

    2012-01-01

    Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models.

  2. Path planning for machine vision assisted, teleoperated pavement crack sealer

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Y.S.; Haas, C.T.; Greer, R. [Univ. of Texas, Austin, TX (United States)

    1998-03-01

    During the last few years, several teleoperated and machine-vision-assisted systems have been developed in construction and maintenance areas such as pavement crack sealing, sewer pipe rehabilitation, excavation, surface finishing, and materials handling. This paper presents a path-planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In general, path planning is an important task for optimal motion of a robot whether its environment is structured or unstructured. Manual path planning is not always possible or desirable. A simple greedy path algorithm is utilized for optimal motion of the automated pavement crack sealer. Some unique and broadly applicable computational tools and data structures are required to implement the algorithm in a digital image domain. These components are described, then the performance of the algorithm is compared with the implicit manual path plans of system operators. The comparison is based on computational cost versus overall gains in crack-sealing-process efficiency. Applications of this work in teleoperation, graphical control, and other infrastructure maintenance areas are also suggested.

  3. A Bat Algorithm with Mutation for UCAV Path Planning

    Directory of Open Access Journals (Sweden)

    Gaige Wang

    2012-01-01

    Full Text Available Path planning for uninhabited combat air vehicle (UCAV is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models.

  4. The path towards universal health coverage in the Arab uprising countries Tunisia, Egypt, Libya, and Yemen.

    Science.gov (United States)

    Saleh, Shadi S; Alameddine, Mohamad S; Natafgi, Nabil M; Mataria, Awad; Sabri, Belgacem; Nasher, Jamal; Zeiton, Moez; Ahmad, Shaimaa; Siddiqi, Sameen

    2014-01-25

    The constitutions of many countries in the Arab world clearly highlight the role of governments in guaranteeing provision of health care as a right for all citizens. However, citizens still have inequitable health-care systems. One component of such inequity relates to restricted financial access to health-care services. The recent uprisings in the Arab world, commonly referred to as the Arab spring, created a sociopolitical momentum that should be used to achieve universal health coverage (UHC). At present, many countries of the Arab spring are considering health coverage as a priority in dialogues for new constitutions and national policy agendas. UHC is also the focus of advocacy campaigns of a number of non-governmental organisations and media outlets. As part of the health in the Arab world Series in The Lancet, this report has three overarching objectives. First, we present selected experiences of other countries that had similar social and political changes, and how these events affected their path towards UHC. Second, we present a brief overview of the development of health-care systems in the Arab world with regard to health-care coverage and financing, with a focus on Egypt, Libya, Tunisia, and Yemen. Third, we aim to integrate historical lessons with present contexts in a roadmap for action that addresses the challenges and opportunities for progression towards UHC. Copyright © 2014 Elsevier Ltd. All rights reserved.

  5. Path-planning editor for kinematically redundant robots

    Science.gov (United States)

    Das, Hari; Lee, Sukhan

    1993-03-01

    A computer aid is proposed in this paper for planning paths for redundant robots. The aid, called a Path Planning Editor (PPE), allows a user to specify the complete configuration for a redundant robot over a desired path. Powerful visualization features in the PPE help the user make decisions on configuration selection for the robot. Visualization is offered not only of the robot motion but also of the optimization criterion function plotted over the redundant space. A demonstration of these ideas has been implemented using two graphic workstations for 3-D visualization and a third computer for the user interface designed using the X Window system. The robot chosen for the application is the 8 degrees of freedom AAI robot used in the Advanced Teleoperation Laboratory of JPL. Details of the implementation are described and suggestions are made for improvement of the PPE in this paper.

  6. Realistic Crowd Simulation with Density-Based Path Planning

    NARCIS (Netherlands)

    van Toll, W.G.; Cook IV, A.F.; Geraerts, R.J.

    2012-01-01

    Virtual characters in games and simulations often need to plan visually convincing paths through a crowded environment. This paper describes how crowd density information can be used to guide a large number of characters through a crowded environment. Crowd density information helps characters avoid

  7. Optimal Path Planning for Minimizing Base Disturbance of Space Robot

    Directory of Open Access Journals (Sweden)

    Xiao-Peng Wei

    2016-03-01

    Full Text Available The path planning of free-floating space robot in space on-orbit service has been paid more and more attention. The problem is more complicated because of the interaction between the space robot and base. Therefore, it is necessary to minimize the base position and attitude disturbance to improve the path planning of free-floating space robot, reducing the fuel consumption for the position and attitude maintenance. In this paper, a reasonable path planning method to solve the problem is presented, which is feasible and relatively simple. First, the kinematic model of 6 degrees of freedom free-floating space robot is established. And then the joint angles are parameterized using the 7th order polynomial sine functions. The fitness function is defined according to the position and attitude of minimizing base disturbance and constraints of space robot. Furthermore, an improved chaotic particle swarm optimization (ICPSO is presented. The proposed algorithm is compared with the standard PSO and CPSO algorithm in the literature by the experimental simulation. The simulation results demonstrate that the proposed algorithm is more effective than the two other approaches, such as easy to find the optimal solution, and this method could provide a satisfactory path for the free-floating space robot.

  8. Bim-Based Indoor Path Planning Considering Obstacles

    Science.gov (United States)

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

    2017-09-01

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

  9. Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

    Directory of Open Access Journals (Sweden)

    Tong Li

    2015-01-01

    Full Text Available Motion reliability as a criterion can reflect the accuracy of manipulator in completing operations. Since path planning task takes a significant role in operations of manipulator, the motion reliability evaluation of path planning task is discussed in the paper. First, a modeling method for motion reliability is proposed by taking factors related to position accuracy of manipulator into account. In the model, multidimensional integral for PDF is carried out to calculate motion reliability. Considering the complex of multidimensional integral, the approach of equivalent extreme value is introduced, with which multidimensional integral is converted into one dimensional integral for convenient calculation. Then a method based on the maximum entropy principle is proposed for model calculation. With the method, the PDF can be obtained efficiently at the state of maximum entropy. As a result, the evaluation of motion reliability can be achieved by one dimensional integral for PDF. Simulations on a particular path planning task are carried out, with which the feasibility and effectiveness of the proposed methods are verified. In addition, the modeling method which takes the factors related to position accuracy into account can represent the contributions of these factors to motion reliability. And the model calculation method can achieve motion reliability evaluation with high precision and efficiency.

  10. Integration of Hierarchical Goal Network Planning and Autonomous Path Planning

    Science.gov (United States)

    2016-03-01

    is abstract in the literal sense, the system is able to translate this into a waypoint. It can then use the waypoint navigation planner to provide...literal1,literal2) for any number of literals . As an example, a task may be “pick-up(apple,kitchen table,right hand)” representing picking up the apple...tasks. These sequence of actions is called a plan. Because each task and each literal can be named according to the user-defined domain

  11. Cooperative Path-Planning for Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Qichen Wang

    2014-11-01

    Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.

  12. A smooth local path planning algorithm based on modified visibility graph

    Science.gov (United States)

    Lv, Taizhi; Feng, Maoyan

    2017-07-01

    Path planning is an essential and inevitable problem in robotics. Trapping in local minima and discontinuities often exist in local path planning. To overcome these drawbacks, this paper presents a smooth path planning algorithm based on modified visibility graph. This algorithm consists of three steps: (1) polygons are generated from detected obstacles; (2) a collision-free path is found by simultaneous visibility graph construction and path search by A∗ (SVGA); (3) the path is smoothed by B-spline curves and particle swarm optimization (PSO). Simulation experiment results show the effectiveness of this algorithm, and a smooth path can be found fleetly.

  13. Path planning in uncertain flow fields using ensemble method

    Science.gov (United States)

    Wang, Tong; Le Maître, Olivier P.; Hoteit, Ibrahim; Knio, Omar M.

    2016-10-01

    An ensemble-based approach is developed to conduct optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where an ensemble of deterministic predictions is used to model and quantify uncertainty. In an operational setting, much about dynamics, topography, and forcing of the ocean environment is uncertain. To address this uncertainty, the flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each of the resulting realizations of the uncertain current field, we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of the sampling strategy and to develop insight into extensions dealing with general circulation ocean models. In particular, the ensemble method enables us to perform a statistical analysis of travel times and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.

  14. Path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong

    2016-08-20

    An ensemble-based approach is developed to conduct optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where an ensemble of deterministic predictions is used to model and quantify uncertainty. In an operational setting, much about dynamics, topography, and forcing of the ocean environment is uncertain. To address this uncertainty, the flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each of the resulting realizations of the uncertain current field, we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of the sampling strategy and to develop insight into extensions dealing with general circulation ocean models. In particular, the ensemble method enables us to perform a statistical analysis of travel times and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.

  15. Control theoretic splines optimal control, statistical, and path planning

    CERN Document Server

    Egerstedt, Magnus

    2010-01-01

    Splines, both interpolatory and smoothing, have a long and rich history that has largely been application driven. This book unifies these constructions in a comprehensive and accessible way, drawing from the latest methods and applications to show how they arise naturally in the theory of linear control systems. Magnus Egerstedt and Clyde Martin are leading innovators in the use of control theoretic splines to bring together many diverse applications within a common framework. In this book, they begin with a series of problems ranging from path planning to statistics to approximation.

  16. General Path Planning Methodology for Leader-Follower Robot Formations

    Directory of Open Access Journals (Sweden)

    Santiago Garrido

    2013-01-01

    Full Text Available This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave's distance from obstacles increases. This method provides smooth and safe trajectories and its computational efficiency allows us to maintain a good response time. The proposed method is based on a local-minima-free planner; it is complete and has an O(n complexity order where n is the number of cells of the map. Simulation results show that the proposed algorithm generates good trajectories.

  17. Intelligent Online Path Planning for UAVs in Adversarial Environments

    Directory of Open Access Journals (Sweden)

    Xingguang Peng

    2012-03-01

    Full Text Available Online path planning (OPP for unmanned aerial vehicles (UAVs is a basic issue of intelligent flight and is indeed a dynamic multi-objective optimization problem (DMOP. In this paper, an OPP framework is proposed in the sense of model predictive control (MPC to continuously update the environmental information for the planner. For solving the DMOP involved in the MPC we propose a dynamic multi-objective evolutionary algorithm based on linkage and prediction (LP-DMOEA. Within this algorithm, the historical Pareto sets are collected and analysed to enhance the performance. For intelligently selecting the best path from the output of the OPP, the Bayesian network and fuzzy logic are used to quantify the bias to each optimization objective. The DMOEA is validated on three benchmark problems characterized by different changing types in decision and objective spaces. Moreover, the simulation results show that the LP-DMOEA overcomes the restart method for OPP. The decision-making method for solution selection can assess the situation in an adversarial environment and accordingly adapt the path planner.

  18. SmartPATH: An Efficient Hybrid ACO-GA Algorithm for Solving the Global Path Planning Problem of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Imen Châari

    2014-07-01

    Full Text Available Path planning is a fundamental optimization problem that is crucial for the navigation of a mobile robot. Among the vast array of optimization approaches, we focus in this paper on Ant Colony Optimization (ACO and Genetic Algorithms (GA for solving the global path planning problem in a static environment, considering their effectiveness in solving such a problem. Our objective is to design an efficient hybrid algorithm that takes profit of the advantages of both ACO and GA approaches for the sake of maximizing the chance to find the optimal path even under real-time constraints. In this paper, we present smartPATH, a new hybrid ACO-GA algorithm that relies on the combination of an improved ACO algorithm (IACO for efficient and fast path selection, and a modified crossover operator to reduce the risk of falling into a local minimum. We demonstrate through extensive simulations that smartPATH outperforms classical ACO (CACO, GA algorithms. It also outperforms the Dijkstra exact method in solving the path planning problem for large graph environments. It improves the solution quality up to 57% in comparison with CACO and reduces the execution time up to 83% as compared to Dijkstra for large and dense graphs. In addition, the experimental results on a real robot shows that smartPATH finds the optimal path with a probability up to 80% with a small gap not exceeding 1m in 98%.

  19. Observability Based Path Planning in Range-only Localization

    Science.gov (United States)

    Quenzer, Jake D.

    The motivations of oceanographic research have driven the development of autonomous underwater vehicles (AUVs) now capable of great feats of autonomy and endurance. It is anticipated that the future of autonomous oceanographic surveys will be conducted with mixed teams of vehicles that will reduce cost and improve data quality. In a commonly proposed scenario, a scientific survey is carried out by a group of low-cost, simplistic AUVs while a more capable vehicle tends to the group; providing communication and navigation assistance. The goal of this thesis is to explore path planning methods for the aid vehicle that aim to improve localization performance experienced by survey vehicles. The two planning methods proposed make use of local observability measures to decide an aid vehicle's steering control. Simulations are conducted to test both methods against typical survey missions to investigate their efficacy in improving localization performance.

  20. Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

    Directory of Open Access Journals (Sweden)

    PeiJiang Yuan

    2015-12-01

    Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

  1. Optimization of beamforming and path planning for UAV-assisted wireless relay networks

    Directory of Open Access Journals (Sweden)

    Ouyang Jian

    2014-04-01

    Full Text Available Recently, unmanned aerial vehicles (UAVs acting as relay platforms have attracted considerable attention due to the advantages of extending coverage and improving connectivity for long-range communications. Specifically, in the scenario where the access point (AP is mobile, a UAV needs to find an efficient path to guarantee the connectivity of the relay link. Motivated by this fact, this paper proposes an optimal design for beamforming (BF and UAV path planning. First of all, we study a dual-hop amplify-and-forward (AF wireless relay network, in which a UAV is used as relay between a mobile AP and a fixed base station (BS. In the network, both of the AP and the BS are equipped with multiple antennas, whereas the UAV has a single antenna. Then, we obtain the output signal-to-noise ratio (SNR of the dual-hop relay network. Based on the criterion of maximizing the output SNR, we develop an optimal design to obtain the solution of the optimal BF weight vector and the UAV heading angle. Next, we derive the closed-form outage probability (OP expression to investigate the performance of the dual-hop relay network conveniently. Finally, computer simulations show that the proposed approach can obtain nearly optimal flying path and OP performance, indicating the effectiveness of the proposed algorithm. Furthermore, we find that increasing the antenna number at the BS or the maximal heading angle can significantly improve the performance of the considered relay network.

  2. 20 CFR 1002.165 - How does the employee elect continuing health plan coverage?

    Science.gov (United States)

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false How does the employee elect continuing health plan coverage? 1002.165 Section 1002.165 Employees' Benefits OFFICE OF THE ASSISTANT SECRETARY FOR... elect continuing health plan coverage? USERRA does not specify requirements for electing continuing...

  3. Making planned paths look more human-like in humanoid robot manipulation planning

    DEFF Research Database (Denmark)

    Zacharias, F.; Schlette, C.; Schmidt, F.

    2011-01-01

    It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target...... for the robot arm....

  4. Singularities of robot mechanisms numerical computation and avoidance path planning

    CERN Document Server

    Bohigas, Oriol; Ros, Lluís

    2017-01-01

    This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves...

  5. Visibility-based optimal path and motion planning

    CERN Document Server

    Wang, Paul Keng-Chieh

    2015-01-01

    This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases. The intended readers of this monograph are primarily studen...

  6. Autonomous guided vehicles methods and models for optimal path planning

    CERN Document Server

    Fazlollahtabar, Hamed

    2015-01-01

      This book provides readers with extensive information on path planning optimization for both single and multiple Autonomous Guided Vehicles (AGVs), and discusses practical issues involved in advanced industrial applications of AGVs. After discussing previously published research in the field and highlighting the current gaps, it introduces new models developed by the authors with the goal of reducing costs and increasing productivity and effectiveness in the manufacturing industry. The new models address the increasing complexity of manufacturing networks, due for example to the adoption of flexible manufacturing systems that involve automated material handling systems, robots, numerically controlled machine tools, and automated inspection stations, while also considering the uncertainty and stochastic nature of automated equipment such as AGVs. The book discusses and provides solutions to important issues concerning the use of AGVs in the manufacturing industry, including material flow optimization with A...

  7. Mathematical optimization for planning and design of cycle paths

    Energy Technology Data Exchange (ETDEWEB)

    LiÑan Ruiz, R.J.; Perez Aracil, J.; Cabrera Cañizares, V.

    2016-07-01

    The daily need for citizens to move for different activities, whatever its nature, has been greatly affected by the changes. The advantages resulting from the inclusion of the bicycle as a mode of transport and the proliferation of its use among citizens are numerous and extend both in the field of urban mobility and sustainable development.Currently, there are a number of programs for the implementation, promotion or increased public participation related to cycling in cities. But ultimately, each and every one of these initiatives have the same goal, to create a mesh of effective, useful and cycling trails that allow the use of bicycles in preferred routes with high guarantees of security, incorporating bicycle model intermodal urban transport.With the gradual implementation of bike lanes, many people have begun to use them to get around the city. But everything again needs a period of adaptation, and the reality is that the road network for these vehicles is full of obstacles to the rider. The current situation has led to the proposal that many kilometers of cycle paths needed to supply the demand of this mode of transport and, if implemented and planned are correct and sufficient.This paper presents a mathematical programming model for optimal design of a network for cyclists is presented. Specifically, the model determines a network of bicycle infrastructure, appropriate to the characteristics of a network of existing roads.As an application of the proposed model, the result of these experiments give a number of useful conclusions for planning and designing networks of cycle paths from a social perspective, applied to the case in the city of Malaga. (Author)

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

    Science.gov (United States)

    Schima, Francis J., III

    1990-01-01

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

  9. Path planning for assembly of strut-based structures. Thesis

    Science.gov (United States)

    Muenger, Rolf

    1991-01-01

    A path planning method with collision avoidance for a general single chain nonredundant or redundant robot is proposed. Joint range boundary overruns are also avoided. The result is a sequence of joint vectors which are passed to a trajectory planner. A potential field algorithm in joint space computes incremental joint vectors delta-q = delta-q(sub a) + delta-q(sub c) + delta-q(sub r). Adding delta-q to the robot's current joint vector leads to the next step in the path. Delta-q(sub a) is obtained by computing the minimum norm solution of the underdetermined linear system J delta-q(sub a) = x(sub a) where x(sub a) is a translational and rotational force vector that attracts the robot to its goal position and orientation. J is the manipulator Jacobian. Delta-q(sub c) is a collision avoidance term encompassing collisions between the robot (links and payload) and obstacles in the environment as well as collisions among links and payload of the robot themselves. It is obtained in joint space directly. Delta-q(sub r) is a function of the current joint vector and avoids joint range overruns. A higher level discrete search over candidate safe positions is used to provide alternatives in case the potential field algorithm encounters a local minimum and thus fails to reach the goal. The best first search algorithm A* is used for graph search. Symmetry properties of the payload and equivalent rotations are exploited to further enlarge the number of alternatives passed to the potential field algorithm.

  10. Creating High-Quality Paths for Motion Planning

    NARCIS (Netherlands)

    Geraerts, R.J.; Overmars, M.H.

    2007-01-01

    Many algorithms have been proposed that create a path for a robot in an environment with obstacles. Most methods are aimed at finding a solution. However, for many applications, the path must be of a good quality as well. That is, a path should be short and should keep some amount of minimum

  11. Complete Graph Technique Based Optimization In Meadow Method Of Robotic Path Planning

    OpenAIRE

    S. Singh,; G. Agarwal

    2010-01-01

    This paper explores new dimension in optimal path planning, Here we are proposing a new algorithm ‘OPTIMIZED PATH PLANING ALGORITHM’, which optimizes the path between single source to single destination. The proposed algorithm optimizes the path found by Dijkstra’s algorithm, it is proven in this paper that the new path is better than the path found by Dijkstra’s algorithm. The simulator is developed in C- language, on the basis of which, comparison table has been constructed which shows bett...

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

    Science.gov (United States)

    2016-10-04

    plan - ning algorithms . Instead, we focus on planning paths for perception tasks where informative parts of the objects in the environment have been...self-organising map (SOM) algo- rithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks . We...point cloud dataset from a real robot in a large outdoor environment. Our results show the proposed methods enable multi-robot planning for budgeted

  13. Local Path Planning of Driverless Car Navigation Based on Jump Point Search Method Under Urban Environment

    Directory of Open Access Journals (Sweden)

    Kaijun Zhou

    2017-09-01

    Full Text Available The Jump Point Search (JPS algorithm is adopted for local path planning of the driverless car under urban environment, and it is a fast search method applied in path planning. Firstly, a vector Geographic Information System (GIS map, including Global Positioning System (GPS position, direction, and lane information, is built for global path planning. Secondly, the GIS map database is utilized in global path planning for the driverless car. Then, the JPS algorithm is adopted to avoid the front obstacle, and to find an optimal local path for the driverless car in the urban environment. Finally, 125 different simulation experiments in the urban environment demonstrate that JPS can search out the optimal and safety path successfully, and meanwhile, it has a lower time complexity compared with the Vector Field Histogram (VFH, the Rapidly Exploring Random Tree (RRT, A*, and the Probabilistic Roadmaps (PRM algorithms. Furthermore, JPS is validated usefully in the structured urban environment.

  14. Health benefits in 2014: stability in premiums and coverage for employer-sponsored plans

    National Research Council Canada - National Science Library

    Claxton, Gary; Rae, Matthew; Panchal, Nirmita; Whitmore, Heidi; Damico, Anthony; Kenward, Kevin

    2014-01-01

    .... On average, in 2014 covered workers paid nearly $5,000 per year for family health insurance premiums, and 18 percent of covered workers were in a plan with an annual single coverage deductible of $2,000 or more...

  15. Path Planning for First Responders in the Presence of Moving Obstacles With Uncertain Boundaries

    NARCIS (Netherlands)

    Wang, Z.; Zlatanova, S.; van Oosterom, P.J.M.

    2017-01-01

    In this paper, we study path planning for first responders in the presence of uncertain moving obstacles. To support the path planning, in our research we use hazard simulation to provide the predicted information of moving obstacles. A major problem in using hazard simulation is that the

  16. HCTNav: A path planning algorithm for low-cost autonomous robot navigation in indoor environments

    OpenAIRE

    Pala, Marco; Osati Eraghi, Nafiseh; López-Colino, Fernando; Sánchez, Alberto; Castro, Ángel de; Garrido, Javier

    2013-01-01

    © 2013 by MDPI (http://www.mdpi.org). Reproduction is permitted for noncommercial purposes. Low-cost robots are characterized by low computational resources and limited energy supply. Path planning algorithms aim to find the optimal path between two points so the robot consumes as little energy as possible. However, these algorithms were not developed considering computational limitations (i.e., processing and memory capacity). This paper presents the HCTNav path-planning algorithm (HCTLab...

  17. Physics-Aware Informative Coverage Planning for Autonomous Vehicles

    Science.gov (United States)

    2014-06-01

    environment and find the optimal path connecting fixed nodes, which is equivalent to solving the Traveling Salesman Problem (TSP). While TSP is an NP...intended for application to USV harbor patrolling, it is applicable to many different domains. The problem of traveling over an area and gathering...environment. I. INTRODUCTION There are many applications that need persistent monitor- ing of a given area, requiring repeated travel over the area to

  18. Medicare prescription drug plan coverage of pharmacotherapies for opioid and alcohol dependence in WA.

    Science.gov (United States)

    Kennedy, Jae; Dipzinski, Aaron; Roll, John; Coyne, Joseph; Blodgett, Elizabeth

    2011-04-01

    Pharmacotherapeutic treatments for drug addiction offer new options, but only if they are affordable for patients. The objective of this study is to assess the current availability and cost of five common antiaddiction medications in the largest federal medication insurance program in the US, Medicare Part D. In early 2010, we collected coverage and cost data from 41 Medicare Part D prescription drug plans (PDPs) and 45 Medicare Advantage Plans (MAPs) in Washington State. The great majority of Medicare plans (82-100%) covered common pharmacotherapeutic treatments for drug addiction. These Medicare plans typically placed patent protected medications on their highest formulary tiers, leading to relatively high patient co-payments during the initial Part D coverage period. For example, median monthly co-payments for buprenorphine (Suboxone®) were about $46 for PDPs, and about $56 for MAPs. While Medicare prescription plans usually cover pharmacotherapeutic treatments for drug addiction, high co-payments can limit access. For example, beneficiaries without supplemental coverage who use Vivitrol® would exceed their initial coverage cap in 7-8 months, reaching the "doughnut hole" in their Part D coverage and becoming responsible for the full cost of the medication (over $900 per month). The 2010 Patient Protection and Affordable Care Act will gradually eliminate this coverage gap, and loss of patent protection for other antiaddiction medications (Suboxone® and Campral®) should also drive down patient costs, improving access and compliance. Copyright © 2010 Elsevier Ireland Ltd. All rights reserved.

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

    Science.gov (United States)

    Wang, Yong; Zhou, Heng; Wang, Ying

    2017-08-01

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

  20. 75 FR 34571 - Group Health Plans and Health Insurance Coverage Rules Relating to Status as a Grandfathered...

    Science.gov (United States)

    2010-06-17

    ... Revenue Service 26 CFR Part 54 RIN 1545-BJ50 Group Health Plans and Health Insurance Coverage Rules... respect to group health plans and health insurance coverage offered in connection with a group health plan... temporary regulations provide guidance to employers, group health plans, and health insurance issuers...

  1. Navigation path planning for autonomous aircraft - Voronoi diagram approach

    Science.gov (United States)

    Krozel, Jimmy; Andrisani, Dominick, II

    1990-01-01

    The present technique for generating a search graph depicting topologically unique paths around mountain boundaries at constant altitudes involves a description of mountain boundaries as polygons; the search graph is then generated on the basis of a geometric construct. All nodes and arcs of the search graph are guaranteed to lie in free space, thereby ensuring an autonomous aircraft's avoidance of mountain obstacles. The solution path is generated by searching the graph for the optimal path from a start location to a finish location.

  2. 76 FR 46677 - Requirements for Group Health Plans and Health Insurance Issuers Relating to Coverage of...

    Science.gov (United States)

    2011-08-03

    ... Center for Consumer Information & Insurance Oversight of the U.S. Department of Health and Human Services... with respect to group health plans and health insurance coverage offered in connection with a group.... The temporary regulations provide guidance to employers, group health plans, and health insurance...

  3. An adaptive dual-optimal path-planning technique for unmanned air vehicles

    Directory of Open Access Journals (Sweden)

    Whitfield Clifford A.

    2016-01-01

    Full Text Available A multi-objective technique for unmanned air vehicle path-planning generation through task allocation has been developed. The dual-optimal path-planning technique generates real-time adaptive flight paths based on available flight windows and environmental influenced objectives. The environmentally-influenced flight condition determines the aircraft optimal orientation within a downstream virtual window of possible vehicle destinations that is based on the vehicle’s kinematics. The intermittent results are then pursued by a dynamic optimization technique to determine the flight path. This path-planning technique is a multi-objective optimization procedure consisting of two goals that do not require additional information to combine the conflicting objectives into a single-objective. The technique was applied to solar-regenerative high altitude long endurance flight which can benefit significantly from an adaptive real-time path-planning technique. The objectives were to determine the minimum power required flight paths while maintaining maximum solar power for continual surveillance over an area of interest (AOI. The simulated path generation technique prolonged the flight duration over a sustained turn loiter flight path by approximately 2 months for a year of flight. The potential for prolonged solar powered flight was consistent for all latitude locations, including 2 months of available flight at 60° latitude, where sustained turn flight was no longer capable.

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

    Science.gov (United States)

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

    2016-05-01

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

  5. A New Real-Time Path Planning Method Based on the Belief Space

    Directory of Open Access Journals (Sweden)

    Yu-xin Zhao

    2013-01-01

    Full Text Available A new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecting characters, so as to transform the complex environment into some free areas, which can help the robots to reach any positions effectively and safely. Then, based on the uncertainty functions and the transferable belief model (TBM, the basic belief assignment (BBA spaces of each factor are presented and fused in the path optimizing process. So an innovative approach for getting the optimized path has been realized with the fusing the BBA and the decision making by the probability distributing. Simulation results indicate that the new method is beneficial in terms of real-time local path planning.

  6. DUKW-21 Autonomous Navigation - Autonomous Path Planning for an Amphibious Vehicle

    Science.gov (United States)

    2009-08-01

    Implementation on AGV ....................................... 4 Figure 5: Case where g(s1) < g(s2) but s2 is a Node on the Optimal Path...of Step 1 in Algorithm 12 ............................................................. 22 Nomenclature AGV : Autonomous Ground Vehicle ASSV...advantage of their individually unique problems. Autonomous Ground Vehicles ( AGV ) typically implement a batch path planning system, which finds a

  7. The Corridor Map Method: A General Framework for Real-Time High-Quality Path Planning

    NARCIS (Netherlands)

    Geraerts, R.J.; Overmars, M.H.

    2007-01-01

    In many virtual environment applications, paths have to be planned for characters to traverse from a start to a goal position in the virtual world while avoiding obstacles. Contemporary applications require a path planner that is fast (to ensure real-time interaction with the environment) and

  8. Robot path planning algorithm based on symbolic tags in dynamic environment

    Science.gov (United States)

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

    2017-09-01

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

  9. Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

    Directory of Open Access Journals (Sweden)

    Yahui Gan

    2012-09-01

    Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

  10. Path Planning Software and Graphics Interface for an Autonomous Vehicle, Accounting for Terrain Features

    National Research Council Canada - National Science Library

    Hurezeanu, Vlad

    2000-01-01

    .... This vehicle performs tasks to include surveying fields, laying mines, and teleoperation. The capability of the vehicle will be increased if its supporting software plans paths that take into account the terrain features...

  11. Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation

    Science.gov (United States)

    Jung, Dongwon

    2007-12-01

    Recently there has been a tremendous growth of research emphasizing control of unmanned aerial vehicles (UAVs) either in isolation or in teams. As a matter of fact, UAVs increasingly find their way into military and law enforcement applications (e.g., reconnaissance, remote delivery of urgent equipment/material, resource assessment, environmental monitoring, battlefield monitoring, ordnance delivery, etc.). This trend will continue in the future, as UAVs are poised to replace the human-in-the-loop during dangerous missions. Civilian applications of UAVs are also envisioned such as crop dusting, geological surveying, search and rescue operations, etc. In this thesis we propose a new online multiresolution path planning algorithm for a small UAV with limited on-board computational resources. The proposed approach assumes that the UAV has detailed information of the environment and the obstacles only in its vicinity. Information about far-away obstacles is also available, albeit less accurately. The proposed algorithm uses the fast lifting wavelet transform (FLWT) to get a multiresolution cell decomposition of the environment, whose dimension is commensurate to the on-board computational resources. A topological graph representation of the multiresolution cell decomposition is constructed efficiently, directly from the approximation and detail wavelet coefficients. Dynamic path planning is sequentially executed for an optimal path using the A* algorithm over the resulting graph. The proposed path planning algorithm is implemented on-line on a small autopilot. Comparisons with the standard D*-lite algorithm are also presented. We also investigate the problem of generating a smooth, planar reference path from a discrete optimal path. Upon the optimal path being represented as a sequence of cells in square geometry, we derive a smooth B-spline path that is constrained inside a channel that is induced by the geometry of the cells. To this end, a constrained optimization

  12. Decision-making in healthcare: a practical application of partial least square path modelling to coverage of newborn screening programmes

    Directory of Open Access Journals (Sweden)

    Fischer Katharina E

    2012-08-01

    Full Text Available Abstract Background Decision-making in healthcare is complex. Research on coverage decision-making has focused on comparative studies for several countries, statistical analyses for single decision-makers, the decision outcome and appraisal criteria. Accounting for decision processes extends the complexity, as they are multidimensional and process elements need to be regarded as latent constructs (composites that are not observed directly. The objective of this study was to present a practical application of partial least square path modelling (PLS-PM to evaluate how it offers a method for empirical analysis of decision-making in healthcare. Methods Empirical approaches that applied PLS-PM to decision-making in healthcare were identified through a systematic literature search. PLS-PM was used as an estimation technique for a structural equation model that specified hypotheses between the components of decision processes and the reasonableness of decision-making in terms of medical, economic and other ethical criteria. The model was estimated for a sample of 55 coverage decisions on the extension of newborn screening programmes in Europe. Results were evaluated by standard reliability and validity measures for PLS-PM. Results After modification by dropping two indicators that showed poor measures in the measurement models’ quality assessment and were not meaningful for newborn screening, the structural equation model estimation produced plausible results. The presence of three influences was supported: the links between both stakeholder participation or transparency and the reasonableness of decision-making; and the effect of transparency on the degree of scientific rigour of assessment. Reliable and valid measurement models were obtained to describe the composites of ‘transparency’, ‘participation’, ‘scientific rigour’ and ‘reasonableness’. Conclusions The structural equation model was among the first applications of PLS-PM to

  13. Decision-making in healthcare: a practical application of partial least square path modelling to coverage of newborn screening programmes.

    Science.gov (United States)

    Fischer, Katharina E

    2012-08-02

    Decision-making in healthcare is complex. Research on coverage decision-making has focused on comparative studies for several countries, statistical analyses for single decision-makers, the decision outcome and appraisal criteria. Accounting for decision processes extends the complexity, as they are multidimensional and process elements need to be regarded as latent constructs (composites) that are not observed directly. The objective of this study was to present a practical application of partial least square path modelling (PLS-PM) to evaluate how it offers a method for empirical analysis of decision-making in healthcare. Empirical approaches that applied PLS-PM to decision-making in healthcare were identified through a systematic literature search. PLS-PM was used as an estimation technique for a structural equation model that specified hypotheses between the components of decision processes and the reasonableness of decision-making in terms of medical, economic and other ethical criteria. The model was estimated for a sample of 55 coverage decisions on the extension of newborn screening programmes in Europe. Results were evaluated by standard reliability and validity measures for PLS-PM. After modification by dropping two indicators that showed poor measures in the measurement models' quality assessment and were not meaningful for newborn screening, the structural equation model estimation produced plausible results. The presence of three influences was supported: the links between both stakeholder participation or transparency and the reasonableness of decision-making; and the effect of transparency on the degree of scientific rigour of assessment. Reliable and valid measurement models were obtained to describe the composites of 'transparency', 'participation', 'scientific rigour' and 'reasonableness'. The structural equation model was among the first applications of PLS-PM to coverage decision-making. It allowed testing of hypotheses in situations where there

  14. 75 FR 70114 - Amendment to the Interim Final Rules for Group Health Plans and Health Insurance Coverage...

    Science.gov (United States)

    2010-11-17

    ... Group Health Plans and Health Insurance Coverage Relating to Status as a Grandfathered Health Plan Under... and Insurance Oversight, Department of Health and Human Services. ACTION: Amendment to interim final... regulations implementing the rules for group health plans and health insurance coverage in the group and...

  15. Energy-optimal path planning in the coastal ocean

    Science.gov (United States)

    Subramani, Deepak N.; Haley, Patrick J.; Lermusiaux, Pierre F. J.

    2017-05-01

    We integrate data-driven ocean modeling with the stochastic Dynamically Orthogonal (DO) level-set optimization methodology to compute and study energy-optimal paths, speeds, and headings for ocean vehicles in the Middle-Atlantic Bight (MAB) region. We hindcast the energy-optimal paths from among exact time-optimal paths for the period 28 August 2006 to 9 September 2006. To do so, we first obtain a data-assimilative multiscale reanalysis, combining ocean observations with implicit two-way nested multiresolution primitive-equation simulations of the tidal-to-mesoscale dynamics in the region. Second, we solve the reduced-order stochastic DO level-set partial differential equations (PDEs) to compute the joint probability of minimum arrival time, vehicle-speed time series, and total energy utilized. Third, for each arrival time, we select the vehicle-speed time series that minimize the total energy utilization from the marginal probability of vehicle-speed and total energy. The corresponding energy-optimal path and headings are obtained through the exact particle-backtracking equation. Theoretically, the present methodology is PDE-based and provides fundamental energy-optimal predictions without heuristics. Computationally, it is 3-4 orders of magnitude faster than direct Monte Carlo methods. For the missions considered, we analyze the effects of the regional tidal currents, strong wind events, coastal jets, shelfbreak front, and other local circulations on the energy-optimal paths. Results showcase the opportunities for vehicles that intelligently utilize the ocean environment to minimize energy usage, rigorously integrating ocean forecasting with optimal control of autonomous vehicles.

  16. Clinical implementation of coverage probability planning for nodal boosting in locally advanced cervical cancer

    DEFF Research Database (Denmark)

    Ramlov, Anne; Assenholt, Marianne S; Jensen, Maria F

    2017-01-01

    PURPOSE: To implement coverage probability (CovP) for dose planning of simultaneous integrated boost (SIB) of pathologic lymph nodes in locally advanced cervical cancer (LACC). MATERIAL AND METHODS: CovP constraints for SIB of the pathological nodal target (PTV-N) with a central dose peak...... regression during EBRT. Total EBRT and BT D98 was >57 GyEQD2 in 98% of the visible nodes. Compared to treatment plans aiming for full PTV-N coverage, CovP significantly reduced V50 of body, bones and bowel (pclinically feasible for SIB of pathological nodes and significantly...

  17. Visual environment recognition for robot path planning using template matched filters

    Science.gov (United States)

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

    2017-08-01

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

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

    Science.gov (United States)

    Wang, Yong; Ma, Jianming; Wang, Ying

    2017-05-01

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

  19. Dynamic path planning for mobile robot based on particle swarm optimization

    Science.gov (United States)

    Wang, Yong; Cai, Feng; Wang, Ying

    2017-08-01

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

  20. The comparison of A* algorithm and steepest descent method for path planning

    Science.gov (United States)

    Zhang, Hao; Wang, Hu; Yuan, Jian; Hu, Y. Meng; Ren, W. Long

    2017-07-01

    This study mainly introduces the advanced A* algorithm and steepest descent method for path planning based on grid form. A* algorithm is a node-searching strategy, namely uses the heuristic function to estimate the cost of the path from the start to the goal in the grid maps. The branching factor of A* algorithm describes the moving directions, which will be selected according to the path length in different grid maps. The steepest descent method adopts a heuristic-based gradient method with grid maps to search the shortest path. In this paper the appropriate path planning method will be selected by comparing the run time and the creation of complex maps of the two methods.

  1. Hybridizing Particle Swarm Optimization and Differential Evolution for the Mobile Robot Global Path Planning

    Directory of Open Access Journals (Sweden)

    Biwei Tang

    2016-05-01

    Full Text Available Global path planning is a challenging issue in the filed of mobile robotics due to its complexity and the nature of non-deterministic polynomial-time hard (NP-hard. Particle swarm optimization (PSO has gained increasing popularity in global path planning due to its simplicity and high convergence speed. However, since the basic PSO has difficulties balancing exploration and exploitation, and suffers from stagnation, its efficiency in solving global path planning may be restricted. Aiming at overcoming these drawbacks and solving the global path planning problem efficiently, this paper proposes a hybrid PSO algorithm that hybridizes PSO and differential evolution (DE algorithms. To dynamically adjust the exploration and exploitation abilities of the hybrid PSO, a novel PSO, the nonlinear time-varying PSO (NTVPSO, is proposed for updating the velocities and positions of particles in the hybrid PSO. In an attempt to avoid stagnation, a modified DE, the ranking-based self-adaptive DE (RBSADE, is developed to evolve the personal best experience of particles in the hybrid PSO. The proposed algorithm is compared with four state-of-the-art evolutionary algorithms. Simulation results show that the proposed algorithm is highly competitive in terms of path optimality and can be considered as a vital alternative for solving global path planning.

  2. Sampling-based Motion Planning: Analysis and Path Quality

    NARCIS (Netherlands)

    Geraerts, R.J.|info:eu-repo/dai/nl/304830291

    2006-01-01

    One of the fundamental tasks robots have to perform is planning their motions while avoiding collisions with obstacles in the environment. This is the central topic of the thesis. We restrict ourselves to motion planning for two- and three-dimensional rigid bodies and articulated robots moving in

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

    Science.gov (United States)

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

    2013-01-01

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

  4. A hybrid metaheuristic DE/CS algorithm for UCAV three-dimension path planning.

    Science.gov (United States)

    Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen

    2012-01-01

    Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model.

  5. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

    Directory of Open Access Journals (Sweden)

    Domokos Kiss

    2017-01-01

    Full Text Available In this paper we introduce a novel method for obtaining good quality paths for autonomous road vehicles (e.g., cars or buses in narrow environments. There are many traffic situations in urban scenarios where nontrivial maneuvering in narrow places is necessary. Navigating in cluttered parking lots or having to avoid obstacles blocking the way and finding a detour even in narrow streets are challenging, especially if the vehicle has large dimensions like a bus. We present a combined approximation-based approach to solve the path planning problem in such situations. Our approach consists of a global planner which generates a preliminary path consisting of straight and turning-in-place primitives and a local planner which is used to make the preliminary path feasible to car-like vehicles. The approximation methodology is well known in the literature; however, both components proposed in this paper differ from existing similar planning methods. The approximation process with the proposed local planner is proven to be convergent for any preliminary global paths. The resulting path has continuous curvature which renders our method well suited for application on real vehicles. Simulation experiments show that the proposed method outperforms similar approaches in terms of path quality in complicated planning tasks.

  6. Strategic Path Planning by Sequential Parametric Bayesian Decisions

    Directory of Open Access Journals (Sweden)

    Baro Hyun

    2013-11-01

    Full Text Available The objective of this research is to generate a path for a mobile agent that carries sensors used for classification, where the path is to optimize strategic objectives that account for misclassification and the consequences of misclassification, and where the weights assigned to these consequences are chosen by a strategist. We propose a model that accounts for the interaction between the agent kinematics (i.e., the ability to move, informatics (i.e., the ability to process data to information, classification (i.e., the ability to classify objects based on the information, and strategy (i.e., the mission objective. Within this model, we pose and solve a sequential decision problem that accounts for strategist preferences and the solution to the problem yields a sequence of kinematic decisions of a moving agent. The solution of the sequential decision problem yields the following flying tactics: “approach only objects whose suspected identity matters to the strategy”. These tactics are numerically illustrated in several scenarios.

  7. Optimal automated path planning for infinitesimal and real-sized particle assemblies

    Directory of Open Access Journals (Sweden)

    Alp Karakoc

    2017-07-01

    Full Text Available The present article introduces an algorithm for path planning and assembly of infinitesimal and real-sized particles by using a distance and path based permutation algorithm. The main objective is to define non-overlapping particle paths subject to minimal total path length during particles positioning and assembly. Thus, a local minimum is sought with a low computational cost. For this reason, an assignment problem, to be specific Euclidean bipartite matching problem, is presented, where the particles in the initial (random selection and final (particle assembly configurations are in one-to-one correspondence. The cost function for particle paths is defined through Euclidean distance of each particle between the initial and final configurations. Principally, a cost flow problem is formed and solved by determining an optimal permutation subject to the total Euclidean distance of the particles and their non-overlapping paths. Monte Carlo simulations are carried out for non-overlapping paths; thus, non-colliding particles, and then total path distances of the obtained sets are minimized, resulting in an optimal solution which may not be necessarily the global optimum. Case studies on basic and complex shaped infinitesimal and real-sized particle assemblies are shown with their total costs, i.e., path lengths. It is believed that the present study contributes to the current efforts in optical trapping automation for particle assemblies with possible applications, e.g., in the areas of micro-manufacturing, microfluidics, regenerative medicine and biotechnology.

