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Sample records for facilitates collision avoidance

  1. Neuromorphic UAS Collision Avoidance

    National Aeronautics and Space Administration — Collision avoidance for unmanned aerial systems (UAS) traveling at high relative speeds is a challenging task. It requires both the detection of a possible collision...

  2. Reactive Collision Avoidance Algorithm

    Scharf, Daniel; Acikmese, Behcet; Ploen, Scott; Hadaegh, Fred

    2010-01-01

    The reactive collision avoidance (RCA) algorithm allows a spacecraft to find a fuel-optimal trajectory for avoiding an arbitrary number of colliding spacecraft in real time while accounting for acceleration limits. In addition to spacecraft, the technology can be used for vehicles that can accelerate in any direction, such as helicopters and submersibles. In contrast to existing, passive algorithms that simultaneously design trajectories for a cluster of vehicles working to achieve a common goal, RCA is implemented onboard spacecraft only when an imminent collision is detected, and then plans a collision avoidance maneuver for only that host vehicle, thus preventing a collision in an off-nominal situation for which passive algorithms cannot. An example scenario for such a situation might be when a spacecraft in the cluster is approaching another one, but enters safe mode and begins to drift. Functionally, the RCA detects colliding spacecraft, plans an evasion trajectory by solving the Evasion Trajectory Problem (ETP), and then recovers after the collision is avoided. A direct optimization approach was used to develop the algorithm so it can run in real time. In this innovation, a parameterized class of avoidance trajectories is specified, and then the optimal trajectory is found by searching over the parameters. The class of trajectories is selected as bang-off-bang as motivated by optimal control theory. That is, an avoiding spacecraft first applies full acceleration in a constant direction, then coasts, and finally applies full acceleration to stop. The parameter optimization problem can be solved offline and stored as a look-up table of values. Using a look-up table allows the algorithm to run in real time. Given a colliding spacecraft, the properties of the collision geometry serve as indices of the look-up table that gives the optimal trajectory. For multiple colliding spacecraft, the set of trajectories that avoid all spacecraft is rapidly searched on

  3. Collision avoidance in robotic environments

    Kreifeldt, J.G.

    1984-01-01

    A generalized approach to the problem of collision avoidance in robotic environments is presented. This approach transforms the three dimensional but dynamic real-world changing geometric space of the robot in its environment into a multidimensional but static space such that any possible geometric arrangement of the robotic space becomes a point in hyperspace. Major advantages of this approach include clarification of and potential solution to the basic problem of finding optimized, collision free movements from an initial to a final configuration. A major disadvantage of the approach is related to computational and data storage problems. However these latter are technically solvable while the clarification of the control and guidance problem gained through the transformational approach and its general elucidation power remain prime conceptual tools for the problem of robot design and operation

  4. Directional Collision Avoidance in Ad Hoc Networks

    Wang, Yu; Garcia-Luna-Aceves, J. J

    2004-01-01

    This paper analyzes the performance of directional collision avoidance schemes, in which antenna systems are used to direct the transmission and reception of control and data packets in channel access...

  5. Wireless vehicular networks for car collision avoidance

    2013-01-01

    Wireless Vehicular Networks for Car Collision Avoidance focuses on the development of the ITS (Intelligent Transportation Systems) in order to minimize vehicular accidents. The book presents and analyses a range of concrete accident scenarios while examining the causes of vehicular collision and proposing countermeasures based on wireless vehicular networks. The book also describes the vehicular network standards and quality of service mechanisms focusing on improving critical dissemination of safety information. With recommendations on techniques and protocols to consider when improving road safety policies in order to minimize crashes and collision risks.

  6. Guide to the collision avoidance rules

    Cockcroft, A N

    2004-01-01

    A Guide to the Collision Avoidance Rules is the essential reference to the safe operation of all vessels at sea. Published continuously since 1965, this respected and expert guide is the classic text for all who need to, practically and legally, understand and comply with the Rules. This sixth edition incorporates all of the amendments to the International Regulations for Preventing Collisions at Sea which came into force in November 2003.The books sets out all of the Rules with clear explanation of their meaning, and gives detailed examples of how the rules have been used in practice

  7. Research on embedded automobile collision avoidance system

    TAO Feng

    2016-08-01

    Full Text Available Taking ARM embedded Linux operating system as the development platform,combined with AVR microcontroller,while optimizing the ranging algorithm and using air ultrasonic transducer,the measurement range of which can be up to 50 meter,this paper designs a high-precision,range far,low price,various models suitable automobile collision avoidance warning system.The system adopts Forlinx OK6410 development board for the master.AVR microcontroller is responsible for taking the data of traveling distance between vehicles,and with the ARM development board via RS232 communication transfers vehicle′s distance and speed information to the ARM development boards.The system uses the established collision avoidance model to get alarm information.Experiments show that the system can accurately send out alarm information within a certain range.It is innovative and practical.

  8. Granting silence to avoid wireless collisions

    Choi, Jung Il; Jain, Mayank; Kazandjieva, Maria A.; Levis, Philip

    2010-01-01

    We describe grant-to-send, a novel collision avoidance algorithm for wireless mesh networks. Rather than announce packets it intends to send, a node using grant-to-send announces packets it expects to hear others send. We present evidence that inverting collision avoidance in this way greatly improves wireless mesh performance. Evaluating four protocols from 802.11 meshes and 802.15.4 sensor networks, we find that grant-to-send matches or outperforms CSMA and RTS/CTS in all cases. For example, in a 4-hop UDP flow, grantto- send can achieve 96% of the theoretical maximum throughput while maintaining a 99.9% packet delivery ratio. Grant-tosend is also general enough to replace protocol-specific collision avoidance mechanisms common to sensor network protocols. Grant-to-send is simple. For example, incorporating it into 802.11 requires only 11 lines of driver code and no hardware changes. Furthermore, as it reuses existing 802.11 mechanisms, grant-to-send inter-operates with current networks and can be incrementally deployed. © 2010 IEEE.

  9. Granting silence to avoid wireless collisions

    Choi, Jung Il

    2010-10-01

    We describe grant-to-send, a novel collision avoidance algorithm for wireless mesh networks. Rather than announce packets it intends to send, a node using grant-to-send announces packets it expects to hear others send. We present evidence that inverting collision avoidance in this way greatly improves wireless mesh performance. Evaluating four protocols from 802.11 meshes and 802.15.4 sensor networks, we find that grant-to-send matches or outperforms CSMA and RTS/CTS in all cases. For example, in a 4-hop UDP flow, grantto- send can achieve 96% of the theoretical maximum throughput while maintaining a 99.9% packet delivery ratio. Grant-tosend is also general enough to replace protocol-specific collision avoidance mechanisms common to sensor network protocols. Grant-to-send is simple. For example, incorporating it into 802.11 requires only 11 lines of driver code and no hardware changes. Furthermore, as it reuses existing 802.11 mechanisms, grant-to-send inter-operates with current networks and can be incrementally deployed. © 2010 IEEE.

  10. Collision detection and avoidance during treatment planning

    Humm, John L.; Pizzuto, Domenico; Fleischman, Eric; Mohan, Radhe

    1995-01-01

    Purpose: To develop computer software that assists the planner avoid potential gantry collisions with the patient or patient support assembly during the treatment planning process. Methods and Materials: The approach uses a simulation of the therapy room with a scale model of the treatment machine. Because the dimensions of the machine and patient are known, one can calculate a priori whether any desired therapy field is possible or will result in a collision. To assist the planner, we have developed a graphical interface enabling the accurate visualization of each treatment field configuration with a 'room's eye view' treatment planning window. This enables the planner to be aware of, and alleviate any potential collision hazards. To circumvent blind spots in the graphic representation, an analytical software module precomputes whether each update of the gantry or turntable position is safe. Results: If a collision is detected, the module alerts the planner and suggests collision evasive actions such as either an extended distance treatment or the gantry angle of closest approach. Conclusions: The model enables the planner to experiment with unconventional noncoplanar treatment fields, and immediately test their feasibility

  11. Collision Avoidance for Airport Traffic Concept Evaluation

    Jones, Denise R.; Prinzel, Lawrence J., III; Otero, Sharon D.; Barker, Glover D.

    2009-01-01

    An initial Collision Avoidance for Airport Traffic (CAAT) concept for the Terminal Maneuvering Area (TMA) was evaluated in a simulation study at the National Aeronautics and Space Administration (NASA) Langley Research Center. CAAT is being designed to enhance surface situation awareness and provide cockpit alerts of potential conflicts during runway, taxi, and low altitude air-to-air operations. The purpose of the study was to evaluate the initial concept for an aircraft-based method of conflict detection and resolution (CD&R) in the TMA focusing on conflict detection algorithms and alerting display concepts. This paper gives an overview of the CD&R concept, simulation study, and test results.

  12. Automatic lateral emergency collision avoidance for a passenger car

    Bevan, G.; Gollee, H.; O'Reilly, J.

    2007-01-01

    Longitudinal collision avoidance controllers are of limited benefit for preventing head-on collisions between road vehicles travelling at high speed or for preventing rear end collisions when there is insufficient separation between the vehicles. In these circumstances, aggressive lateral vehicle manoeuvres are more appropriate. This paper develops a controller architecture to perform an emergency lateral collision avoidance manoeuvre. Simulation results indicate significant improvements in c...

  13. Aerial vehicles collision avoidance using monocular vision

    Balashov, Oleg; Muraviev, Vadim; Strotov, Valery

    2016-10-01

    In this paper image-based collision avoidance algorithm that provides detection of nearby aircraft and distance estimation is presented. The approach requires a vision system with a single moving camera and additional information about carrier's speed and orientation from onboard sensors. The main idea is to create a multi-step approach based on a preliminary detection, regions of interest (ROI) selection, contour segmentation, object matching and localization. The proposed algorithm is able to detect small targets but unlike many other approaches is designed to work with large-scale objects as well. To localize aerial vehicle position the system of equations relating object coordinates in space and observed image is solved. The system solution gives the current position and speed of the detected object in space. Using this information distance and time to collision can be estimated. Experimental research on real video sequences and modeled data is performed. Video database contained different types of aerial vehicles: aircrafts, helicopters, and UAVs. The presented algorithm is able to detect aerial vehicles from several kilometers under regular daylight conditions.

  14. Design study of general aviation collision avoidance system

    Bates, M. R.; Moore, L. D.; Scott, W. V.

    1972-01-01

    The selection and design of a time/frequency collision avoidance system for use in general aviation aircraft is discussed. The modifications to airline transport collision avoidance equipment which were made to produce the simpler general aviation system are described. The threat determination capabilities and operating principles of the general aviation system are illustrated.

  15. Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces

    Lorenzo Sabattini

    2017-01-01

    Full Text Available This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system’s desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.

  16. Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems

    Sahawneh, Laith Rasmi

    The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes several important aspects including regulatory and system-level requirements, design specifications and performance standards, intruder detecting and tracking, collision risk assessment, and finally path planning and collision avoidance. In this dissertation, our primary focus is on developing an collision detection, risk assessment and avoidance framework that is computationally affordable and suitable to run on-board small UAS. To begin with, we address the minimum sensing range for the sense-and-avoid (SAA) system. We present an approximate close form analytical solution to compute the minimum sensing range to safely avoid an imminent collision. The approach is then demonstrated using a radar sensor prototype that achieves the required minimum sensing range. In the area of collision risk assessment and collision prediction, we present two approaches to estimate the collision risk of an encounter scenario. The first is a deterministic approach similar to those been developed for Traffic Alert and Collision Avoidance (TCAS) in manned aviation. We extend the approach to account for uncertainties of state estimates by deriving an analytic expression to propagate the error variance using Taylor series approximation. To address unanticipated intruders maneuvers, we propose an innovative probabilistic approach to quantify likely intruder trajectories and estimate the probability of

  17. Fighter/Attack Automatic Collision Avoidance Systems Business Case

    Mapes, Peter B

    2006-01-01

    .... This study concludes that implementation of Automatic Collision Avoidance Systems (Auto-CAS) in F-16, F/A-18, F/A-22, and F-35 aircraft would save aircrew lives and preserve, and enhance combat capability.

  18. Comparing Collision Avoidance Systems of Different Type of Transportation Mode

    Serkan ÖZDEMİR

    2016-11-01

    Full Text Available Different modes of transportation are often used in our daily lives. Therefore, how safe these modes are commonly researched by researchers. Many models and methods are developed to avoid collision with the development of technology. This development is aimed to improving the safety of life and property. The technological developments also aim to reduce the minimum level of the human error. Technological devices developed to prevent collision are applied in systematic way according to type of transportation mode. When comparatively examined, it is similar to each other technology used in different modes. In this respect, proposed model and methods are similar in general. These approaches are generally based on position of vehicles relative to each other and also rules have been developed taking into consideration the possibilities that may occur. Real-time sensors used to avoid collision in vehicles reduce risk of collision and provide significant achievements on behalf of avoiding collision. Besides this, it has been considered important a communication network between vehicles. As a result, the importance of the technological devices developed to ensure collision avoidance is increasing in our life. Thus, the study aims to explain and compare the methods, models and techniques used in the different transportation modes so as to avoid collision.

  19. Collision Avoidance Functional Requirements for Step 1. Revision 6

    2006-01-01

    This Functional Requirements Document (FRD) describes the flow of requirements from the high level operational objectives down to the functional requirements specific to cooperative collision avoidance for high altitude, long endurance unmanned aircraft systems. These are further decomposed into performance and safety guidelines that are backed up by analysis or references to various documents or research findings. The FRD should be considered when establishing future policies, procedures, and standards pertaining to cooperative collision avoidance.

  20. Self-protection Method for Flying Robots to Avoid Collision

    Guosheng Wu; Luning Wang; Changyuan Fan; Xi Zhu

    2008-01-01

    This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to...

  1. Multi-actuators vehicle collision avoidance system - Experimental validation

    Hamid, Umar Zakir Abdul; Zakuan, Fakhrul Razi Ahmad; Akmal Zulkepli, Khairul; Zulfaqar Azmi, Muhammad; Zamzuri, Hairi; Rahman, Mohd Azizi Abdul; Aizzat Zakaria, Muhammad

    2018-04-01

    The Insurance Institute for Highway Safety (IIHS) of the United States of America in their reports has mentioned that a significant amount of the road mishaps would be preventable if more automated active safety applications are adopted into the vehicle. This includes the incorporation of collision avoidance system. The autonomous intervention by the active steering and braking systems in the hazardous scenario can aid the driver in mitigating the collisions. In this work, a real-time platform of a multi-actuators vehicle collision avoidance system is developed. It is a continuous research scheme to develop a fully autonomous vehicle in Malaysia. The vehicle is a modular platform which can be utilized for different research purposes and is denominated as Intelligent Drive Project (iDrive). The vehicle collision avoidance proposed design is validated in a controlled environment, where the coupled longitudinal and lateral motion control system is expected to provide desired braking and steering actuation in the occurrence of a frontal static obstacle. Results indicate the ability of the platform to yield multi-actuators collision avoidance navigation in the hazardous scenario, thus avoiding the obstacle. The findings of this work are beneficial for the development of a more complex and nonlinear real-time collision avoidance work in the future.

  2. Two-Dimensional Distributed Velocity Collision Avoidance

    2014-02-11

    place (i.e., in the global problem space) as much as possible in an effort to simplify the process/description. Additionally, to make some of the...guide agents without collision in the vast majority of cases. NAWCWD TP 8786 31 7.0 REFERENCES 1. P. L. Franchi . “Near Misses Between

  3. Rear end collision: Causes and avoidance techniques

    Nekovee, Maziar; Bie, Jing; Naja, Rola

    2013-01-01

    Rear-end collision is one of the most frequent accidents occurring on roadways. This chapter investigates how vehicle’s local parameters in a platoon of cars (i.e., perception and information collection, vehicle speed, safe distance, braking parameters) affect the global behavior of the traffic

  4. See-and-Avoid Collision Avoidance Using ADS-B Signal and Radar Sensing, Phase II

    National Aeronautics and Space Administration — IAI proposes an innovative collision avoidance radar and communication technology to detect and track both cooperative and non-cooperative targets. The system...

  5. Power mobility with collision avoidance for older adults: user, caregiver, and prescriber perspectives.

    Wang, Rosalie H; Korotchenko, Alexandra; Hurd Clarke, Laura; Mortenson, W Ben; Mihailidis, Alex

    2013-01-01

    Collision avoidance technology has the capacity to facilitate safer mobility among older power mobility users with physical, sensory, and cognitive impairments, thus enabling independence for more users. Little is known about consumers' perceptions of collision avoidance. This article draws on interviews (29 users, 5 caregivers, and 10 prescribers) to examine views on design and utilization of this technology. Data analysis identified three themes: "useful situations or contexts," "technology design issues and real-life application," and "appropriateness of collision avoidance technology for a variety of users." Findings support ongoing development of collision avoidance for older adult users. The majority of participants supported the technology and felt that it might benefit current users and users with visual impairments, but might be unsuitable for people with significant cognitive impairments. Some participants voiced concerns regarding the risk for injury with power mobility use and some identified situations where collision avoidance might be beneficial (driving backward, avoiding dynamic obstacles, negotiating outdoor barriers, and learning power mobility use). Design issues include the need for context awareness, reliability, and user interface specifications. User desire to maintain driving autonomy supports development of collaboratively controlled systems. This research lays the groundwork for future development by illustrating consumer requirements for this technology.

  6. Radar-based collision avoidance for unmanned surface vehicles

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

    2016-12-01

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

  7. PREDICTIVE POTENTIAL FIELD-BASED COLLISION AVOIDANCE FOR MULTICOPTERS

    M. Nieuwenhuisen

    2013-08-01

    Full Text Available Reliable obstacle avoidance is a key to navigating with UAVs in the close vicinity of static and dynamic obstacles. Wheel-based mobile robots are often equipped with 2D or 3D laser range finders that cover the 2D workspace sufficiently accurate and at a high rate. Micro UAV platforms operate in a 3D environment, but the restricted payload prohibits the use of fast state-of-the-art 3D sensors. Thus, perception of small obstacles is often only possible in the vicinity of the UAV and a fast collision avoidance system is necessary. We propose a reactive collision avoidance system based on artificial potential fields, that takes the special dynamics of UAVs into account by predicting the influence of obstacles on the estimated trajectory in the near future using a learned motion model. Experimental evaluation shows that the prediction leads to smoother trajectories and allows to navigate collision-free through passageways.

  8. Scheduled Collision Avoidance in wireless sensor network using Zigbee

    Dnyaneshwar, Mantri; Prasad, Neeli R.; Prasad, Ramjee

    2014-01-01

    Transmission reliability and energy consumptions are two critical concerns associated with wireless sensor network (WSN) design for a long time and continuous operation. With the increase in reliability of the transmission, the energy consumption increases by affecting the efficiency of the network....... This paper proposes the Schedule based Collision Avoidance (SCA) algorithm for finding the tradeoff between reliability and energy efficiency by fusion of CSMA/CA and TDMA techniques in Zigbee/ IEEE802.15.4. It uses the multi-path data propagation for collision avoidance and effective utilization...... of the channel providing efficient energy consumption. It analyses different scheduling schemes to provide an appropriate solution for reducing collisions and improving network lifetime....

  9. A Mathematical Model for Analysis on Ships Collision Avoidance ...

    This study develops a mathematical model for analysis on collision avoidance of ships. The obtained model provides information on the quantitative effect of the ship's engine's response and the applied reversing force on separation distance and stopping abilities of the ships. Appropriate evasive maneuvers require the ...

  10. Integrated trajectory control and collision avoidance for automated driving

    Verhaegh, J.; Ploeg, J.; Nunen, E. van; Teerhuis, A.

    2017-01-01

    This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism.

  11. Airborne Collision Avoidance System as a Cyber-Physical System

    Andrei C. NAE

    2015-12-01

    Full Text Available In this paper the key concepts of ITS - Intelligent Transport Systems, CPS - Cyber-Physical Systems and SM - Smart Mobility are defined and correlated with the need for ACAS – Airborne Collision Avoidance System, as the last resort safety net and indispensable ingredient in civil aviation. Smart Mobility is addressed from a Cyber Physical-Systems perspective, detailing some of the elements that this entails. Here we consider the Air Transportations System of the future as a Cyber-Physical System and analyze the implications of doing so from different perspectives. The objective is to introduce a 4D collision avoidance shield technology which forms a last resort safety net technology for the next generation air transport (2050 and beyond. The new system will represent a step change over the performance of current technology. As conclusions, the benefits of implementing Transport Cyber-Physical Systems are discussed, as well as what this would require for future deployment.

  12. Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes

    Dube, C

    2013-09-01

    Full Text Available motion of the humanoid. Collisions are avoided by adjusting the joint angles of the colliding segments based on the collision distance and the location of the collision points. A case study of a humanoid dance is used to test the self collision avoidance...

  13. Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior

    Khalil Muhammad Zuhaib

    2017-09-01

    Full Text Available Navigating a robot in a dynamic environment is a challenging task, especially when the behavior of other agents such as pedestrians, is only partially predictable. Also, the kinodynamic constraints on robot motion add an extra challenge. This paper proposes a novel navigational strategy for collision avoidance of a kinodynamically constrained robot from multiple moving passive agents with partially predictable behavior. Specifically, this paper presents a new approach to identify the set of control inputs to the robot, named control obstacle, which leads it towards a collision with a passive agent moving along an arbitrary path. The proposed method is developed by generalizing the concept of nonlinear velocity obstacle (NLVO, which is used to avoid collision with a passive agent, and takes into account the kinodynamic constraints on robot motion. Further, it formulates the navigational problem as an optimization problem, which allows the robot to make a safe decision in the presence of various sources of unmodelled uncertainties. Finally, the performance of the algorithm is evaluated for different parameters and is compared to existing velocity obstacle-based approaches. The simulated experiments show the excellent performance of the proposed approach in term of computation time and success rate.

  14. A collision avoidance model for two-pedestrian groups: Considering random avoidance patterns

    Zhou, Zhuping; Cai, Yifei; Ke, Ruimin; Yang, Jiwei

    2017-06-01

    Grouping is a common phenomenon in pedestrian crowds and group modeling is still an open challenging problem. When grouping pedestrians avoid each other, different patterns can be observed. Pedestrians can keep close with group members and avoid other groups in cluster. Also, they can avoid other groups separately. Considering this randomness in avoidance patterns, we propose a collision avoidance model for two-pedestrian groups. In our model, the avoidance model is proposed based on velocity obstacle method at first. Then grouping model is established using Distance constrained line (DCL), by transforming DCL into the framework of velocity obstacle, the avoidance model and grouping model are successfully put into one unified calculation structure. Within this structure, an algorithm is developed to solve the problem when solutions of the two models conflict with each other. Two groups of bidirectional pedestrian experiments are designed to verify the model. The accuracy of avoidance behavior and grouping behavior is validated in the microscopic level, while the lane formation phenomenon and fundamental diagrams is validated in the macroscopic level. The experiments results show our model is convincing and has a good expansibility to describe three or more pedestrian groups.

  15. Sequential Probability Ratio Test for Spacecraft Collision Avoidance Maneuver Decisions

    Carpenter, J. Russell; Markley, F. Landis

    2013-01-01

    A document discusses sequential probability ratio tests that explicitly allow decision-makers to incorporate false alarm and missed detection risks, and are potentially less sensitive to modeling errors than a procedure that relies solely on a probability of collision threshold. Recent work on constrained Kalman filtering has suggested an approach to formulating such a test for collision avoidance maneuver decisions: a filter bank with two norm-inequality-constrained epoch-state extended Kalman filters. One filter models the null hypotheses that the miss distance is inside the combined hard body radius at the predicted time of closest approach, and one filter models the alternative hypothesis. The epoch-state filter developed for this method explicitly accounts for any process noise present in the system. The method appears to work well using a realistic example based on an upcoming, highly elliptical orbit formation flying mission.

  16. The facilitative nature of avoidance coping within sports injury rehabilitation.

    Carson, F; Polman, R C J

    2010-04-01

    Avoidance coping has commonly been reported within literature to be a debilitative process. However, in situations where goal attainment is reduced or eradicated avoidance coping strategies appear to have some benefit. The aim of this study was to identify the role of avoidance coping within the sports injury rehabilitation setting. A mixed methodological approach was utilized with four professional male rugby union players, concurrent with their rehabilitation from anterior cruciate ligament (ACL) surgery. Twice monthly interviews were conducted with each player, along with a self-report diary and the Coping with Health, Injuries and Problems (CHIP; Endler & Parker, 2000) inventory. Content analysis showed six higher-order themes split into two general dimensions: (a) behavioral avoidance coping (physical distraction, social interaction, maladaptive behaviors), and (b) cognitive avoidance coping (denial, thought stopping, cognitive distraction). Results suggest avoidance coping strategies facilitate control of short-term emotional states, as well has appearing to have long-term benefits for injured players. Particular benefits were associated with undertaking alternate work within the sports organization.

  17. Optimal Collision Avoidance Trajectories for Unmanned/Remotely Piloted Aircraft

    2014-12-26

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  18. Characterization Test Procedures for Intersection Collision Avoidance Systems Based on Vehicle-to-Vehicle Communications

    2015-12-01

    Characterization test procedures have been developed to quantify the performance of intersection collision avoidance (ICA) systems based on vehicle-to-vehicle communications. These systems warn the driver of an imminent crossing-path collision at a r...

  19. 35-GHz radar sensor for automotive collision avoidance

    Zhang, Jun

    1999-07-01

    This paper describes the development of a radar sensor system used for automotive collision avoidance. Because the heavy truck may have great larger radar cross section than a motorcyclist has, the radar receiver may have a large dynamic range. And multi-targets at different speed may confuse the echo spectrum causing the ambiguity between range and speed of target. To get more information about target and background and to adapt to the large dynamic range and multi-targets, a frequency modulated and pseudo- random binary sequences phase modulated continuous wave radar system is described. The analysis of this double- modulation system is given. A high-speed signal processing and data processing component are used to process and combine the data and information from echo at different direction and at every moment.

  20. Collision-Avoidance Characteristics of Grasping. Early Signs in Hand and Arm Kinematics

    Lommertzen, J.; Costa e Silva, E.; Meulenbroek, R.G.J.

    2009-01-01

    Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped

  1. Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

    Mazen Ghandour

    2017-06-01

    Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

  2. Application of Decision Tree on Collision Avoidance System Design and Verification for Quadcopter

    Chen, C.-W.; Hsieh, P.-H.; Lai, W.-H.

    2017-08-01

    The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters.

  3. APPLICATION OF DECISION TREE ON COLLISION AVOIDANCE SYSTEM DESIGN AND VERIFICATION FOR QUADCOPTER

    C.-W. Chen

    2017-08-01

    Full Text Available The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters.

  4. Strategy and Evaluation of Vehicle Collision Avoidance Control via Hardware-in-the-Loop Platform

    Sin-Li Chen

    2016-11-01

    Full Text Available This paper proposes a novel control approach for vehicle collision avoidance of urban vehicles. For safe driving in urban environments, this paper presents both one-dimensional and two-dimensional solutions, which can be applied to the collision avoidance via steering assistance, automatic braking, and warning of collision. Strategies are verified under the software CarSim, and the experimental evaluations are carried out under the combination of CarSim with a hardware-in-the-loop platform. The results show the feasibility and effectiveness of the proposed algorithm on vehicle collision avoidance.

  5. Uav Positioning and Collision Avoidance Based on RSS Measurements

    Masiero, A.; Fissore, F.; Guarnieri, A.; Pirotti, F.; Vettore, A.

    2015-08-01

    In recent years, Unmanned Aerial Vehicles (UAVs) are attracting more and more attention in both the research and industrial communities: indeed, the possibility to use them in a wide range of remote sensing applications makes them a very flexible and attractive solution in both civil and commercial cases (e.g. precision agriculture, security and control, monitoring of sites, exploration of areas difficult to reach). Most of the existing UAV positioning systems rely on the use of the GPS signal. Despite this can be a satisfactory solution in open environments where the GPS signal is available, there are several operating conditions of interest where it is unavailable or unreliable (e.g. close to high buildings, or mountains, in indoor environments). Consequently, a different approach has to be adopted in these cases. This paper considers the use ofWiFi measurements in order to obtain position estimations of the device of interest. More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. Thanks to the use of a Kalman filter, the proposed approach takes advantage of the temporal dynamic of the device of interest in order to improve the positioning results initially provided by means of maximum likelihood estimations. The considered UAVs are assumed to be provided with communication devices, which can allow them to communicate with each other in order to improve their cooperation abilities. In particular, the collision avoidance problem is examined in this work.

  6. Stereo-based Collision Avoidance System for Urban Traffic

    Moriya, Takashi; Ishikawa, Naoto; Sasaki, Kazuyuki; Nakajima, Masato

    2002-11-01

    Numerous car accidents occur on urban road. However, researches done so far on driving assistance are subjecting highways whose environment is relatively simple and easy to handle, and new approach for urban settings is required. Our purpose is to extend its support to the following conditions in city traffic: the presence of obstacles such as pedestrians and telephone poles; the lane mark is not always drawn on a road; drivers may lack the sense of awareness of the lane mark. We propose a collision avoidance system, which can be applied to both highways and urban traffic environment. In our system, stereo cameras are set in front of a vehicle and the captured images are processed through a computer. We create a Projected Disparity Map (PDM) from stereo image pair, which is a disparity histogram taken along ordinate direction of obtained disparity image. When there is an obstacle in front, we can detect it by finding a peak appeared in the PDM. With a speed meter and a steering sensor, the stop distance and the radius of curvature of the self-vehicle are calculated, in order to set the observation-required area, which does not depend on lane marks, within a PDM. A danger level will be computed from the distance and the relative speed to the closest approaching object detected within the observation-required area. The method has been tested in urban traffic scenes and has shown to be effective for judging dangerous situation, and gives proper alarm to a driver.

  7. An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

    Kyriakopoulos, K. J.; Saridis, G. N.

    1991-01-01

    An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

  8. Intelligent Local Avoided Collision (iLAC) MAC Protocol for Very High Speed Wireless Network

    Hieu, Dinh Chi; Masuda, Akeo; Rabarijaona, Verotiana Hanitriniala; Shimamoto, Shigeru

    Future wireless communication systems aim at very high data rates. As the medium access control (MAC) protocol plays the central role in determining the overall performance of the wireless system, designing a suitable MAC protocol is critical to fully exploit the benefit of high speed transmission that the physical layer (PHY) offers. In the latest 802.11n standard [2], the problem of long overhead has been addressed adequately but the issue of excessive colliding transmissions, especially in congested situation, remains untouched. The procedure of setting the backoff value is the heart of the 802.11 distributed coordination function (DCF) to avoid collision in which each station makes its own decision on how to avoid collision in the next transmission. However, collision avoidance is a problem that can not be solved by a single station. In this paper, we introduce a new MAC protocol called Intelligent Local Avoided Collision (iLAC) that redefines individual rationality in choosing the backoff counter value to avoid a colliding transmission. The distinguishing feature of iLAC is that it fundamentally changes this decision making process from collision avoidance to collaborative collision prevention. As a result, stations can avoid colliding transmissions with much greater precision. Analytical solution confirms the validity of this proposal and simulation results show that the proposed algorithm outperforms the conventional algorithms by a large margin.

  9. Semi-autonomous Intersection Collision Avoidance through Job-shop Scheduling

    Ahn, Heejin; Del Vecchio, Domitilla

    2016-01-01

    In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor determines whether there will be more than one vehicle in the vicinity of a conflict point at the same time. If there is, then an impending collision is detected, and the supervisor overrides the drivers to avoid collision. A major challenge in the design of a ...

  10. Supervised-machine Learning for Intelligent Collision Avoidance Decision-making and Sensor Tasking

    National Aeronautics and Space Administration — Building an autonomous architecture that uses directed self-learning neuro-fuzzy networks with the aim of developing an intelligent autonomous collision avoidance...

  11. Spatial Reuse and Collision Avoidance in Ad Hoc Networks with Directional Antennas

    Wang, Yu; Garcia-Luna-Aceves, J. J

    2002-01-01

    .... Some MAC protocols using directional antennas have been proposed in the past, which trade off spatial reuse and collision avoidance via a combination of omni-directional and directional transmission modes...

  12. Throughput and Fairness of Collision Avoidance Protocols in Ad Hoc Networks

    Garcia-Luna-Aceves, J. J; Wang, Yu

    2004-01-01

    .... In Section 1, The authors present an analytical modeling to derive the saturation throughput of these sender-initiated collision avoidance protocols in multi-hop ad hoc networks with nodes randomly...

  13. Decision Support from Genetic Algorithms for Ship Collision Avoidance Route Planning and Alerts

    Tsou, Ming-Cheng; Kao, Sheng-Long; Su, Chien-Min

    When an officer of the watch (OOW) faces complicated marine traffic, a suitable decision support tool could be employed in support of collision avoidance decisions, to reduce the burden and greatly improve the safety of marine traffic. Decisions on routes to avoid collisions could also consider economy as well as safety. Through simulating the biological evolution model, this research adopts the genetic algorithm used in artificial intelligence to find a theoretically safety-critical recommendation for the shortest route of collision avoidance from an economic viewpoint, combining the international regulations for preventing collisions at sea (COLREGS) and the safety domain of a ship. Based on this recommendation, an optimal safe avoidance turning angle, navigation restoration time and navigational restoration angle will also be provided. A Geographic Information System (GIS) will be used as the platform for display and operation. In order to achieve advance notice of alerts and due preparation for collision avoidance, a Vessel Traffic Services (VTS) operator and the OOW can use this system as a reference to assess collision avoidance at present location.

  14. SU-F-BRB-05: Collision Avoidance Mapping Using Consumer 3D Camera

    Cardan, R; Popple, R [Univ Alabama Birmingham, Birmingham, AL (United States)

    2015-06-15

    Purpose: To develop a fast and economical method of scanning a patient’s full body contour for use in collision avoidance mapping without the use of ionizing radiation. Methods: Two consumer level 3D cameras used in electronic gaming were placed in a CT simulator room to scan a phantom patient set up in a high collision probability position. A registration pattern and computer vision algorithms were used to transform the scan into the appropriate coordinate systems. The cameras were then used to scan the surface of a gantry in the treatment vault. Each scan was converted into a polygon mesh for collision testing in a general purpose polygon interference algorithm. All clinically relevant transforms were applied to the gantry and patient support to create a map of all possible collisions. The map was then tested for accuracy by physically testing the collisions with the phantom in the vault. Results: The scanning fidelity of both the gantry and patient was sufficient to produce a collision prediction accuracy of 97.1% with 64620 geometry states tested in 11.5 s. The total scanning time including computation, transformation, and generation was 22.3 seconds. Conclusion: Our results demonstrate an economical system to generate collision avoidance maps. Future work includes testing the speed of the framework in real-time collision avoidance scenarios. Research partially supported by a grant from Varian Medical Systems.

  15. Artificial potential functions for highway driving with collision avoidance

    Wolf , Michael T.; Burdick, Joel W.

    2008-01-01

    We present a set of potential function components to assist an automated or semi-automated vehicle in navigating a multi-lane, populated highway. The resulting potential field is constructed as a superposition of disparate functions for lane- keeping, road-staying, speed preference, and vehicle avoidance and passing. The construction of the vehicle avoidance potential is of primary importance, incorporating the structure and protocol of laned highway driving. Particularly, the shape and dimen...

  16. LightForce: An Update on Orbital Collision Avoidance Using Photon Pressure

    Stupl, Jan; Mason, James; De Vries, Willem; Smith, Craig; Levit, Creon; Marshall, William; Salas, Alberto Guillen; Pertica, Alexander; Olivier, Scot; Ting, Wang

    2012-01-01

    We present an update on our research on collision avoidance using photon-pressure induced by ground-based lasers. In the past, we have shown the general feasibility of employing small orbit perturbations, induced by photon pressure from ground-based laser illumination, for collision avoidance in space. Possible applications would be protecting space assets from impacts with debris and stabilizing the orbital debris environment. Focusing on collision avoidance rather than de-orbit, the scheme avoids some of the security and liability implications of active debris removal, and requires less sophisticated hardware than laser ablation. In earlier research we concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, could avoid a significant fraction of debris-debris collisions in low Earth orbit. This paper describes our recent efforts, which include refining our original analysis, employing higher fidelity simulations and performing experimental tracking tests. We investigate the efficacy of one or more laser ground stations for debris-debris collision avoidance and satellite protection using simulations to investigate multiple case studies. The approach includes modeling of laser beam propagation through the atmosphere, the debris environment (including actual trajectories and physical parameters), laser facility operations, and simulations of the resulting photon pressure. We also present the results of experimental laser debris tracking tests. These tests track potential targets of a first technical demonstration and quantify the achievable tracking performance.

  17. Flocking Control of Multiple Mobile Agents with the Rules of Avoiding Collision

    Hongtao Zhou

    2015-01-01

    Full Text Available This paper investigates the flocking and the coordinative control problems of multiple mobile agents with the rules of avoiding collision. We propose a set of control laws using hysteresis in adding new links and applying new potential function to guarantee that the fragmentation of the network can be avoided, under which all agents approach a common velocity vector, and asymptotically converge to a fixed value of interagent distances and collisions between agents can be avoided throughout the motion. Furthermore, we extend the flocking algorithm to solve the flocking situation of the group with a virtual leader agent. The laws can make all agents asymptotically approach the virtual leader and collisions can be avoided between agents in the motion evolution. Finally, some numerical simulations are showed to illustrate the theoretical results.

  18. Operational support to collision avoidance activities by ESA's space debris office

    Braun, V.; Flohrer, T.; Krag, H.; Merz, K.; Lemmens, S.; Bastida Virgili, B.; Funke, Q.

    2016-09-01

    The European Space Agency's (ESA) Space Debris Office provides a service to support operational collision avoidance activities. This support currently covers ESA's missions Cryosat-2, Sentinel-1A and -2A, the constellation of Swarm-A/B/C in low-Earth orbit (LEO), as well as missions of third-party customers. In this work, we describe the current collision avoidance process for ESA and third-party missions in LEO. We give an overview on the upgrades developed and implemented since the advent of conjunction summary messages (CSM)/conjunction data messages (CDM), addressing conjunction event detection, collision risk assessment, orbit determination, orbit and covariance propagation, process control, and data handling. We pay special attention to the effect of warning thresholds on the risk reduction and manoeuvre rates, as they are established through risk mitigation and analysis tools, such as ESA's Debris Risk Assessment and Mitigation Analysis (DRAMA) software suite. To handle the large number of CDMs and the associated risk analyses, a database-centric approach has been developed. All CDMs and risk analysis results are stored in a database. In this way, a temporary local "mini-catalogue" of objects close to our target spacecraft is obtained, which can be used, e.g., for manoeuvre screening and to update the risk analysis whenever a new ephemeris becomes available from the flight dynamics team. The database is also used as the backbone for a Web-based tool, which consists of the visualization component and a collaboration tool that facilitates the status monitoring and task allocation within the support team as well as communication with the control team. The visualization component further supports the information sharing by displaying target and chaser motion over time along with the involved uncertainties. The Web-based solution optimally meets the needs for a concise and easy-to-use way to obtain a situation picture in a very short time, and the support for

  19. An Improved Differential Evolution Algorithm for Maritime Collision Avoidance Route Planning

    Yu-xin Zhao

    2014-01-01

    Full Text Available High accuracy navigation and surveillance systems are pivotal to ensure efficient ship route planning and marine safety. Based on existing ship navigation and maritime collision prevention rules, an improved approach for collision avoidance route planning using a differential evolution algorithm was developed. Simulation results show that the algorithm is capable of significantly enhancing the optimized route over current methods. It has the potential to be used as a tool to generate optimal vessel routing in the presence of conflicts.

  20. ITI-signals and prelimbic cortex facilitate avoidance acquisition and reduce avoidance latencies, respectively, in male WKY rats

    Kevin D Beck

    2014-11-01

    Full Text Available As a model of anxiety disorder vulnerability, male Wistar-Kyoto (WKY rats acquire lever-press avoidance behavior more readily than outbred Sprague Dawley rats, and their acquisition is enhanced by the presence of a discrete signal presented during the inter-trial intervals (ITIs, suggesting it is perceived as a safety signal. A series of experiments were conducted to determine if this is the case. Additional experiments investigated if the avoidance facilitation relies upon processing through medial prefrontal cortex (mPFC. The results suggest that the ITI-signal facilitates acquisition during the early stages of the avoidance acquisition process, when the rats are initially acquiring escape behavior and then transitioning to avoidance behavior. Post-avoidance introduction of the visual ITI-signal into other associative learning tasks failed to confirm that the visual stimulus had acquired the properties of a conditioned inhibitor. Shortening the signal from the entirety of the 3 min ITI to only the first 5 s of the 3 min ITI slowed acquisition during the first 4 sessions, suggesting the flashing light is not functioning as a feedback signal. The prelimbic (PL cortex showed greater activation during the period of training when the transition from escape responding to avoidance responding occurs. Only combined PL+infralimbic cortex lesions modestly slowed avoidance acquisition, but PL cortex lesions slowed avoidance response latencies. Thus, the flashing light ITI-signal is not likely perceived as a safety signal nor is it serving as a feedback signal. The functional role of the PL cortex appears to be to increase the drive towards responding to the threat of the warning signal. Hence, avoidance susceptibility displayed by male WKY rats may be driven, in part, both by external stimuli (ITI signal as well as by enhanced threat recognition to the warning signal via the PL cortex.

  1. Simulation of Pedestrian Behavior in the Collision-Avoidance Process considering Their Moving Preferences

    Zhilu Yuan

    2017-01-01

    Full Text Available Walking habits can affect the self-organizing movement in pedestrian flow. In China, pedestrians prefer to walk along the right-hand side in the collision-avoidance process, and the same is true for the left-hand preference that is followed in several countries. Through experiments with pedestrian flow, we find that the relative position between pedestrians can affect their moving preferences. We propose a kind of collision-avoidance force based on the social force model, which considers the predictions of potential conflict and the relative position between pedestrians. In the simulation, we use the improved model to explore the effect of moving preference on the collision-avoidance process and self-organizing pedestrian movement. We conclude that the improved model can bring the simulation closer to reality and that moving preference is conducive to the self-adjustment of counterflow.

  2. Model of Optimal Collision Avoidance Manoeuvre on the Basis of Electronic Data Collection

    Jelenko Švetak

    2005-11-01

    Full Text Available The results of the data analyses show that accidents mostlyinclude damages to the ship's hull and collisions. Generally allaccidents of ships can be divided into two basic categories.First, accidents in which measures for damage control shouldbe taken immediately, and second, those which require a littlemore patient reaction. The very fact that collisions belong to thefirst category provided the incentive for writing the current paper.The proposed model of optimal collision avoidance manoeuvreof ships on the basis of electronic data collection wasmade by means of the navigation simulator NTPRO- 1000,Transas manufacturer, Russian Federation.

  3. How Much Control is Enough for Network Connectivity Preservation and Collision Avoidance?

    Chen, Zhiyong; Fan, Ming-Can; Zhang, Hai-Tao

    2015-08-01

    For a multiagent system in free space, the agents are required to generate sufficiently large cohesive force for network connectivity preservation and sufficiently large repulsive force for collision avoidance. This paper gives an energy function based approach for estimating the control force in a general setting. In particular, the force estimated for network connectivity preservation and collision avoidance is separated from the force for other collective behavior of the agents. Moreover, the estimation approach is applied in three typical collective control scenarios including swarming, flocking, and flocking without velocity measurement.

  4. Autonomous manoeuvring systems for collision avoidance on single carriageway roads.

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Oscar

    2012-11-29

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles' positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  5. Autonomous Manoeuvring Systems for Collision Avoidance on Single Carriageway Roads

    Óscar Gómez

    2012-11-01

    Full Text Available The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles’ positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  6. Experiences of model year 2011 Dodge and Jeep owners with collision avoidance and related technologies.

    Cicchino, Jessica B; McCartt, Anne T

    2015-01-01

    Crash avoidance technologies have the potential to prevent or mitigate many crashes, but their effectiveness depends on drivers' acceptance and proper use. Owners of 2011 Dodge Charger, Dodge Durango, and Jeep Grand Cherokee vehicles were interviewed about their experiences with their vehicles' technologies. Interviews were conducted in April 2013 with 215 owners of Dodge and Jeep vehicles with adaptive cruise control and forward collision warning and 215 owners with blind spot monitoring and rear cross-path detection. Most owners said that they always keep each collision avoidance technology turned on, and more than 90% of owners with each system would want the technology again on their next vehicle. The majority believed that the systems had helped prevent a collision; this ranged from 54% of drivers with forward collision warning to more than three-quarters with blind spot monitoring and rear cross-path detection. Some owners reported behavioral changes with the systems, but over-reliance on them is not prevalent. Reported use of the systems varied by the age and gender of the driver and duration of vehicle ownership to a greater degree than in previous surveys of luxury Volvo and Infiniti vehicles with collision avoidance technologies. Notably, drivers aged 40 and younger were most likely to report that forward collision warning had alerted them multiple times and that it had prevented a collision and that they follow the vehicle ahead less closely with adaptive cruise control. Reports of waiting for the alert from forward collision warning before braking were infrequent but increased with duration of ownership. However, these reports could reflect confusion of the system with adaptive cruise control, which alerts drivers when braking is necessary to maintain a preset speed or following distance but a crash is not imminent. Consistent with previous surveys of luxury vehicle owners with collision avoidance technologies, acceptance and use remains high among

  7. Gaze movements and spatial working memory in collision avoidance: a traffic intersection task

    Gregor eHardiess

    2013-06-01

    Full Text Available Street crossing under traffic is an everyday activity including collision detection as well as avoidance of objects in the path of motion. Such tasks demand extraction and representation of spatio-temporal information about relevant obstacles in an optimized format. Relevant task information is extracted visually by the use of gaze movements and represented in spatial working memory. In a virtual reality traffic intersection task, subjects are confronted with a two-lane intersection where cars are appearing with different frequencies, corresponding to high and low traffic densities. Under free observation and exploration of the scenery (using unrestricted eye and head movements the overall task for the subjects was to predict the potential-of-collision (POC of the cars or to adjust an adequate driving speed in order to cross the intersection without collision (i.e., to find the free space for crossing. In a series of experiments, gaze movement parameters, task performance, and the representation of car positions within working memory at distinct time points were assessed in normal subjects as well as in neurological patients suffering from homonymous hemianopia. In the following, we review the findings of these experiments together with other studies and provide a new perspective of the role of gaze behavior and spatial memory in collision detection and avoidance, focusing on the following questions: (i which sensory variables can be identified supporting adequate collision detection? (ii How do gaze movements and working memory contribute to collision avoidance when multiple moving objects are present and (iii how do they correlate with task performance? (iv How do patients with homonymous visual field defects use gaze movements and working memory to compensate for visual field loss? In conclusion, we extend the theory of collision detection and avoidance in the case of multiple moving objects and provide a new perspective on the combined

  8. Biologically inspired collision avoidance system for unmanned vehicles

    Ortiz, Fernando E.; Graham, Brett; Spagnoli, Kyle; Kelmelis, Eric J.

    2009-05-01

    In this project, we collaborate with researchers in the neuroscience department at the University of Delaware to develop an Field Programmable Gate Array (FPGA)-based embedded computer, inspired by the brains of small vertebrates (fish). The mechanisms of object detection and avoidance in fish have been extensively studied by our Delaware collaborators. The midbrain optic tectum is a biological multimodal navigation controller capable of processing input from all senses that convey spatial information, including vision, audition, touch, and lateral-line (water current sensing in fish). Unfortunately, computational complexity makes these models too slow for use in real-time applications. These simulations are run offline on state-of-the-art desktop computers, presenting a gap between the application and the target platform: a low-power embedded device. EM Photonics has expertise in developing of high-performance computers based on commodity platforms such as graphic cards (GPUs) and FPGAs. FPGAs offer (1) high computational power, low power consumption and small footprint (in line with typical autonomous vehicle constraints), and (2) the ability to implement massively-parallel computational architectures, which can be leveraged to closely emulate biological systems. Combining UD's brain modeling algorithms and the power of FPGAs, this computer enables autonomous navigation in complex environments, and further types of onboard neural processing in future applications.

  9. Altruistic Backoff: Collision Avoidance for Receiver-Initiated MAC Protocols for Wireless Sensor Networks

    Fafoutis, Xenofon; Orfanidis, Charalampos; Dragoni, Nicola

    2014-01-01

    In receiver-initiated medium access control (MAC) protocols for wireless sensor networks, communication is initiated by the receiver node which transmits beacons indicating its availability to receive data. In the case of multiple senders having traffic for a given receiver, such beacons form...... points where collisions are likely to happen. In this paper, we present altruistic backoff (AB), a novel collision avoidance mechanism that aims to avoid collisions before the transmission of a beacon. As a result of an early backoff, senders spend less time in idle listening waiting for a beacon, thus...... saving significant amounts of energy. We present an implementation of AB for Texas Instruments' eZ430-rf2500 sensor nodes and we evaluate its performance with simulations and experiments....

