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

Science.gov (United States)

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

2017-10-01

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

Statistics of dislocation pinning at localized obstacles

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-14

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

Propagation of spiral waves pinned to circular and rectangular obstacles.

Science.gov (United States)

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

2015-05-01

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

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

International Nuclear Information System (INIS)

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

1997-01-01

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

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

Directory of Open Access Journals (Sweden)

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.

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

Science.gov (United States)

Han, Zhi-Gang; Cui, Cai-Hui

2009-10-01

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

Global supply of oil. challenges and uncertainties; El suministro global de petroleo. Retos e incertidumbres

Energy Technology Data Exchange (ETDEWEB)

Marzo, M.

2011-07-01

The National Petroleum Council warns us of a disturbing reality: the world is running out of fossil resources, but the continued increase in oil extraction from conventional sources has increasingly risks and these are a serious obstacle to ensure demand the medium term. also the International Energy Agency also warns of serious uncertainties and risks in the field of oil production to meet global demand in the medium and long term.

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

Directory of Open Access Journals (Sweden)

Duysens Jacques

2011-01-01

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

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

Science.gov (United States)

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

2016-01-01

-off increased with obstacle distance, allowing a further step to be taken. These effects of obstacle height and distance were globally similar under low and high-temporal pressure. Collectively, these findings imply that the CNS is able to predict the potential instability elicited by the obstacle clearance and that it scales the spatiotemporal parameters of APAs accordingly.

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

Directory of Open Access Journals (Sweden)

Eric Yiou

2016-09-01

center-of-mass velocity at foot-off increased with obstacle distance, allowing a further step to be taken. These effects of obstacle height and distance were globally similar under low and high-temporal pressure. Collectively, these findings imply that the CNS is able to predict the potential instability elicited by the obstacle clearance and that it scales the spatiotemporal parameters of APAs accordingly.

Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision

Directory of Open Access Journals (Sweden)

Achmad Jazidie

2011-12-01

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

Robust obstacle detection for unmanned surface vehicles

Science.gov (United States)

Qin, Yueming; Zhang, Xiuzhi

2018-03-01

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

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

Science.gov (United States)

Zhao, Ming; Han, Baoling

2016-11-01

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

The New Realities of Global Health: Dynamics and Obstacles

Directory of Open Access Journals (Sweden)

Marine Buissonnière

2012-03-01

Full Text Available Published by Palgrave MacmillanThe past 15 years have seen the arrival of new actors in the field of global health and an increase in development aid in the healthcare sector. These actors have claimed a significant share of the additional public and private resources available becoming the driving force in this new paradigm, often at the expense of traditional institutions, which have gradually lost their policy hegemony. Making choices and formulating policies on the matter of healthcare have ceased to be the sole prerogative of the institutions that had hitherto held the mandate and the responsibility for doing so. Entire areas of the healthcare sector are now dominated by private funders, which have become the de facto decision-makers on public health policy. This new situation raises fundamental questions about governance and accountability. Who decides policy? How are decisions made? All too often, countries in receipt of aid continue to suffer from inadequate coordination between donors and from the lack of a common agenda. With this in mind, it is worth exploring a number of ways of ensuring that global healthcare policies best reflect the beneficiary countries’ actual needs and aspirations.

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

Science.gov (United States)

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

2017-10-01

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

VISION BASED OBSTACLE DETECTION IN UAV IMAGING

Directory of Open Access Journals (Sweden)

S. Badrloo

2017-08-01

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

Women's orgasm obstacles: A qualitative study.

Science.gov (United States)

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

2017-08-01

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

Overcoming Obstacles in Global Climate Action from Copenhagen to Paris

OpenAIRE

Garrison, Jean A.; Kolleg-Forschergruppe The Transformative Power of Europe

2017-01-01

The global climate change agreement completed on December 12, 2015 in Paris set a collective target to cap greenhouse gas emissions in order to limit the temperature increase to 2 degrees Celsius with a goal to get as close as possible to 1.5 degrees above pre-industrial levels. These goals were to be accomplished through a “bottom up” mechanism for national policy approaches in which states made their own choices about how they would meet climate targets. This paper examines why and how an a...

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

Science.gov (United States)

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

2018-03-21

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

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

Science.gov (United States)

Chen, Xueye; Zhao, Zhongyi

2017-04-29

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

Exploring performance obstacles of intensive care nurses.

Science.gov (United States)

Gurses, Ayse P; Carayon, Pascale

2009-05-01

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

Increasing women in leadership in global health.

Science.gov (United States)

Downs, Jennifer A; Reif, Lindsey K; Hokororo, Adolfine; Fitzgerald, Daniel W

2014-08-01

Globally, women experience a disproportionate burden of disease and death due to inequities in access to basic health care, nutrition, and education. In the face of this disparity, it is striking that leadership in the field of global health is highly skewed towards men and that global health organizations neglect the issue of gender equality in their own leadership. Randomized trials demonstrate that women in leadership positions in governmental organizations implement different policies than men and that these policies are more supportive of women and children. Other studies show that proactive interventions to increase the proportion of women in leadership positions within businesses or government can be successful. Therefore, the authors assert that increasing female leadership in global health is both feasible and a fundamental step towards addressing the problem of women's health. In this Perspective, the authors contrast the high proportion of young female trainees who are interested in academic global health early in their careers with the low numbers of women successfully rising to global health leadership roles. The authors subsequently explore reasons for female attrition from the field of global health and offer practical strategies for closing the gender gap in global health leadership. The authors propose solutions aimed to promote female leaders from both resource-wealthy and resource-poor countries, including leadership training grants, mentorship from female leaders in global professions, strengthening health education in resource-poor countries, research-enabling grants, and altering institutional policies to support women choosing a global health career path.

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

Science.gov (United States)

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

2018-05-09

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

Surface obstacles in pulsatile flow

Science.gov (United States)

Carr, Ian A.; Plesniak, Michael W.

2017-11-01

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

CONCERT MANAGEMENT IN CROATIA: OBSTACLES AND CHALLENGES

Directory of Open Access Journals (Sweden)

Irina Basara

2016-12-01

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

Resonances for Obstacles in Hyperbolic Space

Science.gov (United States)

Hintz, Peter; Zworski, Maciej

2017-12-01

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

Directed cell migration in the presence of obstacles

Directory of Open Access Journals (Sweden)

Grima Ramon

2007-01-01

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

Obstacle problems in mathematical physics

CERN Document Server

Rodrigues, J-F

1987-01-01

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

Tracked robot controllers for climbing obstacles autonomously

Science.gov (United States)

Vincent, Isabelle

2009-05-01

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

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

Science.gov (United States)

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

2012-05-16

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

Optical Flow based Robot Obstacle Avoidance

Directory of Open Access Journals (Sweden)

Kahlouche Souhila

2008-11-01

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

Obstacles to and motivation for successful breast-feeding

Directory of Open Access Journals (Sweden)

A-M Bergh

1993-03-01

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

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

International Nuclear Information System (INIS)

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

2000-01-01

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

Water in the presence of inert Lennard-Jones obstacles

Science.gov (United States)

Kurtjak, Mario; Urbic, Tomaz

2014-04-01

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

Global issues in drug development for Alzheimer's disease.

Science.gov (United States)

Doody, Rachelle S; Cole, Patricia E; Miller, David S; Siemers, Eric; Black, Ronald; Feldman, Howard; Schindler, Rachel; Graham, Stephen; Heath, Theresa; Khachaturian, Ara S; Evans, Rebecca; Carrillo, Maria C

2011-03-01

The number of clinical trials for Alzheimer's disease conducted outside the United States in a broad array of countries is increasing. As the number of compounds ready for clinical testing increases, and as trials become longer and more complex, this trend is expected to grow. The cultural and ethical context of global clinical trials, potential benefits for those involved, and practical approaches to obstacles generated by these global trials were discussed at a meeting of the Alzheimer's Association Research Roundtable. Regulatory issues, including regional differences in study registration procedures, rules for collecting and reporting serious adverse events, requirements for national identity of study populations, and regulatory audits were also discussed by individuals who are knowledgeable about global clinical trials for Alzheimer's disease. Copyright © 2011 The Alzheimer's Association. Published by Elsevier Inc. All rights reserved.

UOBPRM: A uniformly distributed obstacle-based PRM

KAUST Repository

Yeh, Hsin-Yi

2012-10-01

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

Dynamics of cylindrical converging shock waves interacting with aerodynamic obstacle arrays

Energy Technology Data Exchange (ETDEWEB)

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

2015-06-15

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

Dynamics of cylindrical converging shock waves interacting with aerodynamic obstacle arrays

International Nuclear Information System (INIS)

Vignati, F.; Guardone, A.

2015-01-01

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

Obstacles to hydroelectric power. VDI conference on chances of hydroelectric power - conservation and environmental protection in conflict

International Nuclear Information System (INIS)

Sauer, H.D.

1994-01-01

Hydroelectric power is one of the most efficient energy sources and presents no CO 2 pollution problem, but there are obstacles as was shown at a VDI conference. Regional landscape conservation interests are in conflict with global environmental protection considerations. (orig.) [de

Obstacle detection system for underground mining vehicles

Energy Technology Data Exchange (ETDEWEB)

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

1998-01-01

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

Obstacles to nutrition labeling in restaurants.

Science.gov (United States)

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

1997-02-01

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

Global health-related publications in otolaryngology are increasing.

Science.gov (United States)

Chambers, Kyle J; Creighton, Francis; Abdul-Aziz, Dunia; Cheney, Mack; Randolph, Gregory W

2015-04-01

Determine trends in global health-related publication in otolaryngology. A review of research databases. A search of publications available on PubMed and nine additional databases was undertaken reviewing two time periods 10 years apart for the timeframes 1998 to 2002 (early time period) and 2008 to 2012 (recent time period) using specific search terms to identify global health-related publications in otolaryngology. Publications were examined for region of origin, subspecialty, type of publication, and evidence of international collaboration. χ and t test analyses were used to identify trends. In the 1998 to 2002 time period, a total of 26 publications met inclusion criteria for the study, with a mean of 5.2 ± 2.8 publications per year. In the 2008 to 2012 time period, a total of 61 publications met inclusion criteria, with a mean of 12.3 ± 5.6 publications per year. The 235% increase in global health-related publications identified between the two study periods was statistically significant (P = .02). The absolute number of publications in which collaboration occurred between countries increased from three in the early time period to nine the recent time period. There has been a significant increase in the volume of global health-related publications in English language otolaryngology journals over the past decade, providing strong evidence of the increasing trend of global health as an academic pursuit within the field of otolaryngology. © 2014 The American Laryngological, Rhinological and Otological Society, Inc.

Learn to Avoid or Overcome Leadership Obstacles

Science.gov (United States)

D'Auria, John

2015-01-01

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

A Korean perspective on developing a global policy for advance directives.

Science.gov (United States)

Kim, Soyoon; Hahm, Ki-Hyun; Park, Hyoung Wook; Kang, Hyun Hee; Sohn, Myongsei

2010-03-01

Despite the wide and daunting array of cross-cultural obstacles that the formulation of a global policy on advance directives will clearly pose, the need is equally evident. Specifically, the expansion of medical services driven by medical tourism, just to name one important example, makes this issue urgently relevant. While ensuring consistency across national borders, a global policy will have the additional and perhaps even more important effect of increasing the use of advance directives in clinical settings and enhancing their effectiveness within each country, regardless of where that country's state of the law currently stands. One cross-cultural issue that may represent a major obstacle in formulating, let alone applying, a global policy is whether patient autonomy as the underlying principle for the use of advance directives is a universal norm or a construct of western traditions that must be reconciled with alternative value systems that may place lesser significance on individual choice. A global policy, at a minimum, must emphasize respect for patient autonomy, provision of medical information, limits to the obligations for physicians, and portability. And though the development of a global policy will be no easy task, active engagement in close collaboration with the World Health Organization can make it possible.

A Hybrid Architecture for Vision-Based Obstacle Avoidance

Directory of Open Access Journals (Sweden)

Mehmet Serdar Güzel

2013-01-01

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

Women’s orgasm obstacles: A qualitative study

Science.gov (United States)

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

2017-01-01

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

Women’s orgasm obstacles: A qualitative study

Directory of Open Access Journals (Sweden)

Maryam Nekoolaltak

2017-09-01

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

Global Market Entry Strategy and Point-A Perspective of Chinese Pharmaceutical Enterprise

Institute of Scientific and Technical Information of China (English)

TonyZhang

2003-01-01

After joining WTO, China will not only open its door wider to foreign investment and operations in Chinese market, but also play an increasing role in global market. However, unlike many other Chinese industries that are already major suppliers or producers of consumer products at global market, majority of pharmaceutical enterprises in China remain domestic operations. Today there are still major obstacles for Chinese pharmaceutical enterprises to overcome in entering key markets such as US and Europe.

Electromagnetic obstacle detection in close distance

Science.gov (United States)

Kurzela, Michał; Burd, Aleksander

2016-09-01

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

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

International Nuclear Information System (INIS)

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

1994-01-01

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

Obstacles: their impact on thinking and beyond thinking

NARCIS (Netherlands)

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

2010-01-01

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

APPLICATION OF DSM IN OBSTACLE CLEARANCE SURVEYING OF AERODROME

Directory of Open Access Journals (Sweden)

X. Qiao

2016-06-01

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

A stereo vision-based obstacle detection system in vehicles

Science.gov (United States)

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

2008-02-01

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

Mathematical Models of Smart Obstacles

Science.gov (United States)

2006-10-01

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

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

Directory of Open Access Journals (Sweden)

Kandathil Jom J.

2018-01-01

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

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

International Nuclear Information System (INIS)

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

2003-01-01

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

Flow through a very porous obstacle in a shallow channel.

Science.gov (United States)

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

2017-04-01

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

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

Science.gov (United States)

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

2017-04-01

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

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

Science.gov (United States)

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2017-06-15

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

Thermally activated plastic flow in the presence of multiple obstacle types

International Nuclear Information System (INIS)

Dong, Y; Curtin, W A

2012-01-01

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

Biologically-Inspired Adaptive Obstacle Negotiation Behavior of Hexapod Robots

Directory of Open Access Journals (Sweden)

Dennis eGoldschmidt

2014-01-01

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

Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance

Directory of Open Access Journals (Sweden)

Nabil M. Hewahi

2017-07-01

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

Ep for efficient stochastic control with obstacles

NARCIS (Netherlands)

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

2010-01-01

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

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

Science.gov (United States)

Shim, Youngbo; Kim, Gon-Woo

2018-03-29

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

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

Directory of Open Access Journals (Sweden)

Youngbo Shim

2018-03-01

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

Poor understanding? Challenges to Global Development Education

Directory of Open Access Journals (Sweden)

John Buchanan

2018-03-01

Full Text Available As members of a global community, we cohabit a metaphorically shrinking physical environment, and are increasingly connected one to another, and to the world, by ties of culture, economics, politics, communication and the like. Education is an essential component in addressing inequalities and injustices concerning global rights and responsibilities. The increasing multicultural nature of societies locally, enhanced access to distal information, and the work of charitable organisations worldwide are some of the factors that have contributed to the interest in, and need for, understanding global development education. The project on which this paper reports sought answers to the question: to what extent and in what ways can a semester-long subject enhance and extend teacher education students’ understandings of and responses to global inequalities and global development aid? In the course of the project, a continuum model emerged, as follows: Indifference or ignorance ➝ pity and charity ➝ partnership and development among equals. In particular, this paper reports on some of the challenges and obstacles that need to be addressed in order to enhance pre-service teachers’ understandings of global development education. The study, conducted in Australia, has implications for global development education in other developed nations.

Classification of obstacle shape for generating walking path of humanoid robot

International Nuclear Information System (INIS)

Park, Chan Soo; Kim, Do Ik

2013-01-01

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

Classification of obstacle shape for generating walking path of humanoid robot

Energy Technology Data Exchange (ETDEWEB)

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

2013-02-15

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

On cylindrically converging shock waves shaped by obstacles

Energy Technology Data Exchange (ETDEWEB)

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

2007-07-16

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

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

Science.gov (United States)

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

2018-04-01

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

Knowledge Management in Accomodation: Infrastructure, Applications and Obstacles Encountered

Directory of Open Access Journals (Sweden)

Emel Bahar

2011-06-01

Full Text Available Contemporary administrations have to manage their knowledge in an effective and systematic way so that they can maintain both their existence and their competition advantages with long term differentiated superiority. As a result of globalization, the effects of the development in information technology on all sectors can also be observed in tourism sector. In this study, the applications of accommodation establishments, their knowledge management background, and the obstacles met in practice are determined. The benefits of information technologies in enterprises involved in this study have been seen in a concrete way and the necessary infrastructure have been identified. But human capital, organizational structure and organizational culture were inadequacies about knowledge management.

Expanding global forest management: An easy first' proposal

Energy Technology Data Exchange (ETDEWEB)

Winjum, J.K. (Environmental Protection Agency, Corvallis, OR (United States)); Meganck, R.A. (United Nations Environment Programme, Kingston (Jamaica)); Dixon, R.K.

1993-04-01

World leaders have become increasingly aware of the contributions of sustainable forest resources to political, social, economic, and environmental health. As a result, interest is growing for a world treaty or protocol on forest management and protection. This article focuses on global forest management. The first section discusses the current situtation in global forest management (10-12% of the total). Benefits of global benefit to management included sustained and even increased yield, slowing of atmospheric carbon dioxide, and conservation of biodiversity and increase sustainable use options. The Noordwijk Goal is discussed as one example of concrete global action. Finally, the easy first approach is presented in detail. It involves starting in areas where the obstacles are minimal to develop early momentum and a can do outlook for implementation. Difficulties of this approach involve dealing with the political, social, and economic aspects of resource constraints that many nations face daily. But the easy first approach attempts to demonstrate that not all financial commitments, political agreements and forest management techniques must be in place for work to start.

Does trade liberalization increase global pollution?

International Nuclear Information System (INIS)

Beladi, Hamid; Oladi, Reza

2011-01-01

In this paper we consider a simple duopoly market in which a home firm and a foreign firm use labor to produce an identical product and supply it to the home market. Firms emit pollution as a by-product of production. We show conditions under which international trade liberalization decreases (increases) the global pollution. (author)

A Robust Obstacle Avoidance for Service Robot Using Bayesian Approach

Directory of Open Access Journals (Sweden)

Widodo Budiharto

2011-03-01

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

Are Global Economic Losses from Natural Hazards Increasing?

Science.gov (United States)

McMullan, Caroline; Simic, Milan; Tosco, Antonello; Latchman, Shane

2016-04-01

Global society has long been influenced by natural hazards, but it has been widely noted that the economic cost of natural hazards has been rising rapidly over recent decades. This upward trend highlights the increasing exposure of the global economy to natural hazards and the need for society to understand the driving factors to help improve the resilience of communities. However disaster risk is driven by a plethora of factors, including population, wealth, land-use, and demographics. Consider also the natural variability in the frequency and severity of events, climate change, and implementation of resilience policies, and it becomes clear that disaster-risk management is a challenging field. To investigate the apparent upward trend in reported annual economic losses from natural disasters, socioeconomic factors known to influence the magnitude of losses must first be accounted for. Adjustment for these factors, known as loss normalisation, aims to estimate the losses sustained if historical events were to impact present day society. We have undertaken a detailed assessment of global economic losses from natural disasters for the period 1995 through 2013. Although the studied time-period is relatively short, expanding the investigated period would not necessarily produce more reliable insights owing to the inherent difficulty in obtaining accurate economic loss estimates for earlier periods and the challenge of finding consistent and reliable sources of socioeconomic data for the normalisation process. The results of the study, presented at a global and regional level, appear to suggest that the main driver of perceived increase in economic losses over the last ~20 years was the development of nations' economies (i.e. increase in population and wealth/GDP) and not in the natural hazards themselves. As populations all over the world migrate into areas of higher natural hazards regions (e.g. coastal areas or floodplain zones) and global wealth continues to

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

Directory of Open Access Journals (Sweden)

Nienhuis Bart

2010-09-01

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

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

International Nuclear Information System (INIS)

Eter, Ahmad; Groeneveld, Dé; Tavoularis, Stavros

2017-01-01

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

Participação do setor privado na governança ambiental global: Evolução, contribuições e obstáculos The participation of the private sector in the global environmental governance: Evolution, contributions and obstacles

Directory of Open Access Journals (Sweden)

Jose Célio Silveira Andrade

2009-08-01

Full Text Available Este artigo tem por objetivo analisar a evolução da participação do setor privado na Governança Ambiental Global (GAG, identificando as contribuições dadas e os principais obstáculos enfrentados por esse ator. Para atingir este objetivo, privilegiou-se a estratégia de pesquisa qualitativa baseada em análise de conteúdo da literatura acadêmica,working papers, diagnósticos e relatórios institucionais. Constatou-se que a participação do mundo dos negócios na GAG se dá pelo processo de formação e implementação de regimes ambientais internacionais e pelo desenvolvimento de regimes híbridos e privados de governança ambiental. Defende-se que o setor privado pode contribuir para a efetividade da GAG. Entretanto, existem vários obstáculos a serem superados visando uma participação mais ativa e direta desse ator na ecopolítica mundial.This article intends to study the evolution of the participation of the private sector in the Global Environmental Governance (GEG, identifying the contributions and the main obstacles faced by this actor. To achieve this goal, emphasis was done on qualitative research strategy based on analysis of academic literature, working papers, diagnostics and institutional reports. It shows that the participation of business in the GEG occurs through the process of formation and implementation of international environmental regimes and the development of hybrid and private environmental governance schemes. In conclusion, this article defends that the private sector can contribute to the effectiveness of GEG, however, there are several obstacles to a stronger participation of this actor in the world ecopolitics.