  8. Defining Pathways and Trade-offs Toward Universal Health Coverage Comment on “Ethical Perspective: Five Unacceptable Trade-offs on the Path to Universal Health Coverage”

    Directory of Open Access Journals (Sweden)

    Stéphane Verguet

    2016-07-01

    Full Text Available The World Health Organization’s (WHO’s World Health Report 2010, “Health systems financing, the path to universal coverage,” promoted universal health coverage (UHC as an aspirational objective for country health systems. Yet, in addition to the dimensions of services and coverage, distribution of coverage in the population, and financial risk protection highlighted by the report, the consideration of the budget constraint should be further strengthened in the ensuing debate on resource allocation toward UHC. Beyond the substantial financial constraints faced by low- and middle-income countries, additional considerations, such as the geographical context, the underlying country infrastructure, and the architecture of health systems, determine the feasibility, effectiveness, quality and cost of healthcare delivery. Therefore, increased production and use of local evidence tied to the criteria of health benefits, equity, financial risk protection, and costs accompanying health delivery are needed so that to highlight pathways and acceptable trade-offs toward UHC.

  9. Coverage-based treatment planning to accommodate delineation uncertainties in prostate cancer treatment.

    Science.gov (United States)

    Xu, Huijun; Gordon, J James; Siebers, Jeffrey V

    2015-09-01

    To compare two coverage-based planning (CP) techniques with fixed margin-based (FM) planning for high-risk prostate cancer treatments, with the exclusive consideration of the dosimetric impact of delineation uncertainties of target structures and normal tissues. In this work, 19-patient data sets were involved. To estimate structure dose for each delineated contour under the influence of interobserver contour variability and CT image quality limitations, 1000 alternative structures were simulated by an average-surface-of-standard-deviation model, which utilized the patient-specific information of delineated structure and CT image contrast. An IMRT plan with zero planning-target-volume (PTV) margin on the delineated prostate and seminal vesicles [clinical-target-volume (CTV prostate) and CTVSV] was created and dose degradation due to contour variability was quantified by the dosimetric consequences of 1000 alternative structures. When D98 failed to achieve a 95% coverage probability objective D98,95 ≥ 78 Gy (CTV prostate) or D98,95 ≥ 66 Gy (CTVSV), replanning was performed using three planning techniques: (1) FM (PTV prostate margin = 4,5,6 mm and PTVSV margin = 4,5,7 mm for RL, PA, and SI directions, respectively), (2) CPOM which optimized uniform PTV margins for CTV prostate and CTVSV to meet the D98,95 objectives, and (3) CPCOP which directly optimized coverage-based objectives for all the structures. These plans were intercompared by computing percentile dose-volume histograms and tumor-control probability/normal tissue complication probability (TCP/NTCP) distributions. Inherent contour variability resulted in unacceptable CTV coverage for the zero-PTV-margin plans for all patients. For plans designed to accommodate contour variability, 18/19 CP plans were most favored by achieving desirable D98,95 and TCP/NTCP values. The average improvement of probability of complication free control was 9.3% for CPCOP plans and 3.4% for CPOM plans. When the delineation

  10. Dynamic Fuzzy-Logic Based Path Planning for Mobility-Assisted Localization in Wireless Sensor Networks.

    Science.gov (United States)

    Alomari, Abdullah; Phillips, William; Aslam, Nauman; Comeau, Frank

    2017-08-18

    Mobile anchor path planning techniques have provided as an alternative option for node localization in wireless sensor networks (WSNs). In such context, path planning is a movement pattern where a mobile anchor node's movement is designed in order to achieve a maximum localization ratio possible with a minimum error rate. Typically, the mobility path planning is designed in advance, which is applicable when the mobile anchor has sufficient sources of energy and time. However, when the mobility movement is restricted or limited, a dynamic path planning design is needed. This paper proposes a novel distributed range-free movement mechanism for mobility-assisted localization in WSNs when the mobile anchor's movement is limited. The designed movement is formed in real-time pattern using a fuzzy-logic approach based on the information received from the network and the nodes' deployment. Our proposed model, Fuzzy-Logic based Path Planning for mobile anchor-assisted Localization in WSNs (FLPPL), offers superior results in several metrics including both localization accuracy and localization ratio in comparison to other similar works.

  11. Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

    Directory of Open Access Journals (Sweden)

    Yong Ma

    2014-01-01

    Full Text Available This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.

  12. 75 FR 34537 - Interim Final Rules for Group Health Plans and Health Insurance Coverage Relating to Status as a...

    Science.gov (United States)

    2010-06-17

    ... Health Insurance Coverage Relating to Status as a Grandfathered Health Plan Under the Patient Protection...-AB68 Interim Final Rules for Group Health Plans and Health Insurance Coverage Relating to Status as a... Consumer Information and Insurance Oversight, Department of Health and Human Services. ACTION: Interim...

  13. Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

    Directory of Open Access Journals (Sweden)

    Jonathan Jamieson

    2015-04-01

    Full Text Available This paper presents a semi-analytical trajectory planning method for quadrotor UAVs. These trajectories are analytically defined, are constant in speed and sub-optimal with respect to a weighted quadratic cost function of the translational and angular velocities. A technique for concatenating the trajectories into multi-segment paths is demonstrated. These paths are smooth to the first derivative of the translational position and pass through defined waypoints. A method for detecting potential collisions by discretizing the path into a coarse mesh before using a numerical optimiser to determine the point of the path closest to the obstacle is presented. This hybrid method reduces the computation time when compared to discretizing the trajectory into a fine mesh and calculating the minimum distance. A tracking controller is defined and used to show that the paths are dynamically feasible and the typical magnitudes of the controller inputs required to fly them.

  14. Heuristic methods for shared backup path protection planning

    DEFF Research Database (Denmark)

    Haahr, Jørgen Thorlund; Stidsen, Thomas Riis; Zachariasen, Martin

    2012-01-01

    present heuristic algorithms and lower bound methods for the SBPP planning problem. Experimental results show that the heuristic algorithms are able to find good quality solutions in minutes. A solution gap of less than 3.5% was achieved for more than half of the benchmark instances (and a gap of less...

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

    OpenAIRE

    Xiaoliang Wang; Peng Jiang; Deshi Li; Tao Sun

    2017-01-01

    Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) have not been taken into account in previous studies. In this paper, we propose a locally-adjustable, ...

  16. A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality

    OpenAIRE

    Cailhol, Simon; Fillatreau, Philippe; Fourquet, Jean-Yves; Zhao, Yingshen

    2015-01-01

    International audience; This work considers Virtual Reality (VR) applications dealing with objects manipulation (such as industrial product assembly, disassembly or maintenance simulation). For such applications, the operator performing the simulation can be assisted by path planning techniques from the robotics research field. A novel automatic path planner involving geometrical, topological and semantic information of the environment is proposed for the guidance of the user through a haptic...

  17. Application of particle swarm optimization in path planning of mobile robot

    Science.gov (United States)

    Wang, Yong; Cai, Feng; Wang, Ying

    2017-08-01

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

  18. Minimum Time Path Planning for Robotic Manipulator in Drilling/ Spot Welding Tasks

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-04-01

    Full Text Available In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

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

    Directory of Open Access Journals (Sweden)

    Jan Faigl

    2016-01-01

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

  20. UAV feasible path planning based on disturbed fluid and trajectory propagation

    Directory of Open Access Journals (Sweden)

    Yao Peng

    2015-08-01

    Full Text Available In this paper, a novel algorithm based on disturbed fluid and trajectory propagation is developed to solve the three-dimensional (3-D path planning problem of unmanned aerial vehicle (UAV in static environment. Firstly, inspired by the phenomenon of streamlines avoiding obstacles, the algorithm based on disturbed fluid is developed and broadened. The effect of obstacles on original fluid field is quantified by the perturbation matrix, where the tangential matrix is first introduced. By modifying the original flow field, the modified one is then obtained, where the streamlines can be regarded as planned paths. And the path proves to avoid all obstacles smoothly and swiftly, follow the shape of obstacles effectively and reach the destination eventually. Then, by considering the kinematics and dynamics equations of UAV, the method called trajectory propagation is adopted to judge the feasibility of the path. If the planned path is unfeasible, repulsive and tangential parameters in the perturbation matrix will be adjusted adaptively based on the resolved state variables of UAV. In most cases, a flyable path can be obtained eventually. Simulation results demonstrate the effectiveness of this method.

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

    Science.gov (United States)

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

    2018-02-11

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

  2. Integrating User to Minimize Assembly Path Planning Time in PLM

    OpenAIRE

    Yan, Yu; Poirson, Emilie; Bennis, Fouad

    2013-01-01

    Part 9: PLM and Collaborative Product Development; International audience; Assembly and disassembly verification plays an important role in Product Lifecycle Management (PLM). Mass customization and personalized production require greater agility of industrial manufacturers, and consequently the time consumed in assembly processes (which often dominates costs) is of growing importance. Narrow passages which commonly exist in assembly tasks become a bottleneck in the assembly planning process ...

  3. Kinematic modeling and path planning for MIRADAS arms

    Science.gov (United States)

    Sabater, Josep; Gómez, José María.; López, Manuel; Torra, Jordi; Raines, Steven N.; Eikenberry, Stephen S.

    2014-07-01

    The Mid-resolution InfRAreD Astronomical Spectrograph (MIRADAS) is a near-infrared (NIR) multi-object spectrograph for the Gran Telescopio Canarias (GTC). It can simultaneously observe multiple targets selected by 20 identical deployable probe arms with pickoff mirror optics. The bases of the arms are fixed to the multiplexing system (MXS) plate, a circular platform, and arranged in a circular layout with minimum separation between elements of the arms. This document presents the MXS prototype P2a, a full-scale, fully operational prototype of a MIRADAS probe arm. This planar closed-loop mechanism compared to other previous designs offers some advantages specially in terms of stability and from the point of view of optics. Unfortunately, these benefits come at the expense of a more complicated kinematics and an unintuitive arm motion. Furthermore, the cryogenic motor controllers used in prototyping impose severe restrictions in path planing. They negatively impact in the slice of pie approach, a collision-avoidance patrolling strategy that can gives good results in other scenarios. This study is a starting point to define collision-free trajectory algorithms for the 20 probe arms of MIRADAS.

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

    Directory of Open Access Journals (Sweden)

    Xiaoliang Wang

    2017-09-01

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

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

    Science.gov (United States)

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

    2017-09-19

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

  6. A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

    2017-01-01

    Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

  7. 3D Path Planning of UAV Based on Improved A * Algorithm

    Directory of Open Access Journals (Sweden)

    Tian Zhe-Tong

    2017-01-01

    Full Text Available A 3D path planning method based on A* algorithm is proposed. This method introduces the constraints of UAV and line-of-sight communication with ground stations, and it combines the UAV’s maneuverability, mission requirements and terrain information and other constraints together to avoid terrain and threat. The method of extending the child nodes to the 3D detailed position calculation is also provided. The simulation is realized by Unity 3D software, and the simulation results show that the proposed method can be used to plan the 3D path of UAV which meets UAV constraints.

  8. Robot path Planning Using  SIFT and Sonar Sensor Fusion

    DEFF Research Database (Denmark)

    Plascencia, Alfredo; Raposo, Hector

    2007-01-01

    This paper presents a novel map building approach for path planning purposes, which takes into account the uncertainty inherent in sensor measurements. To this end, Bayesian estimation and Dempster-Shafer evidential theory are used to fuse the sensory information and to update the occupancy...... and evidential grid maps, respectively. The approach is illustrated using actual measurements from a laboratory robot. The sensory information is obtained from a sonar array and the Scale Invariant Feature Transform (SIFT) algorithm. Finally, the resulting two evidential maps based on Bayes and Dempster theories...... are used for path planning using the potential field method. Both yield satisfying results...

  9. Human-machine cooperation in unmanned aerial vehicle path planning based on cloud model

    Science.gov (United States)

    Sun, Xixia; Cai, Chao

    2011-11-01

    A human-machine cooperative path planning model based on cloud model is proposed in this paper. The system enables the planner take part in the A* searching process and the cloud model integrates fuzziness with randomness of the qualitative concept. In the process of human-computer cooperation, the position of the leading field is figured out based on cloud model; it effectively guides the A* searching process and avoids the drawback of the algorithm. Experiment results demonstrated the validity and the feasibility of the model. It's much more efficient than either a human or a computer algorithm in the path planning tasks.

  10. Most exchange plans charge lower tobacco surcharges than allowed, but many tobacco users lack affordable coverage.

    Science.gov (United States)

    Kaplan, Cameron M; Graetz, Ilana; Waters, Teresa M

    2014-08-01

    Beginning in 2014, federal guidelines for health plans sold to people in the individual market allow insurers to charge tobacco users up to 50 percent more for premiums, compared to nonusers. We examined variations in tobacco surcharges for plans offered through the state and federal health insurance exchanges, or Marketplaces. The plan with the median surcharge had only 10 percent higher premiums for tobacco users compared to nonusers, and nine in ten plans charged a lower surcharge than allowed. Even with such lower-than-allowed surcharges, tobacco users lacked affordable coverage-defined as access to at least one plan with premiums of less than 8 percent of income after subsidies-in more states than did nonusers. Higher premiums could encourage tobacco users to opt out of coverage. Our results also suggest that the variation in tobacco surcharges may result in the sorting of tobacco users and nonusers into different plans. Project HOPE—The People-to-People Health Foundation, Inc.

  11. Can Plan Recommendations Improve the Coverage Decisions of Vulnerable Populations in Health Insurance Marketplaces?

    Directory of Open Access Journals (Sweden)

    Andrew J Barnes

    Full Text Available The Affordable Care Act's marketplaces present an important opportunity for expanding coverage but consumers face enormous challenges in navigating through enrollment and re-enrollment. We tested the effectiveness of a behaviorally informed policy tool--plan recommendations--in improving marketplace decisions.Data were gathered from a community sample of 656 lower-income, minority, rural residents of Virginia.We conducted an incentive-compatible, computer-based experiment using a hypothetical marketplace like the one consumers face in the federally-facilitated marketplaces, and examined their decision quality. Participants were randomly assigned to a control condition or three types of plan recommendations: social normative, physician, and government. For participants randomized to a plan recommendation condition, the plan that maximized expected earnings, and minimized total expected annual health care costs, was recommended.Primary data were gathered using an online choice experiment and questionnaire.Plan recommendations resulted in a 21 percentage point increase in the probability of choosing the earnings maximizing plan, after controlling for participant characteristics. Two conditions, government or providers recommending the lowest cost plan, resulted in plan choices that lowered annual costs compared to marketplaces where no recommendations were made.As millions of adults grapple with choosing plans in marketplaces and whether to switch plans during open enrollment, it is time to consider marketplace redesigns and leverage insights from the behavioral sciences to facilitate consumers' decisions.

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

    Science.gov (United States)

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

    2010-07-01

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

  13. Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

    Directory of Open Access Journals (Sweden)

    Imen Chaari

    2017-03-01

    Full Text Available This article presents the results of the 2-year iroboapp research project that aims at devising path planning algorithms for large grid maps with much faster execution times while tolerating very small slacks with respect to the optimal path. We investigated both exact and heuristic methods. We contributed with the design, analysis, evaluation, implementation and experimentation of several algorithms for grid map path planning for both exact and heuristic methods. We also designed an innovative algorithm called relaxed A-star that has linear complexity with relaxed constraints, which provides near-optimal solutions with an extremely reduced execution time as compared to A-star. We evaluated the performance of the different algorithms and concluded that relaxed A-star is the best path planner as it provides a good trade-off among all the metrics, but we noticed that heuristic methods have good features that can be exploited to improve the solution of the relaxed exact method. This led us to design new hybrid algorithms that combine our relaxed A-star with heuristic methods which improve the solution quality of relaxed A-star at the cost of slightly higher execution time, while remaining much faster than A* for large-scale problems. Finally, we demonstrate how to integrate the relaxed A-star algorithm in the robot operating system as a global path planner and show that it outperforms its default path planner with an execution time 38% faster on average.

  14. A Novel Global Path Planning Method for Mobile Robots Based on Teaching-Learning-Based Optimization

    Directory of Open Access Journals (Sweden)

    Zongsheng Wu

    2016-07-01

    Full Text Available The Teaching-Learning-Based Optimization (TLBO algorithm has been proposed in recent years. It is a new swarm intelligence optimization algorithm simulating the teaching-learning phenomenon of a classroom. In this paper, a novel global path planning method for mobile robots is presented, which is based on an improved TLBO algorithm called Nonlinear Inertia Weighted Teaching-Learning-Based Optimization (NIWTLBO algorithm in our previous work. Firstly, the NIWTLBO algorithm is introduced. Then, a new map model of the path between start-point and goal-point is built by coordinate system transformation. Lastly, utilizing the NIWTLBO algorithm, the objective function of the path is optimized; thus, a global optimal path is obtained. The simulation experiment results show that the proposed method has a faster convergence rate and higher accuracy in searching for the path than the basic TLBO and some other algorithms as well, and it can effectively solve the optimization problem for mobile robot global path planning.

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

    Science.gov (United States)

    Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

    2017-04-01

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

  16. Clinical implementation of coverage probability planning for nodal boosting in locally advanced cervical cancer.

    Science.gov (United States)

    Ramlov, Anne; Assenholt, Marianne S; Jensen, Maria F; Grønborg, Caroline; Nout, Remi; Alber, Markus; Fokdal, Lars; Tanderup, Kari; Lindegaard, Jacob Chr

    2017-04-01

    To implement coverage probability (CovP) for dose planning of simultaneous integrated boost (SIB) of pathologic lymph nodes in locally advanced cervical cancer (LACC). CovP constraints for SIB of the pathological nodal target (PTV-N) with a central dose peak and a relaxed coverage at the perimeter were generated for use with the treatment planning system Eclipse: PTV-N D98 >90%, CTV-N D98 >100% and CTV-N D50 >101.5% of prescribed dose. Dose of EBRT was 45Gy/25 fx with a SIB of 55-57.5Gy depending on expected dose from brachytherapy (BT). Twenty-five previously treated patients with 47 boosted nodes were analysed. Nodes were contoured on cone beam CT (CBCT) and the accumulated dose in GTV-N CBCT and volume of body, pelvic bones and bowel receiving >50Gy (V50) were determined. Nearly all nodes (89%) were visible on CBCT and showed considerable concentric regression during EBRT. Total EBRT and BT D98 was >57 Gy EQD2 in 98% of the visible nodes. Compared to treatment plans aiming for full PTV-N coverage, CovP significantly reduced V50 of body, bones and bowel (p<0.001) CONCLUSION: CovP is clinically feasible for SIB of pathological nodes and significantly decreases collateral SIB dose to nearby OAR. Copyright © 2017 Elsevier B.V. All rights reserved.

  17. Time-optimal spacecraft attitude maneuver path planning under boundary and pointing constraints

    Science.gov (United States)

    Wu, Changqing; Xu, Rui; Zhu, Shengying; Cui, Pingyuan

    2017-08-01

    The rapid large angle attitude maneuver capability of spacecraft is required during many space missions. This paper addresses the challenge of time-optimal spacecraft attitude maneuver under boundary and pointing constraints. From the perspective of the optimal time, the constrained attitude maneuver problem is summarized as an optimum path-planning problem. To address this problem, a metaheuristic maneuver path planning method is proposed, Angular velocity-Time Coding Differential Evolution (ATDE). In the ATDE method, the angular velocity and time are coded for attitude maneuver modeling, which increases the number of variables and results in a high-dimensional problem. In order to deal with this problem, differential evolution is employed to perform variation and evolution. The boundary and pointing constraints are constructed into the fitness function for path evaluation. Finally, numerical simulations for the different cases were performed to validate the feasibility and effectiveness of the proposed method.

  18. A Path Planning Algorithm using Generalized Potential Model for Hyper- Redundant Robots with 2-DOF Joints

    Directory of Open Access Journals (Sweden)

    Chien-Chou Lin

    2011-06-01

    Full Text Available This paper proposes a potential‐based path planning algorithm of articulated robots with 2‐DOF joints. The algorithm is an extension of a previous algorithm developed for 3‐DOF joints. While 3‐DOF joints result in a more straightforward potential minimization algorithm, 2‐DOF joints are obviously more practical for active operations. The proposed approach computes repulsive force and torque between charged objects by using generalized potential model. A collision‐free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The optimization of path safeness, through the innovative potential minimization algorithm, makes the proposed approach unique. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well compared with 3‐DOF‐joint algorithm, in terms of collision avoidance and computation efficiency.

  19. Shortest Path Planning for a Tethered Robot or an Anchored Cable

    Energy Technology Data Exchange (ETDEWEB)

    Xavier, P.G.

    1999-02-22

    We consider the problem of planning shortest paths for a tethered robot with a finite length tether in a 2D environment with polygonal obstacles. We present an algorithm that runs in time O((k{sub 1} + 1){sup 2}n{sup 4}) and finds the shortest path or correctly determines that none exists that obeys the constraints; here n is the number obstacle vertices, and k{sub 1} is the number loops in the initial configuration of the tether. The robot may cross its tether but nothing can cross obstacles, which cause the tether to bend. The algorithm applies as well for planning a shortest path for the free end of an anchored cable.

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

    Science.gov (United States)

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

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

    Science.gov (United States)

    2015-03-01

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

  2. Adaptive Path Planning for a Vision-Based quadrotor in an Obstacle Field : Beijing, China

    NARCIS (Netherlands)

    Junell, J.L.; van Kampen, E.

    2016-01-01

    This paper demonstrates a real life approach for quadrotor obstacle avoidance in indoor flight. A color-based vision approach for obstacle detection is used to good effect conjointly with an adaptive path planning algorithm. The presented task is to move about a set indoor space while avoiding

  3. From planning learning paths to assessment: Innovations to the practical benefits of Learning Design

    NARCIS (Netherlands)

    Hernández-Leo, Davinia; Moghnieh, Ayman; Navarrete, Toni; Blat, Josep; Santos, Patricia; Pérez-Sanagustín, Mar

    2008-01-01

    Hernandez-Leo, D., Moghnieh, A., Navarrete, T., Blat, J., Gilabert, S., Santos, P., & Perez-Sanagustin, M. (2008). From planning learning paths to assessment: Innovations to the practical benefits of Learning Design. In European LAMS Conference 2008 (pp. 139-140). June, 25-27, 2008, Cádiz, Spain.

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

    Science.gov (United States)

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

    2015-01-01

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

  5. Trends in Health Insurance Coverage of Title X Family Planning Program Clients, 2005-2015.

    Science.gov (United States)

    Decker, Emily J; Ahrens, Katherine A; Fowler, Christina I; Carter, Marion; Gavin, Loretta; Moskosky, Susan

    2017-12-13

    The federal Title X Family Planning Program supports the delivery of family planning services and related preventive care to 4 million individuals annually in the United States. The implementation of the 2010 Affordable Care Act's (ACA's) Medicaid expansion and provisions expanding access to health insurance, which took effect in January 2014, resulted in higher rates of health insurance coverage in the U.S. population; the ACA's impact on individuals served by the Title X program has not yet been evaluated. Using administrative data we examined changes in health insurance coverage among Title X clinic patients during 2005-2015. We found that the percentage of clients without health insurance decreased from 60% in 2005 to 48% in 2015, with the greatest annual decrease occurring between 2013 and 2014 (63% to 54%). Meanwhile, between 2005 and 2015, the percentage of clients with Medicaid or other public health insurance increased from 20% to 35% and the percentage of clients with private health insurance increased from 8% to 15%. Although clients attending Title X clinics remained uninsured at substantially higher rates compared with the national average, the increase in clients with health insurance coverage aligns with the implementation of ACA-related provisions to expand access to affordable health insurance.

  6. 75 FR 27141 - Group Health Plans and Health Insurance Issuers Providing Dependent Coverage of Children to Age...

    Science.gov (United States)

    2010-05-13

    ... Revenue Service 26 CFR Part 54 RIN 1545-BJ45 Group Health Plans and Health Insurance Issuers Providing... Labor and the Office of Consumer Information and Insurance Oversight of the U.S. Department of Health... health plans and health insurance coverage offered in connection with a group health plan under the...

  7. Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Samir Lahouar

    2006-06-01

    Full Text Available An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobile robots and in this work we showed how it can be applicable for a robot with n degrees of freedom in a dynamic environment. The path planning task is performed in the configuration space and we used a hyperplane in the n dimensional space to find the way out of the deadlock situation when it occurs. This method is, therefore, able to find a path, when it exists, no matter how cluttered is the environment, and it avoids deadlocking inherent to the use of the local method. Moreover, this method is fast, which makes it suitable for on-line path planning in dynamic environment. The algorithm has been implemented into a robotic CAD system for testing. Some examples are presented to demonstrate the ability of this algorithm to find a path no matter how complex is the environment. These examples involve a 5-DoF robot in a cluttered environment, then two 5-DoF robots, and finally three 5-DoF robots. In all cases, the proposed method was able to find a path to reach the goal and to avoid the dynamic obstacles.

  8. Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Lotfi Romdhane

    2008-11-01

    Full Text Available An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobile robots and in this work we showed how it can be applicable for a robot with n degrees of freedom in a dynamic environment. The path planning task is performed in the configuration space and we used a hyperplane in the n dimensional space to find the way out of the deadlock situation when it occurs. This method is, therefore, able to find a path, when it exists, no matter how cluttered is the environment, and it avoids deadlocking inherent to the use of the local method. Moreover, this method is fast, which makes it suitable for on-line path planning in dynamic environment. The algorithm has been implemented into a robotic CAD system for testing. Some examples are presented to demonstrate the ability of this algorithm to find a path no matter how complex is the environment. These examples involve a 5-DoF robot in a cluttered environment, then two 5-DoF robots, and finally three 5-DoF robots. In all cases, the proposed method was able to find a path to reach the goal and to avoid the dynamic obstacles.

  9. TP-Space RRT – Kinematic Path Planning of Non-Holonomic Any-Shape Vehicles

    Directory of Open Access Journals (Sweden)

    Jose Luis Blanco

    2015-05-01

    Full Text Available The autonomous navigation of vehicles typically combines two kinds of methods: a path is first planned, and then the robot is driven by a local obstacle-avoidance controller. The present work, which focuses on path planning, proposes an extension to the well-known rapidly-exploring random tree (RRT algorithm to allow its integration with a trajectory parameter-space (TP-space as an efficient method to detect collision-free, kinematically-feasible paths for arbitrarily-shaped vehicles. In contrast to original RRT, this proposal generates navigation trees, with poses as nodes, whose edges are all kinematically-feasible paths, suitable to being accurately followed by vehicles driven by pure reactive algorithms. Initial experiments demonstrate the suitability of the method with an Ackermann-steering vehicle model whose severe kinematic constraints cannot be obviated. An important result that sets this work apart from previous research is the finding that employing several families of potential trajectories to expand the tree, which can be done efficiently under the TP-space formalism, improves the optimality of the planned trajectories. A reference C++ implementation has been released as open-source.

  10. Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2014-01-01

    Full Text Available Path planning method for unmanned underwater vehicles (UUV homing and docking in movement disorders environment is proposed in this paper. Firstly, cost function is proposed for path planning. Then, a novel particle swarm optimization (NPSO is proposed and applied to find the waypoint with minimum value of cost function. Then, a strategy for UUV enters into the mother vessel with a fixed angle being proposed. Finally, the test function is introduced to analyze the performance of NPSO and compare with basic particle swarm optimization (BPSO, inertia weight particle swarm optimization (LWPSO, EPSO, and time-varying acceleration coefficient (TVAC. It has turned out that, for unimodal functions, NPSO performed better searching accuracy and stability than other algorithms, and, for multimodal functions, the performance of NPSO is similar to TVAC. Then, the simulation of UUV path planning is presented, and it showed that, with the strategy proposed in this paper, UUV can dodge obstacles and threats, and search for the efficiency path.

  11. Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Yong-feng Dong

    2016-01-01

    Full Text Available In the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoidal adaptive genetic algorithm is adopted. It can calculate the crossover probability and mutation probability adaptively changing with environment at any time. According to the cultural-genetic algorithm, it introduces the concept of reducing turns by parallelogram and reducing length by triangle in the belief space, which can improve the quality of population. And the fallback strategy can help to jump out of the “U” trap effectively. The algorithm analyses the virtual collision in dynamic environment with obstacles. According to the different collision types, different strategies are executed to avoid obstacles. The experimental results show that cultural-genetic algorithm can overcome the problems of premature and convergence of original algorithm effectively. It can avoid getting into the local optimum. And it is more effective for mobile robot path planning. Even in complex environment with static and dynamic obstacles, it can avoid collision safely and plan an optimal path rapidly at the same time.

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

    Directory of Open Access Journals (Sweden)

    Wenyu Cai

    2017-07-01

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

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

    Science.gov (United States)

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

    2017-07-11

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

  14. PRELIMINARY PROJECT PLAN FOR LANSCE INTEGRATED FLIGHT PATHS 11A, 11B, 12, and 13

    Energy Technology Data Exchange (ETDEWEB)

    D. H. BULTMAN; D. WEINACHT - AIRES CORP.

    2000-08-01

    This Preliminary Project Plan Summarizes the Technical, Cost, and Schedule baselines for an integrated approach to developing several flight paths at the Manual Lujan Jr. Neutron Scattering Center at the Los Alamos Neutron Science Center. For example, the cost estimate is intended to serve only as a rough order of magnitude assessment of the cost that might be incurred as the flight paths are developed. Further refinement of the requirements and interfaces for each beamline will permit additional refinement and confidence in the accuracy of all three baselines (Technical, Cost, Schedule).

  15. Ancient village fire escape path planning based on improved ant colony algorithm

    Science.gov (United States)

    Xia, Wei; Cao, Kang; Hu, QianChuan

    2017-06-01

    The roadways are narrow and perplexing in ancient villages, it brings challenges and difficulties for people to choose route to escape when a fire occurs. In this paper, a fire escape path planning method based on ant colony algorithm is presented according to the problem. The factors in the fire environment which influence the escape speed is introduced to improve the heuristic function of the algorithm, optimal transfer strategy, and adjustment pheromone volatile factor to improve pheromone update strategy adaptively, improve its dynamic search ability and search speed. Through simulation, the dynamic adjustment of the optimal escape path is obtained, and the method is proved to be feasible.

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

    DEFF Research Database (Denmark)

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

    2013-01-01

    Technological advances combined with the demand of cost efficiency and environmental considerations lead farmers to review their practices towards the adoption of new managerial approaches including enhanced automation. The application of field robots is one of the most promising advances among...... automation technologies. Since the primary goal of an agricultural vehicle is the complete coverage of the cropped area within the field, an essential prerequisite is the capability of the mobile unit to cover the whole field area autonomously. In this paper, the main objective is to develop an approach...... for coverage planning for agricultural operations involving the presence of obstacle areas within the field area. The developed approach involves a series of stages including the generation of field-work tracks in the field polygon, the clustering of the tracks into blocks taking into account the in...

  17. Coverage planning in computer-assisted ablation based on Genetic Algorithm.

    Science.gov (United States)

    Ren, Hongliang; Guo, Weian; Sam Ge, Shuzhi; Lim, Wancheng

    2014-06-01

    An ablation planning system plays a pivotal role in tumor ablation procedures, as it provides a dry run to guide the surgeons in a complicated anatomical environment. Over-ablation, over-perforation or under-ablation may result in complications during the treatments. An optimal solution is desired to have complete tumor coverage with minimal invasiveness, including minimal number of ablations and minimal number of perforation trajectories. As the planning of tumor ablation is a multi-objective problem, it is challenging to obtain optimal covering solutions based on clinician׳s experiences. Meanwhile, it is effective for computer-assisted systems to decide a set of optimal plans. This paper proposes a novel approach of integrating a computational optimization algorithm into the ablation planning system. The proposed ablation planning system is designed based on the following objectives: to achieve complete tumor coverage and to minimize the number of ablations, number of needle trajectories and over-ablation to the healthy tissue. These objectives are taken into account using a Genetic Algorithm, which is capable of generating feasible solutions within a constrained search space. The candidate ablation plans can be encoded in generations of chromosomes, which subsequently evolve based on a fitness function. In this paper, an exponential weight-criterion fitness function has been designed by incorporating constraint parameters that were reflective of the different objectives. According to the test results, the proposed planner is able to generate the set of optimal solutions for tumor ablation problem, thereby fulfilling the aforementioned multiple objectives. Copyright © 2014 Elsevier Ltd. All rights reserved.

  18. A conceptual model integrating spatial information to assess target volume coverage for IMRT treatment planning.

    Science.gov (United States)

    Chao, K S Clifford; Blanco, Angel I; Dempsey, James F

    2003-08-01

    We propose a model that integrates the spatial location of each voxel within a clinical target volume (CTV) to differentiate the merit of intensity-modulated radiation therapy (IMRT) plans with similar dose-volume histogram (DVH). This conceptual model is based on the hypothesis that various subregions within a given CTV that may carry different degree of risk in containing microscopic disease. We hypothesize that a correlation between the probability of microscopic tumor extension and the risk of lymph node metastasis of a particular voxel point within CTV can be inferred based on its distance from the surface of radiographically evident gross disease. A preliminary observation was gathered from existing clinicopathologic data, and, based on these observations, a conceptual model for exponential-decay microscopic-extension probability function around primary tumor and linear function parameters relating the likelihood of lymph node metastasis to the distance from primary tumor was proposed. This model was generated to provide scoring functions to examine the merit of IMRT plans. To test the feasibility of this model, we generated two IMRT plans with similar and clinically acceptable DVH-based CTV coverage. Planning data were transferred to a data analysis software package (Matlab, The Mathworks Inc.). A 3D scoring function was calculated for each voxel inside the CTV. The adequacy of target coverage was evaluated by several novel approaches: 2D dose-volume scoring-function histograms (DVSH), the integral probability of relative residual tumor burden (RRTB), and tumor control probabilities (TCP) employing the scoring function as a pseudo-clonogen density distribution. Incorporating parameters for the risk of containing microscopic disease in each voxel into the scoring function algorithm, 2D DVSHs, RRTBs, integral RRTBs, and TCPs were computed. On each axial image, an RRTB map could locate the regions at greatest risk. These scoring functions were able to

  19. Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics

    Directory of Open Access Journals (Sweden)

    Wenfu Xu

    2008-11-01

    Full Text Available Dynamic singularities make it difficult to plan the Cartesian path of freefloating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used. Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

  20. Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics

    Directory of Open Access Journals (Sweden)

    Wenfu Xu

    2007-03-01

    Full Text Available Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used. Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

  1. Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture

    Directory of Open Access Journals (Sweden)

    Trevor Davies

    2008-08-01

    Full Text Available This paper presents the development and implementation a hybrid control architecture to direct a collective of three X80 mobile robots to multiple user-defined waypoints. The Genetic Algorithm Path Planner created an optimized, reduction in the time to complete the task, path plan for each robot in the collective such that each waypoint was visited once without colliding with a priori obstacles. The deliberative Genetic Algorithm Path Planner was then coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding a priori obstacles and obstacles detected using the robots' range sensors. The success of this hybrid control architecture was proven through simulation and experimentation using three of Dr. Robot's ™ wireless X80 mobile robots.

  2. Three-Dimensional Path Planning and Guidance of Leg Vascular Based on Improved Ant Colony Algorithm in Augmented Reality.

    Science.gov (United States)

    Gao, Ming-ke; Chen, Yi-min; Liu, Quan; Huang, Chen; Li, Ze-yu; Zhang, Dian-hua

    2015-11-01

    Preoperative path planning plays a critical role in vascular access surgery. Vascular access surgery has superior difficulties and requires long training periods as well as precise operation. Yet doctors are on different leves, thus bulky size of blood vessels is usually chosen to undergo surgery and other possible optimal path is not considered. Moreover, patients and surgeons will suffer from X-ray radiation during the surgical procedure. The study proposed an improved ant colony algorithm to plan a vascular optimal three-dimensional path with overall consideration of factors such as catheter diameter, vascular length, diameter as well as the curvature and torsion. To protect the doctor and patient from exposing to X-ray long-term, the paper adopted augmented reality technology to register the reconstructed vascular model and physical model meanwhile, locate catheter by the electromagnetic tracking system and used Head Mounted Display to show the planning path in real time and monitor catheter push procedure. The experiment manifests reasonableness of preoperative path planning and proves the reliability of the algorithm. The augmented reality experiment real time and accurately displays the vascular phantom model, planning path and the catheter trajectory and proves the feasibility of this method. The paper presented a useful and feasible surgical scheme which was based on the improved ant colony algorithm to plan vascular three-dimensional path in augmented reality. The study possessed practical guiding significance in preoperative path planning, intraoperative catheter guiding and surgical training, which provided a theoretical method of path planning for vascular access surgery. It was a safe and reliable path planning approach and possessed practical reference value.

  3. The Exact Euclidean Distance Transform: A New Algorithm for Universal Path Planning

    Directory of Open Access Journals (Sweden)

    Juan Carlos Elizondo-Leal

    2013-06-01

    Full Text Available The Path-Planning problem is a basic issue in mobile robotics, in order to allow the robots to solve more complex tasks, for example, an exploration assignment in which the distance given by the planner is taken as a utility measure. Among the different proposed approaches, algorithms based on an exact cell decomposition of the environment are very popular. In this paper, we present a new algorithm for universal path planning in cell decomposition, using a raster scan method for computing the Exact Euclidean Distance Transform (EEDT for each cell in the map. Our algorithm computes, for every cell in the map, the point sequence to the goal. For each sequence, the sub-goals are selected near to the vertices of the obstacles, reducing the total distance to the goal without post processing. At the end, we obtain a smooth path up to the goal without the need for post-processing. The paths are computed by visibility verification among the cells, exploiting the processing performed in the neighbouring cells.

  4. Real-time robot path planning based on a modified pulse-coupled neural network model.

    Science.gov (United States)

    Qu, Hong; Yang, Simon X; Willms, Allan R; Yi, Zhang

    2009-11-01

    This paper presents a modified pulse-coupled neural network (MPCNN) model for real-time collision-free path planning of mobile robots in nonstationary environments. The proposed neural network for robots is topologically organized with only local lateral connections among neurons. It works in dynamic environments and requires no prior knowledge of target or barrier movements. The target neuron fires first, and then the firing event spreads out, through the lateral connections among the neurons, like the propagation of a wave. Obstacles have no connections to their neighbors. Each neuron records its parent, that is, the neighbor that caused it to fire. The real-time optimal path is then the sequence of parents from the robot to the target. In a static case where the barriers and targets are stationary, this paper proves that the generated wave in the network spreads outward with travel times proportional to the linking strength among neurons. Thus, the generated path is always the global shortest path from the robot to the target. In addition, each neuron in the proposed model can propagate a firing event to its neighboring neuron without any comparing computations. The proposed model is applied to generate collision-free paths for a mobile robot to solve a maze-type problem, to circumvent concave U-shaped obstacles, and to track a moving target in an environment with varying obstacles. The effectiveness and efficiency of the proposed approach is demonstrated through simulation and comparison studies.

  5. A Novel Path Planning for Robots Based on Rapidly-Exploring Random Tree and Particle Swarm Optimizer Algorithm

    Directory of Open Access Journals (Sweden)

    Zhou Feng

    2013-09-01

    Full Text Available A based on Rapidly-exploring Random Tree(RRT and Particle Swarm Optimizer (PSO for path planning of the robot is proposed.First the grid method is built to describe the working space of the mobile robot,then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path,and the Particle Swarm Optimizer algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved,and the model is robust and performs reliably.

  6. Solutions for Practice-oriented Requirements for Optimal Path Planning for the AUV "SLOCUM Glider"

    OpenAIRE

    Eichhorn, Mike

    2017-01-01

    This paper presents a few important practiceoriented requirements for optimal path planning for the AUV "SLOCUM Glider" as well as solutions using fast graph basedalgorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal departure time are the motivation to address the field of research, which is described in this paper...

  7. GPU-Accelerated Real-Time Path Planning and the Predictable Execution Model

    OpenAIRE

    Forsberg, Björn; Palossi, Daniele; Marongiu, Andrea; Benini, Luca

    2017-01-01

    Path planning is one of the key functional blocks for autonomous vehicles constantly updating their route in real-time. Heterogeneous many-cores are appealing candidates for its execution, but the high degree of resource sharing results in very unpredictable timing behavior. The predictable execution model (PREM) has the potential to enable the deployment of real-time applications on top of commercial off-the-shelf (COTS) heterogeneous systems by separating compute and memory operations, and ...

  8. Control of a robotic convoy through path planning and orientation strategies

    Directory of Open Access Journals (Sweden)

    Giovanni Rodrigo Bermudez-Bohorquez

    2017-09-01

    Full Text Available This paper presents an overview about control methods implemented on robotic convoy systems or cooperative systems on mobile platforms which can be used for path planning, orientation, environment perception, route tracking and control systems in which involve the measurement, analysis, and interpretation of different variables for further implementation. A review was made of investigation articles on bibliographic indexes and databases about control methods used in convoy systems to evidence progress, trends and application methods.

  9. The Cartesian Path Planning of Free-Floating Space Robot using Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Wenfu Xu

    2008-09-01

    Full Text Available The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO is proposed to solve this problem. Firstly, we parameterize the joint trajectory using polynomial functions, and then normalize the parameterized trajectory. Secondly, the Cartesian path planning is transformed to an optimization problem by integrating the differential kinematic equations. The object function is defined according to the accuracy requirement, and it is the function of the parameters to be defined. Finally, we use the Particle Swarm Optimization (PSO algorithm to search the unknown parameters. The approach has the following traits: 1 The limits on joint angles, rates and accelerations are included in the planning algorithm; 2 There exist not any kinematic and dynamic singularities, since only the direct kinematic equations are used; 3 The attitude singularities do not exist, for the orientation is represented by quaternion; 4 The optimization algorithm is not affected by the initial parameters. Simulation results verify the proposed method.

  10. The Cartesian Path Planning of Free- Floating Space Robot using Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Yangsheng Xu

    2008-11-01

    Full Text Available The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO is proposed to solve this problem. Firstly, we parameterize the joint trajectory using polynomial functions, and then normalize the parameterized trajectory. Secondly, the Cartesian path planning is transformed to an optimization problem by integrating the differential kinematic equations. The object function is defined according to the accuracy requirement, and it is the function of the parameters to be defined. Finally, we use the Particle Swarm Optimization (PSO algorithm to search the unknown parameters. The approach has the following traits: 1 The limits on joint angles, rates and accelerations are included in the planning algorithm; 2 There exist not any kinematic and dynamic singularities, since only the direct kinematic equations are used; 3 The attitude singularities do not exist, for the orientation is represented by quaternion; 4 The optimization algorithm is not affected by the initial parameters. Simulation results verify the proposed method.