  10. Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson's arms race model.

    Riaz, Faisal; Niazi, Muaz A

    2017-01-01

    This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs), which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM) level of the Cognitive Agent Based Computing (CABC) framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson's arms race model has also been presented. The performance of the proposed social agent has been validated at two levels-firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme.

  11. Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson’s arms race model

    Niazi, Muaz A.

    2017-01-01

    This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs), which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM) level of the Cognitive Agent Based Computing (CABC) framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson’s arms race model has also been presented. The performance of the proposed social agent has been validated at two levels–firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme. PMID:29040294

  12. THE DEVELOPMENT OF METHOD AND ON-BOARD DEVICES FOR COLLISION AVOIDANCE WHEN OVERTAKING

    Podryhalo, M.

    2013-06-01

    Full Text Available A method for improving the safety of overtaking maneuver by using the on-board collision avoidance system, which has an increased assessment reliability of safety of vehicles overtaking that move in the same direction is offered. The proposed system takes into account the main factors that affect the overtaking maneuver.

  13. Collision avoidance system cost-benefit analysis : volume I - technical manual

    1981-09-01

    Collision-avoidance systems under development in the U.S.A., Japan and Germany were evaluated. The performance evaluation showed that the signal processing and the control law of a system were the key parameters that decided the system's capability, ...

  14. A Receiver-Initiated Collision-Avoidance Protocol for Multi-Channel Networks

    2001-01-01

    00-00-2001 to 00-00-2001 4. TITLE AND SUBTITLE A Receiver-Initiated Collision-Avoidance Protocol for Multi-Channel Netowrks 5a. CONTRACT NUMBER...images. 14. ABSTRACT 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF PAGES 10 19a. NAME OF RESPONSIBLE

  15. Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson's arms race model.

    Faisal Riaz

    Full Text Available This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs, which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM level of the Cognitive Agent Based Computing (CABC framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson's arms race model has also been presented. The performance of the proposed social agent has been validated at two levels-firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme.

  16. Method for Collision Avoidance Motion Coordination of Multiple Mobile Robots Using Central Observation

    Ko, N.Y.; Seo, D.J. [Chosun University, Kwangju (Korea)

    2003-04-01

    This paper presents a new method driving multiple robots to their goal position without collision. Each robot adjusts its motion based on the information on the goal locations, velocity, and position of the robot and the velocity and position of the other robots. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the following factors: the distance from the robot to the other robots, velocity of the robot and the other robots. To implement the concept in moving robot avoidance, relative distance between the robots is derived. Our method combines the relative distance with an artificial potential field method. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, the usual potential field method sometimes fails preventing collision or causes hasty motion, because it initiates avoidance motion later than the proposed method. The proposed method can be used to move robots in a robot soccer team to their appropriate position without collision as fast as possible. (author). 21 refs., 10 figs., 13 tabs.

  17. Driver Behavioral Changes through Interactions with an Automatic Brake System for Collision Avoidance

    Itoh, Makoto; Fujiwara, Yusuke; Inagaki, Toshiyuki

    This paper discusses driver's behavioral changes as a result of driver's use of an automatic brake system for preventing a rear-end collision from occurring. Three types of automatic brake systems are investigated in this study. Type 1 brake system applies a strong automatic brake when a collision is very imminent. Type 2 brake system initiates brake operation softly when a rear-end crash may be anticipated. Types 1 and 2 are for avoidance of a collision. Type 3 brake system, on the other hand, applies a strong automatic brake to reduce the damage when a collision can not be avoided. An experiment was conducted with a driving simulator in order to analyze the driver's possible behavioral changes. The results showed that the time headway (THW) during car following phase was reduced by use of an automatic brake system of any type. The inverse of time to collision (TTC), which is an index of the driver's brake timing, increased by use of Type 1 brake system when the deceleration rate of the lead vehicle was relatively low. However, the brake timing did not change when the drivers used Type 2 or 3 brake system. As a whole, dangerous behavioral changes, such as overreliance on a brake system, were not observed for either type of brake system.

  18. An Effective Scheduling-Based RFID Reader Collision Avoidance Model and Its Resource Allocation via Artificial Immune Network

    Wang, Shanjin; Li, Zhonghua; He, Chunhui; Li, Jianming

    2016-01-01

    Radio frequency identification, that is, RFID, is one of important technologies in Internet of Things. Reader collision does impair the tag identification efficiency of an RFID system. Many developed methods, for example, the scheduling-based series, that are used to avoid RFID reader collision, have been developed. For scheduling-based methods, communication resources, that is, time slots, channels, and power, are optimally assigned to readers. In this case, reader collision avoidance is equ...

  19. Using Distance Sensors to Perform Collision Avoidance Maneuvres on Uav Applications

    Raimundo, A.; Peres, D.; Santos, N.; Sebastião, P.; Souto, N.

    2017-08-01

    The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. "Sense and Avoid" algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk's flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the "Sense and Avoid" algorithm's overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and "Brake" mode on a real outdoor, proving its concepts.

  20. A trial of retrofitted advisory collision avoidance technology in government fleet vehicles.

    Thompson, James P; Mackenzie, Jamie R R; Dutschke, Jeffrey K; Baldock, Matthew R J; Raftery, Simon J; Wall, John

    2018-06-01

    In-vehicle collision avoidance technology (CAT) has the potential to prevent crash involvement. In 2015, Transport for New South Wales undertook a trial of a Mobileye 560 CAT system that was installed in 34 government fleet vehicles for a period of seven months. The system provided headway monitoring, lane departure, forward collision and pedestrian collision warnings, using audio and visual alerts. The purpose of the trial was to determine whether the technology could change the driving behaviour of fleet vehicle drivers and improve their safety. The evaluation consisted of three components: (1) analysis of objective data to examine effects of the technology on driving behaviour, (2) analysis of video footage taken from a sample of the vehicles to examine driving circumstances that trigger headway monitoring and forward collision warnings, and (3) a survey completed by 122 of the 199 individuals who drove the trial vehicles to examine experiences with, and attitudes to, the technology. Analysis of the objective data found that the system resulted in changes in behaviour with increased headway and improved lane keeping, but that these improvements dissipated once the warning alerts were switched off. Therefore, the system is capable of altering behaviour but only when it is actively providing alerts. In-vehicle video footage revealed that over a quarter of forward collision warnings were false alarms, in which a warning event was triggered despite there being no vehicle travelling ahead. The surveyed drivers recognised that the system could improve safety but most did not wish to use it themselves as they found it to be distracting and felt that it would not prevent them from having a crash. The results demonstrate that collision avoidance technology can improve driving behaviour but drivers may need to be educated about the potential benefits for their driving in order to accept the technology. Copyright © 2018 Elsevier Ltd. All rights reserved.

  1. Collision avoidance in persons with homonymous visual field defects under virtual reality conditions.

    Papageorgiou, Eleni; Hardiess, Gregor; Ackermann, Hermann; Wiethoelter, Horst; Dietz, Klaus; Mallot, Hanspeter A; Schiefer, Ulrich

    2012-01-01

    The aim of the present study was to examine the effect of homonymous visual field defects (HVFDs) on collision avoidance of dynamic obstacles at an intersection under virtual reality (VR) conditions. Overall performance was quantitatively assessed as the number of collisions at a virtual intersection at two difficulty levels. HVFDs were assessed by binocular semi-automated kinetic perimetry within the 90° visual field, stimulus III4e and the area of sparing within the affected hemifield (A-SPAR in deg(2)) was calculated. The effect of A-SPAR, age, gender, side of brain lesion, time since brain lesion and presence of macular sparing on the number of collisions, as well as performance over time were investigated. Thirty patients (10 female, 20 male, age range: 19-71 years) with HVFDs due to unilateral vascular brain lesions and 30 group-age-matched subjects with normal visual fields were examined. The mean number of collisions was higher for patients and in the more difficult level they experienced more collisions with vehicles approaching from the blind side than the seeing side. Lower A-SPAR and increasing age were associated with decreasing performance. However, in agreement with previous studies, wide variability in performance among patients with identical visual field defects was observed and performance of some patients was similar to that of normal subjects. Both patients and healthy subjects displayed equal improvement of performance over time in the more difficult level. In conclusion, our results suggest that visual-field related parameters per se are inadequate in predicting successful collision avoidance. Individualized approaches which also consider compensatory strategies by means of eye and head movements should be introduced. Copyright © 2011 Elsevier Ltd. All rights reserved.

  2. Fuzzy Reasoning as a Base for Collision Avoidance Decision Support System

    tanja brcko

    2013-12-01

    Full Text Available Despite the generally high qualifications of seafarers, many maritime accidents are caused by human error; such accidents include capsizing, collision, and fire, and often result in pollution. Enough concern has been generated that researchers around the world have developed the study of the human factor into an independent scientific discipline. A great deal of progress has been made, particularly in the area of artificial intelligence. But since total autonomy is not yet expedient, the decision support systems based on soft computing are proposed to support human navigators and VTS operators in times of crisis as well as during the execution of everyday tasks as a means of reducing risk levels.This paper considers a decision support system based on fuzzy logic integrated into an existing bridge collision avoidance system. The main goal is to determine the appropriate course of avoidance, using fuzzy reasoning.

  3. Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

    Lie, Guo; Zejian, Ren; Pingshu, Ge; Jing, Chang

    2014-01-01

    Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the cu...

  4. SU-E-T-754: Three-Dimensional Patient Modeling Using Photogrammetry for Collision Avoidance

    Popple, R; Cardan, R [Univ Alabama Birmingham, Birmingham, AL (United States)

    2015-06-15

    Purpose: To evaluate photogrammetry for creating a three-dimensional patient model. Methods: A mannequin was configured on the couch of a CT scanner to simulate a patient setup using an indexed positioning device. A CT fiducial was placed on the indexed CT table-overlay at the reference index position. Two dimensional photogrammetry targets were placed on the table in known positions. A digital SLR camera was used to obtain 27 images from different positions around the CT table. The images were imported into a commercial photogrammetry package and a 3D model constructed. Each photogrammetry target was identified on 2 to 5 images. The CT DICOM metadata and the position of the CT fiducial were used to calculate the coordinates of the photogrammetry targets in the CT image frame of reference. The coordinates were transferred to the photogrammetry software to orient the 3D model. The mannequin setup was transferred to the treatment couch of a linear accelerator and positioned at isocenter using in-room lasers. The treatment couch coordinates were noted and compared with prediction. The collision free regions were measured over the full range of gantry and table motion and were compared with predictions obtained using a general purpose polygon interference algorithm. Results: The reconstructed 3D model consisted of 180000 triangles. The difference between the predicted and measured couch positions were 5 mm, 1 mm, and 1 mm for longitudinal, lateral, and vertical, respectively. The collision prediction tested 64620 gantry table combinations in 11.1 seconds. The accuracy was 96.5%, with false positive and negative results occurring at the boundaries of the collision space. Conclusion: Photogrammetry can be used as a tool for collision avoidance during treatment planning. The results indicate that a buffer zone is necessary to avoid false negatives at the boundary of the collision-free zone. Testing with human patients is underway. Research partially supported by a grant

  5. Small UAV Automatic Ground Collision Avoidance System Design Considerations and Flight Test Results

    Sorokowski, Paul; Skoog, Mark; Burrows, Scott; Thomas, SaraKatie

    2015-01-01

    The National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Small Unmanned Aerial Vehicle (SUAV) Automatic Ground Collision Avoidance System (Auto GCAS) project demonstrated several important collision avoidance technologies. First, the SUAV Auto GCAS design included capabilities to take advantage of terrain avoidance maneuvers flying turns to either side as well as straight over terrain. Second, the design also included innovative digital elevation model (DEM) scanning methods. The combination of multi-trajectory options and new scanning methods demonstrated the ability to reduce the nuisance potential of the SUAV while maintaining robust terrain avoidance. Third, the Auto GCAS algorithms were hosted on the processor inside a smartphone, providing a lightweight hardware configuration for use in either the ground control station or on board the test aircraft. Finally, compression of DEM data for the entire Earth and successful hosting of that data on the smartphone was demonstrated. The SUAV Auto GCAS project demonstrated that together these methods and technologies have the potential to dramatically reduce the number of controlled flight into terrain mishaps across a wide range of aviation platforms with similar capabilities including UAVs, general aviation aircraft, helicopters, and model aircraft.

  6. USING DISTANCE SENSORS TO PERFORM COLLISION AVOIDANCE MANEUVRES ON UAV APPLICATIONS

    A. Raimundo

    2017-08-01

    Full Text Available The Unmanned Aerial Vehicles (UAV and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. “Sense and Avoid” algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR, to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk’s flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G. Some tests were made in order to evaluate the “Sense and Avoid” algorithm’s overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and “Brake” mode on a real outdoor, proving its concepts.

  7. Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.

    Hawary, A. F.; Razak, N. A.

    2018-05-01

    Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.

  8. Zero Distribution of System with Unknown Random Variables Case Study: Avoiding Collision Path

    Parman Setyamartana

    2014-07-01

    Full Text Available This paper presents the stochastic analysis of finding the feasible trajectories of robotics arm motion at obstacle surrounding. Unknown variables are coefficients of polynomials joint angle so that the collision-free motion is achieved. ãk is matrix consisting of these unknown feasible polynomial coefficients. The pattern of feasible polynomial in the obstacle environment shows as random. This paper proposes to model the pattern of this randomness values using random polynomial with unknown variables as coefficients. The behavior of the system will be obtained from zero distribution as the characteristic of such random polynomial. Results show that the pattern of random polynomial of avoiding collision can be constructed from zero distribution. Zero distribution is like building block of the system with obstacles as uncertainty factor. By scale factor k, which has range, the random coefficient pattern can be predicted.

  9. Usability Analysis of Collision Avoidance System in Vehicle-to-Vehicle Communication Environment

    Hong Cho

    2014-01-01

    Full Text Available Conventional intelligent vehicles have performance limitations owing to the short road and obstacle detection range of the installed sensors. In this study, to overcome this limitation, we tested the usability of a new conceptual autonomous emergency braking (AEB system that employs vehicle-to-vehicle (V2V communication technology in the existing AEB system. To this end, a radar sensor and a driving and communication environment constituting the AEB system were simulated; the simulation was then linked by applying vehicle dynamics and control logic. The simulation results show that the collision avoidance relaxation rate of V2V communication-based AEB system was reduced compared with that of existing vehicle-mounted-sensor-based system. Thus, a method that can lower the collision risk of the existing AEB system, which uses only a sensor cluster installed on the vehicle, is realized.

  10. Advanced Whale Detection Methods to Improve Whale-Ship Collision Avoidance

    McGillivary, P. A.; Tougher, B.

    2010-12-01

    Collisions between whales and ships are now estimated to account for fully a third of all whale deaths worldwide. Such collisions can incur costly ship repairs, and may damage or disable ship steering requiring costly response efforts from state and federal agencies. While collisions with rare whale species are problematic in further reducing their low population numbers, collisions with some of the more abundant whale species are also becoming more common as their populations increase. The problem is compounded as ship traffic likewise continues to grow, thus posing a growing risk to both whales and ships. Federal agencies are considering policies to alter shipping lanes to minimize whale-ship collisions off California and elsewhere. Similar efforts have already been undertaken for the Boston Harbor ship approach, where a bend in the shipping lane was introduced to reduce ship traffic through a favorite area of the highly endangered North Atlantic Right Whale. The Boston shipping approach lane was also flanked with a system of moorings with whale detection hydrophones which broadcast the presence of calling whales in or near the ship channel to approaching ships in real time. When so notified, ships can post lookouts to avoid whale collisions, and reduce speed to reduce the likelihood of whale death, which is highly speed dependent. To reduce the likelihood and seriousness of whale-ship collisions off California and Alaska in particular, there is a need to better know areas of particularly high use by whales, and consider implementation of reduced ship speeds in these areas. There is also an ongoing discussion of altering shipping lanes in the Santa Barbara Channel to avoid habitual Blue whales aggregation areas in particular. However, unlike the case for Boston Harbor, notification of ships that whales are nearby to reduce or avoid collisions is complicated because many California and Alaska whale species do not call regularly, and would thus be undetected by

  11. A rear-end collision risk assessment model based on drivers' collision avoidance process under influences of cell phone use and gender-A driving simulator based study.

    Li, Xiaomeng; Yan, Xuedong; Wu, Jiawei; Radwan, Essam; Zhang, Yuting

    2016-12-01

    Driver's collision avoidance performance has a direct link to the collision risk and crash severity. Previous studies demonstrated that the distracted driving, such as using a cell phone while driving, disrupted the driver's performance on road. This study aimed to investigate the manner and extent to which cell phone use and driver's gender affected driving performance and collision risk in a rear-end collision avoidance process. Forty-two licensed drivers completed the driving simulation experiment in three phone use conditions: no phone use, hands-free, and hand-held, in which the drivers drove in a car-following situation with potential rear-end collision risks caused by the leading vehicle's sudden deceleration. Based on the experiment data, a rear-end collision risk assessment model was developed to assess the influence of cell phone use and driver's gender. The cell phone use and driver's gender were found to be significant factors that affected the braking performances in the rear-end collision avoidance process, including the brake reaction time, the deceleration adjusting time and the maximum deceleration rate. The minimum headway distance between the leading vehicle and the simulator during the rear-end collision avoidance process was the final output variable, which could be used to measure the rear-end collision risk and judge whether a collision occurred. The results showed that although cell phone use drivers took some compensatory behaviors in the collision avoidance process to reduce the mental workload, the collision risk in cell phone use conditions was still higher than that without the phone use. More importantly, the results proved that the hands-free condition did not eliminate the safety problem associated with distracted driving because it impaired the driving performance in the same way as much as the use of hand-held phones. In addition, the gender effect indicated that although female drivers had longer reaction time than male drivers in

  12. Modelling and Analysis of a Collision Avoidance Protocol using SPIN and UPPAAL

    Skou, Arne; Larsen, Kim Guldstrand; Jensen, Henrik Ejersbo

    1997-01-01

    , the modelling of the media becomes ackward due to the lack of broadcast communication in the PROMELA language. On the other hand we find it easy to model the timed aspects using the UPPAAL tool. Especially, the notion of committed locations supports the modelling of broadcast communication. However......This paper compares the tools SPIN and UPPAAL by modelling and verifying a Collision Avoidance Protocol for an Ethernet-like medium. We find that SPIN is well suited for modelling the untimed aspects of the protocol processes and for expressing the relevant (untimed) properties. However...

  13. Perseveration effects in detection tasks with correlated decision intervals. [applied to pilot collision avoidance

    Gai, E. G.; Curry, R. E.

    1978-01-01

    An investigation of the behavior of the human decisionmaker is described for a task related to the problem of a pilot using a traffic situation display to avoid collisions. This sequential signal detection task is characterized by highly correlated signals with time varying strength. Experimental results are presented and the behavior of the observers is analyzed using the theory of Markov processes and classical signal detection theory. Mathematical models are developed which describe the main result of the experiment: that correlation in sequential signals induced perseveration in the observer response and a strong tendency to repeat their previous decision, even when they were wrong.

  14. Interaction of Harsh Weather Operation and Collision Avoidance in Autonomous Navigation

    Hans-Christoph Burmeister

    2015-03-01

    Full Text Available Taking into account the autonomous navigation system design and today’s state of the art navigation with regards to weather and collision avoidance this paper presents the architecture of the integrated approach, its links to existing rules and regulations and the test scenarios. These demonstrate how safe and efficient navigation of autonomous vessels can be achieved by showing the module's interaction and validating the feasibility of the approach. These analyses will be based on historical traffic data sets as well as simulation results.

  15. Collision Avoidance Short Course: Conjunction Assessment Risk Analysis - NASA Robotic CARA. Part I: ; Theory

    Hejduk, M. D.; Frigm, Ryan C.

    2015-01-01

    Satellite conjunction assessment is perhaps the fastest growing area in space situational awareness and protection with military, civil and commercial satellite owner-operators embracing more and more sophisticated processes to avoid the avoidable - namely collisions between high value space assets and orbital debris. NASA and Centre National d'Etudes Spatiales (CNES) have collaborated to offer an introductory short course on all the major aspects of the conjunctions assessment problem. This half-day course will cover satellite conjunction dynamics and theory. Joint Space Operations Center (JsPOC) conjunction data products, major risk assessment parameters and plots, conjunction remediation decision support, and present and future challenges. This briefing represents the NASA portion of the course.

  16. Design of an Automatic Forward and Back Collision Avoidance System for Automobiles

    Tasneem Sanjana

    2018-01-01

    Full Text Available This paper is the extended reflection of work originally presented in conference of Electrical, Computer and Communication Engineering (ECCE-CUET 2017, entitled “Automated Anti Collision System for Automobiles”. Automated collision avoidance system is a trending technology of science in automobile engineering. The aim of this paper is to design a system which will prevent collision from the front as well as the back for automobiles. This paper gives an overview of secure and smooth journey of car (vehicles as well as the certainty of human life. This system is controlled by microcontroller ATMEGA32. Two Sharp distance sensors are used to detect object within the danger range where one is for front detection and other is for back detection. A crystal oscillator is used to produce the oscillation and generates the clock pulse of the microcontroller. An LCD and a GLCD are used to give information about the safe distance for front and rear respectively, and a buzzer is used as alarm. An actuator is used as automatic brake and inside the actuator there is a motor driver that runs the actuator. For coding “microC PRO for PIC” is used and “Proteus Design Suite Version 8 Software” is used for simulation.

  17. Avoiding inappropriate paediatric admission: facilitating General Practitioner referral to Community Children’s Nursing Teams

    Kyle Richard G

    2013-01-01

    Full Text Available Abstract Background Children’s emergency admissions in England are increasing. Community Children’s Nursing Teams (CCNTs have developed services to manage acutely ill children at home to reduce demand for unscheduled care. Referral between General Practitioners (GPs and CCNTs may reduce avoidable admissions and minimise the psychosocial and financial impact of hospitalisation on children, families and the NHS. However, facilitators of GP referral to CCNTs are not known. The aim of this study was to identify facilitators of GP referral to CCNTs. Methods Semi-structured interviews with 39 health professionals were conducted between June 2009 and February 2010 in three Primary Care Trusts served by CCNTs in North West England. Interviewees included GPs, Community Children’s Nurses (CCNs, consultant paediatricians, commissioners, and service managers. Qualitative data were analysed thematically using the Framework approach in NVivo 8. Results Five facilitators were identified: 1 CCN/CCNT visibility; 2 clear clinical governance procedures; 3 financial and organisational investment in the role of CCNTs in acute care pathways; 4 access and out of hours availability; 5 facilitative financial frameworks. Conclusion GPs required confidence in CCNs’ competence to safely manage acutely ill children at home and secure rapid referral if a child’s condition deteriorated. Incremental approaches to developing GP referral to CCNTs underpinned by clear clinical governance protocols are likely to be most effective in building GP confidence and avoiding inappropriate admission.

  18. CA-LOD: Collision Avoidance Level of Detail for Scalable, Controllable Crowds

    Paris, Sébastien; Gerdelan, Anton; O'Sullivan, Carol

    The new wave of computer-driven entertainment technology throws audiences and game players into massive virtual worlds where entire cities are rendered in real time. Computer animated characters run through inner-city streets teeming with pedestrians, all fully rendered with 3D graphics, animations, particle effects and linked to 3D sound effects to produce more realistic and immersive computer-hosted entertainment experiences than ever before. Computing all of this detail at once is enormously computationally expensive, and game designers as a rule, have sacrificed the behavioural realism in favour of better graphics. In this paper we propose a new Collision Avoidance Level of Detail (CA-LOD) algorithm that allows games to support huge crowds in real time with the appearance of more intelligent behaviour. We propose two collision avoidance models used for two different CA-LODs: a fuzzy steering focusing on the performances, and a geometric steering to obtain the best realism. Mixing these approaches allows to obtain thousands of autonomous characters in real time, resulting in a scalable but still controllable crowd.

  19. Modeling of driver's collision avoidance maneuver based on controller switching model.

    Kim, Jong-Hae; Hayakawa, Soichiro; Suzuki, Tatsuya; Hayashi, Koji; Okuma, Shigeru; Tsuchida, Nuio; Shimizu, Masayuki; Kido, Shigeyuki

    2005-12-01

    This paper presents a modeling strategy of human driving behavior based on the controller switching model focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three-dimensional (3-D) driving simulator based on the CAVE Automatic Virtual Environment (CAVE), which provides stereoscopic immersive virtual environment. In our modeling, the control scenario of the human driver, that is, the mapping from the driver's sensory information to the operation of the driver such as acceleration, braking, and steering, is expressed by Piecewise Polynomial (PWP) model. Since the PWP model includes both continuous behaviors given by polynomials and discrete logical conditions, it can be regarded as a class of Hybrid Dynamical System (HDS). The identification problem for the PWP model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the "control law" according to the sensory information. In addition, the driving characteristics of the beginner driver and the expert driver are compared and discussed. These results enable us to capture not only the physical meaning of the driving skill but the decision-making aspect (switching conditions) in the driver's collision avoidance maneuver as well.

  20. Design and development of a unit element microstrip antenna for aircraft collision avoidance system

    De, Debajit; Sahu, Prasanna Kumar

    2017-10-01

    Aircraft/traffic alert and collision avoidance system (ACAS/TCAS) is an airborne system which is designed to provide the service as a last defense equipment for avoiding mid-air collisions between the aircraft. In the existing system, four monopole stub-elements are used as ACAS directional antenna and one blade type element is used as ACAS omnidirectional antenna. The existing ACAS antenna has some drawbacks such as low gain, large beamwidth, frequency and beam tuning/scanning issues etc. Antenna issues like unwanted signals reception may create difficulties to identify the possible threats. In this paper, the focus is on the design and development of a unit element microstrip antenna which can be used for ACAS application and to overcome the possible limitations associated with the existing techniques. Two proposed antenna models are presented here, which are single feed and dual feed microstrip dual patch slotted antenna. These are designed and simulated in CST Microwave Studio tool. The performance and other antenna characteristics have been explored from the simulation results followed by the antenna fabrication and measurement. A good reflection coefficient, Voltage Standing Wave Ratio (VSWR), narrow beamwidth, perfect directional radiation pattern, high gain and directivity make this proposed antenna a good candidate for this application.

  1. Ship Domain Model for Multi-ship Collision Avoidance Decision-making with COLREGs Based on Artificial Potential Field

    TengFei Wang

    2017-03-01

    Full Text Available A multi-ship collision avoidance decision-making and path planning formulation is studied in a distributed way. This paper proposes a complete set of solutions for multi-ship collision avoidance in intelligent navigation, by using a top-to-bottom organization to structure the system. The system is designed with two layers: the collision avoidance decision-making and the path planning. Under the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs, the performance of distributed path planning decision-making for anti-collision is analyzed for both give-way and stand-on ships situations, including the emergency actions taken by the stand-on ship in case of the give-way ship’s fault of collision avoidance measures. The Artificial Potential Field method(APF is used for the path planning in details. The developed APF method combined with the model of ship domain takes the target ships’ speed and course in-to account, so that it can judge the moving characteristics of obstacles more accurately. Simulation results indicate that the system proposed can work effectiveness.

  2. Safety and Convergence Analysis of Intersecting Aircraft Flows Under Decentralized Collision Avoidance

    Dallal, Ahmed H.

    Safety is an essential requirement for air traffic management and control systems. Aircraft are not allowed to get closer to each other than a specified safety distance, to avoid any conflicts and collisions between aircraft. Forecast analysis predicts a tremendous increase in the number of flights. Subsequently, automated tools are needed to help air traffic controllers resolve air born conflicts. In this dissertation, we consider the problem of conflict resolution of aircraft flows with the assumption that aircraft are flowing through a fixed specified control volume at a constant speed. In this regard, several centralized and decentralized resolution rules have been proposed for path planning and conflict avoidance. For the case of two intersecting flows, we introduce the concept of conflict touches, and a collaborative decentralized conflict resolution rule is then proposed and analyzed for two intersecting flows. The proposed rule is also able to resolved airborne conflicts that resulted from resolving another conflict via the domino effect. We study the safety conditions under the proposed conflict resolution and collision avoidance rule. Then, we use Lyapunov analysis to analytically prove the convergence of conflict resolution dynamics under the proposed rule. The analysis show that, under the proposed conflict resolution rule, the system of intersecting aircraft flows is guaranteed to converge to safe, conflict free, trajectories within a bounded time. Simulations are provided to verify the analytically derived conclusions and study the convergence of the conflict resolution dynamics at different encounter angles. Simulation results show that lateral deviations taken by aircraft in each flow, to resolve conflicts, are bounded, and aircraft converged to safe and conflict free trajectories, within a finite time.

  3. Nitric oxide facilitates active avoidance learning via enhancement of glutamate levels in the hippocampal dentate gyrus.

    Wang, Shi; Pan, De-Xi; Wang, Dan; Wan, Peng; Qiu, De-Lai; Jin, Qing-Hua

    2014-09-01

    The hippocampus is a key structure for learning and memory in mammals, and long-term potentiation (LTP) is an important cellular mechanism responsible for learning and memory. Despite a number of studies indicating that nitric oxide (NO) is involved in the formation and maintenance of LTP as a retrograde messenger, few studies have used neurotransmitter release as a visual indicator in awake animals to explore the role of NO in learning-dependent long-term enhancement of synaptic efficiency. Therefore, in the present study, the effects of l-NMMA (a NO synthase inhibitor) and SNP (a NO donor) on extracellular glutamate (Glu) concentrations and amplitudes of field excitatory postsynaptic potential (fEPSP) were measured in the hippocampal dentate gyrus (DG) region during the acquisition and extinction of active-avoidance behavior in freely-moving conscious rats. In the control group, the extracellular concentration of Glu in the DG was significantly increased during the acquisition of active-avoidance behavior and gradually returned to baseline levels following extinction training. In the experimental group, the change in Glu concentration was significantly reduced by local microinjection of l-NMMA, as was the acquisition of the active-avoidance behavior. In contrast, the change in Glu concentration was significantly enhanced by SNP, and the acquisition of the active-avoidance behavior was significantly accelerated. Furthermore, in all groups, the changes in extracellular Glu were accompanied by corresponding changes in fEPSP amplitude and active-avoidance behavior. Our results suggest that NO in the hippocampal DG facilitates active avoidance learning via enhancements of glutamate levels and synaptic efficiency in rats. Copyright © 2014 Elsevier B.V. All rights reserved.

  4. Post-attack aposematic display in prey facilitates predator avoidance learning

    Changku eKang

    2016-04-01

    Full Text Available Warning signals protect unpalatable prey from predation because predators who learn the association between the warning signal and prey unprofitability decrease attacks on the prey. Most of the research have focused on visual aposematic signals that are constantly presented and visible to the predators. But a variety of chemically defended insects are rather cryptic when resting, and only in response to predator attacks (post-attack they perform displays of conspicuous abdomens or hindwings normally hidden under forewings. The function of those displays in unpalatable insects is not well understood. We examined two adaptive hypotheses on this facultative aposematic display using wild-caught oriental tits (Parus minor as predators. First, we tested whether the display increases the rejection of the prey by predators upon seeing the display (i.e. at the moment of attack through learning trials (aposematic signaling hypothesis. Second, we tested whether the display facilitates the memory formation between cryptic visible form of the prey and prey defense so that it prevents the predators initiate an attack upon seeing the cryptic form (facilitation hypothesis. We found that predators learned to avoid attacking the prey which supports the facilitation hypothesis. However, the support for the aposematic signaling hypothesis was equivocal. Our results open new directions of research by highlighting the possibility that similar facilitation effects may contribute to the evolution of various forms of post-attack visual displays in chemically, or otherwise, defended animals.

  5. Head-Up Auditory Displays for Traffic Collision Avoidance System Advisories: A Preliminary Investigation

    Begault, Durand R.

    1993-01-01

    The advantage of a head-up auditory display was evaluated in a preliminary experiment designed to measure and compare the acquisition time for capturing visual targets under two auditory conditions: standard one-earpiece presentation and two-earpiece three-dimensional (3D) audio presentation. Twelve commercial airline crews were tested under full mission simulation conditions at the NASA-Ames Man-Vehicle Systems Research Facility advanced concepts flight simulator. Scenario software generated visual targets corresponding to aircraft that would activate a traffic collision avoidance system (TCAS) aural advisory; the spatial auditory position was linked to the visual position with 3D audio presentation. Results showed that crew members using a 3D auditory display acquired targets approximately 2.2 s faster than did crew members who used one-earpiece head- sets, but there was no significant difference in the number of targets acquired.

  6. Analysis of Compression Algorithm in Ground Collision Avoidance Systems (Auto-GCAS)

    Schmalz, Tyler; Ryan, Jack

    2011-01-01

    Automatic Ground Collision Avoidance Systems (Auto-GCAS) utilizes Digital Terrain Elevation Data (DTED) stored onboard a plane to determine potential recovery maneuvers. Because of the current limitations of computer hardware on military airplanes such as the F-22 and F-35, the DTED must be compressed through a lossy technique called binary-tree tip-tilt. The purpose of this study is to determine the accuracy of the compressed data with respect to the original DTED. This study is mainly interested in the magnitude of the error between the two as well as the overall distribution of the errors throughout the DTED. By understanding how the errors of the compression technique are affected by various factors (topography, density of sampling points, sub-sampling techniques, etc.), modifications can be made to the compression technique resulting in better accuracy. This, in turn, would minimize unnecessary activation of A-GCAS during flight as well as maximizing its contribution to fighter safety.

  7. Design of a WSN-Based Monitoring System for Avoiding Collision of Tower Cranes

    Jiannong Wang

    2014-07-01

    Full Text Available Tower cranes in large construction projects are likely to collide with other cranes close to them during the operation, which is a severe hazard to the security of the staff. Thus, a WSN- based monitoring system for avoiding collision of tower cranes is proposed. The 3D data positioning technology is used to install angle and position sensors at intervals in the cranes in order to collect position data in real time. After the data are sent to the upper computer, the computer calculates the distance using the 3D positioning technique and sets a proper threshold for alarm. When the measured distance is smaller than the threshold, the alarm is set off to prevent collision. In the experiment, three pairs of cranes 15-22 m in height that are located separately are tested in terms of errors in data collection and in alarms. The experimental results show that the proposed system has an alarm accuracy of 99.3 %, and thus, is highly applicable.

  8. Optimal Recovery Trajectories for Automatic Ground Collision Avoidance Systems (Auto GCAS)

    Suplisson, Angela W.

    The US Air Force recently fielded the F-16 Automatic Ground Collision Avoidance System (Auto GCAS). This system meets the operational requirements of being both aggressive and timely, meaning that extremely agile avoidance maneuvers will be executed at the last second to avoid the ground. This small window of automatic operation maneuvering in close proximity to the ground makes the problem challenging. There currently exists no similar Auto GCAS for manned military 'heavy' aircraft with lower climb performance such as transport, tanker, or bomber aircraft. The F-16 Auto GCAS recovery is a single pre-planned roll to wings-level and 5-g pull-up which is very effective for fighters due to their high g and climb performance, but it is not suitable for military heavy aircraft. This research proposes a new optimal control approach to the ground collision avoidance problem for heavy aircraft by mapping the aggressive and timely requirements of the automatic recovery to the optimal control formulation which includes lateral maneuvers around terrain. This novel mapping creates two ways to pose the optimal control problem for Auto GCAS; one as a Max Distance with a Timely Trigger formulation and the other as a Min Control with an Aggressive Trigger formulation. Further, the optimal path and optimal control admitted by these two formulations are demonstrated to be equivalent at the point the automatic recovery is initiated for the simplified 2-D case. The Min Control formulation was demonstrated to have faster computational speed and was chosen for the 3-D case. Results are presented for representative heavy aircraft scenarios against 3-D digital terrain. The Min Control formulation was then compared to a Multi-Trajectory Auto GCAS with five pre-planned maneuvers. Metrics were developed to quantify the improvement from using an optimal approach versus the pre-planned maneuvers. The proposed optimal Min Control method was demonstrated to require less control or trigger later

  9. An Effective Scheduling-Based RFID Reader Collision Avoidance Model and Its Resource Allocation via Artificial Immune Network

    Shanjin Wang

    2016-01-01

    Full Text Available Radio frequency identification, that is, RFID, is one of important technologies in Internet of Things. Reader collision does impair the tag identification efficiency of an RFID system. Many developed methods, for example, the scheduling-based series, that are used to avoid RFID reader collision, have been developed. For scheduling-based methods, communication resources, that is, time slots, channels, and power, are optimally assigned to readers. In this case, reader collision avoidance is equivalent to an optimization problem related to resource allocation. However, the existing methods neglect the overlap between the interrogation regions of readers, which reduces the tag identification rate (TIR. To resolve this shortage, this paper attempts to build a reader-to-reader collision avoidance model considering the interrogation region overlaps (R2RCAM-IRO. In addition, an artificial immune network for resource allocation (RA-IRO-aiNet is designed to optimize the proposed model. For comparison, some comparative numerical simulations are arranged. The simulation results show that the proposed R2RCAM-IRO is an effective model where TIR is improved significantly. And especially in the application of reader-to-reader collision avoidance, the proposed RA-IRO-aiNet outperforms GA, opt-aiNet, and PSO in the total coverage area of readers.

  10. Conceptual model for collision detection and avoidance for runway incursion prevention

    Latimer, Bridgette A.

    The Federal Aviation Administration (FAA), National Transportation and Safety Board (NTSB), National Aeronautics and Space Administration (NASA), numerous corporate entities, and research facilities have each come together to determine ways to make air travel safer and more efficient. These efforts have resulted in the development of a concept known as the Next Generation (Next Gen) of Aircraft or Next Gen. The Next Gen concept promises to be a clear departure from the way in which aircraft operations are performed today. The Next Gen initiatives require that modifications are made to the existing National Airspace System (NAS) concept of operations, system level requirements, software (SW) and hardware (HW) requirements, SW and HW designs and implementations. A second example of the changes in the NAS is the shift away from air traffic controllers having the responsibility for separation assurance. In the proposed new scheme of free flight, each aircraft would be responsible for assuring that it is safely separated from surrounding aircraft. Free flight would allow the separation minima for enroute aircraft to be reduced from 2000 nautical miles (nm) to 1000 nm. Simply put "Free Flight is a concept of air traffic management that permits pilots and controllers to share information and work together to manage air traffic from pre-flight through arrival without compromising safety [107]." The primary goal of this research project was to create a conceptual model that embodies the essential ingredients needed for a collision detection and avoidance system. This system was required to operate in two modes: air traffic controller's perspective and pilot's perspective. The secondary goal was to demonstrate that the technologies, procedures, and decision logic embedded in the conceptual model were able to effectively detect and avoid collision risks from both perspectives. Embodied in the conceptual model are five distinct software modules: Data Acquisition, State

  11. LightForce Photon-Pressure Collision Avoidance: Efficiency Assessment on an Entire Catalogue of Space Debris

    Stupl, Jan Michael; Faber, Nicolas; Foster, Cyrus; Yang Yang, Fan; Levit, Creon

    2013-01-01

    The potential to perturb debris orbits using photon pressure from ground-based lasers has been confirmed by independent research teams. Two useful applications of this scheme are protecting space assets from impacts with debris and stabilizing the orbital debris environment, both relying on collision avoidance rather than de-orbiting debris. This paper presents the results of a new assessment method to analyze the efficiency of the concept for collision avoidance. Earlier research concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, can prevent a significant fraction of debris-debris collisions in low Earth orbit. That research used in-track displacement to measure efficiency and restricted itself to an analysis of a limited number of objects. As orbit prediction error is dependent on debris object properties, a static displacement threshold should be complemented with another measure to assess the efficiency of the scheme. In this paper we present the results of an approach using probability of collision. Using a least-squares fitting method, we improve the quality of the original TLE catalogue in terms of state and co-state accuracy. We then calculate collision probabilities for all the objects in the catalogue. The conjunctions with the highest risk of collision are then engaged by a simulated network of laser ground stations. After those engagements, the perturbed orbits are used to re-assess the collision probability in a 20 minute window around the original conjunction. We then use different criteria to evaluate the utility of the laser-based collision avoidance scheme and assess the number of base-line ground stations needed to mitigate a significant number of high probability conjunctions. Finally, we also give an account how a laser ground station can be used for both orbit deflection and debris tracking.

  12. Concept of an enhanced V2X pedestrian collision avoidance system with a cost function-based pedestrian model.

    Kotte, Jens; Schmeichel, Carsten; Zlocki, Adrian; Gathmann, Hauke; Eckstein, Lutz

    2017-05-29

    State-of-the-art collision avoidance and collision mitigation systems predict the behavior of pedestrians based on trivial models that assume a constant acceleration or velocity. New sources of sensor information-for example, smart devices such as smartphones, tablets, smartwatches, etc.-can support enhanced pedestrian behavior models. The objective of this article is the development and implementation of a V2Xpedestrian collision avoidance system that uses new information sources. A literature review of existing state-of-the-art pedestrian collision avoidance systems, pedestrian behavior models in advanced driver assistance systems (ADAS), and traffic simulations is conducted together with an analysis of existing studies on typical pedestrian patterns in traffic. Based on this analysis, possible parameters for predicting pedestrian behavior were investigated. The results led to new requirements from which a concept was developed and implemented. The analysis of typical pedestrian behavior patterns in traffic situations showed the complexity of predicting pedestrian behavior. Requirements for an improved behavior prediction were derived. A concept for a V2X collision avoidance system, based on a cost function that predicts pedestrian near future presence, and its implementation is presented. The concept presented considers several challenges such as information privacy, inaccuracies of the localization, and inaccuracies of the prediction. A concept for an enhanced V2X pedestrian collision avoidance system was developed and introduced. The concept uses new information sources such as smart devices to improve the prediction of the pedestrian's presence in the near future and considers challenges that come along with the usage of these information sources.

  13. Cost and benefit estimates of partially-automated vehicle collision avoidance technologies.

    Harper, Corey D; Hendrickson, Chris T; Samaras, Constantine

    2016-10-01

    Many light-duty vehicle crashes occur due to human error and distracted driving. Partially-automated crash avoidance features offer the potential to reduce the frequency and severity of vehicle crashes that occur due to distracted driving and/or human error by assisting in maintaining control of the vehicle or issuing alerts if a potentially dangerous situation is detected. This paper evaluates the benefits and costs of fleet-wide deployment of blind spot monitoring, lane departure warning, and forward collision warning crash avoidance systems within the US light-duty vehicle fleet. The three crash avoidance technologies could collectively prevent or reduce the severity of as many as 1.3 million U.S. crashes a year including 133,000 injury crashes and 10,100 fatal crashes. For this paper we made two estimates of potential benefits in the United States: (1) the upper bound fleet-wide technology diffusion benefits by assuming all relevant crashes are avoided and (2) the lower bound fleet-wide benefits of the three technologies based on observed insurance data. The latter represents a lower bound as technology is improved over time and cost reduced with scale economies and technology improvement. All three technologies could collectively provide a lower bound annual benefit of about $18 billion if equipped on all light-duty vehicles. With 2015 pricing of safety options, the total annual costs to equip all light-duty vehicles with the three technologies would be about $13 billion, resulting in an annual net benefit of about $4 billion or a $20 per vehicle net benefit. By assuming all relevant crashes are avoided, the total upper bound annual net benefit from all three technologies combined is about $202 billion or an $861 per vehicle net benefit, at current technology costs. The technologies we are exploring in this paper represent an early form of vehicle automation and a positive net benefit suggests the fleet-wide adoption of these technologies would be beneficial

  14. Collision avoidance during teleoperation using whole arm proximity sensors coupled to a virtual environment

    Novak, J.L.; Feddema, J.T.; Miner, N.E.; Stansfield, S.A.

    1993-01-01

    Much of the current robotics effort at the US DOE is directed toward remote handling of hazardous waste. Telerobotic systems are being developed to remotely inspect, characterize, and process waste. This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on an articulated robot arm. The capacitance-based sensors generate electric fields which completely encompass the robot arm and detect obstacles as they approach from any direction. The robot is moved through the workspace using a velocity command generated either by an operator through a force-sensing input device or a preprogrammed sequence of motions. The directional obstacle information gathered by the WHAP sensors is then used in a matrix column maximization algorithm that automatically selects the sensor closest to an obstacle during each robot controller cycle. The distance from this sensor to the obstacle is used to reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful perturbation of the velocity command to prevent a collision. By scaling only the component of the velocity vector in the direction of the nearest obstacle, the control system restricts motion in the direction of an obstacle while permitting unconstrained motion in other directions. The actual robot joint positions and the WHAP sensor readings are communicated to an operator interface consisting of a graphical model of the Puma robot and its environment. Circles are placed on the graphical robot surface at positions corresponding to the locations of the WHAP sensor. As the individual sensors detect obstacles, the associated circles change color, providing the operator with visual feedback as to the location and relative size of the obstacle. At the same time, the graphical robot position is updated to reflect the actual state of the robot. This information permits the operator to plan alternative paths around unmodeled, but sensed, obstacles

  15. Verbal collision avoidance messages during simulated driving: perceived urgency, alerting effectiveness and annoyance.

    Baldwin, Carryl L

    2011-04-01

    Matching the perceived urgency of an alert with the relative hazard level of the situation is critical for effective alarm response. Two experiments describe the impact of acoustic and semantic parameters on ratings of perceived urgency, annoyance and alerting effectiveness and on alarm response speed. Within a simulated driving context, participants rated and responded to collision avoidance system (CAS) messages spoken by a female or male voice (experiments 1 and 2, respectively). Results indicated greater perceived urgency and faster alarm response times as intensity increased from -2 dB signal to noise (S/N) ratio to +10 dB S/N, although annoyance ratings increased as well. CAS semantic content interacted with alarm intensity, indicating that at lower intensity levels participants paid more attention to the semantic content. Results indicate that both acoustic and semantic parameters independently and interactively impact CAS alert perceptions in divided attention conditions and this work can inform auditory alarm design for effective hazard matching. Matching the perceived urgency of an alert with the relative hazard level of the situation is critical for effective alarm response. Here, both acoustic and semantic parameters independently and interactively impacted CAS alert perceptions in divided attention conditions. This work can inform auditory alarm design for effective hazard matching. STATEMENT OF RELEVANCE: Results indicate that both acoustic parameters and semantic content can be used to design collision warnings with a range of urgency levels. Further, these results indicate that verbal warnings tailored to a specific hazard situation may improve hazard-matching capabilities without substantial trade-offs in perceived annoyance.

  16. Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

    Guo Lie

    2014-01-01

    Full Text Available Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

  17. Advanced emergency braking controller design for pedestrian protection oriented automotive collision avoidance system.

    Lie, Guo; Zejian, Ren; Pingshu, Ge; Jing, Chang

    2014-01-01

    Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

  18. Intent-Estimation- and Motion-Model-Based Collision Avoidance Method for Autonomous Vehicles in Urban Environments

    Rulin Huang

    2017-04-01

    Full Text Available Existing collision avoidance methods for autonomous vehicles, which ignore the driving intent of detected vehicles, thus, cannot satisfy the requirements for autonomous driving in urban environments because of their high false detection rates of collisions with vehicles on winding roads and the missed detection rate of collisions with maneuvering vehicles. This study introduces an intent-estimation- and motion-model-based (IEMMB method to address these disadvantages. First, a state vector is constructed by combining the road structure and the moving state of detected vehicles. A Gaussian mixture model is used to learn the maneuvering patterns of vehicles from collected data, and the patterns are used to estimate the driving intent of the detected vehicles. Then, a desirable long-term trajectory is obtained by weighting time and comfort. The long-term trajectory and the short-term trajectory, which are predicted using a constant yaw rate motion model, are fused to achieve an accurate trajectory. Finally, considering the moving state of the autonomous vehicle, collisions can be detected and avoided. Experiments have shown that the intent estimation method performed well, achieving an accuracy of 91.7% on straight roads and an accuracy of 90.5% on winding roads, which is much higher than that achieved by the method that ignores the road structure. The average collision detection distance is increased by more than 8 m. In addition, the maximum yaw rate and acceleration during an evasive maneuver are decreased, indicating an improvement in the driving comfort.