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

Science.gov (United States)

Vignati, F.; Guardone, A.

2017-11-01

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

Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

Science.gov (United States)

Polanowski, Piotr; Sikorski, Andrzej

2016-08-04

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

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

Science.gov (United States)

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

2018-01-01

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

Obstacle avoidance in persons with rheumatoid arthritis walking on a treadmill.

NARCIS (Netherlands)

Smulders, E.; Schreven, C.; Lankveld, W.G.J.M. van; Duysens, J.E.J.; Weerdesteijn, V.G.M.

2009-01-01

OBJECTIVE:Patients with rheumatoid arthritis (RA) are at increased risk of falling. In healthy elderly persons with a history of falling, a reduced ability to avoid obstacles while walking has been shown to relate to increased fall risk. The aim of this study was to determine whether this potential

A Framework for Obstacles Avoidance of Humanoid Robot Using Stereo Vision

Directory of Open Access Journals (Sweden)

Widodo Budiharto

2013-04-01

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

Increased Global Interaction Across Functional Brain Modules During Cognitive Emotion Regulation.

Science.gov (United States)

Brandl, Felix; Mulej Bratec, Satja; Xie, Xiyao; Wohlschläger, Afra M; Riedl, Valentin; Meng, Chun; Sorg, Christian

2017-07-13

Cognitive emotion regulation (CER) enables humans to flexibly modulate their emotions. While local theories of CER neurobiology suggest interactions between specialized local brain circuits underlying CER, e.g., in subparts of amygdala and medial prefrontal cortices (mPFC), global theories hypothesize global interaction increases among larger functional brain modules comprising local circuits. We tested the global CER hypothesis using graph-based whole-brain network analysis of functional MRI data during aversive emotional processing with and without CER. During CER, global between-module interaction across stable functional network modules increased. Global interaction increase was particularly driven by subregions of amygdala and cuneus-nodes of highest nodal participation-that overlapped with CER-specific local activations, and by mPFC and posterior cingulate as relevant connector hubs. Results provide evidence for the global nature of human CER, complementing functional specialization of embedded local brain circuits during successful CER. © The Author 2017. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

DEVELOPMENT OF FRANCHISING IN CROATIA OBSTACLES AND POLICY RECOMMENDATIONS

Directory of Open Access Journals (Sweden)

Mirela Alpeza

2015-11-01

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

Algorithm for Spatial Clustering with Obstacles

OpenAIRE

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

2009-01-01

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

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

Science.gov (United States)

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

2017-10-01

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

An Evacuation Model for Passenger Ships That Includes the Influence of Obstacles in Cabins

Directory of Open Access Journals (Sweden)

Baocheng Ni

2017-01-01

Full Text Available Passenger behavior and ship environment are the key factors affecting evacuation efficiency. However, current studies ignore the interior layout of passenger ship cabins and treat the cabins as empty rooms. To investigate the influence of obstacles (e.g., tables and stools on cabin evacuation, we propose an agent-based social force model for advanced evacuation analysis of passenger ships; this model uses a goal-driven submodel to determine a plan and an extended social force submodel to govern the movement of passengers. The extended social force submodel considers the interaction forces between the passengers, crew, and obstacles and minimises the range of these forces to improve computational efficiency. We drew the following conclusions based on a series of evacuation simulations conducted in this study: (1 the proposed model endows the passenger with the behaviors of bypassing and crossing obstacles, (2 funnel-shaped exits from cabins can improve evacuation efficiency, and (3 as the exit angle increases, the evacuation time also increases. These findings offer ship designers some insight towards increasing the safety of large passenger ships.

Obstacle avoidance handling and mixed integer predictive control for space robots

Science.gov (United States)

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

2018-04-01

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

Performance characteristics of solar air heater with surface mounted obstacles

International Nuclear Information System (INIS)

Bekele, Adisu; Mishra, Manish; Dutta, Sushanta

2014-01-01

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

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

Science.gov (United States)

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

2016-05-01

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

Reciprocally-Rotating Velocity Obstacles

KAUST Repository

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

2014-01-01

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

Obstacle mean-field game problem

KAUST Repository

Gomes, Diogo A.; Patrizi, Stefania

2015-01-01

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

The influence of roughness and obstacle on wind power map

International Nuclear Information System (INIS)

Abas Ab Wahab; Mohd Fadhil Abas; Mohd Hafiz Ismail

2006-01-01

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

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

Science.gov (United States)

Gill, Simone V; Hung, Ya-Ching

2014-01-01

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

Obstacle detection by stereo vision of fast correlation matching

International Nuclear Information System (INIS)

Jeon, Seung Hoon; Kim, Byung Kook

1997-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2017-03-15

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

Plant root and shoot dynamics during subsurface obstacle interaction

Science.gov (United States)

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

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

DEVELOPMENT OF FRANCHISING IN CROATIA OBSTACLES AND POLICY RECOMMENDATIONS

OpenAIRE

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

2015-01-01

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

Using Thermal Radiation in Detection of Negative Obstacles

Science.gov (United States)

Rankin, Arturo L.; Matthies, Larry H.

2009-01-01

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

Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

Directory of Open Access Journals (Sweden)

Zheping Yan

2013-01-01

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

Minimum-link paths among obstacles in the plane

NARCIS (Netherlands)

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

1992-01-01

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

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

Directory of Open Access Journals (Sweden)

Zuo Chen

2014-01-01

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

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

Science.gov (United States)

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

2014-01-01

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

Giving up nuclear energy. Obstacles, conditions, consequences

International Nuclear Information System (INIS)

Koegel-Dorfs, H.

1990-01-01

Life on this earth is not possible without using energy. The resources of the energies used so far are limited and their utilization carries certain risks which have now become obvious: climatic problems on the one hand, safety problems on the other. Chernobyl, Wackersdorf, tornados and population growth are issues mentioned all the time in the fight for the best solution. Even church synodes have spoken up and demanded to give up nuclear energy. The energy issue, however, has become a question of survival. This study, worked out by a group of scientists (natural science, energy science, lawyers, theologians) analyses the obstacles, conditions and consequences of such a step. The possible solution of rational energy utilization and substitution of energy services and regenerative energies is discussed in depth. The book concludes that problems can only be coped with if there is a feeling of joint responsibility and global social consensus. (orig./HP) [de

Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.

Science.gov (United States)

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

2016-01-01

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

Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.

Directory of Open Access Journals (Sweden)

Andrew J Kolarik

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

Overcoming Obstacles to Drug Repositioning in Japan

Directory of Open Access Journals (Sweden)

Yuhei Nishimura

2017-10-01

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

Is Global Warming likely to cause an increased incidence of Malaria?

Science.gov (United States)

Nabi, SA; Qader, SS

2009-01-01

The rise in the average temperature of earth has been described as global warming which is mainly attributed to the increasing phenomenon of the greenhouse effect. It is believed that global warming can have several harmful effects on human health, both directly and indirectly. Since malaria is greatly influenced by climatic conditions because of its direct relationship with the mosquito population, it is widely assumed that its incidence is likely to increase in a future warmer world. This review article discusses the two contradictory views regarding the association of global warming with an increased incidence of malaria. On one hand, there are many who believe that there is a strong association between the recent increase in malaria incidence and global warming. They predict that as global warming continues, malaria is set to spread in locations where previously it was limited, due to cooler climate. On the other hand, several theories have been put forward which are quite contrary to this prediction. There are multiple other factors which are accountable for the recent upsurge of malaria: for example drug resistance, mosquito control programs, public health facilities, and living standards. PMID:21483497

Effect of form of obstacle on speed of crowd evacuation

Science.gov (United States)

Yano, Ryosuke

2018-03-01

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

Toward international law on global warming

International Nuclear Information System (INIS)

Shultz, E.B. Jr.; Johns, C.; Pauken, M.T.

1991-01-01

Legal precedent in the history of international environmental law is considered. Then, the legal principles, rights and obligations related to transboundary environmental interference are drawn from the precedent. From this legal and historical background, and a brief overview of the principal technical aspects of the emerging global warming problem, the authors suggest a number of possible international protocols. These include outlines of multilateral treaties on energy efficiency, reduction in utilization of coal, increased adoption efficiency, reduction in utilization of coal, increased adoption of renewable and solar energy, and stimulation of several types of forestation, with creation of practical regimes and remedies. Each protocol has its own environmental social and economic merits and urgency, apart from the prevention of global warming. In each suggested protocol, the political obstacles are analyzed. Suggestions are presented for reduction of levels of disagreement standing in the way of obtaining viable treaties likely to be upheld in practice by the signatories. An agenda for study and action is presented, on the assumption that prudence dictates that international environmental law must be expanded as soon as feasible to regulate global warming

Biologically-Inspired Adaptive Obstacle Negotiation Behavior of Hexapod Robots

DEFF Research Database (Denmark)

Goldschmidt, Dennis; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

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

Drivers And Uncertainties Of Increasing Global Water Scarcity

Science.gov (United States)

Scherer, L.; Pfister, S.

2015-12-01

Water scarcity threatens ecosystems and human health and hampers economic development. It generally depends on the ratio of water consumption to availability. We calculated global, spatially explicit water stress indices (WSIs) which describe the vulnerability to additional water consumption on a scale from 0 (low) to 1 (high) and compare them for the decades 1981-1990 and 2001-2010. Input data are obtained from a multi-model ensemble at a resolution of 0.5 degrees. The variability among the models was used to run 1000 Monte Carlo simulations (latin hypercube sampling) and to subsequently estimate uncertainties of the WSIs. Globally, a trend of increasing water scarcity can be observed, however, uncertainties are large. The probability that this trend is actually occurring is as low as 53%. The increase in WSIs is rather driven by higher water use than lower water availability. Water availability is only 40% likely to decrease whereas water consumption is 67% likely to increase. Independent from the trend, we are already living under water scarce conditions, which is reflected in a consumption-weighted average of monthly WSIs of 0.51 in the recent decade. Its coefficient of variation points with 0.8 to the high uncertainties entailed, which might still hide poor model performance where all models consistently over- or underestimate water availability or use. Especially in arid areas, models generally overestimate availability. Although we do not traverse the planetary boundary of freshwater use as global water availability is sufficient, local water scarcity might be high. Therefore the regionalized assessment of WSIs under uncertainty helps to focus on specific regions to optimise water consumption. These global results can also help to raise awareness of water scarcity, and to suggest relevant measures such as more water efficient technologies to international companies, which have to deal with complex and distributed supply chains (e.g. in food production).

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

DEFF Research Database (Denmark)

Aggerholm, Kenneth; Jespersen, Ejgil

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

Increased Global Functional Connectivity Correlates with LSD-Induced Ego Dissolution.

Science.gov (United States)

Tagliazucchi, Enzo; Roseman, Leor; Kaelen, Mendel; Orban, Csaba; Muthukumaraswamy, Suresh D; Murphy, Kevin; Laufs, Helmut; Leech, Robert; McGonigle, John; Crossley, Nicolas; Bullmore, Edward; Williams, Tim; Bolstridge, Mark; Feilding, Amanda; Nutt, David J; Carhart-Harris, Robin

2016-04-25

Lysergic acid diethylamide (LSD) is a non-selective serotonin-receptor agonist that was first synthesized in 1938 and identified as (potently) psychoactive in 1943. Psychedelics have been used by indigenous cultures for millennia [1]; however, because of LSD's unique potency and the timing of its discovery (coinciding with a period of major discovery in psychopharmacology), it is generally regarded as the quintessential contemporary psychedelic [2]. LSD has profound modulatory effects on consciousness and was used extensively in psychological research and psychiatric practice in the 1950s and 1960s [3]. In spite of this, however, there have been no modern human imaging studies of its acute effects on the brain. Here we studied the effects of LSD on intrinsic functional connectivity within the human brain using fMRI. High-level association cortices (partially overlapping with the default-mode, salience, and frontoparietal attention networks) and the thalamus showed increased global connectivity under the drug. The cortical areas showing increased global connectivity overlapped significantly with a map of serotonin 2A (5-HT2A) receptor densities (the key site of action of psychedelic drugs [4]). LSD also increased global integration by inflating the level of communication between normally distinct brain networks. The increase in global connectivity observed under LSD correlated with subjective reports of "ego dissolution." The present results provide the first evidence that LSD selectively expands global connectivity in the brain, compromising the brain's modular and "rich-club" organization and, simultaneously, the perceptual boundaries between the self and the environment. Copyright © 2016 Elsevier Ltd. All rights reserved.

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

Science.gov (United States)

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

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

Reciprocally-Rotating Velocity Obstacles

KAUST Repository

Giese, Andrew

2014-05-01

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

Increasing global crop harvest frequency: recent trends and future directions

International Nuclear Information System (INIS)

Ray, Deepak K; Foley, Jonathan A

2013-01-01

The world’s agricultural systems face the challenge of meeting the rising demands from population growth, changing dietary preferences, and expanding biofuel use. Previous studies have put forward strategies for meeting this growing demand by increasing global crop production, either expanding the area under cultivation or intensifying the crop yields of our existing agricultural lands. However, another possible means for increasing global crop production has received less attention: increasing the frequency of global cropland harvested each year. Historically, many of the world’s croplands were left fallow, or had failed harvests, each year, foregoing opportunities for delivering crop production. Furthermore, many regions, particularly in the tropics, may be capable of multiple harvests per year, often more than are harvested today. Here we analyze a global compilation of agricultural statistics to show how the world’s harvested cropland has changed. Between 2000 and 2011, harvested land area grew roughly 4 times faster than total standing cropland area. Using a metric of cropland harvest frequency (CHF)—the ratio of land harvested each year to the total standing cropland—and its recent trends, we identify countries that harvest their croplands more frequently, and those that have the potential to increase their cropland harvest frequency. We suggest that a possible ‘harvest gap’ may exist in many countries that represents an opportunity to increase crop production on existing agricultural lands. However, increasing the harvest frequency of existing croplands could have significant environmental and social impacts, which need careful evaluation. (letter)

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

KAUST Repository

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

2017-01-01

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

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

KAUST Repository

Dairi, Abdelkader

2017-12-06

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2017-12-15

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

Advection endash diffusion around a curved obstacle

International Nuclear Information System (INIS)

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

1998-01-01

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

Localization of small obstacles in Stokes flow

International Nuclear Information System (INIS)

Caubet, Fabien; Dambrine, Marc

2012-01-01

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

Potential Increasing Dominance of Heterotrophy in the Global Ocean

Science.gov (United States)

Kvale, K.; Meissner, K. J.; Keller, D. P.

2016-02-01

Autotrophs are largely limited by resources in the modern ocean. However, standard metabolic theory suggests continued ocean warming could globally benefit heterotrophs, thereby reducing autotrophic nutrient limitation. The paleo record as well as modern observations offer evidence this has happened in the past and could happen again. Increasing dominance of heterotrophs would result in strong nutrient recycling in the upper ocean and high rates of net primary production (NPP), yet low carbon export to the deep ocean and sediments. We describe the transition towards such a state in the early 22nd century as a response to business-as-usual Representative Concentration Pathway forcing (RCP8.5) in an intermediate complexity Earth system model in three configurations: with and without an explicit calcifier phytoplankton class and calcite ballast model. In all models nutrient regeneration in the near surface becomes an increasingly important driver of primary production. The near-linear relationship between changes in NPP and global sea surface temperature (SST) found over the 21st century becomes exponential above a 2-4 °C global mean SST change. This transition to a more heterotrophic ocean agrees roughly with metabolic theory. Inclusion of small phytoplankton and calcifiers increase the model NPP:SST sensitivity because of their relatively higher nutrient affinity than general phytoplankton. Accounting for organic carbon "protected" from remineralization by carbonate ballast mitigates the exponential increase in NPP and provides an increasingly important pathway for deep carbon export with higher SST changes, despite simultaneous increasing carbonate dissolution rates due to ocean acidification.

Global Collaborative STEM Education

Science.gov (United States)

Meabh Kelly, Susan; Smith, Walter

2016-04-01

Global Collaborative STEM Education, as the name suggests, simultaneously supports two sets of knowledge and skills. The first set is STEM -- science, technology, engineering and math. The other set of content knowledge and skills is that of global collaboration. Successful global partnerships require awareness of one's own culture, the biases embedded within that culture, as well as developing awareness of the collaborators' culture. Workforce skills fostered include open-mindedness, perseverance when faced with obstacles, and resourceful use of technological "bridges" to facilitate and sustain communication. In respect for the 2016 GIFT Workshop focus, Global Collaborative STEM Education projects dedicated to astronomy research will be presented. The projects represent different benchmarks within the Global Collaborative STEM Education continuum, culminating in an astronomy research experience that fully reflects how the global STEM workforce collaborates. To facilitate wider engagement in Global Collaborative STEM Education, project summaries, classroom resources and contact information for established international collaborative astronomy research projects will be disseminated.

Global risk of big earthquakes has not recently increased.

Science.gov (United States)

Shearer, Peter M; Stark, Philip B

2012-01-17

The recent elevated rate of large earthquakes has fueled concern that the underlying global rate of earthquake activity has increased, which would have important implications for assessments of seismic hazard and our understanding of how faults interact. We examine the timing of large (magnitude M≥7) earthquakes from 1900 to the present, after removing local clustering related to aftershocks. The global rate of M≥8 earthquakes has been at a record high roughly since 2004, but rates have been almost as high before, and the rate of smaller earthquakes is close to its historical average. Some features of the global catalog are improbable in retrospect, but so are some features of most random sequences--if the features are selected after looking at the data. For a variety of magnitude cutoffs and three statistical tests, the global catalog, with local clusters removed, is not distinguishable from a homogeneous Poisson process. Moreover, no plausible physical mechanism predicts real changes in the underlying global rate of large events. Together these facts suggest that the global risk of large earthquakes is no higher today than it has been in the past.

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

Directory of Open Access Journals (Sweden)

Schulz Brian W

2012-10-01

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

Cellular neural networks for motion estimation and obstacle detection

Directory of Open Access Journals (Sweden)

D. Feiden

2003-01-01

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

Homogenization of variational inequalities for obstacle problems

International Nuclear Information System (INIS)

Sandrakov, G V

2005-01-01

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

Obstacle detection and avoiding of quadcopter

Science.gov (United States)

Wang, Dizhong; Lin, Jiajian

2017-10-01

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

Land–atmosphere feedbacks amplify aridity increase over land under global warming

Science.gov (United States)

Berg, Alexis; Findell, Kirsten; Lintner, Benjamin; Giannini, Alessandra; Seneviratne, Sonia I.; van den Hurk, Bart; Lorenz, Ruth; Pitman, Andy; Hagemann, Stefan; Meier, Arndt; Cheruy, Frédérique; Ducharne, Agnès; Malyshev, Sergey; Milly, Paul C. D.