  11. Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Zhengcang Chen

    2017-01-01

    Full Text Available In this study, by considering a space-based, n-joint manipulator system as research object, a kinematic and a dynamic model are constructed and the system’s nonholonomic property is discussed. In light of the nonholonomic property unique to space-based systems, a path planning method is introduced to ensure that when an end-effector moves to the desired position, a floating base achieves the expected pose. The trajectories of the joints are first parameterized using sinusoidal polynomial functions, and cost functions are defined by the pose deviation of the base and the positional error of the end-effector. At this stage, the path planning problem is converted into a target optimization problem, where the target is a function of the joints. We then adopt a quantum genetic algorithm (QGA to solve this objective optimization problem to attain the optimized trajectories of the joints and then execute nonholonomic path planning. To test the proposed method, we carried out a simulation on a six-degree-of-freedom (DOF space-based manipulator system (SBMS. The results showed that, compared to traditional genetic optimization algorithms, the QGA converges more rapidly and has a more accurate output.

  12. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

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

    Science.gov (United States)

    Kaplan, Adam

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

  14. Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system

    Directory of Open Access Journals (Sweden)

    Honglun Wang

    2015-02-01

    Full Text Available This paper proposes a method for planning the three-dimensional path for low-flying unmanned aerial vehicle (UAV in complex terrain based on interfered fluid dynamical system (IFDS and the theory of obstacle avoidance by the flowing stream. With no requirement of solutions to fluid equations under complex boundary conditions, the proposed method is suitable for situations with complex terrain and different shapes of obstacles. Firstly, by transforming the mountains, radar and anti-aircraft fire in complex terrain into cylindrical, conical, spherical, parallelepiped obstacles and their combinations, the 3D low-flying path planning problem is turned into solving streamlines for obstacle avoidance by fluid flow. Secondly, on the basis of a unified mathematical expression of typical obstacle shapes including sphere, cylinder, cone and parallelepiped, the modulation matrix for interfered fluid dynamical system is constructed and 3D streamlines around a single obstacle are obtained. Solutions to streamlines with multiple obstacles are then derived using weighted average of the velocity field. Thirdly, extra control force method and virtual obstacle method are proposed to deal with the stagnation point and the case of obstacles’ overlapping respectively. Finally, taking path length and flight height as sub-goals, genetic algorithm (GA is used to obtain optimal 3D path under the maneuverability constraints of the UAV. Simulation results show that the environmental modeling is simple and the path is smooth and suitable for UAV. Theoretical proof is also presented to show that the proposed method has no effect on the characteristics of fluid avoiding obstacles.

  15. Hierarchical incremental path planning and situation-dependent optimized dynamic motion planning considering accelerations.

    Science.gov (United States)

    Lai, Xue-Cheng; Ge, Shuzhi Sam; Al Mamun, Abdullah

    2007-12-01

    This paper studies a hierarchical approach for incrementally driving a nonholonomic mobile robot to its destination in unknown environments. The A* algorithm is modified to handle a map containing unknown information. Based on it, optimal (discrete) paths are incrementally generated with a periodically updated map. Next, accelerations in varying velocities are taken into account in predicting the robot pose and the robot trajectory resulting from a motion command. Obstacle constraints are transformed to suitable velocity limits so that the robot can move as fast as possible while avoiding collisions when needed. Then, to trace the discrete path, the system searches for a waypoint-directed optimized motion in a reduced 1-D translation or rotation velocity space. Various situations of navigation are dealt with by using different strategies rather than a single objective function. Extensive simulations and experiments verified the efficacy of the proposed approach.

  16. 75 FR 70159 - Group Health Plans and Health Insurance Coverage Rules Relating to Status as a Grandfathered...

    Science.gov (United States)

    2010-11-17

    ... Internal Revenue Service 26 CFR Part 54 RIN 1545-BJ50 Group Health Plans and Health Insurance Coverage... provide guidance to employers, group health plans, and health insurance issuers providing group health... Insurance Oversight of the U.S. Department of Health and Human Services are issuing substantially similar...

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

    Science.gov (United States)

    Keller, James F.

    This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C 2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length. • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction. • A smooth path generator that provides C 2 routes that satisfy user specified curvature constraints. C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles. C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have developed a diverse range of solutions for persistent

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

    Directory of Open Access Journals (Sweden)

    Yu-Hsiang Lin

    2011-07-01

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

  19. Design of patient-specific concentric tube robots using path planning from 3-D ultrasound.

    Science.gov (United States)

    Morimoto, Tania K; Cerrolaza, Juan J; Hsieh, Michael H; Cleary, Kevin; Okamura, Allison M; Linguraru, Marius George

    2017-07-01

    Percutaneous techniques and robot-assisted surgical systems have enabled minimally invasive procedures that offer reduced scarring, recovery time, and complications compared to traditional open surgeries. Despite these improvements, access to diseased sites using the standard, straight needle-based percutaneous techniques is still limited for certain procedures due to intervening tissues. These limitations can be further exacerbated in specific patient groups, particularly pediatric patients, whose anatomy does not fit the traditional tools and systems. We therefore propose a patient-specific paradigm to design and fabricate dexterous, robotic tools based on the patient's preoperative images. In this paper, we present the main steps of our proposed paradigm - image-based path planning, robot design, and fabrication - along with an example case that focuses on a class of dexterous, snake-like tools called concentric tube robots. We demonstrate planning a safe path using a patient's preoperative ultrasound images. We then determine the concentric tube robot parameters needed to achieve this path, and finally, we use 3-D printing to fabricate the patient-specific robot.

  20. A Novel Randomized Search Technique for Multiple Mobile Robot Paths Planning In Repetitive Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Vahid Behravesh

    2012-08-01

    Full Text Available Presented article is studying the issue of path navigating for numerous robots. Our presented approach is based on both priority and the robust method for path finding in repetitive dynamic. Presented model can be generally implementable and useable: We do not assume any restriction regarding the quantity of levels of freedom for robots, and robots of diverse kinds can be applied at the same time. We proposed a random method and hill-climbing technique in the area based on precedence plans, which is used to determine a solution to a given trajectory planning problem and to make less the extent of total track. Our method plans trajectories for particular robots in the setting-time scope. Therefore, in order to specifying the interval of constant objects similar to other robots and the extent of the tracks which is traversed. For measuring the hazard for robots to conflict with each other it applied a method based on probability of the movements of robots. This algorithm applied to real robots with successful results. The proposed method performed and judged on both real robots and in simulation. We performed sequence of100tests with 8 robots for comparing with coordination method and current performances are effective. However, maximizing the performance is still possible. These performances estimations performed on Windows operating system and 3GHz Intel Pentium IV with and compiles with GCC 3.4. We used our PCGA robot for all experiments.  For a large environment of 19×15m2where we accomplished 40tests, our model is competent to plan high-quality paths in a severely short time (less than a second. Moreover, this article utilized lookup tables to keep expenses the formerly navigated robots made, increasing the number of robots don’t expand computation time.

  1. Path Planning of Multi-robot Cooperation for Avoiding Obstacle Based on Improved Artificial Potential Field Method

    Directory of Open Access Journals (Sweden)

    Yang Zhaofeng

    2014-02-01

    Full Text Available In the process of the multi-robot collaboration, the problem of path planning is necessary to consider the barrier of static obstacles, but also to avoid collisions between the collaborative robots. This paper selected artificial potential field method as the basic method of path planning, and proposed improvement strategies for its unreachable goal and the problem of easy to fall into local minimum value and other issues. In theory, improvement measures of this paper can make repulsive force of the robot close to the obstacles around target tends to 0, and forms path planning along the edge of the obstacles. Simulation results show that the proposed method can effectively solve the inherent problems of artificial potential field to form a satisfactory path planning.

  2. Time-optimal path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong

    2016-01-06

    An ensemble-based approach is developed to conduct time-optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where a set deterministic predictions is used to model and quantify uncertainty in the predictions. In the operational setting, much about dynamics, topography and forcing of the ocean environment is uncertain, and as a result a single path produced by a model simulation has limited utility. To overcome this limitation, we rely on a finitesize ensemble of deterministic forecasts to quantify the impact of variability in the dynamics. The uncertainty of flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each the resulting realizations of the uncertain current field, we predict the optimal path by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of sampling strategy, and develop insight into extensions dealing with regional or general circulation models. In particular, the ensemble method enables us to perform a statistical analysis of travel times, and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.

  3. The Tool Path Planning for Ring Torus Optical Surface Diamond Turning with Parallel 2DOF Fast Tool Servo

    Directory of Open Access Journals (Sweden)

    Hao Aiyun

    2017-01-01

    Full Text Available FTS (Fast Tool Servo has always been an important method for manufacturing non-axisymmetric optical surface. In this paper, a novel tool path planning method is presented which plans tool path in two coordinate directions of a parallel structure 2 DOFs FTS simultaneously. Comparing with single DOF FTS, this method has significantly improved the ability of producing non-axisymmetric optical surface, such as ring torus surface.

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

    Science.gov (United States)

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

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

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

    Science.gov (United States)

    Wei, Kun; Ren, Bingyin

    2018-02-13

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

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

    Directory of Open Access Journals (Sweden)

    Kun Wei

    2018-02-01

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

  7. Geometric modelling, collision detection, collision avoidance and path planning based on the Hough Transform

    Science.gov (United States)

    Bernabeu, Enrique J.; Tornero, Josep

    2000-05-01

    This paper presents a new method based on the application of the Hough Transform for solving the robot motion problem and their intermediate steps: geometric modelling and collision detection. In terms of modelling, given a set of points, which is the representation of a given object, the maximum inner and the minimum outer spherically-extended polytopes (s-tope) are automatically generated. Collision detection is based on the computation of the translational penetration distance. Such a distance also allows to compute an intermediate point when collision avoidance is required. The set of intermediate points describes a solution to the path-planning problem. This new approach introduces an important decrease in the computational time required for robot motion planning.

  8. Path Planning for Non-Circular, Non-Holonomic Robots in Highly Cluttered Environments.

    Science.gov (United States)

    Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando

    2017-08-15

    This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynamic-feasible lattice state space of high resolution; however, the technique is applicable to many search algorithms. With the purpose of allowing the algorithm to consider paths that take the robot through narrow passes and close to obstacles, high resolutions are used for the lattice space and the control set. This introduces new challenges because one of the most computationally expensive parts of path search based planning algorithms is calculating the cost of each one of the actions or steps that could potentially be part of the trajectory. The reason for this is that the evaluation of each one of these actions involves convolving the robot's footprint with a portion of a local map to evaluate the possibility of a collision, an operation that grows exponentially as the resolution is increased. The novel approach presented here reduces the need for these convolutions by using a set of offline precomputed maps that are updated, by means of a partial convolution, as new information arrives from sensors or other sources. Not only does this improve run-time performance, but it also provides support for dynamic search in changing environments. A set of alternative fast convolution methods are also proposed, depending on whether the environment is cluttered with obstacles or not. Finally, we provide both theoretical and experimental results from different experiments and applications.

  9. 76 FR 46621 - Group Health Plans and Health Insurance Issuers Relating to Coverage of Preventive Services Under...

    Science.gov (United States)

    2011-08-03

    ...-AQ07 Group Health Plans and Health Insurance Issuers Relating to Coverage of Preventive Services Under... the Patient Protection and Affordable Care Act regarding preventive health services. DATES: Effective... effect a rating of A or B in the current recommendations of the United States Preventive Services Task...

  10. Universal Health Coverage – The Critical Importance of Global Solidarity and Good Governance; Comment on “Ethical Perspective: Five Unacceptable Trade-offs on the Path to Universal Health Coverage”

    Directory of Open Access Journals (Sweden)

    Andreas A. Reis

    2016-09-01

    Full Text Available This article provides a commentary to Ole Norheim’ s editorial entitled “Ethical perspective: Five unacceptable trade-offs on the path to universal health coverage.” It reinforces its message that an inclusive, participatory process is essential for ethical decision-making and underlines the crucial importance of good governance in setting fair priorities in healthcare. Solidarity on both national and international levels is needed to make progress towards the goal of universal health coverage (UHC.

  11. Path-Constrained Markov Decision Processes: bridging the gap between probabilistic model-checking and decision-theoretic planning.

    OpenAIRE

    Teichteil-Königsbuch, Florent

    2012-01-01

    Markov Decision Processes (MDPs) are a popular model for planning under probabilistic uncertainties. The solution of an MDP is a policy represented as a controlled Markov chain, whose complex properties on execution paths can be automatically validated using stochastic model-checking techniques. In this paper, we propose a new theoretical model, named Path-Constrained Markov Decision Processes: it allows system designers to directly optimize safe policies in a single design pass, whose possib...

  12. OPTIMAL POINT TO POINT PATH PLANNING OF FLEXIBLE MANIPULATOR UNDER LARGE DEFORMATION BY USING HARMONY SEARCH METHOD

    OpenAIRE

    Esfandiar, Habib; Habibnejad Korayem, Moharam

    2017-01-01

    This paper aims at planning an optimal point to point path for a flexible manipulator under large deformation. For this purpose, the researchers use a direct method and meta-heuristic optimization process. In this paper, the maximum load carried by the manipulator and the minimum transmission time are taken as objective functions of the optimization process to get optimal path profiles. Kinematic constraints, the maximum velocity and acceleration, the dynamic constraint of the maximum torque ...

  13. 20 CFR 1002.169 - Can the employee elect to delay reinstatement of health plan coverage until a date after the date...

    Science.gov (United States)

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Can the employee elect to delay reinstatement of health plan coverage until a date after the date he or she is reemployed? 1002.169 Section 1002... Uniformed Services Health Plan Coverage § 1002.169 Can the employee elect to delay reinstatement of health...

  14. 3D density estimation in digital breast tomosynthesis: application to needle path planning for breast biopsy

    Science.gov (United States)

    Vancamberg, Laurence; Geeraert, Nausikaa; Iordache, Razvan; Palma, Giovanni; Klausz, Rémy; Muller, Serge

    2011-03-01

    Needle insertion planning for digital breast tomosynthesis (DBT) guided biopsy has the potential to improve patient comfort and intervention safety. However, a relevant planning should take into account breast tissue deformation and lesion displacement during the procedure. Deformable models, like finite elements, use the elastic characteristics of the breast to evaluate the deformation of tissue during needle insertion. This paper presents a novel approach to locally estimate the Young's modulus of the breast tissue directly from the DBT data. The method consists in computing the fibroglandular percentage in each of the acquired DBT projection images, then reconstructing the density volume. Finally, this density information is used to compute the mechanical parameters for each finite element of the deformable mesh, obtaining a heterogeneous DBT based breast model. Preliminary experiments were performed to evaluate the relevance of this method for needle path planning in DBT guided biopsy. The results show that the heterogeneous DBT based breast model improves needle insertion simulation accuracy in 71% of the cases, compared to a homogeneous model or a binary fat/fibroglandular tissue model.

  15. Supporting task-oriented collaboration in human-robot teams using semantic-based path planning

    Science.gov (United States)

    Yi, Daqing; Goodrich, Michael A.

    2014-06-01

    Improvements in robot autonomy are changing the human-robot interaction from low-level manipulation to high-level task-based collaboration. For a task-oriented collaboration, a human assigns sub-tasks to robot team members. In this paper, we consider task-oriented collaboration of humans and robots in a cordon and search problem. We focus on a path-planning framework with natural language input. By the semantic elements in a shared mental model, a natural language command can be converted into optimization objectives. We import multi-objective optimization to facilitate modeling the "adverb" elements in natural language commands. Finally, human interactions are involved in the optimization search process in order to guarantee that the found solution correctly reflects the human's intent.

  16. OPEN: Optimized Path Planning Algorithm with Energy Efficiency and Extending Network - Lifetime in WSN

    Directory of Open Access Journals (Sweden)

    Syed Bilal Hussain Shah

    2017-01-01

    Full Text Available In Wireless Sensors Networks (WSNs, researcher’s main focus is on energy preservation and prolonging network lifetime. More energy resources are required in case of remote applications of WSNs, where some of the nodes die early that shorten the lifetime and decrease the stability of the network. It is mainly caused due to the non-optimal Cluster Heads (CHs selection based on single criterion and uneven distribution of energy. We propose a new clustering protocol for both homogeneous and heterogeneous environments, named as Optimized Path planning algorithm with Energy efficiency and Extending Network lifetime in WSN (OPEN. In the proposed protocol, timer value concept is used for CH selection based on multiple criteria. Simulation results prove that OPEN performs better than the existing protocols in terms of the network lifetime, throughput and stability. The results explicitly explain the cluster head selection of OPEN protocol and efficient solution of uneven energy distribution problem.

  17. New Design of Mobile Robot Path Planning with Randomly Moving Obstacles

    Directory of Open Access Journals (Sweden)

    T. A. Salih

    2013-05-01

    Full Text Available The navigation of a mobile robot in an unknown environment has always been a very challenging task. In order to achieve safe and autonomous navigation, the mobile robot needs to sense the surrounding environment and plans a collision-free path. This paper focuses on designing and implementing a mobile robot which has the ability of navigating smoothly in an unknown environment, avoiding collisions, without having to stop in front of obstacles, detecting leakage of combustible gases and transmitting a message of detection results to the civil defense unit automatically through the Internet to the E-mail. This design uses the implementation of artificial neural network (ANN on a new technology represented by Field Programmable Analog Array (FPAA for controlling the motion of the robot. The robot with the proposed controller is tested and has completed the required objective successfully.

  18. Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

    Science.gov (United States)

    Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

    2016-05-01

    This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

  19. Employing Multiple Unmanned Aerial Vehicles for Co-Operative Path Planning

    Directory of Open Access Journals (Sweden)

    Durdana Habib

    2013-05-01

    Full Text Available Abstract In this paper, we work to develop a path planning solution for a group of Unmanned Aerial Vehicles (UAVs using a Mixed Integer Linear Programming (MILP approach. Co-operation among team members not only helps reduce mission time, it makes the execution more robust in dynamic environments. However, the problem becomes more challenging as it requires optimal resource allocation and is NP-hard. Since UAVs may be lost or may suffer significant damage during the course of the mission, plans may need to be modified in real-time as the mission proceeds. Therefore, multiple UAVs have a better chance of completing a mission in the face of failures. Such military operations can be treated as a variant of the Multiple Depot Vehicle Routing Problem (MDVRP. The proposed solution must be such that m UAVs start from multiple source locations to visit n targets and return to a set of destination locations such that (1 each target is visited exactly by one of the chosen UAVs (2 the total distance travelled by the group is minimized and (3 the number of targets that each UAV visits may not be less than K or greater than L.

  20. A 2-D ESPO Algorithm and Its Application in Pedestrian Path Planning Considering Human Behavior

    OpenAIRE

    Pan, Zheng; Yan, Lei; Winstanley, Adam C.; Fotheringham, Stewart; Zheng, Jianghua

    2009-01-01

    A 2-D Euclidean shortest path with obstacles (ESPO) algorithm for pedestrian navigation is developed. ESPO is a classical algorithm in the field of computational geometry. We describe some common ESPO algorithms and discuss their application in pedestrian shortest path determination based on the generation of a network of paths within a polygon with interior obstacles. This algorithm can be applied to pedestrian navigation in open spaces, such as squares, parks and big halls. Path generation ...

  1. A Path Planning Algorithm Using Generalized Potential Model for Hyper-Redundant Robots with 2-DOF Joints

    Directory of Open Access Journals (Sweden)

    Chien-Chou Lin

    2011-06-01

    Full Text Available This paper proposes a potential-based path planning algorithm of articulated robots with 2-DOF joints. The algorithm is an extension of a previous algorithm developed for 3-DOF joints. While 3-DOF joints result in a more straightforward potential minimization algorithm, 2-DOF joints are obviously more practical for active operations. The proposed approach computes repulsive force and torque between charged objects by using generalized potential model. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The optimization of path safeness, through the innovative potential minimization algorithm, makes the proposed approach unique. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well compared with 3-DOF-joint algorithm, in terms of collision avoidance and computation efficiency.

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

    Science.gov (United States)

    Croteau, Jon Derek; Wolk, Holly Gordon

    2010-01-01

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

  3. A Collision-Free Path-Planning Method for an Articulated Mobile Robot

    Directory of Open Access Journals (Sweden)

    P. Quintero-Alvarez

    2007-01-01

    Full Text Available In previous works, we treated the collision-free path-planning problem for a nonholonomic mobile robot in a cluttered environment. We used a method based on a representation of the obstacles on the robot's velocity space. This representation is called Feasible Velocities Polygon (FVP. Every obstacle in the robot's influence zone is represented by a linear constraint on the robot's velocities such that a collision between the robot and the obstacle could be avoided. These constraints define a convex subset in the velocity space, the FVP. Every velocity vector in the FVP ensures a safe motion for the given obstacle configuration. The path-planning problem is solved by an optimization approach between the FVP and a reference velocity to reach the goal. In this paper, we have extended our work to an articulated mobile robot evolving in a cluttered environment. This robot is composed of a differential mobile robot and one or several modules that together form the trailer which are linked by off-center joints. This kind of robot is a strongly constrained system. Even in a free environment, under some circumstances, the robot may be blocked by its trailers in its progression towards the goal. The proposed approach, compared to other methods, has the main advantage of integrating anti-collision constraints between the articulated robot itself and the environment, in order to avoid and resolve dead-lock situations. For moving to the final position, the articulated mobile robot uses the FVP and a reference control law, to formulate the constraints method as a problem of minimal distance calculation. This formulation is then solved with the algorithm of minimal distance calculation proposed by Zeghloul (Zeghloul and Rambeaud, 1996. When a dead-locking situation arises and according to the robot–obstacle configuration, we have developed three different modules to solve these conditions. Each module uses a different approach to resolve the blocking

  4. 42 CFR 422.62 - Election of coverage under an MA plan.

    Science.gov (United States)

    2010-10-01

    ... election to original Medicare, he or she may also elect a PDP. (3) Open enrollment and disenrollment... elect an MA plan may change his or her election from an MA plan to original Medicare or to a different... individual who is not enrolled in an MA plan, but who is eligible to elect an MA plan in 2006, may elect an...

  5. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    Science.gov (United States)

    Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

  6. A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems

    KAUST Repository

    Abdelkader, Mohamed

    2017-10-19

    We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios.

  7. Path planning of mobile robot by mixing experience with modified artificial potential field method

    Directory of Open Access Journals (Sweden)

    Huasong Min

    2015-12-01

    Full Text Available In this article, a new method is proposed to help the mobile robot to avoid many kinds of collisions effectively, which combined past experience with modified artificial potential field method. In the process of the actual global obstacle avoidance, system will invoke case-based reasoning algorithm using its past experience to achieve obstacle avoidance when obstacles are recognized as known type; otherwise, it will invoke the modified artificial potential field method to solve the current problem and the new case will also be retained into the case base. In case-based reasoning, we innovatively consider that all the complex obstacles are retrieved by two kinds of basic build-in obstacle models (linear obstacle and angle-type obstacle. Our proposed experience mixing with modified artificial potential field method algorithm has been simulated in MATLAB and implemented on actual mobile robot platform successfully. The result shows that the proposed method is applicable to the dynamic real-time obstacle avoidance under unknown and unstructured environment and greatly improved the performances of robot path planning not only to reduce the time consumption but also to shorten the moving distance.

  8. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    Science.gov (United States)

    Trease, Brian

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting system, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction System), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using Adams dynamic modeling software. The external library was built in Fortran and called by Adams to model the wheel-soil interactions include the rut-formation effect of deformable soils, lateral and longitudinal forces, bull-dozing effects, and applied wheel torque. The paper presents the details and implementation of the system. To validate the developed system, one study case is presented from a realistic drive on Mars of the Opportunity rover. The simulation results match well from the measurement of on-board telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

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

    Science.gov (United States)

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

    2014-04-01

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

  10. Path planning for first responders in the presence of moving obstacles

    Directory of Open Access Journals (Sweden)

    Zhiyong Wang

    2015-06-01

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

  11. Path planning for first responders in the presence of moving obstacles

    Directory of Open Access Journals (Sweden)

    Zhiyong Wang

    2015-06-01

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

  12. Integrated care through disease-oriented critical paths:experience from Japan’s regional health planning initiatives

    Directory of Open Access Journals (Sweden)

    Etsuji Okamoto

    2011-09-01

    Full Text Available Introduction: In April 2008, Japan launched a radical reform in regional health planning that emphasized the development of disease-oriented clinical care pathways. These 'inter-provider critical paths' have sought to ensure effective integration of various providers ranging among primary care practitioners, acute care hospitals, rehabilitation hospitals, long-term care facilities and home care.  Description of policy practice: All 47 prefectures in Japan developed their Regional Health Plans pursuant to the guideline requiring that these should include at least four diseases: diabetes, acute myocardial infarction, cerebrovascular accident and cancer.  To illustrate the care pathways developed, this paper describes the guideline referring to strokes and provides examples of the new Regional Health Plans as well as examples of disease-oriented inter-provider clinical paths. In particular, the paper examines the development of information sharing through electronic health records (EHR to enhance effective integration among providers is discussed.Discussion and conclusion: Japan's reform in 2008 is unique in that the concept of "disease-oriented regional inter-provider critical paths" was adopted as a national policy and all 47 prefectures developed their Regional Health Plans simultaneously. How much the new regional health planning policy has improved the quality and outcome of care remains to be seen and will be evaluated in 2013 after the five year planned period of implementation has concluded. Whilst electronic health records appear to be a useful tool in supporting care integration they do not guarantee success in the application of an inter-provider critical path.

  13. Integrated care through disease-oriented critical paths:experience from Japan’s regional health planning initiatives

    Directory of Open Access Journals (Sweden)

    Etsuji Okamoto

    2011-09-01

    Full Text Available Introduction: In April 2008, Japan launched a radical reform in regional health planning that emphasized the development of disease-oriented clinical care pathways. These 'inter-provider critical paths' have sought to ensure effective integration of various providers ranging among primary care practitioners, acute care hospitals, rehabilitation hospitals, long-term care facilities and home care.   Description of policy practice: All 47 prefectures in Japan developed their Regional Health Plans pursuant to the guideline requiring that these should include at least four diseases: diabetes, acute myocardial infarction, cerebrovascular accident and cancer.  To illustrate the care pathways developed, this paper describes the guideline referring to strokes and provides examples of the new Regional Health Plans as well as examples of disease-oriented inter-provider clinical paths. In particular, the paper examines the development of information sharing through electronic health records (EHR to enhance effective integration among providers is discussed. Discussion and conclusion: Japan's reform in 2008 is unique in that the concept of "disease-oriented regional inter-provider critical paths" was adopted as a national policy and all 47 prefectures developed their Regional Health Plans simultaneously. How much the new regional health planning policy has improved the quality and outcome of care remains to be seen and will be evaluated in 2013 after the five year planned period of implementation has concluded. Whilst electronic health records appear to be a useful tool in supporting care integration they do not guarantee success in the application of an inter-provider critical path.

  14. Hierarchical heuristic search using a Gaussian mixture model for UAV coverage planning.

    Science.gov (United States)

    Lin, Lanny; Goodrich, Michael A

    2014-12-01

    During unmanned aerial vehicle (UAV) search missions, efficient use of UAV flight time requires flight paths that maximize the probability of finding the desired subject. The probability of detecting the desired subject based on UAV sensor information can vary in different search areas due to environment elements like varying vegetation density or lighting conditions, making it likely that the UAV can only partially detect the subject. This adds another dimension of complexity to the already difficult (NP-Hard) problem of finding an optimal search path. We present a new class of algorithms that account for partial detection in the form of a task difficulty map and produce paths that approximate the payoff of optimal solutions. The algorithms use the mode goodness ratio heuristic that uses a Gaussian mixture model to prioritize search subregions. The algorithms search for effective paths through the parameter space at different levels of resolution. We compare the performance of the new algorithms against two published algorithms (Bourgault's algorithm and LHC-GW-CONV algorithm) in simulated searches with three real search and rescue scenarios, and show that the new algorithms outperform existing algorithms significantly and can yield efficient paths that yield payoffs near the optimal.

  15. Planning and Implementation of tool path computer controlled polishing optical surfaces

    Science.gov (United States)

    Yu, X. B.; Zhang, F. H.; Zhang, Y.; Lin, Y. Y.; Fu, P. Q.

    2010-10-01

    The application of 'small tool' based on computer controlled is a breakthrough in modern optical machining. Dwell time distribution calculated by the iterative convolution algorithm is normally expressed by the points of intersection on the grid; however, the polishing tool path is composed of multi-segment polylines in fact. Therefore, it is required to calculate the time required when the polishing tool moved along the polylines on the workpiece surface before polishing. The algorithm to calculate the dwell time on each polyline of the tool path has been developed, thereby the deterministic material removal on workpiece surface by polishing tool can be achieved. A tool path algorithm based on fractal geometry has been developed, and the points of intersection on the grid are used as the endpoints of polylines directly. Each polyline dwell time is presented by the mean value of dwell time of two endpoints. A group of surface error data is simulated with actual parameters by spiral path and fractal path with the same number nodes. The contrasted results show that most of error results of the fractal path are better than spiral path. The intersection algorithm has been developed to optimize fractal path, thereby the fractal path can be used in polishing workpiece surface with various border efficiently.

  16. Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

    Directory of Open Access Journals (Sweden)

    Kun-Lin Wu

    2016-01-01

    Full Text Available In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.

  17. Attitude-Tracking Control with Path Planning for Agile Satellite Using Double-Gimbal Control Moment Gyros

    Directory of Open Access Journals (Sweden)

    Peiling Cui

    2012-01-01

    Full Text Available In view of the issue of rapid attitude maneuver control of agile satellite, this paper presents an attitude-tracking control algorithm with path planning based on the improved genetic algorithm, adaptive backstepping control as well as sliding mode control. The satellite applies double gimbal control moment gyro as actuator and is subjected to the external disturbance and uncertain inertia properties. Firstly, considering the comprehensive mathematical model of the agile satellite and the double gimbal control moment gyro, an improved genetic algorithm is proposed to solve the attitude path-planning problem. The goal is to find an energy optimal path which satisfies certain maneuverability under the constraints of the input saturation, actuator saturation, slew rate limit and singularity measurement limit. Then, the adaptive backstepping control and sliding mode control are adopted in the design of the attitude-tracking controller to track accurately the desired path comprised of the satellite attitude quaternion and velocity. Finally, simulation results indicate the robustness and good tracking performance of the derived controller as well as its ability to avert the singularity of double gimbal control moment gyro.

  18. Early clinical outcome of coverage probability based treatment planning for simultaneous integrated boost of nodes in locally advanced cervical cancer

    DEFF Research Database (Denmark)

    Lindegaard, Jacob Chr; Assenholt, Marianne; Ramlov, Anne

    2017-01-01

    INTRODUCTION: More than 50% of patients with locally advanced cervical cancer (LACC) have pathological nodes. Coverage probability (CovP) is a new planning technique allowing for relaxed dose at the boost periphery minimising collateral irradiation. The aim was to report the first early clinical......) using volumetric arc therapy (VMAT) followed by magnetic resonance imaging (MRI) guided brachytherapy. PAN RT (13 pts) was given if >2 nodes or if node(s) were present at the common iliac vessels or PAN. Nodal gross tumour volumes (GTV-N) were contoured on both PET-CT and MRI. Clinical target volume...

  19. An Improved Artificial Bee Colony Algorithm Based on Balance-Evolution Strategy for Unmanned Combat Aerial Vehicle Path Planning

    Directory of Open Access Journals (Sweden)

    Bai Li

    2014-01-01

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

  20. Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in San Francisco and the Bay Area

    OpenAIRE

    Chen, Mo; Bansal, Somil; Tanabe, Ken; Tomlin, Claire J.

    2017-01-01

    Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safety-critical systems and has been successfully applied to several small-scale problems. However, a direct application of HJ reachability to large scale systems is often intractable because of its exponentially-scaling computation complexity with resp...

  1. Volume matters: physician practice characteristics and immunization coverage among young children insured through a universal health plan.

    Science.gov (United States)

    Guttmann, Astrid; Manuel, Doug; Dick, Paul T; To, Teresa; Lam, Kelvin; Stukel, Therese A

    2006-03-01

    We studied the association between immunization coverage for a cohort of 2-year-old children covered by a universal health insurance plan and pediatric provider and other health services characteristics. We assembled a cohort of 101,570 infants born in urban areas in Ontario, Canada, between July 1, 1997, and June 31, 1998. Children were considered to have up-to-date (UTD) immunization coverage if they had > or =5 immunizations by 2 years of age, ie, the recommended 3 doses and 1 booster of diphtheria-polio-tetanus-pertussis/Haemophilus influenzae type b vaccine and 1 dose of measles-mumps-rubella vaccine. Provider practice characteristics were derived from outpatient billing records, and 1996 census data were used to derive neighborhood income quintiles. The association between UTD immunization status and provider characteristics was assessed with multilevel regression models, controlling for patient characteristics. Overall, the rate of complete UTD immunization coverage was low (66.3%) despite a large number of primary care visits (median: 19 visits). Children whose usual provider had a low volume of pediatric primary care were less than one half as likely to be UTD. Other factors associated with not being UTD included very low continuity of care, low continuity of care, and usual provider in practice for Ontario are low. Because visit rates are high, primary care reform should include interventions directed at provider immunization practices to reduce missed opportunities.

  2. Three-Dimensional Path Planning of Robots in Virtual Situations Based on an Improved Fruit Fly Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    Munan Li

    2014-11-01

    Full Text Available The fruit fly optimization algorithm (FOA is one of the latest nature-inspired computational models. It has the advantages of having a simple mechanism, fewer control variables, and a fast convergence. However, most applications of the FOA focus on optimization problems in a continuous space. Three-dimensional path planning is a typical discrete optimization problem and can be attributed to multivariable and multiobjective optimization computations. In this paper, we advance an improved FOA model (IFOA based on engineering techniques. This model is then used to solve for the three-dimensional (3D path planning of a robot. In a simulation experiment conducted in a virtual three-dimensional space, the IFOA was shown to have a certain capability for three-dimensional path planning. Although the accuracy of the IFOA seems slightly weaker than that of ant colony optimization (ACO, the IFOA may confer time savings of 25% and has greater efficiency. Therefore, this new model still provides a novel and valuable means for solving such discrete optimization problems.

  3. Planning image-guided endovascular interventions: guidewire simulation using shortest path algorithms

    Science.gov (United States)

    Schafer, Sebastian; Singh, Vikas; Hoffmann, Kenneth R.; Noël, Peter B.; Xu, Jinhui

    2007-03-01

    Endovascular interventional procedures are being used more frequently in cardiovascular surgery. Unfortunately, procedural failure, e.g., vessel dissection, may occur and is often related to improper guidewire and/or device selection. To support the surgeon's decision process and because of the importance of the guidewire in positioning devices, we propose a method to determine the guidewire path prior to insertion using a model of its elastic potential energy coupled with a representative graph construction. The 3D vessel centerline and sizes are determined for a specified vessel. Points in planes perpendicular to the vessel centerline are generated. For each pair of consecutive planes, a vector set is generated which joins all points in these planes. We construct a graph representing these vector sets as nodes. The nodes representing adjacent vector sets are joined by edges with weights calculated as a function of the angle between the corresponding vectors (nodes). The optimal path through this weighted directed graph is then determined using shortest path algorithms, such as topological sort based shortest path algorithm or Dijkstra's algorithm. Volumetric data of an internal carotid artery phantom (Ø 3.5mm) were acquired. Several independent guidewire (Ø 0.4mm) placements were performed, and the 3D paths were determined using rotational angiography. The average RMS distance between the actual and the average simulated guidewire path was 0.7mm; the computation time to determine the path was 3 seconds. The ability to predict the guidewire path inside vessels may facilitate calculation of vessel-branch access and force estimation on devices and the vessel wall.

  4. Introduction of a computer-based method for automated planning of reduction paths under consideration of simulated muscular forces.

    Science.gov (United States)

    Buschbaum, Jan; Fremd, Rainer; Pohlemann, Tim; Kristen, Alexander

    2017-08-01

    Reduction is a crucial step in the surgical treatment of bone fractures. Finding an optimal path for restoring anatomical alignment is considered technically demanding because collisions as well as high forces caused by surrounding soft tissues can avoid desired reduction movements. The repetition of reduction movements leads to a trial-and-error process which causes a prolonged duration of surgery. By planning an appropriate reduction path-an optimal sequence of target-directed movements-these problems should be overcome. For this purpose, a computer-based method has been developed. Using the example of simple femoral shaft fractures, 3D models are generated out of CT images. A reposition algorithm aligns both fragments by reconstructing their broken edges. According to the criteria of a deduced planning strategy, a modified A*-algorithm searches collision-free route of minimal force from the dislocated into the computed target position. Muscular forces are considered using a musculoskeletal reduction model (OpenSim model), and bone collisions are detected by an appropriate method. Five femoral SYNBONE models were broken into different fracture classification types and were automatically reduced from ten randomly selected displaced positions. Highest mean translational and rotational error for achieving target alignment is [Formula: see text] and [Formula: see text]. Mean value and standard deviation of occurring forces are [Formula: see text] for M. tensor fasciae latae and [Formula: see text] for M. semitendinosus over all trials. These pathways are precise, collision-free, required forces are minimized, and thus regarded as optimal paths. A novel method for planning reduction paths under consideration of collisions and muscular forces is introduced. The results deliver additional knowledge for an appropriate tactical reduction procedure and can provide a basis for further navigated or robotic-assisted developments.

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

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2012-10-01

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

  6. Calibration of neural networks using genetic algorithms, with application to optimal path planning

    Science.gov (United States)

    Smith, Terence R.; Pitney, Gilbert A.; Greenwood, Daniel

    1987-01-01

    Genetic algorithms (GA) are used to search the synaptic weight space of artificial neural systems (ANS) for weight vectors that optimize some network performance function. GAs do not suffer from some of the architectural constraints involved with other techniques and it is straightforward to incorporate terms into the performance function concerning the metastructure of the ANS. Hence GAs offer a remarkably general approach to calibrating ANS. GAs are applied to the problem of calibrating an ANS that finds optimal paths over a given surface. This problem involves training an ANS on a relatively small set of paths and then examining whether the calibrated ANS is able to find good paths between arbitrary start and end points on the surface.

  7. Tailoring a non-path-dependent model for environmental risk management and polycentric urban land-use planning.

    Science.gov (United States)

    Sakieh, Yousef; Salmanmahiny, Abdolrassoul; Mirkarimi, Seyed Hamed

    2017-02-01

    This study attempts to develop a non-path-dependent model for environmental risk management and polycentric urban land-use planning in Gorgan Township area, Iran. Applying three suitability layers of environmental risk (soil erosion, flood risk, fire risk, and land susceptibility), urbanization potential, and integrated surface (environmental risk plus urbanization potential layers), a non-path-dependent Cellular Automata-Markov Chain (CA-MC) model was configured to execute three scenarios of polycentric urban growth allocation. Specifically, the modeling approach improved the traditional functionality of the CA-MC model from a prediction algorithm into an innovative land allocation tool. Besides, due to its flexibility, the non-path-dependent model was able to explicitly include different characteristics of the landscape structure ranging from physical land attributes to landscape functions and processes (natural hazards). Accordingly, three polycentric urban growth allocation efforts were undertaken and compared in terms of connectivity and compactness of the resultant patterns and consumption of other land resources. Based on results, the polycentric allocation procedure based on integrated suitability layer produced a more manageable pattern of urban landscape, while the growth option based on environmental risk layer was more successful for protecting farmlands against excessive urbanization. This study suggests that polycentric urban land-use planning under the strategy of rural land development programs is an available option for designing an urban landscape with lower exposure to natural hazards and more economic benefits to rural residents. Finally, the non-path-dependent modeling is a recommended approach, when highly flexible and interactive decision-support systems as well as trend-breaking scenarios are desired.

  8. RSMDP-based Robust Q-learning for Optimal Path Planning in a Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Yunfei Zhang

    2014-07-01

    Full Text Available This paper presents arobust Q-learning method for path planningin a dynamic environment. The method consists of three steps: first, a regime-switching Markov decision process (RSMDP is formed to present the dynamic environment; second a probabilistic roadmap (PRM is constructed, integrated with the RSMDP and stored as a graph whose nodes correspond to a collision-free world state for the robot; and third, an onlineQ-learning method with dynamic stepsize, which facilitates robust convergence of the Q-value iteration, is integrated with the PRM to determine an optimal path for reaching the goal. In this manner, the robot is able to use past experience for improving its performance in avoiding not only static obstacles but also moving obstacles, without knowing the nature of the obstacle motion. The use ofregime switching in the avoidance of obstacles with unknown motion is particularly innovative.  The developed approach is applied to a homecare robot in computer simulation. The results show that the online path planner with Q-learning is able torapidly and successfully converge to the correct path.

  9. Critical path method applied to research project planning: Fire Economics Evaluation System (FEES)

    Science.gov (United States)

    Earl B. Anderson; R. Stanton Hales

    1986-01-01

    The critical path method (CPM) of network analysis (a) depicts precedence among the many activities in a project by a network diagram; (b) identifies critical activities by calculating their starting, finishing, and float times; and (c) displays possible schedules by constructing time charts. CPM was applied to the development of the Forest Service's Fire...

  10. Policy Choices for Progressive Realization of Universal Health Coverage; Comment on “Ethical Perspective: Five Unacceptable Trade-offs on the Path to Universal Health Coverage”

    Directory of Open Access Journals (Sweden)

    Viroj Tangcharoensathien

    2017-03-01

    Full Text Available In responses to Norheim’s editorial, this commentary offers reflections from Thailand, how the five unacceptable trade-offs were applied to the universal health coverage (UHC reforms between 1975 and 2002 when the whole 64 million people were covered by one of the three public health insurance systems. This commentary aims to generate global discussions on how best UHC can be gradually achieved. Not only the proposed five discrete tradeoffs within each dimension, there are also trade-offs between the three dimensions of UHC such as population coverage, service coverage and cost coverage. Findings from Thai UHC show that equity is applied for the population coverage extension, when the low income households and the informal sector were the priority population groups for coverage extension by different prepayment schemes in 1975 and 1984, respectively. With an exception of public sector employees who were historically covered as part of fringe benefits were covered well before the poor. The private sector employees were covered last in 1990. Historically, Thailand applied a comprehensive benefit package where a few items are excluded using the negative list; until there was improved capacities on technology assessment that cost-effectiveness are used for the inclusion of new interventions into the benefit package. Not only costeffectiveness, but long term budget impact, equity and ethical considerations are taken into account. Cost coverage is mostly determined by the fiscal capacities. Close ended budget with mix of provider payment methods are used as a tool for trade-off service coverage and financial risk protection. Introducing copayment in the context of feefor-service can be harmful to beneficiaries due to supplier induced demands, inefficiency and unpredictable out of pocket payment by households. UHC achieves favorable outcomes as it was implemented when there was a full geographical coverage of primary healthcare coverage in all

  11. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    Energy Technology Data Exchange (ETDEWEB)

    Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)

    2015-06-15

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

  12. Expanding the mission plan for large scale telescope systems via skew path optical conditioners

    Science.gov (United States)

    Savastinuk, John; Palmer, Troy A.; Alexay, Christopher

    2017-05-01

    We describe a case study in which a telescope system, originally designed for a large format, visible camera, needed MWIR imaging capabilities while maintaining its original setup. The dedicated telescope system was adapted to share its existing optics with a new imaging module via a skew path concept. The challenges of non-rotationally symmetric design are explored along with an explanation of the methodology used to analyze and address the unique configuration.