  19. Effective usage of a clearance check to avoid a collision in Gamma Knife Perfexion radiosurgery with the Leksell skull frame

    Nakazawa, Hisato; Komori, Masataka; Tsugawa, Takahiko; Hagiwara, Masahiro; Hashizume, Chisa; Kobayashi, Tatsuya; Mori, Yoshimasa; Shibamoto, Yuta

    2014-01-01

    Skull frame attachment is one of the most significant issues with Gamma Knife radiosurgery. Because of the potential for suffering by patients, careful control of the frame position is required to avoid circumstances such as collision between the frame or the patient's head and the collimator helmet, and inaccessible target coordinates. This study sought to develop a simulation method to find the appropriate frame location on the patient's head by retrospective analysis of treatment plans for brain metastasis cases. To validate the accuracy of the collision warning, we compared the collision distance calculated using Leksell Gamma Plan (LGP) with actual measured distances. We then investigated isocenter coordinates in near-collision cases using data from 844 previously treated patients and created a clearance map by superimposing them on CT images for just the frame, post and stereotactic fiducial box. The differences in distance between the simulation in LGP and the measured values were <1.0 mm. In 177 patients, 213 lesions and 461 isocenters, there was a warning of one possible collision. The clearance map was helpful for simulating appropriate skull frame placement. The clearance simulation eliminates the psychological stress associated with potential collisions, and enables more comfortable treatment for the patient. (author)

  20. Ultra-low power anti-crosstalk collision avoidance light detection and ranging using chaotic pulse position modulation approach

    Hao Jie; Gong Ma-li; Du Peng-fei; Lu Bao-jie; Zhang Fan; Zhang Hai-tao; Fu Xing

    2016-01-01

    A novel concept of collision avoidance single-photon light detection and ranging (LIDAR) for vehicles has been demonstrated, in which chaotic pulse position modulation is applied on the transmitted laser pulses for robust anti-crosstalk purposes. Besides, single-photon detectors (SPD) and time correlated single photon counting techniques are adapted, to sense the ultra-low power used for the consideration of compact structure and eye safety. Parameters including pulse rate, discrimination threshold, and number of accumulated pulses have been thoroughly analyzed based on the detection requirements, resulting in specified receiver operating characteristics curves. Both simulation and indoor experiments were performed to verify the excellent anti-crosstalk capability of the presented collision avoidance LIDAR despite ultra-low transmitting power. (paper)

  1. Algorithms for Collision Detection Between a Point and a Moving Polygon, with Applications to Aircraft Weather Avoidance

    Narkawicz, Anthony; Hagen, George

    2016-01-01

    This paper proposes mathematical definitions of functions that can be used to detect future collisions between a point and a moving polygon. The intended application is weather avoidance, where the given point represents an aircraft and bounding polygons are chosen to model regions with bad weather. Other applications could possibly include avoiding other moving obstacles. The motivation for the functions presented here is safety, and therefore they have been proved to be mathematically correct. The functions are being developed for inclusion in NASA's Stratway software tool, which allows low-fidelity air traffic management concepts to be easily prototyped and quickly tested.

  2. Changes in Drivers’ Visual Performance during the Collision Avoidance Process as a Function of Different Field of Views at Intersections

    Yan, Xuedong; Zhang, Xinran; Zhang, Yuting; Li, Xiaomeng; Yang, Zhuo

    2016-01-01

    The intersection field of view (IFOV) indicates an extent that the visual information can be observed by drivers. It has been found that further enhancing IFOV can significantly improve emergent collision avoidance performance at intersections, such as faster brake reaction time, smaller deceleration rate, and lower traffic crash involvement risk. However, it is not known how IFOV affects drivers’ eye movements, visual attention and the relationship between visual searching and traffic safety. In this study, a driving simulation experiment was conducted to uncover the changes in drivers’ visual performance during the collision avoidance process as a function of different field of views at an intersection by using an eye tracking system. The experimental results showed that drivers’ ability in identifying the potential hazard in terms of visual searching was significantly affected by different IFOV conditions. As the IFOVs increased, drivers had longer gaze duration (GD) and more number of gazes (NG) in the intersection surrounding areas and paid more visual attention to capture critical visual information on the emerging conflict vehicle, thus leading to a better collision avoidance performance and a lower crash risk. It was also found that female drivers had a better visual performance and a lower crash rate than male drivers. From the perspective of drivers’ visual performance, the results strengthened the evidence that further increasing intersection sight distance standards should be encouraged for enhancing traffic safety. PMID:27716824

  3. Smoke-Free Universities Help Students Avoid Establishing Smoking by Means of Facilitating Quitting

    Tatiana I Andreeva

    2015-12-01

    Full Text Available Background: This study aimed to clarify whether smoke-free policies affect the initiation or the quit­ting of smoking among young adults. Methods: In this natural quasi-experiment study, three universities with different enforcement of smoke-free policies were considered in Kazan City, Russian Federation. Exposure data were collected in 2008-2009 through measurement of particulate matter concentrations in typical sets of premises in each university to distinguish smoke-free universities (SFU and those not smoke-free (NSFU. All present third year students were surveyed in class in April-June 2011. Number of valid questionnaires equaled 635. The questionnaire was adapted from the Health Professions Students Survey and con­tained questions on smoking initiation, current tobacco use, willingness to quit, quit attempts, percep­tion of smoke-free policies enforcement, and the demographic data. Results: Among students of SFU, the percentage of current smokers was smaller than in NSFU: 42% vs. 64% in men and 32% vs. 43% in women. Prevalence of daily smoking was 11-12% in SFU, 26% in NSFU overall and 42% among male students. No advantage of SFU in limiting smoking initiation was found. Percentage of former smokers in SFU was 33% vs. 10% in NSFU. Among current smokers, 57% expressed willingness to quit in SFU and only 28% in NSFU. About 60% of current smokers in SFU attempted to quit within a year and only 36% did so in NSFU with 23% vs. 3% having done three or more attempts. Conclusion: Smoke-free universities help young adults to avoid establishing regular smoking by means of facilitating quitting smoking.

  4. LightForce Photon-Pressure Collision Avoidance: Updated Efficiency Analysis Utilizing a Highly Parallel Simulation Approach

    Stupl, Jan; Faber, Nicolas; Foster, Cyrus; Yang, Fan Yang; Nelson, Bron; Aziz, Jonathan; Nuttall, Andrew; Henze, Chris; Levit, Creon

    2014-01-01

    This paper provides an updated efficiency analysis of the LightForce space debris collision avoidance scheme. LightForce aims to prevent collisions on warning by utilizing photon pressure from ground based, commercial off the shelf lasers. Past research has shown that a few ground-based systems consisting of 10 kilowatt class lasers directed by 1.5 meter telescopes with adaptive optics could lower the expected number of collisions in Low Earth Orbit (LEO) by an order of magnitude. Our simulation approach utilizes the entire Two Line Element (TLE) catalogue in LEO for a given day as initial input. Least-squares fitting of a TLE time series is used for an improved orbit estimate. We then calculate the probability of collision for all LEO objects in the catalogue for a time step of the simulation. The conjunctions that exceed a threshold probability of collision are then engaged by a simulated network of laser ground stations. After those engagements, the perturbed orbits are used to re-assess the probability of collision and evaluate the efficiency of the system. This paper describes new simulations with three updated aspects: 1) By utilizing a highly parallel simulation approach employing hundreds of processors, we have extended our analysis to a much broader dataset. The simulation time is extended to one year. 2) We analyze not only the efficiency of LightForce on conjunctions that naturally occur, but also take into account conjunctions caused by orbit perturbations due to LightForce engagements. 3) We use a new simulation approach that is regularly updating the LightForce engagement strategy, as it would be during actual operations. In this paper we present our simulation approach to parallelize the efficiency analysis, its computational performance and the resulting expected efficiency of the LightForce collision avoidance system. Results indicate that utilizing a network of four LightForce stations with 20 kilowatt lasers, 85% of all conjunctions with a

  5. The Control Packet Collision Avoidance Algorithm for the Underwater Multichannel MAC Protocols via Time-Frequency Masking

    Yang Yu

    2016-01-01

    Full Text Available Establishing high-speed and reliable underwater acoustic networks among multiunmanned underwater vehicles (UUVs is basic to realize cooperative and intelligent control among different UUVs. Nevertheless, different from terrestrial network, the propagation speed of the underwater acoustic network is 1500 m/s, which makes the design of the underwater acoustic network MAC protocols a big challenge. In accordance with multichannel MAC protocols, data packets and control packets are transferred through different channels, which lowers the adverse effect of acoustic network and gradually becomes the popular issues of underwater acoustic networks MAC protocol research. In this paper, we proposed a control packet collision avoidance algorithm utilizing time-frequency masking to deal with the control packets collision in the control channel. This algorithm is based on the scarcity of the noncoherent underwater acoustic communication signals, which regards collision avoiding as separation of the mixtures of communication signals from different nodes. We first measure the W-Disjoint Orthogonality of the MFSK signals and the simulation result demonstrates that there exists time-frequency mask which can separate the source signals from the mixture of the communication signals. Then we present a pairwise hydrophones separation system based on deep networks and the location information of the nodes. Consequently, the time-frequency mask can be estimated.

  6. A Rear-End Collision Avoidance Scheme for Intelligent Transportation System

    Chen Chen

    2016-01-01

    Full Text Available In this paper, a rear-end collision control model is proposed using the fuzzy logic control scheme for the autonomous or cruising vehicles in Intelligent Transportation Systems (ITSs. Through detailed analysis of the car-following cases, our controller is established on some reasonable control rules. In addition, to refine the initialized fuzzy rules considering characteristics of the rear-end collisions, the genetic algorithm is introduced to reduce the computational complexity while maintaining accuracy. Numerical results indicate that our Genetic algorithm-optimized Fuzzy Logic Controller (GFLC outperforms the traditional fuzzy logic controller in terms of better safety guarantee and higher traffic efficiency.

  7. Lesions of the lateral habenula facilitate active avoidance learning and threat extinction.

    Song, Mihee; Jo, Yong Sang; Lee, Yeon-Kyung; Choi, June-Seek

    2017-02-01

    The lateral habenula (LHb) is an epithalamic brain structure that provides strong projections to midbrain monoaminergic systems that are involved in motivation, emotion, and reinforcement learning. LHb neurons are known to convey information about aversive outcomes and negative prediction errors, suggesting a role in learning from aversive events. To test this idea, we examined the effects of electrolytic lesions of the LHb on signaled two-way active avoidance learning in which rats were trained to avoid an unconditioned stimulus (US) by taking a proactive shuttling response to an auditory conditioned stimulus (CS). The lesioned animals learned the avoidance response significantly faster than the control groups. In a separate experiment, we also investigated whether the LHb contributes to Pavlovian threat (fear) conditioning and extinction. Following paired presentations of the CS and the US, LHb-lesioned animals showed normal acquisition of conditioned response (CR) measured with freezing. However, extinction of the CR in the subsequent CS-only session was significantly faster. The enhanced performance in avoidance learning and in threat extinction jointly suggests that the LHb normally plays an inhibitory role in learning driven by absence of aversive outcomes. Copyright © 2016 Elsevier B.V. All rights reserved.

  8. COLLISION-AVOIDANCE FOR MOBILE ROBOTS USING REGION OF CERTAINTY: A PREDICTIVE APPROACH

    B. MANUP

    2016-01-01

    Full Text Available In on-line environment, obstacles may exhibit different trajectory. Trajectory analysis of the obstacle is essential in determining its future location. If this analysis is accurate the futuristic region where robot and obstacle collision is likely to occur can be estimated. This enables the mobile robot to take corrective action prior to collision. In this approach, the motion pattern of the obstacle is analysed by taking into account the past co-ordinates traversed by the obstacle. Then the futuristic region where the obstacle is likely to occupy is predicted. This region is termed as region of certainty. Simulation results shows that the approach gives more reliable prediction as many number of sample points representing the past positions travelled by the obstacles are taken into consideration. The algorithm yielded better performance under higher obstacle velocity conditions and the results were compared with distance time transform method.

  9. Risk management algorithm for rear-side collision avoidance using a combined steering torque overlay and differential braking

    Lee, Junyung; Yi, Kyongsu; Yoo, Hyunjae; Chong, Hyokjin; Ko, Bongchul

    2015-06-01

    This paper describes a risk management algorithm for rear-side collision avoidance. The proposed risk management algorithm consists of a supervisor and a coordinator. The supervisor is designed to monitor collision risks between the subject vehicle and approaching vehicle in the adjacent lane. An appropriate criterion of intervention, which satisfies high acceptance to drivers through the consideration of a realistic traffic, has been determined based on the analysis of the kinematics of the vehicles in longitudinal and lateral directions. In order to assist the driver actively and increase driver's safety, a coordinator is designed to combine lateral control using a steering torque overlay by motor-driven power steering and differential braking by vehicle stability control. In order to prevent the collision while limiting actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort, the Lyapunov theory and linear matrix inequalities based optimisation methods have been used. The proposed risk management algorithm has been evaluated via simulation using CarSim and MATLAB/Simulink.

  10. Smart Collision Avoidance and Hazard Routing Mechanism for Intelligent Transport Network

    Singh, Gurpreet; Gupta, Pooja; Wahab, Mohd Helmy Abd

    2017-08-01

    The smart vehicular ad-hoc network is the network that consists of vehicles for smooth movement and better management of the vehicular connectivity across the given network. This research paper aims to propose a set of solution for the VANETs consisting of the automatic driven vehicles, also called as the autonomous car. Such vehicular networks are always prone to collision due to the natural or un-natural reasons which must be solved before the large-scale deployment of the autonomous transport systems. The newly designed intelligent transport movement control mechanism is based upon the intelligent data propagation along with the vehicle collision and traffic jam prevention schema [8], which may help the future designs of smart cities to become more robust and less error-prone. In the proposed model, the focus is on designing a new dynamic and robust hazard routing protocol for intelligent vehicular networks for improvement of the overall performance in various aspects. It is expected to improve the overall transmission delay as well as the number of collisions or adversaries across the vehicular network zone.

  11. Message Collision Avoidance Protocols for Detecting Stray Nodes in a Scuba Diving Group Using Ultrasonic Multi-Hop Message Communication

    Shinya Kaido

    2017-12-01

    Full Text Available Recent years have seen a growing interest in underwater communication and some progress has been made in this area. However, underwater communication is still immature compared with terrestrial communication. A prime reason for this is that the underwater environment is intrinsically not suitable for propagation of electric waves. Instead, ultrasonic waves are mainly used for underwater communication. Since ultrasonic waves cannot provide sufficient communication speed or capacity, they cannot use existing network technologies, which assume use of radio waves. In particular, communication in shallow water is still an uncharted territory. Few communication technologies are employed in environments where people enjoy scuba diving. This paper addresses problems faced by recreational scuba divers. It proposes constructing an ad hoc mesh-shaped network between divers within a group and use ultrasonic waves as transmission media in order to enable the detection of a stray diver. It also proposes a communication protocol in which messages are relayed in multiple hops, and a message collision avoidance method, which is intended to reduce the rate of packet loss caused by message propagation delay. We have implemented the proposed methods in a network simulator, and compared them with an existing communication method that has no message collision avoidance function, in terms of the packet loss rate, the stray driver detection rate, and the rate of the ability to communicate in multiple hops.

  12. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  13. Determination of allowable time for decision making in Collision Avoidance Systems in Free Flight Environment

    В.П. Харченко

    2004-01-01

    Full Text Available  A method of a sequential time evaluation of choice of variant and decision making to avoid predicted dangerous approach of the aircraft at implementation of Free Flight concept in air traffic management is presented. Expressions for an evaluation of boundary instants by using the spline method are derived. Interval estimation is given by calculation of a confidence time interval.

  14. Activation of β-adrenoceptor facilitates active avoidance learning through enhancement of glutamate levels in the hippocampal dentate gyrus.

    Lv, Jing; Feng, Hao; Chen, Ling; Wang, Wei-Yao; Yue, Xue-Ling; Jin, Qing-Hua

    2017-10-18

    Long-term potentiation (LTP) is widely accepted as the best studied model for neurophysiological mechanisms that could underlie learning and memory formation. Despite a number of studies indicating that β-adrenoceptors in the hippocampal dentate gyrus (DG) is involved in the modulation of learning and memory as well as LTP, few studies have used glutamate release as a visual indicator in awake animals to explore the role of β-adrenoceptors in learning-dependent LTP. Therefore, in the present study, the effects of propranolol (an antagonist of β-adrenoceptor) and isoproterenol (an agonist of β-adrenoceptor) on extracellular concentrations of glutamate and amplitudes of field excitatory postsynaptic potential were measured in the DG region during active avoidance learning in freely moving conscious rats. In the control group, the glutamate level in the DG was significantly increased during the acquisition of active avoidance behavior and returned to basal level following extinction training. In propranolol group, antagonism of β-adrenoceptors in the DG significantly reduced the change in glutamate level, and the acquisition of the active avoidance behavior was significantly inhibited. In contrast, the change in glutamate level was significantly enhanced by isoproterenol, and the acquisition of the active avoidance behavior was significantly accelerated. Furthermore, in all groups, the changes in glutamate level were accompanied by corresponding changes in field excitatory postsynaptic potential amplitude and active avoidance behavior. Our results suggest that activation of β-adrenoceptors in the hippocampal DG facilitates active avoidance learning by modulations of glutamate level and synaptic efficiency in rats.

  15. Car Black Box with Speed Control in Desired Areas for Collision Avoidance

    P. Poddar

    2012-10-01

    Full Text Available This paper presents an advanced step to the concept of car black-box in developing a comprehensive vehicle safety system which would not only record the video and audio, but also try to prevent a possible collision by limiting the speed of the vehicle in accident-prone areas. In case of an accident, the time and location (co-ordinates is sent through GSM to a preset number for immediate rescue and treatment. Recorded data can also be used for forensics, revealing the problems that caused the accident and give manufacturer an idea for improvement. So the motto is to develop an embedded integrated system consisting of a microcontroller, a power supply unit, sensors, memory, a motor driver unit and a GPS/GSM modem.

  16. A Control of Collision and Deadlock Avoidance for Automated Guided Vehicles with a Fault-Tolerance Capability

    Qin Li

    2016-04-01

    Full Text Available Based on a novel discrete-event zone-control model, in our previous papers [1, 2], we presented a time-efficient traffic control for automated guided vehicle (AGV systems to exclude inter-vehicle collisions and system deadlocks, together with a case study on container terminals. The traffic control allows each vehicle in an AGV system to freely choose its routes for any finite sequence of zone-to-zone transportation tasks and the routes can be constructed in an online fashion. In this paper, we extended our previous results with two practical goals: (1 to increase the utilization of the workspace area by reducing the minimally allowed area of each zone; (2 to avoid vehicle collisions and deadlocks with the occurrence of vehicle breakdowns. To achieve the first goal, we include one extra vehicle event that allows each vehicle to probe further ahead while it is moving on the guide-path. This leads to an extension of our previous discrete-event model and traffic control rules, which are presented in the first part of the paper. The second part of the paper concerns the second goal, for which an emergency traffic control scheme is designed as supplementary to the normal traffic control rules. As in our previous papers, the improved model and traffic control are applied to a simulation of quayside container transshipment at container terminals; our simulation results are compared with those from two interesting works in the literature.

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

    Esposito, Julien F.

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

  18. Avoidance of collision risk

    Dumitrache Ramona; Dumitrache Cosmin; Popescu Corina; Varsami Anastasia

    2011-01-01

    Over the past decades there has been a continuous increase in the public concern about general risk issues. The consequence of this trend is that whenever a catastrophic accident occurs - and receives media coverage - there is an immediate political and public demand for actions to prevent the same type of catastrophe in the future. Many of the past improvements in safety of marine structure have been triggered by disasters but there is a change in this trend nowadays. The maritime society is...

  19. SU-E-T-64: CG-Based Radiation Therapy Simulator with Physical Modeling for Avoidance of Collisions Between Gantry and Couch Or Patient

    Yamanouchi, M; Arimura, H; Yuda, I

    2014-01-01

    Purpose: It is time-consuming and might cause re-planning to check couch-gantry and patient-gantry collisions on a radiotherapy machine when using couch rotations for non-coplanar beam angles. The aim of this study was to develop a computer-graphics (CG)-based radiation therapy simulator with physical modeling for avoidance of collisions between gantry and couch or patient on a radiotherapy machine. Methods: The radiation therapy simulator was three-dimensionally constructed including a radiotherapy machine (Clinac iX, Varian Medical Systems), couch, and radiation treatment room according to their designs by using a physical-modeling-based computer graphics software (Blender, free and open-source). Each patient was modeled by applying a surface rendering technique to their planning computed tomography (CT) images acquired from 16-slice CT scanner (BrightSpeed, GE Healthcare). Immobilization devices for patients were scanned by the CT equipment, and were rendered as the patient planning CT images. The errors in the collision angle of the gantry with the couch or patient between gold standards and the estimated values were obtained by fixing the gantry angle for the evaluation of the proposed simulator. Results: The average error of estimated collision angles to the couch head side was -8.5% for gantry angles of 60 to 135 degree, and -5.5% for gantry angles of 225 to 300 degree. Moreover, the average error of estimated collision angles to the couch foot side was -1.1% for gantry angles of 60 to 135 degree, and 1.4% for gantry angles of 225 to 300 degree. Conclusion: The CG-based radiation therapy simulator could make it possible to estimate the collision angle between gantry and couch or patient on the radiotherapy machine without verifying the collision angles in the radiation treatment room

  20. Ketamine facilitates extinction of avoidance behavior and enhances synaptic plasticity in a rat model of anxiety vulnerability: Implications for the pathophysiology and treatment of anxiety disorders.

    Fortress, Ashley M; Smith, Ian M; Pang, Kevin C H

    2018-05-08

    Anxiety disorders and posttraumatic stress disorder (PTSD) share a common feature of pathological avoidance behavior. The Wistar Kyoto (WKY) rat has been used as a model of anxiety vulnerability, expressing a behaviorally inhibited temperament, acquiring avoidance behavior more rapidly and displaying extinction-resistant avoidance compared to Sprague Dawley (SD) rats. Subanesthetic levels of ketamine have gained attention as a rapid antidepressant in treatment-resistant depression. While traditional antidepressants are commonly used to treat anxiety disorders and PTSD, the therapeutic utility of ketamine for these disorders is much less understood. The hippocampus is critical for the actions of antidepressants, is a structure of implicated in anxiety disorders and PTSD, and is necessary for extinction of avoidance in SD rats. WKY rats have impaired hippocampal long-term potentiation (LTP), suggesting that persistent avoidance in WKY rats may be due to deficient hippocampal synaptic plasticity. In the present study, we hypothesized that ketamine would facilitate extinction of avoidance learning in WKY rats, and do so by enhancing hippocampal synaptic plasticity. As predicted, ketamine facilitated extinction of avoidance behavior in a subset of WKY rats (responders), with effects lasting at least three weeks. Additionally, LTP in these rats was enhanced by ketamine. Ketamine was not effective in facilitating avoidance extinction or in modifying LTP in WKY non-responders. The results suggest that subanesthetic levels of ketamine may be useful for treating anxiety disorders by reducing avoidance behaviors when combined with extinction conditions. Moreover, ketamine may have its long-lasting behavioral effects through enhancing hippocampal synaptic plasticity. Copyright © 2018. Published by Elsevier Ltd.

  1. Sequential Probability Ratio Test for Collision Avoidance Maneuver Decisions Based on a Bank of Norm-Inequality-Constrained Epoch-State Filters

    Carpenter, J. R.; Markley, F. L.; Alfriend, K. T.; Wright, C.; Arcido, J.

    2011-01-01

    Sequential probability ratio tests explicitly allow decision makers to incorporate false alarm and missed detection risks, and are potentially less sensitive to modeling errors than a procedure that relies solely on a probability of collision threshold. Recent work on constrained Kalman filtering has suggested an approach to formulating such a test for collision avoidance maneuver decisions: a filter bank with two norm-inequality-constrained epoch-state extended Kalman filters. One filter models 1he null hypothesis 1ha1 the miss distance is inside the combined hard body radius at the predicted time of closest approach, and one filter models the alternative hypothesis. The epoch-state filter developed for this method explicitly accounts for any process noise present in the system. The method appears to work well using a realistic example based on an upcoming highly-elliptical orbit formation flying mission.

  2. Unmanned Aircraft Systems Human-in-the-Loop Controller and Pilot Acceptability Study: Collision Avoidance, Self-Separation, and Alerting Times (CASSAT)

    Comstock, James R., Jr.; Ghatas, Rania W.; Vincent, Michael J.; Consiglio, Maria C.; Munoz, Cesar; Chamberlain, James P.; Volk, Paul; Arthur, Keith E.

    2016-01-01

    The Federal Aviation Administration (FAA) has been mandated by the Congressional funding bill of 2012 to open the National Airspace System (NAS) to Unmanned Aircraft Systems (UAS). With the growing use of unmanned systems, NASA has established a multi-center "UAS Integration in the NAS" Project, in collaboration with the FAA and industry, and is guiding its research efforts to look at and examine crucial safety concerns regarding the integration of UAS into the NAS. Key research efforts are addressing requirements for detect-and-avoid (DAA), self-separation (SS), and collision avoidance (CA) technologies. In one of a series of human-in-the-loop experiments, NASA Langley Research Center set up a study known as Collision Avoidance, Self-Separation, and Alerting Times (CASSAT). The first phase assessed active air traffic controller interactions with DAA systems and the second phase examined reactions to the DAA system and displays by UAS Pilots at a simulated ground control station (GCS). Analyses of the test results from Phase I and Phase II are presented in this paper. Results from the CASSAT study and previous human-in-the-loop experiments will play a crucial role in the FAA's establishment of rules, regulations, and procedures to safely, efficiently, and effectively integrate UAS into the NAS.

  3. LightForce Photon-pressure Collision Avoidance: Efficiency Analysis in the Current Debris Environment and Long-Term Simulation Perspective

    Yang, Fan Y.; Nelson, Bron; Carlino, Roberto; Perez, Andres D.; Faber, Nicolas; Henze, Chris; Karacahoglu, Arif G.; O'Toole, Conor; Swenson, Jason; Stupl, Jan

    2015-01-01

    This work provides an efficiency analysis of the LightForce space debris collision avoidance scheme in the current debris environment and describes a simulation approach to assess its impact on the long-term evolution of the space debris environment. LightForce aims to provide just-in-time collision avoidance by utilizing photon pressure from ground-based industrial lasers. These ground stations impart minimal accelerations to increase the miss distance for a predicted conjunction between two objects. In the first part of this paper we will present research that investigates the short-term effect of a few systems consisting of 10kW class lasers directed by 1.5 m diameter telescopes using adaptive optics. The results found such a network of ground stations to mitigate more than 85 percent of conjunctions and could lower the expected number of collisions in Low Earth Orbit (LEO) by an order of magnitude. While these are impressive numbers that indicate LightForce's utility in the short-term, the remaining 15 percent of possible collisions contain (among others) conjunctions between two massive objects that would add large amount of debris if they collide. Still, conjunctions between massive objects and smaller objects can be mitigated. Hence we choose to expand the capabilities of the simulation software to investigate the overall effect of a network of LightForce stations on the long-term debris evolution. In the second part of this paper, we will present the planed simulation approach for that effort.

  4. Control of a self guided tracked vehicle for hazardous waste removal using GPS positioning and ultrasonic collision avoidance

    Roy, B.; Lokhorst, D.; Fung, P.; Rice, P.

    1996-01-01

    In 1994 a large hydraulic telerobotic tracked transport vehicle (TTV) was built for Lockheed Idaho Technologies by a team of companies consisting of RAHCO International of Spokane, Spar Aerospace of Toronto and RSI Research of Victoria. The TTV was developed as a part of the Department of Energy's Buried Waste Integrated Demonstration Program to transport low level transuranic waste in a safe, dust-free manner minimizing the potential spread of airborne contaminants. The TTV was controlled from a remote control station by an operator relying on video and sensor feedback. This paper describes the control system of SGTV, a self guided version of the TTV developed in 1995 to travel autonomously between loading and off-loading points while automatically avoiding obstacles in its path. Self-guidance is divided between a supervisory Mission Planning and Control computer (WC) and an on-board system of five networked computers

  5. Collision avoidance using neural networks

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

    2017-11-01

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

  6. Interactions of nitric oxide with α2‐adrenoceptors within the locus coeruleus underlie the facilitation of inhibitory avoidance memory by agmatine

    Shelkar, Gajanan P; Gakare, Sukanya G; Chakraborty, Suwarna; Dravid, Shashank M

    2016-01-01

    Background and Purpose Agmatine, a putative neurotransmitter, plays a vital role in learning and memory. Although it is considered an endogenous ligand of imidazoline receptors, agmatine exhibits high affinity for α‐adrenoceptors, NOS and NMDA receptors. These substrates within the locus coeruleus (LC) are critically involved in learning and memory processes. Experimental Approach The hippocampus and LC of male Wistar rat were stereotaxically cannulated for injection. Effects of agmatine, given i.p. or intra‐LC, on acquisition, consolidation and retrieval of inhibitory avoidance (IA) memory were measured. The NO donor S‐nitrosoglutathione, non‐specific (L‐NAME) and specific NOS inhibitors (L‐NIL, 7‐NI, L‐NIO), the α2‐adrenoceptor antagonist (yohimbine) or the corresponding agonist (clonidine) were injected intra‐LC before agmatine. Intra‐hippocampal injections of the NMDA antagonist, MK‐801 (dizocilpine), were used to modify the memory enhancing effects of agmatine, SNG and yohimbine. Expression of tyrosine hydroxylase (TH) and eNOS in the LC was assessed immunohistochemically. Key Results Agmatine (intra‐LC or i.p.) facilitated memory retrieval in the IA test. S‐nitrosoglutathione potentiated, while L‐NAME and L‐NIO decreased, these effects of agmatine. L‐NIL and 7‐NI did not alter the effects of agmatine. Yohimbine potentiated, whereas clonidine attenuated, effects of agmatine within the LC. The effects of agmatine, S‐nitrosoglutathione and yohimbine were blocked by intra‐hippocampal MK‐801. Agmatine increased the population of TH‐ and eNOS‐immunoreactive elements in the LC. Conclusions and Implications The facilitation of memory retrieval in the IA test by agmatine is probably mediated by interactions between eNOS, NO and noradrenergic pathways in the LC. PMID:27273730

  7. Interactions of nitric oxide with α2 -adrenoceptors within the locus coeruleus underlie the facilitation of inhibitory avoidance memory by agmatine.

    Shelkar, Gajanan P; Gakare, Sukanya G; Chakraborty, Suwarna; Dravid, Shashank M; Ugale, Rajesh R

    2016-09-01

    Agmatine, a putative neurotransmitter, plays a vital role in learning and memory. Although it is considered an endogenous ligand of imidazoline receptors, agmatine exhibits high affinity for α-adrenoceptors, NOS and NMDA receptors. These substrates within the locus coeruleus (LC) are critically involved in learning and memory processes. The hippocampus and LC of male Wistar rat were stereotaxically cannulated for injection. Effects of agmatine, given i.p. or intra-LC, on acquisition, consolidation and retrieval of inhibitory avoidance (IA) memory were measured. The NO donor S-nitrosoglutathione, non-specific (L-NAME) and specific NOS inhibitors (L-NIL, 7-NI, L-NIO), the α2 -adrenoceptor antagonist (yohimbine) or the corresponding agonist (clonidine) were injected intra-LC before agmatine. Intra-hippocampal injections of the NMDA antagonist, MK-801 (dizocilpine), were used to modify the memory enhancing effects of agmatine, SNG and yohimbine. Expression of tyrosine hydroxylase (TH) and eNOS in the LC was assessed immunohistochemically. Agmatine (intra-LC or i.p.) facilitated memory retrieval in the IA test. S-nitrosoglutathione potentiated, while L-NAME and L-NIO decreased, these effects of agmatine. L-NIL and 7-NI did not alter the effects of agmatine. Yohimbine potentiated, whereas clonidine attenuated, effects of agmatine within the LC. The effects of agmatine, S-nitrosoglutathione and yohimbine were blocked by intra-hippocampal MK-801. Agmatine increased the population of TH- and eNOS-immunoreactive elements in the LC. The facilitation of memory retrieval in the IA test by agmatine is probably mediated by interactions between eNOS, NO and noradrenergic pathways in the LC. © 2016 The British Pharmacological Society.

  8. An Analysis of Possibilities How the Collision Between M/V ‘Baltic Ace’ and M/V ‘Corvus J’ Could Have Been Avoided

    Kulbiej Eric

    2016-12-01

    Full Text Available The report presents the simulation results of collision between m/v ‘Baltic Ace’ and m/v ‘Corvus J’. The analysis was performed by means of navigation decision support system (NDSS in collision situations. This system (NAVDEC works out anti-collision manoeuvre using AIS (Automatic Identification System and ARPA (Automatic Radar Plotting Aids data. Then they are processed by specialized computing algorithms and presented to the operator on a display in the alphanumeric and graphic forms. The data on the specific navigational situation from the report of Bahamas Maritime Authority was used for the generation of signals transmitted to NDSS as a sequence of NMEA strings.

  9. Active Collision Avoidance for Planetary Landers

    National Aeronautics and Space Administration — Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be...

  10. Passive Collision Avoidance System for UAS

    2008-09-01

    39 Figure 56: The angular velocity of the roll of the aircraft for Figure 55...deeply integrated with Windows via C++ and has open source PYTHON scripting capability www.python.org. IO Industries was hired to code special drivers...ImageJ is a Java based open source image processing program supported by the NIH. Figure 23: Streams5 screen capture Several custom models were

  11. Trajectory Optimization for Spacecraft Collision Avoidance

    2013-09-01

    Parabolic e > 1 Hyperbolic The RAAN, Ω, measures the angle between the vernal equinox eastward to the line of nodes, n, shown in Figure 3 and...Methods. Indirect Methods focus on derivation of first-order necessary conditions using the Calculus of Variations . These conditions are then used to...either the final or initial states. They may be given as a set of equality or inequality constraints. A state vector that does not violate any

  12. Who participates in tax avoidance?

    Alstadsæter, Annette; Jacob, Martin

    2013-01-01

    This paper analyzes the sources of heterogeneity in legal tax avoidance strategies across individuals. Three conditions are required for a taxpayer to participate in tax avoidance: incentive, access, and awareness. Using rich Swedish administrative panel data with a unique link between corporate and individual tax returns, we analyze individual participation in legal tax planning around the 2006 Swedish tax reform. Our results suggest that closely held corporations are utilized to facilitate ...

  13. Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

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

    2007-01-01

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

  14. Collision Mechanics

    Pedersen, Preben Terndrup; Servis, D.P.; Zhang, Shengming

    1999-01-01

    The first section of the present report describes the procedures that are being programmed at DTU for evaluation of the external collision dynamics. Then follows a detailed description of a comprehensive finite element analysis of one collision scenario for MS Dextra carried out at NTUA. The last...

  15. A probabilistic model for hydrokinetic turbine collision risks: exploring impacts on fish.

    Hammar, Linus; Eggertsen, Linda; Andersson, Sandra; Ehnberg, Jimmy; Arvidsson, Rickard; Gullström, Martin; Molander, Sverker

    2015-01-01

    A variety of hydrokinetic turbines are currently under development for power generation in rivers, tidal straits and ocean currents. Because some of these turbines are large, with rapidly moving rotor blades, the risk of collision with aquatic animals has been brought to attention. The behavior and fate of animals that approach such large hydrokinetic turbines have not yet been monitored at any detail. In this paper, we conduct a synthesis of the current knowledge and understanding of hydrokinetic turbine collision risks. The outcome is a generic fault tree based probabilistic model suitable for estimating population-level ecological risks. New video-based data on fish behavior in strong currents are provided and models describing fish avoidance behaviors are presented. The findings indicate low risk for small-sized fish. However, at large turbines (≥5 m), bigger fish seem to have high probability of collision, mostly because rotor detection and avoidance is difficult in low visibility. Risks can therefore be substantial for vulnerable populations of large-sized fish, which thrive in strong currents. The suggested collision risk model can be applied to different turbine designs and at a variety of locations as basis for case-specific risk assessments. The structure of the model facilitates successive model validation, refinement and application to other organism groups such as marine mammals.

  16. A probabilistic model for hydrokinetic turbine collision risks: exploring impacts on fish.

    Linus Hammar

    Full Text Available A variety of hydrokinetic turbines are currently under development for power generation in rivers, tidal straits and ocean currents. Because some of these turbines are large, with rapidly moving rotor blades, the risk of collision with aquatic animals has been brought to attention. The behavior and fate of animals that approach such large hydrokinetic turbines have not yet been monitored at any detail. In this paper, we conduct a synthesis of the current knowledge and understanding of hydrokinetic turbine collision risks. The outcome is a generic fault tree based probabilistic model suitable for estimating population-level ecological risks. New video-based data on fish behavior in strong currents are provided and models describing fish avoidance behaviors are presented. The findings indicate low risk for small-sized fish. However, at large turbines (≥5 m, bigger fish seem to have high probability of collision, mostly because rotor detection and avoidance is difficult in low visibility. Risks can therefore be substantial for vulnerable populations of large-sized fish, which thrive in strong currents. The suggested collision risk model can be applied to different turbine designs and at a variety of locations as basis for case-specific risk assessments. The structure of the model facilitates successive model validation, refinement and application to other organism groups such as marine mammals.

  17. Optical Flow based Robot Obstacle Avoidance

    Kahlouche Souhila

    2008-11-01

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

  18. Collision Risk and Damage after Collision

    Pedersen, Preben Terndrup; Hansen, Peter Friis; Nielsen, Lars Peter

    1996-01-01

    The paper presents a new and complete procedure for calculation of ship-ship collision rates on specific routes and the hull damage caused by such collisions.The procedure is applied to analysis of collision risks for Ro-Ro pasenger vessels. Given a collision the spatial probability distribution ...

  19. Polarized Proton Collisions at RHIC

    Bai, Mei; Alekseev, Igor G; Alessi, James; Beebe-Wang, Joanne; Blaskiewicz, Michael; Bravar, Alessandro; Brennan, Joseph M; Bruno, Donald; Bunce, Gerry; Butler, John J; Cameron, Peter; Connolly, Roger; De Long, Joseph; Drees, Angelika; Fischer, Wolfram; Ganetis, George; Gardner, Chris J; Glenn, Joseph; Hayes, Thomas; Hseuh Hsiao Chaun; Huang, Haixin; Ingrassia, Peter; Iriso, Ubaldo; Laster, Jonathan S; Lee, Roger C; Luccio, Alfredo U; Luo, Yun; MacKay, William W; Makdisi, Yousef; Marr, Gregory J; Marusic, Al; McIntyre, Gary; Michnoff, Robert; Montag, Christoph; Morris, John; Nicoletti, Tony; Oddo, Peter; Oerter, Brian; Osamu, Jinnouchi; Pilat, Fulvia Caterina; Ptitsyn, Vadim; Roser, Thomas; Satogata, Todd; Smith, Kevin T; Svirida, Dima; Tepikian, Steven; Tomas, Rogelio; Trbojevic, Dejan; Tsoupas, Nicholaos; Tuozzolo, Joseph; Vetter, Kurt; Wilinski, Michelle; Zaltsman, Alex; Zelenski, Anatoli; Zeno, Keith; Zhang, S Y

    2005-01-01

    The Relativistic Heavy Ion Collider~(RHIC) provides not only collisions of ions but also collisions of polarized protons. In a circular accelerator, the polarization of polarized proton beam can be partially or fully lost when a spin depolarizing resonance is encountered. To preserve the beam polarization during acceleration, two full Siberian snakes were employed in RHIC to avoid depolarizing resonances. In 2003, polarized proton beams were accelerated to 100~GeV and collided in RHIC. Beams were brought into collisions with longitudinal polarization at the experiments STAR and PHENIX by using spin rotators. RHIC polarized proton run experience demonstrates that optimizing polarization transmission efficiency and improving luminosity performance are significant challenges. Currently, the luminosity lifetime in RHIC is limited by the beam-beam effect. The current state of RHIC polarized proton program, including its dedicated physics run in 2005 and efforts to optimize luminosity production in beam-beam limite...

  20. Galaxy collisions

    Combes, F.

    1987-01-01

    Galaxies are not isolated systems of stars and gas, ''independent universes'' as believed by astronomers about ten years ago, but galaxies are formed and evolve by interaction with their environment, and in particular with their nearest neighbors. Gravitational interactions produce enormous tides in the disk of spiral galaxies, generate spiral arms and trigger bursts of star formation. Around elliptical galaxies, the collision with a small companion produces a series of waves, or shells. A galaxy interaction leads, in most cases, to the coalescence of the two coliders; therefore all galaxies are not formed just after the Big-Bang, when matter recombines: second generation galaxies are still forming now by galaxy mergers, essentially elliptical galaxies, but also compact dwarfs. Collisions between galaxies could also trigger activity in nuclei for radiogalaxies and quasars [fr

  1. Verified Interval Orbit Propagation in Satellite Collision Avoidance

    Römgens, B.A.; Mooij, E.; Naeije, M.C.

    2011-01-01

    Verified interval integration methods enclose a solution set corresponding to interval initial values and parameters, and bound integration and rounding errors. Verified methods suffer from overestimation of the solution, i.e., non-solutions are also included in the solution enclosure. Two verified

  2. Threat Alert and Collision Avoidance System (TCAS) Symposium.

    1981-07-22

    Aviation Administration 11. Contract or Grant No. Systems Research and Development Service Washington, D. C. 20590 13. Type of Report and Period Covered...what that meant and he said he thought that up over Disneyland 77" -ZZ- t- 23 it was more than that. He said you could find more than 90 aircraft

  3. Collision-avoidance radar for small UAS, Phase I

    National Aeronautics and Space Administration — In the near future unmanned aircraft systems (UAS) will be utilized for many societal and commercial applications. However, the hurdle of operation safety in the...

  4. Collision-avoidance radar for small UAS, Phase II

    National Aeronautics and Space Administration — In the near future unmanned aircraft systems (UAS) will be utilized for many societal and commercial applications. However, the hurdle of operation safety in the...

  5. Facilitating Transfers

    Kjær, Poul F.

    to specific logics of temporalisation and spatial expansion of a diverse set of social processes in relation to, for example, the economy, politics, science and the mass media. On this background, the paper will more concretely develop a conceptual framework for classifying different contextual orders...... that the essential functional and normative purpose of regulatory governance is to facilitate, stabilise and justify the transfer of condensed social components (such as economic capital and products, political decisions, legal judgements, religious beliefs and scientific knowledge) from one social contexts...

  6. Traffic jam driving with NMV avoidance

    Milanés, Vicente; Alonso, Luciano; Villagrá, Jorge; Godoy, Jorge; de Pedro, Teresa; Oria, Juan P.

    2012-08-01

    In recent years, the development of advanced driver assistance systems (ADAS) - mainly based on lidar and cameras - has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators - brake and throttle pedals - were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.

  7. Facilitating participation

    Skøtt, Bo

    2018-01-01

    the resulting need for a redefinition of library competence. In doing this, I primarily address the first two questions from Chapter 1 and how they relate to the public’s informal, leisure-time activities in a networked society. In particular, I focus on the skills of reflexive self-perception and informed...... opinion formation. Further, I point out the significance which these informal leisure-time activities have for public library staff’s cultural dissemination skills. In this way, I take on the question of the skills required for facilitating the learning of a participatory public (cf. Chapter 1......), exemplifying with the competence required of library staff. My discussion will proceed by way of a literature review. In the next section, I shall explain how and what sources were chosen and section three and four present the theoretical framework and how the applied theories are related. In the fifth section...

  8. Facilitating Transfers

    Kjær, Poul F.

    2018-01-01

    Departing from the paradox that globalisation has implied an increase, rather than a decrease, in contextual diversity, this paper re-assesses the function, normative purpose and location of Regulatory Governance Frameworks in world society. Drawing on insights from sociology of law and world...... society studies, the argument advanced is that Regulatory Governance Frameworks are oriented towards facilitating transfers of condensed social components, such as economic capital and products, legal acts, political decisions and scientific knowledge, from one legally-constituted normative order, i.......e. contextual setting, to another. Against this background, it is suggested that Regulatory Governance Frameworks can be understood as schemes which act as ‘rites of passage’ aimed at providing legal stabilisation to social processes characterised by liminality, i.e ambiguity, hybridity and in-betweenness....

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

    Wei Zhang

    2017-11-01

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

  10. See-and-Avoid Collision Avoidance Using ADS-B Signal and Radar Sensing, Phase I

    National Aeronautics and Space Administration — IAI proposes an innovative solution to enable unrestricted flight in low-altitude airspace for small aircrafts This solution includes an L-band RF transceiver-sensor...

  11. Flight Test Evaluation of AVOID I (Avionic Observation of Intruder Danger) Collision Avoidance System

    1975-05-01

    memory registers A through G ( 2048 bit shift registers) for each of the basic altitude bands (1+26, 113 1+6) to store intruder responses. Since the 1...af EV 11z iIIV~ ~l~~ NADlC-75056-60_ _ _- 2 w< -I- LI- ~jw 0IU oo2 W I aJ W %L6fI9~~AVdI tVOV~ aN9Ao ccH % VdI I11813iA-di V GN Ed a3IV0 %AIII1IilV11W...tei mix ;;; c le z - Is’ %~~~~~~~~~~;s AJIiV1 VdI ~ %AIIV~ v~iO VIR 1ý 123 Lz NADC-7056-6 w, M w o ~2IV ONY Ed CIRNIGVNOO at p 00 CLt % 118I3iAVldSIC3

  12. Avoiding the Flu

    ... of this page please turn Javascript on. Feature: Flu Avoiding the Flu Past Issues / Fall 2009 Table of Contents Children ... should still get the 2009 H1N1 vaccine. H1N1 Flu: Who Should Be Vaccinated First The Centers for ...

  13. Helping Students Avoid Plagiarism.

    Wilhoit, Stephen

    1994-01-01

    Discusses how and why college students commit plagiarism, suggesting techniques that instructors can use to help student avoid plagiarism. Instructors should define and discuss plagiarism thoroughly; discuss hypothetical cases; review the conventions of quoting and documenting material; require multiple drafts of essays; and offer responses…

  14. Human pathogen avoidance adaptations

    Tybur, J.M.; Lieberman, D.

    2016-01-01

    Over the past few decades, researchers have become increasingly interested in the adaptations guiding the avoidance of disease-causing organisms. Here we discuss the latest developments in this area, including a recently developed information-processing model of the adaptations underlying pathogen

  15. Collision Repair Campaign

    The Collision Repair Campaign targets meaningful risk reduction in the Collision Repair source category to reduce air toxic emissions in their communities. The Campaign also helps shops to work towards early compliance with the Auto Body Rule.

  16. Gamma-rays from deep inelastic collisions

    Stephens, F.S.

    1979-01-01

    The γ-rays associated with deep inelastic collisions can give information about the magnitude and orientation of the angular momentum transferred in these events. In this review, special emphasis is placed on understanding the origin and nature of these γ-rays in order to avoid some of the ambiguities that can arise. The experimental information coming from these γ-ray studies is reviewed, and compared briefly with that obtained by other methods and also with the expectations from current models for deep inelastic collisions. 15 figures

  17. Ion-ion collisions

    Salzborn, Erhard; Melchert, Frank

    2000-01-01

    Collisions between ions belong to the elementary processes occurring in all types of plasmas. In this article we give a short overview about collisions involving one-electron systems. For collisions involving multiply-charged ions we limit the discussion to one specific quasi-one-electron system. (author)

  18. Probability of satellite collision

    Mccarter, J. W.

    1972-01-01

    A method is presented for computing the probability of a collision between a particular artificial earth satellite and any one of the total population of earth satellites. The collision hazard incurred by the proposed modular Space Station is assessed using the technique presented. The results of a parametric study to determine what type of satellite orbits produce the greatest contribution to the total collision probability are presented. Collision probability for the Space Station is given as a function of Space Station altitude and inclination. Collision probability was also parameterized over miss distance and mission duration.

  19. Avoidable waste management costs

    Hsu, K.; Burns, M.; Priebe, S.; Robinson, P.

    1995-01-01

    This report describes the activity based costing method used to acquire variable (volume dependent or avoidable) waste management cost data for routine operations at Department of Energy (DOE) facilities. Waste volumes from environmental restoration, facility stabilization activities, and legacy waste were specifically excluded from this effort. A core team consisting of Idaho National Engineering Laboratory, Los Alamos National Laboratory, Rocky Flats Environmental Technology Site, and Oak Ridge Reservation developed and piloted the methodology, which can be used to determine avoidable waste management costs. The method developed to gather information was based on activity based costing, which is a common industrial engineering technique. Sites submitted separate flow diagrams that showed the progression of work from activity to activity for each waste type or treatability group. Each activity on a flow diagram was described in a narrative, which detailed the scope of the activity. Labor and material costs based on a unit quantity of waste being processed were then summed to generate a total cost for that flow diagram. Cross-complex values were calculated by determining a weighted average for each waste type or treatability group based on the volume generated. This study will provide DOE and contractors with a better understanding of waste management processes and their associated costs. Other potential benefits include providing cost data for sites to perform consistent cost/benefit analysis of waste minimization and pollution prevention (WMIN/PP) options identified during pollution prevention opportunity assessments and providing a means for prioritizing and allocating limited resources for WMIN/PP.