2016-01-01

The response of the terrestrial water cycle to global warming is central to issues including water resources, agriculture and ecosystem health. Recent studies indicate that aridity, defined in terms of atmospheric supply (precipitation, P) and demand (potential evapotranspiration, Ep) of water at the land surface, will increase globally in a warmer world. Recently proposed mechanisms for this response emphasize the driving role of oceanic warming and associated atmospheric processes. Here we show that the aridity response is substantially amplified by land–atmosphere feedbacks associated with the land surface’s response to climate and CO2 change. Using simulations from the Global Land Atmosphere Coupling Experiment (GLACE)-CMIP5 experiment, we show that global aridity is enhanced by the feedbacks of projected soil moisture decrease on land surface temperature, relative humidity and precipitation. The physiological impact of increasing atmospheric CO2 on vegetation exerts a qualitatively similar control on aridity. We reconcile these findings with previously proposed mechanisms by showing that the moist enthalpy change over land is unaffected by the land hydrological response. Thus, although oceanic warming constrains the combined moisture and temperature changes over land, land hydrology modulates the partitioning of this enthalpy increase towards increased aridity.

Diffusion induced flow on a wedge-shaped obstacle

International Nuclear Information System (INIS)

Zagumennyi, Ia V; Dimitrieva, N F

2016-01-01

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

Global warming precipitation accumulation increases above the current-climate cutoff scale.

Science.gov (United States)

Neelin, J David; Sahany, Sandeep; Stechmann, Samuel N; Bernstein, Diana N

2017-02-07

Precipitation accumulations, integrated over rainfall events, can be affected by both intensity and duration of the storm event. Thus, although precipitation intensity is widely projected to increase under global warming, a clear framework for predicting accumulation changes has been lacking, despite the importance of accumulations for societal impacts. Theory for changes in the probability density function (pdf) of precipitation accumulations is presented with an evaluation of these changes in global climate model simulations. We show that a simple set of conditions implies roughly exponential increases in the frequency of the very largest accumulations above a physical cutoff scale, increasing with event size. The pdf exhibits an approximately power-law range where probability density drops slowly with each order of magnitude size increase, up to a cutoff at large accumulations that limits the largest events experienced in current climate. The theory predicts that the cutoff scale, controlled by the interplay of moisture convergence variance and precipitation loss, tends to increase under global warming. Thus, precisely the large accumulations above the cutoff that are currently rare will exhibit increases in the warmer climate as this cutoff is extended. This indeed occurs in the full climate model, with a 3 °C end-of-century global-average warming yielding regional increases of hundreds of percent to >1,000% in the probability density of the largest accumulations that have historical precedents. The probabilities of unprecedented accumulations are also consistent with the extension of the cutoff.

Global warming precipitation accumulation increases above the current-climate cutoff scale

Science.gov (United States)

Sahany, Sandeep; Stechmann, Samuel N.; Bernstein, Diana N.

2017-01-01

Precipitation accumulations, integrated over rainfall events, can be affected by both intensity and duration of the storm event. Thus, although precipitation intensity is widely projected to increase under global warming, a clear framework for predicting accumulation changes has been lacking, despite the importance of accumulations for societal impacts. Theory for changes in the probability density function (pdf) of precipitation accumulations is presented with an evaluation of these changes in global climate model simulations. We show that a simple set of conditions implies roughly exponential increases in the frequency of the very largest accumulations above a physical cutoff scale, increasing with event size. The pdf exhibits an approximately power-law range where probability density drops slowly with each order of magnitude size increase, up to a cutoff at large accumulations that limits the largest events experienced in current climate. The theory predicts that the cutoff scale, controlled by the interplay of moisture convergence variance and precipitation loss, tends to increase under global warming. Thus, precisely the large accumulations above the cutoff that are currently rare will exhibit increases in the warmer climate as this cutoff is extended. This indeed occurs in the full climate model, with a 3 °C end-of-century global-average warming yielding regional increases of hundreds of percent to >1,000% in the probability density of the largest accumulations that have historical precedents. The probabilities of unprecedented accumulations are also consistent with the extension of the cutoff. PMID:28115693

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

Science.gov (United States)

Owlia, Shahboddin

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

Obstacle evasion in free-space optical communications utilizing Airy beams

Science.gov (United States)

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

2018-03-01

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

Obstacles to the use of natural gas in electric markets

International Nuclear Information System (INIS)

Lynch, M.M.

1992-01-01

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

Development of an optimal velocity selection method with velocity obstacle

Energy Technology Data Exchange (ETDEWEB)

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

2015-08-15

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

Why Globally GDP, Trade, Profits, Wages, Employment Decrease and Why Poverty Increases?

Directory of Open Access Journals (Sweden)

Peter Štrukelj

2012-01-01

Full Text Available The purpose of the paper is to propose a scientific explanation ofwhy GDP, trade, profits, wages and employment have been globallydecreasing and why poverty has been globally increasing betweenthe 2nd quarter of 2008 and the 3rd quarter of 2009. I explainthese facts in a scientific manner, that is, by deriving thepresent state of the global economy (crisis from the principles ofthe present global economy (predominately organized in a capitalisticmanner. I therefore prove that the crisis necessarily followsfrom the way the present global economy functions. I arguethat the reason for the crisis is the fundamental contradiction betweenthe purpose of companies (increasing profits and necessaryways in which companies try to increase profits, and that theconsequences of this fundamental contradiction are triggered bya general lack of credits.

Student Obstacles in Solving Algebraic Thinking Problems

Science.gov (United States)

Andini, W.; Suryadi, D.

2017-09-01

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

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

Directory of Open Access Journals (Sweden)

Chengshun Song

2017-03-01

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

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

Directory of Open Access Journals (Sweden)

Fahad Abdulrahamn Almalki

2017-12-01

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

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

Science.gov (United States)

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

2016-06-01

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

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

Science.gov (United States)

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

2018-02-02

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

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

DEFF Research Database (Denmark)

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

2015-01-01

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

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

Science.gov (United States)

Parvin, Salma; Sultana, Aysha

2017-06-01

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

How warm days increase belief in global warming

Science.gov (United States)

Zaval, Lisa; Keenan, Elizabeth A.; Johnson, Eric J.; Weber, Elke U.

2014-02-01

Climate change judgements can depend on whether today seems warmer or colder than usual, termed the local warming effect. Although previous research has demonstrated that this effect occurs, studies have yet to explain why or how temperature abnormalities influence global warming attitudes. A better understanding of the underlying psychology of this effect can help explain the public's reaction to climate change and inform approaches used to communicate the phenomenon. Across five studies, we find evidence of attribute substitution, whereby individuals use less relevant but available information (for example, today's temperature) in place of more diagnostic but less accessible information (for example, global climate change patterns) when making judgements. Moreover, we rule out alternative hypotheses involving climate change labelling and lay mental models. Ultimately, we show that present temperature abnormalities are given undue weight and lead to an overestimation of the frequency of similar past events, thereby increasing belief in and concern for global warming.

Surrounding Moving Obstacle Detection for Autonomous Driving Using Stereo Vision

Directory of Open Access Journals (Sweden)

Hao Sun

2013-06-01

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

Obstacle Avoidance for Redundant Manipulators Utilizing a Backward Quadratic Search Algorithm

Directory of Open Access Journals (Sweden)

Tianjian Hu

2016-06-01

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

Greenhouse gas emissions increase global warming

OpenAIRE

Mohajan, Haradhan

2011-01-01

This paper discusses the greenhouse gas emissions which cause the global warming in the atmosphere. In the 20th century global climate change becomes more sever which is due to greenhouse gas emissions. According to International Energy Agency data, the USA and China are approximately tied and leading global emitters of greenhouse gas emissions. Together they emit approximately 40% of global CO2 emissions, and about 35% of total greenhouse gases. The developed and developing industrialized co...

TB case detection in Tajikistan – analysis of existing obstacles

Directory of Open Access Journals (Sweden)

Alexei Korobitsyn

2013-10-01

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

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

Directory of Open Access Journals (Sweden)

Shujun Bi

2011-09-01

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

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

Science.gov (United States)

Lockerby, C. E.

1979-01-01

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

Impact of Performance Obstacles on Intensive Care Nurses‘ Workload, Perceived Quality and Safety of Care, and Quality of Working Life

Science.gov (United States)

Gurses, Ayse P; Carayon, Pascale; Wall, Melanie

2009-01-01

Objectives To study the impact of performance obstacles on intensive care nurses‘ workload, quality and safety of care, and quality of working life (QWL). Performance obstacles are factors that hinder nurses‘ capacity to perform their job and that are closely associated with their immediate work system. Data Sources/Study Setting Data were collected from 265 nurses in 17 intensive care units (ICUs) between February and August 2004 via a structured questionnaire, yielding a response rate of 80 percent. Study Design A cross-sectional study design was used. Data were analyzed by correlation analyses and structural equation modeling. Principal Findings Performance obstacles were found to affect perceived quality and safety of care and QWL of ICU nurses. Workload mediated the impact of performance obstacles with the exception of equipment-related issues on perceived quality and safety of care as well as QWL. Conclusions Performance obstacles in ICUs are a major determinant of nursing workload, perceived quality and safety of care, and QWL. In general, performance obstacles increase nursing workload, which in turn negatively affect perceived quality and safety of care and QWL. Redesigning the ICU work system to reduce performance obstacles may improve nurses‘ work. PMID:19207589

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

Directory of Open Access Journals (Sweden)

Adisu Bekele

2011-01-01

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

Gendered Obstacles Faced by Historical Women in Physics and Astronomy

Science.gov (United States)

Jones, Kristen M.

2007-12-01

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

The Development of Biogas Technology in Denmark: Achievements & Obstacles

OpenAIRE

Sannaa, Mohamed Najib

2004-01-01

Denmark is one of the most advanced countries in biogas technology. This country added several improvements to the biogas process in order to increase the biogas yield and thereby improve the economical profitability. Consequently, this project studied the developments of biogas technology in Denmark. The study includes a historical progress of biogas plants since 1970s; the different problems interrupted the expansion of this technology and the actions taken to overcome these obstacles. This...

Multigrid Computation of Stratified Flow over Two-Dimensional Obstacles

Science.gov (United States)

Paisley, M. F.

1997-09-01

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

Automatic Quadcopter Control Avoiding Obstacle Using Camera with Integrated Ultrasonic Sensor

Science.gov (United States)

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

2018-04-01

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

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

Science.gov (United States)

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

2018-03-01

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

Threat of plastic pollution to seabirds is global, pervasive, and increasing

OpenAIRE

Wilcox, C; Van Sebille, E; Hardesty, BD

2015-01-01

Plastic pollution in the ocean is a rapidly emerging global environmental concern, with high concentrations (up to 580,000 pieces per km2) and a global distribution, driven by exponentially increasing production. Seabirds are particularly vulnerable to this type of pollution and are widely observed to ingest floating plastic. We used a mixture of literature surveys, oceanographic modeling, and ecological models to predict the risk of plastic ingestion to 186 seabird species globally. Impacts ...

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

Directory of Open Access Journals (Sweden)

Jinhong Noh

2016-04-01

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

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

Directory of Open Access Journals (Sweden)

Nadezhda Butryumova

2015-12-01

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

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

Science.gov (United States)

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

2013-01-01

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

Dynamic Obstacle Clearing for Real-time Character Animation

OpenAIRE

Glardon, Pascal; Boulic, Ronan; Thalmann, Daniel

2006-01-01

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

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

Science.gov (United States)

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

2017-09-01

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

Hydroelectric power and global environmental problems: benefits and environmental impacts

International Nuclear Information System (INIS)

Chabot, B.

1992-01-01

The risk of global warming is one of the most serious global environmental problems. It is due to the increase of greenhouse gases emissions, mainly because of the use of fossil fuels in the energy sector, particularly for electricity generation. At an international level, experts now agree that measures are to be taken to reduce this risk. In the energy sector, an improvement of energy efficiency and an increase of nuclear electricity generation are often presented as the best available solutions. Renewable energy sources are often presented as a solution with a negligible potential impact, and sometimes, hydro power is even forgotten, or its coasts and its potential impacts on local environment are presented as an obstacle to its positive contribution to the reduction of global warming risk. Without denying the positive impacts of other solutions, this paper explains the possibilities and the benefits of an increased use of hydroelectric power, when implemented with a minimum impact on local environment and with a synergistic effect with the rational use of generated energy, in order to have access to a sustainable development. 19 refs., 6 figs

An Analysis of Think Globally-Act Locally Strategy Implementation in Developing Relationship of Headquarters and Subsidiaries: Case Study of John Clements Consultants Inc., Philippines & Indonesia

Directory of Open Access Journals (Sweden)

Dilla Noverita

2007-01-01

Moreover, this research analyses how JCCI applies “think globally – act locally” strategy in its global operations and developing relationship with subsidiaries. It brings the issues of all challenges and obstacles the company has in dealing with subsidiaries. Finally, this research recommends alternative strategies to leverage the relationship between headquarters and subsidiaries more efficiently and to minimize the obstacles in cross-cultural management so that the company will be able to strengthen its position in global service market.

Is Global Warming Likely to Cause an Increased Incidence of Malaria?

African Journals Online (AJOL)

The rise in the average temperature of earth has been described as global warming which is mainly attributed to the increasing phenomenon of the greenhouse effect. It is believed that global warming can have several harmful effects on human health, both directly and indirectly. Since malaria is greatly influenced by ...

The Major Challenges Facing Teacher Education in an Increasingly Global Society

Science.gov (United States)

Paese, Paul C.

2008-01-01

Central to schools of education are the professional preparation and development of future educators, who will be responsible for preparing citizens to function and live in a global community. Globalization and schooling have the potential to successfully or unsuccessfully affect the skills that students need to succeed in an increasingly global…

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

Science.gov (United States)

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

2018-04-01

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

Increasing occurrence of cold and warm extremes during the recent global warming slowdown.

Science.gov (United States)

Johnson, Nathaniel C; Xie, Shang-Ping; Kosaka, Yu; Li, Xichen

2018-04-30

The recent levelling of global mean temperatures after the late 1990s, the so-called global warming hiatus or slowdown, ignited a surge of scientific interest into natural global mean surface temperature variability, observed temperature biases, and climate communication, but many questions remain about how these findings relate to variations in more societally relevant temperature extremes. Here we show that both summertime warm and wintertime cold extreme occurrences increased over land during the so-called hiatus period, and that these increases occurred for distinct reasons. The increase in cold extremes is associated with an atmospheric circulation pattern resembling the warm Arctic-cold continents pattern, whereas the increase in warm extremes is tied to a pattern of sea surface temperatures resembling the Atlantic Multidecadal Oscillation. These findings indicate that large-scale factors responsible for the most societally relevant temperature variations over continents are distinct from those of global mean surface temperature.

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

Science.gov (United States)

Thagard, Paul; Findlay, Scott

2010-01-01

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

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

Science.gov (United States)

Mou, Xiaozheng; Wang, Han

2018-01-01

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

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

Science.gov (United States)

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

2017-01-01

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

Global climate change: US-Japan cooperative leadership for environmental protection

International Nuclear Information System (INIS)

Gray, J.E.; Fri, R.W.; Ikuta, Toyoaki; Guertin, D.L.; Tomitate, Takao.

1991-01-01

Over the past decade the Atlantic Council of the United States has engaged in continuing dialogue with the Committee for Energy Policy Promotion (Japan), The Institute of Energy Economics (Japan) and the Global Industrial and Social Progress Research Institute (Japan) on a range of energy issues, including environmentally related considerations. Cooperation on environmental issues is the subject of this joint US-Japanese policy paper on global climate change. The Japanese and US participants who prepared this paper agreed on a number of conclusions, principles to guide action, and common recommendations on how best to address global climate change issues. The agreed upon principles include development of strategies in a long-term time frame (50-100 years); aggressive action to increase efficiency or reduce pollution when economically and technologically justified; utilization of market forces to the maximum extent possible; and assistance to developing countries in reducing pollution and increasing energy efficiency. The key recommendations include: The need to strengthen research to better understand global climate change, its implications and appropriate response strategies; The importance of involving as many nations as possible in formulating a framework agreement on global climate change; Recognition that, given economic and technical capabilities, each country should develop its own response strategies; Additional public and private sector efforts to increase the efficient use of resources and the use of alternate, less polluting energy resources when economically justified; Actions to address obstacles to technology cooperation with developing countries; and Increased flow of information to opinion leaders and the general public on global climate change

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

Directory of Open Access Journals (Sweden)

Petru STEFEA

2013-10-01

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

Redesigning photosynthesis to sustainably meet global food and bioenergy demand

Science.gov (United States)

Ort, Donald R.; Merchant, Sabeeha S.; Alric, Jean; Barkan, Alice; Blankenship, Robert E.; Bock, Ralph; Croce, Roberta; Hanson, Maureen R.; Hibberd, Julian M.; Long, Stephen P.; Moore, Thomas A.; Moroney, James; Niyogi, Krishna K.; Parry, Martin A. J.; Peralta-Yahya, Pamela P.; Prince, Roger C.; Redding, Kevin E.; Spalding, Martin H.; van Wijk, Klaas J.; Vermaas, Wim F. J.; von Caemmerer, Susanne; Weber, Andreas P. M.; Yeates, Todd O.; Yuan, Joshua S.; Zhu, Xin Guang

2015-01-01

The world’s crop productivity is stagnating whereas population growth, rising affluence, and mandates for biofuels put increasing demands on agriculture. Meanwhile, demand for increasing cropland competes with equally crucial global sustainability and environmental protection needs. Addressing this looming agricultural crisis will be one of our greatest scientific challenges in the coming decades, and success will require substantial improvements at many levels. We assert that increasing the efficiency and productivity of photosynthesis in crop plants will be essential if this grand challenge is to be met. Here, we explore an array of prospective redesigns of plant systems at various scales, all aimed at increasing crop yields through improved photosynthetic efficiency and performance. Prospects range from straightforward alterations, already supported by preliminary evidence of feasibility, to substantial redesigns that are currently only conceptual, but that may be enabled by new developments in synthetic biology. Although some proposed redesigns are certain to face obstacles that will require alternate routes, the efforts should lead to new discoveries and technical advances with important impacts on the global problem of crop productivity and bioenergy production. PMID:26124102

Global Partners : University of Saskatchewan Small Grant Program ...

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

This project builds on the experience of the University of Saskatchewan's Global ... Women in the developing world continue to face obstacles that limit their ability to ... of Canada (AUCC) to offer academics (graduate students, professors,. ... grants from IDRC to enhance its members' understanding of and engagement with.

Nuclear power: obstacles and solutions

International Nuclear Information System (INIS)

Hart, R.S.

2002-01-01

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

Nuclear power: obstacles and solutions

International Nuclear Information System (INIS)

Hart, R.S.

2001-01-01

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

Scattering of electromagnetic waves by obstacles

CERN Document Server

Kristensson, Gerhard

2016-01-01

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

Laser Obstacle Detection System Flight Testing

National Research Council Canada - National Science Library

Davis, Timothy

2003-01-01

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

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

Directory of Open Access Journals (Sweden)

Ying-Yi Liao

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

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

Directory of Open Access Journals (Sweden)

Liu Liu

2015-12-01

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

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

Science.gov (United States)

Strauss, Moshe; Glinsky, Michael E.

2012-06-01

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

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

Science.gov (United States)

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

2015-12-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1982-09-01

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

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

Science.gov (United States)

Thagard, Paul; Findlay, Scott

2010-06-01

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

Path planning for first responders in the presence of moving obstacles

Directory of Open Access Journals (Sweden)

Zhiyong Wang

2015-06-01

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

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

Directory of Open Access Journals (Sweden)

Hoyeon Kim

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

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

Science.gov (United States)

Jia, Bao-zhi; Zhu, Ming

2013-12-01

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

Digital Innovations: Startup Marketing Strategy for Global Growth

OpenAIRE

Gröhn, Hanna

2017-01-01

This thesis discusses the relatively new phenomena of innovative digital products created by startup companies, who often must scale globally fast, before the volatile trends or the fierce competition of the digital marketspace take over. International entry itself is no longer the issue, but rather standing out in the crowd while balancing resources and flexibility. The focus is on how startups can induce global growth and tackle structural obstacles by means of marketing strategy. The t...