  13. Workforce planning and distribution for universal oral health coverage: An Indian perspective

    Directory of Open Access Journals (Sweden)

    Vini Mehta

    2017-01-01

    Full Text Available On the global picture India is a fast growing nation with an equally growing population. The dental workforce has grown in the absence of any specific design or policy planning, resulting in an oversupply of dentists in urban areas. The inverse ratio of dentist to population is a major setback especially in the rural areas. Proper distribution of available manpower is the need of the hour. The challenges are many, but they can be overcome with strong consensus and implementation through upstream approaches.

  14. A Method of Rescue Flight Path Plan Correction Based on the Fusion of Predicted Low-altitude Wind Data

    Directory of Open Access Journals (Sweden)

    Ming Zhang

    2016-10-01

    Full Text Available This study proposes a low-altitude wind prediction model for correcting the flight path plans of low-altitude aircraft. To solve large errors in numerical weather prediction (NWP data and the inapplicability of high-altitude meteorological data to low altitude conditions, the model fuses the low-altitude lattice prediction data and the observation data of a specified ground international exchange station through the unscented Kalman filter (UKF-based NWP interpretation technology to acquire the predicted low-altitude wind data. Subsequently, the model corrects the arrival times at the route points by combining the performance parameters of the aircraft according to the principle of velocity vector composition. Simulation experiment shows that the RMSEs of wind speed and direction acquired with the UKF prediction method are reduced by 12.88% and 17.50%, respectively, compared with the values obtained with the traditional Kalman filter prediction method. The proposed prediction model thus improves the accuracy of flight path planning in terms of time and space.

  15. Determinants of physical activity based on the theory of planned behavior in Iranian Military Staff's Wives: a path analysis.

    Science.gov (United States)

    Gholamnia Shirvani, Zeinab; Ghofranipour, Fazlollah; Gharakhanlou, Reza; Kazemnejad, Anoshirvan

    2014-11-30

    Level of physical activity as a key determinant of healthy lifestyle less than is required in individuals particularly women. Applying theories of behavioral change about complex behaviors such as physical activity leads to identify effective factors and their relations. The aim of this study was to determine predictors of physical activity behavior based on the Theory of Planned Behavior in military staff's wives in Tehran. This cross-sectional study was performed in 180 military personnel's spouses residing in organizational houses, in Tehran, Iran in 2014. The participants were randomly selected with multi-stage cluster sampling. The validity and reliability of the theory based scale evaluated before conducting the path analysis. Statistical analysis was carried out using SPSS16 and LISREL8.8. The results indicated the model explained 77% and 17% of intention and behavior variance. Subjective norms (Beta=0.83) and intention (Beta=0.37) were the strongest predictors of intention and behavior, respectively. The instrumental and affective attitude had no significant path to intention and behavior. The direct relation of perceived behavioral control to behavior was non-significant. This research demonstrated relative importance and relationships of Theory of Planned Behavior constructs in physical activity behavior of military personnel's spouses in Tehran. It is essential to consider these determinants in designing of educational interventions for promoting and maintaining physical activity behavior in this target group.

  16. Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor

    Directory of Open Access Journals (Sweden)

    Muhammad Asif Arain

    2015-03-01

    Full Text Available The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.

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

    Science.gov (United States)

    1991-03-01

    1985. [Akma87] Akman, V., Unobstructed Shortest Paths in Polyhedral Environments, pp. 90-92, Springer- Verlag, 1987. [Alex90] Alexander , R.S. and...6, pp. 14-15, IEEE, June 1989. [John89] Johnson, D.S., Aragon , C.R., McGeoch, L.A., and Schevon, C., "Optimization by Simulated Annealing: An... Aragon , C.R., McGeoch, L.A., and Schevon, C., "Optimization by Simulated Annealing: An Experimental Evaluation; Part II, (Graph Coloring and Number

  18. The development of radiation hardened tele-robot system - Development of a technique for collision detection and path planning in a graphical environment

    Energy Technology Data Exchange (ETDEWEB)

    Oh, Chae Youn; Kang, Jun Won; Baek, Seung Ju; Kwon, Hyuk Jo; Lee, Tak Yeoun; Hong, Chang Sup; Choi, Young Ho [Chonbuk National University, Chonju (Korea)

    1999-04-01

    Recently, many researchers are studying using a tele-robot system instead of human for performing a mission in an extreme environment such as a high radiative area. The tele-robot system is composed of a master manipulator and slave manipulator. It demands a variety of high techniques. It is usually using a simulation mock-up for the operation training. In the simulation mock-up, computer graphics technique is essential to represent a virtual working environment. In a virtual working environment, it will be very efficient computing a standard path before performing the work then moving along the pre-computed path. However, collision may be occurring unexpectedly during operation. When it is expected a collision during operation, it will be convenient to correct the pre-computed path using a computer graphical system. As above mentioned, the path planning and path correction technique based on the computer graphic system is one of the essential techniques for the operation of the tele-robot system. This study develops 1. a technique for calculating the minimum distance between two finite polygons, 2. a technique for calculating the minimum distance between two objects, 3. a technique for path planning in a 3-D space, 4. a technique for correcting the planned path, 5. a technique for collision avoidance and 6. a technique for computer graphics. The developed techniques are used for the development of an efficient computer graphical system for collision detection, path planning and path correction which is necessary for simulating a virtual operation in a virtual working environment. 34 refs., 37 figs. (Author)

  19. Obstacle Avoidance Path Planning of Planar Redundant Manipulators Using Workspace Density

    Directory of Open Access Journals (Sweden)

    Hui Dong

    2015-02-01

    Full Text Available This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuation, it is important to study not only the shape of the workspace, but also the density of reachable poses in the workspace. In this paper, we focus on using the workspace density to calculate collision-free paths in complex environments with multiple obstacles in the workspace of the manipulator. This paper presents the algorithm and demonstrates it effectiveness using simulation results.

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

    NARCIS (Netherlands)

    Wetering, R. van de; Batenburg, R.; Lederman, R.

    2010-01-01

    PURPOSE: While many hospitals are re-evaluating their current Picture Archiving and Communication System (PACS), few have a mature strategy for PACS deployment. Furthermore, strategies for implementation, strategic and situational planning methods for the evolution of PACS maturity are scarce in the

  1. Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications

    KAUST Repository

    Abdelkader, Mohamed

    2014-05-01

    Floods are the most common natural disasters, causing thousands of casualties every year in the world. In particular, flash flood events are particularly deadly because of the short timescales on which they occur. Unmanned air vehicles equipped with mobile microsensors could be capable of sensing flash floods in real time, saving lives and greatly improving the efficiency of the emergency response. However, of the main issues arising with sensing floods is the difficulty of planning the path of the sensing agents in advance so as to obtain meaningful data as fast as possible. In this particle, we present a fast numerical scheme to quickly compute the trajectories of a set of UAVs in order to maximize the accuracy of model parameter estimation over a time horizon. Simulation results are presented, a preliminary testbed is briefly described, and future research directions and problems are discussed. © 2014 IEEE.

  2. Assessment of levels of hospice care coverage offered to commercial managed care plan members in California: implications for the California Health Insurance Exchange.

    Science.gov (United States)

    Chung, Kyusuk; Jahng, Joelle; Petrosyan, Syuzanna; Kim, Soo In; Yim, Victoria

    2015-06-01

    The implementation of the Affordable Care Act that provides for the expansion of affordable insurance to uninsured individuals and small businesses, coupled with the provision of mandated hospice coverage, is expected to increase the enrollment of the terminally ill younger population in hospice care. We surveyed health insurance companies that offer managed care plans in the 2014 California health insurance exchange and large hospice agencies that provided hospice care to privately insured patients in 2011. Compared with Medicare and Medicaid hospice benefits, hospice benefits for privately insured patients, particularly those enrolled in managed care plans, varied widely. Mandating hospice care alone may not be sufficient to ensure that individuals enrolled in different managed care plans receive the same level of coverage. © The Author(s) 2014.

  3. (Dis)assembly path planning for complex objects and applications to structural biology

    OpenAIRE

    Le, Duc Thanh

    2010-01-01

    Understanding and predicting structure-function relationships in proteins with fully in silico approaches remain today a great challenge. Despite recent developments of computational methods for studying molecular motions and interactions, dealing with macromolecular flexibility largely remains out of reach of the existing molecular modeling tools. The aim of this thesis is to develop a novel approach based on motion planning algorithms originating from robotics to better deal with macromolec...

  4. Pedestrian flow-path modeling to support tsunami evacuation and disaster relief planning in the U.S. Pacific Northwest

    Science.gov (United States)

    Wood, Nathan J.; Jones, Jeanne M.; Schmidtlein, Mathew; Schelling, John; Frazier, T.

    2016-01-01

    Successful evacuations are critical to saving lives from future tsunamis. Pedestrian-evacuation modeling related to tsunami hazards primarily has focused on identifying areas and the number of people in these areas where successful evacuations are unlikely. Less attention has been paid to identifying evacuation pathways and population demand at assembly areas for at-risk individuals that may have sufficient time to evacuate. We use the neighboring coastal communities of Hoquiam, Aberdeen, and Cosmopolis (Washington, USA) and the local tsunami threat posed by Cascadia subduction zone earthquakes as a case study to explore the use of geospatial, least-cost-distance evacuation modeling for supporting evacuation outreach, response, and relief planning. We demonstrate an approach that uses geospatial evacuation modeling to (a) map the minimum pedestrian travel speeds to safety, the most efficient paths, and collective evacuation basins, (b) estimate the total number and demographic description of evacuees at predetermined assembly areas, and (c) determine which paths may be compromised due to earthquake-induced ground failure. Results suggest a wide range in the magnitude and type of evacuees at predetermined assembly areas and highlight parts of the communities with no readily accessible assembly area. Earthquake-induced ground failures could obstruct access to some assembly areas, cause evacuees to reroute to get to other assembly areas, and isolate some evacuees from relief personnel. Evacuation-modeling methods and results discussed here have implications and application to tsunami-evacuation outreach, training, response procedures, mitigation, and long-term land use planning to increase community resilience.

  5. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  6. Early clinical outcome of coverage probability based treatment planning for simultaneous integrated boost of nodes in locally advanced cervical cancer.

    Science.gov (United States)

    Lindegaard, Jacob Chr; Assenholt, Marianne; Ramlov, Anne; Fokdal, Lars Ulrik; Alber, Markus; Tanderup, Kari

    2017-11-01

    More than 50% of patients with locally advanced cervical cancer (LACC) have pathological nodes. Coverage probability (CovP) is a new planning technique allowing for relaxed dose at the boost periphery minimising collateral irradiation. The aim was to report the first early clinical outcome data for CovP based simultaneous integrated boost (SIB) in LACC. Twenty-three consecutive node positive patients were analysed. FIGO stage IB2/IIB/IIIB/IVA/IVB was 1/14/3/1/4. Treatment was radio(chemo)therapy (RT) delivering 45 Gy/25 fx whole pelvis ± para-aortic region (PAN) using volumetric arc therapy (VMAT) followed by magnetic resonance imaging (MRI) guided brachytherapy. PAN RT (13 pts) was given if >2 nodes or if node(s) were present at the common iliac vessels or PAN. Nodal gross tumour volumes (GTV-N) were contoured on both PET-CT and MRI. Clinical target volume (CTV-N) was formed by fusion of GTV-N CT and GTV-N MRI . A 5-mm isotropic margin was used for planning target volume (PTV-N). Nodes in the small pelvis were boosted to 55.0 Gy/25 fx. Common iliac and para-aortic nodes received 57.5 Gy/25 fx. Planning aims for CovP were PTV-N D 98  ≥ 90%, CTV-N D 98  ≥ 100% and CTV-N D 50  ≥ 101.5%. Seventy-four nodes were boosted. A consistent 5.0 ± 0.7 Gy dose reduction from CTV-N D 98 to PTV-N D 98 was obtained. In total, 73/74 nodes were in complete remission at 3 months PET-CT and MRI. Pelvic control was obtained in 21/23 patients. One patient (IB2, clear cell) had salvageable local disease, while another (IIB) failed in a boosted node. Two patients failed in un-irradiated PAN. One patient age 88 (IIIB) did not receive PAN RT, despite a common iliac node. The other (IIB) recurred above L1. Two further patients (IVB) failed systemically. Since complete remission at 3 months is predictive for favourable long-term nodal control, our study indicates that CovP for SIB is promising.

  7. 75 FR 41787 - Requirement for Group Health Plans and Health Insurance Issuers To Provide Coverage of Preventive...

    Science.gov (United States)

    2010-07-19

    ... Insurance Issuers To Provide Coverage of Preventive Services Under the Patient Protection and Affordable... Care Act (the Affordable Care Act) regarding preventive health services. The IRS is issuing the....9815-2713 is added to read as follows: Sec. 54.9815-2713 Coverage of preventive health services. [The...

  8. High ANC coverage and low skilled attendance in a rural Tanzanian district: a case for implementing a birth plan intervention

    Directory of Open Access Journals (Sweden)

    Cousens Simon

    2010-03-01

    Full Text Available Abstract Background In Tanzania, more than 90% of all pregnant women attend antenatal care at least once and approximately 62% four times or more, yet less than five in ten receive skilled delivery care at available health units. We conducted a qualitative study in Ngorongoro district, Northern Tanzania, in order to gain an understanding of the health systems and socio-cultural factors underlying this divergent pattern of high use of antenatal services and low use of skilled delivery care. Specifically, the study examined beliefs and behaviors related to antenatal, labor, delivery and postnatal care among the Maasai and Watemi ethnic groups. The perspectives of health care providers and traditional birth attendants on childbirth and the factors determining where women deliver were also investigated. Methods Twelve key informant interviews and fifteen focus group discussions were held with Maasai and Watemi women, traditional birth attendants, health care providers, and community members. Principles of the grounded theory approach were used to elicit and assess the various perspectives of each group of participants interviewed. Results The Maasai and Watemi women's preferences for a home birth and lack of planning for delivery are reinforced by the failure of health care providers to consistently communicate the importance of skilled delivery and immediate post-partum care for all women during routine antenatal visits. Husbands typically serve as gatekeepers of women's reproductive health in the two groups - including decisions about where they will deliver- yet they are rarely encouraged to attend antenatal sessions. While husbands are encouraged to participate in programs to prevent maternal-to-child transmission of HIV, messages about the importance of skilled delivery care for all women are not given emphasis. Conclusions Increasing coverage of skilled delivery care and achieving the full implementation of Tanzania's Focused Antenatal Care

  9. Critical Path Method application to strategic planning project at Teaching Paediatrics Hospital “José Martí” in Sancti Spíritus province.

    Directory of Open Access Journals (Sweden)

    Manuel Hung Varela

    2010-09-01

    Full Text Available Present work was making at Teaching Paediatrics Hospital “José Martí” in Sancti Spíritus province, Sancti Spíritus city. Its main purpose is apply a control and planning system to a strategic planning project at mentioned entity, getting by this way to contribute to efficacy and efficient of planning process, through Critical Path Method. To it, was use tools like classic strategic planning procedure and software like WINQSB. As result, is obtaining the project estimate duration, the necessary information for its control and execution, including critical path, and resources assignment mainly. The project is finishing and has been useful the used method for its execution.

  10. Intensity-Modulated Radiation Therapy Improves the Target Coverage Over 3-D Planning While Meeting Lung Tolerance Doses for All Patients With Malignant Pleural Mesothelioma.

    Science.gov (United States)

    Ulger, Sukran; Cetin, Eren; Catli, Serap; Sarac, Hilal; Kilic, Diclehan; Bora, Huseyin

    2017-06-01

    To investigate high conformality on target coverage and the ability on creating strict lung dose limitation of intensity-modulated radiation therapy in malignant pleural mesothelioma. Twenty-four radiation therapy plannings were evaluated and compared with dosimetric outcomes of conformal radiation therapy and intensity-modulated radiation therapy. Hemithoracal radiation therapy was performed on 12 patients with a fraction of 1.8 Gy to a total dose of 50.4 Gy. All organs at risk were contoured. Radiotherapy plannings were differed according to the technique; conformal radiation therapy was planned with conventionally combined photon-electron fields, and intensity-modulated radiation therapy was planned with 7 to 9 radiation beam angles optimized in inverse planning. Strict dose-volume constraints were applied. Intensity-modulated radiation therapy was statistically superior in target coverage and dose homogeneity (intensity-modulated radiation therapy-planning target volume 95 mean 100%; 3-dimensional conformal radiation therapy-planning target volume 95 mean 71.29%, P = .0001; intensity-modulated radiation therapy-planning target volume 105 mean 11.14%; 3-dimensional conformal radiation therapy-planning target volume 105 mean 35.69%, P = .001). The dosimetric results of the remaining lung was below the limitations on intensity-modulated radiation therapy planning data (intensity-modulated radiation therapy-lung mean dose mean 7.5 [range: 5.6%-8.5%]; intensity-modulated radiation therapy-lung V5 mean 55.55% [range: 47%-59.9%]; intensity-modulated radiation therapy-lung V20 mean 4.5% [range: 0.5%-9.5%]; intensity-modulated radiation therapy-lung V13 mean 13.43% [range: 4.2%-22.9%]). With a complex and large target volume of malignant pleural mesothelioma, intensity-modulated radiation therapy has the ability to deliver efficient tumoricidal radiation dose within the safe dose limits of the remaining lung tissue.

  11. RISK ASSESSMENT IN PROJECT PLANNING USING FMEA AND CRITICAL PATH METHOD

    Directory of Open Access Journals (Sweden)

    Sandra Milena CHOLES ARVILLA

    2014-10-01

    Full Text Available This paper is based upon the research undertaken for the development of the doctoral thesis “Management of software projects based on object-oriented technology”. The study examines the existing risk management practices commonly used for classic software development. The goal is to integrate the elements of the traditional risk management methodologies to create a new agile risk management methodology. The thesis focuses on techniques that can be easily implemented in extreme programming (XP and SCRUM. This study is motivated by the following research questions: What are the elements of existing quality assurance tools that could meet the principles of agile development? And is it possible to use risk estimation for improving quality in agile projects? The thesis presents a synthesis of the most common risk management techniques, as well as an introduction to agile methods XP and SCRUM. The proposal integrates the concepts of Failure Mode and Effect Analysis into the iterative life cycle of an agile software project. The thesis presents a metamodel which integrates the concepts of agile development methodologies: SCRUM and XP with the FMEA concepts for risk quantification. The model was partly implemented into a real development project. Partial results show the improvement in early identification of failures and allowed to reconsider the Sprint plan.

  12. The Path Planning of AUV Based on D-S Information Fusion Map Building and Bio-Inspired Neural Network in Unknown Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Daqi Zhu

    2014-03-01

    Full Text Available In this paper a biologically inspired neural dynamics and map planning based approach are simultaneously proposed for AUV (Autonomous Underwater Vehicle path planning and obstacle avoidance in an unknown dynamic environment. Firstly the readings of an ultrasonic sensor are fused into the map using the D-S (Dempster-Shafer inference rule and a two-dimensional occupancy grid map is built. Secondly the dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation. The AUV path is autonomously generated from the dynamic activity landscape of the neural network and previous AUV location. Finally, simulation results show high quality path optimization and obstacle avoidance behaviour for the AUV.

  13. Heterogeneity in the validity of administrative-based estimates of immunization coverage across health districts in Burkina Faso: implications for measurement, monitoring and planning

    Science.gov (United States)

    Haddad, Slim; Bicaba, Abel; Feletto, Marta; Fournier, Pierre; Zunzunegui, Maria Victoria

    2010-01-01

    Background Data aggregation in national information systems begins at the district level. Decentralization has given districts a lead role in health planning and management, therefore validity of administrative-based estimates at that level is important to improve the performance of immunization information systems. Objective To assess the validity of administrative-based immunization estimates and their usability for planning and monitoring activities at district level. Methods DTP3 and measles coverage rates from administrative sources were compared with estimates from the EPI cluster survey (ECS) and Demographic and Health Survey (DHS) carried out in 2003 at national and regional levels. ECS estimates were compared with administrative rates across the 52 districts, which were classified into three groups: those where administrative rates were underestimating, overestimating or concordant with ECS estimates (differences within 95% CI of ECS rate). Results National rates provided by administrative data and ECS are similar (74% and 71% for DTP3 and 68% and 66% for measles, respectively); DHS estimates are much lower. Regional administrative data show large discrepancies when compared against ECS and DHS data (differences sometimes reaching 30 percentage points). At district level, geographical area is correlated with over- or underestimation by administrative sources, which overestimate DTP3 and measles coverage in remote areas. Underestimation is observed in districts near urban and highly populated centres. Over- and underestimation are independent of the antigen under consideration. Conclusions Variability in immunization coverage across districts highlights the limitations of using nationally aggregated indicators. If district data are to be used in monitoring and planning immunization programmes as intended by decentralization, heterogeneity in their validity must be reduced. The authors recommend: (1) strengthening administrative data systems; (2

  14. Heterogeneity in the validity of administrative-based estimates of immunization coverage across health districts in Burkina Faso: implications for measurement, monitoring and planning.

    Science.gov (United States)

    Haddad, Slim; Bicaba, Abel; Feletto, Marta; Fournier, Pierre; Zunzunegui, Maria Victoria

    2010-09-01

    Data aggregation in national information systems begins at the district level. Decentralization has given districts a lead role in health planning and management, therefore validity of administrative-based estimates at that level is important to improve the performance of immunization information systems. To assess the validity of administrative-based immunization estimates and their usability for planning and monitoring activities at district level. DTP3 and measles coverage rates from administrative sources were compared with estimates from the EPI cluster survey (ECS) and Demographic and Health Survey (DHS) carried out in 2003 at national and regional levels. ECS estimates were compared with administrative rates across the 52 districts, which were classified into three groups: those where administrative rates were underestimating, overestimating or concordant with ECS estimates (differences within 95% CI of ECS rate). National rates provided by administrative data and ECS are similar (74% and 71% for DTP3 and 68% and 66% for measles, respectively); DHS estimates are much lower. Regional administrative data show large discrepancies when compared against ECS and DHS data (differences sometimes reaching 30 percentage points). At district level, geographical area is correlated with over- or underestimation by administrative sources, which overestimate DTP3 and measles coverage in remote areas. Underestimation is observed in districts near urban and highly populated centres. Over- and underestimation are independent of the antigen under consideration. Variability in immunization coverage across districts highlights the limitations of using nationally aggregated indicators. If district data are to be used in monitoring and planning immunization programmes as intended by decentralization, heterogeneity in their validity must be reduced. The authors recommend: (1) strengthening administrative data systems; (2) implementing indicators that are insensitive to population

  15. Health insurance coverage and use of family planning services among current and former foster youth: implications of the health care reform law.

    Science.gov (United States)

    Dworsky, Amy; Ahrens, Kym; Courtney, Mark

    2013-04-01

    This research uses data from a longitudinal study to examine how two provisions in the Patient Protection and Affordable Care Act could affect health insurance coverage among young women who have aged out of foster care. It also explores how allowing young people to remain in foster care until age twenty-one affects their health insurance coverage, use of family planning services, and information about birth control. We find that young women are more likely to have health insurance if they remain in foster care until their twenty-first birthday and that having health insurance is associated with an increase in the likelihood of receiving family planning services. Our results also suggest that many young women who would otherwise lack health insurance after aging out of foster care will be eligible for Medicaid under the health care reform law. Because having health insurance is associated with use of family planning services, this increase in Medicaid eligibility may result in fewer unintended pregnancies among this high-risk population.

  16. A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle

    Science.gov (United States)

    1990-06-01

    while highly sloped terrain yields reasonable paths. It is also highly efficient in the usage of computer CPU and memory resources. This approach...powered and contains two on-board computers, a Gridcase 80386 based laptop computer, and a Gespac 68030 based real-time control computer. The Gespac...path by comparing it with one that has a minimum cost. The second and third factors measure the efficiency with which the computer CPU and memory

  17. Evolutionary Paths

    NARCIS (Netherlands)

    Assche, van K.; Beunen, R.; Duineveld, M.

    2014-01-01

    In this chapter we discuss the concept of governance paths and the forms of dependency marking paths. The forms of dependency constitute rigidities in governance evolution, but leave space for flexibility, for path creation.

  18. Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function

    Directory of Open Access Journals (Sweden)

    Yong Ma

    2013-01-01

    Full Text Available We present one algorithm based on particle swarm optimization (PSO with penalty function to determine the conflict-free path for mobile objects in four-dimension (three spatial and one-time dimensions with obstacles. The shortest path of the mobile object is set as goal function, which is constrained by conflict-free criterion, path smoothness, and velocity and acceleration requirements. This problem is formulated as a calculus of variation problem (CVP. With parametrization method, the CVP is converted to a time-varying nonlinear programming problem (TNLPP. Constraints of TNLPP are transformed to general TNLPP without any constraints through penalty functions. Then, by using a little calculations and applying the algorithm PSO, the solution of the CVP is consequently obtained. Approach efficiency is confirmed by numerical examples.

  19. Path Dependency

    OpenAIRE

    Mark Setterfield

    2015-01-01

    Path dependency is defined, and three different specific concepts of path dependency – cumulative causation, lock in, and hysteresis – are analyzed. The relationships between path dependency and equilibrium, and path dependency and fundamental uncertainty are also discussed. Finally, a typology of dynamical systems is developed to clarify these relationships.

  20. Information reporting by applicable large employers on health insurance coverage offered under employer-sponsored plans. Final regulations.

    Science.gov (United States)

    2014-03-10

    This document contains final regulations providing guidance toemployers that are subject to the information reporting requirements under section 6056 of the Internal Revenue Code (Code), enacted by the Affordable Care Act (generally employers with at least 50 full-time employees, including full-time equivalent employees). Section 6056 requires those employers to report to the IRS information about the health care coverage, if any, they offered to full-time employees, in order to administer the employer shared responsibility provisions of section 4980H of the Code. Section 6056 also requires those employers to furnish related statements to employees that employees may use to determine whether, for each month of the calendar year, they may claim on their individual tax returns a premium tax credit under section 36B (premium tax credit). The regulations provide for a general reporting method and alternative reporting methods designed to simplify and reduce the cost of reporting for employers subject to the information reporting requirements under section 6056. The regulations affect those employers, employees and other individuals.

  1. The effect of slice thickness on target and organs at risk volumes, dosimetric coverage and radiobiological impact in IMRT planning.

    Science.gov (United States)

    Srivastava, S P; Cheng, C-W; Das, I J

    2016-05-01

    Dose-volume histogram (DVH) has become an important tool for evaluation of radiation outcome as reflected from many clinical protocols. While dosimetric accuracy in treatment planning system (TPS) is well quantified, the variability in volume estimation is uncertain due to reconstruction algorithm that is investigated in this study. In addition, the impact of dose distribution and tumor control probability (TCP) were also investigated with CT slice thickness for IMRT planning. A water phantom containing various objects with accurately known volume ranging from 1 to 100 cm(3) was scanned with 1, 2, 3, 5, and 10 mm slice thickness. The CT data sets were sent to Eclipse TPS for contour delineation and volume estimation. The data were compared with known volume for the estimation of error in the volume of each structure. IMRT Plans were generated on phantom containing four objects with different slice thickness (1-5 mm) to calculate TCP. ICRU-83-recommended dose points such as D 2%, D 50%, D 98%, as well as homogeneity and conformity index were also calculated. The variability of volumes with CT slice thickness was significant especially for small volume structures. A maximum error of 92% was noticed for 1 cm(3) volume of object with 10 mm slice thickness, whereas it was ~19% for 1 mm slice thickness. For 2 and 3 cm(3) objects, the maximum error of 99% was noticed with 10 mm slice thickness and ~60% with 5 mm. The differences are smaller for larger volumes with a cutoff at about 20 cm(3). The calculated volume of the objects is a function of reconstruction algorithm and slice thickness. The PTV mean dose and TCP decreased with increasing slice thickness. Maximum variation of ~5% was noticed in mean dose and ~2% in TCP with change in slice thickness from 1 to 5 mm. The relative decrease in target volume receiving 95% of the prescribed dose is ~5% with change in slice thickness from 1 to 5 mm. The homogeneity index increases up to 163% and conformity index decreases by 4

  2. Immunization Coverage

    Science.gov (United States)

    ... country, and global coverage was estimated at 25%. Rubella is a viral disease which is usually mild in children, but infection during early pregnancy may cause fetal death or congenital rubella syndrome, ...

  3. A Plan for the Development of Fusion Energy. Final Report to Fusion Energy Sciences Advisory Committee, Fusion Development Path Panel

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2003-03-05

    This report presents a plan for the deployment of a fusion demonstration power plant within 35 years, leading to commercial application of fusion energy by mid-century. The plan is derived from the necessary features of a demonstration fusion power plant and from the time scale defined by President Bush. It identifies critical milestones, key decision points, needed major facilities and required budgets.

  4. PLACES (Planning Land And Communities To Be Environmentally Sustainable) Program Helps Communities Onto The Path Of Sustainability

    Science.gov (United States)

    Land use changes from natural to more man-made environments that are done with no community level planning, shorten the life span and lessen the quality of life of a community. A community armed with a master plan with a number of alternative strategies that consider the natural...

  5. An Optimal and Energy Efficient Multi-Sensor Collision-Free Path Planning Algorithm for a Mobile Robot in Dynamic Environments

    Directory of Open Access Journals (Sweden)

    Abrar Alajlan

    2017-03-01

    Full Text Available There has been a remarkable growth in many different real-time systems in the area of autonomous mobile robots. This paper focuses on the collaboration of efficient multi-sensor systems to create new optimal motion planning for mobile robots. A proposed algorithm is used based on a new model to produce the shortest and most energy-efficient path from a given initial point to a goal point. The distance and time traveled, in addition to the consumed energy, have an asymptotic complexity of O(nlogn, where n is the number of obstacles. Real time experiments are performed to demonstrate the accuracy and energy efficiency of the proposed motion planning algorithm.

  6. Functional coverages

    OpenAIRE

    Donchyts, G.; Baart, F.; Jagers, H.R.A.; Van Dam, A

    2011-01-01

    A new Application Programming Interface (API) is presented which simplifies working with geospatial coverages as well as many other data structures of a multi-dimensional nature. The main idea extends the Common Data Model (CDM) developed at the University Corporation for Atmospheric Research (UCAR). The proposed function object model uses the mathematical definition of a vector-valued function. A geospatial coverage will be expressed as a vector-valued function whose dependent variables (the...

  7. An adaptive dual-optimal path-planning technique for unmanned air vehicles with application to solar-regenerative high altitude long endurance flight

    Science.gov (United States)

    Whitfield, Clifford A.

    2009-12-01

    A multi-objective technique for Unmanned Air Vehicle (UAV) path and trajectory autonomy generation, through task allocation and sensor fusion has been developed. The Dual-Optimal Path-Planning (D-O.P-P.) Technique generates on-line adaptive flight paths for UAVs based on available flight windows and environmental influenced objectives. The environmental influenced optimal condition, known as the driver' determines the condition, within a downstream virtual window of possible vehicle destinations and orientation built from the UAV kinematics. The intermittent results are pursued by a dynamic optimization technique to determine the flight path. This sequential optimization technique is a multi-objective optimization procedure consisting of two goals, without requiring additional information to combine the conflicting objectives into a single-objective. An example case-study and additional applications are developed and the results are discussed; including the application to the field of Solar Regenerative (SR) High Altitude Long Endurance (HALE) UAV flight. Harnessing solar energy has recently been adapted for use on high altitude UAV platforms. An aircraft that uses solar panels and powered by the sun during the day and through the night by SR systems, in principle could sustain flight for weeks or months. The requirements and limitations of solar powered flight were determined. The SR-HALE UAV platform geometry and flight characteristics were selected from an existing aircraft that has demonstrated the capability for sustained flight through flight tests. The goals were to maintain continual Situational Awareness (SA) over a case-study selected Area of Interest (AOI) and existing UAV power and surveillance systems. This was done for still wind and constant wind conditions at altitude along with variations in latitude. The characteristics of solar flux and the dependence on the surface location and orientation were established along with fixed flight maneuvers for

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

    National Research Council Canada - National Science Library

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

    2014-01-01

    When tourists visiting multiple tourist scenic spots, the travel line is usually the most effective road network according to the actual tour process, and maybe the travel line is different from planned travel line...

  9. Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm

    National Research Council Canada - National Science Library

    Roman Lavrenov; Evgeni Magid

    2017-01-01

    Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach...

  10. A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

    Directory of Open Access Journals (Sweden)

    Zhang Xing

    2014-06-01

    Full Text Available The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles (UAVs performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs’ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood (DTSPN. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants (multi-UAV scenario and multiple groups of targets scenario. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

  11. Exodus? The training paths and plans of postgraduate medical trainees, under the Royal College of Physicians of Ireland.

    Science.gov (United States)

    Bennett, D; Dornan, T; Bergin, C; Horgan, M

    2015-03-01

    In 2006, the Buttimer report highlighted the paucity of demographic data on those applying for and entering postgraduate medical education and training (PGMET) in Ireland. Today, concerns that there is an "exodus" of graduates of Irish medical schools are at the forefront of national discussion, however, published data on PGMET remains inadequate. The objectives of this study were to collate existing data relating to trainees and training programmes at three stages of training and to examine the career plans of junior trainees. Data from application forms for training programmes, commencing July 2012, under the Royal College of Physicians of Ireland (n = 870), were integrated with data from other existing sources. Candidates entering basic specialist training were surveyed with regard to career plans. Descriptive and comparative analysis was performed in SPSS version 18. Graduates of Irish medical schools made up over 70 % of appointees. Over 80 % of BST trainees aspired to work as consultants in Ireland, but 92.5 % planned to spend time working abroad (response rate 77 %). Decisions to leave the Irish system were linked to lifestyle, but also to failure to be appointed to higher specialist training. Significant numbers of trainees return to Ireland after a period abroad. The trainee "exodus" is more complex than is often portrayed. The desire to spend time working outside Ireland must be accounted for in workforce planning and configuration of training programmes. Expansion of HST is a potential solution to reduce the numbers of graduates leaving Ireland post-BST.

  12. Functional coverages

    NARCIS (Netherlands)

    Donchyts, G.; Baart, F.; Jagers, H.R.A.; Van Dam, A.

    2011-01-01

    A new Application Programming Interface (API) is presented which simplifies working with geospatial coverages as well as many other data structures of a multi-dimensional nature. The main idea extends the Common Data Model (CDM) developed at the University Corporation for Atmospheric Research

  13. Using meta-analytic path analysis to test theoretical predictions in health behavior: An illustration based on meta-analyses of the theory of planned behavior.

    Science.gov (United States)

    Hagger, Martin S; Chan, Derwin K C; Protogerou, Cleo; Chatzisarantis, Nikos L D

    2016-08-01

    Synthesizing research on social cognitive theories applied to health behavior is an important step in the development of an evidence base of psychological factors as targets for effective behavioral interventions. However, few meta-analyses of research on social cognitive theories in health contexts have conducted simultaneous tests of theoretically-stipulated pattern effects using path analysis. We argue that conducting path analyses of meta-analytic effects among constructs from social cognitive theories is important to test nomological validity, account for mediation effects, and evaluate unique effects of theory constructs independent of past behavior. We illustrate our points by conducting new analyses of two meta-analyses of a popular theory applied to health behaviors, the theory of planned behavior. We conducted meta-analytic path analyses of the theory in two behavioral contexts (alcohol and dietary behaviors) using data from the primary studies included in the original meta-analyses augmented to include intercorrelations among constructs and relations with past behavior missing from the original analysis. Findings supported the nomological validity of the theory and its hypotheses for both behaviors, confirmed important model processes through mediation analysis, demonstrated the attenuating effect of past behavior on theory relations, and provided estimates of the unique effects of theory constructs independent of past behavior. Our analysis illustrates the importance of conducting a simultaneous test of theory-stipulated effects in meta-analyses of social cognitive theories applied to health behavior. We recommend researchers adopt this analytic procedure when synthesizing evidence across primary tests of social cognitive theories in health. Copyright © 2016 Elsevier Inc. All rights reserved.

  14. Influenza vaccination coverage among persons aged 50-64 years enrolled in commercial managed health-care plans--United States, 2003-04 and 2004-05 influenza seasons.

    Science.gov (United States)

    2005-09-23

    To combat an unexpected shortage of influenza vaccine in the fall of 2004, CDC issued guidance to direct available vaccine supplies to persons in designated priority groups (e.g., persons aged >/=65 years, persons with certain health conditions, health-care workers, and close contacts of persons at high risk for complications from influenza). Analyses of influenza vaccination coverage for the 2004-05 influenza season indicated that coverage levels for adults in priority groups nearly reached the levels of previous years, whereas coverage levels among adults not in priority groups were approximately half the levels of the 2003-04 season. These findings suggested that national public health actions to direct available vaccine supply to persons at high risk for complications from influenza during the supply disruption were successful. To assess influenza vaccination coverage among persons aged 50-64 years for the 2004-05 influenza season relative to the 2003-04 season and to estimate the effect of shortages on selected subgroups, the National Committee for Quality Assurance (NCQA) analyzed data from a survey of persons enrolled in commercial managed care health plans. This report summarizes the findings of that analysis, which indicated that, although vaccination coverage declined substantially from 2003-04 to 2004-05 among all subgroups in this age range, respondents who were older or who reported poorer health status exhibited smaller relative declines in vaccination coverage between the two seasons.

  15. Rarity-weighted richness: a simple and reliable alternative to integer programming and heuristic algorithms for minimum set and maximum coverage problems in conservation planning.

    Science.gov (United States)

    Albuquerque, Fabio; Beier, Paul

    2015-01-01

    Here we report that prioritizing sites in order of rarity-weighted richness (RWR) is a simple, reliable way to identify sites that represent all species in the fewest number of sites (minimum set problem) or to identify sites that represent the largest number of species within a given number of sites (maximum coverage problem). We compared the number of species represented in sites prioritized by RWR to numbers of species represented in sites prioritized by the Zonation software package for 11 datasets in which the size of individual planning units (sites) ranged from <1 ha to 2,500 km2. On average, RWR solutions were more efficient than Zonation solutions. Integer programming remains the only guaranteed way find an optimal solution, and heuristic algorithms remain superior for conservation prioritizations that consider compactness and multiple near-optimal solutions in addition to species representation. But because RWR can be implemented easily and quickly in R or a spreadsheet, it is an attractive alternative to integer programming or heuristic algorithms in some conservation prioritization contexts.

  16. Sensor-driven area coverage for an autonomous fixed-wing unmanned aerial vehicle.

    Science.gov (United States)

    Paull, Liam; Thibault, Carl; Nagaty, Amr; Seto, Mae; Li, Howard

    2014-09-01

    Area coverage with an onboard sensor is an important task for an unmanned aerial vehicle (UAV) with many applications. Autonomous fixed-wing UAVs are more appropriate for larger scale area surveying since they can cover ground more quickly. However, their non-holonomic dynamics and susceptibility to disturbances make sensor coverage a challenging task. Most previous approaches to area coverage planning are offline and assume that the UAV can follow the planned trajectory exactly. In this paper, this restriction is removed as the aircraft maintains a coverage map based on its actual pose trajectory and makes control decisions based on that map. The aircraft is able to plan paths in situ based on sensor data and an accurate model of the on-board camera used for coverage. An information theoretic approach is used that selects desired headings that maximize the expected information gain over the coverage map. In addition, the branch entropy concept previously developed for autonomous underwater vehicles is extended to UAVs and ensures that the vehicle is able to achieve its global coverage mission. The coverage map over the workspace uses the projective camera model and compares the expected area of the target on the ground and the actual area covered on the ground by each pixel in the image. The camera is mounted on a two-axis gimbal and can either be stabilized or optimized for maximal coverage. Hardware-in-the-loop simulation results and real hardware implementation on a fixed-wing UAV show the effectiveness of the approach. By including the already developed automatic takeoff and landing capabilities, we now have a fully automated and robust platform for performing aerial imagery surveys.

  17. A program-management plan with critical-path definition for Combustion Augmentation with Thermionic Energy Conversion (CATEC)

    Science.gov (United States)

    Morris, J. F.; Merrill, O. S.; Reddy, H. K.

    1981-01-01

    Thermionic energy conversion (TEC) is discussed. In recent TEC-topping analyses, overall plant efficiency (OPE) and cost of electricity (COE) improved slightly with current capabilities and substantially with fully matured technologies. Enhanced credibility derives from proven hot-corrosion protection for TEC by silicon-carbide clads in fossil fuel combustion products. Combustion augmentation with TEC (CATEC) affords minimal cost and plant perturbation, but with smaller OPE and COE improvements than more conventional topping applications. Risk minimization as well as comparative simplicity and convenience, favor CATEC for early market penetration. A program-management plan is proposed. Inputs, characteristics, outputs and capabilities are discussed.

  18. Path-based Queries on Trajectory Data

    DEFF Research Database (Denmark)

    Krogh, Benjamin Bjerre; Pelekis, Nikos; Theodoridis, Yannis

    2014-01-01

    In traffic research, management, and planning a number of path-based analyses are heavily used, e.g., for computing turn-times, evaluating green waves, or studying traffic flow. These analyses require retrieving the trajectories that follow the full path being analyzed. Existing path queries cannot...... sufficiently support such path-based analyses because they retrieve all trajectories that touch any edge in the path. In this paper, we define and formalize the strict path query. This is a novel query type tailored to support path-based analysis, where trajectories must follow all edges in the path....... To efficiently support strict path queries, we present a novel NETwork-constrained TRAjectory index (NETTRA). This index enables very efficient retrieval of trajectories that follow a specific path, i.e., strict path queries. NETTRA uses a new path encoding scheme that can determine if a trajectory follows...

  19. Path to Zero: Ultra-Efficient Architecture on the NREL Campus: S&TF and Master Planning (Presentation)

    Energy Technology Data Exchange (ETDEWEB)

    Carlisle, N.

    2012-05-01

    Describe the aspects of NREL's S and TF and Campus Master Planning in terms of how they have influenced ultra-efficient architecture on NREL's campus. Energy goals for the NREL campus are: (1) Understand how buildings uses energy, implement the cost-effective energy and water efficiency retrofits; (2) Use principals of energy efficiency and low energy design to reduce energy demand in all new construction; (3) Operate central plants efficiently; (4) Alternative transportation; (5) Use combined heat and power systems; (6) Use on-site renewables for demonstration and where it is cost-effective; and (7) Buy green power (over the next 25 years) so that 100% of our power will be from renewable sources.