  20. Avoidable waste management costs

    Hsu, K.; Burns, M.; Priebe, S.; Robinson, P.

    1995-01-01

    This report describes the activity based costing method used to acquire variable (volume dependent or avoidable) waste management cost data for routine operations at Department of Energy (DOE) facilities. Waste volumes from environmental restoration, facility stabilization activities, and legacy waste were specifically excluded from this effort. A core team consisting of Idaho National Engineering Laboratory, Los Alamos National Laboratory, Rocky Flats Environmental Technology Site, and Oak Ridge Reservation developed and piloted the methodology, which can be used to determine avoidable waste management costs. The method developed to gather information was based on activity based costing, which is a common industrial engineering technique. Sites submitted separate flow diagrams that showed the progression of work from activity to activity for each waste type or treatability group. Each activity on a flow diagram was described in a narrative, which detailed the scope of the activity. Labor and material costs based on a unit quantity of waste being processed were then summed to generate a total cost for that flow diagram. Cross-complex values were calculated by determining a weighted average for each waste type or treatability group based on the volume generated. This study will provide DOE and contractors with a better understanding of waste management processes and their associated costs. Other potential benefits include providing cost data for sites to perform consistent cost/benefit analysis of waste minimization and pollution prevention (WMIN/PP) options identified during pollution prevention opportunity assessments and providing a means for prioritizing and allocating limited resources for WMIN/PP

  1. Modeling of Ship Collision Risk Index Based on Complex Plane and Its Realization

    Xiaoqin Xu; Xiaoqiao Geng; Yuanqiao Wen

    2016-01-01

    Ship collision risk index is the basic and important concept in the domain of ship collision avoidance. In this paper, the advantages and deficiencies of the various calculation methods of ship collision risk index are pointed out. Then the ship collision risk model based on complex plane, which can well make up for the deficiencies of the widely-used evaluation model proposed by Kearon.J and Liu ruru is proposed. On this basis, the calculation method of collision risk index under the encount...

  2. The production of Higgs bosons in high-energetic heavy-ion collisions

    Vidovic, M.

    1991-09-01

    The aim of this diploma thesis was to produce the Higgs boson in high-energetic, peripheral heavy-ion collisions by purely electromagnetic processes. In order to take only peripheral collisions into consideration and to avoid the strong hadronic background of central collisions the equivalent-photon method for the case of the Higgs boson was extended concerning an impact-parameter study. By this it was possible to exclude the contribution of central collisions by cut in the impact parameter at b=2R, in order to determine thus the production rate for purely peripheral collisions. (orig./HSI) [de

  3. The risk of pedestrian collisions with peripheral visual field loss

    Peli, Eli; Apfelbaum, Henry; Berson, Eliot L.; Goldstein, Robert B.

    2016-01-01

    Patients with peripheral field loss complain of colliding with other pedestrians in open-space environments such as shopping malls. Field expansion devices (e.g., prisms) can create artificial peripheral islands of vision. We investigated the visual angle at which these islands can be most effective for avoiding pedestrian collisions, by modeling the collision risk density as a function of bearing angle of pedestrians relative to the patient. Pedestrians at all possible locations were assumed...

  4. Modelling seabird collision risk with off-shore wind farms

    Mateos, Maria; Arroyo, Gonzalo Munoz; Rosario, Jose Juan Alonso del

    2011-07-01

    Full text: Recent concern about the adverse effects of collision mortality of avian migrants at wind farms has highlighted the need to understand bird-wind turbine interactions. Here, a stochastic collision model, based on data of seabird behaviour collected on- site, is presented, as a flexible and easy to take tool to assess the collisions probabilities of off-shore wind farms in a pre-construction phase. The collision prediction model considering the wind farm area as a risk window has been constructed as a stochastic model for avian migrants, based on Monte Carlo simulation. The model calculates the probable number of birds collided per time unit. Migration volume, wind farm dimensions, vertical and horizontal distribution of the migratory passage, flight direction and avoidance rates, between other variables, are taken into account in different steps of the model as the input variables. In order to assess the weighted importance of these factors on collision probability predictions, collision probabilities obtained from the set of scenarios resulting from the different combinations of the input variables were modelled by using Generalised Additive Models. The application of this model to a hypothetical project for erecting a wind farm at the Strait of Gibraltar showed that collision probability, and consequently mortality rates, strongly depend on the values of the avoidance rates taken into account, and the distribution of birds into the different altitude layers. These parameters should be considered as priorities to be addressed in post-construction studies. (Author)

  5. Hadron-nucleus collisions

    Strugalski, Z.

    1981-01-01

    Qualitative picture of high energy hadron-nucleus collision process, emerging from the analysis of experimental data, is presented. Appropriate description procedure giving a possibility of reproducing various characteristics of this process in terms of the data on elementary hadron-nucleon interaction is proposed. Formula reproducing hadron-nucleus collision cross sections is derived. Inelastic collision cross sections for pion-nucleus and proton-nucleus reactions at wide energy interval are calculated for Pb, Ag, and Al targets. A-dependence of cross sections for pion-nucleus and proton-nucleus collisions at nearly 50 GeV/c momentum were calculated and compared with existing experimental data. Energy dependence of cross sections for hadron-nucleus collisions is determined simply by energy dependence of corresponding cross sections for hadron-nucleon collisions; A-dependence is determined simply by nuclear sizes and nucleon density distributions in nuclei

  6. Sensor-based whole-arm obstacle avoidance for unstructured environments

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

    1992-01-01

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

  7. Sensor-based whole-arm obstacle avoidance for unstructured environments

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

    1992-01-01

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

  8. Electron-molecule collisions

    Shimamura, I.; Takayanagi, K.

    1984-01-01

    The study of collision processes plays an important research role in modern physics. Many significant discoveries have been made by means of collision experiments. Based on theoretical, experimental, and computational studies, this volume presents an overview detailing the basic processes of electron-molecule collisions. The editors have collected papers-written by a group of international experts-that consider a diverse range of phenomena occurring in electronmolecule collisions. The volume discusses first the basic formulation for scattering problems and then gives an outline of the physics of electron-molecule collisions. The main topics covered are rotational transitions, vibrational transitions, dissociation of molecules in slow collisions, the electron-molecule collision as a spectroscopic tool for studying molecular electronic structures, and experimental and computational techniques for determining the cross sections. These well-referenced chapters are self-contained and can be read independently or consecutively. Authoritative and up-to-date, Electron-Molecule Collisions is a useful addition to the libraries of students and researchers in the fields of atomic, molecular, and chemical physics, and physical chemistry

  9. Determinants of Aggressive Tax Avoidance

    Herbert, Tanja

    2015-01-01

    This thesis consists of three essays examining determinants of aggressive tax avoidance. The first essay “Measuring the Aggressive Part of International Tax Avoidance”, co-authored with Prof. Dr. Michael Overesch, proposes a new measure that isolates the additional or even aggressive part in international tax avoidance and analyzes the determinants of aggressive tax avoidance of multinational enterprises. The second essay “Capital Injections and Aggressive Tax Planning - Can Banks Have It All...

  10. Predictors of avoiding medical care and reasons for avoidance behavior.

    Kannan, Viji Diane; Veazie, Peter J

    2014-04-01

    Delayed medical care has negative health and economic consequences; interventions have focused on appraising symptoms, with limited success in reducing delay. To identify predictors of care avoidance and reasons for avoiding care. Using the Health Information National Trends Survey (2007), we conducted logistic regressions to identify predictors of avoiding medical visits deemed necessary by the respondents; and, we then conducted similar analyses on reasons given for avoidance behavior. Independent variables included geographic, demographic, socioeconomic, personal health, health behavior, health care system, and cognitive characteristics. Approximately one third of adults avoided doctor visits they had deemed necessary. Although unadjusted associations existed, avoiding needed care was not independently associated with geographic, demographic, and socioeconomic characteristics. Avoidance behavior is characterized by low health self-efficacy, less experience with both quality care and getting help with uncertainty about health, having your feelings attended to by your provider, no usual source of care, negative affect, smoking daily, and fatalistic attitude toward cancer. Reasons elicited for avoidance include preference for self-care or alternative care, dislike or distrust of doctors, fear or dislike of medical treatments, time, and money; respondents also endorsed discomfort with body examinations, fear of having a serious illness, and thoughts of dying. Distinct predictors distinguish each of these reasons. Interventions to reduce patient delay could be improved by addressing the health-related behavioral, belief, experiential, and emotional traits associated with delay. Attention should also be directed toward the interpersonal communications between patients and providers.

  11. Stimulus conflict triggers behavioral avoidance.

    Dignath, David; Eder, Andreas B

    2015-12-01

    According to a recent extension of the conflict-monitoring theory, conflict between two competing response tendencies is registered as an aversive event and triggers a motivation to avoid the source of conflict. In the present study, we tested this assumption. Over five experiments, we examined whether conflict is associated with an avoidance motivation and whether stimulus conflict or response conflict triggers an avoidance tendency. Participants first performed a color Stroop task. In a subsequent motivation test, participants responded to Stroop stimuli with approach- and avoidance-related lever movements. These results showed that Stroop-conflict stimuli increased the frequency of avoidance responses in a free-choice motivation test, and also increased the speed of avoidance relative to approach responses in a forced-choice test. High and low proportions of response conflict in the Stroop task had no effect on avoidance in the motivation test. Avoidance of conflict was, however, obtained even with new conflict stimuli that had not been presented before in a Stroop task, and when the Stroop task was replaced with an unrelated filler task. Taken together, these results suggest that stimulus conflict is sufficient to trigger avoidance.

  12. Healthcare avoidance: a critical review.

    Byrne, Sharon K

    2008-01-01

    The purpose of this study is to provide a critical review and synthesis of theoretical and research literature documenting the impact of avoidance on healthcare behaviors, identify the factors that influence healthcare avoidance and delay in the adult population, and propose a direction for future research. The Theory of Reasoned Action, Theory of Planned Behavior, Theory of Care-Seeking Behavior, the Transtheoretical Model, and the Behavioral Model of Health Services Use/Utilization are utilized to elaborate on the context within which individual intention to engage in healthcare behaviors occurs. Research literature on the concept of healthcare avoidance obtained by using computerized searches of CINAHL, MEDLINE, PSYCH INFO, and HAPI databases, from 1995 to 2007, were reviewed. Studies were organized by professional disciplines. Healthcare avoidance is a common and highly variable experience. Multiple administrative, demographic, personal, and provider factors are related to healthcare avoidance, for example, distrust of providers and/or the science community, health beliefs, insurance status, or socioeconomic/income level. Although the concept is recognized by multiple disciplines, limited research studies address its impact on healthcare decision making. More systematic research is needed to determine correlates of healthcare avoidance. Such studies will help investigators identify patients at risk for avoidant behaviors and provide the basis for health-promoting interventions. Methodological challenges include identification of characteristics of individuals and environments that hinder healthcare behaviors, as well as, the complexity of measuring healthcare avoidance. Studies need to systematically explore the influence of avoidance behaviors on specific healthcare populations at risk.

  13. Driving-Simulator-Based Test on the Effectiveness of Auditory Red-Light Running Vehicle Warning System Based on Time-To-Collision Sensor

    Xuedong Yan

    2014-02-01

    Full Text Available The collision avoidance warning system is an emerging technology designed to assist drivers in avoiding red-light running (RLR collisions at intersections. The aim of this paper is to evaluate the effect of auditory warning information on collision avoidance behaviors in the RLR pre-crash scenarios and further to examine the casual relationships among the relevant factors. A driving-simulator-based experiment was designed and conducted with 50 participants. The data from the experiments were analyzed by approaches of ANOVA and structural equation modeling (SEM. The collisions avoidance related variables were measured in terms of brake reaction time (BRT, maximum deceleration and lane deviation in this study. It was found that the collision avoidance warning system can result in smaller collision rates compared to the without-warning condition and lead to shorter reaction times, larger maximum deceleration and less lane deviation. Furthermore, the SEM analysis illustrate that the audio warning information in fact has both direct and indirect effect on occurrence of collisions, and the indirect effect plays a more important role on collision avoidance than the direct effect. Essentially, the auditory warning information can assist drivers in detecting the RLR vehicles in a timely manner, thus providing drivers more adequate time and space to decelerate to avoid collisions with the conflicting vehicles.

  14. Thermal bridges. Causes and impacts, information on reduction and avoidance; Waermebruecken. Ursachen und Auswirkungen, Hinweise zur Verringerung und Vermeidung

    Feist, Wolfgang; Born, Rolf

    2012-11-15

    Thermal bridges increase the heat demand, affect the thermal comfort, facilitate mould cultures and cause structural damage. Many thermal bridges can be avoided by proper building construction details. At least the impact of thermal bridges can be avoided.

  15. Development of an in-vehicle intersection collision countermeasure

    Pierowicz, John A.

    1997-02-01

    Intersection collisions constitute approximately twenty-six percent of all accidents in the United States. Because of their complexity, and demands on the perceptual and decision making abilities of the driver, intersections present an increased risk of collisions between automobiles. This situation provides an opportunity to apply advanced sensor and processing capabilities to prevent these collisions. A program to determine the characteristics of intersection collisions and identify potential countermeasures will be described. This program, sponsored by the National Highway Traffic Safety Administration, utilized accident data to develop a taxonomy of intersection crashes. This taxonomy was used to develop a concept for an intersection collision avoidance countermeasure. The concept utilizes in-vehicle position, dynamic status, and millimeter wave radar system and an in-vehicle computer system to provide inputs to an intersection collision avoidance algorithm. Detection of potential violation of traffic control device, or proceeding into the intersection with inadequate gap will lead to the presentation of a warning to the driver. These warnings are presented to the driver primarily via a head-up display and haptic feedback. Roadside to vehicle communication provides information regarding phased traffic signal information. Active control of the vehicle's brake and steering systems are described. Progress in the development of the systems will be presented along with the schedule of future activities.

  16. Conflict Avoidance and University Management.

    Tagliacozzo, Daisy M.

    The conditions that intensify conflict avoidance by the central administration in making strategic decisions, and the consequences of such avoidance for the management of college affairs, are discussed. The implication of an emerging decision-making style for adapting the organization to changing environments is also considered. Some of the…

  17. Cigarette tax avoidance and evasion.

    Stehr, Mark

    2005-03-01

    Variation in state cigarette taxes provides incentives for tax avoidance through smuggling, legal border crossing to low tax jurisdictions, or Internet purchasing. When taxes rise, tax paid sales of cigarettes will decline both because consumption will decrease and because tax avoidance will increase. The key innovation of this paper is to compare cigarette sales data to cigarette consumption data from the Behavioral Risk Factor Surveillance System (BRFSS). I show that after subtracting percent changes in consumption, residual percent changes in sales are associated with state cigarette tax changes implying the existence of tax avoidance. I estimate that the tax avoidance response to tax changes is at least twice the consumption response and that tax avoidance accounted for up to 9.6% of sales between 1985 and 2001. Because of the increase in tax avoidance, tax paid sales data understate the level of smoking and overstate the drop in smoking. I also find that the level of legal border crossing was very low relative to other forms of tax avoidance. If states have strong preferences for smoking control, they must pair high cigarette taxes with effective policies to curb smuggling and other forms of tax avoidance or employ alternative policies such as counter-advertising and smoking restrictions.

  18. Translational Entanglement and Teleportation of Matter Wavepackets by Collisions and Half-Collisions

    Fisch, L.; Tal, A.; Kurizki, G.

    To date, the translationally-entangled state originally proposed by Einstein, Podolsky and Rosen (EPR) in 1935 has not been experimentally realized for massive particles. Opatrný and Kurizki [Phys. Rev. Lett. 86, 3180 (2000)] have suggested the creation of a position- and momentum-correlated, i.e., translationally-entangled, pair of particles approximating the EPR state by dissociation of cold diatomic molecules, and further manipulation of the EPR pair effecting matter-wave teleportation. Here we aim at setting the principles of and quantifying translational entanglement by collisions and half-collisions. In collisions, the resonance width s and the initial phase-space distributions are shown to determine the degree of post-collisional momentum entanglement. Half-collisions (dissociation) are shown to yield different types of approximate EPR states. We analyse a feasible realization of translational EPR entanglement and teleportation via cold-molecule Raman dissociation and subsequent collisions, resolving both practical and conceptual difficulties it has faced so far: How to avoid entanglement loss due to the wavepacket spreading of the dissociation fragments? How to measure both position and momentum correlations of the dissociation fragments with sufficient accuracy to verify their EPR correlations? How to reliably perform two-particle (Bell) position and momentum measurements on one of the fragments and the wavepacket to be teleported?

  19. From collisions to clusters

    Loukonen, Ville; Bork, Nicolai; Vehkamaki, Hanna

    2014-01-01

    -principles molecular dynamics collision simulations of (sulphuric acid)1(water)0, 1 + (dimethylamine) → (sulphuric acid)1(dimethylamine)1(water)0, 1 cluster formation processes. The simulations indicate that the sticking factor in the collisions is unity: the interaction between the molecules is strong enough...... control. As a consequence, the clusters show very dynamic ion pair structure, which differs from both the static structure optimisation calculations and the equilibrium first-principles molecular dynamics simulations. In some of the simulation runs, water mediates the proton transfer by acting as a proton...... to overcome the possible initial non-optimal collision orientations. No post-collisional cluster break up is observed. The reasons for the efficient clustering are (i) the proton transfer reaction which takes place in each of the collision simulations and (ii) the subsequent competition over the proton...

  20. Electron-molecule collisions

    Takayanagi, Kazuo

    1984-01-01

    Scattering phenomena play an important role in modern physics. Many significant discoveries have been made through collision experiments. Amongst diverse kinds of collision systems, this book sheds light on the collision of an electron with a molecule. The electron-molecule collision provides a basic scattering problem. It is scattering by a nonspherical, multicentered composite particle with its centers having degrees of freedom of motion. The molecule can even disintegrate, Le., dissociate or ionize into fragments, some or all of which may also be molecules. Although it is a difficult problem, the recent theoretical, experimental, and computational progress has been so significant as to warrant publication of a book that specializes in this field. The progress owes partly to technical develop­ ments in measurements and computations. No less important has been the great and continuing stimulus from such fields of application as astrophysics, the physics of the earth's upper atmosphere, laser physics, radiat...

  1. Mechanics of train collision

    1976-04-30

    A simple and a more detailed mathematical model for the simulation of train collisions are presented. The study presents considerable insight as to the causes and consequences of train motions on impact. Comparison of model predictions with two full ...

  2. Welding Robot Collision-Free Path Optimization

    Xuewu Wang

    2017-02-01

    Full Text Available Reasonable welding path has a significant impact on welding efficiency, and a collision-free path should be considered first in the process of welding robot path planning. The shortest path length is considered as an optimization objective, and obstacle avoidance is considered as the constraint condition in this paper. First, a grid method is used as a modeling method after the optimization objective is analyzed. For local collision-free path planning, an ant colony algorithm is selected as the search strategy. Then, to overcome the shortcomings of the ant colony algorithm, a secondary optimization is presented to improve the optimization performance. Finally, the particle swarm optimization algorithm is used to realize global path planning. Simulation results show that the desired welding path can be obtained based on the optimization strategy.

  3. Photon-photon collisions

    Burke, D.L.

    1982-10-01

    Studies of photon-photon collisions are reviewed with particular emphasis on new results reported to this conference. These include results on light meson spectroscopy and deep inelastic e#betta# scattering. Considerable work has now been accumulated on resonance production by #betta##betta# collisions. Preliminary high statistics studies of the photon structure function F 2 /sup #betta#/(x,Q 2 ) are given and comments are made on the problems that remain to be solved

  4. Photon-photon collisions

    Haissinski, J.

    1986-06-01

    The discussions presented in this paper deal with the following points: distinctive features of gamma-gamma collisions; related processes; photon-photon elastic scattering in the continuum and γγ →gg; total cross section; γγ → V 1 V 2 (V=vector meson); radiative width measurements and light meson spectroscopy; exclusive channels at large /t/; jets and inclusive particle distribution in γγ collisions; and, the photon structure function F γ 2

  5. Strangeness in nuclear collisions

    Gazdzicki, M.; Roehrich, D.

    1996-01-01

    Data on the mean multiplicity of strange hadrons produced in minimum bias proton-proton and central nucleus-nucleus collisions at momenta between 2.8 and 400 GeV/c per nucleon have been compiled. The multiplicities for nucleon-nucleon interactions were constructed. The ratios of strange particle multiplicity to participant nucleon as well as to pion multiplicity are larger for central nucleus-nucleus collisions than for nucleon-nucleon interactions at all studied energies. The data at AGS energies suggest that the latter ratio saturates with increasing masses of the colliding nuclei. The strangeness to pion multiplicity ratio observed in nucleon-nucleon interactions increases with collision energy in the whole energy range studied. A qualitatively different behaviour is observed for central nucleus-nucleus collisions: the ratio rapidly increases when going from Dubna to AGS energies and changes little between AGS and SPS energies. This change in the behaviour can be related to the increase in the entropy production observed in central nucleus-nucleus collisions at the same energy range. The results are interpreted within a statistical approach. They are consistent with the hypothesis that the quark gluon plasma is created at SPS energies, the critical collision energy being between AGS and SPS energies. (orig.)

  6. Recommended Screening Practices for Launch Collision Aviodance

    Beaver, Brian A.; Hametz, Mark E.; Ollivierre, Jarmaine C.; Newman, Lauri K.; Hejduk, Matthew D.

    2015-01-01

    The objective of this document is to assess the value of launch collision avoidance (COLA) practices and provide recommendations regarding its implementation for NASA robotic missions. The scope of this effort is limited to launch COLA screens against catalog objects that are either spacecraft or debris. No modifications to manned safety COLA practices are considered in this effort. An assessment of the value of launch COLA can be broken down into two fundamental questions: 1) Does collision during launch represent a significant risk to either the payload being launched or the space environment? 2) Can launch collision mitigation be performed in a manner that provides meaningful risk reduction at an acceptable level of operational impact? While it has been possible to piece together partial answers to these questions for some time, the first attempt to comprehensively address them is documented in reference (a), Launch COLA Operations: an Examination of Data Products, Procedures, and Thresholds, Revision A. This report is the product of an extensive study that addressed fundamental technical questions surrounding launch collision avoidance analysis and practice. The results provided in reference (a) will be cited throughout this document as these two questions are addressed. The premise of this assessment is that in order to conclude that launch COLA is a value-added activity, the answer to both of these questions must be affirmative. A "no" answer to either of these questions points toward the conclusion that launch COLA provides little or no risk mitigation benefit. The remainder of this assessment will focus on addressing these two questions.

  7. Avoided intersections of nodal lines

    Monastra, Alejandro G; Smilansky, Uzy; Gnutzmann, Sven

    2003-01-01

    We consider real eigenfunctions of the Schroedinger operator in 2D. The nodal lines of separable systems form a regular grid, and the number of nodal crossings equals the number of nodal domains. In contrast, for wavefunctions of non-integrable systems nodal intersections are rare, and for random waves, the expected number of intersections in any finite area vanishes. However, nodal lines display characteristic avoided crossings which we study in this work. We define a measure for the avoidance range and compute its distribution for the random wave ensemble. We show that the avoidance range distribution of wavefunctions of chaotic systems follows the expected random wave distributions, whereas for wavefunctions of classically integrable but quantum non-separable systems, the distribution is quite different. Thus, the study of the avoidance distribution provides more support to the conjecture that nodal structures of chaotic systems are reproduced by the predictions of the random wave ensemble

  8. Predator avoidance in extremophile fish.

    Bierbach, David; Schulte, Matthias; Herrmann, Nina; Zimmer, Claudia; Arias-Rodriguez, Lenin; Indy, Jeane Rimber; Riesch, Rüdiger; Plath, Martin

    2013-02-06

    Extreme habitats are often characterized by reduced predation pressures, thus representing refuges for the inhabiting species. The present study was designed to investigate predator avoidance of extremophile populations of Poecilia mexicana and P. sulphuraria that either live in hydrogen sulfide-rich (sulfidic) springs or cave habitats, both of which are known to have impoverished piscine predator regimes. Focal fishes that inhabited sulfidic springs showed slightly weaker avoidance reactions when presented with several naturally occurring predatory cichlids, but strongest differences to populations from non-sulfidic habitats were found in a decreased shoaling tendency with non-predatory swordtail (Xiphophorus hellerii) females. When comparing avoidance reactions between P. mexicana from a sulfidic cave (Cueva del Azufre) and the adjacent sulfidic surface creek (El Azufre), we found only slight differences in predator avoidance, but surface fish reacted much more strongly to the non-predatory cichlid Vieja bifasciata. Our third experiment was designed to disentangle learned from innate effects of predator recognition. We compared laboratory-reared (i.e., predator-naïve) and wild-caught (i.e., predator-experienced) individuals of P. mexicana from a non-sulfidic river and found no differences in their reaction towards the presented predators. Overall, our results indicate (1) that predator avoidance is still functional in extremophile Poecilia spp. and (2) that predator recognition and avoidance reactions have a strong genetic basis.

  9. Predator Avoidance in Extremophile Fish

    Bierbach, David; Schulte, Matthias; Herrmann, Nina; Zimmer, Claudia; Arias-Rodriguez, Lenin; Indy, Jeane Rimber; Riesch, Rüdiger; Plath, Martin

    2013-01-01

    Extreme habitats are often characterized by reduced predation pressures, thus representing refuges for the inhabiting species. The present study was designed to investigate predator avoidance of extremophile populations of Poecilia mexicana and P. sulphuraria that either live in hydrogen sulfide-rich (sulfidic) springs or cave habitats, both of which are known to have impoverished piscine predator regimes. Focal fishes that inhabited sulfidic springs showed slightly weaker avoidance reactions when presented with several naturally occurring predatory cichlids, but strongest differences to populations from non-sulfidic habitats were found in a decreased shoaling tendency with non-predatory swordtail (Xiphophorus hellerii) females. When comparing avoidance reactions between P. mexicana from a sulfidic cave (Cueva del Azufre) and the adjacent sulfidic surface creek (El Azufre), we found only slight differences in predator avoidance, but surface fish reacted much more strongly to the non-predatory cichlid Vieja bifasciata. Our third experiment was designed to disentangle learned from innate effects of predator recognition. We compared laboratory-reared (i.e., predator-naïve) and wild-caught (i.e., predator-experienced) individuals of P. mexicana from a non-sulfidic river and found no differences in their reaction towards the presented predators. Overall, our results indicate (1) that predator avoidance is still functional in extremophile Poecilia spp. and (2) that predator recognition and avoidance reactions have a strong genetic basis. PMID:25371337

  10. A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

    Elder, David M.; Grossberg, Stephen; Mingolla, Ennio

    2009-01-01

    A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3-dimensional virtual reality environment to determine the position of objects on the basis of motion discontinuities and computes heading direction,…

  11. Obstacle Avoidance of a Mobile Robot with Hierarchical Structure

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

    2001-06-01

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

  12. [Micron]ADS-B Detect and Avoid Flight Tests on Phantom 4 Unmanned Aircraft System

    Arteaga, Ricardo; Dandachy, Mike; Truong, Hong; Aruljothi, Arun; Vedantam, Mihir; Epperson, Kraettli; McCartney, Reed

    2018-01-01

    Researchers at the National Aeronautics and Space Administration Armstrong Flight Research Center in Edwards, California and Vigilant Aerospace Systems collaborated for the flight-test demonstration of an Automatic Dependent Surveillance-Broadcast based collision avoidance technology on a small unmanned aircraft system equipped with the uAvionix Automatic Dependent Surveillance-Broadcast transponder. The purpose of the testing was to demonstrate that National Aeronautics and Space Administration / Vigilant software and algorithms, commercialized as the FlightHorizon UAS"TM", are compatible with uAvionix hardware systems and the DJI Phantom 4 small unmanned aircraft system. The testing and demonstrations were necessary for both parties to further develop and certify the technology in three key areas: flights beyond visual line of sight, collision avoidance, and autonomous operations. The National Aeronautics and Space Administration and Vigilant Aerospace Systems have developed and successfully flight-tested an Automatic Dependent Surveillance-Broadcast Detect and Avoid system on the Phantom 4 small unmanned aircraft system. The Automatic Dependent Surveillance-Broadcast Detect and Avoid system architecture is especially suited for small unmanned aircraft systems because it integrates: 1) miniaturized Automatic Dependent Surveillance-Broadcast hardware; 2) radio data-link communications; 3) software algorithms for real-time Automatic Dependent Surveillance-Broadcast data integration, conflict detection, and alerting; and 4) a synthetic vision display using a fully-integrated National Aeronautics and Space Administration geobrowser for three dimensional graphical representations for ownship and air traffic situational awareness. The flight-test objectives were to evaluate the performance of Automatic Dependent Surveillance-Broadcast Detect and Avoid collision avoidance technology as installed on two small unmanned aircraft systems. In December 2016, four flight tests

  13. Visual explorer facilitator's guide

    Palus, Charles J

    2010-01-01

    Grounded in research and practice, the Visual Explorer™ Facilitator's Guide provides a method for supporting collaborative, creative conversations about complex issues through the power of images. The guide is available as a component in the Visual Explorer Facilitator's Letter-sized Set, Visual Explorer Facilitator's Post card-sized Set, Visual Explorer Playing Card-sized Set, and is also available as a stand-alone title for purchase to assist multiple tool users in an organization.

  14. Learning facilitating leadership

    Rasmussen, Lauge Baungaard; Hansen, Mette Sanne

    2016-01-01

    This paper explains how engineering students at a Danish university acquired the necessary skills to become emergent facilitators of organisational development. The implications of this approach are discussed and related to relevant viewpoints and findings in the literature. The methodology deplo....... By connecting the literature, the authors’ and engineering students’ reflections on facilitator skills, this paper adds value to existing academic and practical discussions on learning facilitating leadership....

  15. The Color Red Supports Avoidance Reactions to Unhealthy Food.

    Rohr, Michaela; Kamm, Friederike; Koenigstorfer, Joerg; Groeppel-Klein, Andrea; Wentura, Dirk

    2015-01-01

    Empirical evidence suggests that the color red acts like an implicit avoidance cue in food contexts. Thus specific colors seem to guide the implicit evaluation of food items. We built upon this research by investigating the implicit meaning of color (red vs. green) in an approach-avoidance task with healthy and unhealthy food items. Thus, we examined the joint evaluative effects of color and food: Participants had to categorize food items by approach-avoidance reactions, according to their healthfulness. Items were surrounded by task-irrelevant red or green circles. We found that the implicit meaning of the traffic light colors influenced participants' reactions to the food items. The color red (compared to green) facilitated automatic avoidance reactions to unhealthy foods. By contrast, approach behavior toward healthy food items was not moderated by color. Our findings suggest that traffic light colors can act as implicit cues that guide automatic behavioral reactions to food.

  16. Java Architecture for Detect and Avoid Extensibility and Modeling

    Santiago, Confesor; Mueller, Eric Richard; Johnson, Marcus A.; Abramson, Michael; Snow, James William

    2015-01-01

    Unmanned aircraft will equip with a detect-and-avoid (DAA) system that enables them to comply with the requirement to "see and avoid" other aircraft, an important layer in the overall set of procedural, strategic and tactical separation methods designed to prevent mid-air collisions. This paper describes a capability called Java Architecture for Detect and Avoid Extensibility and Modeling (JADEM), developed to prototype and help evaluate various DAA technological requirements by providing a flexible and extensible software platform that models all major detect-and-avoid functions. Figure 1 illustrates JADEM's architecture. The surveillance module can be actual equipment on the unmanned aircraft or simulators that model the process by which sensors on-board detect other aircraft and provide track data to the traffic display. The track evaluation function evaluates each detected aircraft and decides whether to provide an alert to the pilot and its severity. Guidance is a combination of intruder track information, alerting, and avoidance/advisory algorithms behind the tools shown on the traffic display to aid the pilot in determining a maneuver to avoid a loss of well clear. All these functions are designed with a common interface and configurable implementation, which is critical in exploring DAA requirements. To date, JADEM has been utilized in three computer simulations of the National Airspace System, three pilot-in-the-loop experiments using a total of 37 professional UAS pilots, and two flight tests using NASA's Predator-B unmanned aircraft, named Ikhana. The data collected has directly informed the quantitative separation standard for "well clear", safety case, requirements development, and the operational environment for the DAA minimum operational performance standards. This work was performed by the Separation Assurance/Sense and Avoid Interoperability team under NASA's UAS Integration in the NAS project.

  17. Section of Atomic Collisions

    Berenyi, D.; Biri, S.; Gulyas, L.; Juhasz, Z.; Kover, A.; Orban, A.; Palinkas, J.; Papp, T.; Racz, R.; Ricz, S.

    2009-01-01

    The Section of Atomic Collisions is a research unit with extended activity in the field of atomic and molecular physics. Starting from the study of atomic processes at the beamlines of nuclear physics accelerators in the seventies, our research community became one of the centers of fundamental research in Atomki. We also have a strong connection to materials sciences especially along the line of electron and ion spectroscopy methods. Our present activity covers a wide range of topics from atomic collision mechanisms of fundamental interest, to the complex interactions of electrons, ions, photons and antiparticles with atoms, molecules, surfaces, and specific nanostructures. In the last few years, an increasing fraction of our present topics has become relevant for applications, e.g., molecular collision studies for the radiation therapy methods of tumors, or ion-nanostructure interactions for the future construction of small ion-focusing elements. Our section belongs to the Division of Atomic Physics. The other unit of the Division is the Section of Electron Spectroscopy and Materials Sciences. There are traditionally good connections and a strong collaboration between the groups of the two sections in many fields. From the very beginning of our research work in atomic collisions, external collaborations were of vital importance for us. We regularly organize international workshops in the field of fast ion-atom collisions and related small conferences in Debrecen from 1981. Recently, we organized the Conference on Radiation Damage in Biomolecular Systems (RADAM 2008, Debrecen), and coorganized the Conference on Elementary Processes in Atomic Systems (CEPAS 2008, Cluj). We have access to several large scale facilities in Europe within the framework of formal and informal collaborations. The next themes are in this article: Forward electron emission from energetic atomic collisions; Positron-atom collisions; Photon-atom interactions; Interference effects in electron

  18. Anterior ethmoid anatomy facilitates dacryocystorhinostomy.

    Blaylock, W K; Moore, C A; Linberg, J V

    1990-12-01

    The ethmoid air cell labyrinth lies adjacent to the medial orbital wall, extending even beyond the sutures of the ethmoid bone. Its anatomic relationship to the lacrimal sac fossa is important in lacrimal surgery. We evaluated computed tomographic scans of 190 orbits with normal ethmoid anatomy to define the anatomic relationship of anterior ethmoid air cells to the lacrimal sac fossa. In 93% of the orbits, the cells extended anterior to the posterior lacrimal crest, with 40% entering the frontal process of the maxilla. This anatomic relationship may be used to facilitate the osteotomy during dacryocystorhinostomy. During a 10-year period (310 cases), one of us routinely entered the anterior ethmoid air cells to initiate the osteotomy during dacryocystorhinostomy. This technique has helped to avoid lacerations of the nasal mucosa.

  19. Approach/avoidance in dreams.

    Malcolm-Smith, Susan; Koopowitz, Sheri; Pantelis, Eleni; Solms, Mark

    2012-03-01

    The influential threat simulation theory (TST) asserts that dreaming yields adaptive advantage by providing a virtual environment in which threat-avoidance may be safely rehearsed. We have previously found the incidence of biologically threatening dreams to be around 20%, with successful threat avoidance occurring in approximately one-fifth of such dreams. TST asserts that threat avoidance is over-represented relative to other possible dream contents. To begin assessing this issue, we contrasted the incidence of 'avoidance' dreams with that of their opposite: 'approach' dreams. Because TST states that the threat-avoidance function is only fully activated in ecologically valid (biologically threatening) contexts, we also performed this contrast for populations living in both high- and low-threat environments. We find that 'approach' dreams are significantly more prevalent across both contexts. We suggest these results are more consistent with the view that dreaming is generated by reward-seeking systems than by fear-conditioning systems, although reward-seeking is clearly not the only factor determining the content of dreams. Copyright © 2011 Elsevier Inc. All rights reserved.

  20. Moving Object Tracking and Avoidance Algorithm for Differential Driving AGV Based on Laser Measurement Technology

    Pandu Sandi Pratama

    2012-12-01

    Full Text Available This paper proposed an algorithm to track the obstacle position and avoid the moving objects for differential driving Automatic Guided Vehicles (AGV system in industrial environment. This algorithm has several abilities such as: to detect the moving objects, to predict the velocity and direction of moving objects, to predict the collision possibility and to plan the avoidance maneuver. For sensing the local environment and positioning, the laser measurement system LMS-151 and laser navigation system NAV-200 are applied. Based on the measurement results of the sensors, the stationary and moving obstacles are detected and the collision possibility is calculated. The velocity and direction of the obstacle are predicted using Kalman filter algorithm. Collision possibility, time, and position can be calculated by comparing the AGV movement and obstacle prediction result obtained by Kalman filter. Finally the avoidance maneuver using the well known tangent Bug algorithm is decided based on the calculation data. The effectiveness of proposed algorithm is verified using simulation and experiment. Several examples of experiment conditions are presented using stationary obstacle, and moving obstacles. The simulation and experiment results show that the AGV can detect and avoid the obstacles successfully in all experimental condition. [Keywords— Obstacle avoidance, AGV, differential drive, laser measurement system, laser navigation system].

  1. Containers, facilitators, innovators?

    Makkonen, Teemu; Merisalo, Maria; Inkinen, Tommi

    2018-01-01

    : are they containers, facilitators or innovators? This is investigated here through empirical material derived from 27 interviews with top departmental management in three Finnish cities (Helsinki, Espoo and Vantaa). The results show that local city governments (LCGs) consider cities as facilitators of innovation...

  2. Training facilitators and supervisors

    Kjær, Louise Binow; O Connor, Maja; Krogh, Kristian

    At the Master’s program in Medicine at Aarhus University, Denmark, we have developed a faculty development program for facilitators and supervisors in 4 progressing student modules in communication, cooperation, and leadership. 1) A course for module 1 and 3 facilitators inspired by the apprentic...

  3. Composite quantum collision models

    Lorenzo, Salvatore; Ciccarello, Francesco; Palma, G. Massimo

    2017-09-01

    A collision model (CM) is a framework to describe open quantum dynamics. In its memoryless version, it models the reservoir R as consisting of a large collection of elementary ancillas: the dynamics of the open system S results from successive collisions of S with the ancillas of R . Here, we present a general formulation of memoryless composite CMs, where S is partitioned into the very open system under study S coupled to one or more auxiliary systems {Si} . Their composite dynamics occurs through internal S -{Si} collisions interspersed with external ones involving {Si} and the reservoir R . We show that important known instances of quantum non-Markovian dynamics of S —such as the emission of an atom into a reservoir featuring a Lorentzian, or multi-Lorentzian, spectral density or a qubit subject to random telegraph noise—can be mapped on to such memoryless composite CMs.

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

    Jinhong Noh

    2016-04-01

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

  5. About the Collision Repair Campaign

    EPA developed the Collision Repair Campaign to focus on meaningful risk reduction in the Collision Repair source sector to complement ongoing community air toxics work and attain reductions at a faster rate.

  6. Positron-atom collisions

    Drachman, R.J.

    1984-01-01

    The past decade has seen the field of positron-atom collisions mature into an important sub-field of atomic physics. Increasingly intense positron sources are leading towards a situation in which electron and positron collision experiments will be on almost an equal footing, challenging theory to analyze their similarities and differences. The author reviews the advances made in theory, including dispersion theory, resonances, and inelastic processes. A survey of experimental progress and a brief discussion of astrophysical positronics is also included. (Auth.)

  7. Relativistic heavy ion collisions

    Barz, H.W.; Kaempfer, B.; Schulz, H.

    1984-12-01

    An elementary introduction is given into the scenario of relativistic heavy ion collisions. It deals with relativistic kinematics and estimates of energy densities, extrapolations of the present knowledge of hadron-hadron and hadron-nuleus to nucleus-nucleus collisions, the properties of the quark-gluon plasma and the formation of the plasma and possible experimental signatures. Comments are made on a cosmic ray experiment which could be interpreted as a first indication of the quark-gluon phase of the matter. (author)

  8. Atomic cluster collisions

    Korol, Andrey V.; Solov'yov, Andrey

    2013-01-01

    Atomic cluster collisions are a field of rapidly emerging research interest by both experimentalists and theorists. The international symposium on atomic cluster collisions (ISSAC) is the premier forum to present cutting-edge research in this field. It was established in 2003 and the most recent conference was held in Berlin, Germany in July of 2011. This Topical Issue presents original research results from some of the participants, who attended this conference. This issues specifically focuses on two research areas, namely Clusters and Fullerenes in External Fields and Nanoscale Insights in Radiation Biodamage.

  9. How to avoid sedation complications

    To ensure patient safety, it is crucial that the airway is safeguarded. The single most important responsibility is to protect it. An unobstructed airway, with intact protective reflexes and respiratory drive, is essential to avoid complications. In some procedures, e.g. dental, the airway may need to be shared with the surgeon.

  10. Avoiding plagiarism in academic writing.

    Anderson, Irene

    Plagiarism means taking the work of another and presenting it as one's own, resulting in potential upset for the original author and disrepute for the professions involved. This article aims to explore the issue of plagiarism and some mechanisms for detection and avoidance.

  11. Whole-arm obstacle avoidance system conceptual design

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

    1993-04-01

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

  12. Volvo and Infiniti drivers' experiences with select crash avoidance technologies.

    Braitman, Keli A; McCartt, Anne T; Zuby, David S; Singer, Jeremiah

    2010-06-01

    Vehicle-based crash avoidance systems can potentially reduce crashes, but success depends on driver acceptance and understanding. This study gauged driver use, experience, and acceptance among early adopters of select technologies. Telephone interviews were conducted in early 2009 with 380 owners of Volvo vehicles equipped with forward collision warning with autobrake, lane departure warning, side-view assist, and/or active bi-xenon headlights and 485 owners of Infiniti vehicles with lane departure warning/prevention. Most owners kept systems turned on most of the time, especially forward collision warning with autobrake and side-view assist. The exception was lane departure prevention; many owners were unaware they had it, and the system must be activated each time the vehicle is started. Most owners reported being safer with the technologies and would want them again on their next vehicles. Perceived false or unnecessary warnings were fairly common, particularly with side-view assist. Some systems were annoying, especially lane departure warning. Many owners reported safer driving behaviors such as greater use of turn signals (lane departure warning), increased following distance (forward collision warning), and checking side mirrors more frequently (side-view assist), but some reported driving faster at night (active headlights). Despite some unnecessary or annoying warnings, most Volvo and Infiniti owners use crash avoidance systems most of the time. Among early adopters, the first requirement of effective warning systems (that owners use the technology) seems largely met. Systems requiring activation by drivers for each trip are used less often. Owner experience with the latest technologies from other automobile manufacturers should be studied, as well as for vehicles on which technologies are standard (versus optional) equipment. The effectiveness of technologies in preventing and mitigating crashes and injuries, and user acceptance of interfaces, should be

  13. Evaluation of a Portable Collision Warning Device for Patients With Peripheral Vision Loss in an Obstacle Course.

    Pundlik, Shrinivas; Tomasi, Matteo; Luo, Gang

    2015-04-01

    A pocket-sized collision warning device equipped with a video camera was developed to predict impending collisions based on time to collision rather than proximity. A study was conducted in a high-density obstacle course to evaluate the effect of the device on collision avoidance in people with peripheral field loss (PFL). The 41-meter-long loop-shaped obstacle course consisted of 46 stationary obstacles from floor to head level and oncoming pedestrians. Twenty-five patients with tunnel vision (n = 13) or hemianopia (n = 12) completed four consecutive loops with and without the device, while not using any other habitual mobility aid. Walking direction and device usage order were counterbalanced. Number of collisions and preferred percentage of walking speed (PPWS) were compared within subjects. Collisions were reduced significantly by approximately 37% (P < 0.001) with the device (floor-level obstacles were excluded because the device was not designed for them). No patient had more collisions when using the device. Although the PPWS were also reduced with the device from 52% to 49% (P = 0.053), this did not account for the lower number of collisions, as the changes in collisions and PPWS were not correlated (P = 0.516). The device may help patients with a wide range of PFL avoid collisions with high-level obstacles while barely affecting their walking speed.

  14. Deconfinement and nuclear collisions

    Sarma, Nataraja

    1992-01-01

    Expensive experiments to detect a deconfined parton phase have been done and are being planned. In these experiments it is hoped that nuclear collisions at relativistic energies will exhibit signals of this new phase. So far all the results may be interpreted in terms of independent nucleon-nucleon interactions. These elementary collisions at very high energies are therefore worth examination since each such collision produces a highly excited entity which emits a large number of hadrons. In the hadronic phase this results in the GS multiplicity distribution. In the parton phase, parton branching results in the popular negative binomial distribution. Though neither the GS nor the NB distribution alone agrees with the data beyond 200 GeV, it is fitted exceedingly well by a weighted sum of the two distributions. Since the negative binomial distribution arises from the branching of partons, we interpret the increase with energy of the negative binomial component in the weighted sum as the onset of a deconfined phase. The rising cross section for the negative binomial component parallels very closely the inclusive cross section for hadron jets which is also considered a consequence of partons branching. The consequences of this picture to nuclear collisions is discussed. (author). 8 refs., 9 figs., 3 tabs

  15. Vocal Fold Collision Modeling

    Granados, Alba; Brunskog, Jonas; Misztal, M. K.

    2015-01-01

    When vocal folds vibrate at normal speaking frequencies, collisions occurs. The numerics and formulations behind a position-based continuum model of contact is an active field of research in the contact mechanics community. In this paper, a frictionless three-dimensional finite element model...

  16. Ultrarelativistic atomic collisions

    Bottcher, C.; Strayer, M.R.

    1991-01-01

    Calculations of the coherent production of free pairs and of pair production with electron capture from ultrarelativistic ion-ion collisions are discussed. Theory and experiment are contrasted, with some conjectures on the possibility of new phenomena. 29 refs., 5 figs., 1 tab

  17. Consumers’ Collision Insurance Decisions

    Austin, Laurel; Fischhoff, Baruch

    Using interviews with 74 drivers, we elicit and analyse how people think about collision coverage and, more generally, about insurance decisions. We compare the judgments and behaviours of these decision makers to the predictions of a range of theoretical models: (a) A model developed by Lee (200...

  18. Collisions in soccer kicking

    Andersen, Thomas Bull; Dörge, Henrik C.; Thomsen, Franz Ib

    1999-01-01

    An equation to describe the velocity of the soccer ball after the collision with a foot was derived. On the basis of experimental results it was possible to exclude certain factors and only describe the angular momentum of the system, consisting of the shank, the foot and the ball, leading...

  19. High energy nuclear collisions

    We review some basic concepts of relativistic heavy-ion physics and discuss our understanding of some key results from the experimental program at the relativistic heavy-ion collider (RHIC). We focus in particular on the early time dynamics of nuclear collisions, some result from lattice QCD, hard probes and photons.

  20. Droplet collisions in turbulence

    Oldenziel, G.

    2014-01-01

    Liquid droplets occur in many natural phenomena and play an important role in a large number of industrial applications. One of the distinct properties of droplets as opposed to solid particles is their ability to merge, or coalesce upon collision. Coalescence of liquid drops is of importance in for

  1. CMS SEES FIRST COLLISIONS

      A very special moment.  On 23rd November, 19:40 we recorded our first collisions with 450GeV beams well centred in CMS.   If you have any comments / suggestions please contact Karl Aaron GILL (Editor)

  2. Ultrarelativistic oscillon collisions

    Amin, M.A.; Banik, I.; Negreanu, C.; Yang, I.S.

    2014-01-01

    In this short paper we investigate the ultrarelativistic collisions of small amplitude oscillons in 1+1 dimensions. Using the amplitude of the oscillons and the inverse relativistic boost factor γ−1 as the perturbation variables, we analytically calculate the leading order spatial and temporal phase

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

    Shim, Youngbo; Kim, Gon-Woo

    2018-03-29

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

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

    Youngbo Shim

    2018-03-01

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

  5. Avoiding Complications with MPFL Reconstruction.

    Smith, Marvin K; Werner, Brian C; Diduch, David R

    2018-05-12

    To discuss the potentially significant complications associated with medial patellofemoral ligament (MPFL) reconstruction. Additionally, to review the most current and relevant literature with an emphasis on avoiding these potential complications. Multiple cadaveric studies have characterized the anatomy of the MPFL and the related morphologic abnormalities that contribute to recurrent lateral patellar instability. Such abnormalities include patella alta, excessive tibial tubercle to trochlear grove (TT-TG) distance, trochlear dysplasia, and malalignment. Recent studies have evaluated the clinical outcomes associated with the treatment of concomitant pathology in combination with MPFL reconstruction, which is critical in avoiding recurrent instability and complications. Although there remains a lack of consensus regarding various critical aspects of MPFL reconstruction, certain concepts remain imperative. Our preferred methods and rationales for surgical techniques are described. These include appropriate work up, a combination of procedures to address abnormal morphology, anatomical femoral insertion, safe and secure patellar fixation, appropriate graft length fixation, and thoughtful knee flexion during fixation.