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

Science.gov (United States)

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

2016-01-01

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

Uniqueness and numerical methods in inverse obstacle scattering

International Nuclear Information System (INIS)

Kress, Rainer

2007-01-01

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

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

Science.gov (United States)

2011-01-24

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

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

Directory of Open Access Journals (Sweden)

Ramūnas Kikutis

2017-09-01

Full Text Available Current research on Unmanned Aerial Vehicles (UAVs shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor.

Science.gov (United States)

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-09-28

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

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

Directory of Open Access Journals (Sweden)

Andrés Cela

2012-12-01

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

Terrain Mapping and Obstacle Detection Using Gaussian Processes

DEFF Research Database (Denmark)

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

2011-01-01

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

Collective rotations of active particles interacting with obstacles

Science.gov (United States)

Mokhtari, Zahra; Aspelmeier, Timo; Zippelius, Annette

2017-10-01

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

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

Science.gov (United States)

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

2015-08-01

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

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

Science.gov (United States)

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

2008-01-01

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

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

OpenAIRE

Lee, Bruce Y.; Burke, Donald S.

2009-01-01

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

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

Science.gov (United States)

Jarvis, S.; Hargrave, G. K.

2006-01-01

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

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

International Nuclear Information System (INIS)

Ikehata, Masaru

2010-01-01

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

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

Directory of Open Access Journals (Sweden)

Xin Li

2012-09-01

Full Text Available Redundant manipulators offer a dual advantage of flexibility and dexterity and can be used in many civilian and military areas. However, operating such systems by teleoperation is challenging because of the redundancy and unstructured task environment, which result in the human operator suffering a huge burden when telemanipulator is facing the complicated obstacles. The existing methods usually use some off-line algorithms to solve the problem of obstacle avoidance. It is difficult for them to meet the requirements of real-time teleoperation in some unknown environment. This paper presents an on-line method for a telerobotic system to take advantage of redundancy to avoid obstacle, which is based on real-time sensor information. With this method, the human operator can focus attention on the end-effector operation regardless of the obstacle avoidance of other parts. The effectiveness and advantage of the method are well demonstrated by experiments.

Blockage effects on viscous fluid flow and heat transfer past a magnetic obstacle in a duct

International Nuclear Information System (INIS)

Zhang Xi-Dong; Huang Hu-Lin

2013-01-01

The effect of lateral walls on fluid flow and heat transfer is investigated when a fluid passes a magnetic obstacle. The blockage ratio β that represents the ratio between the width of external magnet M y and the spanwise width L y is employed to depict the effect. The finite volume method (FVM) based on the PISO algorithm is applied for the blockage ratios of 0.2, 0.3, and 0.4. The results show that the value of Strouhal number St increases as the blockage ratio β increases, and for small β, the variation of St is very small when the interaction parameter and Reynolds number are increasing. Moreover, the cross-stream mixing induced by the magnetic obstacle can enhance the wall-heat transfer and the maximum value of the overall heat transfer increment is about 50.5%

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

Science.gov (United States)

Berry, Hugues; Chaté, Hugues

2014-02-01

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

The effects of laterality on obstacle crossing performance in unilateral trans-tibial amputees.

Science.gov (United States)

De Asha, Alan R; Buckley, John G

2015-05-01

Unilateral trans-tibial amputees have bilaterally reduced toe clearance, and an increased risk of foot contact, while crossing obstacles compared to the able-bodied. While the able-bodied tend to lead with a 'preferred' limb it is equivocal whether amputees prefer to lead with the intact or prosthetic limb. This study determined the effects of laterality, compared to side of amputation, on amputees' obstacle crossing performance. To help understand why laterality could affect performance we also assessed knee proprioception for both limbs. Foot placement and toe clearance parameters were recorded while nine amputees crossed obstacles of varying heights leading with both their intact and prosthetic limbs. Joint-position sense was also assessed. Participants self-reported which limb was their preferred (dominant) limb. There were no significant differences in foot placements or toe clearance variability across lead-limb conditions. There were no significant differences in toe clearance between intact and prosthetic lead-limbs (p=0.28) but toe clearance was significantly higher when amputees led with their preferred compared to non-preferred limb (p=0.025). There was no difference in joint-position sense between the intact and residual knees (p=0.34) but joint-position sense tended to be more accurate for the preferred, compared to non-preferred limb (p=0.08). Findings suggest that, despite the mechanical constraints imposed by use of a prosthesis, laterality may be as important in lower-limb amputees as it is in the able bodied. This suggests that amputees should be encouraged to cross obstacles leading with their preferred limb. Copyright © 2015. Published by Elsevier Ltd.

A globally integrated climate policy for Canada

International Nuclear Information System (INIS)

Bernstein, S.; Brunnee, J.; Duff, D.G.; Green, A.J.

2008-01-01

This book explored policy ideas and options from various perspectives, including science, law, political science, economics and sociology. The costs, opportunities and imperatives to participate in international diplomatic initiatives were considered along with the opportunities of regional global carbon markets. Canada's current policy on climate change negotiations have been focused on domestic regulation and incentives for technological responses and the setting of a domestic carbon price. The sense of urgency about global warming was discussed and the need for action to respond to the threat of global climate change was emphasized. The book also reviewed Canada's role in international climate policies and presented parameters and imperatives for global regime building in Canada. Domestic policy tools were also reviewed along with policy obstacles and opportunities. refs., tabs., figs.

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

DEFF Research Database (Denmark)

Kragh, Mikkel; Underwood, James

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

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

Science.gov (United States)

Zhang, Qi; Wang, Yaxing; Lian, Zhen

2017-07-15

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

Increasing importance of precipitation variability on global livestock grazing lands

Science.gov (United States)

Sloat, Lindsey L.; Gerber, James S.; Samberg, Leah H.; Smith, William K.; Herrero, Mario; Ferreira, Laerte G.; Godde, Cécile M.; West, Paul C.

2018-03-01

Pastures and rangelands underpin global meat and milk production and are a critical resource for millions of people dependent on livestock for food security1,2. Forage growth, which is highly climate dependent3,4, is potentially vulnerable to climate change, although precisely where and to what extent remains relatively unexplored. In this study, we assess climate-based threats to global pastures, with a specific focus on changes in within- and between-year precipitation variability (precipitation concentration index (PCI) and coefficient of variation of precipitation (CVP), respectively). Relating global satellite measures of vegetation greenness (such as the Normalized Difference Vegetation Index; NDVI) to key climatic factors reveals that CVP is a significant, yet often overlooked, constraint on vegetation productivity across global pastures. Using independent stocking data, we found that areas with high CVP support lower livestock densities than less-variable regions. Globally, pastures experience about a 25% greater year-to-year precipitation variation (CVP = 0.27) than the average global land surface area (0.21). Over the past century, CVP has generally increased across pasture areas, although both positive (49% of pasture area) and negative (31% of pasture area) trends exist. We identify regions in which livestock grazing is important for local food access and economies, and discuss the potential for pasture intensification in the context of long-term regional trends in precipitation variability.

C1,1 regularity for degenerate elliptic obstacle problems

Science.gov (United States)

Daskalopoulos, Panagiota; Feehan, Paul M. N.

2016-03-01

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

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

Directory of Open Access Journals (Sweden)

Carlos Fernández

2013-04-01

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

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

Directory of Open Access Journals (Sweden)

Khalil Zalak

2012-10-01

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

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

Directory of Open Access Journals (Sweden)

Jonathan E Ron

2018-05-01

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

Logical obstacles in learning planetary motion

Science.gov (United States)

Dileep, V.; Sathe, D. V.

Daniel Schaffer wrote now-a-days scientists and particularly theoretical physicists are not held in unquestioned esteem in his editorial This became the starting point of my presentation which was dedicated to the memory of Abdus Salam 1 Had he survived to witness the IYP he would have become surprised on knowing that Frank Wilczek had maximum trouble in learning classical mechanics 2 These facts require us to restudy learning O level physics from the logical point of view - in order to attract promising young students to take up challenges of physics and astronomy of the 21 st century Newton s laws of motion are known for more than 300 years and so there should not be any problems in learning and teaching these laws now in the 21 st century But findings of educators reported in the last 30 years show that there are some serious and global problems I have shown that there are some logical obstacles which make adverse effect on the comprehension of circular motion and related topics 3 In this presentation relevant aspects are discussed References begin enumerate item D V Sathe August 2001 Chemical Education International http www iupac org publications cei vol2 0201x0026 html item Frank Wilczek October 2004 Physics Today p 11 item D V Sathe December 2001 COSPAR Info Bulletin 152 p 53 end enumerate

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

NARCIS (Netherlands)

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

2015-01-01

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

Obstacles to performance in the South African autocomponents industry

DEFF Research Database (Denmark)

Granerud, Lise

2003-01-01

The auto-components industry has improved its performance significantly in South Africa during the second half of the 1990's. However, it has not yet reached the level of the international competitors. The present paper suggests that a focus on the firms' internal conditions is a way to identify...... obstacles preventing further improvement of performance and competitiveness. Organisational behaviour has increasingly become important internationally in the understanding of firm development and learning in the recent years. This paper argues that it is crucial to take into account the behaviour...

Design of railway obstacle detection prototype

CSIR Research Space (South Africa)

Xungu, Sipho A

2017-11-01

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

Recovering an obstacle using integral equations

KAUST Repository

Rundell, William

2009-01-01

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

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

International Nuclear Information System (INIS)

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

2016-01-01

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

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

Science.gov (United States)

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

2012-11-01

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

Visualizing news: obstacles, challenges, and solutions

NARCIS (Netherlands)

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

2013-01-01

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

Scientific Research in Jordanian Higher Education Institutions: An Evaluation of the Status and Obstacles

Science.gov (United States)

bin Tareef, Atif

2009-01-01

This study aimed at identifying the status and obstacles of scientific research in Jordanian higher education institutions. And defined by being an attempt to increase faculty member's, researcher's and educational leader's attention to the necessity of improving research planning or strategies, professional development, working conditions,…

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

Directory of Open Access Journals (Sweden)

Vinícius Alota Ignácio Pereira

2015-12-01

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

Obstacles in the climate policy arena

International Nuclear Information System (INIS)

Manders, T.; Tang, P.

2001-01-01

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

Path Generation by Avoiding Obstacles using the Intersection of Bodies

Directory of Open Access Journals (Sweden)

Komák Martin

2018-02-01

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

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

Science.gov (United States)

Aoki, Sho; Sato, Yamato; Yanagihara, Dai

2012-10-01

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

UOBPRM: A uniformly distributed obstacle-based PRM

KAUST Repository

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

2012-01-01

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

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

Directory of Open Access Journals (Sweden)

Mingyue Cui

2012-11-01

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

Canadian Civil Society Organizations and Human Rights and Global ...

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

This project aims to strengthen the capacity of Canadian civil society organizations (CSOs) to inform Canadian policy on human rights and global justice. ... in the developing world continue to face obstacles that limit their ability to establish careers and become leaders in the fields of science, technology, engineering, and ...

Obstacles to Scientific Research in Light of a Number of Variables

Science.gov (United States)

Algadheeb, Nourah A.; Almeqren, Monira A.

2014-01-01

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

Enhancement of heat transfer by nanofluids and orientations of the equilateral triangular obstacle

International Nuclear Information System (INIS)

Bovand, M.; Rashidi, S.; Esfahani, J.A.

2015-01-01

Highlights: • The heat transfer is improved by nanofluids and orientations of the obstacle. • The role of solid volume fraction on the fluid flow and heat transfer is studied. • There is an upward drift in the vortices for the diagonal facing flow. • The maximum value of the average Nusselt number is for the vertex facing flow. - Abstract: This paper simulates the forced convective heat transfer of Al 2 O 3 –water nanofluid over an equilateral triangular obstacle. Computations are performed for different orientations of the triangular obstacle (side, vertex and diagonal facing flows). The ranges of Reynolds number (Re) and solid volume fractions of nanoparticles (φ) are 1 ⩽ Re ⩽ 200 and 0 ⩽ φ ⩽ 0.05, respectively. Two-dimensional unsteady conservation laws of mass, momentum, and energy equations have been solved using finite volume method. The effects of Reynolds number, solid volume fractions of nanoparticles and different orientations of the triangular obstacle on the flow and heat transfer characteristics are investigated in detail. Detailed results are presented for wake length, streamline, vorticity, temperature contours and time averaged Nusselt number. Finally, the value of time averaged Nusselt number has been investigated in three equations using least square method which the effects of solid volume fraction of nanoparticles and Reynolds numbers are taken into account. The calculated results revealed that the maximum effect of nanoparticles on heat transfer rate augmentation is for the side facing flow and the minimum is related to the vertex facing flow. Also, the required Reynolds numbers for wake formation decrease with increase in solid volume fraction

Volume 9 No. 9 December 2009 1797 REVIEW ARTICLE GLOBAL ...

African Journals Online (AJOL)

2009-12-09

Dec 9, 2009 ... GLOBAL ECONOMIC CRISIS AND NUTRITION SECURITY IN AFRICA ... lack of access to capital, among other obstacles, leave African farmers with a ... a leading researcher in child health and development at the Federal University of .... production more than doubled within one year's time, exceeding ...

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

NARCIS (Netherlands)

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

2018-01-01

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

Obstacles of Teaching Mathematics Faced by the Class Teachers in Jordan

Science.gov (United States)

Nejem, Khamis Mousa; Muhanna, Waffa

2013-01-01

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

Global increase and geographic convergence in antibiotic consumption between 2000 and 2015

Science.gov (United States)

Van Boeckel, Thomas P.; Martinez, Elena M.; Pant, Suraj; Gandra, Sumanth; Levin, Simon A.; Goossens, Herman

2018-01-01

Tracking antibiotic consumption patterns over time and across countries could inform policies to optimize antibiotic prescribing and minimize antibiotic resistance, such as setting and enforcing per capita consumption targets or aiding investments in alternatives to antibiotics. In this study, we analyzed the trends and drivers of antibiotic consumption from 2000 to 2015 in 76 countries and projected total global antibiotic consumption through 2030. Between 2000 and 2015, antibiotic consumption, expressed in defined daily doses (DDD), increased 65% (21.1–34.8 billion DDDs), and the antibiotic consumption rate increased 39% (11.3–15.7 DDDs per 1,000 inhabitants per day). The increase was driven by low- and middle-income countries (LMICs), where rising consumption was correlated with gross domestic product per capita (GDPPC) growth (P = 0.004). In high-income countries (HICs), although overall consumption increased modestly, DDDs per 1,000 inhabitants per day fell 4%, and there was no correlation with GDPPC. Of particular concern was the rapid increase in the use of last-resort compounds, both in HICs and LMICs, such as glycylcyclines, oxazolidinones, carbapenems, and polymyxins. Projections of global antibiotic consumption in 2030, assuming no policy changes, were up to 200% higher than the 42 billion DDDs estimated in 2015. Although antibiotic consumption rates in most LMICs remain lower than in HICs despite higher bacterial disease burden, consumption in LMICs is rapidly converging to rates similar to HICs. Reducing global consumption is critical for reducing the threat of antibiotic resistance, but reduction efforts must balance access limitations in LMICs and take account of local and global resistance patterns. PMID:29581252

Measurement of global solar radiation over Brunei Darussalam

International Nuclear Information System (INIS)

Malik, A.Q.; Ak Abd Malik Abd Raub Pg Ghani

2006-01-01

Measurements of global solar radiation on a horizontal surface were carried out for a period of 11 months starting from June 2001 to April 2002. The pyrano meter (Kipp and Zonen) was placed at the top of the library building of University of Brunei Darussalam, which affords optimum exposure to the instrument sensor without appreciable obstacle for incoming global radiation. The maximum and minimum monthly-averaged global irradiations of 553 W/m 2 and 433 W/m 2 were recorded for the months of March and October respectively. The variation of global solar radiation can be divided into two distinct groups - the low radiation values being associated with cloud and turbidity while the high values are associated with less turbid and cloudy periods

A five-week exercise program can reduce falls and improve obstacle avoidance in the elderly.

Science.gov (United States)

Weerdesteyn, Vivian; Rijken, Hennie; Geurts, Alexander C H; Smits-Engelsman, Bouwien C M; Mulder, Theo; Duysens, Jacques

2006-01-01

Falls in the elderly are a major health problem. Although exercise programs have been shown to reduce the risk of falls, the optimal exercise components, as well as the working mechanisms that underlie the effectiveness of these programs, have not yet been established. To test whether the Nijmegen Falls Prevention Program was effective in reducing falls and improving standing balance, balance confidence, and obstacle avoidance performance in community-dwelling elderly people. A total of 113 elderly with a history of falls participated in this study (exercise group, n = 79; control group, n = 28; dropouts before randomization, n = 6). Exercise sessions were held twice weekly for 5 weeks. Pre- and post-intervention fall monitoring and quantitative motor control assessments were performed. The outcome measures were the number of falls, standing balance and obstacle avoidance performance, and balance confidence scores. The number of falls in the exercise group decreased by 46% (incidence rate ratio (IRR) 0.54, 95% confidence interval (CI) 0.36-0.79) compared to the number of falls during the baseline period and by 46% (IRR 0.54, 95% CI 0.34-0.86) compared to the control group. Obstacle avoidance success rates improved significantly more in the exercise group (on average 12%) compared to the control group (on average 6%). Quiet stance and weight-shifting measures did not show significant effects of exercise. The exercise group also had a 6% increase of balance confidence scores. The Nijmegen Falls Prevention Program was effective in reducing the incidence of falls in otherwise healthy elderly. There was no evidence of improved control of posture as a mechanism underlying this result. In contrast, an obstacle avoidance task indicated that subjects improved their performance. Laboratory obstacle avoidance tests may therefore be better instruments to evaluate future fall prevention studies than posturographic balance assessments. Copyright (c) 2006 S. Karger AG, Basel.

The circumvention of obstacles during walking in different environmental contexts: a comparison between older and younger adults.

Science.gov (United States)

Gérin-Lajoie, Martin; Richards, Carol L; McFadyen, Bradford J

2006-11-01

Avoiding pedestrians is an integral part of our daily activities, yet this locomotor activity has received little attention in gait research. A recent study [Motor Control 2005;9:242] described the motor strategies used by young adults to circumvent an obstruction in different environmental contexts including obstacle movement, certainty about this obstacle movement and auditory distractions. The relationship between normal aging and such locomotor activity within these different environmental contexts, however, is not known. The purpose of this study was thus to compare the walking speed and the personal space-a protective zone preserved around the body-in healthy younger and older adults during obstacle circumvention in the above mentioned environmental contexts. The movements of nine younger adults (24.6+/-4.1 years) and nine older adults (69.7+/-3.2 years) were measured as they circumvented a stationary or moving mannequin with and without initial knowledge of the obstacle's displacements. Participants also had to pay attention to auditory messages, played in half of the trials, and to answer related questions. Results showed that all three environmental factors resulted in decreased gait speed in both groups, but the effect of auditory distractions was greater in older adults. Older adults also increased their personal space more than younger adults while paying attention to messages and they made more mistakes when answering related questions. Therefore, even if such an avoidance task is performed routinely, the increased information processing demanded by the environmental context affected both the motor and cognitive performance of older adults more than that of younger adults. Copyright 2005 Elsevier B.V.

Obstacles Facing Promoting Tourism for Islamic Landmarks from the Perspective of Tour Operators in Egypt

Directory of Open Access Journals (Sweden)

Suzan Bakri Hassan

2015-05-01

Full Text Available The UNESCO launched a campaign #unite4heritage in Egypt to defeat extremism and intolerance. The message of such campaigne is peace, dialogue and unity embedded in cultural heritage. As culture and tourism are linked together, such message could be delivered through improving culture heritage tourism in Egypt. Islamic landmarks  are considered as a part of human heritage. Therefore, the purpose of this study is to identify how much tour operators in Egypt include Islamic landmarks in their programs to determine the obstacles facing promoting cultural tourism in Islamic landmarks' areas. Additionally, the study would identify positive results in the case of developing heritage tourism in Egypt. To achieve a high result, a survey approach was employed to collect data from 100 tour operators, using a completed questionnaire technique as well as a Likert Scale and statistical models in order to test and interpret the research outcomes. The research findings indicated that although tour operators in Egypt are convinced of the significance of the Islamic landmarks, there is no contradiction between creating global understanding and at the same time achieving benefit to the local community. However, there is a range of obstacles facing promoting such type of tourism in Egypt. Keywords: Culture heritage tourism, community, Egypt, Islamic civilization.