  20. A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

    Directory of Open Access Journals (Sweden)

    Yuan Chen

    2011-09-01

    Full Text Available This paper proposes a piecewise acceleration-optimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot.

  1. 32 CFR 199.8 - Double coverage.

    Science.gov (United States)

    2010-07-01

    ... from the operation of a motor vehicle. (4) Exceptions. Double coverage plans do not include: (i) Plans... (for example, the Indian Health Service); or (v) State Victims of Crime Compensation Programs. (c...

  2. Tool path planning of hole-making operations in ejector plate of injection mould using modified shuffled frog leaping algorithm

    Directory of Open Access Journals (Sweden)

    Amol M. Dalavi

    2016-07-01

    Full Text Available Optimization of hole-making operations in manufacturing industry plays a vital role. Tool travel and tool switch planning are the two major issues in hole-making operations. Many industrial applications such as moulds, dies, engine block, automotive parts etc. requires machining of large number of holes. Large number of machining operations like drilling, enlargement or tapping/reaming are required to achieve the final size of individual hole, which gives rise to number of possible sequences to complete hole-making operations on the part depending upon the location of hole and tool sequence to be followed. It is necessary to find the optimal sequence of operations which minimizes the total processing cost of hole-making operations. In this work, therefore an attempt is made to reduce the total processing cost of hole-making operations by applying relatively new optimization algorithms known as shuffled frog leaping algorithm and proposed modified shuffled frog leaping algorithm for the determination of optimal sequence of hole-making operations. An industrial application example of ejector plate of injection mould is considered in this work to demonstrate the proposed approach. The obtained results by the shuffled frog leaping algorithm and proposed modified shuffled frog leaping algorithm are compared with each other. It is seen from the obtained results that the results of proposed modified shuffled frog leaping algorithm are superior to those obtained using shuffled frog leaping algorithm.

  3. Path Dependence

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

    Begrebet Path Dependence blev oprindelig udviklet inden for New Institutionel Economics af bl.a. David, Arthur og North. Begrebet har spredt sig vidt i samfundsvidenskaberne og undergået en udvikling. Dette paper propagerer for at der er sket så en så omfattende udvikling af begrebet, at man nu kan...... tale om 1. og 2. generation af Path Dependence begrebet. Den nyeste udvikling af begrebet har relevans for metodologi-diskusionerne i relation til Keynes...

  4. A GPS coverage model

    Science.gov (United States)

    Skidmore, Trent A.

    1994-01-01

    The results of several case studies using the Global Positioning System coverage model developed at Ohio University are summarized. Presented are results pertaining to outage area, outage dynamics, and availability. Input parameters to the model include the satellite orbit data, service area of interest, geometry requirements, and horizon and antenna mask angles. It is shown for precision-landing Category 1 requirements that the planned GPS 21 Primary Satellite Constellation produces significant outage area and unavailability. It is also shown that a decrease in the user equivalent range error dramatically decreases outage area and improves the service availability.

  5. Coverage-based constraints for IMRT optimization.

    Science.gov (United States)

    Mescher, H; Ulrich, S; Bangert, M

    2017-09-05

    Radiation therapy treatment planning requires an incorporation of uncertainties in order to guarantee an adequate irradiation of the tumor volumes. In current clinical practice, uncertainties are accounted for implicitly with an expansion of the target volume according to generic margin recipes. Alternatively, it is possible to account for uncertainties by explicit minimization of objectives that describe worst-case treatment scenarios, the expectation value of the treatment or the coverage probability of the target volumes during treatment planning. In this note we show that approaches relying on objectives to induce a specific coverage of the clinical target volumes are inevitably sensitive to variation of the relative weighting of the objectives. To address this issue, we introduce coverage-based constraints for intensity-modulated radiation therapy (IMRT) treatment planning. Our implementation follows the concept of coverage-optimized planning that considers explicit error scenarios to calculate and optimize patient-specific probabilities [Formula: see text] of covering a specific target volume fraction [Formula: see text] with a certain dose [Formula: see text]. Using a constraint-based reformulation of coverage-based objectives we eliminate the trade-off between coverage and competing objectives during treatment planning. In-depth convergence tests including 324 treatment plan optimizations demonstrate the reliability of coverage-based constraints for varying levels of probability, dose and volume. General clinical applicability of coverage-based constraints is demonstrated for two cases. A sensitivity analysis regarding penalty variations within this planing study based on IMRT treatment planning using (1) coverage-based constraints, (2) coverage-based objectives, (3) probabilistic optimization, (4) robust optimization and (5) conventional margins illustrates the potential benefit of coverage-based constraints that do not require tedious adjustment of target

  6. A biologically inspired controller to solve the coverage problem in robotics.

    Science.gov (United States)

    Rañó, Iñaki; Santos, José A

    2017-06-05

    The coverage problem consists on computing a path or trajectory for a robot to pass over all the points in some free area and has applications ranging from floor cleaning to demining. Coverage is solved as a planning problem-providing theoretical validation of the solution-or through heuristic techniques which rely on experimental validation. Through a combination of theoretical results and simulations, this paper presents a novel solution to the coverage problem that exploits the chaotic behaviour of a simple biologically inspired motion controller, the Braitenberg vehicle 2b. Although chaos has been used for coverage, our approach has much less restrictive assumptions about the environment and can be implemented using on-board sensors. First, we prove theoretically that this vehicle-a well known model of animal tropotaxis-behaves as a charge in an electro-magnetic field. The motion equations can be reduced to a Hamiltonian system, and, therefore the vehicle follows quasi-periodic or chaotic trajectories, which pass arbitrarily close to any point in the work-space, i.e. it solves the coverage problem. Secondly, through a set of extensive simulations, we show that the trajectories cover regions of bounded workspaces, and full coverage is achieved when the perceptual range of the vehicle is short. We compare the performance of this new approach with different types of random motion controllers in the same bounded environments.

  7. Medicare Coverage Database

    Data.gov (United States)

    U.S. Department of Health & Human Services — The Medicare Coverage Database (MCD) contains all National Coverage Determinations (NCDs) and Local Coverage Determinations (LCDs), local articles, and proposed NCD...

  8. Path Creation

    DEFF Research Database (Denmark)

    Karnøe, Peter; Garud, Raghu

    2012-01-01

    . Competencies emerged through processes and mechanisms such as co-creation that implicated multiple learning processes. The process was not an orderly linear one as emergent contingencies influenced the learning processes. An implication is that public policy to catalyse clusters cannot be based......This paper employs path creation as a lens to follow the emergence of the Danish wind turbine cluster. Supplier competencies, regulations, user preferences and a market for wind power did not pre-exist; all had to emerge in a tranformative manner involving multiple actors and artefacts...

  9. MEASURING PATH DEPENDENCY

    Directory of Open Access Journals (Sweden)

    Peter Juhasz

    2017-03-01

    Full Text Available While risk management gained popularity during the last decades even some of the basic risk types are still far out of focus. One of these is path dependency that refers to the uncertainty of how we reach a certain level of total performance over time. While decision makers are careful in accessing how their position will look like the end of certain periods, little attention is given how they will get there through the period. The uncertainty of how a process will develop across a shorter period of time is often “eliminated” by simply choosing a longer planning time interval, what makes path dependency is one of the most often overlooked business risk types. After reviewing the origin of the problem we propose and compare seven risk measures to access path. Traditional risk measures like standard deviation of sub period cash flows fail to capture this risk type. We conclude that in most cases considering the distribution of the expected cash flow effect caused by the path dependency may offer the best method, but we may need to use several measures at the same time to include all the optimisation limits of the given firm

  10. Optimizing z-axis coverage of abdominal CT scans of the urinary tract: a proposed alternative proximal landmark for acquisition planning.

    Science.gov (United States)

    Gervaise, Alban; Teixeira, Pedro; Hossu, Gabriela; Blum, Alain; Lapierre-Combes, Marie

    2016-11-01

    To evaluate an alternative method to reduce the acquisition coverage of urinary tract CT. This retrospective study included 365 abdominopelvic CT studies. Three radiographers simulated shortened acquisition coverages using three methods to determine the upper limit of the acquisition: Method 1 used the renal contours; Method 2 used the inferior margin of the 10th thoracic vertebra; and Method 3 used the point of intersection of the left diaphragmatic dome and the anterior margin of the vertebral bodies. Reductions in acquisition coverage and number of CT scans with a portion of the kidney excluded from the simulated reduced acquisition were compared between the three methods. The mean ± standard deviation reduction of acquisition coverage for the three readers with Methods 1, 2 and 3 were 20.5 ± 4.8, 15.1 ± 6.5 and 18.2 ± 5.3%, respectively. Compared with Method 2, Method 3 allowed a mean scan length reduction of 3.6%. The proportions of CT scans with a portion of the kidney excluded from the simulated reduced acquisition with Methods 1, 2 and 3 and averaged over the three readers were 6.7, 0.7 and 1.4%, respectively, with no significant difference between Methods 2 and 3. Interreader and intrareader agreements were excellent with all methods, but interclass correlation coefficients were higher with Method 3. The method using the renal contours should not be used owing to its high proportion of kidneys with a portion excluded from the acquisition. Using the intersection of the left diaphragmatic dome and the anterior margin of the vertebral bodies for proximal landmark for urinary tract CT represents a new alternative method with a better reduction of scan length compared with the method using the inferior margin of T10 and with no significant increase in the number of kidneys with a portion excluded from the reduced acquisition. Advances in knowledge: A new method using the point of intersection of the left diaphragmatic dome and the anterior

  11. Experiments towards model-based testing using Plan 9: Labelled transition file systems, stacking file systems, on-the-fly coverage measuring

    NARCIS (Netherlands)

    Belinfante, Axel; Guardiola, G.; Soriano, E.; Ballesteros, F.J.

    2006-01-01

    We report on experiments that we did on Plan 9/Inferno to gain more experience with the file-system-as-tool-interface approach. We reimplemented functionality that we earlier worked on in Unix, trying to use Plan 9 file system interfaces. The application domain for those experiments was model-based

  12. Medical coverage of cycling events.

    Science.gov (United States)

    Martinez, John M

    2006-05-01

    Medical coverage of recreational and competitive cycling events requires significant planning and cooperation among the race and medical directors, race officials, and local emergency medical services. The medical team should be proficient in treating minor and self-limiting injuries such as abrasions and minor trauma. The medical team should also have contingency plans for medical emergencies, such as cardiac events and major trauma, that ensure rapid stabilization and transport of the athlete to the appropriate medical facility. Stationary and mobile medical teams may be necessary for proper coverage of the event. Event day communication systems between individual medical staff as well as race officials and local emergency medical services is important to the success of the event.

  13. 42 CFR 457.420 - Benchmark health benefits coverage.

    Science.gov (United States)

    2010-10-01

    ... 42 Public Health 4 2010-10-01 2010-10-01 false Benchmark health benefits coverage. 457.420 Section 457.420 Public Health CENTERS FOR MEDICARE & MEDICAID SERVICES, DEPARTMENT OF HEALTH AND HUMAN... State Plan Requirements: Coverage and Benefits § 457.420 Benchmark health benefits coverage. Benchmark...

  14. Women's Health Insurance Coverage

    Science.gov (United States)

    ... Women's Health Policy Women’s Health Insurance Coverage Women’s Health Insurance Coverage Published: Oct 31, 2017 Facebook Twitter LinkedIn ... that many women continue to face. Sources of Health Insurance Coverage Employer-Sponsored Insurance: Approximately 57.9 million ...

  15. SU-E-T-266: Proton PBS Plan Design and Robustness Evaluation for Head and Neck Cancers

    Energy Technology Data Exchange (ETDEWEB)

    Liang, X; Tang, S; Zhai, H; Kirk, M; Kalbasi, A; Lin, A; Ahn, P; Tochner, Z; McDonough, J; Both, S [University of Pennsylvania, Philadelphia, PA (United States)

    2014-06-01

    Purpose: To describe a newly designed proton pencil beam scanning (PBS) planning technique for radiotherapy of patients with bilateral oropharyngeal cancer, and to assess plan robustness. Methods: We treated 10 patients with proton PBS plans using 2 posterior oblique field (2F PBS) comprised of 80% single-field uniform dose (SFUD) and 20% intensity-modulated proton therapy (IMPT). All patients underwent weekly CT scans for verification. Using dosimetric indicators for both targets and organs at risk (OARs), we quantitatively compared initial plans and verification plans using student t-tests. We created a second proton PBS plan for each patient using 2 posterior oblique plus 1 anterior field comprised of 100% SFUD (3F PBS). We assessed plan robustness for both proton plan groups, as well as a photon volumetric modulated arc therapy (VMAT) plan group by comparing initial and verification plans. Results: The 2F PBS plans were not robust in target coverage. D98% for clinical target volume (CTV) degraded from 100% to 96% on average, with maximum change Δ D98% of −24%. Two patients were moved to photon VMAT treatment due to insufficient CTV coverage on verification plans. Plan robustness was especially weak in the low-anterior neck. The 3F PBS plans, however, demonstrated robust target coverage, which was comparable to the VMAT photon plan group. Doses to oral cavity were lower in the Proton PBS plans compared to photon VMAT plans due to no lower exit dose to the oral cavity. Conclusion: Proton PBS plans using 2 posterior oblique fields were not robust for CTV coverage, due to variable positioning of redundant soft tissue in the posterior neck. We designed 3-field proton PBS plans using an anterior field to avoid long heterogeneous paths in the low neck. These 3-field proton PBS plans had significantly improved plan robustness, and the robustness is comparable to VMAT photon plans.

  16. Family planning, antenatal and delivery care: cross-sectional survey evidence on levels of coverage and inequalities by public and private sector in 57 low- and middle-income countries.

    Science.gov (United States)

    Campbell, Oona M R; Benova, Lenka; MacLeod, David; Baggaley, Rebecca F; Rodrigues, Laura C; Hanson, Kara; Powell-Jackson, Timothy; Penn-Kekana, Loveday; Polonsky, Reen; Footman, Katharine; Vahanian, Alice; Pereira, Shreya K; Santos, Andreia Costa; Filippi, Veronique G A; Lynch, Caroline A; Goodman, Catherine

    2016-04-01

    The objective of this study was to assess the role of the private sector in low- and middle-income countries (LMICs). We used Demographic and Health Surveys for 57 countries (2000-2013) to evaluate the private sector's share in providing three reproductive and maternal/newborn health services (family planning, antenatal and delivery care), in total and by socio-economic position. We used data from 865 547 women aged 15-49, representing a total of 3 billion people. We defined 'met and unmet need for services' and 'use of appropriate service types' clearly and developed explicit classifications of source and sector of provision. Across the four regions (sub-Saharan Africa, Middle East/Europe, Asia and Latin America), unmet need ranged from 28% to 61% for family planning, 8% to 22% for ANC and 21% to 51% for delivery care. The private-sector share among users of family planning services was 37-39% across regions (overall mean: 37%; median across countries: 41%). The private-sector market share among users of ANC was 13-61% across regions (overall mean: 44%; median across countries: 15%). The private-sector share among appropriate deliveries was 9-56% across regions (overall mean: 40%; median across countries: 14%). For all three healthcare services, women in the richest wealth quintile used private services more than the poorest. Wealth gaps in met need for services were smallest for family planning and largest for delivery care. The private sector serves substantial numbers of women in LMICs, particularly the richest. To achieve universal health coverage, including adequate quality care, it is imperative to understand this sector, starting with improved data collection on healthcare provision. © 2016 The Authors. Tropical Medicine & International Health published by John Wiley & Sons Ltd.

  17. Using meta-analytic path analysis to test theoretical predictions in health behavior: An illustration based on meta-analyses of the theory of planned behavior

    National Research Council Canada - National Science Library

    Hagger, Martin S; Chan, Derwin K C; Protogerou, Cleo; Chatzisarantis, Nikos L D

    2016-01-01

    ... unique effects of theory constructs independent of past behavior. We illustrate our points by conducting new analyses of two meta-analyses of a popular theory applied to health behaviors, the theory of planned behavior...

  18. Historical and regulatory planning law in educational path: precepts of the Constitution in 1988 to LDB nº 9394/96

    Directory of Open Access Journals (Sweden)

    Marta Leandro da Silva

    2016-10-01

    Full Text Available This text deals with the historical and normative trajectory of precepts / and principles of education planning in the context of post 1988 federal law On methodological basis of qualitative research with emphasis on literature (literature review and documentary research legal basis prioritized If analyze the constitutional principles (the Constitution of 1988 and of the law of Directives and Bases of National Education No. 9394/96 on the planning of education (and school. It is worth highlighting the social relevance of participatory planning and their contributions, especially for the formulation and implementation of educational policies in the construction of the Brazilian Democratic State Law. The analysis of historical and normative trajectory of Brazilian educational planning is worth reiterating, in this textual space, the argument of the researcher José Silverio B. Horta (1982 p. 236 when he says that 'law and educational planning' figure as 'basic mechanism of state intervention'. Educational policy in the light of democracy requires the experience of participatory planning as an instrument / channel and democratization of Brazilian education.

  19. Distributed Approach for Coverage and Patrolling Missions with a Team of Heterogeneous Aerial Robots under Communication Constraints

    Directory of Open Access Journals (Sweden)

    Jose Joaquin Acevedo

    2013-01-01

    Full Text Available Using aerial robots in area coverage applications is an emerging topic. These applications need a coverage path planning algorithm and a coordinated patrolling plan. This paper proposes a distributed approach to coordinate a team of heterogeneous UAVs cooperating efficiently in patrolling missions around irregular areas, with low communication ranges and memory storage requirements. Hence it can be used with small-scale UAVs with limited and different capabilities. The presented system uses a modular architecture and solves the problem by dividing the area between all the robots according to their capabilities. Each aerial robot performs a decomposition based algorithm to create covering paths and a ‘one-to-one’ coordination strategy to decide the path segment to patrol. The system is decentralized and fault-tolerant. It ensures a finite time to share information between all the robots and guarantees convergence to the desired steady state, based on the maximal minimum frequency criteria. A set of simulations with a team of quad-rotors is used to validate the approach.

  20. Formal language constrained path problems

    Energy Technology Data Exchange (ETDEWEB)

    Barrett, C.; Jacob, R.; Marathe, M.

    1997-07-08

    In many path finding problems arising in practice, certain patterns of edge/vertex labels in the labeled graph being traversed are allowed/preferred, while others are disallowed. Motivated by such applications as intermodal transportation planning, the authors investigate the complexity of finding feasible paths in a labeled network, where the mode choice for each traveler is specified by a formal language. The main contributions of this paper include the following: (1) the authors show that the problem of finding a shortest path between a source and destination for a traveler whose mode choice is specified as a context free language is solvable efficiently in polynomial time, when the mode choice is specified as a regular language they provide algorithms with improved space and time bounds; (2) in contrast, they show that the problem of finding simple paths between a source and a given destination is NP-hard, even when restricted to very simple regular expressions and/or very simple graphs; (3) for the class of treewidth bounded graphs, they show that (i) the problem of finding a regular language constrained simple path between source and a destination is solvable in polynomial time and (ii) the extension to finding context free language constrained simple paths is NP-complete. Several extensions of these results are presented in the context of finding shortest paths with additional constraints. These results significantly extend the results in [MW95]. As a corollary of the results, they obtain a polynomial time algorithm for the BEST k-SIMILAR PATH problem studied in [SJB97]. The previous best algorithm was given by [SJB97] and takes exponential time in the worst case.

  1. The Historical Path of Evaluation as Reflected in the Content of Evaluation and Program Planning

    DEFF Research Database (Denmark)

    Ayob, Abu H.; Morell, Jonathan A.

    2016-01-01

    This paper examines the intellectual structure of evaluation by means of citation analysis. By using various article attributes and citation counts in Google Scholar and (Social) Science Citation Index Web of Science, we analyze all articles published in Evaluation and Program Planning from 2000...

  2. Health Insurance: Most College Students Are Covered through Employer-Sponsored Plans, and Some Colleges and States Are Taking Steps to Increase Coverage. Report to the Committee on Health, Education, Labor, and Pensions, U.S. Senate. GAO-08-389

    Science.gov (United States)

    Dicken, John E.

    2008-01-01

    College students face challenges obtaining health insurance: they may not have access to insurance through an employer, and as they get older, they may lose dependent coverage obtained through a parent's plan. Federal law ensures continued access to health insurance for some, but not all, such students. Without health insurance, college students…

  3. A focussed dynamic path finding algorithm with constraints

    CSIR Research Space (South Africa)

    Leenen, L

    2013-11-01

    Full Text Available heuristic to focus the search for an optimal path. Existing approaches to solving path planning problems tend to combine path costs with various other criteria such as obstacle avoidance in the objective function which is being optimised. The authors...

  4. Generating Approximative Minimum Length Paths in 3D for UAVs

    DEFF Research Database (Denmark)

    Schøler, Flemming; la Cour-Harbo, Anders; Bisgaard, Morten

    2012-01-01

    We consider the challenge of planning a minimum length path from an initial position to a desired position for a rotorcraft. The path is found in a 3-dimensional Euclidean space containing a geometric obstacle. We base our approach on visibility graphs which have been used extensively for path pl...

  5. 78 FR 54996 - Information Reporting by Applicable Large Employers on Health Insurance Coverage Offered Under...

    Science.gov (United States)

    2013-09-09

    ... on Health Insurance Coverage Offered Under Employer-Sponsored Plans AGENCY: Internal Revenue Service... credit to help individuals and families afford health insurance coverage purchased through an Affordable... health insurance coverage offered by an employer to the employee that is (1) a governmental plan, within...

  6. Single line source with and without vaginal loading and the impact on target coverage and organ at risk doses for cervix cancer Stages IB, II, and IIIB: treatment planning simulation in patients treated with MRI-guided adaptive brachytherapy in a multicentre study (EMBRACE).

    Science.gov (United States)

    Nkiwane, Karen S; Pötter, Richard; Tanderup, Kari; Federico, Mario; Lindegaard, Jacob C; Kirisits, Christian

    2013-01-01

    Three-dimensional evaluation and comparison of target and organs at risk (OARs) doses from two traditional standard source loading patterns in the frame of MRI-guided cervical cancer brachytherapy for various clinical scenarios based on patient data collected in a multicenter trial setting. Two nonoptimized three-dimensional MRI-based treatment plans, Plan 1 (tandem and vaginal loading) and Plan 2 (tandem loading only), were generated for 134 patients from seven centers participating in the EMBRACE study. Both plans were normalized to point A (Pt. A). Target and OAR doses were evaluated in terms of minimum dose to 90% of the high-risk clinical target volume (HRCTV D90) grouped by tumor stage and minimum dose to the most exposed 2cm³ of the OARs volume. An HRCTV D90 ≥ Pt. A was achieved in 82% and 44% of the patients with Plans 1 and 2, respectively. Median HRCTV D90 with Plans 1 and 2 was 120% and 90% of Pt. A dose, respectively. Both plans had optimal dose coverage in 88% of Stage IB tumors; however, the tandem-only plan resulted in about 50% of dose reduction to the vagina and rectum. For Stages IIB and IIIB, Plan 1 had on average 35% better target coverage but with significant doses to OARs. Standard tandem loading alone results in good target coverage in most Stage IB tumors without violating OAR dose constraints. For Stage IIB tumors, standard vaginal loading improves the therapeutic window, however needs optimization to fulfill the dose prescription for target and OAR. In Stage IIIB, even optimized vaginal loading often does not fulfill the needs for dose prescription. The significant dose variation across various clinical scenarios for both target and OARs indicates the need for image-guided brachytherapy for optimal dose adaptation both for limited and advanced diseases. Copyright © 2013 American Brachytherapy Society. Published by Elsevier Inc. All rights reserved.

  7. Lewinian Lessons for Action Researches: Traveling the Second Path

    OpenAIRE

    Schmuck, Richard

    2008-01-01

    I explain how the early American Lewinians (1939-1947) took one of two overlapping intellectual paths. Those, on the first path, were theory-centred, hypothesis testing experimental social psychologists. Those, on the second path, used action research in fostering planned change to build healthy communities. I summarize the profound lessons for action research taught by the second group. Adhering to Lewin’s maxim, “No action without research, no research without action”, second path Lewinians...

  8. Path-neighborhood graphs

    NARCIS (Netherlands)

    R.C. Laskar (R.C.); H.M. Mulder (Martyn)

    2013-01-01

    textabstractA path-neighborhood graph is a connected graph in which every neighborhood induces a path. In the main results the 3-sun-free path-neighborhood graphs are characterized. The 3-sun is obtained from a 6-cycle by adding three chords between the three pairs of vertices at distance 2. A Pk

  9. Contraception and abortion coverage: What do primary care physicians think?

    Science.gov (United States)

    Chuang, Cynthia H; Martenis, Melissa E; Parisi, Sara M; Delano, Rachel E; Sobota, Mindy; Nothnagle, Melissa; Schwarz, Eleanor Bimla

    2012-08-01

    Insurance coverage for family planning services has been a highly controversial element of the US health care reform debate. Whether primary care providers (PCPs) support public and private health insurance coverage for family planning services is unknown. PCPs in three states were surveyed regarding their opinions on health plan coverage and tax dollar use for contraception and abortion services. Almost all PCPs supported health plan coverage for contraception (96%) and use of tax dollars to cover contraception for low-income women (94%). A smaller majority supported health plan coverage for abortions (61%) and use of tax dollars to cover abortions for low-income women (63%). In adjusted models, support of health plan coverage for abortions was associated with female gender and internal medicine specialty, and support of using tax dollars for abortions for low-income women was associated with older age and internal medicine specialty. The majority of PCPs support health insurance coverage of contraception and abortion, as well as tax dollar subsidization of contraception and abortion services for low-income women. Copyright © 2012 Elsevier Inc. All rights reserved.

  10. Planificación automatizada de rutas de transmisión en la restauración de sistemas eléctricos de potencia; Transmission Path Automated Planning in Electric Power System Restoration

    Directory of Open Access Journals (Sweden)

    Leonel Francisco Aleaga Loaiza

    2015-09-01

    Full Text Available La planificación de la restauración es una tarea muy importante en la operación de sistemas eléctricos de potencia. Un plan que reduzca la duración de la restauración, minimiza los impactos de los apagones en la economía y la sociedad.En este artículo se presenta un nuevo método basado en la planificación automática (PA para restaurar la red de transmisión después de un colapso. En las primeras etapas de la restauración del sistema eléctrico de potencia es importante coordinar simultáneamente la secuencia de arranque de generadores (SAG con la secuencia de energización de ramales (SER para disminuir la duración de la restauración. Las formulaciones presentadas en este artículo se basan en acciones de PA, las cuales se concentran en la identificación de rutas de transmisión para la SER en coordinación simultánea con la SAG. Los resultados de las pruebas desarrolladas sobre el sistema IEEE39–Bus demuestran la eficiencia del algoritmo y la calidad de las soluciones obtenidas.The restoration planning is a very important task in the operation of electric power systems. A plan which reduce the duration of the restoration, minimize the impacts of outages in the economy and the society. In this paper it is presented a new method based on automated planning (AP to restore the transmission network after a blackout. In the early stages of electric power system restoration is important to coordinate simultaneously the generator start-up sequence (GSS with the branches energization sequence (BES to decrease the duration of the restoration. The formulations presented in this article are based on automated planning actions, which focus on the identification of transmission paths for the BE Sin simultaneous coordination with the GSS. The tests results de veloped on IEEE39–Bus system demonstrate the efficiency of the algorithm and the quality of the solutions obtained.

  11. Line transect sampling from a curving path.

    Science.gov (United States)

    Hiby, L; Krishna, M B

    2001-09-01

    Cutting straight line transects through dense forest is time consuming and expensive when large areas need to be surveyed for rare or highly clustered species. We argue that existing paths or game trails may be suitable as transects for line transect sampling even though they will not, in general, run straight. Formulas and software currently used to estimate local density using perpendicular distance data can be used with closest approach distances measured from curving transects. Suitable paths or trails are those for which the minimum radius of curvature is rarely less than the width of the shoulder in the detection probability function. The use of existing paths carries the risk of bias resulting from unrepresentative sampling of available habitats, and this must be weighed against the increase in coverage available.

  12. Computational path planner for product assembly in complex environments

    Science.gov (United States)

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

    2013-03-01

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

  13. Immunisation coverage, 2012.

    Science.gov (United States)

    Hull, Brynley P; Dey, Aditi; Menzies, Rob I; Brotherton, Julia M; McIntyre, Peter B

    2014-09-30

    This, the 6th annual immunisation coverage report, documents trends during 2012 for a range of standard measures derived from Australian Childhood Immunisation Register (ACIR) data, and National Human Papillomavirus (HPV) Vaccination Program Register data. These include coverage at standard age milestones and for individual vaccines included on the National Immunisation Program (NIP) and coverage in adolescents and adults. The proportion of Australian children 'fully vaccinated' at 12, 24 and 60 months of age was 91.7%, 92.5% and 91.2%, respectively. For vaccines available on the NIP but not assessed during 2012 for 'fully vaccinated' status or for eligibility for incentive payments (rotavirus and pneumococcal at 12 months and meningococcal C and varicella at 24 months) coverage varied. Although pneumococcal vaccine had similar coverage at 12 months to other vaccines, coverage was lower for rotavirus at 12 months (83.6%) and varicella at 24 months (84.4%). Although 'fully vaccinated' coverage at 12 months of age was lower among Indigenous children than non-Indigenous children in all jurisdictions, the extent of the difference varied, reaching a 15 percentage point differential in South Australia but only a 0.4 percentage point differential in the Northern Territory. Overall, Indigenous coverage at 24 months of age exceeded that at 12 months of age nationally and for all jurisdictions, but as receipt of varicella vaccine at 18 months is excluded from calculations, this represents delayed immunisation, with some contribution from immunisation incentives. The 'fully vaccinated' coverage estimates for vaccinations due by 60 months of age for Indigenous children exceeded 90% at 91% in 2012. Unlike in 2011, at 60 months of age, there was no dramatic variation in coverage between Indigenous and non-Indigenous children for individual jurisdictions. As previously documented, vaccines recommended for Indigenous children only, hepatitis A and pneumococcal vaccine, had

  14. Preparing States in India for Universal Health Coverage | IDRC ...

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

    Given India's population, geographical diversity, and health inequities, the path to universal health coverage is likely to vary widely across states. Using research evidence, policymakers will need to ensure a balance between prioritizing primary health care and expanding access to insurance for secondary and tertiary care.

  15. Transition path time distributions

    Science.gov (United States)

    Laleman, M.; Carlon, E.; Orland, H.

    2017-12-01

    Biomolecular folding, at least in simple systems, can be described as a two state transition in a free energy landscape with two deep wells separated by a high barrier. Transition paths are the short part of the trajectories that cross the barrier. Average transition path times and, recently, their full probability distribution have been measured for several biomolecular systems, e.g., in the folding of nucleic acids or proteins. Motivated by these experiments, we have calculated the full transition path time distribution for a single stochastic particle crossing a parabolic barrier, including inertial terms which were neglected in previous studies. These terms influence the short time scale dynamics of a stochastic system and can be of experimental relevance in view of the short duration of transition paths. We derive the full transition path time distribution as well as the average transition path times and discuss the similarities and differences with the high friction limit.

  16. Resolution, coverage, and geometry beyond traditional limits

    Energy Technology Data Exchange (ETDEWEB)

    Ronen, Shuki; Ferber, Ralf

    1998-12-31

    The presentation relates to the optimization of the image of seismic data and improved resolution and coverage of acquired data. Non traditional processing methods such as inversion to zero offset (IZO) are used. To realize the potential of saving acquisition cost by reducing in-fill and to plan resolution improvement by processing, geometry QC methods such as DMO Dip Coverage Spectrum (DDCS) and Bull`s Eyes Analysis are used. The DDCS is a 2-D spectrum whose entries consist of the DMO (Dip Move Out) coverage for a particular reflector specified by it`s true time dip and reflector normal strike. The Bull`s Eyes Analysis relies on real time processing of synthetic data generated with the real geometry. 4 refs., 6 figs.

  17. Fault Tolerant Coverage and Connectivity in Presence of Channel Randomness

    Directory of Open Access Journals (Sweden)

    Anil Kumar Sagar

    2014-01-01

    Full Text Available Some applications of wireless sensor network require K-coverage and K-connectivity to ensure the system to be fault tolerance and to make it more reliable. Therefore, it makes coverage and connectivity an important issue in wireless sensor networks. In this paper, we proposed K-coverage and K-connectivity models for wireless sensor networks. In both models, nodes are distributed according to Poisson distribution in the sensor field. To make the proposed model more realistic we used log-normal shadowing path loss model to capture the radio irregularities and studied its impact on K-coverage and K-connectivity. The value of K can be different for different types of applications. Further, we also analyzed the problem of node failure for K-coverage model. In the simulation section, results clearly show that coverage and connectivity of wireless sensor network depend on the node density, shadowing parameters like the path loss exponent, and standard deviation.

  18. Expanded managed care liability: what impact on employer coverage?

    Science.gov (United States)

    Studdert, D M; Sage, W M; Gresenz, C R; Hensler, D R

    1999-01-01

    Policymakers are considering legislative changes that would increase managed care organizations' exposure to civil liability for withholding coverage or failing to deliver needed care. Using a combination of empirical information and theoretical analysis, we assess the likely responses of health plans and Employee Retirement Income Security Act (ERISA) plan sponsors to an expansion of liability, and we evaluate the policy impact of those moves. We conclude that the direct costs of liability are uncertain but that the prospect of litigation may have other important effects on coverage decision making, information exchange, risk contracting, and the extent of employers' involvement in health coverage.

  19. Multi-Dimensional Path Queries

    DEFF Research Database (Denmark)

    Bækgaard, Lars

    1998-01-01

    to create nested path structures. We present an SQL-like query language that is based on path expressions and we show how to use it to express multi-dimensional path queries that are suited for advanced data analysis in decision support environments like data warehousing environments......We present the path-relationship model that supports multi-dimensional data modeling and querying. A path-relationship database is composed of sets of paths and sets of relationships. A path is a sequence of related elements (atoms, paths, and sets of paths). A relationship is a binary path...

  20. Unique Path Partitions

    DEFF Research Database (Denmark)

    Bessenrodt, Christine; Olsson, Jørn Børling; Sellers, James A.

    2013-01-01

    We give a complete classification of the unique path partitions and study congruence properties of the function which enumerates such partitions.......We give a complete classification of the unique path partitions and study congruence properties of the function which enumerates such partitions....

  1. Path dependence and creation

    DEFF Research Database (Denmark)

    Garud, Raghu; Karnøe, Peter

    the place of agency in these theories that take history so seriously. In the end, they are as interested in path creation and destruction as they are in path dependence. This book is compiled of both theoretical and empirical writing. It shows relatively well-known industries such as the automobile...

  2. Path integral distance for data interpretation

    CERN Document Server

    Volchenkov, D

    2015-01-01

    The process of data interpretation is always based on the implicit introduction of equivalence relations on the set of walks over the database. Every equivalence relation on the set of walks specifies a Markov chain describing the transitions of a discrete time random walk. In order to geometrize and interpret the data, we propose the new distance between data units defined as a "Feynman path integral", in which all possible paths between any two nodes in a graph model of the data are taken into account, although some paths are more preferable than others. Such a path integral distance approach to the analysis of databases has proven its efficiency and success, especially on multivariate strongly correlated data where other methods fail to detect structural components (urban planning, historical language phylogenies, music, street fashion traits analysis, etc. ). We believe that it would become an invaluable tool for the intelligent complexity reduction and big data interpretation.

  3. Wind Corrections in Flight Path Planning

    Directory of Open Access Journals (Sweden)

    Martin Selecký

    2013-05-01

    Full Text Available Abstract When operating autonomous unmanned aerial vehicles (UAVs in real environments it is necessary to deal with the effects of wind that causes the aircraft to drift in a certain direction. In such conditions it is hard or even impossible for UAVs with a bounded turning rate to follow certain trajectories. We designed a method based on an Accelerated A* algorithm that allows the trajectory planner to take the wind effects into account and to generate states that are reachable by UAV. This method was tested on hardware UAV and the reachability of its generated trajectories was compared to the trajectories computed by the original Accelerated A*.

  4. USV Path Planning Using Potential Field Model

    Science.gov (United States)

    2017-09-01

    grateful for your advice , guidance, and patience during the past year. It has truly been an honor and a pleasure. xviii THIS PAGE INTENTIONALLY LEFT...34 Dept. of Computer Science, Brigham Young University, Provo, UT, unpublished. [7] T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion

  5. Mobile Robots Control and Path Planning Strategies

    OpenAIRE

    Furci, Michele

    2016-01-01

    Mobile robots gained lots of attention in the last decades. Because of its flexibility and increased capabilities of automation, mobile robots are used in many applications: from domotic, to search and rescue missions, to agriculture, environment protection and many more. The main capability of mobile robots to accomplish a mission is the mobility in the work environment. To move in a certain environment the robots should achieve: guidance, navigation and control. This thesis focuses on...

  6. Explore the Many Paths to Leadership

    Science.gov (United States)

    Crow, Tracy

    2015-01-01

    The road to leadership is not necessarily one that educators plan carefully with a series of logical steps. Certainly some educators start as teachers and then systematically work through a traditional hierarchy on their way to the superintendency. No matter their role or their path, education leaders demand more from themselves and others and…

  7. Zero-Slack, Noncritical Paths

    Science.gov (United States)

    Simons, Jacob V., Jr.

    2017-01-01

    The critical path method/program evaluation and review technique method of project scheduling is based on the importance of managing a project's critical path(s). Although a critical path is the longest path through a network, its location in large projects is facilitated by the computation of activity slack. However, logical fallacies in…

  8. Coverage Metrics for Model Checking

    Science.gov (United States)

    Penix, John; Visser, Willem; Norvig, Peter (Technical Monitor)

    2001-01-01

    When using model checking to verify programs in practice, it is not usually possible to achieve complete coverage of the system. In this position paper we describe ongoing research within the Automated Software Engineering group at NASA Ames on the use of test coverage metrics to measure partial coverage and provide heuristic guidance for program model checking. We are specifically interested in applying and developing coverage metrics for concurrent programs that might be used to support certification of next generation avionics software.

  9. Career Path Descriptions

    CERN Document Server

    Charkiewicz, A

    2000-01-01

    Before the Career Path system, jobs were classified according to grades with general statutory definitions, guided by the "Job Catalogue" which defined 6 evaluation criteria with example illustrations in the form of "typical" job descriptions. Career Paths were given concise statutory definitions necessitating a method of description and evaluation adapted to their new wider-band salary concept. Evaluations were derived from the same 6 criteria but the typical descriptions became unusable. In 1999, a sub-group of the Standing Concertation Committee proposed a new guide for describing Career Paths, adapted to their wider career concept by expanding the 6 evaluation criteria into 9. For each criterion several levels were established tracing the expected evolution of job level profiles and personal competencies over their longer salary ranges. While providing more transparency to supervisors and staff, the Guide's official use would be by services responsible for vacancy notices, Career Path evaluations and rela...

  10. Paths to Remarriage.

    Science.gov (United States)

    Spanier, Graham B.; Glick, Paul C.

    1980-01-01

    Presents a demographic analysis of the paths to remarriage--the extent and timing of remarriage, social factors associated with remarriage, and the impact of the event which preceded remarriage (divorce or widowhood). (Author)

  11. Determining the Center Path of Ground Surface LIDAR Data

    Science.gov (United States)

    2017-01-01

    computation is repeated. The plan is to circumnavigate the overall path via computing large rectangles whose footprint covers the path, and whose sides...to right-left bias in the LIDAR data or vegetation ). Any asymmetry in the collected data will cause the minimum rectangle-based method to create a

  12. Paths to nursing leadership.

    Science.gov (United States)

    Bondas, Terese

    2006-07-01

    The aim was to explore why nurses enter nursing leadership and apply for a management position in health care. The study is part of a research programme in nursing leadership and evidence-based care. Nursing has not invested enough in the development of nursing leadership for the development of patient care. There is scarce research on nurses' motives and reasons for committing themselves to a career in nursing leadership. A strategic sample of 68 Finnish nurse leaders completed a semistructured questionnaire. Analytic induction was applied in an attempt to generate a theory. A theory, Paths to Nursing Leadership, is proposed for further research. Four different paths were found according to variations between the nurse leaders' education, primary commitment and situational factors. They are called the Path of Ideals, the Path of Chance, the Career Path and the Temporary Path. Situational factors and role models of good but also bad nursing leadership besides motivational and educational factors have played a significant role when Finnish nurses have entered nursing leadership. The educational requirements for nurse leaders and recruitment to nursing management positions need serious attention in order to develop a competent nursing leadership.

  13. Clinical trial insurance coverage for cancer patients under the Affordable Care Act

    Directory of Open Access Journals (Sweden)

    Christine B. Mackay

    2016-04-01

    Conclusion: Three main factors limit the effectiveness of the ACA provisions in expanding clinical trial coverage: 1 ‘grandfathered’ self-funded employer plans not subject to state Employee Retirement Income Security Act (ERISA regulations, 2 Medicaid coverage limits not addressed under the ACA, 3 populations that remain uninsured. Kansas saw a negligible increase in insurance coverage as a result of the ACA thus lack of insurance coverage is likely to remain a concern for cancer patients.

  14. 5 CFR 839.211 - If these rules apply to me because I had a qualifying retirement coverage error, can I choose...

    Science.gov (United States)

    2010-01-01

    ... a qualifying retirement coverage error, can I choose which retirement plan I want to be in? 839.211... had a qualifying retirement coverage error, can I choose which retirement plan I want to be in? The... coverage error, your eligibility to choose your retirement plan may be affected by the situations described...

  15. Unified paths to future space settlements coming to clearer focus

    National Research Council Canada - National Science Library

    Anita Gale; Ron Kohl; Mike Snyder

    2015-01-01

    .... Although they have yet to see unified planning of integrated infrastructure components to enable future space settlement, paths to developing bits of infrastructure that can help achieve that goal...

  16. 75 FR 51750 - Accessibility Guidelines for Shared Use Paths

    Science.gov (United States)

    2010-08-23

    ... No: 2010-20833] ARCHITECTURAL AND TRANSPORTATION BARRIERS COMPLIANCE BOARD Accessibility Guidelines for Shared Use Paths AGENCY: Architectural and Transportation Barriers Compliance Board. ACTION: Notice of public information meeting. SUMMARY: The Access Board plans to develop new accessibility...

  17. Flight Path Recovery System (FPRS) design study

    Energy Technology Data Exchange (ETDEWEB)

    1978-09-01

    The study contained herein presents a design for a Flight Path Recovery System (FPPS) for use in the NURE Program which will be more accurate than systems presently used, provide position location data in digital form suitable for automatic data processing, and provide for flight path recovery in a more economic and operationally suitable manner. The design is based upon the use of presently available hardware and technoloy, and presents little, it any, development risk. In addition, a Flight Test Plan designed to test the FPRS design concept is presented.