  6. Avoidant personality disorder: current insights

    Lampe,Lisa; Malhi,Gin

    2018-01-01

    Lisa Lampe,1 Gin S Malhi2 1Discipline of Psychiatry, University of Newcastle, Newcastle, NSW, Australia; 2Discipline of Psychiatry, University of Sydney, Sydney, NSW, Australia Abstract: Avoidant personality disorder (AVPD) is a relatively common disorder that is associated with significant distress, impairment, and disability. It is a chronic disorder with an early age at onset and a lifelong impact. Yet it is underrecognized and poorly studied. Little is known regarding the most effective t...

  7. Pathogen avoidance by insect predators

    Meyling, Nicolai V.; Ormond, Emma; Roy, Helen E.; Pell, Judith K.

    2008-01-01

    Insects can detect cues related to the risk of attack by their natural enemies. Pathogens are among the natural enemies of insects and entomopathogenic fungi attack a wide array of host species. Evidence documents that social insects in particular have adapted behavioural mechanisms to avoid infection by fungal pathogens. These mechanisms are referred to as 'behavioural resistance'. However, there is little evidence for similar adaptations in non-social insects. We have conducted experime...

  8. Basic bookkeeping and avoiding theft.

    Nelson, Ian M

    2008-07-01

    Bookkeeping practices in dental offices may be relatively simple, but care must be taken to prevent employee theft. Well-chosen accounting software and routine office practices may facilitate smooth operations. Systems of internal control should be established to safeguard the practice's finances. The dental practitioner should be very involved in their practice's accounting to maintain order, prevent theft, and keep costs under control.

  9. Avoidant personality disorder: current insights

    Lampe L

    2018-03-01

    Full Text Available Lisa Lampe,1 Gin S Malhi2 1Discipline of Psychiatry, University of Newcastle, Newcastle, NSW, Australia; 2Discipline of Psychiatry, University of Sydney, Sydney, NSW, Australia Abstract: Avoidant personality disorder (AVPD is a relatively common disorder that is associated with significant distress, impairment, and disability. It is a chronic disorder with an early age at onset and a lifelong impact. Yet it is underrecognized and poorly studied. Little is known regarding the most effective treatment. The impetus for research into this condition has waxed and waned, possibly due to concerns regarding its distinctiveness from other disorders, especially social anxiety disorder (SAD, schizoid personality disorder, and dependent personality disorder. The prevailing paradigm subscribes to the “severity continuum hypothesis”, in which AVPD is viewed essentially as a severe variant of SAD. However, areas of discontinuity have been described, and there is support for retaining AVPD as a distinct diagnostic category. Recent research has focused on the phenomenology of AVPD, factors of possible etiological significance such as early parenting experiences, attachment style, temperament, and cognitive processing. Self-concept, avoidant behavior, early attachments, and attachment style may represent points of difference from SAD that also have relevance to treatment. Additional areas of research not focused specifically on AVPD, including the literature on social cognition as it relates to attachment and personality style, report findings that are promising for future research aimed at better delineating AVPD and informing treatment. Keywords: avoidant personality disorder, social anxiety disorder, social cognition, psychotherapy, attachment

  10. Avoiding congestion in recommender systems

    Ren, Xiaolong; Lü, Linyuan; Liu, Runran; Zhang, Jianlin

    2014-01-01

    Recommender systems use the historical activities and personal profiles of users to uncover their preferences and recommend objects. Most of the previous methods are based on objects’ (and/or users’) similarity rather than on their difference. Such approaches are subject to a high risk of increasingly exposing users to a narrowing band of popular objects. As a result, a few objects may be recommended to an enormous number of users, resulting in the problem of recommendation congestion, which is to be avoided, especially when the recommended objects are limited resources. In order to quantitatively measure a recommendation algorithm's ability to avoid congestion, we proposed a new metric inspired by the Gini index, which is used to measure the inequality of the individual wealth distribution in an economy. Besides this, a new recommendation method called directed weighted conduction (DWC) was developed by considering the heat conduction process on a user–object bipartite network with different thermal conductivities. Experimental results obtained for three benchmark data sets showed that the DWC algorithm can effectively avoid system congestion, and greatly improve the novelty and diversity, while retaining relatively high accuracy, in comparison with the state-of-the-art methods. (paper)

  11. Real-Time Hardware-in-the-Loop Laboratory Testing for Multisensor Sense and Avoid Systems

    Giancarmine Fasano

    2013-01-01

    Full Text Available This paper focuses on a hardware-in-the-loop facility aimed at real-time testing of architectures and algorithms of multisensor sense and avoid systems. It was developed within a research project aimed at flight demonstration of autonomous non-cooperative collision avoidance for Unmanned Aircraft Systems. In this framework, an optionally piloted Very Light Aircraft was used as experimental platform. The flight system is based on multiple-sensor data integration and it includes a Ka-band radar, four electro-optical sensors, and two dedicated processing units. The laboratory test system was developed with the primary aim of prototype validation before multi-sensor tracking and collision avoidance flight tests. System concept, hardware/software components, and operating modes are described in the paper. The facility has been built with a modular approach including both flight hardware and simulated systems and can work on the basis of experimentally tested or synthetically generated scenarios. Indeed, hybrid operating modes are also foreseen which enable performance assessment also in the case of alternative sensing architectures and flight scenarios that are hardly reproducible during flight tests. Real-time multisensor tracking results based on flight data are reported, which demonstrate reliability of the laboratory simulation while also showing the effectiveness of radar/electro-optical fusion in a non-cooperative collision avoidance architecture.

  12. Nuclear collisions in measurements of the cosmic ray charge spectrum with a counter telescope

    Lindstam, S.

    1975-06-01

    The importance of nuclear collisions of cosmic ray particles in a counter detector telescope is studied by simple Monte Carlo techniques. The interest concentrates on the charge region just below iron and the calculations are restricted to fully relativistic cosmic rays. It is found that it is difficult to avoid a blurring in the charge spectrum from nuclear collisions leading to considerable systematic errors in some abundance ratios. (Auth.)

  13. Collision physics going west

    Anon.

    1988-01-01

    The centroid of proton-antiproton physics is moving west across the Atlantic concluded Luigi Di Leila of CERN in his summary talk at the Topical Workshop on Proton-Antiproton Collider Physics, held at Fermilab in June. Previous meetings in this series had been dominated by results from CERN's big proton-antiproton collider, dating back to 1981. However last year saw the first physics run at Fermilab's collider, and although the number of collisions in the big CDF detector was only about one thirtieth of the score so far at CERN, the increased collision energy at Fermilab of 1.8 TeV (1800 GeV, compared to the routine 630 GeV at CERN) is already paying dividends

  14. Collision Probability Analysis

    Hansen, Peter Friis; Pedersen, Preben Terndrup

    1998-01-01

    It is the purpose of this report to apply a rational model for prediction of ship-ship collision probabilities as function of the ship and the crew characteristics and the navigational environment for MS Dextra sailing on a route between Cadiz and the Canary Islands.The most important ship and crew...... characteristics are: ship speed, ship manoeuvrability, the layout of the navigational bridge, the radar system, the number and the training of navigators, the presence of a look out etc. The main parameters affecting the navigational environment are ship traffic density, probability distributions of wind speeds...... probability, i.e. a study of the navigator's role in resolving critical situations, a causation factor is derived as a second step.The report documents the first step in a probabilistic collision damage analysis. Future work will inlcude calculation of energy released for crushing of structures giving...

  15. Electron-ion collisions

    Crandall, D.H.

    1982-01-01

    This discussion concentrates on basic physics aspects of inelastic processes of excitation, ionization, and recombination that occur during electron-ion collisions. Except for cases of illustration along isoelectronic sequences, only multicharged (at least +2) ions will be specifically discussed with some emphasis of unique physics aspects associated with ionic charge. The material presented will be discussed from a primarily experimental viewpoint with most attention to electron-ion interacting beams experiments

  16. Heavy ion collisions

    Siemens, P.J.

    1979-12-01

    The status of research into collisions of nuclei at high energy is reviewed. Reactions and products are classified, and spectator matter is discussed. Then the thermalization of participant matter is considered at some length. Finally, disintegration of the hot matter is addressed. A = 20 and 40 projectiles of 250 to 1050 MeV/A are employed to illustrate the major points. 44 references, 10 figures

  17. Dissipative binary collisions

    Aboufirassi, M; Angelique, J.C.; Bizard, G.; Bougault, R.; Brou, R.; Buta, A.; Colin, J.; Cussol, D.; Durand, D.; Genoux-Lubain, A.; Horn, D.; Kerambrun, A.; Laville, J.L.; Le Brun, C.; Lecolley, J.F.; Lefebvres, F.; Lopez, O.; Louvel, M.; Meslin, C.; Metivier, V.; Nakagawa, T.; Peter, J.; Popescu, R.; Regimbart, R.; Steckmeyer, J.C.; Tamain, B.; Vient, E.; Wieloch, A.; Yuasa-Nakagawa, K.

    1998-01-01

    The binary character of the heavy ion collisions at intermediate energies in the exit channel has been observed under 30 MeV/n in medium and heavy systems. Measurements in light systems at energies approaching ∼ 100 MeV/nucleon as well as in very heavy systems have allowed to extend considerably the investigations of this binary process. Thus, the study of the Pb + Au system showed that the complete charge events indicated two distinct sources: the quasi-projectile and the quasi-target. The characteristics of these two sources are rather well reproduced by a trajectory computation which takes into account the Coulomb and nuclear forces and the friction appearing from the projectile-target interaction. The Wilczynski diagram is used to probe the correlation between the kinetic energy quenching and the deflecting angle. In case of the system Pb + Au at 29 MeV/nucleon the diagram indicate dissipative binary collisions typical for low energies. This binary aspect was also detected in the systems Xe + Ag at 44 MeV/nucleon, 36 Ar + 27 Al and 64 Zn + nat Ti. Thus, it was possible to reconstruct the quasi-projectile and to study its mass and excitation energy evolution as a function of the impact parameter. The dissipative binary collisions represent for the systems and energies under considerations the main contribution to the cross section. This does not implies that there are not other processes; particularly, the more or less complete fusion is also observed but with a low cross section which decreases with the increase of bombardment energy. More exclusive measurements with the INDRA detector on quasi-symmetric systems as Ar + KCl and Xe + Sn seem to confirm the importance of the binary collisions. The two source reconstruction of the Xe + Sn data at 50 MeV/nucleon reproduces the same behaviour as that observed in the system Pb + Au at 29 MeV/nucleon

  18. Modeling of Ship Collision Risk Index Based on Complex Plane and Its Realization

    Xiaoqin Xu

    2016-07-01

    Full Text Available Ship collision risk index is the basic and important concept in the domain of ship collision avoidance. In this paper, the advantages and deficiencies of the various calculation methods of ship collision risk index are pointed out. Then the ship collision risk model based on complex plane, which can well make up for the deficiencies of the widely-used evaluation model proposed by Kearon.J and Liu ruru is proposed. On this basis, the calculation method of collision risk index under the encountering situation of multi-ships is constructed, then the three-dimensional image and spatial curve of the risk index are figured out. Finally, single chip microcomputer is used to realize the model. And attaching this single chip microcomputer to ARPA is helpful to the decision-making of the marine navigators.

  19. Coal export facilitation

    Eeles, L.

    1998-01-01

    There is a wide range of trade barriers, particularly tariffs, in current and potential coal market. Commonwealth departments in Australia play a crucial role in supporting government industry policies. This article summarises some of more recent activities of the Department of Primary Industries and Energy (DPIE) in facilitating the export of Australian Coals. Coal export facilitation activities are designed to assist the Australian coal industry by directing Commonwealth Government resources towards issues which would be inappropriate or difficult for the industry to address itself

  20. Collision-induced coherence

    Bloembergen, N.

    1985-01-01

    Collision-induced coherence is based on the elimination of phase correlations between coherent Feynman-type pathways which happen to interfere destructively in the absence of damping for certain nonlinear processes. One consequence is the appearance of the extra resonances in four-wave light mixing experiments, for which the intensity increases with increasing buffer gas pressure. These resonances may occur between a pair of initially unpopulated excited states, or between a pair of initially equally populated ground states. The pair of levels may be Zeeman substrates which became degenerate in zero magnetic field. The resulting collision-enhanced Hanle resonances can lead to very sharp variations in the four-wave light mixing signal as the external magnetic field passes through zero. The theoretical description in terms of a coherence grating between Zeeman substrates is equivalent to a description in terms of a spin polarization grating obtained by collision-enhanced transverse optical pumping. The axis of quantization in the former case is taken perpendicular to the direction of the light beams; in the latter case is taken parallel to this direction

  1. Collisions with nuclei

    Gulamov, K.G.

    1987-01-01

    It is well known that interactions of high energy particles with nuclei, owing to possible intranuclear rescatterings, may provide information about the space-time behaviour of the production process. Therefore the main goals of these investigations are related with the attempts to study the space-time process of hadronization of coloured quarks and gluons produced at the initial stage of an interaction to white final state particles and to clarify the influence of composite quark-gluon structure of both the projectile and target on features of the production mechanisms. Since in both the initial and final states of these reactions the authors have strongly interacting multiparticle systems, it is of importance to study the collective properties of these systems. The questions to the point are: what is the degree of collectivization of particles newly produced in collisions with nuclei and what is the influence of the collective nature of a nucleus itself on the production mechanisms, in particular, what are the manifestations of possible multinucleon (multiquark) configurations in nuclei? It is obvious that the reductability of, say, hadron-nucleus (hA) interaction to hadron-nucleon (hN) collisions is directly related to the above problems. Due to time limitations the author discusses here only a few aspects of low p/sub t/ hA interactions which in his opinion are of importance for better understanding of general regularities of collisions with nuclei and for further investigations of the above problems

  2. Professionalism in a changing tax environment : the impact of general anti-avoidance legislation on the accounting profession

    Holst, Susan

    2016-01-01

    Tackling tax avoidance has become a priority for tax authorities. The accounting profession has been subject to significant criticism for its role in the promotion and facilitation of what may be regarded as aggressive tax avoidance. In response to this increasing issue of public concern, tax authorities have sought to tackle tax avoidance through the introduction of general anti-avoidance rules and supplementary provisions. These regulatory changes may be regarded as an attempt by tax author...

  3. Mechanism of avoiding little rip

    ZHAI Xianghua; XI Ping

    2014-01-01

    The scalar phantom field Φ leads to various catastrophic fates of the universe including big rip,little rip and other future singularity depending on the choice of its potential.For example,little rip stems from a quadratic potential in general relativity.We suggest a new mechanism to avoid little rip in the 1/R gravity.The phantom field with different potentials,including quadratic,cubic and quantic potentials are studied via numerical calculation in the 1/R gravity with R2 correction.T...

  4. Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision

    Achmad Jazidie

    2011-12-01

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

  5. Volvo drivers' experiences with advanced crash avoidance and related technologies.

    Eichelberger, Angela H; McCartt, Anne T

    2014-01-01

    Crash avoidance technologies can potentially prevent or mitigate many crashes, but their success depends in part on driver acceptance. Owners of 2010-2012 model Volvo vehicles with several technologies were interviewed about their experiences. Interviews were conducted in summer 2012 with 155 owners of vehicles with City Safety as a standard feature; 145 owners with an optional technology package that included adaptive cruise control, distance alert, collision warning with full auto brake (and pedestrian detection on certain models), driver alert control, and lane departure warning; and 172 owners with both City Safety and the technology package. The survey response rates were 21 percent for owners with City Safety, 30 percent for owners with the technology package, and 27 percent for owners with both. Ten percent of owners opted out before the telephone survey began, and 18 percent declined to participate when called. Despite some annoyance, most respondents always leave the systems on, although fewer do so for lane departure warning (59%). For each of the systems, at least 80 percent of respondents with the system would want it on their next vehicle. Many respondents reported safer driving habits with the systems (e.g., following less closely with adaptive cruise control, using turn signals more often with lane departure warning). Fewer respondents reported potentially unsafe behavior, such as allowing the vehicle to brake for them at least some of the time. About one third of respondents experienced autonomous braking when they believed they were at risk of crashing, and about one fifth of respondents thought it had prevented a crash. About one fifth of respondents with the technology package reported that they were confused or misunderstood which safety system had activated in their vehicle. Consistent with the results for early adopters in the previous survey of Volvo and Infiniti owners, the present survey found that driver acceptance of the technologies

  6. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-01-01

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes. PMID:26712766

  7. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    Marwah Almasri

    2015-12-01

    Full Text Available Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

  8. Multiple-Vehicle Longitudinal Collision Mitigation by Coordinated Brake Control

    Xiao-Yun Lu

    2014-01-01

    Full Text Available Rear-end collision often leads to serious casualties and traffic congestion. The consequences are even worse for multiple-vehicle collision. Many previous works focused on collision warning and avoidance strategies of two consecutive vehicles based on onboard sensor detection only. This paper proposes a centralized control strategy for multiple vehicles to minimize the impact of multiple-vehicle collision based on vehicle-to-vehicle communication technique. The system is defined as a coupled group of vehicles with wireless communication capability and short following distances. The safety relationship can be represented as lower bound limit on deceleration of the first vehicle and upper bound on maximum deceleration of the last vehicle. The objective is to determine the desired deceleration for each vehicle such that the total impact energy is minimized at each time step. The impact energy is defined as the relative kinetic energy between a consecutive pair of vehicles (approaching only. Model predictive control (MPC framework is used to formulate the problem to be constrained quadratic programming. Simulations show its effectiveness on collision mitigation. The developed algorithm has the potential to be used for progressive market penetration of connected vehicles in practice.

  9. The risk of pedestrian collisions with peripheral visual field loss.

    Peli, Eli; Apfelbaum, Henry; Berson, Eliot L; Goldstein, Robert B

    2016-12-01

    Patients with peripheral field loss complain of colliding with other pedestrians in open-space environments such as shopping malls. Field expansion devices (e.g., prisms) can create artificial peripheral islands of vision. We investigated the visual angle at which these islands can be most effective for avoiding pedestrian collisions, by modeling the collision risk density as a function of bearing angle of pedestrians relative to the patient. Pedestrians at all possible locations were assumed to be moving in all directions with equal probability within a reasonable range of walking speeds. The risk density was found to be highly anisotropic. It peaked at ≈45° eccentricity. Increasing pedestrian speed range shifted the risk to higher eccentricities. The risk density is independent of time to collision. The model results were compared to the binocular residual peripheral island locations of 42 patients with forms of retinitis pigmentosa. The natural residual island prevalence also peaked nasally at about 45° but temporally at about 75°. This asymmetry resulted in a complementary coverage of the binocular field of view. Natural residual binocular island eccentricities seem well matched to the collision-risk density function, optimizing detection of other walking pedestrians (nasally) and of faster hazards (temporally). Field expansion prism devices will be most effective if they can create artificial peripheral islands at about 45° eccentricities. The collision risk and residual island findings raise interesting questions about normal visual development.

  10. Asexual sporulation facilitates adaptation

    Zhang, Jianhua; Debets, A.J.M.; Verweij, P.E.; Melchers, W.J.G.; Zwaan, B.J.; Schoustra, S.E.

    2015-01-01

    Understanding the occurrence and spread of azole resistance in Aspergillus fumigatus is crucial for public health. It has been hypothesized that asexual sporulation, which is abundant in nature, is essential for phenotypic expression of azole resistance mutations in A. fumigatus facilitating

  11. Facilitators in Ambivalence

    Karlsson, Mikael R.; Erlandson, Peter

    2018-01-01

    This is part of a larger ethnographical study concerning how school development in a local educational context sets cultural and social life in motion. The main data "in this article" consists of semi-structural interviews with teachers (facilitators) who have the responsibility of carrying out a project about formative assessment in…

  12. Facilitation of Adult Development

    Boydell, Tom

    2016-01-01

    Taking an autobiographical approach, I tell the story of my experiences facilitating adult development, in a polytechnic and as a management consultant. I relate these to a developmental framework of Modes of Being and Learning that I created and elaborated with colleagues. I connect this picture with a number of related models, theories,…

  13. From Teaching to Facilitation

    de Graaff, Erik

    2013-01-01

    A shift from teaching to learning is characteristic of the introduction of Problem Based Learning (PBL) in an existing school. As a consequence the teaching staff has to be trained in skills like facilitating group work and writing cases. Most importantly a change in thinking about teaching...

  14. Trade Facilitation in Ethiopia:

    Tilahun_EK

    so doing, it attempts to examine how Ethiopia's WTO Accession and trade facilitation ... the more expensive imports, exports and production becomes rendering. Ethiopian ..... can reserve the right to refuse requests of importers for the fifth valuation method to ..... units may find it easier to deal with post clearance audit. In the ...

  15. Avoidant personality disorder: current insights.

    Lampe, Lisa; Malhi, Gin S

    2018-01-01

    Avoidant personality disorder (AVPD) is a relatively common disorder that is associated with significant distress, impairment, and disability. It is a chronic disorder with an early age at onset and a lifelong impact. Yet it is underrecognized and poorly studied. Little is known regarding the most effective treatment. The impetus for research into this condition has waxed and waned, possibly due to concerns regarding its distinctiveness from other disorders, especially social anxiety disorder (SAD), schizoid personality disorder, and dependent personality disorder. The prevailing paradigm subscribes to the "severity continuum hypothesis", in which AVPD is viewed essentially as a severe variant of SAD. However, areas of discontinuity have been described, and there is support for retaining AVPD as a distinct diagnostic category. Recent research has focused on the phenomenology of AVPD, factors of possible etiological significance such as early parenting experiences, attachment style, temperament, and cognitive processing. Self-concept, avoidant behavior, early attachments, and attachment style may represent points of difference from SAD that also have relevance to treatment. Additional areas of research not focused specifically on AVPD, including the literature on social cognition as it relates to attachment and personality style, report findings that are promising for future research aimed at better delineating AVPD and informing treatment.

  16. Avoidant personality disorder: current insights

    Lampe, Lisa; Malhi, Gin S

    2018-01-01

    Avoidant personality disorder (AVPD) is a relatively common disorder that is associated with significant distress, impairment, and disability. It is a chronic disorder with an early age at onset and a lifelong impact. Yet it is underrecognized and poorly studied. Little is known regarding the most effective treatment. The impetus for research into this condition has waxed and waned, possibly due to concerns regarding its distinctiveness from other disorders, especially social anxiety disorder (SAD), schizoid personality disorder, and dependent personality disorder. The prevailing paradigm subscribes to the “severity continuum hypothesis”, in which AVPD is viewed essentially as a severe variant of SAD. However, areas of discontinuity have been described, and there is support for retaining AVPD as a distinct diagnostic category. Recent research has focused on the phenomenology of AVPD, factors of possible etiological significance such as early parenting experiences, attachment style, temperament, and cognitive processing. Self-concept, avoidant behavior, early attachments, and attachment style may represent points of difference from SAD that also have relevance to treatment. Additional areas of research not focused specifically on AVPD, including the literature on social cognition as it relates to attachment and personality style, report findings that are promising for future research aimed at better delineating AVPD and informing treatment. PMID:29563846

  17. Time-based collision risk modeling for air traffic management

    Bell, Alan E.

    Since the emergence of commercial aviation in the early part of last century, economic forces have driven a steadily increasing demand for air transportation. Increasing density of aircraft operating in a finite volume of airspace is accompanied by a corresponding increase in the risk of collision, and in response to a growing number of incidents and accidents involving collisions between aircraft, governments worldwide have developed air traffic control systems and procedures to mitigate this risk. The objective of any collision risk management system is to project conflicts and provide operators with sufficient opportunity to recognize potential collisions and take necessary actions to avoid them. It is therefore the assertion of this research that the currency of collision risk management is time. Future Air Traffic Management Systems are being designed around the foundational principle of four dimensional trajectory based operations, a method that replaces legacy first-come, first-served sequencing priorities with time-based reservations throughout the airspace system. This research will demonstrate that if aircraft are to be sequenced in four dimensions, they must also be separated in four dimensions. In order to separate aircraft in four dimensions, time must emerge as the primary tool by which air traffic is managed. A functional relationship exists between the time-based performance of aircraft, the interval between aircraft scheduled to cross some three dimensional point in space, and the risk of collision. This research models that relationship and presents two key findings. First, a method is developed by which the ability of an aircraft to meet a required time of arrival may be expressed as a robust standard for both industry and operations. Second, a method by which airspace system capacity may be increased while maintaining an acceptable level of collision risk is presented and demonstrated for the purpose of formulating recommendations for procedures

  18. Bubble collisions in general relativity

    Siklos, S.T.C.; Wu, Z.C.; University of Science and Technology of China, Hofei, Anhwei)

    1983-01-01

    The collision of two bubbles of true vacuum in a background of false vacuum is considered in the context of General Relativity. It is found that in the thin wall approximation, the problem, can be solved exactly. The region to the future of the collision is described by the pseudo-Schwarzschild de Sitter metric. The parameters in this metric are found by solving the junction conditions at each collision. (author)

  19. Avoidance and Overuse of Indonesian Language among Balinese Children

    Wayan Pageyasa

    2017-10-01

    Full Text Available The use of Indonesian language by children who speak the Balinese language, especially for children who live in rural areas is quite difficult. This is because their Balinese language is much different from Indonesian language. If they speak Indonesian language, they have to fall back to the language first. That is, language transfer process will take place from Balinese language to Indonesian language. This research aims to describe two phenomena of the language transfer process, namely avoidance and overuse (excessive use. Qualitative data were obtained from one Balinese child, namely Gede. Gede’s daily conversations were recorded to be analyzed. The researcher also used field notes. The results show that there is indeed avoidance and overuse in the use of Indonesian language by Gede.  The teachers must be aware of the student's avoidance and overuse of Indonesian language, then the teacher can choose a contextual teaching method that best fits their students’ need in order to enable them to cope with the avoidance and overuse in learning the second language. In conclusion, the Balinese child’s avoidance and overuse, displayed in his use of Indonesian Language, is a concequence of his prior knowledge of his first language (L1 as well as his cultural awareness.  Teachers should facilitate their students’ second language (L2 learning by being aware of their L1 prior knowledge and culture.

  20. Topics in atomic collision theory

    Geltman, Sydney; Brueckner, Keith A

    1969-01-01

    Topics in Atomic Collision Theory originated in a course of graduate lectures given at the University of Colorado and at University College in London. It is recommended for students in physics and related fields who are interested in the application of quantum scattering theory to low-energy atomic collision phenomena. No attention is given to the electromagnetic, nuclear, or elementary particle domains. The book is organized into three parts: static field scattering, electron-atom collisions, and atom-atom collisions. These are in the order of increasing physical complexity and hence necessar

  1. Comparative Analysis of ACAS-Xu and DAIDALUS Detect-and-Avoid Systems

    Davies, Jason T.; Wu, Minghong G.

    2018-01-01

    The Detect and Avoid (DAA) capability of a recent version (Run 3) of the Airborne Collision Avoidance System-Xu (ACAS-Xu) is measured against that of the Detect and AvoID Alerting Logic for Unmanned Systems (DAIDALUS), a reference algorithm for the Phase 1 Minimum Operational Performance Standards (MOPS) for DAA. This comparative analysis of the two systems' alerting and horizontal guidance outcomes is conducted through the lens of the Detect and Avoid mission using flight data of scripted encounters from a recent flight test. Results indicate comparable timelines and outcomes between ACAS-Xu's Remain Well Clear alert and guidance and DAIDALUS's corrective alert and guidance, although ACAS-Xu's guidance appears to be more conservative. ACAS-Xu's Collision Avoidance alert and guidance occurs later than DAIDALUS's warning alert and guidance, and overlaps with DAIDALUS's timeline of maneuver to remain Well Clear. Interesting discrepancies between ACAS-Xu's directive guidance and DAIDALUS's "Regain Well Clear" guidance occur in some scenarios.

  2. Level dynamics: An approach to the study of avoided level crossings and transition to chaos

    Wang, S.; Chu, S.Y.

    1993-01-01

    The Dyson-Pechukas level dynamics has been reformulated and made suitable for studying avoided level crossings and transition to chaos. The N-level dynamics is converted into a many-body problem of one-dimensional Coulomb gas with N-constituent particles having intrinsic excitations. It is shown that local fluctuation of the level distribution is generated by a large number of avoided level crossings. The role played by avoided level crossings in generating chaoticity in level dynamics is similar to the role played by short-range collisions in causing thermalization in many-body dynamics. Furthermore, the effect of level changing rates in producing avoided level crossings is the same as particle velocities in causing particle-particle collisions. A one-dimensional su(2) Hamiltonian has been constructed as an illustration of the level dynamics, showing how the avoided level crossings cause the transition from a regular distribution to the chaotic Gaussian orthogonal ensemble (GOE) distribution of the levels. The existence of the one-dimensional su(2) Hamiltonian which can show both GOE and Poisson level statistics is remarkable and deserves further investigation

  3. Laser facilitates vaccination

    Ji Wang

    2016-01-01

    Full Text Available Development of novel vaccine deliveries and vaccine adjuvants is of great importance to address the dilemma that the vaccine field faces: to improve vaccine efficacy without compromising safety. Harnessing the specific effects of laser on biological systems, a number of novel concepts have been proposed and proved in recent years to facilitate vaccination in a safer and more efficient way. The key advantage of using laser technology in vaccine delivery and adjuvantation is that all processes are initiated by physical effects with no foreign chemicals administered into the body. Here, we review the recent advances in using laser technology to facilitate vaccine delivery and augment vaccine efficacy as well as the underlying mechanisms.

  4. Facilitating Learning at Conferences

    Ravn, Ib; Elsborg, Steen

    2011-01-01

    The typical conference consists of a series of PowerPoint presentations that tend to render participants passive. Students of learning have long abandoned the transfer model that underlies such one-way communication. We propose an al-ternative theory of conferences that sees them as a forum...... for learning, mutual inspiration and human flourishing. We offer five design principles that specify how conferences may engage participants more and hence increase their learning. In the research-and-development effort reported here, our team collaborated with conference organizers in Denmark to introduce...... and facilitate a variety of simple learning techniques at thirty one- and two-day conferences of up to 300 participants each. We present ten of these techniques and data evaluating them. We conclude that if conference organizers allocate a fraction of the total conference time to facilitated processes...

  5. Mindfulness for group facilitation

    Adriansen, Hanne Kirstine; Krohn, Simon

    2014-01-01

    In this paper, we argue that mindfulness techniques can be used for enhancing the outcome of group performance. The word mindfulness has different connotations in the academic literature. Broadly speaking there is ‘mindfulness without meditation’ or ‘Western’ mindfulness which involves active...... thinking and ‘Eastern’ mindfulness which refers to an open, accepting state of mind, as intended with Buddhist-inspired techniques such as meditation. In this paper, we are interested in the latter type of mindfulness and demonstrate how Eastern mindfulness techniques can be used as a tool for facilitation....... A brief introduction to the physiology and philosophy of Eastern mindfulness constitutes the basis for the arguments of the effect of mindfulness techniques. The use of mindfulness techniques for group facilitation is novel as it changes the focus from individuals’ mindfulness practice...

  6. Mechanism of ballistic collisions

    Sindoni, J.M.; Sharma, R.D.

    1992-01-01

    Ballistic collisions is a term used to describe atom-diatom collisions during which a substantial fraction of the initial relative translational energy is converted into the internal energy of the diatom. An exact formulation of the impulse approach to atom-diatom collisions is shown to be in excellent agreement with the experimental results for the CsF-Ar system at 1.1 eV relative translational energy for laboratory scattering angles of 30 degree and 60 degree. The differential cross section for scattering of CsF peaks at two distinct recoil velocities. The peak centered at the recoil velocity corresponding to elastic scattering has been called the elastic peak. This peak is shown to consist of several hundred inelastic transitions, most involving a small change in internal energy. The peak near the center-of-mass (c.m.) velocity is called the ballistic peak and is shown to consist of highly inelastic (ballistic) transitions. It is shown that transitions comprising the ballistic (elastic) peak occur when an Ar atom strikes the F (Cs) end of CsF. When one is looking along the direction of the c.m. velocity, the signal from a single transition, which converts about 99.99% of the relative translational energy into internal energy, may be larger than the signal from any other ballistic transition by as much as an order of magnitude. This property may be used to prepare state-selected and velocity-selected beams for further studies. It is also pointed out that the ballistic peak may be observed for any atom-molecule system under appropriate circumstances

  7. Charm from hadron collisions

    Anon.

    1979-04-15

    Ever since the discovery of charmed mesons in electron-positron annihilations at SLAC and DESY, a considerable effort has gone into looking for them in other types of reactions. Both neutrino interactions and photoproduction have provided further data on the production and decay of D mesons, but little has emerged concerning purely hadronic studies.some results from a CERN/Collège de France/Heidelberg/Karlsruhe collaboration using the Split Field Magnet at the CERN Intersecting Storage Rings (ISR) now show definite signs of D meson production in proton-proton collisions.

  8. Collision of two hopfions

    Arrayás, M; Trueba, J L

    2017-01-01

    We study the collision of two hopfions, or Hopf–Rañada electromagnetic fields. The superposition of two of such fields, travelling in opposite directions, yields different topology for the electric and magnetic field lines. Controlling the angular momentum of such fields, we can control the topology of the flow associated with the field lines, as well as the energy distribution. The concept of electromagnetic helicity and the exchange between its magnetic and electric components are used to explain the different behaviour observed when the angular momentum is reversed. (paper)

  9. Electron collisions with biomolecules

    McKoy, V; Winstead, C

    2008-01-01

    We report on results of recent studies of collisions of low-energy electrons with nucleobases and other DNA constituents. A particular focus of these studies has been the identification and characterization of resonances that play a role in electron attachment leading to strand breaks in DNA. Comparison of the calculated resonance positions with results of electron transmission measurements is quite encouraging. However, the higher-lying π* resonances of the nucleobases appear to be of mixed elastic and core-excited character. Such resonant channel coupling raises the interesting possibility that the higher π*resonances in the nucleobases may promote dissociation of DNA by providing doorway states to triplet excited states.

  10. Molecular collision theory

    Child, M S

    2010-01-01

    This high-level monograph offers an excellent introduction to the theory required for interpretation of an increasingly sophisticated range of molecular scattering experiments. There are five helpful appendixes dealing with continuum wavefunctions, Green's functions, semi-classical connection formulae, curve-crossing in the momentum representation, and elements of classical mechanics.The contents of this volume have been chosen to emphasize the quantum mechanical and semi-classical nature of collision events, with little attention given to purely classical behavior. The treatment is essentiall

  11. Heavy ion collisions

    Jacak, B.V.

    1994-01-01

    Heavy ion collisions at very high energies provide an opportunity to recreate in the laboratory the conditions which existed very early in the universe, just after the big bang. We prepare matter at very high energy density and search for evidence that the quarks and gluons are deconfined. I describe the kinds of observables that are experimentally accessible to characterize the system and to search for evidence of new physics. A wealth of information is now available from CERN and BNL heavy ion experiments. I discuss recent results on two particle correlations, strangeness production, and dilepton and direct photon distributions

  12. Relativistic nuclear collisions: theory

    Gyulassy, M.

    1980-07-01

    Some of the recent theoretical developments in relativistic (0.5 to 2.0-GeV/nucleon) nuclear collisions are reviewed. The statistical model, hydrodynamic model, classical equation of motion calculations, billiard ball dynamics, and intranuclear cascade models are discussed in detail. Inclusive proton and pion spectra are analyzed for a variety of reactions. Particular attention is focused on how the complex interplay of the basic reaction mechanism hinders attempts to deduce the nuclear matter equation of state from data. 102 references, 19 figures

  13. Collision group and renormalization of the Boltzmann collision integral

    Saveliev, V. L.; Nanbu, K.

    2002-05-01

    On the basis of a recently discovered collision group [V. L. Saveliev, in Rarefied Gas Dynamics: 22nd International Symposium, edited by T. J. Bartel and M. Gallis, AIP Conf. Proc. No. 585 (AIP, Melville, NY, 2001), p. 101], the Boltzmann collision integral is exactly rewritten in two parts. The first part describes the scattering of particles with small angles. In this part the infinity due to the infinite cross sections is extracted from the Boltzmann collision integral. Moreover, the Boltzmann collision integral is represented as a divergence of the flow in velocity space. Owing to this, the role of collisions in the kinetic equation can be interpreted in terms of the nonlocal friction force that depends on the distribution function.

  14. Multiple-Antenna Interference Cancellation for WLAN with MAC Interference Avoidance in Open Access Networks

    Alexandr M. Kuzminskiy

    2007-10-01

    Full Text Available The potential of multiantenna interference cancellation receiver algorithms for increasing the uplink throughput in WLAN systems such as 802.11 is investigated. The medium access control (MAC in such systems is based on carrier sensing multiple-access with collision avoidance (CSMA/CA, which itself is a powerful tool for the mitigation of intrasystem interference. However, due to the spatial dependence of received signal strengths, it is possible for the collision avoidance mechanism to fail, resulting in packet collisions at the receiver and a reduction in system throughput. The CSMA/CA MAC protocol can be complemented in such scenarios by interference cancellation (IC algorithms at the physical (PHY layer. The corresponding gains in throughput are a result of the complex interplay between the PHY and MAC layers. It is shown that semiblind interference cancellation techniques are essential for mitigating the impact of interference bursts, in particular since these are typically asynchronous with respect to the desired signal burst. Semiblind IC algorithms based on second- and higher-order statistics are compared to the conventional no-IC and training-based IC techniques in an open access network (OAN scenario involving home and visiting users. It is found that the semiblind IC algorithms significantly outperform the other techniques due to the bursty and asynchronous nature of the interference caused by the MAC interference avoidance scheme.

  15. Multiple-Antenna Interference Cancellation for WLAN with MAC Interference Avoidance in Open Access Networks

    Kuzminskiy Alexandr M

    2007-01-01

    Full Text Available The potential of multiantenna interference cancellation receiver algorithms for increasing the uplink throughput in WLAN systems such as 802.11 is investigated. The medium access control (MAC in such systems is based on carrier sensing multiple-access with collision avoidance (CSMA/CA, which itself is a powerful tool for the mitigation of intrasystem interference. However, due to the spatial dependence of received signal strengths, it is possible for the collision avoidance mechanism to fail, resulting in packet collisions at the receiver and a reduction in system throughput. The CSMA/CA MAC protocol can be complemented in such scenarios by interference cancellation (IC algorithms at the physical (PHY layer. The corresponding gains in throughput are a result of the complex interplay between the PHY and MAC layers. It is shown that semiblind interference cancellation techniques are essential for mitigating the impact of interference bursts, in particular since these are typically asynchronous with respect to the desired signal burst. Semiblind IC algorithms based on second- and higher-order statistics are compared to the conventional no-IC and training-based IC techniques in an open access network (OAN scenario involving home and visiting users. It is found that the semiblind IC algorithms significantly outperform the other techniques due to the bursty and asynchronous nature of the interference caused by the MAC interference avoidance scheme.

  16. Collision risk investigation for an operational spacecraft caused by space debris

    Zhang, Binbin; Wang, Zhaokui; Zhang, Yulin

    2017-04-01

    The collision probability between an operational spacecraft and a population of space debris is investigated. By dividing the 3-dimensional operational space of the spacecraft into several space volume cells (SVC) and proposing a boundary selection method to calculate the collision probability in each SVC, the distribution of the collision risk, as functions of the time, the orbital height, the declination, the impact elevation, the collision velocity, etc., can be obtained. Thus, the collision risk could be carefully evaluated over a time span for the general orbital configurations of the spacecraft and the space debris. As an application, the collision risk for the Tiangong-2 space laboratory caused by the cataloged space debris is discussed and evaluated. Results show that most of the collision threat comes from the front left and front right in Tiangong-2's local, quasi-horizontal plane. And the collision probability will also accumulate when Tiangong-2 moves to the largest declinations (about {±} 42°). As a result, the manned space activities should be avoided at those declinations.

  17. Bubble collisions and measures of the multiverse

    Salem, Michael P.

    2012-01-01

    To compute the spectrum of bubble collisions seen by an observer in an eternally-inflating multiverse, one must choose a measure over the diverging spacetime volume, including choosing an ''initial'' hypersurface below which there are no bubble nucleations. Previous calculations focused on the case where the initial hypersurface is pushed arbitrarily deep into the past. Interestingly, the observed spectrum depends on the orientation of the initial hypersurface, however one's ability observe the effect rapidly decreases with the ratio of inflationary Hubble rates inside and outside one's bubble. We investigate whether this conclusion might be avoided under more general circumstances, including placing the observer's bubble near the initial hypersurface. We find that it is not. As a point of reference, a substantial appendix reviews relevant aspects of the measure problem of eternal inflation

  18. Bubble collisions and measures of the multiverse

    Salem, Michael P., E-mail: salem@cosmos.phy.tufts.edu [Department of Physics, Stanford University, Stanford, CA 94305 (United States)

    2012-01-01

    To compute the spectrum of bubble collisions seen by an observer in an eternally-inflating multiverse, one must choose a measure over the diverging spacetime volume, including choosing an ''initial'' hypersurface below which there are no bubble nucleations. Previous calculations focused on the case where the initial hypersurface is pushed arbitrarily deep into the past. Interestingly, the observed spectrum depends on the orientation of the initial hypersurface, however one's ability observe the effect rapidly decreases with the ratio of inflationary Hubble rates inside and outside one's bubble. We investigate whether this conclusion might be avoided under more general circumstances, including placing the observer's bubble near the initial hypersurface. We find that it is not. As a point of reference, a substantial appendix reviews relevant aspects of the measure problem of eternal inflation.

  19. Avoidant/Restrictive Food Intake Disorder

    ... Eating Disorder Bulimia Nervosa Pica Rumination Disorder Avoidant/restrictive food intake disorder is characterized by eating very little food and/or avoiding eating certain foods. People with this disorder eat ...

  20. CONFERENCE: Photon-photon collisions

    Anon.

    1983-01-01

    Despite being difficult to observe, photon-photon collisions have opened up a range of physics difficult, or even impossible, to access by other methods. The progress which has been made in this field was evident at the fifth international workshop on photon-photon collisions, held in Aachen from 13-16 April and attended by some 120 physicists

  1. Outer Dynamics of Ship Collisions

    Pedersen, Preben Terndrup

    1996-01-01

    The purpose is to present analysis procedures for the motion of ships during ship-ship collisions and for ship collisions with offshore structures. The aim is to estimate that part of the lost kinetic energy which will have to be absorbed by rupture and plastic damage of the colliding structures....

  2. The Global Attack on Tax Avoidance

    Franck, Gustav Grønborg; Runchel, Daniel Theis; Mac, Martin Tuannhien; Ahmed, Jahanzeeb; Bang, Lars Seneca

    2015-01-01

    The issue of tax avoidance has been subject for recommended regulations by the G20 countries in collaboration with OECD. We examine the usefulness of market failure theory to explain the economic and political issues of tax avoidance. We test our hypothesis using theory through a deductive approach incorporating content analysis to find convergence(s) between tax avoidance methods identified and the efforts of the G20 BEPS action plan to respond to those methods. The issue of tax avoidance...

  3. Tax Avoidance, Welfare Transfers, and Asset Prices

    Denis Gorea

    2013-01-01

    Does tax avoidance have any implications for financial markets? This paper quantifies the general equilibrium implications of tax avoidance by setting up an incomplete markets production economy model in which households pay capital gains taxes and have access to tax avoidance technologies provided by financial institutions. I find that changes in the level of tax avoidance have disproportionate effects on different groups of agents and generally benefit the old, wealthy and high income house...

  4. Photon-photon collisions

    Brodsky, S.J.

    1985-01-01

    The study of photon-photon collisions has progressed enormously, stimulated by new data and new calculational tools for QCD. In the future we can expect precise determinations of ..cap alpha../sub s/ and ..lambda../sup ms/ from the ..gamma..*..gamma.. ..-->.. ..pi../sup 0/ form factor and the photon structure function, as well as detailed checks of QCD, determination of the shape of the hadron distribution amplitudes from ..gamma gamma.. ..-->.. H anti H, reconstruction of sigma/sub ..gamma gamma../ from exclusive channels at low W/sub ..gamma gamma../, definitive studies of high p/sub T/ hadron and jet production, and studies of threshold production of charmed systems. Photon-photon collisions, along with radiative decays of the psi and UPSILON, are ideal for the study of multiquark and gluonic resonances. We have emphasized the potential for resonance formation near threshold in virtually every hadronic exclusive channel, including heavy quark states c anti c c anti c, c anti c u anti u, etc. At higher energies SLC, LEP, ...) parity-violating electroweak effects and Higgs production due to equivalent Z/sup 0/ and W/sup + -/ beams from e ..-->.. eZ/sup 0/ and e ..-->.. nu W will become important. 44 references.

  5. Photon-photon collisions

    Brodsky, S.J.

    1985-01-01

    The study of photon-photon collisions has progressed enormously, stimulated by new data and new calculational tools for QCD. In the future we can expect precise determinations of α/sub s/ and Λ/sup ms/ from the γ*γ → π 0 form factor and the photon structure function, as well as detailed checks of QCD, determination of the shape of the hadron distribution amplitudes from γγ → H anti H, reconstruction of sigma/sub γγ/ from exclusive channels at low W/sub γγ/, definitive studies of high p/sub T/ hadron and jet production, and studies of threshold production of charmed systems. Photon-photon collisions, along with radiative decays of the psi and UPSILON, are ideal for the study of multiquark and gluonic resonances. We have emphasized the potential for resonance formation near threshold in virtually every hadronic exclusive channel, including heavy quark states c anti c c anti c, c anti c u anti u, etc. At higher energies SLC, LEP, ...) parity-violating electroweak effects and Higgs production due to equivalent Z 0 and W +- beams from e → eZ 0 and e → nu W will become important. 44 references

  6. Photon-photon collisions

    Field, J.H.

    1984-01-01

    The current status, both theoretical and experimental, of two photon collision physics is reviewed with special emphasis on recent experimental results from e + e - storage rings. After a complete presentation of the helicity amplitude formalism for the general process e + e - → Xe + e - , various approximations (transverse photon, Weisaecker Williams) are discussed. Beam polarisation effects and radiative corrections are also briefly considered. A number of specific processes, for which experimental results are now available, are then described. In each case existing theoretical prediction are confronted with experimental results. The processes described include single resonance production, lepton and hadron pair production, the structure functions of the photon, the production of high Psub(T) jets and the total photon photon cross section. In the last part of the review the current status of the subject is summarised and some comments are made on future prospects. These include both extrapolations of current research to higher energy machines (LEP, HERA) as well as a brief mention of both the technical realisation and the physics interest of the real γγ and eγ collisions which may be possible using linear electron colliders in the 1 TeV energy range

  7. Conflict Avoidance in a University Context

    Barsky, Allan E.; Wood, Lorinda

    2005-01-01

    This ethnographic study explores patterns of conflict avoidance among university students, professors, administrators and staff. Analysis of their narratives of conflict avoidance suggests that avoidance can be beneficial in some circumstances, depending upon personality issues, cost?benefit analysis, power imbalance, type of work, length of…

  8. Population avoidance in aimpoint selection

    Andre, C.G.

    1978-01-01

    In most past studies of the effectiveness of tactical nuclear weapons vs the amount of collateral damage produced (civilian casualties), civilians have been congregated into idealized shaped towns and cities, and criteria for city avoidance were usually formulated in terms relating to a town's population. This treatment was sufficient in those studies where weapon yields were so large that great numbers of civilians were almost always placed at risk. As further studies developed, demonstrating that real progress could be made in reducing the numbers of civilians potentially placed at risk in tactical nuclear warfare situations, the inadequacies of the present treatment became obvious. The need existed for a more detailed description of the distribution of civilians. The method described determines the number of civilians at risk for a weapon under consideration being detonated at a given point and displays a symbol relating to the numbers at risk on a map or a transparency that overlays a 1:50,000 map of the region. Thus, a weapons planner making the selection of aimpoints for inflicting the necessary military damage required has the means to reduce potential civilian casualties by properly choosing the weapon and aimpoints

  9. Facilitation as a teaching strategy : experiences of facilitators

    E Lekalakala-Mokgele

    2006-09-01

    Full Text Available Changes in nursing education involve the move from traditional teaching approaches that are teacher-centred to facilitation, a student centred approach. The studentcentred approach is based on a philosophy of teaching and learning that puts the learner on centre-stage. The aim of this study was to identify the challenges of facilitators of learning using facilitation as a teaching method and recommend strategies for their (facilitators development and support. A qualitative, explorative and contextual design was used. Four (4 universities in South Africa which utilize facilitation as a teaching/ learning process were identified and the facilitators were selected to be the sample of the study. The main question posed during in-depth group interviews was: How do you experience facilitation as a teaching/learning method?. Facilitators indicated different experiences and emotions when they first had to facilitate learning. All of them indicated that it was difficult to facilitate at the beginning as they were trained to lecture and that no format for facilitation was available. They experienced frustrations and anxieties as a result. The lack of knowledge of facilitation instilled fear in them. However they indicated that facilitation had many benefits for them and for the students. Amongst the ones mentioned were personal and professional growth. Challenges mentioned were the fear that they waste time and that they do not cover the content. It is therefore important that facilitation be included in the training of nurse educators.