Supersonic flows past an obstacle in Yukawa liquids

Science.gov (United States)

Charan, Harish; Ganesh, Rajaraman

2018-04-01

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

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

Directory of Open Access Journals (Sweden)

Laura Albaine

2015-05-01

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

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

Science.gov (United States)

Higaki, Mitsuo; Maekawa, Yasunori; Nakahara, Yuu

2018-05-01

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

Usage of Business Simulation Games in Croatia: Perceived Obstacles

Directory of Open Access Journals (Sweden)

Jovana Zoroja

2013-09-01

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

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

Science.gov (United States)

Ducarne, Loïc; Ainalis, Daniel; Kouroussis, Georges

2018-01-15

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

Premixed CH4-Air Flame Structure Characteristic and Flow Behavior Induced by Obstacle in an Open Duct

Directory of Open Access Journals (Sweden)

DengKe Li

2015-01-01

Full Text Available To study the fuel gas combustion hazards, the methane/air flame structure and flow characteristic in an open duct influenced by a rectangular obstacle were explored by experiment and realizable k-∊ model (RKE. In the test, the high-speed schlieren photography technology and dynamic detection technology were applied to record the flame propagation behavior. Meanwhile, the interaction between flame front and flame flow field induced by the obstacle was disclosed. In addition, the laminar-turbulence transition was also taken into consideration. The RKE and eddy dissipation concept (EDC premixed combustion model were applied to obtain an insight into the phenomenon of flow change and wrinkle appearing, which potently explained the experimental observations. As a result, the obstacle blocked the laminar flame propagation velocity and increased pressure a little in an open duct. Some small-scale vortices began to appear near the obstacle, mainly due to Kelvin-Helmholtz instability (KHI, and gradually grew into large-scale vortices, which led to laminar-turbulent transition directly. The vortices thickened the reaction area and hastened the reaction rate; reversely, the higher reaction rate induced larger vortices. The RKE model result fitted the test data well and explained the wrinkle forming mechanism of two special vortices in the case.

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

Directory of Open Access Journals (Sweden)

Ali Rabiee

2013-07-01

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

Direction of single obstacle circumvention in middle-aged children.

Science.gov (United States)

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

2014-01-01

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

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

DEFF Research Database (Denmark)

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

2007-01-01

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

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

Directory of Open Access Journals (Sweden)

Peter Christiansen

2016-11-01

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

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

Science.gov (United States)

Reardon, Betty

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

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

Science.gov (United States)

Mohd Zin, Zalhan; Ibrahim, Ratnawati

2011-06-01

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

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

KAUST Repository

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

2015-01-01

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

OPPORTUNITIES AND OBSTACLES TO EUROPEAN INTEGRATION, DEPENDING ON THE FUTURE OF THE GLOBAL SYSTEM

Directory of Open Access Journals (Sweden)

DUŢĂ ALEXANDRU

2017-12-01

Full Text Available The hypothesis of the paper is that the future of the European Union cannot be understood outside of the global context. Here are the main strategic options for the 21st century - Friedman, Attali, Fukuyama and Huntigton. Without denying any possible conflicts, a global war involving the nucleus of the great civilizations is highly unlikely. Our view is that the United States of Europe is a strategically achievable target, bringing some arguments in favor of the advanced hypothesis.

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

Science.gov (United States)

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

2018-02-01

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

Can the obstacles to privacy self-management be overcome? Exploring the consent intermediary approach

Directory of Open Access Journals (Sweden)

Tuukka Lehtiniemi

2017-07-01

Full Text Available In privacy self-management, people are expected to perform cost–benefit analysis on the use of their personal data, and only consent when their subjective benefits outweigh the costs. However, the ubiquitous collection of personal data and Big Data analytics present increasing challenges to successful privacy management. A number of services and research initiatives have proposed similar solutions to provide people with more control over their data by consolidating consent decisions under a single interface. We have named this the ‘ consent intermediary ’ approach. In this paper, we first identify the eight obstacles to privacy self-management which make cost–benefit analysis conceptually and practically challenging. We then analyse to which extent consent intermediaries can help overcome the obstacles. We argue that simply bringing consent decisions under one interface offers limited help, but that the potential of this approach lies in leveraging the intermediary position to provide aides for privacy management. We find that with suitable tools, some of the more practical obstacles indeed can become solvable, while others remain fundamentally insuperable within the individuated privacy self-management model. Attention should also be paid to how the consent intermediaries may take advantage of the power vested in the intermediary positions between users and other services.

Experimental Investigation on the Detection of Obstacles by a Mobile Robot

Directory of Open Access Journals (Sweden)

Zoltan-Iosif Korka

2017-06-01

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

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

Science.gov (United States)

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

2016-05-01

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

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

Science.gov (United States)

Qu, Fenglong; Yang, Jiaqing; Zhang, Bo

2018-01-01

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

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

Directory of Open Access Journals (Sweden)

Zhao Yibing

2014-01-01

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

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

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

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

Directory of Open Access Journals (Sweden)

Khaled Salah Hanafy Mahmoud

2018-03-01

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

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

Directory of Open Access Journals (Sweden)

Samir Yahya Umri

2006-12-01

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

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

Science.gov (United States)

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

2018-07-02

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

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

Directory of Open Access Journals (Sweden)

Yi-Chung Lai

2012-10-01

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

The effect of magnetic field on instabilities of heat transfer from an obstacle in a channel

International Nuclear Information System (INIS)

Rashidi, S.; Esfahani, J.A.

2015-01-01

This paper presents forced convective heat transfer in a channel with a built-in square obstacle. The governing equations with the boundary conditions are solved using a finite volume method. The computations were done for a fixed blockage ratio (S=1/8) at Pr=0.71, and Reynolds (Re) and Stuart (N) numbers ranging from 1 to 250 and 0 to 10, respectively. The results are presented to show the effect of the channel walls and streamwise magnetic field at different Reynolds numbers on forced convection heat transfer from a square cylinder. A correlation is obtained for Nusselt number, in which the effect of a magnetic field is taken into account. The obtained results revealed that the existence of channel walls decreases the effects of magnetic field on Nusselt number. It also showed that by increasing Stuart number the thickness of thermal boundary layer increases and the convective heat transfer decreases. - Highlights: • The magnetic field is used to control the instabilities of heat transfer. • The thickness of thermal boundary layer increases by increasing Stuart number. • Unsteadiness in temperature field increases with increase in Reynolds number. • Time-averaged Nusselt number decreases with increase in Stuart number. • The Lorentz forces are much denser near the surface of the obstacle

Work security in a global economy.

Science.gov (United States)

Rosskam, Ellen

2003-01-01

Work security is a fundamental right of all working people. After World War II, the welfare state became an intrinsic part of the "Golden Age" of capitalism, in which universal prosperity seemed attainable. Workers' organizations frequently played a crucial role in policy decisions that promoted full employment, income stability, and equitable treatment of workers. Today's world order is quite different. Globalization in its present form is a major obstacle to work security. Globalization is not simply a market-driven phenomenon. It is a political and ideological movement that grants authority to capital over governments and labor. This transfer of authority hinders national efforts to promote work security and may impact the well-being of communities worldwide. In the absence of domestic autonomy, international labor standards are needed to protect social welfare. They should be geared toward curbing unemployment, poverty, and social exclusion in the global economy. The article looks at three initiatives to promote global work security.

Increasing Global Competitiveness: A Case for the Pakistan Economy

OpenAIRE

Shamyla Chaudry

2007-01-01

The issue of global competitiveness is critical for developing countries. This paper looks at the drivers that influence industrial competitiveness and provides a comparison of these drivers for Pakistan, India and China. The analysis shows that Pakistan lags behind China and India in most of the main components of the industrial competitiveness index. The analysis also presents a series of micro and macro level policy recommendations aimed at increasing Pakistan’s industrial competitiveness.

Entire solutions for bistable lattice differential equations with obstacles

CERN Document Server

Hoffman, Aaron; Vleck, E S Van

2018-01-01

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

Kinect-Based Moving Human Tracking System with Obstacle Avoidance

Directory of Open Access Journals (Sweden)

Abdel Mehsen Ahmad

2017-04-01

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

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

International Nuclear Information System (INIS)

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

1999-05-01

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

Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

NARCIS (Netherlands)

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

2007-01-01

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

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

International Nuclear Information System (INIS)

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

1986-01-01

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

Excavating obstacles and enablers to internationalization at home

NARCIS (Netherlands)

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

2017-01-01

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

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

Science.gov (United States)

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

2010-11-01

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

IMPEDIMENTS TO WOMEN’S EQUITABLE EMPLOYMENT: GLOBAL SCENARIO

OpenAIRE

Farida Faisal

2011-01-01

The ambivalent record of progress on issues of gender equality is reflective of the impediments to women’s equitable employment. This paper presents facts on global gender inequality in general, while specifically focusing on gender discrimination in the labour market and formal organisations. The Gender Mainstreaming strategy is presented as a viable option to overcome the obstacles restricting women from attaining their productive potential.

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

OpenAIRE

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

2012-01-01

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

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

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

2011-02-24

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

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

Science.gov (United States)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Andrew J Kolarik

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

Global smooth solutions of 3-D null-form wave equations in exterior domains with Neumann boundary conditions

Science.gov (United States)

Jun, Li; Huicheng, Yin

2018-05-01

The paper is devoted to investigating long time behavior of smooth small data solutions to 3-D quasilinear wave equations outside of compact convex obstacles with Neumann boundary conditions. Concretely speaking, when the surface of a 3-D compact convex obstacle is smooth and the quasilinear wave equation fulfills the null condition, we prove that the smooth small data solution exists globally provided that the Neumann boundary condition on the exterior domain is given. One of the main ingredients in the current paper is the establishment of local energy decay estimates of the solution itself. As an application of the main result, the global stability to 3-D static compressible Chaplygin gases in exterior domain is shown under the initial irrotational perturbation with small amplitude.

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

Science.gov (United States)

2010-04-28

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

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

International Nuclear Information System (INIS)

Mvungi, J.R.

1986-03-01

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

Obstacles Facing the Iranian Basketball Academy

OpenAIRE

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

2016-01-01

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

Nonholonomic feedback control among moving obstacles

Science.gov (United States)

Armstrong, Stephen Gregory

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

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

International Nuclear Information System (INIS)

2006-02-01

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

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

Energy Technology Data Exchange (ETDEWEB)

NONE

2006-02-15

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

Obstacles to moral education in a private school: a qualitative case study in Brazil

OpenAIRE

Leal Terra Silva, F. (Fabiana)

2014-01-01

Abstract This research intends to investigate obstacles to moral education in a private school in Brazil, based on teachers’ views, which were gathered through interviews, questionnaires and discussions during workshops. It is a qualitative case study conducted in a country where neoliberal values increasingly influence education, and where high rates of socio economic inequalities are easily observed. Similarly to other em...

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

Science.gov (United States)

Qiu, Huaxin; Duan, Haibin

2017-11-01

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

A Method to Identify Flight Obstacles on Digital Surface Model

Institute of Scientific and Technical Information of China (English)

ZHAO Min; LIN Xinggang; SUN Shouyu; WANG Youzhi

2005-01-01

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

Geographical spread of global emissions: Within-country inequalities are large and increasing

International Nuclear Information System (INIS)

Sauter, Caspar; Grether, Jean-Marie; Mathys, Nicole A.

2016-01-01

In spite of the extensive literature on greenhouse gas emission inequalities at the world-wide level, most of the evidence so far has been based on country-level data. However, the within-country dimension matters for both the implementation and the policy formation of climate policies. As a preliminary step towards a better understanding of within-country inequalities, this paper measures their extent for the two major greenhouse gases, CO_2 and CH_4, over the 1970–2008 period. Using Theil-index decompositions, we show that within-country inequalities account for the bulk of global inequality, and tend to increase over the sample period, in contrast with diminishing between-country inequalities. Including differences across sectors reveals that between-sector inequalities matter more than between-country inequalities, and between-sector inequalities become the dominant source of global inequality at the end of the sample period in the CO_2 case. Finally, estimated social tensions arising from the disconnection between emissions and future damages turn out to be increasing as soon as within-country disparities are taken into account. These orders of magnitude should be kept in mind while discussing the efficiency and fairness of alternative paths in combating global warming. - Highlights: • We estimate global spatial CO_2 and CH_4 inequality using grid data for 1970–2008. • Overall spatial emission inequality is constant for CO_2 and increasing for CH_4. • Within-country inequality is rising and constitutes the main bulk of overall inequality. • An important part of within country inequality is due to differences among sectors. • The gap between emitters and victims is rising within countries.

Globalization and climate change challenges the Arctic communities adaptability and increases vulnerability

DEFF Research Database (Denmark)

Hendriksen, Kåre

2011-01-01

Globalization and climate change challenges the Arctic communities adaptability and increases vulnerability Kåre Hendriksen, PhD student, Aalborg University, Denmark The previous isolation of the Arctic will change as a wide range of areas increasingly are integrated into the globalized world....... Coinciding climate changes cause an easier access for worldwide market as well as for the extraction of coastal oil and mineral resources. In an attempt to optimize the fishing fleet by economic measures it is centralized to larger units, and the exports of unprocessed fish and shellfish to low wage...... in contemporary developments leaving them with a feeling of being powerless. The consequences of contemporary policies and the problems arising will be illustrated through examples from traditional hunting and fishing districts in Greenland....

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

Science.gov (United States)

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

2009-01-01

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

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

Science.gov (United States)

Vallis, Lori Ann; McFadyen, Bradford J

2003-10-01

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

FLAME facility: The effect of obstacles and transverse venting on flame acceleration and transition on detonation for hydrogen-air mixtures at large scale

International Nuclear Information System (INIS)

Sherman, M.P.; Tieszen, S.R.; Benedick, W.B.

1989-04-01

This report describes research on flame acceleration and deflagration-to-detonation transition (DDT) for hydrogen-air mixtures carried out in the FLAME facility, and describes its relevance to nuclear reactor safety. Flame acceleration and DDT can generate high peak pressures that may cause failure of containment. FLAME is a large rectangular channel 30.5 m long, 2.44 m high, and 1.83 m wide. It is closed on the ignition end and open on the far end. The three test variables were hydrogen mole fraction (12--30%), degree of transverse venting (by moving steel top plates---0%, 13%, and 50%), and the absence or presence of certain obstacles in the channel (zero or 33% blockage ratio). The most important variable was the hydrogen mole fraction. The presence of the obstacles tested greatly increased the flame speeds, overpressures, and tendency for DDT compared to similar tests without obstacles. Different obstacle configurations could have greater or lesser effects on flame acceleration and DDT. Large degrees of transverse venting reduced the flame speeds, overpressures, and possibility of DDT. For small degrees of transverse venting (13% top venting), the flame speeds and overpressures were higher than for no transverse venting with reactive mixtures (>18% H 2 ), but they were lower with leaner mixtures. The effect of the turbulence generated by the flow out the vents on increasing flame speed can be larger than the effect of venting gas out of the channel and hence reducing the overpressure. With no obstacles and 50% top venting, the flame speeds and overpressures were low, and there was no DDT. For all other cases, DDT was observed above some threshold hydrogen concentration. DDT was obtained at 15% H 2 with obstacles and no transverse venting. 67 refs., 62 figs

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

Directory of Open Access Journals (Sweden)

Jialiang Wang

2014-01-01

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

Thermal activation of dislocations in large scale obstacle bypass

Science.gov (United States)

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

2017-08-01

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

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

Science.gov (United States)

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

2017-08-01

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

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

Directory of Open Access Journals (Sweden)

Fang Wu

2017-05-01

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

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

DEFF Research Database (Denmark)

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

2016-01-01

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

[Effect of substrate of edible mushroom on continuously cropping obstacle of Rehmannia glutinosa].

Science.gov (United States)

Ru, Rui-Hong; Li, Xuan-Zhen; Hunag, Xiao-Shu; Gao, Feng; Wang, Jian-Ming; Li, Ben-Yin; Zhang, Zhong-Yi

2014-08-01

The continuous cultivation of Rehmannia glutinosa causes the accumulation of phenolic acids in soil. It is supposed to be the reason of the so called "continuously cropping obstacle". In this study, phenolic acids (hydroxybenzoic acid, vanillic acid, eugenol, vanillin and ferulic acid) were degraded by the extracta of all the tested spent mushroom substrate (SMS) and the maximal degradation rate was 75.3%, contributed by extraction of SMS of Pleurotus eryngii. Pot experiment indicated that hydroxybenzoic acid and vanillin in soil were also degraded effectively by SMS of P. eryngii. The employment of SMS enhanced ecophysiology index to near the normal levels, such as crown width, leaves number, leaf length, leaf width and height. At the same time, the fresh and dry weight and total catalpol concentration of tuberous root weight of R. glutinosa was increased to 2.70, 3.66, 2.25 times by employment of SMS, respectively. The increase of bacteria, fungi and actinomycetes numbers in rhizosphere soil were observed after the employment of SMS by microbial counts. The employment of SMS also enhanced the enzyme activity in soils, such as sucrase, cellulase, phosphalase, urease and catelase. These results indicated that the employment of SMS alleviated the continuously cropping obstacle of R. glutinosa in some extent.

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

Science.gov (United States)

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

2017-07-01

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

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

Science.gov (United States)

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

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

Beyond Our Borders? Public Resistance to Global Genomic Data Sharing.

Directory of Open Access Journals (Sweden)

Mary A Majumder

2016-11-01

Full Text Available Prospects have never seemed better for a truly global approach to science to improve human health, with leaders of national initiatives laying out their vision of a worldwide network of related projects. An extensive literature addresses obstacles to global genomic data sharing, yet a series of public polls suggests that the scientific community may be overlooking a significant barrier: potential public resistance to data sharing across national borders. In several large United States surveys, university researchers in other countries were deemed the least acceptable group of data users, and a just-completed US survey found a marked increase in privacy and security concerns related to data access by non-US researchers. Furthermore, diminished support for sharing beyond national borders is not unique to the US, although the limited data from outside the US suggest variation across countries as well as demographic groups. Possible sources of resistance include apprehension about privacy and security protections. Strategies for building public support include making the affirmative case for global data sharing, addressing privacy, security, and other legitimate concerns, and investigating public concerns in greater depth.

Marxist Perspectives on the Global Enclosures of Social Reproduction

Directory of Open Access Journals (Sweden)

Friederike Beier

2018-05-01

Full Text Available Women’s unpaid care and domestic work is gaining relevance in policy-making as well as in academia. Feminist scholars and activists have lobbied successfully for the integration of unpaid care and domestic work into the Sustainable Development Goals (Goal 5.4 of the United Nations in the hope for greater recognition of women’s contribution to the economy. Policy documents about social reproduction highlight women’s disproportionate share of reproductive activities as an obstacle to women’s economic empowerment and as a relic of ‘traditional’ gender roles. Social reproduction is thereby not understood as a merit in itself, but as an obstacle to women’s participation in paid labour. Policy implications will enable certain empowerment effects for some women, but at the same time promote the increasing privatization and commodification of reproductive work across the globe. Rising inequalities between the Global North and South and between women along the categories of class and race will be one major result. To theoretically explain such contradictory effects of the recognition of social reproduction, I use the concept of ‘enclosures’ based on Marx’ ‘primitive accumulation’. Feminist scholars use the concept to explain how unpaid care and housework is commodified or de-commodified to integrate women into the paid labour force or to reduce the costs of social reproduction according to the needs of the economy. The sudden interest in unpaid care and domestic work e.g. in the Sustainable Development Goals can therefore be seen as process of double enclosure, which integrates women into the paid labour force, but also sets the grounds for the further commodification of domestic and care work. This paper aims to critically discuss the sudden interest in unpaid domestic and care work and its contradictory effects from a Marxist feminist perspective and reflects on feminist strategies and movements in global governance. After

Further progress on defining highly conserved immunogenic epitopes for a global HIV vaccine

DEFF Research Database (Denmark)

De Groot, Anne S; Levitz, Lauren; Ardito, Matthew T

2012-01-01

Two major obstacles confronting HIV vaccine design have been the extensive viral diversity of HIV-1 globally and viral evolution driven by escape from CD8(+) cytotoxic T-cell lymphocyte (CTL)-mediated immune pressure. Regions of the viral genome that are not able to escape immune response...