  18. Leavitt path algebras

    CERN Document Server

    Abrams, Gene; Siles Molina, Mercedes

    2017-01-01

    This book offers a comprehensive introduction by three of the leading experts in the field, collecting fundamental results and open problems in a single volume. Since Leavitt path algebras were first defined in 2005, interest in these algebras has grown substantially, with ring theorists as well as researchers working in graph C*-algebras, group theory and symbolic dynamics attracted to the topic. Providing a historical perspective on the subject, the authors review existing arguments, establish new results, and outline the major themes and ring-theoretic concepts, such as the ideal structure, Z-grading and the close link between Leavitt path algebras and graph C*-algebras. The book also presents key lines of current research, including the Algebraic Kirchberg Phillips Question, various additional classification questions, and connections to noncommutative algebraic geometry. Leavitt Path Algebras will appeal to graduate students and researchers working in the field and related areas, such as C*-algebras and...

  19. Paths in hyperspaces

    Directory of Open Access Journals (Sweden)

    Camillo Constantini

    2003-10-01

    Full Text Available We prove that the hyperspace of closed bounded sets with the Hausdor_ topology, over an almost convex metric space, is an absolute retract. Dense subspaces of normed linear spaces are examples of, not necessarily connected, almost convex metric spaces. We give some necessary conditions for the path-wise connectedness of the Hausdorff metric topology on closed bounded sets. Finally, we describe properties of a separable metric space, under which its hyperspace with the Wijsman topology is path-wise connected.

  20. Path dependence and creation

    DEFF Research Database (Denmark)

    Garud, Raghu; Karnøe, Peter

    the place of agency in these theories that take history so seriously. In the end, they are as interested in path creation and destruction as they are in path dependence. This book is compiled of both theoretical and empirical writing. It shows relatively well-known industries such as the automobile......, biotechnology and semi-conductor industries in a new light. It also invites the reader to learn more about medical practices, wind power, lasers and synthesizers. Primarily for academicians, researchers and PhD students in fields related to technology management, this book is a research-oriented textbook...

  1. An Unplanned Path

    Science.gov (United States)

    McGarvey, Lynn M.; Sterenberg, Gladys Y.; Long, Julie S.

    2013-01-01

    The authors elucidate what they saw as three important challenges to overcome along the path to becoming elementary school mathematics teacher leaders: marginal interest in math, low self-confidence, and teaching in isolation. To illustrate how these challenges were mitigated, they focus on the stories of two elementary school teachers--Laura and…

  2. Gas path seal

    Science.gov (United States)

    Bill, R. C.; Johnson, R. D. (Inventor)

    1979-01-01

    A gas path seal suitable for use with a turbine engine or compressor is described. A shroud wearable or abradable by the abrasion of the rotor blades of the turbine or compressor shrouds the rotor bades. A compliant backing surrounds the shroud. The backing is a yieldingly deformable porous material covered with a thin ductile layer. A mounting fixture surrounds the backing.

  3. Lexicographic Path Induction

    DEFF Research Database (Denmark)

    Schürmann, Carsten; Sarnat, Jeffrey

    2009-01-01

    an induction principle that combines the comfort of structural induction with the expressive strength of transfinite induction. Using lexicographic path induction, we give a consistency proof of Martin-Löf’s intuitionistic theory of inductive definitions. The consistency of Heyting arithmetic follows directly...

  4. Immunisation coverage annual report, 2009.

    Science.gov (United States)

    Hull, Brynley; Dey, Aditi; Mahajan, Deepika; Menzies, Rob; McIntyre, Peter B

    2011-06-01

    This, the third annual immunisation coverage report, documents trends during 2009 for a range of standard measures derived from Australian Childhood Immunisation Register data, including overall coverage at standard age milestones and for individual vaccines included on the National Immunisation Program (NIP). Coverage by Indigenous status and mapping by smaller geographic areas as well as trends in timeliness is also summarised according to standard templates. With respect to overall coverage, the Immunise Australia Program targets have been reached for children at 12 and 24 months of age but not for children at 5 years of age. Coverage at 24 months of age exceeds that at 12 months of age, but as receipt of varicella vaccine at 18 months is excluded from calculations of 'fully immunised' this probably represents delayed immunisation, with some contribution from immunisation incentives. Similarly, the decrease in coverage estimates for immunisations due at 4 years of age from March 2008 is primarily due to changing the assessment age from 6 years to 5 years of age from December 2007. With respect to individual vaccines, a number of those available on the NIP are not currently assessed for 'fully immunised' status or for eligibility for incentive payments. These include pneumococcal conjugate and meningococcal C conjugate vaccines, for which coverage is comparable with vaccines that are assessed for 'fully immunised' status, and rotavirus and varicella vaccines for which coverage is lower. Coverage is also suboptimal for vaccines recommended for Indigenous children only (i.e. hepatitis A and pneumococcal polysaccharide vaccine) as previously reported for other vaccines for both children and adults. Delayed receipt of vaccines is an important issue for vaccines recommended for Indigenous children and has not improved among non-Indigenous children despite improvements in coverage at the 24-month milestone. Although Indigenous children in Australia have coverage levels

  5. The demand for health insurance coverage by low-income workers: can reduced premiums achieve full coverage?

    Science.gov (United States)

    Chernew, M; Frick, K; McLaughlin, C G

    1997-10-01

    To assess the degree to which premium reductions will increase the participation in employer-sponsored health plans by low-income workers who are employed in small businesses. Sample of workers in small business (25 or fewer employees) in seven metropolitan areas. The data were gathered as part of the Small Business Benefits Survey, a telephone survey of small business conducted between October 1992 and February 1993. Probit regressions were used to estimate the demand for health insurance coverage by low-income workers. Predictions based on these findings were made to assess the extent to which premium reductions might increase coverage rates. Workers included in the sample were selected, at random, from a randomly generated set of firms drawn from Dun and Bradstreet's DMI (Dun's Market Inclusion). The response rate was 81 percent. Participation in employer-sponsored plans is high when coverage is offered. However, even when coverage is offered to employees who have no other source of insurance, participation is not universal. Although premium reductions will increase participation in employer-sponsored plans, even large subsidies will not induce all workers to participate in employer-sponsored plans. For workers eligible to participate, subsidies as high as 75 percent of premiums are estimated to increase participation rates from 89.0 percent to 92.6 percent. For workers in firms that do not sponsor plans, similar subsidies are projected to achieve only modest increases in coverage above that which would be observed if the workers had access to plans at unsubsidized, group market rates. Policies that rely on voluntary purchase of coverage to reduce the number of uninsured will have only modest success.

  6. Mediating Trust in Terrorism Coverage

    DEFF Research Database (Denmark)

    Mogensen, Kirsten

    crisis. While the framework is presented in the context of television coverage of a terror-related crisis situation, it can equally be used in connection with all other forms of mediated trust. Key words: National crisis, risk communication, crisis management, television coverage, mediated trust....

  7. Effective coverage: a metric for monitoring Universal Health Coverage.

    Directory of Open Access Journals (Sweden)

    Marie Ng

    2014-09-01

    Full Text Available A major challenge in monitoring universal health coverage (UHC is identifying an indicator that can adequately capture the multiple components underlying the UHC initiative. Effective coverage, which unites individual and intervention characteristics into a single metric, offers a direct and flexible means to measure health system performance at different levels. We view effective coverage as a relevant and actionable metric for tracking progress towards achieving UHC. In this paper, we review the concept of effective coverage and delineate the three components of the metric - need, use, and quality - using several examples. Further, we explain how the metric can be used for monitoring interventions at both local and global levels. We also discuss the ways that current health information systems can support generating estimates of effective coverage. We conclude by recognizing some of the challenges associated with producing estimates of effective coverage. Despite these challenges, effective coverage is a powerful metric that can provide a more nuanced understanding of whether, and how well, a health system is delivering services to its populations.

  8. Entanglement by Path Identity

    Science.gov (United States)

    Krenn, Mario; Hochrainer, Armin; Lahiri, Mayukh; Zeilinger, Anton

    2017-02-01

    Quantum entanglement is one of the most prominent features of quantum mechanics and forms the basis of quantum information technologies. Here we present a novel method for the creation of quantum entanglement in multipartite and high-dimensional systems. The two ingredients are (i) superposition of photon pairs with different origins and (ii) aligning photons such that their paths are identical. We explain the experimentally feasible creation of various classes of multiphoton entanglement encoded in polarization as well as in high-dimensional Hilbert spaces—starting only from nonentangled photon pairs. For two photons, arbitrary high-dimensional entanglement can be created. The idea of generating entanglement by path identity could also apply to quantum entities other than photons. We discovered the technique by analyzing the output of a computer algorithm. This shows that computer designed quantum experiments can be inspirations for new techniques.

  9. The effect of varying path properties in path steering tasks

    NARCIS (Netherlands)

    L. Liu (Lei); R. van Liere (Robert)

    2010-01-01

    textabstractPath steering is a primitive 3D interaction task that requires the user to navigate through a path of a given length and width. In a previous paper, we have conducted controlled experiments in which users operated a pen input device to steer a cursor through a 3D path subject to

  10. PATHS groundwater hydrologic model

    Energy Technology Data Exchange (ETDEWEB)

    Nelson, R.W.; Schur, J.A.

    1980-04-01

    A preliminary evaluation capability for two-dimensional groundwater pollution problems was developed as part of the Transport Modeling Task for the Waste Isolation Safety Assessment Program (WISAP). Our approach was to use the data limitations as a guide in setting the level of modeling detail. PATHS Groundwater Hydrologic Model is the first level (simplest) idealized hybrid analytical/numerical model for two-dimensional, saturated groundwater flow and single component transport; homogeneous geology. This document consists of the description of the PATHS groundwater hydrologic model. The preliminary evaluation capability prepared for WISAP, including the enhancements that were made because of the authors' experience using the earlier capability is described. Appendixes A through D supplement the report as follows: complete derivations of the background equations are provided in Appendix A. Appendix B is a comprehensive set of instructions for users of PATHS. It is written for users who have little or no experience with computers. Appendix C is for the programmer. It contains information on how input parameters are passed between programs in the system. It also contains program listings and test case listing. Appendix D is a definition of terms.

  11. UAVSAR Flight-Planning System

    Science.gov (United States)

    2008-01-01

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

  12. Using LTE Networks for UAV Command and Control Link: A Rural-Area Coverage Analysis

    DEFF Research Database (Denmark)

    Nguyen, Huan Cong; Amorim, Rafhael Medeiros de; Wigard, Jeroen

    2017-01-01

    In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss on the hei......In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss...

  13. Universal Health Coverage – The Critical Importance of Global Solidarity and Good Governance

    Science.gov (United States)

    Reis, Andreas A.

    2016-01-01

    This article provides a commentary to Ole Norheim’ s editorial entitled "Ethical perspective: Five unacceptable trade-offs on the path to universal health coverage." It reinforces its message that an inclusive, participatory process is essential for ethical decision-making and underlines the crucial importance of good governance in setting fair priorities in healthcare. Solidarity on both national and international levels is needed to make progress towards the goal of universal health coverage (UHC). PMID:27694683

  14. Shortest Paths and Vehicle Routing

    DEFF Research Database (Denmark)

    Petersen, Bjørn

    This thesis presents how to parallelize a shortest path labeling algorithm. It is shown how to handle Chvátal-Gomory rank-1 cuts in a column generation context. A Branch-and-Cut algorithm is given for the Elementary Shortest Paths Problem with Capacity Constraint. A reformulation of the Vehicle R...... Routing Problem based on partial paths is presented. Finally, a practical application of finding shortest paths in the telecommunication industry is shown....

  15. Evaluation of deep inspiration breath-hold lung treatment plans with Monte Carlo dose calculation.

    Science.gov (United States)

    Yorke, Ellen D; Wang, Lu; Rosenzweig, Kenneth E; Mah, Dennis; Paoli, Jean-Baptiste; Chui, Chen-Shou

    2002-07-15

    To evaluate dosimetry of deep inspiration breath-hold (DIBH) relative to free breathing (FB) for three-dimensional conformal radiation therapy of lung cancer with 6-MV photons and Monte Carlo (MC) dose calculations. Static three-dimensional conformal radiation therapy, 6-MV plans, based on DIBH and FB CT images for five non-small-cell lung cancer patients, were generated on a clinical treatment planning system with equivalent path length tissue inhomogeneity correction. Margins of gross to planning target volume were not reduced for DIBH plans. Cord and lung toxicity determined the maximum treatment dose for each plan. Dose distributions were recalculated for the same beams with an MC dose calculation algorithm and electron density distributions derived from the CT images. MC calculations showed decreased target coverage relative to treatment-planning system predictions. Lateral disequilibrium caused more degradation of target coverage for DIBH than for FB (approximately 4% worse than expected for FB vs. 8% for DIBH). However, with DIBH higher treatment doses could be delivered without violating normal tissue constraints, resulting in higher total doses to gross target volume and to >99% of planning target volume. If DIBH enables prescription dose increases exceeding 10%, MC calculations indicate that, despite lateral disequilibrium, higher doses will be delivered to medium-to-large, partly mediastinal gross target volumes, providing that 6-MV photons are used and margins are not reduced.

  16. Quantifying the impact of cross coverage on physician's workload and performance in radiation oncology.

    Science.gov (United States)

    Mosaly, Prithima R; Mazur, Lukasz M; Jones, Ellen L; Hoyle, Lesley; Zagar, Timothy; Chera, Bhishamjit S; Marks, Lawrence B

    2013-01-01

    To quantitatively assess the difference in workload and performance of radiation oncology physicians during radiation therapy treatment planning tasks under the conditions of "cross coverage" versus planning a patient with whom they were familiar. Eight physicians (3 experienced faculty physicians and 5 physician residents) performed 2 cases. The first case represented a "cross-coverage" scenario where the physicians had no prior information about the case to be planned. The second exposure represented a "regular-coverage" scenario where the physicians were familiar with the patient case to be planned. Each case involved 3 tasks to be completed systematically. Workload was assessed both subjectively (perceived) using National Aeronautics and Space Administration-Task Load Index (NASA-TLX), and objectively (physiological) throughout the task using eye data (via monitoring pupil size and blink rate). Performance of each task and the case was measured using completion time. Subjective willingness to approve or disapprove the generated plan was obtained after completion of the case only. Forty-eight perceived and 48 physiological workload assessments were obtained. Overall, results revealed a significant increase in perceived workload (high NASA-TLX score) and decrease in performance (longer completion time and reduced approval rate) during cross coverage. There were nonsignificant increases in pupil diameter and decreases in the blink rate during cross-coverage versus regular-coverage scenario. In both cross-coverage and regular-coverage scenarios the level of experience did not affect workload and performance. The cross-coverage scenario significantly increases perceived workload and degrades performance versus regular coverage. Hence, to improve patient safety, efforts must be made to develop policies, standard operating procedures, and usability improvements to electronic medical record and treatment planning systems for "easier" information processing to deal with

  17. A Parallel Randomized Path Planner for Robot Navigation

    Directory of Open Access Journals (Sweden)

    S. Sengupta

    2008-11-01

    Full Text Available Computation of a collision-free path for a movable object among obstacles is an important problem in the fields of robotics, CIM and AI. Various automatic task level programming systems can be build for robot guidance, teleoperation, assembly and disassembly among others, if a suitable method for motion planning is available. In the basic variation of motion planning, the task is to generate a collision-free path for a movable object among known and static obstacles. Classically the problem was defined for a rigid 6 degrees-of-freedom body as 'the piano mover's problem'. However, the majority of the research has been conducted in the field of robotics, often under the title of path planning. Rapidly-Exploring Random Trees (RRTs are a recently developed representation on which fast continuous domain path planners can be based. In this work, we have built a parallel path planning system based on RRTs that interleaves planning and execution, first evaluating it in simulation and then applying it to physical robots. Our distributed algorithm, PRRT (parallel RRT, introduces a parallel extension of previous RRT work, the process splitting and parallel cost penalty search with a comment on Real Time Stagnancy reduction, which improves re-planning efficiency, decreases latency involved in finding feasible paths and the quality of generated paths. PRRT is successfully applied to a real-time multi-robot system. In this paper we illustrate how it is possible to implement a parallel version of RRT based motion planner which yields optimal speed up.

  18. A Parallel Randomized Path Planner for Robot Navigation

    Directory of Open Access Journals (Sweden)

    S. Sengupta

    2006-09-01

    Full Text Available Computation of a collision-free path for a movable object among obstacles is an important problem in the fields of robotics, CIM and AI. Various automatic task level programming systems can be build for robot guidance, teleoperation, assembly and disassembly among others, if a suitable method for motion planning is available. In the basic variation of motion planning, the task is to generate a collision-free path for a movable object among known and static obstacles. Classically the problem was defined for a rigid 6 degrees-of-freedom body as ‘the piano mover's problem’. However, the majority of the research has been conducted in the field of robotics, often under the title of path planning. Rapidly-Exploring Random Trees (RRTs are a recently developed representation on which fast continuous domain path planners can be based. In this work, we have built a parallel path planning system based on RRTs that interleaves planning and execution, first evaluating it in simulation and then applying it to physical robots. Our distributed algorithm, PRRT (parallel RRT, introduces a parallel extension of previous RRT work, the process splitting and parallel cost penalty search with a comment on Real Time Stagnancy reduction, which improves re-planning efficiency, decreases latency involved in finding feasible paths and the quality of generated paths. PRRT is successfully applied to a real-time multi-robot system. In this paper we illustrate how it is possible to implement a parallel version of RRT based motion planner which yields optimal speed up.

  19. Vision-based map building and trajectory planning to enable autonomous flight through urban environments

    Science.gov (United States)

    Watkins, Adam S.

    The desire to use Unmanned Air Vehicles (UAVs) in a variety of complex missions has motivated the need to increase the autonomous capabilities of these vehicles. This research presents autonomous vision-based mapping and trajectory planning strategies for a UAV navigating in an unknown urban environment. It is assumed that the vehicle's inertial position is unknown because GPS in unavailable due to environmental occlusions or jamming by hostile military assets. Therefore, the environment map is constructed from noisy sensor measurements taken at uncertain vehicle locations. Under these restrictions, map construction becomes a state estimation task known as the Simultaneous Localization and Mapping (SLAM) problem. Solutions to the SLAM problem endeavor to estimate the state of a vehicle relative to concurrently estimated environmental landmark locations. The presented work focuses specifically on SLAM for aircraft, denoted as airborne SLAM, where the vehicle is capable of six degree of freedom motion characterized by highly nonlinear equations of motion. The airborne SLAM problem is solved with a variety of filters based on the Rao-Blackwellized particle filter. Additionally, the environment is represented as a set of geometric primitives that are fit to the three-dimensional points reconstructed from gathered onboard imagery. The second half of this research builds on the mapping solution by addressing the problem of trajectory planning for optimal map construction. Optimality is defined in terms of maximizing environment coverage in minimum time. The planning process is decomposed into two phases of global navigation and local navigation. The global navigation strategy plans a coarse, collision-free path through the environment to a goal location that will take the vehicle to previously unexplored or incompletely viewed territory. The local navigation strategy plans detailed, collision-free paths within the currently sensed environment that maximize local coverage

  20. Annual immunisation coverage report, 2010.

    Science.gov (United States)

    Hull, Brynley; Dey, Aditi; Menzies, Rob; McIntyre, Peter

    2013-03-31

    This, the fourth annual immunisation coverage report, documents trends during 2010 for a range of standard measures derived from Australian Childhood Immunisation Register (ACIR) data. These include coverage at standard age milestones and for individual vaccines included on the National Immunisation Program (NIP). For the first time, coverage from other sources for adolescents and the elderly are included. The proportion of children 'fully vaccinated' at 12, 24 and 60 months of age was 91.6%, 92.1% and 89.1% respectively. For vaccines available on the NIP but not currently assessed for 'fully immunised' status or for eligibility for incentive payments (rotavirus and pneumococcal at 12 months and meningococcal C and varicella at 24 months) coverage varied. Although pneumococcal vaccine had similar coverage at 12 months to other vaccines, coverage was lower for rotavirus at 12 months (84.7%) and varicella at 24 months (83.0%). Overall coverage at 24 months of age exceeded that at 12 months of age nationally and for most jurisdictions, but as receipt of varicella vaccine at 18 months is excluded from calculations, this represents delayed immunisation, with some contribution from immunisation incentives. The 'fully immunised' coverage estimates for immunisations due by 60 months increased substantially in 2009, reaching almost 90% in 2010, probably related to completed immunisation by 60 months of age being introduced in 2009 as a requirement for GP incentive payments. As previously documented, vaccines recommended for Indigenous children only (hepatitis A and pneumococcal polysaccharide vaccine) had suboptimal coverage at around 57%. Delayed receipt of vaccines by Indigenous children at the 60-month milestone age improved from 56% to 62% but the disparity in on-time vaccination between Indigenous and non-Indigenous children at earlier age milestones did not improve. Coverage data for human papillomavirus (HPV)from the national HPV register are consistent with high

  1. Cell Phone Coverage Area: Helping Students Achieve in Mathematics

    Science.gov (United States)

    Zbiek, Rose Mary; Reed, Shari Ann; Boone, Tracy

    2007-01-01

    Cell phone coverage areas arouse students' curiosity in a lesson that engages students with area as a measure that relates to, but is different from, linear measure. Each distinct set of activities (stations) blends concepts and skills to align with and transcend state standards. In reflecting on the lesson planning and implementation, we…

  2. Using biodiversity data to review coverage of Uganda's protected ...

    African Journals Online (AJOL)

    We assess its value as a potential planning tool, based on the growing evidence that Uganda aspires to a robust Protected Area system that encompasses protection of biodiversity at the genetic, species and ecosystem levels. Analyses are presented of the coverage of 21 major vegetation types, and of species of birds and ...

  3. The importance of Leadership towards universal health coverage in ...

    African Journals Online (AJOL)

    In all these instances the political leadership emanated from the highest political office, i.e., the presidency. Indeed, presidential leadership facilitates collaboration across an entire government .... Political rhetoric, technical vision and plans alone are not enough to achieve universal coverage; they have to be complemented ...

  4. Technical support for universal health coverage pilots in Karnataka ...

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

    The project team will provide technical assistance to these early adopter states to assist with UHC intervention activities. The project ... They provided technical assistance to help officials design and develop their universal health coverage action plans based on an extensive baseline assessment and top health priorities.

  5. Integrating path dependency and path creation in a general understanding of path constitution

    OpenAIRE

    Meyer, Uli; Schubert, Cornelius

    2007-01-01

    Path dependency as it is described by Arthur and David portrays technological developments as historically embedded, emergent processes. In contrast, Garud and Karnøe's notion of path creation emphasises the role of strategic change and deliberate action for the development of new technologies. In this article, we integrate both concepts into a general understanding of path processes which accounts for emergent as well as deliberate modes of path constitution. In addition, we distinguish betw...

  6. Optimal Path Planner for Mobile Robot in 2D Environment

    Directory of Open Access Journals (Sweden)

    Valeri Kroumov

    2004-06-01

    Full Text Available The problem of path planning for the case of a mobile robot moving in an environment filled with obstacles with known shapes and positions is studied. A path planner based on the genetic algorithm approach, which generates optimal in length path is proposed. The population member paths are generated by another algorithm, which uses for description of the obstacles an artificial annealing neural network and is based on potential field approach. The resulting path is piecewise linear with changing directions at the corners of the obstacles. Because of this feature, the inverse kinematics problems in controlling differential drive robots are simply solved: to drive the robot to some goal pose (x, y, theta, the robot can be spun in place until it is aimed at (x, y, then driven forward until it is at (x, y, and then spun in place until the required goal orientation

  7. Two Generations of Path Dependence

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

      Even if there is no fully articulated and generally accepted theory of Path Dependence it has eagerly been taken up across a wide range of social sciences - primarily coming from economics. Path Dependence is most of all a metaphor that offers reason to believe, that some political, social...... or economic processes have multiple possible paths of outcomes, rather than a unique path of equilibria. The selection among outcomes may depend on contingent choices or events - outcomes of path-dependent processes require a very relevant study - a perception of history....

  8. Path Through the Wheat

    Directory of Open Access Journals (Sweden)

    David Middleton

    2005-01-01

    Full Text Available The hillside’s tidal waves of yellow-green Break downward into full-grown stalks of wheat In which a peasant, shouldering his hoe Passes along a snaking narrow path -- A teeming place through which his hard thighs press And where his head just barely stays above The swaying grain, drunken in abundance, Farm buildings almost floating on the swells Beyond which sea gulls gliding white in air Fly down on out of sight to salty fields, Taking the channel fish off Normandy, A surfeit fit for Eden i...

  9. Rocket Flight Path

    Directory of Open Access Journals (Sweden)

    Jamie Waters

    2014-09-01

    Full Text Available This project uses Newton’s Second Law of Motion, Euler’s method, basic physics, and basic calculus to model the flight path of a rocket. From this, one can find the height and velocity at any point from launch to the maximum altitude, or apogee. This can then be compared to the actual values to see if the method of estimation is a plausible. The rocket used for this project is modeled after Bullistic-1 which was launched by the Society of Aeronautics and Rocketry at the University of South Florida.

  10. JAVA PathFinder

    Science.gov (United States)

    Mehhtz, Peter

    2005-01-01

    JPF is an explicit state software model checker for Java bytecode. Today, JPF is a swiss army knife for all sort of runtime based verification purposes. This basically means JPF is a Java virtual machine that executes your program not just once (like a normal VM), but theoretically in all possible ways, checking for property violations like deadlocks or unhandled exceptions along all potential execution paths. If it finds an error, JPF reports the whole execution that leads to it. Unlike a normal debugger, JPF keeps track of every step how it got to the defect.

  11. Assuring Access to Affordable Coverage

    Data.gov (United States)

    U.S. Department of Health & Human Services — Under the Affordable Care Act, millions of uninsured Americans will gain access to affordable coverage through Affordable Insurance Exchanges and improvements in...

  12. Immunisation coverage annual report, 2008.

    Science.gov (United States)

    Hull, Brynley P; Mahajan, Deepika; Dey, Aditi; Menzies, Rob I; McIntyre, Peter B

    2010-09-01

    This, the 2nd annual immunisation coverage report, documents trends during 2008 for a range of standard measures derived from Australian Childhood Immunisation Register data, including overall coverage at standard age milestones and for individual vaccines included on the National Immunisation Program (NIP). Coverage by indigenous status and mapping by smaller geographic areas as well as trends in timeliness are also summarised according to standard templates. With respect to overall coverage, Immunise Australia Program targets have been reached for children at 12 and 24 months of age but not for children at 5 years of age. Coverage at 24 months of age exceeds that at 12 months of age, but as receipt of varicella vaccine at 18 months is excluded from calculations of 'fully immunised' this probably represents delayed immunisation, with some contribution from immunisation incentives. Similarly, the decrease in coverage estimates for immunisations due at 4 years of age from March 2008, is primarily due to changing the assessment age from 6 years to 5 years of age from December 2007. A number of individual vaccines on the NIP are not currently assessed for 'fully immunised' status or for eligibility for incentive payments. These include pneumococcal conjugate and meningococcal C conjugate vaccines for which coverage is comparable to vaccines which are assessed for 'fully immunised' status, and rotavirus and varicella vaccines for which coverage is lower. Coverage is also suboptimal for vaccines recommended for Indigenous children only (i.e. hepatitis A and pneumococcal polysaccharide vaccine) as previously reported for other vaccines for both children and adults. Delayed receipt of vaccines is an important issue for vaccines recommended for Indigenous children and has not improved among non-Indigenous children despite improvements in coverage at the 24-month milestone. Although Indigenous children in Australia have coverage levels that are similar to non

  13. Individual health insurance within the family : can subsidies promote family coverage?

    OpenAIRE

    Kapur, Kanika; Marquis, M Susan; Escarce, José J.

    2007-01-01

    This paper examines the role of price in health insurance coverage decisions within the family to guide policy in promoting whole family coverage. We analyze the factors that affect individual health insurance coverage among families, and explore family decisions about whom to cover and whom to leave uninsured. The analysis uses household data from California combined with abstracted individual health plan benefit and premium data. We find that premium subsidies for individual insurance would...

  14. Internet's critical path horizon

    Science.gov (United States)

    Valverde, S.; Solé, R. V.

    2004-03-01

    Internet is known to display a highly heterogeneous structure and complex fluctuations in its traffic dynamics. Congestion seems to be an inevitable result of user's behavior coupled to the network dynamics and it effects should be minimized by choosing appropriate routing strategies. But what are the requirements of routing depth in order to optimize the traffic flow? In this paper we analyse the behavior of Internet traffic with a topologically realistic spatial structure as described in a previous study [S.-H. Yook et al., Proc. Natl Acad. Sci. USA 99, 13382 (2002)]. The model involves self-regulation of packet generation and different levels of routing depth. It is shown that it reproduces the relevant key, statistical features of Internet's traffic. Moreover, we also report the existence of a critical path horizon defining a transition from low-efficient traffic to highly efficient flow. This transition is actually a direct consequence of the web's small world architecture exploited by the routing algorithm. Once routing tables reach the network diameter, the traffic experiences a sudden transition from a low-efficient to a highly-efficient behavior. It is conjectured that routing policies might have spontaneously reached such a compromise in a distributed manner. Internet would thus be operating close to such critical path horizon.

  15. The path towards a transversal plan for the integration of immigrants in Castilla-La Mancha / La senda hacia una política transversal de integración de inmigrantes en Castilla-La Mancha

    Directory of Open Access Journals (Sweden)

    Antidio Martínez de Lizarrondo Artola

    2009-10-01

    Full Text Available This article evaluates the building of immigrant integration policies in Castilla-La Mancha. Most of communities have chosen the development of plans where these policies are reflected, but this community still lacks a transversal plan for the integration of immigrants. Despite that, this region is setting some action lines through the sectorial plans and others in cooperation with the State. The number and profile of the foreigners is different in each province of this community. The policies must be adjusted to each situation and so it seems to be the current trend of current efforts.

  16. pathChirp: Efficient Available Bandwidth Estimation for Network Paths

    Energy Technology Data Exchange (ETDEWEB)

    Cottrell, Les

    2003-04-30

    This paper presents pathChirp, a new active probing tool for estimating the available bandwidth on a communication network path. Based on the concept of ''self-induced congestion,'' pathChirp features an exponential flight pattern of probes we call a chirp. Packet chips offer several significant advantages over current probing schemes based on packet pairs or packet trains. By rapidly increasing the probing rate within each chirp, pathChirp obtains a rich set of information from which to dynamically estimate the available bandwidth. Since it uses only packet interarrival times for estimation, pathChirp does not require synchronous nor highly stable clocks at the sender and receiver. We test pathChirp with simulations and Internet experiments and find that it provides good estimates of the available bandwidth while using only a fraction of the number of probe bytes that current state-of-the-art techniques use.

  17. 76 FR 52441 - Summary of Benefits and Coverage and the Uniform Glossary

    Science.gov (United States)

    2011-08-22

    ... facts label that includes examples to illustrate common benefits scenarios (including pregnancy and... plan or coverage for common benefits scenarios, including pregnancy and serious or chronic medical... that there is adequate space in the SBC to present coverage examples in a manner that is easy to read...

  18. Steered transition path sampling.

    Science.gov (United States)

    Guttenberg, Nicholas; Dinner, Aaron R; Weare, Jonathan

    2012-06-21

    We introduce a path sampling method for obtaining statistical properties of an arbitrary stochastic dynamics. The method works by decomposing a trajectory in time, estimating the probability of satisfying a progress constraint, modifying the dynamics based on that probability, and then reweighting to calculate averages. Because the progress constraint can be formulated in terms of occurrences of events within time intervals, the method is particularly well suited for controlling the sampling of currents of dynamic events. We demonstrate the method for calculating transition probabilities in barrier crossing problems and survival probabilities in strongly diffusive systems with absorbing states, which are difficult to treat by shooting. We discuss the relation of the algorithm to other methods.

  19. Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

    Science.gov (United States)

    Latip, Nor Badariyah Abdul; Omar, Rosli

    2017-08-01

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

  20. Path integral in Snyder space

    Energy Technology Data Exchange (ETDEWEB)

    Mignemi, S., E-mail: smignemi@unica.it [Dipartimento di Matematica e Informatica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); INFN, Sezione di Cagliari, Cittadella Universitaria, 09042 Monserrato (Italy); Štrajn, R. [Dipartimento di Matematica e Informatica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); INFN, Sezione di Cagliari, Cittadella Universitaria, 09042 Monserrato (Italy)

    2016-04-29

    The definition of path integrals in one- and two-dimensional Snyder space is discussed in detail both in the traditional setting and in the first-order formalism of Faddeev and Jackiw. - Highlights: • The definition of the path integral in Snyder space is discussed using phase space methods. • The same result is obtained in the first-order formalism of Faddeev and Jackiw. • The path integral formulation of the two-dimensional Snyder harmonic oscillator is outlined.

  1. Automated generation of weld path trajectories.

    Energy Technology Data Exchange (ETDEWEB)

    Sizemore, John M. (Northrop Grumman Ship Systems); Hinman-Sweeney, Elaine Marie; Ames, Arlo Leroy

    2003-06-01

    AUTOmated GENeration of Control Programs for Robotic Welding of Ship Structure (AUTOGEN) is software that automates the planning and compiling of control programs for robotic welding of ship structure. The software works by evaluating computer representations of the ship design and the manufacturing plan. Based on this evaluation, AUTOGEN internally identifies and appropriately characterizes each weld. Then it constructs the robot motions necessary to accomplish the welds and determines for each the correct assignment of process control values. AUTOGEN generates these robot control programs completely without manual intervention or edits except to correct wrong or missing input data. Most ship structure assemblies are unique or at best manufactured only a few times. Accordingly, the high cost inherent in all previous methods of preparing complex control programs has made robot welding of ship structures economically unattractive to the U.S. shipbuilding industry. AUTOGEN eliminates the cost of creating robot control programs. With programming costs eliminated, capitalization of robots to weld ship structures becomes economically viable. Robot welding of ship structures will result in reduced ship costs, uniform product quality, and enhanced worker safety. Sandia National Laboratories and Northrop Grumman Ship Systems worked with the National Shipbuilding Research Program to develop a means of automated path and process generation for robotic welding. This effort resulted in the AUTOGEN program, which has successfully demonstrated automated path generation and robot control. Although the current implementation of AUTOGEN is optimized for welding applications, the path and process planning capability has applicability to a number of industrial applications, including painting, riveting, and adhesive delivery.

  2. Maritime super Wi-Fi coverage based on TVWS

    Science.gov (United States)

    Ren, Jia; Chen, Baodan; Zhang, Yonghui; Huang, Fang

    2014-10-01

    After analyzing the occupancy and characteristics of television white space (TVWS), this paper proposes wireless broadband networking by using super Wi-Fi technology in maritime environment operating on TVWS. A sea surface channel model is developed for predicting maritime network coverage of super Wi-Fi technology. This channel model is based on Irregular Terrain Methodology (ITM) model with revised parameters and dual-path propagation effect. The simulations demonstrated that the sea surface channel model can accurately reflect the transmission loss of radio wave in TVWS.

  3. Insurance Coverage and Health Outcomes in Young Adults With Mental Illness Following the Affordable Care Act Dependent Coverage Expansion.

    Science.gov (United States)

    Kozloff, Nicole; Sommers, Benjamin D

    2017-07-01

    As a provision of the Affordable Care Act, young adults were able to remain on their parents' health insurance plans until age 26. We examined the impact of the 2010 dependent coverage expansion on insurance coverage and health outcomes among young adults with mental illness. Data are from the 2008-2013 National Survey on Drug Use and Health, an annual population-based survey of noninstitutionalized US individuals aged 12 and older. We used a difference-in-differences approach to compare young adults with mental illness subject to the provision (aged 19-25 years, n = 19,051) with an older comparison group (aged 26-34 years, n = 7,958) before (2008-2009) and after (2011-2013) the dependent coverage expansion in their insurance coverage, use of health services, and self-reported health. In adjusted analyses, following the dependent coverage expansion, private insurance coverage increased by 11.7 percentage points (95% CI, 8.4-15.1, P mental illness, relative to 26- to 34-year-olds. The provision was associated with a modest increase in young adults with mental illness who received outpatient mental health treatment at least monthly on average (+2.0% [95% CI, 0.1% to 4.0%, P = .04]) and a modest decrease in those reporting their overall health as fair or poor (-2.3% [95% CI, -4.6% to -0.0%, P = .05]). Unmet mental health needs due to cost decreased significantly among those with moderate-to-serious mental illness (-12.3% [95% CI, -22.7% to -2.0%, P = .02]), but did not change among those with mild illness. The 2010 dependent coverage expansion was associated with an increase in insurance coverage, several indicators of mental health treatment, and improved self-reported health among young adults with mental illness.

  4. Maintaining Differentiated Coverage in Heterogeneous Sensor Networks

    Directory of Open Access Journals (Sweden)

    Du Xiaojiang

    2005-01-01

    Full Text Available Most existing research considers homogeneous sensor networks, which suffer from performance bottleneck and poor scalability. In this paper, we adopt a heterogeneous sensor network model to overcome these problems. Sensing coverage is a fundamental problem in sensor networks and has been well studied over the past years. However, most coverage algorithms only consider the uniform coverage problem, that is, all the areas have the same coverage degree requirement. In many scenarios, some key areas need high coverage degree while other areas only need low coverage degree. We propose a differentiated coverage algorithm which can provide different coverage degrees for different areas. The algorithm is energy efficient since it only keeps minimum number of sensors to work. The performance of the differentiated coverage algorithm is evaluated through extensive simulation experiments. Our results show that the algorithm performs much better than any other differentiated coverage algorithm.

  5. Sustainable Energy Path

    Directory of Open Access Journals (Sweden)

    Hiromi Yamamoto

    2005-12-01

    Full Text Available The uses of fossil fuels cause not only the resources exhaustion but also the environmental problems such as global warming. The purposes of this study are to evaluate paths toward sustainable energy systems and roles of each renewable. In order to realize the purposes, the authors developed the global land use and energy model that figured the global energy supply systems in the future considering the cost minimization. Using the model, the authors conducted a simulation in C30R scenario, which is a kind of strict CO2 emission limit scenarios and reduced CO2 emissions by 30% compared with Kyoto protocol forever scenario, and obtained the following results. In C30R scenario bioenergy will supply 33% of all the primary energy consumption. However, wind and photovoltaic will supply 1.8% and 1.4% of all the primary energy consumption, respectively, because of the limits of power grid stability. The results imply that the strict limits of CO2 emissions are not sufficient to achieve the complete renewable energy systems. In order to use wind and photovoltaic as major energy resources, we need not only to reduce the plant costs but also to develop unconventional renewable technologies.

  6. Path integrals as discrete sums

    Science.gov (United States)

    Bitar, Khalil; Khuri, N. N.; Ren, H. C.

    1991-08-01

    We present a new formulation of Feynman's path integral, based on Voronin's theorems on the universality of the Riemann zeta function. The result is a discrete sum over ``paths,'' each given by a zeta function. A new measure which leads to the correct quantum mechanics is explicitly given.

  7. Rainbow paths with prescribed ends

    DEFF Research Database (Denmark)

    Alishahi, Meysam; Taherkhani, Ali; Thomassen, Carsten

    2011-01-01

    It was conjectured in [S. Akbari, F. Khaghanpoor, and S. Moazzeni. Colorful paths in vertex coloring of graphs. Preprint] that, if G is a connected graph distinct from C-7, then there is a chi(G)-coloring of G in which every vertex v is an element of V(G) is an initial vertex of a path P with chi...

  8. Chromatic roots and hamiltonian paths

    DEFF Research Database (Denmark)

    Thomassen, Carsten

    2000-01-01

    We present a new connection between colorings and hamiltonian paths: If the chromatic polynomial of a graph has a noninteger root less than or equal to t(n) = 2/3 + 1/3 (3)root (26 + 6 root (33)) + 1/3 (3)root (26 - 6 root (33)) = 1.29559.... then the graph has no hamiltonian path. This result...

  9. Immunisation coverage annual report, 2014.

    Science.gov (United States)

    Hull, Brynley P; Hendry, Alexandra J; Dey, Aditi; Beard, Frank H; Brotherton, Julia M; McIntyre, Peter B

    2017-03-31

    This 8th annual immunisation coverage report shows data for 2014 derived from the Australian Childhood Immunisation Register and the National Human Papillomavirus Vaccination Program Register. This report includes coverage data for 'fully immunised' and by individual vaccines at standard age milestones and timeliness of receipt at earlier ages according to Indigenous status. Overall, 'fully immunised' coverage has been mostly stable at the 12- and 24-month age milestones since late 2003, but at 60 months of age, it has increased by more than 10 percentage points since 2009. As in previous years, coverage for 'fully immunised' at 12 months of age among Indigenous children was 3.7% lower than for non-Indigenous children overall, varying from 6.9 percentage points in Western Australia to 0.3 of a percentage point in the Australian Capital Territory. In 2014, 73.4% of Australian females aged 15 years had 3 documented doses of human papillomavirus vaccine (jurisdictional range 67.7% to 77.4%), and 82.7% had at least 1 dose, compared with 71.4% and 81.5%, respectively, in 2013. The disparity in on-time vaccination between Indigenous and non-Indigenous children in 2014 diminished progressively from 20.2% for vaccines due by 12 months to 11.5% for those due by 24 months and 3.0% at 60 months of age.

  10. Crime News Coverage in Perspective.

    Science.gov (United States)

    Graber, Doris A.

    According to one sociological model, news is a product of socially determined notions of who and what is important and the organizational structures that result for routinizing news collection; events that deviate from these notions are ignored. This report describes a study of crime news coverage in the media that used this model to examine the…

  11. Is Crime News Coverage Excessive?

    Science.gov (United States)

    Graber, Doris A.

    1979-01-01

    Reports on the frequency and manner in which various crime and noncrime news topics were presented in selected newspapers and television newscasts in 1976. Examines news flow data to determine whether news output was inflexible, and whether crime news coverage distorted the amount of real-life crime. (PD)

  12. Coverage criteria for test case generation using UML state chart diagram

    Science.gov (United States)

    Salman, Yasir Dawood; Hashim, Nor Laily; Rejab, Mawarny Md; Romli, Rohaida; Mohd, Haslina

    2017-10-01

    To improve the effectiveness of test data generation during the software test, many studies have focused on the automation of test data generation from UML diagrams. One of these diagrams is the UML state chart diagram. Test cases are generally evaluated according to coverage criteria. However, combinations of multiple criteria are required to achieve better coverage. Different studies used various number and types of coverage criteria in their methods and approaches. The objective of this paper to propose suitable coverage criteria for test case generation using UML state chart diagram especially in handling loops. In order to achieve this objective, this work reviewed previous studies to present the most practical coverage criteria combinations, including all-states, all-transitions, all-transition-pairs, and all-loop-free-paths coverage. Calculation to determine the coverage percentage of the proposed coverage criteria were presented together with an example has they are applied on a UML state chart diagram. This finding would be beneficial in the area of test case generating especially in handling loops in UML state chart diagram.