  10. Essence: Facilitating Software Innovation

    Aaen, Ivan

    2008-01-01

      This paper suggests ways to facilitate creativity and innovation in software development. The paper applies four perspectives – Product, Project, Process, and People –to identify an outlook for software innovation. The paper then describes a new facility–Software Innovation Research Lab (SIRL......) – and a new method concept for software innovation – Essence – based on views, modes, and team roles. Finally, the paper reports from an early experiment using SIRL and Essence and identifies further research....

  11. Landslide disaster avoidance: learning from Leyte

    Davies, T. R.

    2006-12-01

    On 17 February 2006 a gigantic rockslide triggered a debris avalanche that overran the barangay Guinsaugon, St. Bernard in Southern Leyte Province, Philippines, burying 154 victims, with 990 missing including 246 school children. Even with satellite imagery, GIS-based landslide susceptibility modelling and real-time meteorological and seismic data analysis, scientific prediction of every potentially fatal landslide is not possible in most parts of the world. This is particular the case in steep, unstable, densely-populated country in which heavy rain is common. So how can further events of this type be prevented from turning into disasters? A number of precursory phenomena were noted by local inhabitants at Guinsaugon: a crack around the slope that failed was noticed in May 2005; coconut trees near the northern foot of the landslide scarp began to lean increasingly in the down-slope direction in December 2005; a slope around the northern edge of the 17 February 2006 landslide scarp failed on December 17, 2005; in the 9 days prior to the rockslide, 640 mm of rain fell; 450 mm in a 3-day period. Such phenomena are commonly reported by local inhabitants before large landslides (e.g. Elm, Mayunmarca, and many others). In many cases, therefore, it is in principle possible for local people to avoid the consequences of the landslide if they know enough to act appropriately in response to the precursory phenomena. For this possibility to be realized, appropriate information must be provided to and assimilated by the local population. Useful ways of achieving this include pamphlets, video, TV and radio programs and visits from civil defence personnel. The information must be properly presented; scientific language will be ineffective. A communication pyramid, leading from government agencies to local leaders, can facilitate the rapid availability of the information to all potentially susceptible communities. If science can determine those areas not vulnerable to landslide

  12. Emotional valence and contextual affordances flexibly shape approach-avoidance movements

    Ana Carolina eSaraiva

    2013-12-01

    Full Text Available Behaviour is influenced by the emotional content – or valence – of stimuli in our environment. Positive stimuli facilitate approach, whereas negative stimuli facilitate defensive actions such as avoidance (flight and attack (fight. Facilitation of approach or avoidance movements may also be influenced by whether it is the self that moves relative to a stimulus (self-reference or the stimulus that moves relative to the self (object-reference, adding flexibility and context-dependence to behaviour. Alternatively, facilitation of approach avoidance movements may happen in a predefined and muscle-specific way, whereby arm flexion is faster to approach positive (e.g. flexing the arm brings a stimulus closer and arm extension faster to avoid negative stimuli (e.g. extending the arm moves the stimulus away. While this allows for relatively fast responses, it may compromise the flexibility offered by contextual influences. Here we asked under which conditions approach-avoidance actions are influenced by contextual factors (i.e. reference-frame. We manipulated the reference-frame in which actions occurred by asking participants to move a symbolic manikin (representing the self towards or away from a positive or negative stimulus, and move a stimulus towards or away from the manikin. We also controlled for the type of movements used to approach or avoid in each reference. We show that the reference-frame influences approach-avoidance actions to emotional stimuli, but additionally we find muscle-specificity for negative stimuli in self-reference contexts. We speculate this muscle-specificity may be a fast and adaptive response to threatening stimuli. Our results confirm that approach-avoidance behaviour is flexible and reference-frame dependent, but can be muscle-specific depending on the context and valence of the stimulus. Reference-frame and stimulus-evaluation are key factors in guiding approach-avoidance behaviour towards emotional stimuli in our

  13. Sixteenth International Conference on the physics of electronic and atomic collisions

    Dalgarno, A.; Freund, R.S.; Lubell, M.S.; Lucatorto, T.B.

    1989-01-01

    This report contains abstracts of papers on the following topics: photons, electron-atom collisions; electron-molecule collisions; electron-ion collisions; collisions involving exotic species; ion- atom collisions, ion-molecule or atom-molecule collisions; atom-atom collisions; ion-ion collisions; collisions involving rydberg atoms; field assisted collisions; collisions involving clusters and collisions involving condensed matter

  14. Sixteenth International Conference on the physics of electronic and atomic collisions

    Dalgarno, A.; Freund, R.S.; Lubell, M.S.; Lucatorto, T.B. (eds.)

    1989-01-01

    This report contains abstracts of papers on the following topics: photons, electron-atom collisions; electron-molecule collisions; electron-ion collisions; collisions involving exotic species; ion- atom collisions, ion-molecule or atom-molecule collisions; atom-atom collisions; ion-ion collisions; collisions involving rydberg atoms; field assisted collisions; collisions involving clusters and collisions involving condensed matter.

  15. Collision-free motion coordination of heterogeneous robots

    Ko, Nak Yong; Seo, Dong Jin; Simmons, Reid G.

    2008-01-01

    This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots

  16. Collision-free motion coordination of heterogeneous robots

    Ko, Nak Yong [Chosun University, Gwangju (Korea, Republic of); Seo, Dong Jin [RedOne Technologies, Gwangju (Korea, Republic of); Simmons, Reid G. [Carnegie Mellon University, Pennsylvania (United States)

    2008-11-15

    This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots

  17. Earthworm avoidance of silver nanomaterials over time

    Mariyadas, Jennifer; Amorim, Mónica J B; Jensen, John

    2018-01-01

    Avoidance behaviour offers a highly relevant information as it reveals the ability to avoid (or not) possible toxic compounds in the field, hence it provides information on reasons for the presence/absence in the field. The earthworm Eisenia fetida was used to study avoidance behaviour to four si...... exposure durations and showed a continuous higher avoidance with time (based on EC50 values). The AgNMs avoidance was in the order NM300Ksoil solution fraction that correlated with EC50 across materials....

  18. Estrogenic involvement in social learning, social recognition and pathogen avoidance.

    Choleris, Elena; Clipperton-Allen, Amy E; Phan, Anna; Valsecchi, Paola; Kavaliers, Martin

    2012-04-01

    Sociality comes with specific cognitive skills that allow the proper processing of information about others (social recognition), as well as of information originating from others (social learning). Because sociality and social interactions can also facilitate the spread of infection among individuals the ability to recognize and avoid pathogen threat is also essential. We review here various studies primarily from the rodent literature supporting estrogenic involvement in the regulation of social recognition, social learning (socially acquired food preferences and mate choice copying) and the recognition and avoidance of infected and potentially infected individuals. We consider both genomic and rapid estrogenic effects involving estrogen receptors α and β, and G-protein coupled estrogen receptor 1, along with their interactions with neuropeptide systems in the processing of social stimuli and the regulation and expression of these various socially relevant behaviors. Copyright © 2012 Elsevier Inc. All rights reserved.

  19. Physics of Nuclear Collisions at High Energy

    Hwa, Rudolph C. [Univ. of Oregon, Eugene, OR (United States)

    2012-05-01

    A wide range of problems has been investigated in the research program during the period of this grant. Although the major effort has been in the subject of heavy-ion collisions, we have also studied problems in biological and other physical systems. The method of analysis used in reducing complex data in multiparticle production to simple descriptions can also be applied to the study of complex systems of very different nature. Phase transition is an important phenomenon in many areas of physics, and for heavy-ion collisions we study the fluctuations of multiplicities at the critical point. Human brain activities as revealed in EEG also involve fluctuations in time series, and we have found that our experience enables us to find the appropriate quantification of the fluctuations in ways that can differentiate stroke and normal subjects. The main topic that characterizes the research at Oregon in heavy-ion collisions is the recombination model for the treatment of the hadronization process. We have avoided the hydrodynamical model partly because there is already a large community engaged in it, but more significantly we have found the assumption of rapid thermalization unconvincing. Recent results in studying LHC physics lead us to provide more evidence that shower partons are very important even at low p_T, but are ignored by hydro. It is not easy to work in an environment where the conventional wisdom regards our approach as being incorrect because it does not adhere to the standard paradigm. But that is just what a vibrant research community needs: unconventional approach may find evidences that can challenge the orthodoxy. An example is the usual belief that elliptic flow in fluid dynamics gives rise to azimuthal anisotropy. We claim that it is only sufficient but not necessary. With more data from LHC and more independent thinkers working on the subject what is sufficient as a theory may turn out to be incorrect in reality. Another area of investigation that

  20. Exploring the role of experiential avoidance from the perspective of attachment theory and the dual process model.

    Shear, M Katherine

    2010-01-01

    Avoidance can be adaptive and facilitate the healing process of acute grief or it can be maladaptive and hinder this same process. Maladaptive cognitive or behavioral avoidance comprises the central feature of the condition of complicated grief. This article explores the concept of experiential avoidance as it applies to bereavement, including when it is adaptive when it is problematic. Adaptive avoidance is framed using an attachment theory perspective and incorporates insights from the dual process model (DPM). An approach to clinical management of experiential avoidance in the syndrome of complicated grief is included.

  1. Facilitating Knowledge Sharing

    Holdt Christensen, Peter

    knowledge sharing is to ensure that the exchange is seen as equitable for the parties involved, and by viewing the problems of knowledge sharing as motivational problems situated in different organizational settings, the paper explores how knowledge exchange can be conceptualized as going on in four...... distinct situations of exchange denominated organizational exchange yielding extrinsic rewards, organizational exchange yielding intrinsic rewards, financial exchange, and social exchange. The paper argues that each situation of exchange has distinct assumptions about individual behaviour...... and the intermediaries regulating the exchange, and facilitating knowledge sharing should therefore be viewed as a continuum of practices under the influence of opportunistic behaviour, obedience or organizational citizenship behaviour. Keywords: Knowledge sharing, motivation, organizational settings, situations...

  2. On impact mechanics in ship collisions

    Pedersen, Preben Terndrup; Zhang, Shengming

    1998-01-01

    The purpose of this paper is to present analytical, closed-form expressions for the energy released for crushing and the impact impulse during ship collisions. Ship–ship collisions, ship collisions with rigid walls and ship collisions with flexible offshore structures are considered. The derived ...

  3. On Impact Mechanics in Ship Collisions

    Pedersen, Preben Terndrup; Zhang, Shengming

    1998-01-01

    The purpose of this paper is to present analytical, closed-form expressions for the energy released for crushing and the impact impulse during ship collisions. Ship-ship collisions, ship collisions with rigid walls and ship collisions with flexible offshore structures are considered. The derived ...

  4. Gyrokinetic linearized Landau collision operator

    Madsen, Jens

    2013-01-01

    , which is important in multiple ion-species plasmas. Second, the equilibrium operator describes drag and diffusion of the magnetic field aligned component of the vorticity associated with the E×B drift. Therefore, a correct description of collisional effects in turbulent plasmas requires the equilibrium......The full gyrokinetic electrostatic linearized Landau collision operator is calculated including the equilibrium operator, which represents the effect of collisions between gyrokinetic Maxwellian particles. First, the equilibrium operator describes energy exchange between different plasma species...... operator, even for like-particle collisions....

  5. Atomic collisions involving pulsed positrons

    Merrison, J. P.; Bluhme, H.; Field, D.

    2000-01-01

    Conventional slow positron beams have been widely and profitably used to study atomic collisions and have been instrumental in understanding the dynamics of ionization. The next generation of positron atomic collision studies are possible with the use of charged particle traps. Not only can large...... instantaneous intensities be achieved with in-beam accumulation, but more importantly many orders of magnitude improvement in energy and spatial resolution can be achieved using positron cooling. Atomic collisions can be studied on a new energy scale with unprecedented precion and control. The use...

  6. Wave packet methods for the direct calculation of energy-transfer moments in molecular collisions

    Bradley, K.S.; Schatz, G.C.; Balint-Kurti, G.G.

    1999-01-01

    The authors present a new wave packet based theory for the direct calculation of energy-transfer moments in molecular collision processes. This theory does not contain any explicit reference to final state information associated with the collision dynamics, thereby avoiding the need for determining vibration-rotation bound states (other than the initial state) for the molecules undergoing collision and also avoiding the calculation of state-to-state transition probabilities. The theory applies to energy-transfer moments of any order, and it generates moments for a wide range of translational energies in a single calculation. Two applications of the theory are made that demonstrate its viability; one is to collinear He + H 2 and the other to collinear He + CS 2 (with two active vibrational modes in CS 2 ). The results of these applications agree well with earlier results based on explicit calculation of transition probabilities

  7. Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy

    Mullakkal Babu, F.A.; Wang, M.; van Arem, B.; Happee, R.; Rosetti, R.; Wolf, D.

    2016-01-01

    Current Full Range Adaptive Cruise Control (FRACC) systems switch between separate adaptive cruise control and collision avoidance systems. This can lead to jerky responses and discomfort during the transition between the two control modes. We propose a Full Range Adaptive Cruise Control (FRACC)

  8. Associating crash avoidance maneuvers with driver attributes and accident characteristics: a mixed logit model approach.

    Kaplan, Sigal; Prato, Carlo Giacomo

    2012-01-01

    a forgiving infrastructure within a sustainable safety systems, and rethinking in-vehicle collision warning systems. Future research should address the effectiveness of crash avoidance maneuvers and joint modeling of maneuver selection and crash severity.

  9. Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

    Häusler, A.J.; Saccon, A.; Aguiar, A.P.; Hauser, J.; Pascoal, A.M.

    2016-01-01

    We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of

  10. COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

    2014-06-01

    Mario Bollini, Tan Yew (William) Teck, the Dan Codiga and the University of Rhode Island team, the MIT 2.680 course staff, and certainly the many...119 5.3.1 Above Water Acoustics . . . . . . . . . . . . . . . . . . . . . . 120 5.3.2 AIS Advancements...127 6 Conclusions 129 A Regression Framework 131 B Regression Results 133 C Graphical Results of Experimentation 147 9 THIS PAGE

  11. Fuel Consumption and Collision Avoidance Strategy in Multi-static Orbit Formations

    Jochim, Fritz; Fiedler, Hauke; Krieger, Gerhard

    2011-01-01

    This paper analysesthe fuel consumption of interferometric rader missions employing small satellite formations like, e.g., Cross-track pendulum, Cartwheel, CarPe, or Trinodal Pendulum. Individual analytic expressions are provides for each of the following contributions: separation from a simultaneously injected master satellite, formation set-up, orbit maintenance, formation maintenance, and distance maintenance. For this, a general system of equations is derived describing the relative motio...

  12. Collision avoidance in unstructured environments for autonomous robots: a behavioural modelling approach

    Yinka-Banjo, CO

    2011-03-01

    Full Text Available structures, approximate methods are used. Examples of approximate methods are: clustering, sampling etc. These methods use Bayes? rule for computation. E. Scoring and Validation We considered the K-fold cross-validation technique in this paper. With K-fold... cross-validation, a single subsample of the known data is set aside as validation data for testing the model, and the remaining K-1 subsamples are used as training data [18]. We repeat the cross-validation process K times where each K subsamples...

  13. Active Beacon Collision Avoidance System (BCAS) Conference Proceedings, January 27-28, 1981.

    1981-01-01

    AIRCRAFT IN THE EVENT IMPLEMENTATION OF ATARS IS DELAYED FOR WHATEVER REASONS - WHETHER THEY BE TECHNICAL OR ECONOMIC . 35 I " -- -’ ’T " - . " i...THE AUTOMATIC TRAFFIC ADVISORY AND RESOLUTION SERVICE ( ATARS ). CONFLICT ALERT CONFLICT ALERT IS CURRENTLY IMPLEMENTED IN THE GROUND-BASED AIR...RESOLUTION, THE REMAINING DEVELOPMENTS IN THE AIRCRAFT SEPARATION ASSURANCE PROGRAM, BCAS AND ATARS , PROVIDE INFORMATION DIRECTLY AND AUTO- MATICALLY

  14. Distributed Algorithm for Collision Avoidance at Road Intersections in the Presence of Communication Failures

    Savic, Vladimir; Schiller, Elad M.; Papatriantafilou, Marina

    2017-01-01

    Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However, V2V communication is prone to failures and delays, so a distributed fault-tolerant approach is required for safe and efficient transportation. In this paper, we focus on the intersection crossing (IC) problem with autonomous vehicles that cooperate via V2V co...

  15. Optimal Recovery Trajectories for Automatic Ground Collision Avoidance Systems (Auto GCAS)

    2015-03-01

    Harmon) Weilhouwer, Judson Brohmer, Aaron ‘Cdot’ George, Dave ‘Cools’ Cooley, and all the brave men and women who have lost their lives to ground... inequality constraints µ aircraft bank angle µmax upper bounds on aircraft bank angle µmin lower bounds on aircraft bank angle ω aircraft turn rate τ...interested in implementing a safety campaign to re- duce workplace injury rate just as then Treasury Secretary Paul O’Neill had done while President and Chief

  16. In-Service Evaluation of the Dalmo Victor Active Beacon Collision Avoidance System (BCAS/TCAS).

    1982-10-01

    4W K x K K K K K -408 K K x 6 zaw . ZIN. a 2a 7 aimb Z770 2197W a LAPSED 9W CaC Fiur 5-12 CAS 11 AGRNGIAE N * a a UUUV4PLOTS 5-12 5.5 CASE 16, NORFOLK...sequent climb, and the minimzm range of 0.1 mile suggests an aircraft on a taxiway near the runway. B-43 TMDR x TUN 146 1200 46 - LAP6O TIM CSErcs 3-44 m

  17. Spatial Trade-Offs between Wind Power Production and Bird Collision Avoidance in Agricultural Landscapes

    Marcus Eichhorn

    2010-06-01

    Full Text Available The expansion of renewable energy production is seen as an appropriate way to mitigate climate change. Renewable energies are not free of negative external effects on humans and the natural environment. We analyzed the conflict between wind power production and bird protection through the example of one of the most sensitive species, the red kite (Milvus milvus in West Saxony, Germany. We investigated a large number of potential land use scenarios, defined by whether or not each potential site contained a wind turbine (WT. Based on meteorological and ornithological data, we evaluated the land use scenarios for their annual energy supply and impact on the red kite. We identified the efficient land use scenarios that maximized energy supply for a given ecological impact. Within the scope of our analysis, the current allocation of WTs in the study region was considered inefficient. The set of efficient scenarios allowed us to draw conclusions on the trade-offs involved. We developed an indicator that measures the severity of the conflict between wind power production and bird protection. Increasing the minimum distance of WTs to settlements beyond the legal requirements in order to minimize the impact on humans further intensifies the conflict. Our results can support planning authorities in their development of long-term regional plans by identifying areas that are most suitable for wind power production from an integrated point of view.

  18. Generalization of socially transmitted and instructed avoidance

    Gemma eCameron

    2015-06-01

    Full Text Available Excessive avoidance behavior, in which an instrumental action prevents an upcoming aversive event, is a defining feature of anxiety disorders. Left unchecked, both fear and avoidance of potentially threatening stimuli may generalize to perceptually related stimuli and situations. The behavioral consequences of generalization mean that aversive learning experiences with specific threats may lead people to infer that classes of related stimuli are threatening, potentially dangerous, and need to be avoided, despite differences in physical form. Little is known about avoidance generalization in humans and the learning pathways by which it may be transmitted. In the present study, we compared two pathways to avoidance, instructions and social observation, on subsequent generalization of avoidance behavior, fear expectancy and physiological arousal. Participants first learned that one cue was a danger cue (conditioned stimulus, CS+ and another was a safety cue (CS-. Groups then were either instructed that a simple avoidance response in the presence of the CS+ cancelled upcoming shock presentations (instructed-learning group or observed a short movie showing a demonstrator performing the avoidance response to prevent shock (observational-learning group. During generalization testing, danger and safety cues were presented along with generalization stimuli that parametrically varied in perceptual similarity to the CS+. Reinstatement of fear and avoidance was also tested. Findings demonstrate, for the first time, generalization of socially transmitted and instructed avoidance: both groups showed comparable generalization gradients in fear expectancy, avoidance behavior and arousal. Return of fear was evident, suggesting that generalized avoidance remains persistent following extinction testing. The utility of the present paradigm for research on avoidance generalization is discussed.

  19. Analysis of Massively Parallel Discrete-Ordinates Transport Sweep Algorithms with Collisions

    Bailey, T.S.; Falgout, R.D.

    2008-01-01

    We present theoretical scaling models for a variety of discrete-ordinates sweep algorithms. In these models, we pay particular attention to the way each algorithm handles collisions. A collision is defined as a processor having multiple angles with ready to be swept during one stage of the sweep. The models also take into account how subdomains are assigned to processors and how angles are grouped during the sweep. We describe a data driven algorithm that resolves collisions efficiently during the sweep as well as other algorithms that have been designed to avoid collisions completely. Our models are validated using the ARGES and AMTRAN transport codes. We then use the models to study and predict scaling trends in all of the sweep algorithms

  20. Effects of Vehicle Speed on Flight Initiation by Turkey Vultures: Implications for Bird-Vehicle Collisions

    DeVault, Travis L.; Blackwell, Bradley F.; Seamans, Thomas W.; Lima, Steven L.; Fernández-Juricic, Esteban

    2014-01-01

    The avoidance of motorized vehicles is a common challenge for birds in the modern world. Birds appear to rely on antipredator behaviors to avoid vehicles, but modern vehicles (automobiles and aircraft) are faster than natural predators. Thus, birds may be relatively ill-equipped, in terms of sensory capabilities and behaviors, to avoid vehicles. We examined the idea that birds may be unable to accurately assess particularly high speeds of approaching vehicles, which could contribute to miscalculations in avoidance behaviors and ultimately cause collisions. We baited turkey vultures (Cathartes aura) to roads with animal carcasses and measured flight initiation distance and effective time-to-collision in response to a truck driving directly towards vultures from a starting distance of 1.13 km and at one of three speeds: 30, 60, or 90 kph (no vultures were struck). Flight initiation distance of vultures increased by a factor of 1.85 as speed increased from 30 to 90 kph. However, for 90-kph approaches there was no clear trend in flight initiation distance across replicates: birds appeared equally likely to initiate escape behavior at 40 m as at 220 m. Time-to-collision decreased by a factor of 0.62 with approach speeds from 30 to 90 kph. Also, at 90 kph, four vehicle approaches (17%) resulted in near collisions with vultures (time-to-collision ≤1.7 s), compared to none during 60 kph approaches and one during 30 kph approaches (4%). Our findings suggest that antipredator behaviors in turkey vultures, particularly stimulus processing and response, might not be well tuned to vehicles approaching at speeds ≥90 kph. The possible inability of turkey vultures to react appropriately to high-speed vehicles could be common among birds, and might represent an important determinant of bird-vehicle collisions. PMID:24503622

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

    Chang, Kai; Xia, Yuanqing; Huang, Kaoli

    2016-01-01

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

  2. Impact Parameter Dependence of π"-/π"+ Ratio in Probing the Nuclear Symmetry Energy Using Heavy-Ion Collisions

    He, Guo-Qiang; Wei, Gao-Feng; Lu, Yi-Xin; Cao, Xin-Wei

    2016-01-01

    The impact parameter dependence of π"-/π"+ ratio is examined in heavy-ion collisions at 400 MeV/nucleon within a transport model. It is shown that the sensitivity of π"-/π"+ ratio on symmetry energy shows a transition from central to peripheral collisions; that is, the stiffer symmetry energy leads to a larger π"-/π"+ ratio in peripheral collisions while the softer symmetry energy always leads this ratio to be larger in central collisions. After checking the kinematic energy distribution of π"-/π"+ ratio, we found this transition of sensitivity of π"-/π"+ ratio to symmetry energy is mainly from less energetic pions; that is, the softer symmetry energy gets the less energetic pions to form a smaller π"-/π"+ ratio in peripheral collisions while these pions generate a larger π"-/π"+ ratio in central collisions. Undoubtedly, the softer symmetry energy can also lead more energetic pions to form a larger π"-/π"+ ratio in peripheral collisions. Nevertheless, considering that most of pions are insufficiently energetic at this beam energy, we therefore suggest the π"-/π"+ ratio as a probe of the high-density symmetry energy effective only in central at most to midcentral collisions, thereby avoiding the possible information of low-density symmetry energy carried in π"-/π"+ ratio from peripheral collisions.

  3. Expert and novice facilitated modelling

    Tavella, Elena; Papadopoulos, Thanos

    2015-01-01

    , and empirically supports the claim that facilitation skills can be taught to participants to enable them to self-facilitate workshops. Differences were also found, which led to the introduction of a new dimension—‘internal versus external’ facilitation. The implications of our findings for effective training...

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

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

    2005-05-01

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

  5. Towards a Collision-Free WLAN: Dynamic Parameter Adjustment in CSMA/E2CA

    Bellalta Boris

    2011-01-01

    Full Text Available Carrier sense multiple access with enhanced collision avoidance (CSMA/ECA is a distributed MAC protocol that allows collision-free access to the medium in WLANs. The only difference between CSMA/ECA and the well-known CSMA/CA is that the former uses a deterministic backoff after successful transmissions. Collision-free operation is reached after a transient state during which some collisions may occur. This paper shows that the duration of the transient state can be shortened by appropriately setting the contention parameters. Standard absorbing Markov chain theory is used to describe the behaviour of the system in the transient state and to predict the expected number of slots to reach the collision-free operation. The paper also introduces CSMA/E2CA, in which a deterministic backoff is used two consecutive times after a successful transmission. CSMA/E2CA converges quicker to collision-free operation and delivers higher performance than CSMA/ECA, specially in harsh wireless scenarios with high frame-error rates. The last part of the paper addresses scenarios with a large number of contenders. We suggest dynamic parameter adjustment techniques to accommodate a varying (and potentially high number of contenders. The effectiveness of these adjustments in preventing collisions is validated by means of simulation.

  6. Integration of Weather Avoidance and Traffic Separation

    Consiglio, Maria C.; Chamberlain, James P.; Wilson, Sara R.

    2011-01-01

    This paper describes a dynamic convective weather avoidance concept that compensates for weather motion uncertainties; the integration of this weather avoidance concept into a prototype 4-D trajectory-based Airborne Separation Assurance System (ASAS) application; and test results from a batch (non-piloted) simulation of the integrated application with high traffic densities and a dynamic convective weather model. The weather model can simulate a number of pseudo-random hazardous weather patterns, such as slow- or fast-moving cells and opening or closing weather gaps, and also allows for modeling of onboard weather radar limitations in range and azimuth. The weather avoidance concept employs nested "core" and "avoid" polygons around convective weather cells, and the simulations assess the effectiveness of various avoid polygon sizes in the presence of different weather patterns, using traffic scenarios representing approximately two times the current traffic density in en-route airspace. Results from the simulation experiment show that the weather avoidance concept is effective over a wide range of weather patterns and cell speeds. Avoid polygons that are only 2-3 miles larger than their core polygons are sufficient to account for weather uncertainties in almost all cases, and traffic separation performance does not appear to degrade with the addition of weather polygon avoidance. Additional "lessons learned" from the batch simulation study are discussed in the paper, along with insights for improving the weather avoidance concept. Introduction

  7. Facilitating post traumatic growth

    Cox Helen

    2004-07-01

    Full Text Available Abstract Background Whilst negative responses to traumatic injury have been well documented in the literature, there is a small but growing body of work that identifies posttraumatic growth as a salient feature of this experience. We contribute to this discourse by reporting on the experiences of 13 individuals who were traumatically injured, had undergone extensive rehabilitation and were discharged from formal care. All participants were injured through involvement in a motor vehicle accident, with the exception of one, who was injured through falling off the roof of a house. Methods In this qualitative study, we used an audio-taped in-depth interview with each participant as the means of data collection. Interviews were transcribed verbatim and analysed thematically to determine the participants' unique perspectives on the experience of recovery from traumatic injury. In reporting the findings, all participants' were given a pseudonym to assure their anonymity. Results Most participants indicated that their involvement in a traumatic occurrence was a springboard for growth that enabled them to develop new perspectives on life and living. Conclusion There are a number of contributions that health providers may make to the recovery of individuals who have been traumatically injured to assist them to develop new views of vulnerability and strength, make changes in relationships, and facilitate philosophical, physical and spiritual growth.

  8. SSRI Facilitated Crack Dancing

    Ravi Doobay

    2017-01-01

    Full Text Available Choreoathetoid movement secondary to cocaine use is a well-documented phenomenon better known as “crack dancing.” It consists of uncontrolled writhing movements secondary to excess dopamine from cocaine use. We present a 32-year-old male who had been using cocaine for many years and was recently started on paroxetine, a selective serotonin reuptake inhibitor (SSRI for worsening depression four weeks before presentation. He had been doing cocaine every 2 weeks for the last three years and had never “crack danced” before this episode. The authors have conducted a thorough literature review and cited studies that suggest “crack dancing” is associated with excess dopamine. There has never been a documented case report of an SSRI being linked with “crack dancing.” The authors propose that the excess dopaminergic effect of the SSRI lowered the dopamine threshold for “crack dancing.” There is a communication with the Raphe Nucleus and the Substantia Nigra, which explains how the SSRI increases dopamine levels. This is the first documented case of an SSRI facilitating the “crack dance.”

  9. Radiations from atomic collision processes

    Bernyi, D.

    1994-01-01

    The physics of atomic collision phenomena in which only the Coulomb forces have a role is an actual field or the research of the present days. The impact energy range in these collisions is very broad,it extends from the eV or even lower region to the GeV region or higher,i.e. it spans the region of three branches of physics,namely that of the atomic,the nuclear and the particle physics.To describe and explain the collision processes themselves, different models (collision mechanisms) are used and they are surveyed in the presentation. Different electromagnetic radiations and particles are emitted from the collision processes.Their features are shown in details together with the most important methods in their detection and study.Examples are given based on the literature and on the investigations of the author and his coworkers. The applications of the radiation from atomic collisions in other scientific fields and in the solution of different practical problems are also surveyed shortly. 16 figs., 2 tabs., 76 refs. (author)

  10. Collision-produced atomic states

    Andersen, N.; Copenhagen Univ.

    1988-01-01

    The last 10-15 years have witnessed the development of a new, powerful class of experimental techniques for atomic collision studies, allowing partial or complete determination of the state of the atoms after a collision event, i.e. the full set of quantum-mechanical scattering amplitudes or - more generally - the density matrix describing the system. Evidently, such studies, involving determination of alignment and orientation parameters, provide much more severe tests of state-of-the-art scattering theories than do total or differential cross section measurements which depend on diagonal elements of the density matrix. The off-diagonal elements give us detailed information about the shape and dynamics of the atomic states. Therefore, close studies of collision-produced atomic states are currently leading to deeper insights into the fundamental physical mechanisms governing the dynamics of atomic collision events. The first part of the lectures deals with the language used to describe atomic states, while the second part presents a selection of recent results for model systems which display fundamental aspects of the collision physics in particularly instructive ways. I shall here restrict myself to atom-atom collisions. The discussion will be focused on states decaying by photon emission though most of the ideas can be easily modified to include electron emission as well. (orig./AH)

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

    Hoyeon Kim

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

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

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

    2017-01-01

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

  13. A Demonstration of Approach and Avoidance Conflicts

    Terry, W. Scott

    2010-01-01

    Choosing between 2 unpleasant alternatives (Would you rather be less intelligent or less attractive?) is more difficult than choosing between two desirable options (Would you rather be more intelligent or more attractive?). Here I describe a classroom demonstration of avoidance-avoidance conflicts. Students make a series of approach-approach and…

  14. Effects of IFRS adoption on tax avoidance

    Renata Nogueira Braga

    Full Text Available ABSTRACT This study investigates the association between mandatory International Financial Reporting Standards (IFRS adoption and corporate tax avoidance. In this study, tax avoidance is defined as a reduction in the effective corporate income tax rate through tax planning activities, whether these are legal, questionable, or even illegal. Three measures of tax avoidance are used and factors at the country and firm level (that have already been associated with tax avoidance in prior research are controlled. Using samples that range from 9,389 to 15,423 publicly-traded companies from 35 countries, covering 1999 to 2014, it is found that IFRS adoption is associated with higher levels of corporate tax avoidance, even when the level of book-tax conformity required in the countries and the volume of accruals are controlled, both of which are considered potential determinants of this relationship. Furthermore, the results suggest that after IFRS adoption, firms in higher book-tax conformity environments engage more in tax avoidance than firms in lower book-tax conformity environments. It is also identified that engagement in tax avoidance after IFRS adoption derives not only from accruals management, but also from practices that do not involve accruals. The main conclusion is that companies engage more in tax avoidance after mandatory IFRS adoption.

  15. A comparison of different informative vibrotactile forward collision warnings: does the warning need to be linked to the collision event?

    Rob Gray

    Full Text Available Recent research demonstrates that auditory and vibrotactile forward collision warnings presenting a motion signal (e.g., looming or apparent motion across the body surface can facilitate speeded braking reaction times (BRTs. The purpose of the present study was to expand on this work by directly comparing warning signals in which the motion conveyed was constant across all collision events with signals in which the speed of motion was dependent on the closing velocity (CV. Two experiments were conducted using a simulated car-following task and BRTs were measured. In Experiment 1, increasing intensity (looming vibrotactile signals were presented from a single tactor attached to the driver's waist. When the increase in intensity was CV-linked, BRTs were significantly faster as compared to a no-warning condition, however, they were not significantly different from constant intensity and CV-independent looming warnings. In Experiment 2, a vertical array of three tactors was used to create motion either towards (upwards or away (downwards from the driver's head. When the warning signal presented upwards motion that was CV-linked, BRTs were significantly faster than all other warning types. Downwards warnings led to a significantly higher number of brake activations in false alarm situations as compared to upwards moving warnings. The effectiveness of dynamic tactile collision warnings would therefore appear to depend on both the link between the warning and collision event and on the directionality of the warning signal.

  16. A chance to avoid mistakes human error

    Amaro, Pablo; Obeso, Eduardo; Gomez, Ruben

    2010-01-01

    Trying to give an answer to the lack of public information in the industry, in relationship with the different tools that are managed in the nuclear industry for minimizing the human error, a group of workers from different sections of the St. Maria de Garona NPP (Quality Assurance/ Organization and Human Factors) decided to embark on a challenging and exciting project: 'Write a book collecting all the knowledge accumulated during their daily activities, very often during lecture time of external information received from different organizations within the nuclear industry (INPO, WANO...), but also visiting different NPP's, maintaining meetings and participating in training courses related de Human and Organizational Factors'. Main objective of the book is presenting to the industry in general, the different tools that are used and fostered in the nuclear industry, in a practical way. In this way, the assimilation and implementation in others industries could be possible and achievable in and efficient context. One year of work, and our project is a reality. We have presented and abstract during the last Spanish Nuclear Society meeting in Sevilla, last October...and the best, the book is into the market for everybody in web-site: www.bubok.com. The book is structured in the following areas: 'Errare humanum est': Trying to present what is the human error to the reader, its origin and the different barriers. The message is that the reader see the error like something continuously present in our lives... even more frequently than we think. Studying its origin can be established aimed at barriers to avoid or at least minimize it. 'Error's bitter face': Shows the possible consequences of human errors. What better that presenting real experiences that have occurred in the industry. In the book, accidents in the nuclear industry, like Tree Mile Island NPP, Chernobyl NPP, and incidents like Davis Besse NPP in the past, helps to the reader to make a reflection about the

  17. Higher threat avoidance costs reduce avoidance behaviour which in turn promotes fear extinction in humans.

    Rattel, Julina A; Miedl, Stephan F; Blechert, Jens; Wilhelm, Frank H

    2017-09-01

    Theoretical models specifying the underlying mechanisms of the development and maintenance of anxiety and related disorders state that fear responses acquired through classical Pavlovian conditioning are maintained by repeated avoidance behaviour; thus, it is assumed that avoidance prevents fear extinction. The present study investigated behavioural avoidance decisions as a function of avoidance costs in a naturalistic fear conditioning paradigm. Ecologically valid avoidance costs - manipulated between participant groups - were represented via time-delays during a detour in a gamified computer task. After differential acquisitions of shock-expectancy to a predictive conditioned stimulus (CS+), participants underwent extinction where they could either take a risky shortcut, while anticipating shock signaled by the CS+, or choose a costly avoidance option (lengthy detour); thus, they were faced with an approach-avoidance conflict. Groups with higher avoidance costs (longer detours) showed lower proportions of avoiders. Avoiders gave heightened shock-expectancy ratings post-extinction, demonstrating 'protecting from extinction', i.e. failure to extinguish. Moreover, there was an indirect effect of avoidance costs on protection from extinction through avoidance behaviour. No moderating role of trait-anxiety was found. Theoretical implications of avoidance behaviour are discussed, considering the involvement of instrumental learning in the maintenance of fear responses. Copyright © 2016 Elsevier Ltd. All rights reserved.

  18. Physics in collision

    Anon.

    1982-01-01

    The 2nd international conference 'Physics in Collision' took place in Stockholm from 2-4 June. Some 160 delegates from all over the world gathered together to learn and to discuss about the most recent results from proton-proton, proton-antiproton and electron-positron colliders. The firsft conference in this series was held in May 1981 in Blacksburg, Virginia, and next year's meeting is scheduled for Lake Como, Italy. Excerpt from the Pope's speech: Let me in conclusion refer to the possible applications of your research even if they are not directly connected with your work, your responsibilities and the purpose of this laboratory. History has shown that the discovery of new phenomena leads in time to wondrous applications that are often completely unexpected. Your Member States and their governments and technicians already no doubt follow your research with an interest that is all the greater because they anticipate exploiting them intensively sooner or later. What applications can be expected to stem from the knowledge the structure of the atom and the possibility of its decomposition? Men may use their knowledge for better or for worse. The best use will be to serve mankind and its development, in the fields of health care, food resources, sources of energy and protection of the environment. The worst use would be the destruction of the ecological balance, the creation of dangerous levels of radioactivity and, worst of all, the production of instruments of destruction which in power and quantity are already exceedingly dangerous. We are faced with a great moral challenge — we must harmonize the forces of technology, born from science, with the forces of conscience. 'Conscience must be mobilized! ' The cause of mankind will be served if science and conscience go hand in hand. In other words, great attention must be paid to how man uses these discoveries, and his motivation when making the choice

  19. Risk Reducing Effect of AIS Implementation on Collision Risk

    Lützen, Marie; Friis-Hansen, Peter

    2003-01-01

    AIS (Automatic Identification System) is a transponder system developed for sea traffic purposes. The system sends and receives important ship information and other safety-related information between other ships and shore-based AIS stations. The implementation of AIS has now been initiated and......, as a result, the community will undoubtedly observe an increase in navigational safety. However, to the authors? knowledge, no study has so far rigorously quantified the risk reducing effect of using AIS as an integrated part of the navigational system. The objective of this study is to fill this gap....... The risk reducing effect of AIS is quantified by building a Bayesian network facilitating an evaluation of the effect of AIS on the navigational officer?s reaction ability in a potential, critical collision situation. The time-dependent change in the risk reducing effect on ship collisions is analysed...

  20. The collision that changed the world

    Wally Broecker

    2015-07-01

    Full Text Available Abstract In connection with the Anthropocene, one might ask how climate is likely to evolve in the absence of man’s intervention and whether humans will be able to purposefully alter this course. In this commentary, I deal with the situation for very long time scales. I make a case that fifty million years ago, the collision between the northward drifting Indian land mass and Asia set the Earth’s climate on a new course. Ever since then, it has cooled. In the absence of some other dramatic disruption in the movement of the plates which make up our planet’s crust, on the time scale of tens of millions of years, this drift would cause the Earth to freeze over as it did during the late Precambrian. Evidence for this change in course comes from records of oxygen and lithium isotopic composition of foraminifer shells. It is reinforced by records of Mg to Ca in halite-hosted fluid inclusions and in marine CaCO3. In addition, the collision appears to have created abrupt changes in the sulfur isotope composition of marine barite and the carbon isotope composition of amber. Not only did this collision create the Himalaya, but more important, it led to a reorganization of the crustal plate motions. Through some combination of the building of mountains and lowering of sea level, these changes generated a mismatch between the supply of CO2 by planetary outgassing and that of calcium by the weathering of silicate rock. The tendency toward an oversupply of calcium has been compensated by a drawdown of the atmosphere’s CO2 content. This drawdown cooled the Earth, slowing down the supply of calcium. Although we are currently inadvertently compensating for this cooling by burning fossil fuels, the impacts of this CO2 on Earth climate will last no more than a tenth of a million years. So, if humans succeed in avoiding extinction, there will likely be a long-term effort to warm the planet.

  1. Cluster-collision frequency. II. Estimation of the collision rate

    Amadon, A.S.; Marlow, W.H.

    1991-01-01

    Gas-phase cluster-collision rates, including effects of cluster morphology and long-range intermolecular forces, are calculated. Identical pairs of icosahedral or dodecahedral carbon tetrachloride clusters of 13, 33, and 55 molecules in two different relative orientations were discussed in the preceding paper [Phys. Rev. A 43, 5483 (1991)]: long-range interaction energies were derived based upon (i) exact calculations of the iterated, or many-body, induced-dipole interaction energies for the clusters in two fixed relative orientations; and (ii) bulk, or continuum descriptions (Lifshitz--van der Waals theory), of spheres of corresponding masses and diameters. In this paper, collision rates are calculated according to an exact description of the rates for small spheres interacting via realistic potentials. Utilizing the interaction energies of the preceding paper, several estimates of the collision rates are given by treating the discrete clusters in fixed relative orientations, by computing rotationally averaged potentials for the discrete clusters, and by approximating the clusters as continuum spheres. For the discrete, highly symmetric clusters treated here, the rates using the rotationally averaged potentials closely approximate the fixed-orientation rates and the values of the intercluster potentials for cluster surface separations under 2 A have negligible effect on the overall collision rates. While the 13-molecule cluster-collision rate differs by 50% from the rate calculated as if the cluster were bulk matter, the two larger cluster-collision rates differ by less than 15% from the macroscopic rates, thereby indicating the transition of microscopic to macroscopic behavior

  2. Obstacle Avoidance for Redundant Manipulators Utilizing a Backward Quadratic Search Algorithm

    Tianjian Hu

    2016-06-01

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

  3. Hesitant avoidance while walking: an error of social behavior generated by mutual interaction

    Motoyasu eHonma

    2015-07-01

    Full Text Available Altering physical actions when responding to changing environmental demands is important but not always effectively performed. This ineffectiveness, which is an error of social behavior generated by mutual interactions, is not well understood. This study investigated mechanisms of a hesitant behavior that occurs in people walking toward each other, causing people to move in the same direction when attempting to avoid a collision. Using a motion capture device affixed to 17 pairs, we first confirmed the hesitant behavior by a difference between the experimental task, which involved an indeterminate situation to assess the actions of another individual, and the control task, which involved a predetermined avoiding direction, in a real-time situation involving two people. We next investigated the effect of three external factors: long distance until an event, synchronized walking cycle, and different foot relations in dyads on the hesitant behavior. A dramatic increase in freezing and near-collision behavior occurred in dyads for which the avoiding direction was not predetermined. The behavior related with the combination of long distance until an event, synchronized walking cycle, and different foot relations in dyads. We found that the hesitant behavior is influenced by an interpersonal relationship under enough distance to predict other movement. The hesitant behavior has possibly emerged as an undesired by-product of joint action. These results contribute to our understanding of the mechanisms of adaptive control of perception-action coupling in mutual interaction.

  4. Sex-specific positive and negative consequences of avoidance training during childhood on adult active avoidance learning in mice

    Almuth eSpröwitz

    2013-10-01

    Full Text Available In humans and animals cognitive training during childhood plays an important role in shaping neural circuits and thereby determines learning capacity later in life. Using a negative feedback learning paradigm, the two-way active avoidance (TWA learning, we aimed to investigate in mice (i the age-dependency of TWA learning, (ii the consequences of pretraining in childhood on adult learning capacity and (iii the impact of sex on the learning paradigm in mice. Taken together, we show here for the first time that the beneficial or detrimental outcome of pretraining in childhood depends on the age during which TWA training is encountered, indicating that different, age-dependent long-term memory traces might be formed, which are recruited during adult TWA training and thereby either facilitate or impair adult TWA learning. While pretraining during infancy results in learning impairment in adulthood, pretraining in late adolescence improved avoidance learning.The experiments revealed a clear sex difference in the group of late-adolescent mice: female mice showed better avoidance learning during late adolescence compared to males, and the beneficial impact of late-adolescent pretraining on adult learning was more pronounced in females compared to males.

  5. Effects of psychotropic agents on extinction of lever-press avoidance in a rat model of anxiety vulnerability

    Xilu eJiao

    2014-09-01

    Full Text Available Avoidance and its perseveration represent key features of anxiety disorders. Both pharmacological and behavioral approaches (i.e. anxiolytics and extinction therapy have been utilized to modulate avoidance behavior in patients. However, the outcome has not always been desirable. Part of the reason is attributed to the diverse neuropathology of anxiety disorders. Here, we investigated the effect of psychotropic drugs that target various monoamine systems on extinction of avoidance behavior using lever-press avoidance task. Here we used the Wistar-Kyoto (WKY rat, a unique rat model that exhibits facilitated avoidance and extinction resistance along with malfunction of the dopamine (DA system. Sprague Dawley (SD and WKY rats were trained to acquire lever-press avoidance. WKY rats acquired avoidance faster and to a higher level compared to SD rats. During pharmacological treatment, bupropion, and desipramine significantly reduced avoidance response selectively in WKY rats. However, after the discontinuation of drug treatment, only those WKY rats that were previously treated with desipramine exhibited lower avoidance response compared to the control group. In contrast, none of the psychotropic drugs facilitated avoidance extinction in SD rats. Instead, desipramine impaired avoidance extinction and increased non-reinforced response in SD rats. Interestingly, paroxetine, a widely used antidepressant and anxiolytic, exhibited the weakest effect in WKY rats and no effects at all in SD rats. Thus, our data suggest that malfunctions in brain catecholamine system could be one of the underlying etiologies of anxiety-like behavior, particularly avoidance perseveration. Pharmacological manipulation targeting DA and norepinephrine is more effective to facilitate extinction learning in this strain. The data from the present study may shed light on new pharmacological approaches to treat patients with anxiety disorders who are not responding to serotonin re

  6. Single dose testosterone administration alleviates gaze avoidance in women with Social Anxiety Disorder

    Enter, Dorien; Terburg, David|info:eu-repo/dai/nl/32304087X; Harrewijn, Anita; Spinhoven, Philip; Roelofs, Karin

    2015-01-01

    Gaze avoidance is one of the most characteristic and persistent social features in people with Social Anxiety Disorder (SAD). It signals social submissiveness and hampers adequate social interactions. Patients with SAD typically show reduced testosterone levels, a hormone that facilitates socially

  7. Ecology: avoidance of disease by social lobsters.

    Behringer, Donald C; Butler, Mark J; Shields, Jeffrey D

    2006-05-25

    Transmissible pathogens are the bane of social animals, so they have evolved behaviours to decrease the probability of infection. There is no record, however, of social animals avoiding diseased individuals of their own species in the wild. Here we show how healthy, normally gregarious Caribbean spiny lobsters (Panulirus argus) avoid conspecifics that are infected with a lethal virus. Early detection and avoidance of infected, though not yet infectious, individuals by healthy lobsters confers a selective advantage and highlights the importance of host behaviour in disease transmission among natural populations.