Neuroepigenomics: Resources, Obstacles, and Opportunities.

Science.gov (United States)

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

2015-01-01

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

Neuroepigenomics: resources, obstacles, and opportunities

Directory of Open Access Journals (Sweden)

John S. Satterlee

2015-01-01

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

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

Science.gov (United States)

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

2004-09-01

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

Unrealized Global Temperature Increase: Implications of Current Uncertainties

Science.gov (United States)

Schwartz, Stephen E.

2018-04-01

Unrealized increase in global mean surface air temperature (GMST) may result from the climate system not being in steady state with forcings and/or from cessation of negative aerosol forcing that would result from decreases in emissions. An observation-constrained method is applied to infer the dependence of Earth's climate sensitivity on forcing by anthropogenic aerosols within the uncertainty on that forcing given by the Fifth (2013) Assessment Report of the Intergovernmental Panel on Climate Change. Within these uncertainty ranges the increase in GMST due to temperature lag for future forcings held constant is slight (0.09-0.19 K over 20 years; 0.12-0.26 K over 100 years). However, the incremental increase in GMST that would result from a hypothetical abrupt cessation of sources of aerosols could be quite large but is highly uncertain, 0.1-1.3 K over 20 years. Decrease in CO2 abundance and forcing following abrupt cessation of emissions would offset these increases in GMST over 100 years by as little as 0.09 K to as much as 0.8 K. The uncertainties quantified here greatly limit confidence in projections of change in GMST that would result from any strategy for future reduction of emissions.

Advancing Army Women as Senior Leaders - Understanding the Obstacles

National Research Council Canada - National Science Library

Ellefson, Kristi

1998-01-01

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

Lessons for Implementation from the World's Most Successful Programme: The Global Eradication of Smallpox.

Science.gov (United States)

Pratt, David

1999-01-01

Focuses on lessons educators might learn from the Intensified Campaign for the Global Eradication of Smallpox. Outlines the history of smallpox eradication. Discusses the eradication effort's obstacles, campaign, and costs and benefits. Considers five factors relevant to the successful implementation of educational programs. (CMK)

An observational study of foot lifts asymmetry during obstacle avoidance

Directory of Open Access Journals (Sweden)

Ujjawal Singh Tomar

2012-01-01

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

Globally Increased Crop Growth and Cropping Intensity from the Long-Term Satellite-Based Observations

Science.gov (United States)

Chen, Bin

2018-04-01

Understanding the spatiotemporal change trend of global crop growth and multiple cropping system under climate change scenarios is a critical requirement for supporting the food security issue that maintains the function of human society. Many studies have predicted the effects of climate changes on crop production using a combination of filed studies and models, but there has been limited evidence relating decadal-scale climate change to global crop growth and the spatiotemporal distribution of multiple cropping system. Using long-term satellite-derived Normalized Difference Vegetation Index (NDVI) and observed climate data from 1982 to 2012, we investigated the crop growth trend, spatiotemporal pattern trend of agricultural cropping intensity, and their potential correlations with respect to the climate change drivers at a global scale. Results show that 82.97 % of global cropland maximum NDVI witnesses an increased trend while 17.03 % of that shows a decreased trend over the past three decades. The spatial distribution of multiple cropping system is observed to expand from lower latitude to higher latitude, and the increased cropping intensity is also witnessed globally. In terms of regional major crop zones, results show that all nine selected zones have an obvious upward trend of crop maximum NDVI (p impact on the crop growth trend.

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

Directory of Open Access Journals (Sweden)

Shiva Khaleghparast

2016-07-01

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

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

Directory of Open Access Journals (Sweden)

Chin-Teng Lin

2010-01-01

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

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

Science.gov (United States)

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

2012-01-01

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

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

Science.gov (United States)

Nomura, Kyoko; Gohchi, Kengo

2012-11-01

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

When do increasing carbon taxes accelerate global warming? A note on the green paradox

Energy Technology Data Exchange (ETDEWEB)

Edenhofer, Ottmar [Potsdam Institute for Climate Impact Research, PO Box 601203, 14412 Potsdam (Germany); Technische Universitaet Berlin, Strasse des 17. Juni 135, 10623 Berlin (Germany); Kalkuhl, Matthias, E-mail: kalkuhl@pik-potsdam.d [Potsdam Institute for Climate Impact Research, PO Box 601203, 14412 Potsdam (Germany)

2011-04-15

The 'green paradox' by Hans-Werner Sinn suggests that increasing resource taxes accelerate global warming because resource owners increase near-term extraction in fear of higher future taxation. In this note we show that this effect does only occur for the specific set of carbon taxes that increase at a rate higher than the effective discount rate of the resource owners. We calculate a critical initial value for the carbon tax that leads to a decreased cumulative consumption over the entire (infinite) time horizon. Applying our formal findings to carbon taxes for several mitigation targets, we conclude that there is a low risk of a green paradox in case the regulator implements and commits to a permanently mal-adjusted tax. This remaining risk can be avoided by emissions trading scheme as suggested by Sinn-as long as the emission caps are set appropriately and the intertemporal permit market works correctly. - Research highlights: {yields} Fast increasing carbon taxes accelerate global warming if they start at a low level. {yields} Appropriately high carbon taxes can always reduce cumulative emissions. {yields} Many existing tax proposals are unlikely to accelerate global warming. {yields} Capital income taxes cannot reduce cumulative emissions.

When do increasing carbon taxes accelerate global warming? A note on the green paradox

International Nuclear Information System (INIS)

Edenhofer, Ottmar; Kalkuhl, Matthias

2011-01-01

The 'green paradox' by Hans-Werner Sinn suggests that increasing resource taxes accelerate global warming because resource owners increase near-term extraction in fear of higher future taxation. In this note we show that this effect does only occur for the specific set of carbon taxes that increase at a rate higher than the effective discount rate of the resource owners. We calculate a critical initial value for the carbon tax that leads to a decreased cumulative consumption over the entire (infinite) time horizon. Applying our formal findings to carbon taxes for several mitigation targets, we conclude that there is a low risk of a green paradox in case the regulator implements and commits to a permanently mal-adjusted tax. This remaining risk can be avoided by emissions trading scheme as suggested by Sinn-as long as the emission caps are set appropriately and the intertemporal permit market works correctly. - Research highlights: → Fast increasing carbon taxes accelerate global warming if they start at a low level. → Appropriately high carbon taxes can always reduce cumulative emissions. → Many existing tax proposals are unlikely to accelerate global warming. → Capital income taxes cannot reduce cumulative emissions.

Step characteristics during obstacle avoidance in hemiplegic stroke

NARCIS (Netherlands)

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

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

Increasing the Value of Agricultural Products in the Face of Global ...

African Journals Online (AJOL)

The Paper examined the increasing value of agricultural products in the face of global economic recession in Anambra State. The paper revealed that Anambra State is endowed with human and natural resources and if properly harnessed, can go a long way in arresting the food insecurity in the State and alleviate the ...

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

OpenAIRE

De Swardt, Guillaume

2006-01-01

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

Sedimentation control in the reservoirs by using an obstacle

Indian Academy of Sciences (India)

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

The vortex mechanism of suppression of tsunami waves by underwater obstacles

Science.gov (United States)

Boshenyatov, B. V.

2017-12-01

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

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

Science.gov (United States)

Peralta, Emmanuel; Vargas, Héctor; Hermosilla, Gabriel

2018-01-01

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

Induced vibrations facilitate traversal of cluttered obstacles

Science.gov (United States)

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

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

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

Science.gov (United States)

Plumer, Edward S.

1991-01-01

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

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

Science.gov (United States)

Paquette, Maxime R; Vallis, Lori Ann

2010-06-01

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

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

Directory of Open Access Journals (Sweden)

Rui Wang

2015-01-01

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

Obstacle-avoiding robot with IR and PIR motion sensors

Science.gov (United States)

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

2016-10-01

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

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

Science.gov (United States)

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

2014-01-01

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

Clustering with Obstacles in Spatial Databases

OpenAIRE

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

2009-01-01

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

Women in academic medicine: perceived obstacles to advancement.

Science.gov (United States)

Bennett, N M; Nickerson, K G

1992-01-01

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

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

Science.gov (United States)

Singh, Harkirat; Wahi, Pankaj

2017-08-01

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

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

Science.gov (United States)

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2015-04-01

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

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

Directory of Open Access Journals (Sweden)

Ivana Stiperski

2017-01-01

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

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

Science.gov (United States)

Pathak, Prabhakar H.; Burkholder, Robert J.

1993-01-01

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

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

OpenAIRE

Richman, Nessa J.

2000-01-01

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

Using the socio-ecological framework to determine breastfeeding obstacles in a low-income population in Tijuana, Mexico: healthcare services.

Science.gov (United States)

Bueno-Gutierrez, Diana; Chantry, Caroline

2015-03-01

In Mexico, breastfeeding rates are one of the lowest of Latin America, with 14.4% of infants under 6 months being exclusively breastfed. Previous studies indicate that lack of support from healthcare services is a serious obstacle to breastfeeding mothers in Mexico. Our objective was to identify the main obstacles to breastfeeding presented by the healthcare services in a low-income population in Tijuana, Mexico. We used a socio-ecological framework to determine factors affecting breastfeeding practices. In four low-income communities in Tijuana we conducted focus groups and interviews with mothers, fathers, grandparents, and key informants. Interview notes and focus group transcripts were then studied in-depth independently by three researchers. The primary analytic technique was constant comparison. One hundred twenty-nine subjects participated in this study: six focus groups (n=53) and 51 interviews among mothers, fathers, and grandparents, as well as 25 interviews among key informants. Main healthcare service obstacles to breastfeeding were erroneous information, lack of training and supervision, negative attitudes, miscommunication between healthcare providers (HCPs) and patients, detrimental medical practices such as giving free formula at hospitals, and the conflict of interest between the infant food industry and the HCPs. This study showed that women in low-income communities in Tijuana face multiple obstacles to breastfeeding presented by healthcare services. In order to increase breastfeeding rates, institutional and structural changes are required.

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

KAUST Repository

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

2018-01-01

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

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

KAUST Repository

Dairi, Abdelkader

2018-04-30

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

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

International Nuclear Information System (INIS)

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

2005-01-01

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

GLOBALLY INCREASED CROP GROWTH AND CROPPING INTENSITY FROM THE LONG-TERM SATELLITE-BASED OBSERVATIONS

Directory of Open Access Journals (Sweden)

B. Chen

2018-04-01

Full Text Available Understanding the spatiotemporal change trend of global crop growth and multiple cropping system under climate change scenarios is a critical requirement for supporting the food security issue that maintains the function of human society. Many studies have predicted the effects of climate changes on crop production using a combination of filed studies and models, but there has been limited evidence relating decadal-scale climate change to global crop growth and the spatiotemporal distribution of multiple cropping system. Using long-term satellite-derived Normalized Difference Vegetation Index (NDVI and observed climate data from 1982 to 2012, we investigated the crop growth trend, spatiotemporal pattern trend of agricultural cropping intensity, and their potential correlations with respect to the climate change drivers at a global scale. Results show that 82.97 % of global cropland maximum NDVI witnesses an increased trend while 17.03 % of that shows a decreased trend over the past three decades. The spatial distribution of multiple cropping system is observed to expand from lower latitude to higher latitude, and the increased cropping intensity is also witnessed globally. In terms of regional major crop zones, results show that all nine selected zones have an obvious upward trend of crop maximum NDVI (p < 0.001, and as for climatic drivers, the gradual temperature and precipitation changes have had a measurable impact on the crop growth trend.

Compliance with RSV prophylaxis: Global physicians’ perspectives

Directory of Open Access Journals (Sweden)

Kari S Anderson

2009-07-01

Full Text Available Kari S Anderson, Victoria M Mullally, Linda M Fredrick, Andrew L CampbellAbbott Laboratories, Abbott Park, IL, USAAbstract: Respiratory syncytial virus (RSV is a significant cause of morbidity in high-risk infants. Palivizumab is proven to prevent serious RSV disease, but compliance with prophylaxis (monthly doses during the RSV season is essential to ensure protection. We invited 453 pediatricians to participate in a survey to identify their perspectives of barriers to compliance and interventions to improve compliance with palivizumab prophylaxis schedules. One hundred physicians from five continents completed the survey, identifying caregiver inconvenience, distance to clinic, cost of prophylaxis, and lack of understanding of the severity of RSV as the most common reasons for noncompliance. They recommended provision of educational materials about RSV, reminders from hospital or clinic, and administration of prophylaxis at home to increase compliance. Globally, physicians recognize several obstacles to prophylaxis compliance. This survey suggests that focused proactive interventions such as empowering caregivers with educational materials and reducing caregiver inconvenience may be instrumental to increase compliance.Keywords: medication adherence, respiratory syncytial virus infections, infant, premature, immunization, passive

Evidence of Climate Change (Global Warming) and Temperature Increases in Arctic Areas

OpenAIRE

Eric Kojo Wu Aikins

2012-01-01

This paper contributes to the debate on the proximate causes of climate change. Also, it discusses the impact of the global temperature increases since the beginning of the twentieth century and the effectiveness of climate change models in isolating the primary cause (anthropogenic influences or natural variability in temperature) of the observed temperature increases that occurred within this period. The paper argues that if climate scientist and policymakers ignore the...

ANALYSIS OF STUDENTS’ LEARNING OBSTACLES ON LEARNING INVERS FUNCTION MATERIAL

Directory of Open Access Journals (Sweden)

Krisna Satrio Perbowo

2017-09-01

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

Increasing crop production in Russia and Ukraine—regional and global impacts from intensification and recultivation

Science.gov (United States)

Deppermann, Andre; Balkovič, Juraj; Bundle, Sophie-Charlotte; Di Fulvio, Fulvio; Havlik, Petr; Leclère, David; Lesiv, Myroslava; Prishchepov, Alexander V.; Schepaschenko, Dmitry

2018-02-01

Russia and Ukraine are countries with relatively large untapped agricultural potentials, both in terms of abandoned agricultural land and substantial yield gaps. Here we present a comprehensive assessment of Russian and Ukrainian crop production potentials and we analyze possible impacts of their future utilization, on a regional as well as global scale. To this end, the total amount of available abandoned land and potential yields in Russia and Ukraine are estimated and explicitly implemented in an economic agricultural sector model. We find that cereal (barley, corn, and wheat) production in Russia and Ukraine could increase by up to 64% in 2030 to 267 million tons, compared to a baseline scenario. Oilseeds (rapeseed, soybean, and sunflower) production could increase by 84% to 50 million tons, respectively. In comparison to the baseline, common net exports of Ukraine and Russia could increase by up to 86.3 million tons of cereals and 18.9 million tons of oilseeds in 2030, representing 4% and 3.6% of the global production of these crops, respectively. Furthermore, we find that production potentials due to intensification are ten times larger than potentials due to recultivation of abandoned land. Consequently, we also find stronger impacts from intensification at the global scale. A utilization of crop production potentials in Russia and Ukraine could globally save up to 21 million hectares of cropland and reduce average global crop prices by more than 3%.

Global ablation of the mitochondrial calcium uniporter increases glycolysis in cortical neurons subjected to energetic stressors.

Science.gov (United States)

Nichols, Matthew; Elustondo, Pia A; Warford, Jordan; Thirumaran, Aruloli; Pavlov, Evgeny V; Robertson, George S

2017-08-01

The effects of global mitochondrial calcium (Ca 2+ ) uniporter (MCU) deficiency on hypoxic-ischemic (HI) brain injury, neuronal Ca 2+ handling, bioenergetics and hypoxic preconditioning (HPC) were examined. Forebrain mitochondria isolated from global MCU nulls displayed markedly reduced Ca 2+ uptake and Ca 2+ -induced opening of the membrane permeability transition pore. Despite evidence that these effects should be neuroprotective, global MCU nulls and wild-type (WT) mice suffered comparable HI brain damage. Energetic stress enhanced glycolysis and depressed Complex I activity in global MCU null, relative to WT, cortical neurons. HI reduced forebrain NADH levels more in global MCU nulls than WT mice suggesting that increased glycolytic consumption of NADH suppressed Complex I activity. Compared to WT neurons, pyruvate dehydrogenase (PDH) was hyper-phosphorylated in MCU nulls at several sites that lower the supply of substrates for the tricarboxylic acid cycle. Elevation of cytosolic Ca 2+ with glutamate or ionomycin decreased PDH phosphorylation in MCU null neurons suggesting the use of alternative mitochondrial Ca 2+ transport. Under basal conditions, global MCU nulls showed similar increases of Ca 2+ handling genes in the hippocampus as WT mice subjected to HPC. We propose that long-term adaptations, common to HPC, in global MCU nulls compromise resistance to HI brain injury and disrupt HPC.

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

Science.gov (United States)

Chang, Kai; Xia, Yuanqing; Huang, Kaoli

2016-01-01

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

OBSTACLES IN THE APPLICATION OF MICROENCAPSULATION IN ISLET TRANSPLANTATION

NARCIS (Netherlands)

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

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

Future Warming Increases Global Maize Yield Variability with Implications for Food Markets

Science.gov (United States)

Tigchelaar, M.; Battisti, D. S.; Naylor, R. L.; Ray, D. K.

2017-12-01

If current trends in population growth and dietary shifts continue, the world will need to produce about 70% more food by 2050, while earth's climate is rapidly changing. Rising temperatures in particular are projected to negatively impact agricultural production, as the world's staple crops perform poorly in extreme heat. Theoretical models suggest that as temperatures rise above plants' optimal temperature for performance, not only will mean yields decline rapidly, but the variability of yields will increase, even as interannual variations in climate remain unchanged. Here we use global datasets of maize production and climate variability combined with CMIP5 temperature projections to quantify how yield variability will change in major maize producing countries under 2°C and 4°C of global warming. Maize is the world's most produced crop, and is linked to other staple crops through substitution in consumption and production. We find that in warmer climates - absent any breeding gains in heat tolerance - the Coefficient of Variation (CV) of maize yields increases almost everywhere, to values much larger than present-day. This increase in CV is due both to an increase in the standard deviation of yields, and a decrease in mean yields. In locations where crop failures become the norm under high (4°C) warming (mostly in tropical, low-yield environments), the standard deviation of yields ultimately decreases. The probability that in any given year the most productive areas in the top three maize producing countries (United States, China, Brazil) have simultaneous production losses greater than 10% is virtually zero under present-day climate conditions, but increases to 12% under 2°C warming, and 89% under 4°C warming. This has major implications for global food markets and staple crop prices, affecting especially the 2.5 billion people that comprise the world's poor, who already spend the majority of their disposable income on food and are particularly vulnerable

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

Science.gov (United States)

2012-07-16

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

Overcoming the Obstacles to Establishing a Democratic State in Afghanistan

National Research Council Canada - National Science Library

Young, Dennis O

2007-01-01

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

Scientific and technical factors affecting the setting of Salmonella criteria for raw poultry: a global perspective

NARCIS (Netherlands)

Mead, G.; Lammerding, A.M.; Cox, N.; Doyle, M.P.; Humbert, F.; Kulikovskiy, A.; Panin, A.; Pinheiro do Nascimento, V.; Wierup, M.; Zwietering, M.H.

2010-01-01

Concerns about foodborne salmonellosis have led many countries to introduce microbiological criteria for certain food products. If such criteria are not well-grounded in science, they could be an unjustified obstacle to trade. Raw poultry products are an important part of the global food market.

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

Science.gov (United States)

Zheng, Li; Yi, Ruan

2009-11-01

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

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

International Nuclear Information System (INIS)

Labusch, R.; Schwarz, R.B.

1976-01-01

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

Sex Education in Spain: Teachers' Views of Obstacles

Science.gov (United States)

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

2012-01-01

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

Special Semiotic Characters: What is an Obstacle-Sign?