  13. Medicare Plan Finder and Compare

    Data.gov (United States)

    U.S. Department of Health & Human Services — You have the option to complete a general or personalized plan search. A personalized search may provide you with more accurate cost estimates and coverage...

  14. Hard paths, soft paths or no paths? Cross-cultural perceptions of water solutions

    Science.gov (United States)

    Wutich, A.; White, A. C.; White, D. D.; Larson, K. L.; Brewis, A.; Roberts, C.

    2014-01-01

    In this study, we examine how development status and water scarcity shape people's perceptions of "hard path" and "soft path" water solutions. Based on ethnographic research conducted in four semi-rural/peri-urban sites (in Bolivia, Fiji, New Zealand, and the US), we use content analysis to conduct statistical and thematic comparisons of interview data. Our results indicate clear differences associated with development status and, to a lesser extent, water scarcity. People in the two less developed sites were more likely to suggest hard path solutions, less likely to suggest soft path solutions, and more likely to see no path to solutions than people in the more developed sites. Thematically, people in the two less developed sites envisioned solutions that involve small-scale water infrastructure and decentralized, community-based solutions, while people in the more developed sites envisioned solutions that involve large-scale infrastructure and centralized, regulatory water solutions. People in the two water-scarce sites were less likely to suggest soft path solutions and more likely to see no path to solutions (but no more likely to suggest hard path solutions) than people in the water-rich sites. Thematically, people in the two water-rich sites seemed to perceive a wider array of unrealized potential soft path solutions than those in the water-scarce sites. On balance, our findings are encouraging in that they indicate that people are receptive to soft path solutions in a range of sites, even those with limited financial or water resources. Our research points to the need for more studies that investigate the social feasibility of soft path water solutions, particularly in sites with significant financial and natural resource constraints.

  15. Optimized Flight Path for Localization Using Line of Bearing

    Science.gov (United States)

    2015-03-26

    Cramér-Rao Lower Bound CEP Circular Error Probability CPLE Cartesian Pseudo-Linear Estimator RRT Rapidly-exploring Random Tree KKT Karush-Kuhn-Tucker...planning method, rapidly-exploring random trees. An RRT is iteratively formed using random points by applying control inputs and this can be assumed as...The Rapidly-exploring Random Tree ( RRT ) provides a broad class of path plan- ning as a randomized data structure. A RRT can expand iteratively by

  16. Designing Service Coverage and Measuring Accessibility and Serviceability of Rural and Small Urban Ambulance Systems

    Directory of Open Access Journals (Sweden)

    EunSu Lee

    2014-03-01

    Full Text Available This paper proposes a novel approach to analyze potential accessibility to ambulance services by combining the demand-covered-ratio and potential serviceability with the ambulance-covering-ratio. A Geographic Information System (GIS-based spatial analysis will assist ambulance service planners and designers to assess and provide rational service coverage based on simulated random incidents. The proposed analytical model is compared to the gravity-based two-step floating catchment area method. The study found that the proposed model could efficiently identify under-covered and overlapped ambulance service coverage to improve service quality, timeliness, and efficiency. The spatial accessibility and serviceability identified with geospatial random events show that the model is able to plan rational ambulance service coverage in consideration of households and travel time. The model can be applied to both regional and statewide coverage plans to aid the interpretation of those plans.

  17. Project Management using Critical Path Method (CPM): A Pragmatic ...

    African Journals Online (AJOL)

    Project Management using Critical Path Method (CPM): A Pragmatic Study. AM Aliyu. Abstract. Traditional techniques of decision-making have hindered the technical efficiency of most professionals and executors of the public project in many developing countries such as Nigeria. The use of Gantt chart in project planning ...

  18. comparative analysis and implementation of dijkstra's shortest path

    African Journals Online (AJOL)

    user

    TransRoute: a web-based vehicle route planning application is proposed in this paper. This application leverages existing input-output (I/O) efficient implementations of shortest path algorithms (SPAs) to implement the proposed system that will fundamentally address the problems experienced in moving people, goods and ...

  19. The cost of moving optimally: kinematic path selection

    NARCIS (Netherlands)

    Kistemaker, D.A.; Wong, J.D.; Gribble, P.L.

    2014-01-01

    It is currently unclear whether the brain plans movement kinematics explicitly or whether movement paths arise implicitly through optimization of a cost function that takes into account control and/or dynamic variables. Several cost functions are proposed in the literature that are very different in

  20. Pathways with PathWhiz.

    Science.gov (United States)

    Pon, Allison; Jewison, Timothy; Su, Yilu; Liang, Yongjie; Knox, Craig; Maciejewski, Adam; Wilson, Michael; Wishart, David S

    2015-07-01

    PathWhiz (http://smpdb.ca/pathwhiz) is a web server designed to create colourful, visually pleasing and biologically accurate pathway diagrams that are both machine-readable and interactive. As a web server, PathWhiz is accessible from almost any place and compatible with essentially any operating system. It also houses a public library of pathways and pathway components that can be easily viewed and expanded upon by its users. PathWhiz allows users to readily generate biologically complex pathways by using a specially designed drawing palette to quickly render metabolites (including automated structure generation), proteins (including quaternary structures, covalent modifications and cofactors), nucleic acids, membranes, subcellular structures, cells, tissues and organs. Both small-molecule and protein/gene pathways can be constructed by combining multiple pathway processes such as reactions, interactions, binding events and transport activities. PathWhiz's pathway replication and propagation functions allow for existing pathways to be used to create new pathways or for existing pathways to be automatically propagated across species. PathWhiz pathways can be saved in BioPAX, SBGN-ML and SBML data exchange formats, as well as PNG, PWML, HTML image map or SVG images that can be viewed offline or explored using PathWhiz's interactive viewer. PathWhiz has been used to generate over 700 pathway diagrams for a number of popular databases including HMDB, DrugBank and SMPDB. © The Author(s) 2015. Published by Oxford University Press on behalf of Nucleic Acids Research.

  1. Pension coverage among the baby boomers: initial findings from a 1993 survey.

    Science.gov (United States)

    Woods, J R

    1994-01-01

    Using data from a series of supplements to the Current Population Survey, this article presents findings on workers' coverage under employer-sponsored retirement plans in 1993, and recent trends in coverage. The analysis focuses on workers 25-54, a group that includes the baby boom generation. Among all wage and salary workers in this age range (including government employees and part-time workers), 55 percent reported participating in a retirement plan on their current primary jobs, and an additional 3 percent were covered from other jobs. After a modest decline in the early 1980's, the coverage rate has remained essentially unchanged over the past 10 years, and limited data suggest that the baby boomers are doing about as well on pension coverage as older workers at similar points in their careers. Beneath this relative stability in overall coverage, however, at least two important changes have occurred: a significant narrowing of the gender gap in coverage and a shift in types of retirement plans. Increasing numbers of workers are being covered solely by 401(k)-type plans, a development that raises new uncertainties about the form and amount of future benefits. On the other hand, limited data in this study suggest that 401(k) plans may be serving their intended purpose for the majority of workers who have them.

  2. Coverage of the Brazilian population 18 years and older by private health plans: an analysis of data from the World Health Survey Cobertura da população brasileira com 18 anos ou mais por plano de saúde privado: uma análise dos dados da Pesquisa Mundial de Saúde

    Directory of Open Access Journals (Sweden)

    Francisco Viacava

    2005-01-01

    Full Text Available This study analyzes data from the World Health Survey (WHS conducted in 2003, with a sample of 5,000 individuals 18 years and older. Some 24.0% of the interviewees had private health insurance, and the main variables associated with private coverage were number of household assets, age, level of education, formal employment, living in municipalities with more than 50,000 inhabitants, and good self-rated health. The socioeconomic profiles of needs for and use of health services in the population covered by private health plans are different, confirming the findings of other studies reporting that this population segment as a whole presents better health conditions and greater use of services as compared to the population without private coverage, even after adjusting for socio-demographic variables and self-rated health. The WHS data also suggest that individuals with private health plans do not always use their insurance to pay for services, except in the case of mammograms.Esse estudo analisa os dados da Pesquisa Mundial de Saúde (PMS, realizada em 2003, em uma amostra de 5 mil indivíduos com 18 anos ou mais. Cerca de 24,0% dos indivíduos entrevistados têm seguro privado de saúde, sendo que os fatores associados à posse do plano são o número de bens, idade, escolaridade, ter emprego formal, residir em municípios com menos de 50 mil habitantes e referir boa auto-avaliação do estado de saúde. Os perfis sócio-demográficos de necessidades e uso de serviços de saúde da população coberta por plano de saúde são distintos, confirmando os achados de outros trabalhos que referem que esse segmento populacional como um todo apresenta melhores condições de saúde e um maior uso de serviços em relação à população não coberta por seguro de saúde, mesmo após o controle por variáveis sócio-demográficas e a auto-avaliação do estado de saúde. Os dados da PMS também sugerem que pessoas cobertas por plano de saúde nem sempre

  3. [Coverage by health insurance or discount cards: a household survey in the coverage area of the Family Health Strategy].

    Science.gov (United States)

    Fontenelle, Leonardo Ferreira; Camargo, Maria Beatriz Junqueira de; Bertoldi, Andréa Dâmaso; Gonçalves, Helen; Maciel, Ethel Leonor Noia; Barros, Aluísio J D

    2017-10-26

    This study was designed to assess the reasons for health insurance coverage in a population covered by the Family Health Strategy in Brazil. We describe overall health insurance coverage and according to types, and analyze its association with health-related and socio-demographic characteristics. Among the 31.3% of persons (95%CI: 23.8-39.9) who reported "health insurance" coverage, 57.0% (95%CI: 45.2-68.0) were covered only by discount cards, which do not offer any kind of coverage for medical care, but only discounts in pharmacies, clinics, and hospitals. Both for health insurance and discount cards, the most frequently cited reasons for such coverage were "to be on the safe side" and "to receive better care". Both types of coverage were associated statistically with age (+65 vs. 15-24 years: adjusted odds ratios, aOR = 2.98, 95%CI: 1.28-6.90; and aOR = 3.67; 95%CI: 2.22-6.07, respectively) and socioeconomic status (additional standard deviation: aOR = 2.25, 95%CI: 1.62-3.14; and aOR = 1.96, 95%CI: 1.34-2.97). In addition, health insurance coverage was associated with schooling (aOR = 7.59, 95%CI: 4.44-13.00) for complete University Education and aOR = 3.74 (95%CI: 1.61-8.68) for complete Secondary Education, compared to less than complete Primary Education. Meanwhile, neither health insurance nor discount card was associated with health status or number of diagnosed diseases. In conclusion, studies that aim to assess private health insurance should be planned to distinguish between discount cards and formal health insurance.

  4. Path integrals and quantum processes

    CERN Document Server

    Swanson, Marc S

    1992-01-01

    In a clearly written and systematic presentation, Path Integrals and Quantum Processes covers all concepts necessary to understand the path integral approach to calculating transition elements, partition functions, and source functionals. The book, which assumes only a familiarity with quantum mechanics, is ideal for use as a supplemental textbook in quantum mechanics and quantum field theory courses. Graduate and post-graduate students who are unfamiliar with the path integral will also benefit from this contemporary text. Exercise sets are interspersed throughout the text to facilitate self-

  5. Optical Scintillation on Folded Paths.

    Science.gov (United States)

    1982-03-01

    8 (+ boundazy conditions) (11-16) where # is the probability amplitude function. We know that for a free particle in a one dimension motion, 20 $1_...path. Since the total probability amplitude is the sum of the contributions from all possible paths, it is given by I. *(a,b) = JD (paths) exp[is(a,b...2 L = - - and the action integral is given by tb S - L dt (11-17) ta Starting from Feynman’s basic assumption, namely that the probability

  6. Heuristic optimization of the scanning path of particle therapy beams

    Energy Technology Data Exchange (ETDEWEB)

    Pardo, J.; Donetti, M.; Bourhaleb, F.; Ansarinejad, A.; Attili, A.; Cirio, R.; Garella, M. A.; Giordanengo, S.; Givehchi, N.; La Rosa, A.; Marchetto, F.; Monaco, V.; Pecka, A.; Peroni, C.; Russo, G.; Sacchi, R. [Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Fondazione CNAO, Via Caminadella 16, I-20123, Milano (Italy); Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy)

    2009-06-15

    Quasidiscrete scanning is a delivery strategy for proton and ion beam therapy in which the beam is turned off when a slice is finished and a new energy must be set but not during the scanning between consecutive spots. Different scanning paths lead to different dose distributions due to the contribution of the unintended transit dose between spots. In this work an algorithm to optimize the scanning path for quasidiscrete scanned beams is presented. The classical simulated annealing algorithm is used. It is a heuristic algorithm frequently used in combinatorial optimization problems, which allows us to obtain nearly optimal solutions in acceptable running times. A study focused on the best choice of operational parameters on which the algorithm performance depends is presented. The convergence properties of the algorithm have been further improved by using the next-neighbor algorithm to generate the starting paths. Scanning paths for two clinical treatments have been optimized. The optimized paths are found to be shorter than the back-and-forth, top-to-bottom (zigzag) paths generally provided by the treatment planning systems. The gamma method has been applied to quantify the improvement achieved on the dose distribution. Results show a reduction of the transit dose when the optimized paths are used. The benefit is clear especially when the fluence per spot is low, as in the case of repainting. The minimization of the transit dose can potentially allow the use of higher beam intensities, thus decreasing the treatment time. The algorithm implemented for this work can optimize efficiently the scanning path of quasidiscrete scanned particle beams. Optimized scanning paths decrease the transit dose and lead to better dose distributions.

  7. -Net Approach to Sensor -Coverage

    Directory of Open Access Journals (Sweden)

    Fusco Giordano

    2010-01-01

    Full Text Available Wireless sensors rely on battery power, and in many applications it is difficult or prohibitive to replace them. Hence, in order to prolongate the system's lifetime, some sensors can be kept inactive while others perform all the tasks. In this paper, we study the -coverage problem of activating the minimum number of sensors to ensure that every point in the area is covered by at least sensors. This ensures higher fault tolerance, robustness, and improves many operations, among which position detection and intrusion detection. The -coverage problem is trivially NP-complete, and hence we can only provide approximation algorithms. In this paper, we present an algorithm based on an extension of the classical -net technique. This method gives an -approximation, where is the number of sensors in an optimal solution. We do not make any particular assumption on the shape of the areas covered by each sensor, besides that they must be closed, connected, and without holes.

  8. Media coverage of women victimization

    OpenAIRE

    Konstantinović-Vilić, Slobodanka; Žunić, Natalija

    2012-01-01

    Mass media seem to be playing the central role in our everyday life and the media impact is so overpowering nowadays that we live in a mediasaturated culture. Not only are mass media an inseparable part of our contemporary life but they also significantly define and shape our daily existence. In order to explain the cultural impact that the media coverage of crime and victimization has in our society, it is necessary to understand the relationship between crime, victimization and mass media. ...

  9. Increasing Coverage of Appropriate Vaccinations

    Science.gov (United States)

    Jacob, Verughese; Chattopadhyay, Sajal K.; Hopkins, David P.; Morgan, Jennifer Murphy; Pitan, Adesola A.; Clymer, John

    2016-01-01

    Context Population-level coverage for immunization against many vaccine-preventable diseases remains below optimal rates in the U.S. The Community Preventive Services Task Force recently recommended several interventions to increase vaccination coverage based on systematic reviews of the evaluation literature. The present study provides the economic results from those reviews. Evidence acquisition A systematic review was conducted (search period, January 1980 through February 2012) to identify economic evaluations of 12 interventions recommended by the Task Force. Evidence was drawn from included studies; estimates were constructed for the population reach of each strategy, cost of implementation, and cost per additional vaccinated person because of the intervention. Analyses were conducted in 2014. Evidence synthesis Reminder systems, whether for clients or providers, were among the lowest-cost strategies to implement and the most cost effective in terms of additional people vaccinated. Strategies involving home visits and combination strategies in community settings were both costly and less cost effective. Strategies based in settings such as schools and managed care organizations that reached the target population achieved additional vaccinations in the middle range of cost effectiveness. Conclusions The interventions recommended by the Task Force differed in reach, cost, and cost effectiveness. This systematic review presents the economic information for 12 effective strategies to increase vaccination coverage that can guide implementers in their choice of interventions to fit their local needs, available resources, and budget. PMID:26847663

  10. Shortest-Path Network Interdiction

    National Research Council Canada - National Science Library

    Israeli, Eltan; Wood, R. K

    2002-01-01

    We study the problem of interdicting the arcs in a network in order to maximize the shortest s-t path length "Interdiction" is an attack on an arc that destroys the arc or increases its effective length...

  11. Assessing Measurement Error in Medicare Coverage

    Data.gov (United States)

    U.S. Department of Health & Human Services — Assessing Measurement Error in Medicare Coverage From the National Health Interview Survey Using linked administrative data, to validate Medicare coverage estimates...

  12. Paths into Professional School: A Research Note

    Science.gov (United States)

    Helfrich, Margaret L.

    1975-01-01

    The literature of occupations and professions implies that there may be different paths into given work activities. Four different paths into dental school are described and illustrated, and different conditions are associated with each path. (Author/BP)

  13. Medicaid Coverage of Methadone Maintenance and the Use of Opioid Agonist Therapy Among Pregnant Women in Specialty Treatment.

    Science.gov (United States)

    Bachhuber, Marcus A; Mehta, Pooja K; Faherty, Laura J; Saloner, Brendan

    2017-12-01

    Opioid agonist therapy (OAT) is the standard of care for pregnant women with opioid use disorder (OUD). Medicaid coverage policies may strongly influence OAT use in this group. To examine the association between Medicaid coverage of methadone maintenance and planned use of OAT in the publicly funded treatment system. Retrospective cross-sectional analysis of treatment admissions in 30 states extracted from the Treatment Episode Data Set (2013 and 2014). Medicaid-insured pregnant women with OUD (n=3354 treatment admissions). The main outcome measure was planned use of OAT on admission. The main exposure was state Medicaid coverage of methadone maintenance. Using multivariable logistic regression models adjusting for sociodemographic, substance use, and treatment characteristics, we compared the probability of planned OAT use in states with Medicaid coverage of methadone maintenance versus states without coverage. A total of 71% of pregnant women admitted to OUD treatment were 18-29 years old, 85% were white non-Hispanic, and 56% used heroin. Overall, 74% of admissions occurred in the 18 states with Medicaid coverage of methadone maintenance and 53% of admissions involved planned use of OAT. Compared with states without Medicaid coverage of methadone maintenance, admissions in states with coverage were significantly more likely to involve planned OAT use (adjusted difference: 32.9 percentage points, 95% confidence interval, 19.2-46.7). Including methadone maintenance in the Medicaid benefit is essential to increasing OAT among pregnant women with OUD and should be considered a key policy strategy to enhance outcomes for mothers and newborns.

  14. Path-finding in real and simulated rats

    DEFF Research Database (Denmark)

    Tamosiunaite, Minija; Ainge, James; Kulvicius, Tomas

    2008-01-01

    A large body of experimental evidence suggests that the hippocampal place field system is involved in reward based navigation learning in rodents. Reinforcement learning (RL) mechanisms have been used to model this, associating the state space in an RL-algorithm to the place-field map in a rat...... convergence of RL-algorithms is also influenced by the state space characteristics, different PF-sizes and densities, leading to a different degree of overlap, were also investigated. The model rat learns finding a reward opposite to its starting point. We observed that the combination of biased straight...... exploration, overlapping coverage and probabilistic firing will strongly impair the convergence of learning. When the degree of randomness in the exploration is increased, convergence improves, but the distribution of straight path segments becomes unrealistic and paths become 'wiggly'. To mend this situation...

  15. Path-oriented test cases generation based adaptive genetic algorithm.

    Science.gov (United States)

    Bao, Xiaoan; Xiong, Zijian; Zhang, Na; Qian, Junyan; Wu, Biao; Zhang, Wei

    2017-01-01

    The automatic generation of test cases oriented paths in an effective manner is a challenging problem for structural testing of software. The use of search-based optimization methods, such as genetic algorithms (GAs), has been proposed to handle this problem. This paper proposes an improved adaptive genetic algorithm (IAGA) for test cases generation by maintaining population diversity. It uses adaptive crossover rate and mutation rate in dynamic adjustment according to the differences between individual similarity and fitness values, which enhances the exploitation of searching global optimum. This novel approach is experimented and tested on a benchmark and six industrial programs. The experimental results confirm that the proposed method is efficient in generating test cases for path coverage.

  16. Fuzzy Critical Path Method Based on Lexicographic Ordering

    Directory of Open Access Journals (Sweden)

    Phani Bushan Rao P

    2012-01-01

    Full Text Available The Critical Path Method (CPM is useful for planning and control of complex projects. The CPM identifies the critical activities in the critical path of an activity network. The successful implementation of CPM requires the availability of clear determined time duration for each activity. However, in practical situations this requirement is usually hard to fulfil since many of activities will be executed for the first time. Hence, there is always uncertainty about the time durations of activities in the network planning.  This has led to the development of fuzzy CPM.  In this paper, we use a Lexicographic ordering method for ranking fuzzy numbers to a critical path method in a fuzzy project network, where the duration time of each activity is represented by a trapezoidal fuzzy number. The proposed method is compared with fuzzy CPM based on different ranking methods of fuzzy numbers. The comparison reveals that the method proposed in this paper is more effective in determining the activity criticalities and finding the critical path.   This new method is simple in calculating fuzzy critical path than many methods proposed so far in literature.  

  17. Navigating the Path to a Biomedical Science Career

    Science.gov (United States)

    Zimmerman, Andrea McNeely

    The number of biomedical PhD scientists being trained and graduated far exceeds the number of academic faculty positions and academic research jobs. If this trend is compelling biomedical PhD scientists to increasingly seek career paths outside of academia, then more should be known about their intentions, desires, training experiences, and career path navigation. Therefore, the purpose of this study was to understand the process through which biomedical PhD scientists are trained and supported for navigating future career paths. In addition, the study sought to determine whether career development support efforts and opportunities should be redesigned to account for the proportion of PhD scientists following non-academic career pathways. Guided by the social cognitive career theory (SCCT) framework this study sought to answer the following central research question: How does a southeastern tier 1 research university train and support its biomedical PhD scientists for navigating their career paths? Key findings are: Many factors influence PhD scientists' career sector preference and job search process, but the most influential were relationships with faculty, particularly the mentor advisor; Planned activities are a significant aspect of the training process and provide skills for career success; and Planned activities provided skills necessary for a career, but influential factors directed the career path navigated. Implications for practice and future research are discussed.

  18. An Optimized Hybrid Approach for Path Finding

    OpenAIRE

    Ansari, Ahlam; Sayyed, Mohd Amin; Ratlamwala, Khatija; Shaikh, Parvin

    2015-01-01

    Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms which require destination co-ordinates to compute path, the proposed algorithm comprises of a new method which finds path using backtracking without requiring destination co-ordinates. Moreover, in existing path finding algorithm, the number of iterations req...

  19. Distributed Particle Swarm Optimization and Simulated Annealing for Energy-efficient Coverage in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Dao-Wei Bi

    2007-05-01

    Full Text Available The limited energy supply of wireless sensor networks poses a great challenge for the deployment of wireless sensor nodes. In this paper, we focus on energy-efficient coverage with distributed particle swarm optimization and simulated annealing. First, the energy-efficient coverage problem is formulated with sensing coverage and energy consumption models. We consider the network composed of stationary and mobile nodes. Second, coverage and energy metrics are presented to evaluate the coverage rate and energy consumption of a wireless sensor network, where a grid exclusion algorithm extracts the coverage state and Dijkstra’s algorithm calculates the lowest cost path for communication. Then, a hybrid algorithm optimizes the energy consumption, in which particle swarm optimization and simulated annealing are combined to find the optimal deployment solution in a distributed manner. Simulated annealing is performed on multiple wireless sensor nodes, results of which are employed to correct the local and global best solution of particle swarm optimization. Simulations of wireless sensor node deployment verify that coverage performance can be guaranteed, energy consumption of communication is conserved after deployment optimization and the optimization performance is boosted by the distributed algorithm. Moreover, it is demonstrated that energy efficiency of wireless sensor networks is enhanced by the proposed optimization algorithm in target tracking applications.

  20. 15 CFR 14.31 - Insurance coverage.

    Science.gov (United States)

    2010-01-01

    ... 15 Commerce and Foreign Trade 1 2010-01-01 2010-01-01 false Insurance coverage. 14.31 Section 14... COMMERCIAL ORGANIZATIONS Post-Award Requirements Property Standards § 14.31 Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real property and equipment acquired...

  1. 40 CFR 30.31 - Insurance coverage.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Insurance coverage. 30.31 Section 30.31... NON-PROFIT ORGANIZATIONS Post-Award Requirements Property Standards § 30.31 Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real property and equipment...

  2. 45 CFR 74.31 - Insurance coverage.

    Science.gov (United States)

    2010-10-01

    ... 45 Public Welfare 1 2010-10-01 2010-10-01 false Insurance coverage. 74.31 Section 74.31 Public..., AND COMMERCIAL ORGANIZATIONS Post-Award Requirements Property Standards § 74.31 Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real property and equipment...

  3. 28 CFR 70.31 - Insurance coverage.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Insurance coverage. 70.31 Section 70.31...-PROFIT ORGANIZATIONS Post-Award Requirements Property Standards § 70.31 Insurance coverage. Recipients must, at a minimum, provide the equivalent insurance coverage for real property and equipment acquired...

  4. 32 CFR 32.31 - Insurance coverage.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false Insurance coverage. 32.31 Section 32.31 National... NON-PROFIT ORGANIZATIONS Post-Award Requirements Property Standards § 32.31 Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real property and equipment...

  5. 38 CFR 49.31 - Insurance coverage.

    Science.gov (United States)

    2010-07-01

    ... 38 Pensions, Bonuses, and Veterans' Relief 2 2010-07-01 2010-07-01 false Insurance coverage. 49.31... NON-PROFIT ORGANIZATIONS Post-Award Requirements Property Standards § 49.31 Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real property and equipment...

  6. 24 CFR 84.31 - Insurance coverage.

    Science.gov (United States)

    2010-04-01

    ... 24 Housing and Urban Development 1 2010-04-01 2010-04-01 false Insurance coverage. 84.31 Section 84.31 Housing and Urban Development Office of the Secretary, Department of Housing and Urban... Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real...

  7. 49 CFR 19.31 - Insurance coverage.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 1 2010-10-01 2010-10-01 false Insurance coverage. 19.31 Section 19.31... Requirements Property Standards § 19.31 Insurance coverage. Recipients shall, at a minimum, provide the equivalent insurance coverage for real property and equipment acquired with Federal funds as provided to...

  8. Endoscopic coverage of fetal myelomeningocele in utero.

    Science.gov (United States)

    Bruner, J P; Richards, W O; Tulipan, N B; Arney, T L

    1999-01-01

    Our goal was to evaluate the safety and efficacy of minimally invasive surgery for the coverage of myelomeningocele in utero. Women in the mid-second trimester of a pregnancy complicated by fetal myelomeningocele were offered an experimental procedure designed to prevent ongoing exposure of the spinal cord to the intrauterine environment. The procedure consisted of maternal laparotomy while the patient was under both general and epidural anesthesia, with exposure of the gravid uterus. Endoscopic ports were placed for camera and operating instruments. Amniotic fluid was removed and replaced with carbon dioxide. The fetus was then positioned and a maternal split-thickness skin graft was placed over the exposed spinal cord or neural elements. The skin graft and a covering of Surgicel Absorbable Hemostat were attached with fibrin glue prepared from autologous cryoprecipitate. Four fetuses with open myelomeningocele underwent endoscopic coverage of the spinal lesion between 22 weeks 3 days and 24 weeks 3 days of gestation. One infant, delivered by planned cesarean section at 35 weeks' gestation after demonstration of fetal lung maturity, is almost 3 years old. A second infant was delivered by cesarean section at 28 weeks after preterm labor and is now almost 6 months old. Both survivors manifest only mild motor and somatosensory deficits. One fetus who was delivered 1 week after operation after development of amnionitis died in the delivery room of extreme prematurity. The final fetus died intraoperatively from abruptio placentae. Minimally invasive fetal surgery appears to constitute a feasible approach to nonlethal fetal malformations that result in progressive and disabling organ damage.

  9. Asteroidal Quadruples in non Rooted Path Graphs

    Directory of Open Access Journals (Sweden)

    Gutierrez Marisa

    2015-11-01

    Full Text Available A directed path graph is the intersection graph of a family of directed subpaths of a directed tree. A rooted path graph is the intersection graph of a family of directed subpaths of a rooted tree. Rooted path graphs are directed path graphs. Several characterizations are known for directed path graphs: one by forbidden induced subgraphs and one by forbidden asteroids. It is an open problem to find such characterizations for rooted path graphs. For this purpose, we are studying in this paper directed path graphs that are non rooted path graphs. We prove that such graphs always contain an asteroidal quadruple.

  10. Camera Coverage Estimation Based on Multistage Grid Subdivision

    Directory of Open Access Journals (Sweden)

    Meizhen Wang

    2017-04-01

    Full Text Available Visual coverage is one of the most important quality indexes for depicting the usability of an individual camera or camera network. It is the basis for camera network deployment, placement, coverage-enhancement, planning, etc. Precision and efficiency are critical influences on applications, especially those involving several cameras. This paper proposes a new method to efficiently estimate superior camera coverage. First, the geographic area that is covered by the camera and its minimum bounding rectangle (MBR without considering obstacles is computed using the camera parameters. Second, the MBR is divided into grids using the initial grid size. The status of the four corners of each grid is estimated by a line of sight (LOS algorithm. If the camera, considering obstacles, covers a corner, the status is represented by 1, otherwise by 0. Consequently, the status of a grid can be represented by a code that is a combination of 0s or 1s. If the code is not homogeneous (not four 0s or four 1s, the grid will be divided into four sub-grids until the sub-grids are divided into a specific maximum level or their codes are homogeneous. Finally, after performing the process above, total camera coverage is estimated according to the size and status of all grids. Experimental results illustrate that the proposed method’s accuracy is determined by the method that divided the coverage area into the smallest grids at the maximum level, while its efficacy is closer to the method that divided the coverage area into the initial grids. It considers both efficiency and accuracy. The initial grid size and maximum level are two critical influences on the proposed method, which can be determined by weighing efficiency and accuracy.

  11. Insurance cancellations in context: stability of coverage in the nongroup market prior to health reform.

    Science.gov (United States)

    Sommers, Benjamin D

    2014-05-01

    Recent cancellations of nongroup health insurance plans generated much policy debate and raised concerns that the Affordable Care Act (ACA) may increase the number of uninsured Americans in the short term. This article provides evidence on the stability of nongroup coverage using US census data for the period 2008-11, before ACA provisions took effect. The principal findings are threefold. First, this market was characterized by high turnover: Only 42 percent of people with nongroup coverage at the outset of the study period retained that coverage after twelve months. Second, 80 percent of people experiencing coverage changes acquired other insurance within a year, most commonly from an employer. Third, turnover varied across groups, with stable coverage more common for whites and self-employed people than for other groups. Turnover was particularly high among adults ages 19-35, with only 21 percent of young adults retaining continuous nongroup coverage for two years. Given estimates from 2012 that 10.8 million people were covered in this market, these results suggest that 6.2 million people leave nongroup coverage annually. This suggests that the nongroup market was characterized by frequent disruptions in coverage before the ACA and that the effects of the recent cancellations are not necessarily out of the norm. These results can serve as a useful pre-ACA baseline with which to evaluate the law's long-term impact on the stability of nongroup coverage.

  12. Achieving and Sustaining Universal Health Coverage: Fiscal Reform of the National Health Insurance in Taiwan.

    Science.gov (United States)

    Lan, Jesse Yu-Chen

    2017-12-01

    The paper discusses the expansion of the universal health coverage (UHC) in Taiwan through the establishment of National Health Insurance (NHI), and the fiscal crisis it caused. Two key questions are addressed: How did the NHI gradually achieve universal coverage, and yet cause Taiwanese health spending to escalate to fiscal crisis? What measures have been taken to reform the NHI finance and achieve moderate success to date? The main argument of this paper is that the Taiwanese Government did try to implement various reforms to save costs and had moderate success, but the path-dependent process of reform does not allow increasing contribution rates significantly and thereby makes sustainability challenging.

  13. On the Meta Distribution of Coverage Probability in Uplink Cellular Networks

    KAUST Repository

    Elsawy, Hesham

    2017-04-07

    This letter studies the meta distribution of coverage probability (CP), within a stochastic geometry framework, for cellular uplink transmission with fractional path-loss inversion power control. Using the widely accepted Poisson point process (PPP) for modeling the spatial locations of base stations (BSs), we obtain the percentiles of users that achieve a target uplink CP over an arbitrary, but fixed, realization of the PPP. To this end, the effect of the users activity factor (p) and the path-loss compensation factor () on the uplink performance are analyzed. The results show that decreasing p and/or increasing reduce the CP variation around the spatially averaged value.

  14. Remote sensing for industrial applications in the energy business: digital territorial data integration for planning of overhead power transmission lines (OHTLs)

    Science.gov (United States)

    Terrazzino, Alfonso; Volponi, Silvia; Borgogno Mondino, Enrico

    2001-12-01

    An investigation has been carried out, concerning remote sensing techniques, in order to assess their potential application to the energy system business: the most interesting results concern a new approach, based on digital data from remote sensing, to infrastructures with a large territorial distribution: in particular OverHead Transmission Lines, for the high voltage transmission and distribution of electricity on large distances. Remote sensing could in principle be applied to all the phases of the system lifetime, from planning to design, to construction, management, monitoring and maintenance. In this article, a remote sensing based approach is presented, targeted to the line planning: optimization of OHTLs path and layout, according to different parameters (technical, environmental and industrial). Planning new OHTLs is of particular interest in emerging markets, where typically the cartography is missing or available only on low accuracy scale (1:50.000 and lower), often not updated. Multi- spectral images can be used to generate thematic maps of the region of interest for the planning (soil coverage). Digital Elevation Models (DEMs), allow the planners to easily access the morphologic information of the surface. Other auxiliary information from local laws, environmental instances, international (IEC) standards can be integrated in order to perform an accurate optimized path choice and preliminary spotting of the OHTLs. This operation is carried out by an ABB proprietary optimization algorithm: the output is a preliminary path that bests fits the optimization parameters of the line in a life cycle approach.

  15. I-FORCAST: Rapid Flight Planning Tool

    Science.gov (United States)

    Oaida, Bogdan; Khan, Mohammed; Mercury, Michael B.

    2012-01-01

    I-FORCAST (Instrument - Field of Regard Coverage Analysis and Simulation Tool) is a flight planning tool specifically designed for quickly verifying the feasibility and estimating the cost of airborne remote sensing campaigns (see figure). Flights are simulated by being broken into three predefined routing algorithms as necessary: mapping in a snaking pattern, mapping the area around a point target (like a volcano) with a star pattern, and mapping the area between a list of points. The tool has been used to plan missions for radar, lidar, and in-situ atmospheric measuring instruments for a variety of aircraft. It has also been used for global and regional scale campaigns and automatically includes landings when refueling is required. The software has been compared to the flight times of known commercial aircraft route travel times, as well as a UAVSAR (Uninhabited Aerial Vehicle Synthetic Aperture Radar) campaign, and was within 15% of the actual flight time. Most of the discrepancy is due to non-optimal flight paths taken by actual aircraft to avoid restricted airspace and used to follow landing and take-off corridors.

  16. Disparities in Private Health Insurance Coverage of Skilled Care

    Directory of Open Access Journals (Sweden)

    Stacey A. Tovino

    2017-10-01

    Full Text Available This article compares and contrasts public and private health insurance coverage of skilled medical rehabilitation, including cognitive rehabilitation, physical therapy, occupational therapy, speech-language pathology, and skilled nursing services (collectively, skilled care. As background, prior scholars writing in this area have focused on Medicare coverage of skilled care and have challenged coverage determinations limiting Medicare coverage to beneficiaries who are able to demonstrate improvement in their conditions within a specific period of time (the Improvement Standard. By and large, these scholars have applauded the settlement agreement approved on 24 January 2013, by the U.S. District Court for the District of Vermont in Jimmo v. Sebelius (Jimmo, as well as related motions, rulings, orders, government fact sheets, and Medicare program manual statements clarifying that Medicare covers skilled care that is necessary to prevent or slow a beneficiary’s deterioration or to maintain a beneficiary at his or her maximum practicable level of function even though no further improvement in the beneficiary’s condition is expected. Scholars who have focused on beneficiaries who have suffered severe brain injuries, in particular, have framed public insurance coverage of skilled brain rehabilitation as an important civil, disability, and educational right. Given that approximately two-thirds of Americans with health insurance are covered by private health insurance and that many private health plans continue to require their insureds to demonstrate improvement within a short period of time to obtain coverage of skilled care, scholarship assessing private health insurance coverage of skilled care is important but noticeably absent from the literature. This article responds to this gap by highlighting state benchmark plans’ and other private health plans’ continued use of the Improvement Standard in skilled care coverage decisions and

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

    Science.gov (United States)

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

    2014-01-01

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

  18. Visibility-based Planners for Mobile Robots Capable to Handle Path Existence Queries in Temporal Logic

    Directory of Open Access Journals (Sweden)

    POMARLAN, M.

    2014-02-01

    Full Text Available Over the past few years, sampling based planner algorithms have been applied to planning queries formulated in path existence temporal logic, a formal system that allows more complex specifications on a solution path and is useful for task planning for mobile robots or synthesizing controllers for dynamical systems. In this paper, we extend the visibility heuristic to planners capable to handle finite path existence temporal logic queries. Our interest is justified by the visibility heuristic's ability to construct small roadmaps that are fast to search. We find that the visibility heuristic must be amended so that it can reliably handle temporal logic queries and we propose a suitable modification of the heuristic. We then present a method to extract a solution path from a roadmap, if such a solution exists. Finally, we show how the planner can be used to generate looping paths by augmenting it with a gap reduction step.

  19. Speckle Imaging Over Horizontal Paths

    Energy Technology Data Exchange (ETDEWEB)

    Carrano, C J

    2002-05-21

    Atmospheric aberrations reduce the resolution and contrast in surveillance images recorded over horizontal or slant paths. This paper describes our recent horizontal and slant path imaging experiments of extended scenes as well as the results obtained using speckle imaging. The experiments were performed with an 8-inch diameter telescope placed on either a rooftop or hillside and cover ranges of interest from 0.5 km up to 10 km. The scenery includes resolution targets, people, vehicles, and other structures. The improvement in image quality using speckle imaging is dramatic in many cases, and depends significantly upon the atmospheric conditions. We quantify resolution improvement through modulation transfer function measurement comparisons.

  20. Strings, paths, and standard tableaux

    CERN Document Server

    Dasmahapatra, S

    1996-01-01

    For the vacuum sectors of regime-III ABF models, we observe that two sets of combinatorial objects: the strings which parametrize the row-to-row transfer matrix eigenvectors, and the paths which parametrize the corner transfer matrix eigenvectors, can both be expressed in terms of the same set of standard tableaux. Furthermore, the momenta of the strings, the energies of the paths, and the charges of the tableaux are such that there is a weight-preserving bijection between the two sets of eigenvectors, wherein the tableaux play an interpolating role. This bijection is so natural, that we conjecture that it exists in general.

  1. NSW annual immunisation coverage report, 2011.

    Science.gov (United States)

    Hull, Brynley; Dey, Aditi; Campbell-Lloyd, Sue; Menzies, Robert I; McIntyre, Peter B

    2012-12-01

    This annual report, the third in the series, documents trends in immunisation coverage in NSW for children, adolescents and the elderly, to the end of 2011. Data from the Australian Childhood Immunisation Register, the NSW School Immunisation Program and the NSW Population Health Survey were used to calculate various measures of population coverage. During 2011, greater than 90% coverage was maintained for children at 12 and 24 months of age. For children at 5 years of age the improvement seen in 2010 was sustained, with coverage at or near 90%. For adolescents, there was improved coverage for all doses of human papillomavirus vaccine, both doses of hepatitis B vaccine, varicella vaccine and the dose of diphtheria, tetanus and acellular pertussis given to school attendees in Years 7 and 10. Pneumococcal vaccination coverage in the elderly has been steadily rising, although it has remained lower than the influenza coverage estimates. This report provides trends in immunisation coverage in NSW across the age spectrum. The inclusion of coverage estimates for the pneumococcal conjugate, varicella and meningococcal C vaccines in the official coverage assessments for 'fully immunised' in 2013 is a welcome initiative.

  2. Estimation of measles vaccination coverage using the Lot Quality Assurance Sampling (LQAS) method--Tamilnadu, India, 2002-2003.

    Science.gov (United States)

    Sivasankaran, Saravanan; Manickam, P; Ramakrishnan, R; Hutin, Y; Gupte, M D

    2006-04-28

    As part of the global strategic plan to reduce the number of measles deaths in India, the state of Tamilnadu aims at > or =95% measles vaccination coverage. A study was conducted to measure overall coverage levels for the Poondi Primary Health Center (PPHC), a rural health-care facility in Tiruvallur District, and to determine whether any of the PPHC's six health subcenters had coverage levels vaccination coverage levels vaccination status of 73 children aged 12--23 months had to be assessed in each health subcenter coverage area, with a 5% level of significance and a decision value of two. If more than two children were unvaccinated, the null hypothesis (i.e., that coverage in the health subcenter was low [ or =95%). All data were pooled in a stratified sample to estimate overall total coverage in the PPHC area. For two (33.3%) of the six health subcenters, more than two children were unvaccinated (i.e., coverage was vaccinated. LQAS techniques proved useful in identifying small health areas with lower vaccination coverage, which helps to target interventions. Monthly review of vaccination coverage by subcenter and village is recommended to identify pockets of unvaccinated children and to maintain uniform high coverage in the PPHC area.

  3. Cholera in Haiti: Reproductive numbers and vaccination coverage estimates

    Science.gov (United States)

    Mukandavire, Zindoga; Smith, David L.; Morris, J. Glenn, Jr.

    2013-01-01

    Cholera reappeared in Haiti in October, 2010 after decades of absence. Cases were first detected in Artibonite region and in the ensuing months the disease spread to every department in the country. The rate of increase in the number of cases at the start of epidemics provides valuable information about the basic reproductive number (). Quantitative analysis of such data gives useful information for planning and evaluating disease control interventions, including vaccination. Using a mathematical model, we fitted data on the cumulative number of reported hospitalized cholera cases in Haiti. varied by department, ranging from 1.06 to 2.63. At a national level, 46% vaccination coverage would result in an () cholera vaccines in endemic and non-endemic regions, our results suggest that moderate cholera vaccine coverage would be an important element of disease control in Haiti.

  4. On the path to differentiation

    DEFF Research Database (Denmark)

    Martinsen, Dorte Sindbjerg; Uygur, Ayca

    2014-01-01

    by examining the ‘path to differentiation’ within EU working time regulation as it has unfolded over time. It identifies the ‘opt-out’ as a means of differentiation adopted to overcome policy deadlocks within collective decision-making, albeit one with unforeseen consequences. In particular, the contribution...