  8. Collision prediction models using multivariate Poisson-lognormal regression.

    El-Basyouny, Karim; Sayed, Tarek

    2009-07-01

    This paper advocates the use of multivariate Poisson-lognormal (MVPLN) regression to develop models for collision count data. The MVPLN approach presents an opportunity to incorporate the correlations across collision severity levels and their influence on safety analyses. The paper introduces a new multivariate hazardous location identification technique, which generalizes the univariate posterior probability of excess that has been commonly proposed and applied in the literature. In addition, the paper presents an alternative approach for quantifying the effect of the multivariate structure on the precision of expected collision frequency. The MVPLN approach is compared with the independent (separate) univariate Poisson-lognormal (PLN) models with respect to model inference, goodness-of-fit, identification of hot spots and precision of expected collision frequency. The MVPLN is modeled using the WinBUGS platform which facilitates computation of posterior distributions as well as providing a goodness-of-fit measure for model comparisons. The results indicate that the estimates of the extra Poisson variation parameters were considerably smaller under MVPLN leading to higher precision. The improvement in precision is due mainly to the fact that MVPLN accounts for the correlation between the latent variables representing property damage only (PDO) and injuries plus fatalities (I+F). This correlation was estimated at 0.758, which is highly significant, suggesting that higher PDO rates are associated with higher I+F rates, as the collision likelihood for both types is likely to rise due to similar deficiencies in roadway design and/or other unobserved factors. In terms of goodness-of-fit, the MVPLN model provided a superior fit than the independent univariate models. The multivariate hazardous location identification results demonstrated that some hazardous locations could be overlooked if the analysis was restricted to the univariate models.

  9. QCD in heavy ion collisions

    Iancu, Edmond [IPhT, Saclay (France)

    2014-07-01

    These lectures provide a modern introduction to selected topics in the physics of ultrarelativistic heavy ion collisions which shed light on the fundamental theory of strong interactions, the Quantum Chromodynamics. The emphasis is on the partonic forms of QCD matter which exist in the early and intermediate stages of a collision -- the colour glass condensate, the glasma, and the quark-gluon plasma -- and on the effective theories that are used for their description. These theories provide qualitative and even quantitative insight into a wealth of remarkable phenomena observed in nucleus-nucleus or deuteron-nucleus collisions at RHIC and/or the LHC, like the suppression of particle production and of azimuthal correlations at forward rapidities, the energy and centrality dependence of the multiplicities, the ridge effect, the limiting fragmentation, the jet quenching, or the dijet asymmetry.

  10. QCD in heavy ion collisions

    Iancu, Edmond

    2014-01-01

    These lectures provide a modern introduction to selected topics in the physics of ultrarelativistic heavy ion collisions which shed light on the fundamental theory of strong interactions, the Quantum Chromodynamics. The emphasis is on the partonic forms of QCD matter which exist in the early and intermediate stages of a collision -- the colour glass condensate, the glasma, and the quark-gluon plasma -- and on the effective theories that are used for their description. These theories provide qualitative and even quantitative insight into a wealth of remarkable phenomena observed in nucleus-nucleus or deuteron-nucleus collisions at RHIC and/or the LHC, like the suppression of particle production and of azimuthal correlations at forward rapidities, the energy and centrality dependence of the multiplicities, the ridge effect, the limiting fragmentation, the jet quenching, or the dijet asymmetry

  11. Semiholography for heavy ion collisions

    Mukhopadhyay, Ayan

    2017-01-01

    The formation of QGP in heavy ion collisions gives us a great opportunity for learning about nonperturbative dynamics of QCD. Semiholography provides a new consistent framework to combine perturbative and non-perturbative effects in a coherent way and can be applied to obtain an effective description for heavy ion collisions. In particular, it allows us to include nonperturbative effects in existing glasma effective theory and QCD kinetic theory for the weakly coupled saturated degrees of freedom liberated by the collisions in the initial stages in a consistent manner. We argue why the full framework should be able to confront experiments with only a few phenomenological parameters and present feasibility tests for the necessary numerical computations. Furthermore, we discuss that semiholography leads to a new description of collective flow in the form of a generalised non-Newtonian fluid. We discuss some open questions which we hope to answer in the near future.

  12. Collision risk in white-tailed eagles. Modelling kernel-based collision risk using satellite telemetry data in Smoela wind-power plant

    May, Roel; Nygaard, Torgeir; Dahl, Espen Lie; Reitan, Ole; Bevanger, Kjetil

    2011-05-15

    Large soaring birds of prey, such as the white-tailed eagle, are recognized to be perhaps the most vulnerable bird group regarding risk of collisions with turbines in wind-power plants. Their mortalities have called for methods capable of modelling collision risks in connection with the planning of new wind-power developments. The so-called 'Band model' estimates collision risk based on the number of birds flying through the rotor swept zone and the probability of being hit by the passing rotor blades. In the calculations for the expected collision mortality a correction factor for avoidance behaviour is included. The overarching objective of this study was to use satellite telemetry data and recorded mortality to back-calculate the correction factor for white-tailed eagles. The Smoela wind-power plant consists of 68 turbines, over an area of approximately 18 km2. Since autumn 2006 the number of collisions has been recorded on a weekly basis. The analyses were based on satellite telemetry data from 28 white-tailed eagles equipped with backpack transmitters since 2005. The correction factor (i.e. 'avoidance rate') including uncertainty levels used within the Band collision risk model for white-tailed eagles was 99% (94-100%) for spring and 100% for the other seasons. The year-round estimate, irrespective of season, was 98% (95-99%). Although the year-round estimate was similar, the correction factor for spring was higher than the correction factor of 95% derived earlier from vantage point data. The satellite telemetry data may provide an alternative way to provide insight into relative risk among seasons, and help identify periods or areas with increased risk either in a pre- or post construction situation. (Author)

  13. Distraction-related road traffic collisions

    drivers involved in road traffic collisions (RTC) were using mobile phones. Our study supports ... while driving. Keywords: Distraction, prevention, road traffic collision, mobile phone. ..... keeps us connected with others with great advantages.

  14. Outreach Materials for the Collision Repair Campaign

    The Collision Repair Campaign offers outreach materials to help collision repair shops reduce toxic air exposure. Materials include a DVD, poster, training video, and materials in Spanish (materiales del outreach en español).

  15. Interferometry of high energy nuclear collisions

    Padula, S.S.

    1990-01-01

    The interferometry is used for determining large space time dimensions of the Quark Gluon Plasma formed in high energy nuclear collisions or in high multiplicity fluctuations in p-barp collisions. (M.C.K.)

  16. Collision analysis of one kind of chaos-based hash function

    Xiao Di; Peng Wenbing; Liao Xiaofeng; Xiang Tao

    2010-01-01

    In the last decade, various chaos-based hash functions have been proposed. Nevertheless, the corresponding analyses of them lag far behind. In this Letter, we firstly take a chaos-based hash function proposed very recently in Amin, Faragallah and Abd El-Latif (2009) as a sample to analyze its computational collision problem, and then generalize the construction method of one kind of chaos-based hash function and summarize some attentions to avoid the collision problem. It is beneficial to the hash function design based on chaos in the future.

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

    Yi-Chung Lai

    2012-10-01

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

  18. Multidimensional intermittency in hadronic collisions

    Pan, J.; Hwa, R.C.

    1992-06-01

    The study of intermittency in high-energy hadronic collisions by the Monte Carlo code ECCO is extended to 3-dimensional phase space. Strong intermittency is found in agreement with the data. Fluctuation in the impact parameter is responsible for the intermittency in lnp T , and the transverse-momentum conservation leads to negative intermittency slopes in the azimuthal angle φ. The Ochs-Wosiek plots are linear in all dimensions having universal slopes. An exponent ν = 1.448 emerges to characterize multiparticle production in pp collisions. The properties of G moments are also examined, and the fractal dimensions determined

  19. Dissipative heavy-ion collisions

    Feldmeier, H.T.

    1985-01-01

    This report is a compilation of lecture notes of a series of lectures held at Argonne National Laboratory in October and November 1984. The lectures are a discussion of dissipative phenomena as observed in collisions of atomic nuclei. The model is based on a system which has initially zero temperature and the initial energy is kinetic and binding energy. Collisions excite the nuclei, and outgoing fragments or the compound system deexcite before they are detected. Brownian motion is used to introduce the concept of dissipation. The master equation and the Fokker-Planck equation are derived. 73 refs., 59 figs

  20. Spectroscopic studies of hydrogen collisions

    Kielkopf, J.

    1991-01-01

    Low energy collisions involving neutral excited states of hydrogen are being studied with vacuum ultraviolet spectroscopy. Atomic hydrogen is generated by focusing an energetic pulse of ArF, KrF, or YAG laser light into a cell of molecular hydrogen, where a plasma is created near the focal point. The H 2 molecules in and near this region are dissociated, and the cooling atomic hydrogen gas is examined with laser and dispersive optical spectroscopy. In related experiments, we are also investigating neutral H + O and H + metal - atom collisions in these laser-generated plasmas

  1. Toddlers at the Table: Avoiding Power Struggles

    ... Search English Español Toddlers at the Table: Avoiding Power Struggles KidsHealth / For Parents / Toddlers at the Table: ... common concerns into opportunities to teach healthy eating habits. Most Toddlers Are Picky Eaters Many toddlers express ...

  2. How to avoid overheating during exercise

    ... patientinstructions/000865.htm How to avoid overheating during exercise To use the sharing features on this page, ... condition can get heat illness. Stay Cool During Exercise Try these tips to help prevent heat-related ...

  3. Food Waste Avoidance Actions in Food Retailing

    Kulikovskaja, Viktorija; Aschemann-Witzel, Jessica

    2017-01-01

    Food waste occurs throughout the entire food supply chain, from production to consumption of food in households. Retailers are in a unique position to contribute to food waste avoidance, not only by minimizing the amount of waste in their distribution channels but also by influencing consumer...... attitudes and behaviors. This explorative study aims to identify which food waste avoidance actions are conducted by retailers in Denmark, to which extent, and how they vary across food categories and supermarket chain. Based on an analysis of secondary and empirical data collected via observations...... at retail stores, the authors identify 22 food waste avoidance actions in Danish retail. The results provide new insights into food waste avoidance in retail. Based on the findings, suggestions for further research directions are developed that should serve to identify the most efficient customer targeted...

  4. Foods to Avoid or Limit during Pregnancy

    ... Global Map Premature Birth Report Cards Careers Archives Pregnancy Before or between pregnancies Nutrition, weight & fitness Prenatal ... during pregnancy Foods to avoid or limit during pregnancy E-mail to a friend Please fill in ...

  5. The challenges for scientists in avoiding plagiarism.

    Fisher, E R; Partin, K M

    2014-01-01

    Although it might seem to be a simple task for scientists to avoid plagiarism and thereby an allegation of research misconduct, assessment of trainees in the Responsible Conduct of Research and recent findings from the National Science Foundation Office of Inspector General regarding plagiarism suggests otherwise. Our experiences at a land-grant academic institution in assisting researchers in avoiding plagiarism are described. We provide evidence from a university-wide multi-disciplinary course that understanding how to avoid plagiarism in scientific writing is more difficult than it might appear, and that a failure to learn the rules of appropriate citation may cause dire consequences. We suggest that new strategies to provide training in avoiding plagiarism are required.

  6. Dual Eligibles and Potentially Avoidable Hospitalizations

    U.S. Department of Health & Human Services — About 25 percent of the hospitalizations for dual eligible beneficiaries in 2005 were potentially avoidable. Medicare and Medicaid spending for those potentially...

  7. Avoiding Anemia: Boost Your Red Blood Cells

    ... Issues Subscribe January 2014 Print this issue Avoiding Anemia Boost Your Red Blood Cells En español Send ... Disease When Blood Cells Bend Wise Choices Preventing Anemia To prevent or treat iron-deficiency anemia: Eat ...

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

    Fang Wu

    2017-05-01

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

  9. Research on Intelligent Avoidance Method of Shipwreck Based on Bigdata Analysis

    Li Wei

    2017-11-01

    Full Text Available In order to solve the problem that current avoidance method of shipwreck has the problem of low success rate of avoidance, this paper proposes a method of intelligent avoidance of shipwreck based on big data analysis. Firstly,our method used big data analysis to calculate the safe distance of approach of ship under the head-on situation, the crossing situation and the overtaking situation.On this basis, by calculating the risk-degree of collision of ships,our research determined the degree of immediate danger of ships.Finally, we calculated the three kinds of evaluation function of ship navigation, and used genetic algorithm to realize the intelligent avoidance of shipwreck.Experimental result shows that compared the proposed method with the traditional method in two in a recent meeting when the distance to closest point of approach between two ships is 0.13nmile, they can effectively evade.The success rate of avoidance is high.

  10. ADVERTISING AVOIDANCE PADA IKLAN DI MEDIA TELEVISI

    Indah Dwi Pratama; Ujang Sumarwan; Hari Wijayanto

    2016-01-01

    One factor that can interfere with the absorption rate of viewers on television advertisement is advertising avoidance which shows the difference between the number of viewers who watch advertisement programs and the number of viewers who watch television programs. The factors that affect advertising avoidance include the demography of the viewers (gender, age, area of residence, and social economic status, or SES), advertising attributes (the television stations, order of ads, genre of the p...

  11. Banking deregulation and corporate tax avoidance

    Bill B. Francis

    2017-06-01

    Full Text Available We investigate whether tax avoidance substitutes for external financing. We exploit interstate banking deregulation as a quasi-external shock to examine whether firms engage in less tax avoidance after banking deregulation, because of cheaper and easier access to credit from banks. We find no empirical evidence to support this substitutive relation, even for firms with higher financial constraints or firms with higher external financing dependence.

  12. Sinkhole Avoidance Routing in Wireless Sensor Networks

    2011-05-09

    COVERED (From- To) 09-05-2011 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Sinkhole Avoidance Routing in Wireless Sensor Networks 5b . GRANT NUMBER . 5c...reliability of wireless sensor networks. 15. SUBJECT TERMS wireless sensor networks, sinkhole attack, routing protocol 16. SECURITY CLASSIFICATION...Include area code) Standard Form 298 (Rev. 8/98) Prescribed by ANSI Std . Z39.18 1 Sinkhole Avoidance Routing in Wireless Sensor Networks MIDN 1/C

  13. Pathological demand avoidance: Exploring the behavioural profile.

    O Nions, E.; Viding, E.; Greven, C. U.; Ronald, A.; Happé, F.

    2014-01-01

    'Pathological Demand Avoidance' is a term increasingly used by practitioners in the United Kingdom. It was coined to describe a profile of obsessive resistance to everyday demands and requests, with a tendency to resort to 'socially manipulative' behaviour, including outrageous or embarrassing acts. Pathological demand avoidance is thought to share aspects of social impairment with autism spectrum disorders, but autism spectrum disorder-appropriate strategies, such as routine and repetition, ...

  14. Piloted Well Clear Performance Evaluation of Detect and Avoid Systems with Suggestive Guidance

    Mueller, Eric; Santiago, Confesor; Watza, Spencer

    2016-01-01

    Regulations to establish operational and performance requirements for unmanned aircraft systems (UAS) are being developed by a consortium of government, industry and academic institutions (RTCA, 2013). Those requirements will apply to the new detect-and-avoid (DAA) systems and other equipment necessary to integrate UAS with the United States (U.S) National Airspace System (NAS) and will be determined according to their contribution to the overall safety case. That safety case requires demonstration that DAA-equipped UAS collectively operating in the NAS meet an airspace safety threshold (AST). Several key gaps must be closed in order to link equipment requirements to an airspace safety case. Foremost among these is calculation of the systems risk ratio, the degree to which a particular system mitigates violation of an aircraft separation standard (FAA, 2013). The risk ratio of a DAA system, in combination with risk ratios of other collision mitigation mechanisms, will determine the overall safety of the airspace measured in terms of the number of collisions per flight hour. It is not known what the effectiveness is of a pilot-in-the-loop DAA system or even what parameters of the DAA system most improve the pilots ability to maintain separation. The relationship between the DAA system design and the overall effectiveness of the DAA system that includes the pilot, expressed as a risk ratio, must be determined before DAA operational and performance requirements can be finalized. Much research has been devoted to integrating UAS into non-segregated airspace (Dalamagkidis, 2009, Ostwald, 2007, Gillian, 2012, Hesselink, 2011, Santiago, 2015, Rorie 2015 and 2016). Several traffic displays intended for use as part of a DAA system have gone through human-in-the-loop simulation and flight-testing. Most of these evaluations were part of development programs to produce a deployable system, so it is unclear how to generalize particular aspects of those designs to general

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

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

    1999-05-01

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

  16. Avian Information Systems: Developing Web-Based Bird Avoidance Models

    Judy Shamoun-Baranes

    2008-12-01

    Full Text Available Collisions between aircraft and birds, so-called "bird strikes," can result in serious damage to aircraft and even in the loss of lives. Information about the distribution of birds in the air and on the ground can be used to reduce the risk of bird strikes and their impact on operations en route and in and around air fields. Although a wealth of bird distribution and density data is collected by numerous organizations, these data are not readily available nor interpretable by aviation. This paper presents two national efforts, one in the Netherlands and one in the United States, to develop bird avoidance nodels for aviation. These models integrate data and expert knowledge on bird distributions and migratory behavior to provide hazard maps in the form of GIS-enabled Web services. Both models are in operational use for flight planning and flight alteration and for airfield and airfield vicinity management. These models and their presentation on the Internet are examples of the type of service that would be very useful in other fields interested in species distribution and movement information, such as conservation, disease transmission and prevention, or assessment and mitigation of anthropogenic risks to nature. We expect that developments in cyber-technology, a transition toward an open source philosophy, and higher demand for accessible biological data will result in an increase in the number of biological information systems available on the Internet.

  17. Spatial vision in insects is facilitated by shaping the dynamics of visual input through behavioural action

    Martin eEgelhaaf

    2012-12-01

    Full Text Available Insects such as flies or bees, with their miniature brains, are able to control highly aerobatic flight manoeuvres and to solve spatial vision tasks, such as avoiding collisions with obstacles, landing on objects or even localizing a previously learnt inconspicuous goal on the basis of environmental cues. With regard to solving such spatial tasks, these insects still outperform man-made autonomous flying systems. To accomplish their extraordinary performance, flies and bees have been shown by their characteristic behavioural actions to actively shape the dynamics of the image flow on their eyes (optic flow. The neural processing of information about the spatial layout of the environment is greatly facilitated by segregating the rotational from the translational optic flow component through a saccadic flight and gaze strategy. This active vision strategy thus enables the nervous system to solve apparently complex spatial vision tasks in a particularly efficient and parsimonious way. The key idea of this review is that biological agents, such as flies or bees, acquire at least part of their strength as autonomous systems through active interactions with their environment and not by simply processing passively gained information about the world. These agent-environment interactions lead to adaptive behaviour in surroundings of a wide range of complexity. Animals with even tiny brains, such as insects, are capable of performing extraordinarily well in their behavioural contexts by making optimal use of the closed action–perception loop. Model simulations and robotic implementations show that the smart biological mechanisms of motion computation and visually-guided flight control might be helpful to find technical solutions, for example, when designing micro air vehicles carrying a miniaturized, low-weight on-board processor.

  18. NA49: lead-lead collision

    1996-01-01

    This is an image of an actual lead ion collision taken from tracking detectors on the NA49 experiment, part of the heavy ion project at CERN. These collisions produce a very complicated array of hadrons as the heavy ions break up. It is hoped that one of these collisions will eventually create a new state of matter known as quark-gluon plasma.

  19. Microscopic model of nucleus-nucleus collisions

    Harvey, B.G.

    1986-04-01

    The collision of two nuclei is treated as a collection of collisions between the nucleons of the projectile and those of the target nucleus. The primary projectile fragments contain only those nucleons that did not undergo a collision. The inclusive and coincidence cross sections result from the decay of the excited primary fragments. 15 refs., 5 figs

  20. NASA Lewis Launch Collision Probability Model Developed and Analyzed

    Bollenbacher, Gary; Guptill, James D

    1999-01-01

    There are nearly 10,000 tracked objects orbiting the earth. These objects encompass manned objects, active and decommissioned satellites, spent rocket bodies, and debris. They range from a few centimeters across to the size of the MIR space station. Anytime a new satellite is launched, the launch vehicle with its payload attached passes through an area of space in which these objects orbit. Although the population density of these objects is low, there always is a small but finite probability of collision between the launch vehicle and one or more of these space objects. Even though the probability of collision is very low, for some payloads even this small risk is unacceptable. To mitigate the small risk of collision associated with launching at an arbitrary time within the daily launch window, NASA performs a prelaunch mission assurance Collision Avoidance Analysis (or COLA). For the COLA of the Cassini spacecraft, the NASA Lewis Research Center conducted an in-house development and analysis of a model for launch collision probability. The model allows a minimum clearance criteria to be used with the COLA analysis to ensure an acceptably low probability of collision. If, for any given liftoff time, the nominal launch vehicle trajectory would pass a space object with less than the minimum required clearance, launch would not be attempted at that time. The model assumes that the nominal positions of the orbiting objects and of the launch vehicle can be predicted as a function of time, and therefore, that any tracked object that comes within close proximity of the launch vehicle can be identified. For any such pair, these nominal positions can be used to calculate a nominal miss distance. The actual miss distances may differ substantially from the nominal miss distance, due, in part, to the statistical uncertainty of the knowledge of the objects positions. The model further assumes that these position uncertainties can be described with position covariance matrices

  1. Ship Collision and Grounding Analysis

    Pedersen, Preben Terndrup

    2010-01-01

    It is the purpose of the paper to present a review of prediction and analysis tools for collision and grounding analyses and to outline a probabilistic procedure whereby these tools can be used by the maritime industry to develop performance based rules to reduce the risk associated with human, e...

  2. Outer Dynamics of Ship Collisions

    Pedersen, Preben Terndrup

    1996-01-01

    The purpose of these notes is to present analysis procedures for the motion of ships during ship-ship collisions and for ship collisons with offshore structures. The aim is to estimate that part of the lost kinetic energy which will have to be absorbed by rupture and plastic damage of the colliding...

  3. Quarkonium production in hadronic collisions

    Gavai, R.; Schuler, G.A.; Sridhar, K.

    1995-01-01

    We summarize the theoretical description of charmonium and bottonium production in hadronic collisions and compare it to the available data from hadron-nucleon interactions. With the parameters of the theory established by these data, we obtain predictions for quarkonium production at RHIC and LHC energies

  4. Collision Risk Analysis for HSC

    Urban, Jesper; Pedersen, Preben Terndrup; Simonsen, Bo Cerup

    1999-01-01

    High Speed Craft (HSC) have a risk profile, which is distinctly different from conventional ferries. Due to different hull building material, structural layout, compartmentation and operation, both frequency and consequences of collision and grounding accidents must be expected to be different fr...

  5. Cern collisions light up Copenhagen

    Banks, Michael

    2010-01-01

    "Anyone passing by the Niels Bohr Institute in Copenhagen, Denmark, might be startled by some strange moving lights on the facade of the institute's main building. In fact, the dancing beams show, almost in real time, collisions form the Atlas experiment at Cern's Large Hadron Collider (LHC)" (1 paragraph)

  6. Feigenbaum constants in hadron collisions

    Batunin, A.V.

    1991-01-01

    The coincidence is found between the law n ch (s) growth in hadron collisions for symmetric rapidity intervals and the law of growth of the number of elements in limit 2 m -cycles for one-dimensional quadratic maps when a govering parameter is varied. Fractal structure of the corresponding attractor underlies intermittency phenomenon in the multiplicity distribution of particles. 12 refs.; 1 fig

  7. ADVERTISING AVOIDANCE PADA IKLAN DI MEDIA TELEVISI

    Indah Dwi Pratama

    2016-01-01

    Full Text Available One factor that can interfere with the absorption rate of viewers on television advertisement is advertising avoidance which shows the difference between the number of viewers who watch advertisement programs and the number of viewers who watch television programs. The factors that affect advertising avoidance include the demography of the viewers (gender, age, area of residence, and social economic status, or SES, advertising attributes (the television stations, order of ads, genre of the program, and advertising sector, and competition (DayPart. The study attempted to measure the level of advertising avoidance in Indonesia and its relation to various factors that influence it by using the secondary data generated by Nielsen Audience Measurement Indonesia through Television Audience Measurement (TAM. The methods utilized consisted of the t-test independent sample, one way ANOVA, Tukey, Kruskal Wallis, and Dunn Bonferoni. The result showed that the level of advertising avoidance in Indonesia reached by 23%, with relatively similar results to the other studies in various countries. The hypothesis test results also showed a significant relationship between the advertising avoidance and demographic variables, advertising attributes, and competitions affecting this avoidance. On one hand, the findings of the study are expected to be useful for the advertisers to plan their advertisements on television so that they become more effective and efficient. On the other hand, television stations can utilize these findings as a development strategy to expand their audience segmentation and to accommodate the needs of the advertisers more optimally.Keywords: advertising avoidance, television advertisement, TAM, ANOVA, Tukey

  8. Laser-assisted atom-atom collisions

    Roussel, F.

    1984-01-01

    The basic layer-assisted atom-atom collision processes are reviewed in order to get a simpler picture of the main physical facts. The processes can be separated into two groups: optical collisions where only one atom is changing state during the collision, the other acting as a spectator atom, and radiative collisions where the states of the two atoms are changing during the collision. All the processes can be interpreted in terms of photoexcitation of the quasimolecule formed during the collisional process. (author)

  9. A survey of autonomous vision-based See and Avoid for Unmanned Aircraft Systems

    Mcfadyen, Aaron; Mejias, Luis

    2016-01-01

    This paper provides a comprehensive review of the vision-based See and Avoid problem for unmanned aircraft. The unique problem environment and associated constraints are detailed, followed by an in-depth analysis of visual sensing limitations. In light of such detection and estimation constraints, relevant human, aircraft and robot collision avoidance concepts are then compared from a decision and control perspective. Remarks on system evaluation and certification are also included to provide a holistic review approach. The intention of this work is to clarify common misconceptions, realistically bound feasible design expectations and offer new research directions. It is hoped that this paper will help us to unify design efforts across the aerospace and robotics communities.

  10. Key conclusions from AVOID Work Stream One

    Warren, Rachel

    2010-05-01

    AVOID work stream (WS1)one has produced emission scenarios that simulate potential future global emission pathways for greenhouse gases during the 21st century. The study explored the influence of three key features of such pathways: (1) the year in which emissions peak globally, (2) the rate of emission reduction, and (3) the minimum level to which emissions are eventually reduced. It examined the resultant climate change, climate change impacts and economic implications using computer simulations. Avoided impacts, carbon taxes and GDP change increase throughout the 21st century in the models. AVOID-WS1 showed that in the absence of climate policy it is very likely that global mean temperatures would exceed 3 degrees and there are evens chances that the temperature would rise by 4 degrees relative to pre-industrial times. Scenarios that peak emissions in 2016 were more effective at constraining temperatures to below 3 degrees than those that peaked in 2030: one ‘2016' scenario achieved a probability of 45% of avoiding breaching of a 2 degree threshold. Scenarios peaking in 2030 were inconsistent with constraining temperatures to below 2 degrees. Correspondingly, scenarios that peak in 2030 are more effective at avoiding climate impacts than scenarios that peak in 2016, for all sectors that we studied. Hence the date at which emissions peak is more important than the rate of subsequent emissions reduction in determining the avoided impacts. Avoided impacts increase with time, being negligible in the 2030s, significant by the 2050s and large by the 2080s. Finally, the choice of GCM influences the magnitude of the avoided impacts strongly, so that the uncertainties in our estimates of avoided impacts for each scenario are larger than the difference between the scenarios. Our economic analysis is based on models which differ greatly in the assumptions that they make, but generally show that the date at which emissions peak is a stronger driver of induced GDP changes

  11. Harm avoidance and disability in old age.

    Wilson, Robert S; Buchman, Aron S; Arnold, Steven E; Shah, Raj C; Tang, Yuxiao; Bennett, David A

    2006-01-01

    The relation of personality to disability in old age is not well understood. The authors examined the relation of harm avoidance, a trait indicating a tendency to worry, fear uncertainty, be shy, and tire easily, to disability in a group of 474 older persons without dementia. Participants completed the 35-item Harm Avoidance scale. Disability was assessed with the Rosow-Breslau scale, a self-report measure of physical mobility. Performance-based tests of lower limb functions were also administered from which composite measures of gait, balance, and strength were derived. In a logistic regression model controlled for age, sex, education, and lower limb function, persons with high levels of harm avoidance were nearly three times as likely to report mobility limitations as persons with low levels, and these effects largely reflected fatigability and fear of uncertainty. The association of harm avoidance with disability was not explained or modified by frailty, physical activity, depressive symptoms, neuroticism, extraversion, or cognition. The results suggest that harm avoidance is associated with disability in old age.

  12. Rape avoidance behavior among Slovak women.

    Prokop, Pavol

    2013-05-28

    Rape has been a recurrent adaptive problem for many species, including humans. Rape is costly to women in terms of disease transmission, partner abandonment, and unwanted pregnancy (among other costs). Therefore, behavioral strategies which allow women to avoid coercive men may have been favored by selection. In line with this evolutionary reasoning, the current research documented that physically stronger women and those in a committed romantic relationship reported more rape avoidance behavior. In addition, virgin women tended to perform more rape avoidance behavior compared with their non-virgin counterparts. Women with high conception risk perceived themselves as physically stronger, which may protect them against a potential rapist. Fear of unwanted pregnancy from rape decreased as age increased, reflecting higher fertility among younger participants. However, older women reported more rape avoidance behavior, which contradicts evolutionary predictions. The results provide some support for evolutionary hypotheses of rape avoidance behavior which suggest that woman's perception of rape is influenced by parental investment and perceived physical condition.

  13. DNA elasticity: topology of self-avoidance

    Samuel, Joseph; Sinha, Supurna; Ghosh, Abhijit

    2006-01-01

    We present a theoretical treatment of DNA stretching and twisting experiments, in which we discuss global topological subtleties of self-avoiding ribbons and provide an underlying justification for the worm-like rod chain (WLRC) model proposed by Bouchiat and Mezard. Some theoretical points regarding the WLRC model are clarified: the 'local writhe formula' and the use of an adjustable cut-off parameter to 'regularize' the model. Our treatment brings out the precise relation between the worm-like chain (WLC), the paraxial worm-like chain (PWLC) and the WLRC models. We describe the phenomenon of 'topological untwisting' and the resulting collapse of link sectors in the WLC model and note that this leads to a free energy profile periodic in the applied link. This periodicity disappears when one takes into account the topology of self-avoidance or at large stretch forces (paraxial limit). We note that the difficult non-local notion of self-avoidance can be replaced (in an approximation) by the simpler local notion of 'south avoidance'. This gives an explanation for the efficacy of the approach of Bouchiat and Mezard in explaining the 'hat curves' using the WLRC model, which is a south avoiding model. We propose a new class of experiments to probe the continuous transition between the periodic and aperiodic behaviour of the free energy

  14. Avoidant restrictive food intake disorder: an illustrative case example.

    Bryant-Waugh, Rachel

    2013-07-01

    Avoidant/restrictive food intake disorder (ARFID) is a new diagnostic category in DSM-5. Although replacing Feeding Disorder of Infancy or Early Childhood, it is not restricted to childhood presentations. In keeping with the broader aim of revising and updating criteria and text to better reflect lifespan issues and clinical expression across the age range, ARFID is a diagnosis relevant to children, adolescents, and adults. This case example of a 13-year old boy with ARFID illustrates key issues in diagnosis and treatment planning. The issues discussed are not exhaustive, but serve as a guide for central diagnostic and treatment issues to be considered by the clinician. It is anticipated that the inclusion of specific criteria for ARFID as a category within Feeding and Eating Disorders in DSM-5 will stimulate research into its typology, prevalence, and incidence in different populations and facilitate the development of effective, evidence-based interventions for this patient group. Copyright © 2013 Wiley Periodicals, Inc.

  15. Peer conflict avoidance: associations with loneliness, social anxiety, and social avoidance.

    Johnson, H D; LaVoie, J C; Spenceri, M C; Mahoney-Wernli, M A

    2001-02-01

    Failure to resolve peer conflict is associated with children's reports of loneliness, social anxiety, and social avoidance. Although these relationships are well established, researchers have not examined the association between the avoidance of peer conflict and various adjustment characteristics. The current study examined the association between avoidance of conflict and measures of loneliness, social anxiety, and social avoidance for 59 pupils in Grade 4 (31 boys and 28 girls) and 47 in Grade 8 (22 boys and 25 girls). Volunteers indicated that conflict avoidance based on autonomy, e.g., independence issues, and interpersonal issues, e.g., closeness and cohesion, was associated with scores on loneliness for boys and girls, respectively. Conflict avoidance for emotional and physical well-being and fear of punishment was associated with increased reports of loneliness and social anxiety for children in Grade 4.

  16. Learning to Facilitate (Online) Meetings

    Reimann, Peter; Bull, Susan; Vatrapu, Ravi

    2013-01-01

    We describe an approach to teaching collaboration skills directly by building on competences for meeting facilitation. (Online) meetings provide a rich arena to practice collaboration since they can serve multiple purposes: learning, problem solving, decision making, idea generation and advancement...

  17. Facilitative root interactions in intercrops

    Hauggaard-Nielsen, H.; Jensen, E.S.

    2005-01-01

    of root architecture, exudation of growth stimulating substances, and biofumigation. Facilitative root interactions are most likely to be of importance in nutrient poor soils and in low-input agroecosystems due to critical interspecific competition for plant growth factors. However, studies from more...... nitrogen transfer between legumes and non-leguminous plants, exploitation of the soil via mycorrhizal fungi and soil-plant processes which alter the mobilisation of plant growth resources such as through exudation of amino acids, extra-cellular enzymes, acidification, competition-induced modification......Facilitation takes place when plants ameliorate the environment of their neighbours, and increase their growth and survival. Facilitation occurs in natural ecosystems as well as in agroecosystems. We discuss examples of facilitative root interactions in intercropped agroecosystems; including...

  18. A Transient Dopamine Signal Represents Avoidance Value and Causally Influences the Demand to Avoid

    Pultorak, Katherine J.; Schelp, Scott A.; Isaacs, Dominic P.; Krzystyniak, Gregory

    2018-01-01

    Abstract While an extensive literature supports the notion that mesocorticolimbic dopamine plays a role in negative reinforcement, recent evidence suggests that dopamine exclusively encodes the value of positive reinforcement. In the present study, we employed a behavioral economics approach to investigate whether dopamine plays a role in the valuation of negative reinforcement. Using rats as subjects, we first applied fast-scan cyclic voltammetry (FSCV) to determine that dopamine concentration decreases with the number of lever presses required to avoid electrical footshock (i.e., the economic price of avoidance). Analysis of the rate of decay of avoidance demand curves, which depict an inverse relationship between avoidance and increasing price, allows for inference of the worth an animal places on avoidance outcomes. Rapidly decaying demand curves indicate increased price sensitivity, or low worth placed on avoidance outcomes, while slow rates of decay indicate reduced price sensitivity, or greater worth placed on avoidance outcomes. We therefore used optogenetics to assess how inducing dopamine release causally modifies the demand to avoid electrical footshock in an economic setting. Increasing release at an avoidance predictive cue made animals more sensitive to price, consistent with a negative reward prediction error (i.e., the animal perceives they received a worse outcome than expected). Increasing release at avoidance made animals less sensitive to price, consistent with a positive reward prediction error (i.e., the animal perceives they received a better outcome than expected). These data demonstrate that transient dopamine release events represent the value of avoidance outcomes and can predictably modify the demand to avoid. PMID:29766047

  19. On novice facilitators doing research

    Tavella, Elena

    2018-01-01

    Opportunities for novices to facilitate Problem Structuring Methods (PSMs) workshops are limited, especially because of a lack of access to real-world interventions and confidence in their capabilities. Novices are usually young academics building their careers through publishing. Publishing...... is challenging if facilitation and opportunities for data collection are limited. To address this challenge, this paper suggests autoethnography as a framework for addressing difficulties that novices face in conducting research and publishing on PSMs. This suggestion grows out of a literature study...

  20. Facilitation Skills for Library Professionals

    O'Shea, Anne; Matheson, Laura

    2010-01-01

    Session summary: Brainstorming, problem-solving, team-building and group communication – all of these things can be made easier through facilitation! Come to this fun, interactive workshop to learn techniques and exercises to boost your group meetings. Taught by two information professionals with formal facilitation training and experience, this workshop will give you theory, hands-on practice time and feedback. What participants will learn: Participants will learn techniques to he...

  1. An avoidance layer in hierarchical process control

    De Callatay, A.

    1994-01-01

    A project of layered software architecture is proposed: a safety-critical real-time non-stop simple kernel system includes a layer avoiding threatening actions from operators or programs in other control systems. Complex process-control applications (such as fuzzy systems) are useful for the smooth operation of the system, optimum productivity, efficient diagnostics, and safe management of degraded modes of operation. Defects in these complex process-control applications do not have an impact on safety if their commands have first to be accepted by a safety-critical module. The development, testing, and certification of complex applications computed in the outside layers can be made simpler and less expensive than for those in the kernel. Avoidance systems use rule-base systems having negative fuzzy conditions and actions. Animal and human behaviour cannot be explained without active avoidance

  2. New apparatus for training the avoidance reaction.

    Tikal, K

    1988-01-01

    A new apparatus for active avoidance training in rats consists of a short, wide runway which can be tilted from a horizontal to vertical position. One half of the electrifiable grid floor is covered by a nonconducting sheet. For brightness (black-white) discrimination training a white walled goal box can be inserted into the runway and shifted from left to right during training. Avoidance training of 24 rats (female Wistar SPF) required 14.1 +/- 2.6 (mean +/- SEM) to-criterion trials (9/10) and was completed in less than 4 min. Brightness discrimination training required 21.3 +/- 2.1 to-criterion trials and the time of training did not exceed 12 min. The retention of the acquired responses was very good in both cases. The main advantage of the apparatus is very rapid acquisition of the one-way and discriminated avoidance without the necessity of manual manipulation of the animal.

  3. Engaging Math-Avoidant College Students

    M. Paul Latiolais

    2009-07-01

    Full Text Available This paper is an informal, personal account of how we, as two college teachers, became interested in math anxiety, decided to explore it amongst students at our institution in order to inform our teaching, and became convinced that the massive problem is math avoidance. We tried discussion groups, but few students attended, although those that did made useful suggestions. Thus informed, we designed an innovative course, Confronting College Mathematics as a Humanities course with the possibility of credit toward the math requirement, but it was undersubscribed in its first offering and had to be canceled. How can we get college students who avoid math to break through the barrier of math avoidance? We have now begun to explore a new approach: Second Life, where students can engage math—and quantitative literacy—virtually, and anonymously.

  4. Implicit beliefs of ability, approach-avoidance goals and cognitive anxiety among team sport athletes.

    Stenling, Andreas; Hassmén, Peter; Holmström, Stefan

    2014-01-01

    People's implicit beliefs of ability have been suggested as an antecedent of achievement goal adoption, which has in turn been associated with behavioural, cognitive and affective outcomes. This study examined a conditional process model with team sport athletes' approach-avoidance achievement goals as mediators between their implicit beliefs of sport ability and sport-related cognitive anxiety. We expected gender to moderate the paths from implicit beliefs of ability to approach-avoidance goals and from approach-avoidance goals to cognitive anxiety. Team sport athletes with a mean age of 20 years (163 females and 152 males) responded to questionnaires about their implicit beliefs of sport ability, approach-avoidance goals and sport-related cognitive anxiety. Incremental beliefs, gender and the interaction between them predicted mastery-approach goals. Gender also predicted mastery-avoidance goals, with females reporting higher levels than males. Mastery-avoidance goals, gender and the interaction between them predicted cognitive anxiety, with females reporting higher levels of anxiety than males. Entity beliefs positively predicted performance-avoidance goals and the interaction between performance-approach and gender predicted anxiety. The indirect effects also showed gender differences in relation to performance-approach goals. Taken together, our results suggest that coaches trying to create a facilitating climate for their male and female athletes may be wise to consider their athletes' anxiety and achievement goal patterns as these may affect both the athletes' well-being and performance.

  5. 1-3 Nuclear In-medium Effects of Strange Particles in Proton-nucleus Collisions

    Feng; Zhaoqing[1

    2014-01-01

    Extraction of the in-medium properties of strange particles from heavy-ion collisions is very complicated, since he nuclear density varies in the evolution of nucleus-nucleus collisions. To avoid the uncertainties of the baryon ensities during the stage of strange particle production, one can investigate proton-nucleus collisions where the uclear density is definite around the saturation density. Dynamics of strange particles produced in the protoninduced uclear the reactions near the threshold energies has been investigated within the Lanzhou quantum olecular dynamics (LQMD) transport model. The in-medium modifications on particle production in densenuclear matter are considered through the corrections to the elementary cross sections via the effective mass and he mean-field potentials[1].

  6. Information Dilemmas and Blame-Avoidance Strategies

    Erik, Baekkeskov; Rubin, Olivier

    2017-01-01

    from day one about 2009 H1N1 flu. To explore why, this article links crisis information dilemmas to blame avoidance concepts from democratic political theories. We argue that greater Chinese transparency about infectious disease response reflects evolution in blame avoidance, from heavy reliance...... on information control to insulating leaders by using technical experts and agencies as 'lightning rods.' In 2003, the Chinese strategy of information containment and secrecy backfired, and the Chinese leadership eventually received blame at home and internationally for crisis mismanagement. In 2009, China put...... in place public health specialists and institutions as responsible for H1N1 information and responses, thereby insulating the top-tier leadership....

  7. Middle Man Concept for In-Orbit Collision Risks Mitigation, CAESAR and CARA Examples

    Moury, Monique; Newman, Lauri K.; Laporte, Francois

    2014-01-01

    This paper describes the conjunction analysis which has to be performed using data provided by JSpOC. This description not only demonstrates that Collision Avoidance is a 2- step process (close approach detection followed by risk evaluation for collision avoidance decision) but also leads to the conclusion that there is a need for a Middle Man role. After describing the Middle Man concept, this paper introduces two examples with their similarities and particularities: the American civil space effort delivered by the NASA CARA team (Conjunction Assessment Risk Analysis) and the French response CAESAR (Conjunction Assessment and Evaluation Service: Alerts and Recommendations). For both, statistics are presented and feedbacks discussed. All together, around 80 satellites are served by CARA and/or CAESAR. Both processes regularly evolve in order either to follow JSpOC upgrades or to improve analysis according to experience acquired during the past years.

  8. Extinction of avoidance behavior by safety learning depends on endocannabinoid signaling in the hippocampus.

    Micale, Vincenzo; Stepan, Jens; Jurik, Angela; Pamplona, Fabricio A; Marsch, Rudolph; Drago, Filippo; Eder, Matthias; Wotjak, Carsten T

    2017-07-01

    The development of exaggerated avoidance behavior is largely responsible for the decreased quality of life in patients suffering from anxiety disorders. Studies using animal models have contributed to the understanding of the neural mechanisms underlying the acquisition of avoidance responses. However, much less is known about its extinction. Here we provide evidence in mice that learning about the safety of an environment (i.e., safety learning) rather than repeated execution of the avoided response in absence of negative consequences (i.e., response extinction) allowed the animals to overcome their avoidance behavior in a step-down avoidance task. This process was context-dependent and could be blocked by pharmacological (3 mg/kg, s.c.; SR141716) or genetic (lack of cannabinoid CB1 receptors in neurons expressing dopamine D1 receptors) inactivation of CB1 receptors. In turn, the endocannabinoid reuptake inhibitor AM404 (3 mg/kg, i.p.) facilitated safety learning in a CB1-dependent manner and attenuated the relapse of avoidance behavior 28 days after conditioning. Safety learning crucially depended on endocannabinoid signaling at level of the hippocampus, since intrahippocampal SR141716 treatment impaired, whereas AM404 facilitated safety learning. Other than AM404, treatment with diazepam (1 mg/kg, i.p.) impaired safety learning. Drug effects on behavior were directly mirrored by drug effects on evoked activity propagation through the hippocampal trisynaptic circuit in brain slices: As revealed by voltage-sensitive dye imaging, diazepam impaired whereas AM404 facilitated activity propagation to CA1 in a CB1-dependent manner. In line with this, systemic AM404 enhanced safety learning-induced expression of Egr1 at level of CA1. Together, our data render it likely that AM404 promotes safety learning by enhancing information flow through the trisynaptic circuit to CA1. Copyright © 2017 Elsevier Ltd. All rights reserved.

  9. Hard probes in heavy ion collisions at the LHC: PDFs, shadowing and $pA$ collisions

    Accardi, Alberto; Botje, M.; Brodsky, S.J.; Cole, B.; Eskola, K.J.; Fai, George I.; Frankfurt, L.; Fries, R.J.; Geist, Walter M.; Guzey, V.; Honkanen, H.; Kolhinen, V.J.; Kovchegov, Yu.V.; McDermott, M.; Morsch, A.; Qiu, Jian-wei; Salgado, C.A.; Strikman, M.; Takai, H.; Tapprogge, S.; Vogt, R.; Zhang, X.f.

    2003-01-01

    This manuscript is the outcome of the subgroup ``PDFs, shadowing and $pA$ collisions'' from the CERN workshop ``Hard Probes in Heavy Ion Collisions at the LHC''. In addition to the experimental parameters for $pA$ collisions at the LHC, the issues discussed are factorization in nuclear collisions, nuclear parton distributions (nPDFs), hard probes as the benchmark tests of factorization in $pA$ collisions at the LHC, and semi-hard probes as observables with potentially large nuclear effects. Also, novel QCD phenomena in $pA$ collisions at the LHC are considered. The importance of the $pA$ program at the LHC is emphasized.

  10. [Effect of 5-HT1A receptors in the hippocampal DG on active avoidance learning in rats].

    Jiang, Feng-ze; Lv, Jing; Wang, Dan; Jiang, Hai-ying; Li, Ying-shun; Jin, Qing-hua

    2015-01-01

    To investigate the effects of serotonin (5-HTIA) receptors in the hippocampal dentate gyrus (DG) on active avoidance learning in rats. Totally 36 SD rats were randomly divided into control group, antagonist group and agonist group(n = 12). Active avoidance learning ability of rats was assessed by the shuttle box. The extracellular concentrations of 5-HT in the DG during active avoidance conditioned reflex were measured by microdialysis and high performance liquid chromatography (HPLC) techniques. Then the antagonist (WAY-100635) or agonist (8-OH-DPAT) of the 5-HT1A receptors were microinjected into the DG region, and the active avoidance learning was measured. (1) During the active avoidance learning, the concentration of 5-HT in the hippocampal DG was significantly increased in the extinction but not establishment in the conditioned reflex, which reached 164.90% ± 26.07% (P active avoidance learning. (3) The microinjection of 8-OH-DPAT(an agonist of 5-HT1A receptor) into the DG significantly facilitated the establishment process and inhibited the extinction process during active avoidance conditioned reflex. The data suggest that activation of 5-HT1A receptors in hipocampal DG may facilitate active avoidance learning and memory in rats.

  11. Rewarding peak avoidance: the Dutch 'Spitsmijden' projects

    Knockaert, J.; Bakens, J.; Ettema, D.F.; Verhoef, E.

    2011-01-01

    The Dutch road network is becoming increasingly congested. In late 2006, a group of companies, universities and government institutions established the Spitsmijden project. ‘Spitsmijden’ is the Dutch term for ‘avoiding the peak’. This joint initiative aimed to identify and assess a short-term

  12. The Netherlands Bird Avoidance Model, Final Report

    Shamoun-Baranes, J.; Bouten, W.; Sierdsema, H.; van Belle, J.; van Gasteren, J.R.; van Loon, E.E.

    2006-01-01

    The NL-BAM was developed as a web-based decision support tool to be used by the bird hazard avoidance experts in the ecology unit of the Royal Netherlands Air Force. The NL-BAM will be used together with the ROBIN 4 radar system to provide BirdTAMS, for real time warnings and flight planning and to

  13. Employer Attitudes towards Peak Hour Avoidance

    Vonk Noordegraaf, D.M.; Annema, J.A.

    2012-01-01

    Peak Hour Avoidance is a relatively new Dutch mobility management measure. To reduce congestion frequent car drivers are given a financial reward for reducing the proportion of trips that they make during peak hours on a specific motorway section. Although previous studies show that employers are

  14. Employer attitudes towards peak hour avoidance

    Noordegraaf, D.M.V.; Annema, J.A.

    2012-01-01

    Peak Hour Avoidance is a relatively new Dutch mobility management measure. To reduce congestion frequent car drivers are given a financial reward for reducing the proportion of trips that they make during peak hours on a specific motorway section. Although previous studies show that employers are

  15. Avoidance Motivation and Conservation of Energy

    Roskes, Marieke; Elliot, Andrew J.; Nijstad, Bernard A.; De Dreu, Carsten K. W.