Directory of Open Access Journals (Sweden)

Gary Genosko

2013-11-01

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

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

Directory of Open Access Journals (Sweden)

Dr.Sc. Ymer Havolli

2013-02-01

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

Aquaponics business in Europe : some legal obstacles and solutions

OpenAIRE

Joly, Agnes; Junge, Ranka; Bardocz, Tamas

2015-01-01

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

Zika virus: Vaccine initiatives and obstacles

Directory of Open Access Journals (Sweden)

Reema Mukherjee

2017-01-01

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

Global output feedback stabilisation of stochastic high-order feedforward nonlinear systems with time-delay

Science.gov (United States)

Zhang, Kemei; Zhao, Cong-Ran; Xie, Xue-Jun

2015-12-01

This paper considers the problem of output feedback stabilisation for stochastic high-order feedforward nonlinear systems with time-varying delay. By using the homogeneous domination theory and solving several troublesome obstacles in the design and analysis, an output feedback controller is constructed to drive the closed-loop system globally asymptotically stable in probability.

Recovering an obstacle using integral equations

KAUST Repository

Rundell, William

2009-05-01

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

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

Science.gov (United States)

Liu, Liangxing

2017-01-01

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

Slow maturation of planning in obstacle avoidance in humans

NARCIS (Netherlands)

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

2016-01-01

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

Romanian Market Researches in Global Market Context

Directory of Open Access Journals (Sweden)

Victor Danciu

2006-03-01

Full Text Available Market research is a powerful industry, whose value reached 21,5 billion USD in 2004. Market studies expenses are mostly concentrated in Europe (45% and in USA (37%. The market shares of the Top 10 companies were above fifty per cent of the research market’s turnover. As a young, modest market, which is 0,84% of the global expenses value, Romania was the global leader in terms of growth, in 2004. With an asymmetric demand and a relatively concentrated offer, the Romanian research market may have a spectacular development in the future, if the obstacles for the customers and research companies are surpassed. If so, the pressures following the UE’s entry of Romania and the evolution of customers needs and expectations will speed up the growth of the market research.

Romanian Market Researches in Global Market Context

Directory of Open Access Journals (Sweden)

Victor Danciu

2006-05-01

Full Text Available Market research is a powerful industry, whose value reached 21,5 billion USD in 2004. Market studies expenses are mostly concentrated in Europe (45% and in USA (37%. The market shares of the Top 10 companies were above fifty per cent of the research market’s turnover. As a young, modest market, which is 0,84% of the global expenses value, Romania was the global leader in terms of growth, in 2004. With an asymmetric demand and a relatively concentrated offer, the Romanian research market may have a spectacular development in the future, if the obstacles for the customers and research companies are surpassed. If so, the pressures following the UE’s entry of Romania and the evolution of customers needs and expectations will speed up the growth of the market research.

Obstacle detection contribution for automotive applications; Contribution a la detection d'obstacles pour la voiture intelligente

Energy Technology Data Exchange (ETDEWEB)

Wahl, M.

1997-12-05

On the one hand, this Ph-D Thesis deals with a new architectural approach for automotive applications implementing heterogeneous sensor data fusion, and on the other hand, it explains the data pre-processing algorithm of a microwave radar. Firstly, the analysis of both PROCHIP2 and PROLAB2 obstacle detection demonstrators (cf. the European PROMETHEUS research program about smart cars) has led us to propose a new functional architecture. Our approach introduces a sensor data pre-processing level. Data are then running at the local sensor before being transferred to data fusion architectures (that classically receives data whose meaning has also been noised by the application distribution). Secondly, an elementary simulator has been designed in order to complement our database composed of experimental microwave radar data. It is able to generate radar data for basic highway traffic scenarios. With both experimental and simulated data, a deterministic radar data pre-processing algorithm has been designed. It reduces the amount of data to be transferred by converting the local radar data into a higher semantic information: it gives more pertinent data (for example: velocities...) to the data fusion level; in particular, it predicts the obstacle path. Finally, some perspectives have been set out. Firstly, an H {infinity} estimation approach is used to reduce the data disruption effect that alters the radar data and, secondly, a controller has been proposed with the goal of decreasing the effect of car pitching. (author)

Increasingly Global: Combining an International Business Degree with a Post-Degree Designation

Science.gov (United States)

Smith, Rachel; Terry, Andy; Vibhakar, Ashvin

2006-01-01

In the increasingly complex and competitive global marketplace, many students seek to gain multiple skills and credentials that can aid them in their career goals. One such career strategy weds a general overarching comprehensive degree with a specific and targeted skill set. This paper provides a viable curriculum path for students who seek…

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

Directory of Open Access Journals (Sweden)

Li Mantian

2017-01-01

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

Projected Increase in Lightning Strikes in the United States Due to Global Warming

Science.gov (United States)

Romps, D. M.; Seeley, J.; Vollaro, D.; Molinari, J.

2014-12-01

Lightning plays an important role in atmospheric chemistry and in the initiation of wildfires, but the impact of global warming on lightning rates is poorly constrained. The lightning flash rate is proposed here to be proportional to the convective available potential energy (CAPE) times the precipitation rate. Using observations, the product of CAPE and precipitation is found to explain the majority of variance in the time series of total cloud-to-ground lightning flashes over the contiguous United States (CONUS) on timescales ranging from diurnal to seasonal. The observations reveal that storms convert the CAPE of water mass to discharged lightning energy with an efficiency of about 1%. This proxy can be applied to global climate models, which provide predictions for the increase in lightning due to global warming. Results from 11 GCMs will be shown.

Modifications in children's goals when encountering obstacles to conflict resolution.

Science.gov (United States)

Troop-Gordon, Wendy; Asher, Steven R

2005-01-01

Previous studies have demonstrated that children's goals are associated with their success in peer relationships. The current study extends earlier findings by examining changes in children's goals during hypothetical conflicts. Participants were 252 children ages 9 to 12 years old (133 boys, 119 girls). As predicted, children's goals changed significantly when they encountered obstacles to conflict resolution, and these changes were predictive of their subsequent strategy choices. Both aggressive- and submissive-rejected children were more likely to evidence antisocial changes in their goals, including an increased desire to retaliate. They also showed reluctance to forego instrumental objectives. Other findings highlighted the need to investigate the combinations of goals children pursue as predictors of their strategies and the quality of their peer relationships.

Transmitting information of an object behind the obstacle to infinity

Science.gov (United States)

Xu, Bai Bing; Jiang, Wei Xiang; Meng, Ling Ling; Cui, Tie Jun

2015-08-01

We propose an illusion device that transforms a metallic cylinder into a Luneburg lens by using transformation optics. Such a transformed focusing lens guides electromagnetic waves to propagate around the central metallic cylinder smoothly and be focused on one spot, and thus the information of an object behind the obstacle can be transmitted to infinity. In order to realize the required-anisotropic parameters with high permittivity and low permeability, we design embedded split-ring resonators (SRRs) to increase the permittivity of the traditional SRR structures. In experiments, we fabricate and measure the transformed lens, and the tested results agree well with the numerical simulations and theoretical predictions. The proposed transformation lens can mimic some properties of Einstein gravitational lens because their wave propagation behaviors are very similar.

A Newton method for a simultaneous reconstruction of an interface and a buried obstacle from far-field data

International Nuclear Information System (INIS)

Zhang, Haiwen; Zhang, Bo

2013-01-01

This paper is concerned with the inverse problem of scattering of time-harmonic acoustic waves from a penetrable and a buried obstacle. By introducing a related transmission scattering problem, a Newton iteration method is proposed to simultaneously reconstruct both the penetrable interface and the buried obstacle inside from far-field data. The main feature of our method is that we do not need to know the type of boundary conditions on the buried obstacle. In particular, the boundary condition on the buried obstacle can also be determined simultaneously by the method. Finally, numerical examples using multi-frequency data are carried out to illustrate the effectiveness of our method. (paper)

Institutional obstacles to expansion of world food production.

Science.gov (United States)

Crosson, P R

1975-05-09

It was argued that over the near-to-medium term-roughly to the mid-1980's-there is enough potential for growth in existing Green Revolution technology and in technical capacity of farmers that institutions affecting these two sources of increased food production probably will not be seriously constraining. The principal bottlenecks likely will be found among those institutions affecting farmers' incentives to innovate. There is impressive evidence that when other conditions for innovation are favorable the supply of marketing services, for both inputs and outputs, is quite elastic. This seems to include the supply of funds from rural saving and informal credit sources, although the evidence is less clear in this respect. The situation concerning price relations and availability of inputs appears mixed. If national income growth targets are achieved, then the growth in total demand for food in the LDC's should be fast enough to support incentive prices for farmers. This advantage could be lost, however, if governments adopt policies to suppress food prices to keep down the cost of living. The price of fertilizers is expected to fall from the high levels of 1974, the amount of the fall depending in good measure on the success of the LDC's in increasing fertilizer production. Historically, their efforts to expand capacity have been relatively inefficient. Moreover, many countries still lack adequate capacity to produce the HYV's and pesticides. Even with good progress in expanding domestic production of inputs, imports will continue to be an important source of supply. Maintenance of present high prices of petroleum products could be a major obstacle to financing these imports on the necessary scale because of the drain it would place on available foreign exchange. I conclude, on balance, that prices and availability of fertilizers, pesticides, and seeds could have important negative effects on farmers' incentives to adopt Green Revolution technology. Rigidities in

Obstacles to implementation; Huerden auf dem Weg in die Praxis

Energy Technology Data Exchange (ETDEWEB)

Klempert, Oliver

2010-11-23

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

The Increase of Exotic Zoonotic Helminth Infections: The Impact of Urbanization, Climate Change and Globalization.

Science.gov (United States)

Gordon, Catherine A; McManus, Donald P; Jones, Malcolm K; Gray, Darren J; Gobert, Geoffrey N

2016-01-01

Zoonotic parasitic diseases are increasingly impacting human populations due to the effects of globalization, urbanization and climate change. Here we review the recent literature on the most important helminth zoonoses, including reports of incidence and prevalence. We discuss those helminth diseases which are increasing in endemic areas and consider their geographical spread into new regions within the framework of globalization, urbanization and climate change to determine the effect these variables are having on disease incidence, transmission and the associated challenges presented for public health initiatives, including control and elimination. Copyright © 2016 Elsevier Ltd. All rights reserved.

Aquaponics business in Europe: some legal obstacles and solutions

Directory of Open Access Journals (Sweden)

Agnes Joly

2015-11-01

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

What are the Facilitators and Obstacles to Participation in Workplace Team Sport? A Qualitative Study

OpenAIRE

Andrew Brinkley; Josie Freeman; Hilary McDermott; Fehmidah Munir

2017-01-01

Working age adults are failing to meet physical activity recommendations. Inactive behaviours are increasing costs for diminished individual and organisational health. The workplace is a priority setting to promote physical activity, however there is a lack of evidence about why some employees choose to participate in novel workplace activities, such as team sport, whilst others do not. The aim of this study was to explore the complexity of facilitators and obstacles associated with participa...

Interaction of debris with a solid obstacle: Numerical analysis

International Nuclear Information System (INIS)

Kosinska, Anna

2010-01-01

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

Random walk of passive tracers among randomly moving obstacles.

Science.gov (United States)

Gori, Matteo; Donato, Irene; Floriani, Elena; Nardecchia, Ilaria; Pettini, Marco

2016-04-14

This study is mainly motivated by the need of understanding how the diffusion behavior of a biomolecule (or even of a larger object) is affected by other moving macromolecules, organelles, and so on, inside a living cell, whence the possibility of understanding whether or not a randomly walking biomolecule is also subject to a long-range force field driving it to its target. By means of the Continuous Time Random Walk (CTRW) technique the topic of random walk in random environment is here considered in the case of a passively diffusing particle among randomly moving and interacting obstacles. The relevant physical quantity which is worked out is the diffusion coefficient of the passive tracer which is computed as a function of the average inter-obstacles distance. The results reported here suggest that if a biomolecule, let us call it a test molecule, moves towards its target in the presence of other independently interacting molecules, its motion can be considerably slowed down.

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

OpenAIRE

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

2003-01-01

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

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

OpenAIRE

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

2005-01-01

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

BUILDING A SUSTAINABLE ENTREPRENEURSHIP IN INCREASING GLOBAL COMPETITIVENESS

OpenAIRE

NABABAN, TONGAM SIHOL

2014-01-01

Global Entrepreneurship and Development Index or the Global Entrepreneurship and Development Index (GEDI) In 2013 positioned Indonesia at ranked 76 of 118 countries. Compared with the ASEAN countries, the position are still far below Singapore (13), and still below Malaysia (57), Brunei Darussalam (58), Thailand (65). This fact shows that Indonesia has not been optimal in building its entrepreneurial yet. To enhance the development of entrepreneurship, the Indonesian government has launched a...

Self-bending elastic waves and obstacle circumventing in wireless power transfer

Science.gov (United States)

Tol, S.; Xia, Y.; Ruzzene, M.; Erturk, A.

2017-04-01

We demonstrate self-bending of elastic waves along convex trajectories by means of geometric and phased arrays. Potential applications include ultrasonic imaging and manipulation, wave focusing, and wireless power transfer around obstacles. The basic concept is illustrated through a geometric array, which is designed to implement a phase delay profile among the array elements that leads to self-bending along a specified circular trajectory. Experimental validation is conducted for the lowest asymmetric Lamb wave mode in a thin plate over a range of frequencies to investigate the bandwidth of the approach. Experiments also illustrate the functionality of the array as a transmitter to deliver elastic wave energy to a receiver/harvester located behind a large obstacle for electrical power extraction. It is shown that the trajectory is not distorted by the presence of the obstacle and circumventing is achieved. A linear phased array counterpart of the geometric array is then constructed to illustrate the concept by imposing proper time delays to the array elements, which allows the generation of different trajectories using the same line source. This capability is demonstrated by tailoring the path diameter in the phased array setting, which offers the flexibility and versatility to induce a variety of convex trajectories for self-bending elastic waves.

Existence of solutions to nonlinear parabolic unilateral problems with an obstacle depending on time

Directory of Open Access Journals (Sweden)

Nabila Bellal

2014-10-01

Full Text Available Using the penalty method, we prove the existence of solutions to nonlinear parabolic unilateral problems with an obstacle depending on time. To find a solution, the original inequality is transformed into an equality by adding a positive function on the right-hand side and a complementary condition. This result can be seen as a generalization of the results by Mokrane in [11] where the obstacle is zero.

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

Directory of Open Access Journals (Sweden)

Alberto Broggi

2007-07-01

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

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

Directory of Open Access Journals (Sweden)

Broggi Alberto

2007-01-01

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

Optimal blade shape of a modified Savonius turbine using an obstacle shielding the returning blade

Energy Technology Data Exchange (ETDEWEB)

Mohamed, M.H.; Janiga, G.; Pap, E.; Thevenin, D. [Lab. of Fluid Dynamics and Technical Flows, University of Magdeburg ' ' Otto von Guericke' ' (Germany)

2011-01-15

Due to the worldwide energy crisis, research and development activities in the field of renewable energy have been considerably increased in many countries. Wind energy is becoming particularly important. Although considerable progress have already been achieved, the available technical design is not yet adequate to develop reliable wind energy converters for conditions corresponding to low wind speeds and urban areas. The Savonius turbine appears to be particularly promising for such conditions, but suffers from a poor efficiency. The present study considers a considerably improved design in order to increase the output power of a classical Savonius turbine. In previous works, the efficiency of the classical Savonius turbine has been increased by placing in an optimal manner an obstacle plate shielding the returning blade. The present study now aims at improving further the output power of the Savonius turbine as well as the static torque, which measures the self-starting capability of the turbine. In order to achieve both objectives, the geometry of the blade shape (skeleton line) is now optimized in presence of the obstacle plate. Six free parameters are considered in this optimization process, realized by coupling an in-house optimization library (OPAL, relying in the present case on Evolutionary Algorithms) with an industrial flow simulation code (ANSYS-Fluent). The target function is the output power coefficient. Compared to a standard Savonius turbine, a relative increase of the power output coefficient by almost 40% is finally obtained at {lambda} = 0.7. The performance increase exceeds 30% throughout the useful operating range. Finally, the static torque is investigated and found to be positive at any angle, high enough to obtain self-starting conditions. (author)

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

Science.gov (United States)

Naumov, I. V.; Kabardin, I. K.; Mikkelsen, R. F.; Okulov, V. L.; Sørensen, J. N.

2016-09-01

Obstacles like forests, ridges and hills can strongly affect the velocity profile in front of a wind turbine rotor. The present work aims at quantifying the influence of nearby located obstacles on the performance and wake characteristics of a downstream located wind turbine. Here the influence of an obstacle in the form of a cylindrical disk was investigated experimentally in a water flume. A model of a three-bladed rotor, designed using Glauert's optimum theory at a tip speed ratio λ = 5, was placed in the wake of a disk with a diameter close to the one of the rotor. The distance from the disk to the rotor was changed from 4 to 8 rotor diameters, with the vertical distance from the rotor axis varied 0.5 and 1 rotor diameters. The associated turbulent intensity of the incoming flow to the rotor changed 3 to '6% due to the influence of the disk wake. In the experiment, thrust characteristics and associated pulsations as a function of the incoming flow structures were measured by strain gauges. The flow condition in front of the rotor was measured with high temporal accuracy using LDA and power coefficients were determine as function of tip speed ratio for different obstacle positions. Furthermore, PIV measurements were carried out to study the development of the mean velocity deficit profiles of the wake behind the wind turbine model under the influence of the wake generated by the obstacle. By use of regression techniques to fit the velocity profiles it was possible to determine velocity deficits and estimate length scales of the wake attenuation.

Solution of Contact Problems for Nonlinear Gao Beam and Obstacle

Directory of Open Access Journals (Sweden)

J. Machalová

2015-01-01

Full Text Available Contact problem for a large deformed beam with an elastic obstacle is formulated, analyzed, and numerically solved. The beam model is governed by a nonlinear fourth-order differential equation developed by Gao, while the obstacle is considered as the elastic foundation of Winkler’s type in some distance under the beam. The problem is static without a friction and modeled either using Signorini conditions or by means of normal compliance contact conditions. The problems are then reformulated as optimal control problems which is useful both for theoretical aspects and for solution methods. Discretization is based on using the mixed finite element method with independent discretization and interpolations for foundation and beam elements. Numerical examples demonstrate usefulness of the presented solution method. Results for the nonlinear Gao beam are compared with results for the classical Euler-Bernoulli beam model.

Anthropology, knowledge-flows and global health.

Science.gov (United States)

Feierman, S; Kleinman, A; Stewart, K; Farmer, D; Das, V

2010-01-01

Global health programmes are damaged by blockages in the upward flow of information from localities and regional centres about realities of professional practice and about patients' lives and conditions of treatment. Power differentials between local actors and national or international decision-makers present further obstacles to effective action. Anthropological research and action, in its most effective current forms, make important contributions to these issues. This research often continues over the long term, intensively. It can be multi-sited, studying actors at local, national and international levels simultaneously. It studies the relative knowledge and power of impoverished patients and global decision-makers, all within a single frame. By doing so, anthropological research is capable of providing new and important insights on the diverse meanings of patient decision-making, informed consent, non-compliance, public health reporting, the building of political coalitions for health and many other issues.

Increasing Brand Awareness for a Born Global Through Social Media Marketing

OpenAIRE

Amblard, Johanna

2016-01-01

Increasing the brand awareness and recognition among the consumers is one of the most important steps for a start-up, operating in the global business environment, where the competition is intense and risks are high. The lack of funds, personnel, experience, knowledge and managerial skills in the international business environment however limits the company’s choices in terms of strategies chosen. Especially the lack of funds has a direct impact on the marketing strategy chosen through which ...

Effect of flow obstacles with various leading and trailing edges on critical heat flux

International Nuclear Information System (INIS)

Pioro, I.L.; Groeneveld, D.C.; Groeneveld, D.C.; Cheng, S.C.; Antoshko, Y.V.

2001-01-01

A joint investigation has been performed by the University of Ottawa and Chalk River Laboratories that examined the effect of the shape of the leading and trailing edges of the turbulence enhancing devices ('flow obstacles') on critical heat flux (CHF). The objective of this study was to gain a better overall understanding of the limit of CHF improvement for various obstacle designs and the impact of flow conditions on the improvements. (author)

Japan’s Rearmament Dilemma: Obstacles to Rearmament.