  5. How to measure path length?

    NARCIS (Netherlands)

    Stroeven, P.

    2015-01-01

    Path length measuring is a relevant engineering problem. Leonardo Da Vinci designed for the military appropriate equipment, the podometer, to do so. Modern equipment such as step meters and map meters are quite similar to Da Vinci?s design, despite geometrical statistical - stereological - methods

  6. Path integral for inflationary perturbations

    NARCIS (Netherlands)

    Prokopec, T.; Rigopoulos, G.

    2010-01-01

    The quantum theory of cosmological perturbations in single-field inflation is formulated in terms of a path integral. Starting from a canonical formulation, we show how the free propagators can be obtained from the well-known gauge-invariant quadratic action for scalar and tensor perturbations, and

  7. Using pharmacoepidemiology to inform drug coverage policy: initial lessons from a two-province collaborative.

    Science.gov (United States)

    Paterson, J Michael; Laupacis, Andreas; Bassett, Ken; Anderson, Geoffrey M

    2006-01-01

    Prescription drug plan managers seek "real-world" evidence regarding the safety and effectiveness of drugs and drug coverage policies. University-based pharmacoepidemiologists with access to administrative health data can help meet these information needs and, by collaborating with other health plans, exploit variations in plan policy. Canada, with its universal health insurance, public drug benefit plans, and population-based linked health care databases, is an ideal setting for such research. Here we describe our initial experience in collaborating with researchers and drug plan managers in British Columbia and Ontario.

  8. Asymmetric k-Center with Minimum Coverage

    DEFF Research Database (Denmark)

    Gørtz, Inge Li

    2008-01-01

    In this paper we give approximation algorithms and inapproximability results for various asymmetric k-center with minimum coverage problems. In the k-center with minimum coverage problem, each center is required to serve a minimum number of clients. These problems have been studied by Lim et al. [A....... Lim, B. Rodrigues, F. Wang, Z. Xu, k-center problems with minimum coverage, Theoret. Comput. Sci. 332 (1–3) (2005) 1–17] in the symmetric setting....

  9. Post Auction Coverage Baseline 2.0

    Data.gov (United States)

    Federal Communications Commission — FINAL TELEVISION CHANNEL ASSIGNMENT INFORMATION RELATED TO INCENTIVE AUCTION REPACKING. NOTE: This file provides new baseline coverage and population data for all...

  10. A coverage metric to evaluate tests for continuous-time dynamic systems

    Science.gov (United States)

    Skruch, Paweł

    2011-06-01

    We present a test quality measure that allows for quantifying the completeness of black-box tests for continuous-time dynamic systems. The measure is based on a state space model of the system under test. The metric has been called the state space coverage. The classical coverage metrics, such as statement, branch, and path coverage, are not appropriate for dynamic systems because such systems are defined by differential equations and usually have an infinite number of states. The objective of the paper is to develop a necessary foundation for the metric as well as to present guidance on its application to software systems that incorporate dynamic behavior. The purpose of the proposed solution is to better assure the test engineer that a given test set is sufficient and to indicate where additional testing is required. An application example is presented to illustrate theoretical analysis and mathematical formulation.

  11. Enzymatic reaction paths as determined by transition path sampling

    Science.gov (United States)

    Masterson, Jean Emily

    Enzymes are biological catalysts capable of enhancing the rates of chemical reactions by many orders of magnitude as compared to solution chemistry. Since the catalytic power of enzymes routinely exceeds that of the best artificial catalysts available, there is much interest in understanding the complete nature of chemical barrier crossing in enzymatic reactions. Two specific questions pertaining to the source of enzymatic rate enhancements are investigated in this work. The first is the issue of how fast protein motions of an enzyme contribute to chemical barrier crossing. Our group has previously identified sub-picosecond protein motions, termed promoting vibrations (PVs), that dynamically modulate chemical transformation in several enzymes. In the case of human heart lactate dehydrogenase (hhLDH), prior studies have shown that a specific axis of residues undergoes a compressional fluctuation towards the active site, decreasing a hydride and a proton donor--acceptor distance on a sub-picosecond timescale to promote particle transfer. To more thoroughly understand the contribution of this dynamic motion to the enzymatic reaction coordinate of hhLDH, we conducted transition path sampling (TPS) using four versions of the enzymatic system: a wild type enzyme with natural isotopic abundance; a heavy enzyme where all the carbons, nitrogens, and non-exchangeable hydrogens were replaced with heavy isotopes; and two versions of the enzyme with mutations in the axis of PV residues. We generated four separate ensembles of reaction paths and analyzed each in terms of the reaction mechanism, time of barrier crossing, dynamics of the PV, and residues involved in the enzymatic reaction coordinate. We found that heavy isotopic substitution of hhLDH altered the sub-picosecond dynamics of the PV, changed the favored reaction mechanism, dramatically increased the time of barrier crossing, but did not have an effect on the specific residues involved in the PV. In the mutant systems

  12. Internet plan and planning

    Directory of Open Access Journals (Sweden)

    Kahriman Emina

    2008-01-01

    Full Text Available Paper discuss specific features of internet plan as well as planning as management process in general in the contemporary environment. No need to stress out that marketing plan and marketing planning is core activity in approaching to market. At the same time, there are a lot specific c request in preparing marketing plan comparing to business planning due to marketing plan is an essential part. The importance of internet plan and planning rely on specific features of the internet network but as a part of general corporate as well as marketing strategy.

  13. Construction of Optimal-Path Maps for Homogeneous-Cost-Region Path-Planning Problems

    Science.gov (United States)

    1989-09-01

    length. " Convex Homogeneous-Cost Areas. A convex homogeneous-cost area ( tlCA ) is a convex polygon with a constant positive cost per distance travelled...JICA opposite-edge boundaries and tlCA cornercuting boundaries. HCA opposite-edge boundaries are the generalization of obstacle op- posite-cdge

  14. Operationalizing universal health coverage in Nigeria through social health insurance

    Science.gov (United States)

    Okpani, Arnold Ikedichi; Abimbola, Seye

    2015-01-01

    Nigeria faces challenges that delay progress toward the attainment of the national government's declared goal of universal health coverage (UHC). One such challenge is system-wide inequities resulting from lack of financial protection for the health care needs of the vast majority of Nigerians. Only a small proportion of Nigerians have prepaid health care. In this paper, we draw on existing evidence to suggest steps toward reforming health care financing in Nigeria to achieve UHC through social health insurance. This article sets out to demonstrate that a viable path to UHC through expanding social health insurance exists in Nigeria. We argue that encouraging the states which are semi-autonomous federating units to setup and manage their own insurance schemes presents a unique opportunity for rapidly scaling up prepaid coverage for Nigerians. We show that Nigeria's federal structure which prescribes a sharing of responsibilities for health care among the three tiers of government presents serious challenges for significantly extending social insurance to uncovered groups. We recommend that rather than allowing this governance structure to impair progress toward UHC, it should be leveraged to accelerate the process by supporting the states to establish and manage their own insurance funds while encouraging integration with the National Health Insurance Scheme. PMID:26778879

  15. Innovation paths in wind power

    DEFF Research Database (Denmark)

    Lema, Rasmus; Nordensvärd, Johan; Urban, Frauke

    between Denmark and Germany when it comes to innovation pathways, both in technological and organisational innovation. In turbine technology, the similarities are the constant increase in turbine size and quality. The key difference to be found is the relative importance of different turbine designs...... Denmark and Germany have common national causes, while company-specific strategies also influence the innovation paths in significant ways. This raises important questions about the national specificity of innovation paths in wind power development. Finally, the paper briefly addresses the increasing......Denmark and Germany both make substantial investments in low carbon innovation, not least in the wind power sector. These investments in wind energy are driven by the twin objectives of reducing carbon emissions and building up international competitive advantage. Support for wind power dates back...

  16. Stochastic control with rough paths

    Energy Technology Data Exchange (ETDEWEB)

    Diehl, Joscha [University of California San Diego (United States); Friz, Peter K., E-mail: friz@math.tu-berlin.de [TU & WIAS Berlin (Germany); Gassiat, Paul [CEREMADE, Université Paris-Dauphine, PSL Research University (France)

    2017-04-15

    We study a class of controlled differential equations driven by rough paths (or rough path realizations of Brownian motion) in the sense of Lyons. It is shown that the value function satisfies a HJB type equation; we also establish a form of the Pontryagin maximum principle. Deterministic problems of this type arise in the duality theory for controlled diffusion processes and typically involve anticipating stochastic analysis. We make the link to old work of Davis and Burstein (Stoch Stoch Rep 40:203–256, 1992) and then prove a continuous-time generalization of Roger’s duality formula [SIAM J Control Optim 46:1116–1132, 2007]. The generic case of controlled volatility is seen to give trivial duality bounds, and explains the focus in Burstein–Davis’ (and this) work on controlled drift. Our study of controlled rough differential equations also relates to work of Mazliak and Nourdin (Stoch Dyn 08:23, 2008).

  17. Career paths in occupational medicine.

    Science.gov (United States)

    Harber, Philip; Bontemps, Johnny; Saechao, Kaochoy; Wu, Samantha; Liu, Yihang; Elashoff, David

    2012-11-01

    To describe career path patterns for occupational medicine (OM) physicians. A convenience sample of 129 occupational physicians described work activities and locations at several career points up to 20 years ago, first OM position, and 10 years after expectations. Clinical activities were important throughout (eg, 41% and 46% of occupational physicians reported frequently treating patients 20 years ago and currently). Practice locations changed more markedly, with increased multisite clinics and hospital/medical center-based practices. Performing mainly clinical activities in a first job increased from 82% to 97% over the past 20 years. Career transitions between clinical and nonclinical roles were common (40% of participants). Many anticipate transition to nonclinical work over 10 years. Activities have not fundamentally changed, but practice locations have evolved. Both clinical and management activities remain important, and path to managerial positions increasingly begins in clinical practice.

  18. Automatic planning of head and neck treatment plans

    DEFF Research Database (Denmark)

    Hazell, Irene; Bzdusek, Karl; Kumar, Prashant

    2016-01-01

    Treatment planning is time-consuming and the outcome depends on the person performing the optimization. A system that automates treatment planning could potentially reduce the manual time required for optimization and could also pro-vide a method to reduce the variation between persons performing...... treatment plans were reoptimized with the Auto-Planning module. Comparison of the two types of treatment plans were performed using DVH metrics and a blinded clinical evaluation by two senior radiation oncologists using a scale from one to six. Both evaluations investigated dose coverage of target and dose...

  19. Smooth paths of conditional expectations

    OpenAIRE

    Andruchow, Esteban; Larotonda, Gabriel

    2010-01-01

    Let A be a von Neumann algebra with a finite trace $\\tau$, represented in $H=L^2(A,\\tau)$, and let $B_t\\subset A$ be sub-algebras, for $t$ in an interval $I$. Let $E_t:A\\to B_t$ be the unique $\\tau$-preserving conditional expectation. We say that the path $t\\mapsto E_t$ is smooth if for every $a\\in A$ and $v \\in H$, the map $$ I\

  20. The path of code linting

    CERN Multimedia

    CERN. Geneva

    2017-01-01

    Join the path of code linting and discover how it can help you reach higher levels of programming enlightenment. Today we will cover how to embrace code linters to offload cognitive strain on preserving style standards in your code base as well as avoiding error-prone constructs. Additionally, I will show you the journey ahead for integrating several code linters in the programming tools your already use with very little effort.

  1. Inked Careers: Tattooing Professional Paths

    OpenAIRE

    Gabriela DeLuca; Sidinei Rocha-de-Oliveira

    2016-01-01

    Abstract The concept of career has an interdisciplinary and historical constitution, which includes persons, groups, organizations and society. Given that, we aim to deepen the interactionist notion of career from the understanding of a deviant path, supported by a theory and a method appropriated to the cited call for interdisciplinary approaches. Dilemmas (Hughes, 1958) and conflicts (Hughes, 1937) emerged as important analytical categories. Although necessary, these two concepts were not s...

  2. 24 CFR 200.17 - Mortgage coverage.

    Science.gov (United States)

    2010-04-01

    ... 24 Housing and Urban Development 2 2010-04-01 2010-04-01 false Mortgage coverage. 200.17 Section... Generally Applicable to Multifamily and Health Care Facility Mortgage Insurance Programs; and Continuing Eligibility Requirements for Existing Projects Eligible Mortgage § 200.17 Mortgage coverage. The mortgage...

  3. Proteome coverage prediction with infinite Markov models

    Science.gov (United States)

    Claassen, Manfred; Aebersold, Ruedi; Buhmann, Joachim M.

    2009-01-01

    Motivation: Liquid chromatography tandem mass spectrometry (LC-MS/MS) is the predominant method to comprehensively characterize complex protein mixtures such as samples from prefractionated or complete proteomes. In order to maximize proteome coverage for the studied sample, i.e. identify as many traceable proteins as possible, LC-MS/MS experiments are typically repeated extensively and the results combined. Proteome coverage prediction is the task of estimating the number of peptide discoveries of future LC-MS/MS experiments. Proteome coverage prediction is important to enhance the design of efficient proteomics studies. To date, there does not exist any method to reliably estimate the increase of proteome coverage at an early stage. Results: We propose an extended infinite Markov model DiriSim to extrapolate the progression of proteome coverage based on a small number of already performed LC-MS/MS experiments. The method explicitly accounts for the uncertainty of peptide identifications. We tested DiriSim on a set of 37 LC-MS/MS experiments of a complete proteome sample and demonstrated that DiriSim correctly predicts the coverage progression already from a small subset of experiments. The predicted progression enabled us to specify maximal coverage for the test sample. We demonstrated that quality requirements on the final proteome map impose an upper bound on the number of useful experiment repetitions and limit the achievable proteome coverage. Contact: manfredc@inf.ethz.ch; jbuhmann@inf.ethz.ch PMID:19477982

  4. CDMA coverage under mobile heterogeneous network load

    NARCIS (Netherlands)

    Saban, D.; van den Berg, Hans Leo; Boucherie, Richardus J.; Endrayanto, A.I.

    2002-01-01

    We analytically investigate coverage (determined by the uplink) under non-homogeneous and moving traffic load of third generation UMTS mobile networks. In particular, for different call assignment policies, we investigate cell breathing and the movement of the coverage gap occurring between cells

  5. On optimal coverage with unreliable sensors

    NARCIS (Netherlands)

    Frasca, Paolo; Garin, Federica

    This paper regards the problem of placing unreliable sensors in a given one-dimensional environment, in such a way to optimize a given coverage cost. We specifically consider the disk-coverage cost, whose optimal solution for reliable sensors is simply an equally-spaced configuration of the sensors.

  6. 76 FR 7767 - Student Health Insurance Coverage

    Science.gov (United States)

    2011-02-11

    ... HUMAN SERVICES 45 CFR Parts 144 and 147 RIN 0950-AA20 Student Health Insurance Coverage AGENCY: Centers... proposed regulation that would establish rules for student health insurance coverage under the Public Health Service Act and the Affordable Care Act. The proposed rule would define ``student health insurance...

  7. A Semantic Framework for Test Coverage

    NARCIS (Netherlands)

    Brandan Briones, L.; Brinksma, Hendrik; Stoelinga, Mariëlle Ida Antoinette; Graf, Susanne; Zhang, Wenhui

    2006-01-01

    Since testing is inherently incomplete, test selection has vital importance. Coverage measures evaluate the quality of a test suite and help the tester select test cases with maximal impact at minimum cost. Existing coverage criteria for test suites are usually defined in terms of syntactic

  8. Earthquake Coverage by the Western Press.

    Science.gov (United States)

    Gaddy, Gary D.; Tanjong, Enoh

    1986-01-01

    Describes a study to determine the type and quantity of Western news coverage of Third World earthquakes. Finds little evidence of geographical bias in coverage studied, and suggests that care must be taken to examine the underlying news events before bias is alleged. (MS)

  9. Americans' Experiences with Marketplace and Medicaid Coverage. Findings from the Commonwealth Fund Affordable Care Act Tracking Survey, March-May 2015.

    Science.gov (United States)

    Collins, Sara R; Rasmussen, Petra W; Doty, Michelle M; Beutel, Sophie

    2015-06-01

    The latest Commonwealth Fund Affordable Care Act Tracking Survey finds the share of uninsured working-age adults was 13 percent in March–May 2015, compared with 20 percent just before the major coverage expansions went into effect. More than half of adults who currently have coverage either through the Affordable Care Act's (ACA's) marketplace plans or Medicaid expansion were uninsured prior to gaining coverage. Of those, more than 60 percent lacked coverage for one year or longer. More than six of 10 adults who used their new plans to obtain care reported they could not have afforded or accessed it previously. Majorities of people with ACA coverage who have used their plans express satisfaction with the doctors covered in their networks and are able to find physicians with relative ease. Wait times to get appointments with physicians in marketplace plans and Medicaid are comparable to those reported by other working-age adults.

  10. Impact of invitation schemes on screening coverage

    DEFF Research Database (Denmark)

    Jacobsen, Katja Kemp; von Euler Chelpin, My; Vejborg, Ilse

    2017-01-01

    BACKGROUND: The porpuse of mammography screening is to decrease breast cancer mortality. To achieve this a high coverage by examination is needed. Within an organized screening programme, we examined the impact of changes in the invitation schedule on the interplay between coverage...... and participation. METHOD: We studied nine cohorts aged 50-51 when first targeted by mammography screening in Copenhagen, Denmark. Population data were retrieved from the Danish Civil Registration System; invitation and attendance data from the screening programme database. Data were linked using unique personal...... identification numbers. Coverage by invitation was defined as (number of invited women/number of targeted women), coverage by examination as (number of screened women/number of targeted women), and participation rate as (number of screened women/number of invited women). RESULTS: Coverage by invitation was close...

  11. Pre-Existing Condition Insurance Plan Data

    Data.gov (United States)

    U.S. Department of Health & Human Services — The Affordable Care Act created the new Pre-Existing Condition Insurance Plan (PCIP) program to make health insurance available to Americans denied coverage by...

  12. Copper foil provides uniform heat sink path

    Science.gov (United States)

    Phillips, I. E., Jr.; Schreihans, F. A.

    1966-01-01

    Thermal path prevents voids and discontinuities which make heat sinks in electronic equipment inefficient. The thermal path combines the high thermal conductivity of copper with the resiliency of silicone rubber.

  13. Electron Inelastic-Mean-Free-Path Database

    Science.gov (United States)

    SRD 71 NIST Electron Inelastic-Mean-Free-Path Database (PC database, no charge)   This database provides values of electron inelastic mean free paths (IMFPs) for use in quantitative surface analyses by AES and XPS.

  14. Time optimal paths for high speed maneuvering

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Lenhart, S.M.

    1993-01-01

    Recent theoretical results have completely solved the problem of determining the minimum length path for a vehicle with a minimum turning radius moving from an initial configuration to a final configuration. Time optimal paths for a constant speed vehicle are a subset of the minimum length paths. This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed vehicle. The time optimal paths consist of sequences of axes of circles and straight lines. The maximum principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. We explore the properties of the optimal paths and present some experimental results for a mobile robot following an optimal path.

  15. Real-time Stitched Video for Contextual Path Planning Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Initial (ICA) Investigation:Preventing collisions is the first priority for safe operations of the Space Station Remote Manipulator System (SSRMS).  This...

  16. A DTM-based path planning method for planetary rovers

    Science.gov (United States)

    Morlans, R.; Liegeois, A.

    1993-01-01

    Algorithms that automatically find the feasible routes for a mobile robot in a partially known three dimensional environment are proposed. The system is especially devised keeping in mind a planetary rover mission. Starting with a low resolution digital terrain model (DTM), relevant points (saddle points) of the relief are first automatically extracted and a connected network of traversable lines is constructed in a 'structuralist' way: the starting points for the algorithm are the saddle points; the criteria, taking into account the smoothness and the slope of the constructed line, are used to compute the network iteratively. Lines and points of this network are used as arcs and nodes to create a search graph on which an A(star) algorithm is applied to find the optimal route minimizing traveling time or energy while insuring safety. This edge constrained solution serves to initiate shortcut finding laws allowing the vehicle to cross the regions bounded by the lines of the network. The motion across each region is characterized by a cost function computed from the elevation data: mean slope roughness. Examples using a 1000 by 1000 pixel DTM are given.

  17. Concurrent Path Planning with One or More Humanoid Robots

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)

    2014-01-01

    A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

  18. Wireless Mesh Networks Path Planning, Power Control and Optimal Solutions

    Directory of Open Access Journals (Sweden)

    G. Guru Charan

    2014-06-01

    Full Text Available Wireless mesh networks are considerd as a potential attractive alternative to provide Broadband acces to users. In this paper we address the following two questions: (i Given a set of nodes with arbitrary locations, and a set of data rows, what is the max-min achievable throughput? And (ii How should the network be configured to achieve the optimum? Given a set of nodes with arbitrary locations, and a set of data rows specified as source-destination pairs, what is the maximum achievable throughput, under certain constraints on the radio parameters in particular, on transmit power. How should the network be configured to achieve this maximum? Specifically, by configuration, we mean the complete choice of the set of links (i.e., topology, the routes, link schedules, and transmit powers and modulation schemes for each link.

  19. Human-Automation Collaborative RRT for UAV Mission Path Planning

    Science.gov (United States)

    2010-06-01

    mi vida para llegar a donde estoy. Last but not least, I would like to thank all the participants and pilots in my experi- ment, John Yazbek for...13.138 5.077 8.062 p 0+ .0015 0+ ● HG1 HG2 HC 0 10 20 30 40 Mode v Replan Count N um be r of R ep la ns Figure 4-5: Box Plot of Replan Count...Conference on Decision and Control, vol. 23, ( Las Vegas, Nevada, USA), pp. 1629–1635, Dec 1984. [33] M. Peot, T. Altshuler, A. Breiholz, R. Bueker, K

  20. A study of the geographic coverage properties of a satellite borne Doppler lidar wind velocity measuring system

    Science.gov (United States)

    Pate, T. H.

    1982-01-01

    Geographic coverage frequency and geographic shot density for a satellite borne Doppler lidar wind velocity measuring system are measured. The equations of motion of the light path on the ground were derived and a computer program devised to compute shot density and coverage frequency by latitude-longitude sections. The equations for the coverage boundaries were derived and a computer program developed to plot these boundaries, thus making it possible, after an application of a map coloring algorithm, to actually see the areas of multiple coverage. A theoretical cross-swath shot density function that gives close approximations in certain cases was also derived. This information should aid in the design of an efficient data-processing system for the Doppler lidar.

  1. Low vaccination coverage among italian healthcare workers in 2013

    Science.gov (United States)

    Fortunato, Francesca; Tafuri, Silvio; Cozza, Vanessa; Martinelli, Domenico; Prato, Rosa

    2014-01-01

    Vaccination of healthcare workers (HCWs) reduces the risk of occupational infections, prevents nosocomial transmission and maintains healthcare delivery during outbreaks. Despite the European directive and national legislation on workers’ protection, immunization coverage among HCWs has often been very low. In light of Italian National Vaccination Plan 2012–2014 recommendations, the aim of this study was to assess levels of immunization and factors influencing adherence to vaccinations needed for HCWs in Puglia region, South Italy. The study was conducted using an interview-based standardized anonymous questionnaire administered to hospital employees in the period November 2009-March 2011. A total of 2198 health professionals responded in 51/69 Apulian hospitals (median age: 45 years; 65.2% nurses, 22.6% doctors and 12.2% other hospital personnel). Vaccination coverage was 24.8% for influenza, 70.1% for hepatitis B, 9.7% for MMR, 3.6% for varicella, and 15.5% for Td booster. Receiving counselling from occupational health physicians (OHPs) was associated with influenza (OR = 1.8; 95%CI = 1.5–2.2; P vaccine uptake. OHPs should be trained with standard guidelines specific for healthcare settings and HCWs’ risk groups to facilitate their crucial role in improving vaccine coverage among HCWs and increase awareness on the duty to protect both employees and patients. PMID:25483526

  2. Anticipatory Behavior in Response to Medicare Part D's Coverage Gap.

    Science.gov (United States)

    Kaplan, Cameron M; Zhang, Yuting

    2017-03-01

    Under the standard Medicare Part D benefit structure, copayments for medications change discontinuously at certain levels of accumulative drug spending. Beneficiaries pay 25% of the cost of medications in the initial phase, 100% in the coverage gap, and 5% in the catastrophic phase. We examine whether individuals anticipate these copayment changes and adjust their consumption in advance. We use variation in birth-months of beneficiaries who enroll in Part D plans when they first turn 65. Birth-months generate exogenous variation in the end-of-year price because those who enroll earlier in the year are more likely to reach the coverage gap than those who enroll later. We study the impact of variation in end-of-year price on the first three months of medication use immediately following enrollment. We use difference-in-differences to adjust for seasonal trends in use, by comparing our main study group with those who receive low-income subsidies, and therefore do not face a coverage gap. We find strong evidence of anticipatory behavior, with an implied elasticity with respect to future prices ranging from -0.2 to -0.5. In addition, we find that beneficiaries modify their consumption by changing the quantity of prescriptions filled, instead of switching between brand-name and generic drugs. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

  3. Air Pollution alongside Bike-Paths in Bogota - Colombia

    Directory of Open Access Journals (Sweden)

    Juan Felipe Franco

    2016-11-01

    Full Text Available The study we present in this paper aims at characterizing the range of fine particulate matter (PM2.5 and black carbon (BC concentrations to which bike-path users in Bogotá are exposed to. Using a bike equipped with a DustTrak and a micro-aethalometer we measured PM2.5 and BC concentration levels along bike-paths corridors, during weekdays and weekends. Experiments were conducted in fours streets, representing four typical configurations of bike-paths in the city. Traffic data for workdays was also available from local mobility authority. Results indicate that bike-paths users in Bogota are exposed to air pollution levels far exceeding the threshold values established as potentially dangerous for human health. Average concentrations for PM2.5 ranged between 80 and 136 ug/m3 in workdays and between 30 and 72 ug/m3 in weekends. BC mean concentrations were between 16 and 38 µg/m3 during workdays and in the range 10 to 32 µg/m3 during weekends. A statistically significant difference exists in the levels of pollutants concentrations measured during workdays and weekends for all the considered bike paths. According to our results, both traffic volume and diffusions conditions, which are affected by many factors including street geometry, affect bike-path user’s exposure levels. Taking into account the important role that bicycling is playing as an alternative transport mode in Latin American cities, we consider these results provide useful insights to increase the appreciation of the excessive bikers´ exposure to air pollution in Bogotá. Moreover, these findings contribute with technical elements that should lead to the inclusion of air quality variable when designing and planning sustainable urban mobility infrastructures.

  4. Symbolic PathFinder v7

    DEFF Research Database (Denmark)

    Luckow, Kasper Søe; Păsăreanu, Corina

    2014-01-01

    We describe Symbolic PathFinder v7 in terms of its updated design addressing the changes of Java PathFinder v7 and of its new optimization when computing path conditions. Furthermore, we describe the Symbolic Execution Tree Extension; a newly added feature that allows for outputting the symbolic...

  5. Mascot: Microarchitecture Synthesis of Control Paths

    NARCIS (Netherlands)

    ten Berg, A.J.W.M.; ten Berg, A.J.W.M.

    1994-01-01

    This paper presents MASCOT (MicroArchitecture Synthesis of ConTrol paths). This synthesis system constructs the optimal microarchitecture for a control path of an instruction set processor. Input to the system is the behavioural specification of a control path. This specification is in finite state

  6. Sky coverage modeling for the whole sky for laser guide star multiconjugate adaptive optics.

    Science.gov (United States)

    Wang, Lianqi; Andersen, David; Ellerbroek, Brent

    2012-06-01

    The scientific productivity of laser guide star adaptive optics systems strongly depends on the sky coverage, which describes the probability of finding natural guide stars for the tip/tilt wavefront sensor(s) to achieve a certain performance. Knowledge of the sky coverage is also important for astronomers planning their observations. In this paper, we present an efficient method to compute the sky coverage for the laser guide star multiconjugate adaptive optics system, the Narrow Field Infrared Adaptive Optics System (NFIRAOS), being designed for the Thirty Meter Telescope project. We show that NFIRAOS can achieve more than 70% sky coverage over most of the accessible sky with the requirement of 191 nm total rms wavefront.

  7. Software-based evaluation of a class solution for prostate IMRT planning.

    Science.gov (United States)

    Clarke, Sarah; Goodworth, Josie; Westhuyzen, Justin; Chick, Brendan; Hoffmann, Matthew; Pacey, Jacqueline; Greenham, Stuart

    2017-01-01

    To use plan analysis software to evaluate a class solution for prostate intensity modulated radiotherapy (IMRT) planning. Class solutions for radiotherapy planning are increasingly being considered for streamlining planning. Plan analysis software provides an objective approach to evaluating radiotherapy plans. Three iterations of a class solution for prostate IMRT planning (T1, T2 and Tfinal) were compared to the clinical plan of 74 prostate patients using radiotherapy plan analysis software (Plan IQ™, Sun Nuclear Corporation). A set of institution-specific plan quality metrics (scores) were established, based on best practice guidelines. For CTV coverage, Tfinal was not significantly different to the clinical plan. With the exception of 95% PTV coverage, Tfinal metrics were significantly better than the clinical plan for PTV coverage. In the scoring analysis, mean dose, 95% and 107% isodose coverage scores were similar for all the templates and clinical plan. 100% coverage of the CTV clinical plan was similar to Tfinal but scored higher than T1 and T2. There were no significant differences between Tfinal and the clinical plan for the metrics and scores associated with organs at risk. The total plan score was similar for Tfinal and the clinical plan, although the scores for volume receiving total dose outside the PTV were higher for Tfinal than for the clinical plan (P plan analysis software was useful for evaluating a class solution for prostate IMRT planning and provided evidence that the class solution produced clinically acceptable plans for these patients.

  8. Count every newborn; a measurement improvement roadmap for coverage data

    Science.gov (United States)

    2015-01-01

    Background The Every Newborn Action Plan (ENAP), launched in 2014, aims to end preventable newborn deaths and stillbirths, with national targets of ≤12 neonatal deaths per 1000 live births and ≤12 stillbirths per 1000 total births by 2030. This requires ambitious improvement of the data on care at birth and of small and sick newborns, particularly to track coverage, quality and equity. Methods In a multistage process, a matrix of 70 indicators were assessed by the Every Newborn steering group. Indicators were graded based on their availability and importance to ENAP, resulting in 10 core and 10 additional indicators. A consultation process was undertaken to assess the status of each ENAP core indicator definition, data availability and measurement feasibility. Coverage indicators for the specific ENAP treatment interventions were assigned task teams and given priority as they were identified as requiring the most technical work. Consultations were held throughout. Results ENAP published 10 core indicators plus 10 additional indicators. Three core impact indicators (neonatal mortality rate, maternal mortality ratio, stillbirth rate) are well defined, with future efforts needed to focus on improving data quantity and quality. Three core indicators on coverage of care for all mothers and newborns (intrapartum/skilled birth attendance, early postnatal care, essential newborn care) have defined contact points, but gaps exist in measuring content and quality of the interventions. Four core (antenatal corticosteroids, neonatal resuscitation, treatment of serious neonatal infections, kangaroo mother care) and one additional coverage indicator for newborns at risk or with complications (chlorhexidine cord cleansing) lack indicator definitions or data, especially for denominators (population in need). To address these gaps, feasible coverage indicator definitions are presented for validity testing. Measurable process indicators to help monitor health service readiness

  9. Insurance Coverage Policies for Personalized Medicine

    Directory of Open Access Journals (Sweden)

    Andrew Hresko

    2012-10-01

    Full Text Available Adoption of personalized medicine in practice has been slow, in part due to the lack of evidence of clinical benefit provided by these technologies. Coverage by insurers is a critical step in achieving widespread adoption of personalized medicine. Insurers consider a variety of factors when formulating medical coverage policies for personalized medicine, including the overall strength of evidence for a test, availability of clinical guidelines and health technology assessments by independent organizations. In this study, we reviewed coverage policies of the largest U.S. insurers for genomic (disease-related and pharmacogenetic (PGx tests to determine the extent that these tests were covered and the evidence basis for the coverage decisions. We identified 41 coverage policies for 49 unique testing: 22 tests for disease diagnosis, prognosis and risk and 27 PGx tests. Fifty percent (or less of the tests reviewed were covered by insurers. Lack of evidence of clinical utility appears to be a major factor in decisions of non-coverage. The inclusion of PGx information in drug package inserts appears to be a common theme of PGx tests that are covered. This analysis highlights the variability of coverage determinations and factors considered, suggesting that the adoption of personal medicine will affected by numerous factors, but will continue to be slowed due to lack of demonstrated clinical benefit.

  10. Characterizing the evolutionary path(s) to early Homo.

    Science.gov (United States)

    Schroeder, Lauren; Roseman, Charles C; Cheverud, James M; Ackermann, Rebecca R

    2014-01-01

    Numerous studies suggest that the transition from Australopithecus to Homo was characterized by evolutionary innovation, resulting in the emergence and coexistence of a diversity of forms. However, the evolutionary processes necessary to drive such a transition have not been examined. Here, we apply statistical tests developed from quantitative evolutionary theory to assess whether morphological differences among late australopith and early Homo species in Africa have been shaped by natural selection. Where selection is demonstrated, we identify aspects of morphology that were most likely under selective pressure, and determine the nature (type, rate) of that selection. Results demonstrate that selection must be invoked to explain an Au. africanus-Au. sediba-Homo transition, while transitions from late australopiths to various early Homo species that exclude Au. sediba can be achieved through drift alone. Rate tests indicate that selection is largely directional, acting to rapidly differentiate these taxa. Reconstructions of patterns of directional selection needed to drive the Au. africanus-Au. sediba-Homo transition suggest that selection would have affected all regions of the skull. These results may indicate that an evolutionary path to Homo without Au. sediba is the simpler path and/or provide evidence that this pathway involved more reliance on cultural adaptations to cope with environmental change.

  11. Characterizing the evolutionary path(s to early Homo.

    Directory of Open Access Journals (Sweden)

    Lauren Schroeder

    Full Text Available Numerous studies suggest that the transition from Australopithecus to Homo was characterized by evolutionary innovation, resulting in the emergence and coexistence of a diversity of forms. However, the evolutionary processes necessary to drive such a transition have not been examined. Here, we apply statistical tests developed from quantitative evolutionary theory to assess whether morphological differences among late australopith and early Homo species in Africa have been shaped by natural selection. Where selection is demonstrated, we identify aspects of morphology that were most likely under selective pressure, and determine the nature (type, rate of that selection. Results demonstrate that selection must be invoked to explain an Au. africanus-Au. sediba-Homo transition, while transitions from late australopiths to various early Homo species that exclude Au. sediba can be achieved through drift alone. Rate tests indicate that selection is largely directional, acting to rapidly differentiate these taxa. Reconstructions of patterns of directional selection needed to drive the Au. africanus-Au. sediba-Homo transition suggest that selection would have affected all regions of the skull. These results may indicate that an evolutionary path to Homo without Au. sediba is the simpler path and/or provide evidence that this pathway involved more reliance on cultural adaptations to cope with environmental change.

  12. Choosing a coverage probability for forecasting the incidence of cancer.

    Science.gov (United States)

    Young, Derek S; Mills, Terence M

    2014-10-15

    Loddon Mallee Integrated Cancer Service plays a key role in planning the delivery of cancer services in the Loddon Mallee Region of Victoria, Australia. Such planning relies on the accuracy of forecasting the incidence of cancer. Perhaps more importantly is the need to reflect the uncertainty of these forecasts, which is usually carried out through prediction intervals. Standard confidence levels (e.g., 90% or 95%) are typically employed when forecasting the incidence of cancer, but decision-theoretic approaches are available to help choose an optimal coverage probability by minimizing the combined risk of the interval width and noncoverage of the interval. We proceed with the decision-theoretic framework and discuss some general strategies for defining candidate loss functions for forecasting the incidence of cancer, such as the data we analyze for the Loddon Mallee Region. Copyright © 2014 John Wiley & Sons, Ltd.

  13. Single-Isocenter Multiple-Target Stereotactic Radiosurgery: Risk of Compromised Coverage

    Energy Technology Data Exchange (ETDEWEB)

    Roper, Justin, E-mail: justin.roper@emory.edu [Department of Radiation Oncology, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States); Department of Biostatistics and Bioinformatics, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States); Chanyavanich, Vorakarn; Betzel, Gregory [Department of Radiation Oncology, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States); Department of Biostatistics and Bioinformatics, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States); Switchenko, Jeffrey [Department of Biostatistics and Bioinformatics, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States); Dhabaan, Anees [Department of Radiation Oncology, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States); Department of Biostatistics and Bioinformatics, Winship Cancer Institute of Emory University, Atlanta, Georgia (United States)

    2015-11-01

    Purpose: To determine the dosimetric effects of rotational errors on target coverage using volumetric modulated arc therapy (VMAT) for multitarget stereotactic radiosurgery (SRS). Methods and Materials: This retrospective study included 50 SRS cases, each with 2 intracranial planning target volumes (PTVs). Both PTVs were planned for simultaneous treatment to 21 Gy using a single-isocenter, noncoplanar VMAT SRS technique. Rotational errors of 0.5°, 1.0°, and 2.0° were simulated about all axes. The dose to 95% of the PTV (D95) and the volume covered by 95% of the prescribed dose (V95) were evaluated using multivariate analysis to determine how PTV coverage was related to PTV volume, PTV separation, and rotational error. Results: At 0.5° rotational error, D95 values and V95 coverage rates were ≥95% in all cases. For rotational errors of 1.0°, 7% of targets had D95 and V95 values <95%. Coverage worsened substantially when the rotational error increased to 2.0°: D95 and V95 values were >95% for only 63% of the targets. Multivariate analysis showed that PTV volume and distance to isocenter were strong predictors of target coverage. Conclusions: The effects of rotational errors on target coverage were studied across a broad range of SRS cases. In general, the risk of compromised coverage increased with decreasing target volume, increasing rotational error and increasing distance between targets. Multivariate regression models from this study may be used to quantify the dosimetric effects of rotational errors on target coverage given patient-specific input parameters of PTV volume and distance to isocenter.

  14. Attention trees and semantic paths

    Science.gov (United States)

    Giusti, Christian; Pieroni, Goffredo G.; Pieroni, Laura

    2007-02-01

    In the last few decades several techniques for image content extraction, often based on segmentation, have been proposed. It has been suggested that under the assumption of very general image content, segmentation becomes unstable and classification becomes unreliable. According to recent psychological theories, certain image regions attract the attention of human observers more than others and, generally, the image main meaning appears concentrated in those regions. Initially, regions attracting our attention are perceived as a whole and hypotheses on their content are formulated; successively the components of those regions are carefully analyzed and a more precise interpretation is reached. It is interesting to observe that an image decomposition process performed according to these psychological visual attention theories might present advantages with respect to a traditional segmentation approach. In this paper we propose an automatic procedure generating image decomposition based on the detection of visual attention regions. A new clustering algorithm taking advantage of the Delaunay- Voronoi diagrams for achieving the decomposition target is proposed. By applying that algorithm recursively, starting from the whole image, a transformation of the image into a tree of related meaningful regions is obtained (Attention Tree). Successively, a semantic interpretation of the leaf nodes is carried out by using a structure of Neural Networks (Neural Tree) assisted by a knowledge base (Ontology Net). Starting from leaf nodes, paths toward the root node across the Attention Tree are attempted. The task of the path consists in relating the semantics of each child-parent node pair and, consequently, in merging the corresponding image regions. The relationship detected in this way between two tree nodes generates, as a result, the extension of the interpreted image area through each step of the path. The construction of several Attention Trees has been performed and partial

  15. Optical path control in the MAM testbed

    Science.gov (United States)

    Regehr, M. W.; Hines, B.; Holmes, B.

    2003-01-01

    Future space-based optical interferometers will require control of the optical path delay to accomplish some or all of the three objectives: balancing the optical path in the two arms to within a tolerance corresponding to the coherence length of the star light being observed, modulating the optical path in order to observe the phase of the star light interference fringe, and modulating the path length in order to reduce the effect of cyclic errors in the laser metrology system used to measure the optical path length in the two arms of the interferometer.

  16. Two Generations of Path Dependence in Economics?

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

    2010-01-01

    Even if there is no fully articulated and generally accepted theory of Path Dependence it has eagerly been taken up across a wide range of social sciences – primarily coming from economics. Path Dependence is most of all a metaphor that offers reason to believe, that some political, social...... or economic processes have multiple possible paths of outcomes, rather than a unique path of equilibria. The selection among outcomes may depend on contingent choices or events – outcomes of path-dependent processes require a very relevant study – a perception of history....

  17. Methodologies for tracking learning paths

    DEFF Research Database (Denmark)

    Frølunde, Lisbeth; Gilje, Øystein; Lindstrand, Fredrik

    2009-01-01

    The article concerns the design of a collaborative research project (2008-09) entitled Making a Filmmaker, which examines how young Scandinavian filmmakers create their own learn- ing paths in formal and/or informal contexts. Our interest is how learning experiences and contexts motivate the young...... filmmakers: what furthers their interest and/or hinders it, and what learning patterns emerge. The aim of this article is to present and discuss issues regarding the methodology and meth- ods of the study, such as developing a relationship with interviewees when conducting inter- views online (using MSN). We...... platform that is familiar to our participants....

  18. Communication path for extreme environments

    Science.gov (United States)

    Jorgensen, Charles C. (Inventor); Betts, Bradley J. (Inventor)

    2010-01-01

    Methods and systems for using one or more radio frequency identification devices (RFIDs), or other suitable signal transmitters and/or receivers, to provide a sensor information communication path, to provide location and/or spatial orientation information for an emergency service worker (ESW), to provide an ESW escape route, to indicate a direction from an ESW to an ES appliance, to provide updated information on a region or structure that presents an extreme environment (fire, hazardous fluid leak, underwater, nuclear, etc.) in which an ESW works, and to provide accumulated thermal load or thermal breakdown information on one or more locations in the region.

  19. Usability of light-emitting diodes in precision approach path indicator systems by individuals with marginal color vision.

    Science.gov (United States)

    2014-05-01

    To save energy, the FAA is planning to convert from incandescent lights to light-emitting diodes (LEDs) in : precision approach path indicator (PAPI) systems. Preliminary work on the usability of LEDs by color vision-waivered pilots (Bullough, Skinne...

  20. Ka-band, multibeam, contiguous coverage satellite antenna for the USA

    Science.gov (United States)

    Foldes, P.

    1980-01-01

    The behavior of a multibeam antenna is determined by three major characteristics: beam topology, realizable radiation characteristics, and realizable beamforming network architecture. Eight canonical topology plans have been developed and analyzed: angular separation between identical frequency cells, angular separation between orthogonally polarized identical frequency cells, number and configuration of cells forming coverage areas, and crossover level between nonidentical frequency band cells. A general topology plan is developed for the continental United States for 100-deg W synchronous satellite longitude.