    Compared to approach motivation, avoidance motivation evokes vigilance, attention to detail, systematic information processing, and the recruitment of cognitive resources. From a conservation of energy perspective it follows that people would be reluctant to engage in the kind of effortful cognitive

  16. Avoidance motivation and conservation of energy

    Roskes, Marieke; Elliot, Andrew J.; Nijstad, Bernard A.; De Dreu, Carsten K W

    Compared to approach motivation, avoidance motivation evokes vigilance, attention to detail, systematic information processing, and the recruitment of cognitive resources. From a conservation of energy perspective it follows that people would be reluctant to engage in the kind of effortful cognitive

  17. Pathological Demand Avoidance: Exploring the Behavioural Profile

    O'Nions, Elizabeth; Viding, Essi; Greven, Corina U; Ronald, Angelica; Happé, Francesca

    2014-01-01

    "Pathological Demand Avoidance" is a term increasingly used by practitioners in the United Kingdom. It was coined to describe a profile of obsessive resistance to everyday demands and requests, with a tendency to resort to "socially manipulative" behaviour, including outrageous or embarrassing acts. Pathological demand…

  18. ALUMINUM AVOIDANCE BY MUCUNA-PRURIENS

    HAIRIAH, K; VANNOORDWIJK, M; STULEN, [No Value; KUIPER, PJC

    The hypothesis was tested that the avoidance of acid subsoil by the velvet bean Mucuna pruriens is based on a mechanism acting on the whole root system rather than on individual roots. In a split-root experiment with circulating nutrient solution the growth of plants with Al-containing (+/+) or

  19. Audit incorporating avoidability and appropriate intervention can ...

    Audit incorporating avoidability and appropriate intervention can significantly decrease perinatal mortality. H. R. G. Ward, G. R. Howarth, O. J. N. Jennings,. R. C. Pattinson .... 6 months) and seven interns. The study was .... maternity care notes study: a randomized control trial to assess the effects of giving expectant mothers ...

  20. Hydrofluoric acid on dentin should be avoided.

    Loomans, B.A.C.; Mine, A.; Roeters, F.J.M.; Opdam, N.J.M.; Munck, J. De; Huysmans, M.C.D.N.J.M.; Meerbeek, B. Van

    2010-01-01

    Hydrofluoric acid can be used for intra-oral repair of restorations. Contamination of tooth substrate with hydrofluoric acid cannot always be avoided. OBJECTIVES: To investigate the bonding effectiveness to hydrofluoric acid contaminated dentin by, micro-tensile bond strength testing, SEM and TEM.

  1. Women Coping with a Partner's Sexual Avoidance.

    Renshaw, Domeena C.

    2001-01-01

    Discusses the complexities of sexual avoidance, or Hypoactive Sexual Desire (HSD), a previously neglected aspect of a couple's relationship. Suggests that learning from a therapist to accept and enjoy other forms of sexual exchange can open up new horizons of physical and emotional intimacy. (Contains 17 references.) (GCP)

  2. Obstacle detection and avoiding of quadcopter

    Wang, Dizhong; Lin, Jiajian

    2017-10-01

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

  3. Traveler's guide to avoiding infectious diseases

    ... to-date information, please visit the Centers for Disease Control and Prevention's (CDC) website -- www.cdc.gov/zika . To prevent getting the Zika virus, take steps to avoid mosquito bites. Sexual transmission of the virus can be prevented by using condoms ...

  4. An Examination of Avoided Costs in Utah

    Bolinger, Mark; Wiser, Ryan

    2005-01-07

    The Utah Wind Working Group (UWWG) believes there are currently opportunities to encourage wind power development in the state by seeking changes to the avoided cost tariff paid to qualifying facilities (QFs). These opportunities have arisen as a result of a recent renegotiation of Pacificorp's Schedule 37 tariff for wind QFs under 3 MW, as well as an ongoing examination of Pacificorp's Schedule 38 tariff for wind QFs larger than 3 MW. It is expected that decisions made regarding Schedule 38 will also impact Schedule 37. Through the Laboratory Technical Assistance Program (Lab TAP), the UWWG has requested (through the Utah Energy Office) that LBNL provide technical assistance in determining whether an alternative method of calculating avoided costs that has been officially adopted in Idaho would lead to higher QF payments in Utah, and to discuss the pros and cons of this method relative to the methodology recently adopted under Schedule 37 in Utah. To accomplish this scope of work, I begin by summarizing the current method of calculating avoided costs in Utah (per Schedule 37) and Idaho (the ''surrogate avoided resource'' or SAR method). I then compare the two methods both qualitatively and quantitatively. Next I present Pacificorp's four main objections to the use of the SAR method, and discuss the reasonableness of each objection. Finally, I conclude with a few other potential considerations that might add value to wind QFs in Utah.

  5. Approach and avoidance in fear of spiders

    Rinck, M.; Becker, E.S.

    2007-01-01

    We examined attitudes towards spiders by employing an Approach-Avoidance Task, in which participants respond to pictures by pulling a joystick towards themselves or by pushing it away from themselves. For spider fearfuls, this stimulus–response assignment is either compatible (push spiders away) or

  6. FORUM Achieving weight loss and avoiding obesity

    The efficacy of diets advocating extreme macronutrient manipulation has been reviewed extensively. Studies involving participation for 12 months or longer revealed that diet adherence, length of intervention and level of calorie. ISSUES IN MEDICINE. Achieving weight loss and avoiding obesity. Maria Elizabeth Catsicas.

  7. Learn to Avoid or Overcome Leadership Obstacles

    D'Auria, John

    2015-01-01

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

  8. PENGARUH CORPORATE GOVERNANCE TERHADAP TAX AVOIDANCE

    Nuralifmida Ayu Annisa

    2012-05-01

    Full Text Available This study aims to find out how the influence of the corporate governance of tax avoidanceactivity in companies listed on Indonesia Stock Exchange in 2008. The samples are publiclytraded company listed on the Indonesia Stock Exchange in 2008 as many as 200 companies. Thisstudy uses data analysis and regression analysis of the elements of corporate governance and taxavoidance. The results of this study show that the elements of corporate governance that consist ofaudit quality and audit committee significantly influence the activity of tax avoidance as measuredusing proxy book tax gap. Other results show that the tax avoidance activity as measured withproxy book tax gap are not affected significantly by institutional ownership and board ofcommissioners. Limitation of this study is not to use each type of industries as control variable socan’t identify the direct effect from type of industry on tax avoidance. Another limitation of thisstudy is use corporate governance’s proxy separately, so it can’t capture the full effect ofcorporate governance. Keywords:corporate governance, ownership structure, board of commissioners, audit committee,tax avoidance, book tax gap.

  9. Avoidance: From threat encounter to action execution

    Arnaudova, I.

    2015-01-01

    Every day we encounter many threats to survival: a car speeding on a small street or an angry neighbor carrying an axe. Mostly, people go through their days not worrying that their chance of survival might be small. They avoid many dangers without even thinking about them (e.g., looking at both

  10. Wake Vortex Avoidance System and Method

    Shams, Qamar A. (Inventor); Zuckerwar, Allan J. (Inventor); Knight, Howard K. (Inventor)

    2017-01-01

    A wake vortex avoidance system includes a microphone array configured to detect low frequency sounds. A signal processor determines a geometric mean coherence based on the detected low frequency sounds. A display displays wake vortices based on the determined geometric mean coherence.

  11. Reasonable Avoidability, Responsibility and Lifestyle Diseases

    Andersen, Martin Marchman

    2012-01-01

    In “Health, Luck and Justice” Shlomi Segall argues for a luck egalitarian approach to justice in health care. As the basis for a just distribution he suggests a principle of Reasonable Avoidability, which he takes to imply that we do not have justice-based reasons to treat diseases brought about...

  12. Avoidable cancers in the Nordic countries. Occupation

    Dreyer, L; Andersen, A; Pukkala, E

    1997-01-01

    around the year 2000, with 1,890 among men and fewer than 25 among women. The proportions that could be avoided if industrial carcinogens were eliminated would be 70% of mesotheliomas, 20% of cancers of the nasal cavity and sinuses, 12% of lung cancers, 5% of laryngeal cancers, 2% of urinary bladder...

  13. Collisions engineering. Theory and applications

    Fremond, Michel [Rome ' ' Tor Vergata' ' Univ. (Italy). Dept. of Civil Engineering and Computer Science

    2017-02-01

    This book investigates collisions occurring in the motion of solids, in the motion of fluids but also in the motion of pedestrians in crowds. The duration of these presented collisions is short compared to the whole duration of the motion: they are assumed instantaneous. The innovative concept demonstrated in this book is that a system made of two solids, is deformable because their relative position changes. The definition of the velocities of deformation of the system introduced in the classical developments of mechanics, the principle of the virtual work and the laws of thermodynamics, allows a large range of applications such as crowd motions, debris flow motions, and shape memory alloys motions. The set of the applications is even larger: social sciences and mechanics are unified to predict the motion of crowds with application to transport management and to evacuation of theaters management.

  14. Jets in heavy ion collisions

    Nattrass, Christine

    2017-01-01

    High energy collisions of heavy nuclei permit the study of nuclear matter at temperatures and energy densities so high that the fundamental theory for strong interactions, QCD, predicts a phase transition to a plasma of quarks and gluons. This matter, called a Quark Gluon Plasma (QGP), has been studied experimentally for the last decade and has been observed to be a strongly interacting liquid with a low viscosity. High energy partons created early in the collision interact with the QGP and provide unique probes of its properties. Hard partons fragment into collimated sprays of particles called jets and have been studied through measurements of single particles, correlations between particles, and measurements of fully reconstructed jets. These measurements demonstrate partonic energy loss in the QGP and constrain the QGP’s properties. Measurements of the jet structure give insight into the mechanism of this energy loss. The information we have learned from studies of jets and challenges for the field will be reviewed. (paper)

  15. Phenomenological studies of hadronic collisions

    van Zijl, M.

    1987-04-01

    Several aspects of hadronic collisions are studied in a phenomenological framework. A Monte Carlo model for initial state parton showers, using a backwards evolution scheme, is presented. Comparisons with experimental data and analytical calculations are made. The consequence of using different fragmentation model on the determination of α s is also investigated. It is found that the different fragmentation models lead to the reconstruction of significantly α s values. Finally the possibility of having several independent parton-parton interactions in a hadron-hadron collision is studied. A model is developed, which takes into account the effects of variable impact parameters. This is implemented in a Monte Carlo computer program and extensive comparisons with experimental data are carried out. There is clear evidence in favour of multiple interactions with variable impact parameters. (author)

  16. Bubble Collision in Curved Spacetime

    Hwang, Dong-il; Lee, Bum-Hoon; Lee, Wonwoo; Yeom, Dong-han

    2014-01-01

    We study vacuum bubble collisions in curved spacetime, in which vacuum bubbles were nucleated in the initial metastable vacuum state by quantum tunneling. The bubbles materialize randomly at different times and then start to grow. It is known that the percolation by true vacuum bubbles is not possible due to the exponential expansion of the space among the bubbles. In this paper, we consider two bubbles of the same size with a preferred axis and assume that two bubbles form very near each other to collide. The two bubbles have the same field value. When the bubbles collide, the collided region oscillates back-and-forth and then the collided region eventually decays and disappears. We discuss radiation and gravitational wave resulting from the collision of two bubbles

  17. Chirality in molecular collision dynamics

    Lombardi, Andrea; Palazzetti, Federico

    2018-02-01

    Chirality is a phenomenon that permeates the natural world, with implications for atomic and molecular physics, for fundamental forces and for the mechanisms at the origin of the early evolution of life and biomolecular homochirality. The manifestations of chirality in chemistry and biochemistry are numerous, the striking ones being chiral recognition and asymmetric synthesis with important applications in molecular sciences and in industrial and pharmaceutical chemistry. Chiral discrimination phenomena, due to the existence of two enantiomeric forms, very well known in the case of interaction with light, but still nearly disregarded in molecular collision studies. Here we review some ideas and recent advances about the role of chirality in molecular collisions, designing and illustrating molecular beam experiments for the demonstration of chiral effects and suggesting a scenario for a stereo-directional origin of chiral selection.

  18. Collisions engineering. Theory and applications

    Fremond, Michel

    2017-01-01

    This book investigates collisions occurring in the motion of solids, in the motion of fluids but also in the motion of pedestrians in crowds. The duration of these presented collisions is short compared to the whole duration of the motion: they are assumed instantaneous. The innovative concept demonstrated in this book is that a system made of two solids, is deformable because their relative position changes. The definition of the velocities of deformation of the system introduced in the classical developments of mechanics, the principle of the virtual work and the laws of thermodynamics, allows a large range of applications such as crowd motions, debris flow motions, and shape memory alloys motions. The set of the applications is even larger: social sciences and mechanics are unified to predict the motion of crowds with application to transport management and to evacuation of theaters management.

  19. Electron collisions in gas switches

    Christophorou, L.G.

    1989-01-01

    Many technologies rely on the conduction/insulation properties of gaseous matter for their successful operation. Many others (e.g., pulsed power technologies) rely on the rapid change (switching or modulation) of the properties of gaseous matter from an insulator to a conductor and vice versa. Studies of electron collision processes in gases aided the development of pulsed power gas switches, and in this paper we shall briefly illustrate the kind of knowledge on electron collision processes which is needed to optimize the performance of such switching devices. To this end, we shall refer to three types of gas switches: spark gap closing, self-sustained diffuse discharge closing, and externally-sustained diffuse discharge opening. 24 refs., 15 figs., 2 tabs

  20. Collisions engineering theory and applications

    Frémond, Michel

    2017-01-01

    This book investigates collisions occurring in the motion of solids, in the motion of fluids but also in the motion of pedestrians in crowds. The duration of these presented collisions is short compared to the whole duration of the motion: they are assumed instantaneous. The innovative concept demonstrated in this book is that a system made of two solids, is deformable because their relative position changes. The definition of the velocities of deformation of the system introduced in the classical developments of mechanics, the principle of the virtual work and the laws of thermodynamics, allows a large range of applications such as crowd motions, debris flow motions, and shape memory alloys motions. The set of the applications is even larger: social sciences and mechanics are unified to predict the motion of crowds with application to transport management and to evacuation of theaters management.

  1. Gravitational waves from cosmic bubble collisions

    Kim, Dong-Hoon; Lee, Bum-Hoon; Lee, Wonwoo; Yang, Jongmann; Yeom, Dong-han

    2015-01-01

    Cosmic bubbles are nucleated through the quantum tunneling process. After nucleation they would expand and undergo collisions with each other. In this paper, we focus in particular on collisions of two equal-sized bubbles and compute gravitational waves emitted from the collisions. First, we study the mechanism of the collisions by means of a real scalar field and its quartic potential. Then, using this model, we compute gravitational waves from the collisions in a straightforward manner. In the quadrupole approximation, time-domain gravitational waveforms are directly obtained by integrating the energy-momentum tensors over the volume of the wave sources, where the energy-momentum tensors are expressed in terms of the scalar field, the local geometry and the potential. We present gravitational waveforms emitted during (i) the initial-to-intermediate stage of strong collisions and (ii) the final stage of weak collisions: the former is obtained numerically, in full General Relativity and the latter analytically, in the flat spacetime approximation. We gain qualitative insights into the time-domain gravitational waveforms from bubble collisions: during (i), the waveforms show the non-linearity of the collisions, characterized by a modulating frequency and cusp-like bumps, whereas during (ii), the waveforms exhibit the linearity of the collisions, featured by smooth monochromatic oscillations. (orig.)

  2. Myopic Regret Avoidance: Feedback Avoidance and Learning in Repeated Decision Making

    Reb, Jochen; Connolly, Terry

    2009-01-01

    Decision makers can become trapped by "myopic regret avoidance" in which rejecting feedback to avoid short-term "outcome regret" (regret associated with counterfactual outcome comparisons) leads to reduced learning and greater long-term regret over continuing poor decisions. In a series of laboratory experiments involving repeated choices among…

  3. Atomic and molecular collision processes

    Norcross, D.W.

    1991-01-01

    530Accomplishments during the course of a 44-month program of code development and high precision calculations for electron collisions with atoms, atomic ions, and molecules are summarized. In electron-atom and -ion collisions, we were primarily concerned with the fundamental physics of the process that controls excitation in high temperature plasmas. In the molecular work, we pursued the development of techniques for accurate calculations of ro-vibrational excitation of polyatomic molecules, to the modeling of gas-phase laser systems. Highlights from the seven technical paper published as a result of this contract include: The resolution of a long history of unexplained anomalies and experimental/theoretical discrepancies by a demonstration that the Coulomb phase must be included in scattering amplitudes for electron-ion collisions. Definitive close-coupling calculations of cross sections for electron impact excitation of Be + , using a very elaborate expansion for the collision system and inclusion of both one- and two-body terms for the effect of core polarization. Detailed state-of-the-art calculations for electron-impact excitation of the sodium-like ion A ell 2+ that included core-polarization interactions, and which also produced new data on bound-state energy levels for the magnesium-like ion A ell + and oscillator strengths for A ell 2+ . Partial cross sections for excitation of the 3p level of sodium at energies just above threshold calculated using a four-state close-coupling approach, including both total cross sections and those for excitation as a function of the change in the spin and orbital angular momentum projection quantum numbers of the target electron. Generalization of our electron-molecule scattering code to carry out full vibrational close-coupling calculations with an exact treatment of exchange and with a parameter-free representation of correlation and polarization interactions, and application to HF and H 2

  4. Electron collisions in noble gases

    Barros, H.G. P.L. de.

    1973-12-01

    Calculations for excitation cross section for some states of He and Ne by electron impact have been carried out. A parametrization of total and differential cross section in the Born-Ochkur approximation has been proposed. Using this parametrization and appropriated wave functions for the states involved in the collisions processes, the possibility of inversion of population in the He-Ne laser has been studied

  5. Radiation from heavy ion collisions

    Kast, J.R.; Lee, Y.K.

    1975-01-01

    A study of x rays produced in heavy ion collisions has led to a search for molecular orbital x rays, concentrating on 35 Cl ions on Al, NaCl, and C targets. Preliminary analysis of the angular dependence of continuum x rays has tentatively identified quasi-molecular K x rays. Other work completed and in progress is discussed. (3 figures) (U.S.)

  6. A new theory of collisions

    Giraud, B.G.

    1989-01-01

    Instead of diagonalizing the many-body Hamiltonian H, we invert E-H, where E is a complex energy, eventually real. All the traditional approximations to diagonalization can be adjusted to inversion. We specially investigate mean-field methods. This lecture gives a scheme for the detailed proofs of our arguments, already published, and lists several numerically soluble cases where our new method has been successfully tested for the calculation of collision amplitudes

  7. Measuring Patients’ Attachment Avoidance in Psychotherapy: Development of the Attachment Avoidance in Therapy Scale (AATS

    András Láng

    2012-11-01

    Full Text Available A new scale measuring patient-therapist attachment avoidance was developed. Attachment Avoidance in Therapy Scale is a new measure based on the Bartholomew model of adult attachment (Bartholomew & Horowitz, 1991 and the Experience in Close Relationships Scale (Brennan, Clark, & Shaver, 1998 to measure patients’ attachment avoidance towards therapists. With 112 patient-therapist dyads participating in the study, validation of a preliminary scale – measuring both attachment anxiety and attachment avoidance in therapy – took place using therapists’ evaluations of patients’ relational behavior and patients’ self-reports about their attitude toward psychotherapy. Analysis of the data revealed six underlying scales. Results showed all six scales to be reliable. Validation of scales measuring attachment anxiety failed. The importance of Attachment Avoidance in Therapy Scale and its subscales is discussed.

  8. Bursting neurons and ultrasound avoidance in crickets

    Gary eMarsat

    2012-07-01

    Full Text Available Decision making in invertebrates often relies on simple neural circuits composed of only a few identified neurons. The relative simplicity of these circuits makes it possible to identify the key computation and neural properties underlying decisions. In this review, we summarize recent research on the neural basis of ultrasound avoidance in crickets, a response that allows escape from echolocating bats. The key neural property shaping behavioral output is high-frequency bursting of an identified interneuron, AN2, which carries information about ultrasound stimuli from receptor neurons to the brain. AN2's spike train consists of clusters of spikes –bursts– that may be interspersed with isolated, non-burst spikes. AN2 firing is necessary and sufficient to trigger avoidance steering but only high-rate firing, such as occurs in bursts, evokes this response. AN2 bursts are therefore at the core of the computation involved in deciding whether or not to steer away from ultrasound. Bursts in AN2 are triggered by synaptic input from nearly synchronous bursts in ultrasound receptors. Thus the population response at the very first stage of sensory processing –the auditory receptor- already differentiates the features of the stimulus that will trigger a behavioral response from those that will not. Adaptation, both intrinsic to AN2 and within ultrasound receptors, scales the burst-generating features according to the stimulus statistics, thus filtering out background noise and ensuring that bursts occur selectively in response to salient peaks in ultrasound intensity. Furthermore AN2’s sensitivity to ultrasound varies adaptively with predation pressure, through both developmental and evolutionary mechanisms. We discuss how this key relationship between bursting and the triggering of avoidance behavior is also observed in other invertebrate systems such as the avoidance of looming visual stimuli in locusts or heat avoidance in beetles.

  9. QCD studies in ep collisions

    Smith, W.H.

    1997-01-01

    These lectures describe QCD physics studies over the period 1992--1996 from data taken with collisions of 27 GeV electrons and positrons with 820 GeV protons at the HERA collider at DESY by the two general-purpose detectors H1 and ZEUS. The focus of these lectures is on structure functions and jet production in deep inelastic scattering, photoproduction, and diffraction. The topics covered start with a general introduction to HERA and ep scattering. Structure functions are discussed. This includes the parton model, scaling violation, and the extraction of F 2 , which is used to determine the gluon momentum distribution. Both low and high Q 2 regimes are discussed. The low Q 2 transition from perturbative QCD to soft hadronic physics is examined. Jet production in deep inelastic scattering to measure α s , and in photoproduction to study resolved and direct photoproduction, is also presented. This is followed by a discussion of diffraction that begins with a general introduction to diffraction in hadronic collisions and its relation to ep collisions, and moves on to deep inelastic scattering, where the structure of diffractive exchange is studied, and in photoproduction, where dijet production provides insights into the structure of the Pomeron. 95 refs., 39 figs

  10. Central Au on Au collisions

    Alard, J.P.; Amouroux, V. [Labo de Phys. Corp., IN2P3-CRNS, Univ. Blaise Pascal, Clermont-Fd. (France); Basrak, Z. [Rudjer Boskovic Institute, Zagreb (Croatia)] [and others; FOPI-Collaboration

    1995-02-06

    In nucleus-nucleus collisions the initial relative kinetic energy of target and projectile is available for internal excitation of the interacting system; it is however still not well established to what extent local equilibrium and thermalisation occur. Local equilibrium is of interest to derive, within the formalism of transport equations and of the equation of state, (EOS), general properties of compressed and excited nuclear matter. Such approach describes in relatively simple terms the complex many body interactions occuring within extended baryonic and hadronic (or quark) matter. For a basic microscopic understanding it is highly desirable to investigate the elementary in-medium interactions in relation to the free elementary processes. Excitation function measurements of central collisions between the heaviest available nuclei (like Au on Au), supply the best ground for such studies: the highest degree of thermalisation and compression is expected for such reactions. The consideration presented here of energy thermalisation and of an expanding system clusterizing at freeze-out in a situation close to the liquid gas phase transition can be of interest to astrophysics as well as to the quark gluon plasma deconfinement studied in nucleus-nucleus collisions at the higher energy regime of CERN and Brookhaven. (orig.).

  11. QCD studies in ep collisions

    Smith, W.H. [Univ. of Wisconsin, Madison, WI (United States). Physics Dept.

    1997-06-01

    These lectures describe QCD physics studies over the period 1992--1996 from data taken with collisions of 27 GeV electrons and positrons with 820 GeV protons at the HERA collider at DESY by the two general-purpose detectors H1 and ZEUS. The focus of these lectures is on structure functions and jet production in deep inelastic scattering, photoproduction, and diffraction. The topics covered start with a general introduction to HERA and ep scattering. Structure functions are discussed. This includes the parton model, scaling violation, and the extraction of F{sub 2}, which is used to determine the gluon momentum distribution. Both low and high Q{sup 2} regimes are discussed. The low Q{sup 2} transition from perturbative QCD to soft hadronic physics is examined. Jet production in deep inelastic scattering to measure {alpha}{sub s}, and in photoproduction to study resolved and direct photoproduction, is also presented. This is followed by a discussion of diffraction that begins with a general introduction to diffraction in hadronic collisions and its relation to ep collisions, and moves on to deep inelastic scattering, where the structure of diffractive exchange is studied, and in photoproduction, where dijet production provides insights into the structure of the Pomeron. 95 refs., 39 figs.

  12. Use of Heuristics to Facilitate Scientific Discovery Learning in a Simulation Learning Environment in a Physics Domain

    Veermans, Koen; van Joolingen, Wouter; de Jong, Ton

    2006-01-01

    This article describes a study into the role of heuristic support in facilitating discovery learning through simulation-based learning. The study compares the use of two such learning environments in the physics domain of collisions. In one learning environment (implicit heuristics) heuristics are only used to provide the learner with guidance…

  13. Electron capture in ion-molecule collisions at intermediate energy

    Kumura, M.

    1986-01-01

    Recent progress of theoretical charge transfer study in ion-molecule collisions at the intermediate energy is reviewed. Concept of close and distant collisions obtained from extensive ion-atom collision studies is identified so that it can be utilized to model two distinct collision processes. For a close collision, explicit representation of the whole collision complex is necessary to describe collision dynamics correctly, while a model potential approach for molecule is appropriate for a distant collision. It is shown that these two distinct models are indeed capable of reproducing experimental charge transfer cross sections. Some remarks for further theoretical study of ion-molecule collisions are also given. 21 refs., 8 figs

  14. Exaggerated acquisition and resistance to extinction of avoidance behavior in treated heroin-dependent males

    Sheynin, Jony; Moustafa, Ahmed A.; Beck, Kevin D.; Servatius, Richard J.; Casbolt, Peter A.; Haber, Paul; Elsayed, Mahmoud; Hogarth, Lee; Myers, Catherine E.

    2015-01-01

    Objective Addiction is often conceptualized as a behavioral strategy for avoiding negative experiences. In rodents, opioid intake has been associated with abnormal acquisition and extinction of avoidance behavior. Here, we tested the hypothesis that these findings would generalize to human opioid-dependent subjects. Method Adults meeting DSM-IV criteria for heroin-dependence and treated with opioid medication (n=27), and healthy controls (n=26), were recruited between March–October 2013 and given a computer-based task to assess avoidance behavior. On this task, subjects controlled a spaceship and could either gain points by shooting an enemy spaceship, or hide in safe areas to avoid on-screen aversive events. Results While groups did not differ on escape responding (hiding) during the aversive event, heroin-dependent males (but not females) made more avoidance responses during a warning signal that predicted the aversive event (ANOVA, sex × group interaction, p=0.007). This group was also slower to extinguish the avoidance response when the aversive event no longer followed the warning signal (p=0.011). This behavioral pattern resulted in reduced opportunity to obtain reward without reducing risk of punishment. Results suggest that differences in avoidance behavior cannot be easily explained by impaired task performance or by exaggerated motor activity in male patients. Conclusion This study provides evidence for abnormal acquisition and extinction of avoidance behavior in opioid-dependent patients. Interestingly, data suggest abnormal avoidance is demonstrated only by male patients. Findings shed light on cognitive and behavioral manifestations of opioid addiction, and may facilitate development of therapeutic approaches to help affected individuals. PMID:27046310

  15. Facilitation of learning: part 1.

    Warburton, Tyler; Trish, Houghton; Barry, Debbie

    2016-04-06

    This article, the fourth in a series of 11, discusses the context for the facilitation of learning. It outlines the main principles and theories for understanding the process of learning, including examples which link these concepts to practice. The practical aspects of using these theories in a practice setting will be discussed in the fifth article of this series. Together, these two articles will provide mentors and practice teachers with knowledge of the learning process, which will enable them to meet the second domain of the Nursing and Midwifery Council's Standards to Support Learning and Assessment in Practice on facilitation of learning.

  16. Development of the KARI Space Debris Collision Risk Management System (KARISMA)

    Kim, Hae-Dong; Lee, Sang-Cherl; Cho, Dong-Hyun; Seong, Jae-Dong

    2018-05-01

    Korea has been operating multi-purpose low-earth orbit (LEO) satellites such as the Korea multi-purpose satellite (KOMPSAT) since 1999 and the Communication, Ocean, and Meteorological Satellite (COMS), which was launched into geostationary orbit in 2006. The Korea Aerospace Research Institute (KARI) consequently became concerned about the deteriorating space debris environment. This led to the instigation, in 2011, of a project to develop the KARI space debris collision risk management system (KARISMA). In 2014, KARISMA was adopted as an official tool at the KARI ground station and is operated to mitigate collision risks while being continuously upgraded with input from satellite operators. The characteristics and architecture of KARISMA are described with detailed operational views. The user-friendly user interfaces including 2D and 3D displays of the results, conjunction geometries, and so on, are described in detail. The results of our analysis of the space collision risk faced by the KOMPSAT satellites as determined using KARISMA are presented, as well as optimized collision avoidance maneuver planning with maneuvering strategies for several conjunction events. Consequently, the development of KARISMA to provide detailed descriptions is expected to contribute significantly to satellite operators and owners who require tools with many useful functions to mitigate collision risk.

  17. The epidemiology of bicyclist's collision accidents

    Larsen, L. B.

    1994-01-01

    of bicyclists and risk situations. The findings should make a basis for preventive programmes in order to decrease the number and severity of bicyclists collision accidents. Data from the emergency room in a 2 year period was combined with data from questionnaires. The study group consisted of 1021 bicyclists......The number of bicyclists injured in the road traffic in collision accidents and treated at the emergency room at Odense University Hospital has increased 66% from 1980 to 1989. The aim of this study was to examine the epidemiology of bicyclist's collision accidents and identify risk groups...... injured in collision accidents, and 1502 bicyclists injured in single accidents was used as a reference group. The young bicyclists 10-19 years of age had the highest incidence of injuries caused by collision accidents. The collision accidents had different characteristics according to counterpart. One...

  18. A Collective Collision Operator for DSMC

    Gallis, Michail A.; Torczynski, John R.

    2000-01-01

    A new scheme to simulate elastic collisions in particle simulation codes is presented. The new scheme aims at simulating the collisions in the highly collisional regime, in which particle simulation techniques typically become computationally expensive.The new scheme is based on the concept of a grid-based collision field. According to this scheme, the particles perform a single collision with the background grid during a time step. The properties of the background field are calculated from the moments of the distribution function accumulated on the grid. The collision operator is based on the Langevin equation. Based on comparisons with other methods, it is found that the Langevin method overestimates the collision frequency for dilute gases

  19. The Concept of Collision-Free Motion Planning Using a Dynamic Collision Map

    Keum-Bae Cho

    2014-09-01

    Full Text Available In this paper, we address a new method for the collision-free motion planning of a mobile robot in dynamic environments. The motion planner is based on the concept of a conventional collision map (CCM, represented on the L(travel length-T(time plane. We extend the CCM with dynamic information about obstacles, such as linear acceleration and angular velocity, providing useful information for estimating variation in the collision map. We first analyse the effect of the dynamic motion of an obstacle in the collision region. We then define the measure of collision dispersion (MOCD. The dynamic collision map (DCM is generated by drawing the MOCD on the CCM. To evaluate a collision-free motion planner using the DCM, we extend the DCM with MOCD, then draw the unreachable region and deadlocked regions. Finally, we construct a collision-free motion planner using the information from the extended DCM.

  20. On the collision protection of ships

    Jones, N.

    1976-01-01

    A brief survey of the literature extant on the collision protection of ships is presented herein. An examination of the characteristics of different energy-absorbing methods suggests that honeycomb structures provide an alternative to deck structures which are currently used to achieve the collision protection of ships. Various features of honeycomb panels are explored and a particular structural arrangement which utilizes both sides of a hull and incorporates honeycomb panels is proposed for the collision protection of a ship. (Auth.)

  1. Ultrafast spectral dynamics of dual-color-soliton intracavity collision in a mode-locked fiber laser

    Wei, Yuan; Li, Bowen; Wei, Xiaoming; Yu, Ying; Wong, Kenneth K. Y.

    2018-02-01

    The single-shot spectral dynamics of dual-color-soliton collisions inside a mode-locked laser is experimentally and numerically investigated. By using the all-optically dispersive Fourier transform, we spectrally unveil the collision-induced soliton self-reshaping process, which features dynamic spectral fringes over the soliton main lobe, and the rebuilding of Kelly sidebands with wavelength drifting. Meanwhile, the numerical simulations validate the experimental observation and provide additional insights into the physical mechanism of the collision-induced spectral dynamics from the temporal domain perspective. It is verified that the dynamic interference between the soliton and the dispersive waves is responsible for the observed collision-induced spectral evolution. These dynamic phenomena not only demonstrate the role of dispersive waves in the sophisticated soliton interaction inside the laser cavity, but also facilitate a deeper understanding of the soliton's inherent stability.

  2. ITER risk workshop facilitator guide

    Medina, Patricia

    2009-01-01

    The goal of planning risk management is to make everyone involved in a program aware that risk should be a consideration in the design, development, and fielding of a system. Risk planning is a tool to assess and mitigate events that might adversely impact the program. Therefore, risk management increases the probability/likelihood of program success and can help to avoid program crisis management and improve problem solving by managing risk early in the acquisition cycle.

  3. Facilitation of Mourning During Childhood.

    Kliman, Gilbert; And Others

    This paper discusses case studies of children psychologically disturbed by the death of parents or siblings. Illustrations of mourning facilitation were mainly gathered from 16 orphaned children, ages 3-14. Some techniques used in helping children mourn include: discussing physical details of the illness, discussing previous deaths of animals and…

  4. Brug af mindfulness til facilitering

    Adriansen, Hanne Kirstine; Krohn, Simon

    2011-01-01

    Gennem de senere år er mindfulness gået fra udelukkende at være en eksistentiel praksis til også at være en behandlingsform og senest til også at blive brugt som et praktisk redskab i erhvervslivet. Denne artikel viser, at mindfulness også kan anvendes i forbindelse med facilitering. Facilitering...... er et værktøj, som bruges i arbejdslivet fx til møder og konferencer, hvor en gruppe mennesker er samlet for at lære eller udrette noget sammen. Det nye ved at kombinere mindfulness med facilitering er, at fokus hermed ændres fra individet, som er centrum for den eksistentielle fordybelse eller det...... terapeutiske forløb, til gruppen, som er udgangspunktet i facilitering. Artiklen viser, hvordan mindfulness konkret kan bruges på gruppeniveau og diskuterer samtidig hvilke problemer, der kan være forbundet hermed. Baseret på vores egne erfaringer, diskuterer vi, hvordan mindfulness kan påvirke en gruppes...

  5. Facilitating Conversations about Managerial Identities

    Madsen, Mona Toft

    -based organization in the engineering consulting sector b) a reflection meeting, where the same three managers were gathered, and conversations were facilitated based on identity work in the context of earlier interviews. More specifically, three themes were discussed; flat organizational structure, tensions between...

  6. How to avoid deferred-compensation troubles.

    Freeman, Todd I

    2005-06-01

    Executive compensation packages have long included stock options and deferred compensation plans in order to compete for talent. Last year, Congress passed a law in response to the Enron debacle, in which executives were perceived to be protecting their deferred compensation at the expense of employees, creditors, and investors. The new law is designed to protect companies and their shareholders from being raided by the very executives that guided the company to financial ruin. Physicians who are part owners of medical practices need to know about the changes in the law regarding deferred compensation and how to avoid costly tax penalties. This article discusses how the changes affect medical practices as well as steps physician-owned clinics can take to avoid the risk of penalty, such as freezing deferred compensation and creating a new deferred compensation plan.

  7. Avoidant Personality Disorder: a Current Review.

    Weinbrecht, Anna; Schulze, Lars; Boettcher, Johanna; Renneberg, Babette

    2016-03-01

    This review focuses on recent research on diagnostic aspects, etiology, and treatment of avoidant personality disorder (AVPD). Current studies stress the close relation between AVPD and social anxiety disorder, the influence of genetic factors in the development of AVPD, and the relative stability of symptoms. Treatment approaches should target the pervasive patterns of social inhibition, feelings of inadequacy, and hypersensitivity to negative evaluation. Empirical evidence for cognitive-behavior and schema therapy is promising. Few other therapeutic approaches have been developed, but until now, these have only been investigated in case studies. We conclude that AVPD qualifies as a neglected disorder and that more research specifically on avoidant personality disorder symptoms and its treatment is needed.

  8. Construction dispute research conceptualisation, avoidance and resolution

    2014-01-01

    There are three specific purposes of Construction Dispute Research. First, this volume aims to summarise studies on construction dispute. Second, apart from the theoretical constructs, where appropriate empirical tests are also included. This approach serves to go beyond the commonly used anecdotal approach for the subject matters. Third, it is the sincere hope of the authors that this book will help shaping research agenda of construction dispute.  The studies are mostly framed from a management perspective drawing on methods and concepts in contract law, economics, psychology and management science.   The book has twenty chapters that are arranged in four parts covering conceptualisation, avoidance, negotiation and mediation. Part 1 is devoted for dispute conceptualisation. A building is only as strong as its foundation. Thus it is no better start to study construction dispute by conceptualisation. The theme of Part 2 is dispute avoidance. The conventional wisdom of ‘prevention is better than cure’ se...

  9. UV Impacts Avoided by the Montreal Protocol

    Newman, Paul; McKenzie, Richard

    2010-01-01

    Temporal and geographical variabilities in the future "World Expected" UV environment are compared with the "World Avoided", which would have occurred without the Montreal Protocol on protection of the ozone layer and its subsequent amendments and adjustments. Based on calculations of clear-sky UV irradiances, the effects of the Montreal Protocol have been hugely beneficial to avoid the health risks, such as skin cancer, which are associated with high UV, while there is only a small increase in health risks, such as vitamin D deficiency, that are associated with low UV. However, interactions with climate change may lead to changes in cloud and albedo, and possibly behavioural changes which could also be important.

  10. Online Learning of Commission Avoidant Portfolio Ensembles

    Uziel, Guy; El-Yaniv, Ran

    2016-01-01

    We present a novel online ensemble learning strategy for portfolio selection. The new strategy controls and exploits any set of commission-oblivious portfolio selection algorithms. The strategy handles transaction costs using a novel commission avoidance mechanism. We prove a logarithmic regret bound for our strategy with respect to optimal mixtures of the base algorithms. Numerical examples validate the viability of our method and show significant improvement over the state-of-the-art.

  11. Detect and Avoid (DAA) Automation Maneuver Study

    2017-02-01

    GUY A. FRENCH JOSEPH C. PRICE, MAJ, USAF Work Unit Manager Acting Chief, Supervisory Control and Cognition Branch Supervisory Control and Cognition...19a. NAME OF RESPONSIBLE PERSON (Monitor) a. REPORT Unclassified b. ABSTRACT Unclassified c. THIS PAGE Unclassified Guy French 19b. TELEPHONE...the ability to detect and safely avoid other aircraft in flight ( Cook & Davis, 2013). In order to increase UAS flight safety and support UAS

  12. Tax avoidance: Definition and prevention issues

    Anđelković Mileva

    2014-01-01

    Full Text Available The problem of resolving issues pertaining to tax avoidance, and particularly its aggressive forms, has been the focal point of discussion among tax scholars which is increasingly gaining attention of politicians alike. As opposed to tax evasion (which is illegal, the phenomenon of tax avoidance calls for careful consideration of state fiscal interests and a highly precise demarcation of the thin line between the acceptable and unacceptable conduct. In many contemporary states, tax avoidance (which implies a formal behaviour of tax payers within the limits of tax legislation but contrary to the tax regulation objectives is declared to be illegitimate. State authorities do not want to tolerate such activity, which results in tax payers' reduction or avoidance of tax liabilities. We should also bear in mind that all tax payers have the tax planning option at their disposal, by means of which they make sure that they do not pay more tax than they are legally obliged to. However, in case they skilfully use the tax regulation flaws and loopholes for the sole purpose of tax evasion, and/or resort to misrepresentation and deceptive constructs, they are considered to be exceeding the limits of acceptable tax behaviour. In comparison to the specific anti-abuse measures which have been built into some national tax legislations, there is a growing number of states that introduce the general anti-abuse legislations, which is based on judicial doctrines or statutory legislation. Yet, there is a notable difference among the envisaged anti-abuse measures depending on whether the national legislation is based on the Anglo-American or European-Continental legal system. The efficiency of applying these general anti-abuse rules in taxation largely rests on their interpretation as well as on their relationship with the principle of legality.

  13. Avoiding Local Optima with Interactive Evolutionary Robotics

    2012-07-09

    the top of a flight of stairs selects for climbing ; suspending the robot and the target object above the ground and creating rungs between the two will...REPORT Avoiding Local Optimawith Interactive Evolutionary Robotics 14. ABSTRACT 16. SECURITY CLASSIFICATION OF: The main bottleneck in evolutionary... robotics has traditionally been the time required to evolve robot controllers. However with the continued acceleration in computational resources, the

  14. The International Double Taxation – Avoiding Methods

    Nicoleta Barbuta-Misu

    2009-01-01

    The paper presents the main causes that determine double taxation, its forms, i.e. the economicdouble taxation and the international legal double taxation, the need for eliminating the double taxation andavoiding methods. In the presentation of the avoidance methods have been used practical examples forcomparison of the tax advantages for income beneficiary between: the total exemption method andprogressive exemption method, on the one hand, and total crediting method and ordinary crediting m...

  15. Functional neuroimaging of avoidance habits in OCD

    Gillan, Claire M; Apergis-Schoute, Annemieke M; Morein-Zamir, Sharon; Urcelay, Gonzalo P; Sule, Akeem; Fineberg, Naomi A; Sahakian, Barbara J; Robbins, Trevor W

    2016-01-01

    Objective The goal of this study was to determine the neural correlates of excessive habit formation in obsessive-compulsive disorder (OCD). We aimed to (i) test for neurobiological convergence with the known pathophysiology of OCD and (ii) infer, based on abnormalities in brain activation, whether these habits arise from dysfunction in the goal-directed or habit system. Method Thirty-seven OCD patients and 33 controls learned to avoid shocks while undergoing a functional Magnetic Resonance Imaging (fMRI) scan. Following 4 blocks of training, we tested if the avoidance response had become a habit by removing the threat of shock and measuring continued avoidance. We tested for task-related differences in brain activity in 3 ROIs, the caudate, putamen and medial orbitofrontal cortex at a statistical threshold of phabit formation in OCD patients, which was associated with hyper-activation in the caudate. Activation in this region was also associated with subjective ratings of increased urge to perform habits. The OCD group, as a whole, showed hyper-activation in the medial orbitofrontal cortex (mOFC) during the acquisition of avoidance, however this did not relate directly to habit formation. Conclusions OCD patients exhibited excessive habits that were associated with hyper-activation in a key region implicated in the pathophysiology of OCD, the caudate nucleus. Prior studies suggest that this region is important for goal-directed behavior, suggesting that habit-forming biases in OCD may be a result of impairments in this system, rather than differences in the build up of stimulus-response habits themselves. PMID:25526600

  16. Acute carbon dioxide avoidance in Caenorhabditis elegans.

    Hallem, Elissa A; Sternberg, Paul W

    2008-06-10

    Carbon dioxide is produced as a by-product of cellular respiration by all aerobic organisms and thus serves for many animals as an important indicator of food, mates, and predators. However, whether free-living terrestrial nematodes such as Caenorhabditis elegans respond to CO2 was unclear. We have demonstrated that adult C. elegans display an acute avoidance response upon exposure to CO2 that is characterized by the cessation of forward movement and the rapid initiation of backward movement. This response is mediated by a cGMP signaling pathway that includes the cGMP-gated heteromeric channel TAX-2/TAX-4. CO2 avoidance is modulated by multiple signaling molecules, including the neuropeptide Y receptor NPR-1 and the calcineurin subunits TAX-6 and CNB-1. Nutritional status also modulates CO2 responsiveness via the insulin and TGFbeta signaling pathways. CO2 response is mediated by a neural circuit that includes the BAG neurons, a pair of sensory neurons of previously unknown function. TAX-2/TAX-4 function in the BAG neurons to mediate acute CO2 avoidance. Our results demonstrate that C. elegans senses and responds to CO2 using multiple signaling pathways and a neural network that includes the BAG neurons and that this response is modulated by the physiological state of the worm.

  17. Knowing and avoiding plagiarism during scientific writing.

    Kumar, P Mohan; Priya, N Swapna; Musalaiah, Svvs; Nagasree, M

    2014-09-01

    Plagiarism has become more common in both dental and medical communities. Most of the writers do not know that plagiarism is a serious problem. Plagiarism can range from simple dishonesty (minor copy paste/any discrepancy) to a more serious problem (major discrepancy/duplication of manuscript) when the authors do cut-copy-paste from the original source without giving adequate credit to the main source. When we search databases like PubMed/MedLine there is a lot of information regarding plagiarism. However, it is still a current topic of interest to all the researchers to know how to avoid plagiarism. It's time to every young researcher to know ethical guidelines while writing any scientific publications. By using one's own ideas, we can write the paper completely without looking at the original source. Specific words from the source can be added by using quotations and citing them which can help in not only supporting your work and amplifying ideas but also avoids plagiarism. It is compulsory to all the authors, reviewers and editors of all the scientific journals to know about the plagiarism and how to avoid it by following ethical guidelines and use of plagiarism detection software while scientific writing.

  18. Knowing and Avoiding Plagiarism During Scientific Writing

    Kumar, P Mohan; Priya, N Swapna; Musalaiah, SVVS; Nagasree, M

    2014-01-01

    Plagiarism has become more common in both dental and medical communities. Most of the writers do not know that plagiarism is a serious problem. Plagiarism can range from simple dishonesty (minor copy paste/any discrepancy) to a more serious problem (major discrepancy/duplication of manuscript) when the authors do cut-copy-paste from the original source without giving adequate credit to the main source. When we search databases like PubMed/MedLine there is a lot of information regarding plagiarism. However, it is still a current topic of interest to all the researchers to know how to avoid plagiarism. It's time to every young researcher to know ethical guidelines while writing any scientific publications. By using one's own ideas, we can write the paper completely without looking at the original source. Specific words from the source can be added by using quotations and citing them which can help in not only supporting your work and amplifying ideas but also avoids plagiarism. It is compulsory to all the authors, reviewers and editors of all the scientific journals to know about the plagiarism and how to avoid it by following ethical guidelines and use of plagiarism detection software while scientific writing. PMID:25364588

  19. Urban water restrictions: Attitudes and avoidance

    Cooper, Bethany; Burton, Michael; Crase, Lin

    2011-12-01

    In most urban cities across Australia, water restrictions remain the dominant policy mechanism to restrict urban water consumption. The extensive adoption of water restrictions as a means to limit demand, over several years, means that Australian urban water prices have consistently not reflected the opportunity cost of water. Given the generally strong political support for water restrictions and the likelihood that they will persist for some time, there is value in understanding households' attitudes in this context. More specifically, identifying the welfare gains associated with avoiding urban water restrictions entirely would be a nontrivial contribution to our knowledge and offer insights into the benefits of alternative policy responses. This paper describes the results from a contingent valuation study that investigates consumers' willingness to pay to avoid urban water restrictions. Importantly, the research also investigates the influence of cognitive and exogenous dimensions on the utility gain associated with avoiding water restrictions. The results provide insights into the impact of the current policy mechanism on economic welfare.

  20. Predictable and avoidable: What’s next?

    Ivo Pezzuto

    2014-09-01

    Full Text Available The author of this paper (Dr. Ivo Pezzuto has been one of the first authors to write back in 2008 about the alleged "subprime mortgage loans fraud" which has triggered the 2008 financial crisis, in combination with multiple other complex, highly interrelated, and concurrent factors. The author has been also one of the first authors to report in that same working paper of 2008 (available on SSRN and titled "Miraculous Financial Engineering or Toxic Finance? The Genesis of the U.S. Subprime Mortgage Loans Crisis and its Consequences on the Global Financial Markets and Real Economy" the high probability of a Eurozone debt crisis, due to a number of unsolved structural macroeconomic problems, the lack of a single crisis resolution scheme, current account imbalances, and in some countries, housing bubbles/high private debt. In the book published in 2013 and titled "Predictable and Avoidable: Repairing Economic Dislocation and Preventing the Recurrence of Crisis", Dr. Ivo Pezzuto has exposed the root causes of the financial crisis in order to enables readers to understand that the crisis we have seen was predictable and should have been avoidable, and that a recurrence can be avoided, if lessons are learned and the right action taken. Almost one year after the publication of the book "Predictable and Avoidable: Repairing Economic Dislocation and Preventing the Recurrence of Crisis", the author has decided to write this working paper to explore what happened in the meantime to the financial markets and to the financial regulation implementation. Most of all, the author with this working paper aims to provide an updated analysis as strategist and scenario analyst on the topics addressed in the book "Predictable and Avoidable" based on a forward-looking perspective and on potential "tail risk" scenarios. The topics reported in this paper relate to financial crises; Government policy; financial regulation; corporate governance; credit risk management