Science.gov (United States)

1980-01-01

aircraft carrier Enterprise, and the problems with the first Japanese nuclear -powered ship , the Mutsu , have continued to keep the issue of nuclear weapons...4 Formation of the Psychology. .. ............... 4 Nuclear Allergy .. .................... 7 Self-Defense Force .. ................... 10 ARTICLE 9... nuclear weapons, would elicit a strong reaction from the U.S. This specter of the U.S. reaction is another obstacle to rearmament. While most scholars

Epistemological Obstacles Experienced by Indonesian Students in Answering Mathematics PISA Test on the Content Uncertainty and Data

Directory of Open Access Journals (Sweden)

H Rahman

2017-12-01

Full Text Available The purpose of this research is trying to identify epistemological obstacles which were experienced by Indonesian students in answering PISA test for mathematics literacy content uncertainty and data. Epistemological obstacles was identified by giving a test to the respondent, students of grade 7th and 8th who have studied data representation in the class. Respondents’ work analysed by qualitative method. The result showed that respondents have epistemological obstacles in reading the data, reading between the data, and reading beyond the data. To gain further understanding, some respondents chose to be interviewed.

Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions

Directory of Open Access Journals (Sweden)

William Benn

2012-01-01

Full Text Available This paper covers the use of monocular vision to control autonomous navigation for a robot in a dynamically changing environment. The solution focused on using colour segmentation against a selected floor plane to distinctly separate obstacles from traversable space: this is then supplemented with canny edge detection to separate similarly coloured boundaries to the floor plane. The resulting binary map (where white identifies an obstacle-free area and black identifies an obstacle could then be processed by fuzzy logic or neural networks to control the robot’s next movements. Findings show that the algorithm performed strongly on solid coloured carpets, wooden, and concrete floors but had difficulty in separating colours in multicoloured floor types such as patterned carpets.

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

Directory of Open Access Journals (Sweden)

Javad Javan noughabi

2017-06-01

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

Error identities for variational problems with obstacles

Czech Academy of Sciences Publication Activity Database

Repin, S.; Valdman, Jan

2018-01-01

Roč. 98, č. 4 (2018), s. 635-658 ISSN 0044-2267 R&D Projects: GA ČR(CZ) GF16-34894L; GA ČR GA17-04301S; GA MŠk(CZ) 7AMB16AT015 Institutional support: RVO:67985556 Keywords : variational problems with obstacles * coincidence set * convex functionals * error identities Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics Impact factor: 1.332, year: 2016 http://library.utia.cas.cz/separaty/2017/MTR/valdman-0483574.pdf

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

Directory of Open Access Journals (Sweden)

Chunguang Li

2016-01-01

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

Autism and increased paternal age related changes in global levels of gene expression regulation.

Directory of Open Access Journals (Sweden)

Mark D Alter

2011-02-01

Full Text Available A causal role of mutations in multiple general transcription factors in neurodevelopmental disorders including autism suggested that alterations in global levels of gene expression regulation might also relate to disease risk in sporadic cases of autism. This premise can be tested by evaluating for changes in the overall distribution of gene expression levels. For instance, in mice, variability in hippocampal-dependent behaviors was associated with variability in the pattern of the overall distribution of gene expression levels, as assessed by variance in the distribution of gene expression levels in the hippocampus. We hypothesized that a similar change in variance might be found in children with autism. Gene expression microarrays covering greater than 47,000 unique RNA transcripts were done on RNA from peripheral blood lymphocytes (PBL of children with autism (n = 82 and controls (n = 64. Variance in the distribution of gene expression levels from each microarray was compared between groups of children. Also tested was whether a risk factor for autism, increased paternal age, was associated with variance. A decrease in the variance in the distribution of gene expression levels in PBL was associated with the diagnosis of autism and a risk factor for autism, increased paternal age. Traditional approaches to microarray analysis of gene expression suggested a possible mechanism for decreased variance in gene expression. Gene expression pathways involved in transcriptional regulation were down-regulated in the blood of children with autism and children of older fathers. Thus, results from global and gene specific approaches to studying microarray data were complimentary and supported the hypothesis that alterations at the global level of gene expression regulation are related to autism and increased paternal age. Global regulation of transcription, thus, represents a possible point of convergence for multiple etiologies of autism and other

Entrepreneurial Obstacles to Growth

DEFF Research Database (Denmark)

Elkjær, Jørgen Ravn

2015-01-01

A motivating feature for a founding entrepreneur is to establish a hierarchy based on his own valuations and ideas regarding the business model and what management is and how it should be realised. Quite often the entrepreneur’s background and experience has a determining function in this process......-specific institutions at the time of establishment. Academic and practical ambiguousness concerning the possibilities of changing the strategy in a hierarchy to encompass external changes has caused an ongoing debate about organisational inertia. In case of increasing global involvement, however, the entity has...... to adapt to environmental changes and variation, and the imprinting effects of the founder’s experience fade. In this paper the importance of learning and organisational participation are presented as part of a solution to the challenge of organisational inertia in case of increased international...

Implications of the global increase of diabetes for tuberculosis control and patient care.

NARCIS (Netherlands)

Ruslami, R.; Aarnoutse, R.E.; Alisjahbana, B.; Ven, A.J.A.M. van der; Crevel, R. van

2010-01-01

OBJECTIVES: To review the current knowledge about tuberculosis (TB) and diabetes, assessing the implication of the global increase of diabetes for TB control and patient care. METHODS: Systematic literature review. RESULTS: Using public databases, it can be estimated that 12.6% (95% CI 9.2-17.3%) of

Moving beyond the special rapporteur on privacy with the establishment of a new, specialised United Nations Agency : Addressing the deficit in global cooperation for the protection of data privacy

NARCIS (Netherlands)

de Hert, Paul; Papakonstantinou, Vagelis; Jerker Svantesson, Dan; Kloza, Dariusz

2017-01-01

In July 2015, the UN Human Rights Council appointed Professor Joseph Cannataci as its first-ever Special Rapporteur on the right to privacy. His mandate is, among others, to gather information, identify obstacles, take part in global initiatives and raise awareness. In order to address this global

Obstacles and Affordances for Integer Reasoning: An Analysis of Children's Thinking and the History of Mathematics

Science.gov (United States)

Bishop, Jessica Pierson; Lamb, Lisa L.; Philipp, Randolph A.; Whitacre, Ian; Schappelle, Bonnie P.; Lewis, Melinda L.

2014-01-01

We identify and document 3 cognitive obstacles, 3 cognitive affordances, and 1 type of integer understanding that can function as either an obstacle or affordance for learners while they extend their numeric domains from whole numbers to include negative integers. In particular, we highlight 2 key subsets of integer reasoning: understanding or…

Exploring the Obstacles and the Limits of Sustainable Development. A Theoretical Approach

Directory of Open Access Journals (Sweden)

Paula-Carmen Roșca

2017-03-01

Full Text Available The term “sustainable” or “sustainability” is currently used so much and in so many fields that it has become basically part of our everyday lives. It has been connected and linked to almost everything related to our living, to our lifestyle: energy, transport, housing, diet, clothing etc. But what does the term “sustainable” really mean? Many people may have heard about sustainable development or sustainability and may have even tried to have a sustainable living but their efforts might not be enough. The present paper is meant to bring forward a few of the limits of “sustainability” concept. Moreover, it is focused on revealing some arguments from the “other side” along with disagreements regarding some of the principles of “sustainable development” and even critics related to its progress, to its achievements. Another purpose of this paper is to draw attention over some of the issues and obstacles which may threaten the future of sustainability. The paper is also meant to highlight the impact that some stakeholders might have on the evolution of sustainable development due to their financial power, on a global scale.

Global warming and the possible globalization of vector-borne diseases: a call for increased awareness and action.

Science.gov (United States)

Balogun, Emmanuel O; Nok, Andrew J; Kita, Kiyoshi

2016-01-01

Human activities such as burning of fossil fuels play a role in upsetting a previously more balanced and harmonious ecosystem. Climate change-a significant variation in the usual pattern of Earth's average weather conditions is a product of this ecosystem imbalance, and the rise in the Earth's average temperature (global warming) is a prominent evidence. There is a correlation between global warming and the ease of transmission of infectious diseases. Therefore, with global health in focus, we herein opine a stepping-up of research activities regarding global warming and infectious diseases globally.

Overcoming obstacles against effective solar lighting interventions in South Asia

International Nuclear Information System (INIS)

Wong, Sam

2012-01-01

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

Organizational factors in fire prevention: roles, obstacles, and recommendations

Science.gov (United States)

John R. Christiansen; William S. Folkman; Keith W. Warner; Michael L. Woolcott

1976-01-01

Problems being encountered in implementing fire prevention programs were explored by studying the organization for fire prevention at the Fish Lake, Uinta, and Wasatch National Forests in Utah. The study focused on role congruency in fire prevention activities and on the social and organizational obstacles to effective programs. The problems identified included lack of...

On a Highly Nonlinear Self-Obstacle Optimal Control Problem

Energy Technology Data Exchange (ETDEWEB)

Di Donato, Daniela, E-mail: daniela.didonato@unitn.it [University of Trento, Department of Mathematics (Italy); Mugnai, Dimitri, E-mail: dimitri.mugnai@unipg.it [Università di Perugia, Dipartimento di Matematica e Informatica (Italy)

2015-10-15

We consider a non-quadratic optimal control problem associated to a nonlinear elliptic variational inequality, where the obstacle is the control itself. We show that, fixed a desired profile, there exists an optimal solution which is not far from it. Detailed characterizations of the optimal solution are given, also in terms of approximating problems.

Legal and political obstacles to smoke-free regulation in Minnesota regions.

Science.gov (United States)

Cork, Kerry; Forman, Carolyn

2008-12-01

As communities move toward statewide smoke-free regulation, progress is often stymied by legal and political challenges that arise when multiple cities and counties share regulatory power within what is, for economic purposes, a single population center. Political challenges are exacerbated by legal inconsistencies and uncertainties, such as confusing and conflicting lawmaking power in boards of health, cities or counties, and diverse procedures and timelines for adopting and amending ordinances. Surprisingly little research is available about the legal and political obstacles communities face in regulating tobacco on a regional basis. Researchers used case study methodology to analyze legal and political challenges that seven multi-jurisdictional Minnesota regions faced in smoke-free ordinance campaigns between 2000 and 2006, to examine the approaches regulatory authorities took in each of these communities, and to identify strategies to help public health advocates, health organizations, policymakers, and legal professionals anticipate, avoid, and address these obstacles. Legal impediments included confusing rules for passing smoke-free laws via ballot measures (initiatives and referenda); distracting lawsuits; and conflicts over legal jurisdiction. Political challenges included the recurrent argument for regional consistency, protracted timelines, pending legislation and elections, and mayoral vetoes. Legal and political challenges similar to those in this study appear in smoke-free campaigns across the U.S. By recognizing the risks posed by these obstacles, advocates will be better prepared to advance smoke-free policies effectively.

Unemployment levels after the global financial crisis linked to increase in suicides.

Science.gov (United States)

2013-10-23

The 2008 global economic crisis appears to have triggered an increase in suicides, particularly among men in Europe and America. To investigate the impact of the economic crisis on international trends in suicide, researchers conducted an analysis comparing the number of suicides in 2009 with the number that would have been expected based on trends before the crisis (2000-2007). The analysis included data from 54 countries.

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

Directory of Open Access Journals (Sweden)

Filippo Sanfilippo

2017-03-01

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

Interaction of debris with a solid obstacle: numerical analysis.

Science.gov (United States)

Kosinska, Anna

2010-05-15

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

Random neural Q-learning for obstacle avoidance of a mobile robot in unknown environments

Directory of Open Access Journals (Sweden)

Jing Yang

2016-07-01

Full Text Available The article presents a random neural Q-learning strategy for the obstacle avoidance problem of an autonomous mobile robot in unknown environments. In the proposed strategy, two independent modules, namely, avoidance without considering the target and goal-seeking without considering obstacles, are first trained using the proposed random neural Q-learning algorithm to obtain their best control policies. Then, the two trained modules are combined based on a switching function to realize the obstacle avoidance in unknown environments. For the proposed random neural Q-learning algorithm, a single-hidden layer feedforward network is used to approximate the Q-function to estimate the Q-value. The parameters of the single-hidden layer feedforward network are modified using the recently proposed neural algorithm named the online sequential version of extreme learning machine, where the parameters of the hidden nodes are assigned randomly and the sample data can come one by one. However, different from the original online sequential version of extreme learning machine algorithm, the initial output weights are estimated subjected to quadratic inequality constraint to improve the convergence speed. Finally, the simulation results demonstrate that the proposed random neural Q-learning strategy can successfully solve the obstacle avoidance problem. Also, the higher learning efficiency and better generalization ability are achieved by the proposed random neural Q-learning algorithm compared with the Q-learning based on the back-propagation method.

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

KAUST Repository

Denny, Jory

2011-09-01

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

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

KAUST Repository

Denny, Jory; Amato, Nancy M.

2011-01-01

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

What are the Facilitators and Obstacles to Participation in Workplace Team Sport? A Qualitative Study

Directory of Open Access Journals (Sweden)

Andrew Brinkley

2017-02-01

Full Text Available Working age adults are failing to meet physical activity recommendations. Inactive behaviours are increasing costs for diminished individual and organisational health. The workplace is a priority setting to promote physical activity, however there is a lack of evidence about why some employees choose to participate in novel workplace activities, such as team sport, whilst others do not. The aim of this study was to explore the complexity of facilitators and obstacles associated with participation in workplace team sport.Twenty-nine semi-structured face-to-face and telephone interviews were conducted with office workers (58% female (36 ± 7.71 from manufacturing, public services, and educational services. Data was analysed through template analysis.Five sub-level (i.e., intrapersonal, interpersonal, organisational, community and societal influences facilitate participation or create obstacles for participants. Participants were challenged by a lack of competence, self-efficacy, negative sporting ideals and amotivation. Unhealthy competition, an unstable work-life balance and unsupportive colleagues created obstacles to participation. An unsupportive organisation and workplace culture placed demands on workplace champions, funding, facilities and communication. Healthy competitions, high perceptions of competence and self-efficacy, and being motivated autonomously enabled participation. Further, relatedness and social support created a physical activity culture where flexible working was encouraged and team sport was promoted in accessible locations within the organisation. Researchers should consider accounting for complexity of these influences. A participatory approach may tailor interventions to individual organisations and the employees that work within them. Interventions whereby autonomy, competence and relatedness are supported are recommended. This may be achieved by adapting sports and training workplace champions.

Circumvention of suddenly appearing obstacles in young and older adults

NARCIS (Netherlands)

Pijnappels, M.; Kingma, I.; Van Dieën, J. H.

2010-01-01

Reduced ability to circumvent an obstacle, which is noticed only shortly before collision, could be a cause of falls and injury, especially in older adults. In this study, we investigated differences in strategies and their characteristics between young and older adults when circumventing a suddenly

Tackling the climate targets set by the Paris Agreement (COP 21: Green leadership empowers public hospitals to overcome obstacles and challenges in a resource-constrained environment

Directory of Open Access Journals (Sweden)

E Weimann

2017-01-01

Full Text Available The healthcare sector itself contributes to climate change, the creation of hazardous waste, use of toxic metals such as mercury, and water and air pollution. To mitigate the effect of healthcare provision on the deteriorating environment and avoid creating further challenges for already burdened health systems, Global Green Hospitals was formed as a global network. Groote Schuur Hospital (GSH, as the leading academic hospital in Africa, joined the network in 2014. Since then, several projects have been initiated to reduce the amount of general waste, energy consumption and food waste, and create an environmentally friendlier and more sustainable hospital in a resource-constrained public healthcare setting. We outline the various efforts made to reduce the carbon footprint of GSH and reduce waste and hazardous substances such as mercury and polystyrene, and elaborate how obstacles and resistance to change were overcome. The hospital was able to halve the amount of coal and water used, increase recycling by 50% over 6 months, replace polystyrene cups and packaging with Forest Stewardship Council recyclable paper-based products, reduce the effect of food wastage by making use of local farmers, and implement measures to reduce the amount of expired pharmaceutical drugs. To improve commitment from all involved roleplayers, political leadership, supportive government policies and financial funding is mandatory, or public hospitals will be unable to tackle the exponentially increasing costs related to climate change and its effects on healthcare.

Tackling the climate targets set by the Paris Agreement (COP 21): Green leadership empowers public hospitals to overcome obstacles and challenges in a resource-constrained environment.

Science.gov (United States)

Weimann, E; Patel, B

2016-12-21

The healthcare sector itself contributes to climate change, the creation of hazardous waste, use of toxic metals such as mercury, and water and air pollution. To mitigate the effect of healthcare provision on the deteriorating environment and avoid creating further challenges for already burdened health systems, Global Green Hospitals was formed as a global network. Groote Schuur Hospital (GSH), as the leading academic hospital in Africa, joined the network in 2014. Since then, several projects have been initiated to reduce the amount of general waste, energy consumption and food waste, and create an environmentally friendlier and more sustainable hospital in a resource-constrained public healthcare setting. We outline the various efforts made to reduce the carbon footprint of GSH and reduce waste and hazardous substances such as mercury and polystyrene, and elaborate how obstacles and resistance to change were overcome. The hospital was able to halve the amount of coal and water used, increase recycling by 50% over 6 months, replace polystyrene cups and packaging with Forest Stewardship Council recyclable paper-based products, reduce the effect of food wastage by making use of local farmers, and implement measures to reduce the amount of expired pharmaceutical drugs. To improve commitment from all involved roleplayers, political leadership, supportive government policies and financial funding is mandatory, or public hospitals will be unable to tackle the exponentially increasing costs related to climate change and its effects on healthcare.

Global nitrogen requirement for increased biofuel production

NARCIS (Netherlands)

Flapper, Joris

2008-01-01

Biofuels are thought to be one of the options to substitute fossil fuels and prevent global warming by the greenhouse gas (GHG) effect as they are seen as a renewable form of energy. However, biofuels are almost solely subjected to criticism from an energ

Obstacles to the Application of Administrative Process Engineering in Gaza Universities from the Faculty Members’ Perspective

Directory of Open Access Journals (Sweden)

Mahmoud A.R. Assaf

2017-08-01

Full Text Available The study aimed to identify the faculty members’ levels of assessment at Palestinian universities of the obstacles to the application of engineering of administrative processes ; and to find out whether there were statistically significant differences at the level of significance (α≤0.05 between the mean scores of assessment attributable to the variables: (college, academic rank, years of service. To achieve this, the researcher followed the descriptive method by using a questionnaire consisting of 36 items distributed into 4 areas: (technical, human, financial, administrative. The sample consisted of (95 faculty members from two universities (Al-Azhar and Islamia. The study revealed that the total degree of the respondents’ assessment of the obstacles to the application of engineering of administrative processes was (73.4%. The order of obstacles was as follows: i financial, ii human, iii administrative and iv technical obstacles. Further, there were no statistically significant differences at the level of significance (α≤0.05 between the mean scores of respondents’ assessment of the obstacles to the application of this method at the Palestinian universities that were attributed to these variables: (college, academic rank, years of service.The study recommended the need for allocating of adequate financial budgets, and the creation of a special unit in each university to be responsible for providing training on the concepts of reengineering administrative processes and linking them to quality and continuous improvement. Keywords: Administrative process engineering, Gaza governorates , Faculty members.

Transient waves generated by a moving bottom obstacle: a new near-field solution

DEFF Research Database (Denmark)

Madsen, Per A.; Hansen, Asger Bendix

2012-01-01

in the vicinity of the obstacle as well as the development of the transient free waves generated at the onset of the motion. At some distance from the obstacle, dispersion starts to play a role and undular bores develop, but up to this point the new formulation agrees very well with numerical simulations based...... the height and speed of the leading waves in the undular bores. The numerical and analytical solutions to the new single-family formulation of the NSW equations are compared to results based on the forced Korteweg–de Vries/Hopf equation and to numerical Boussinesq simulations....

Dual-tasking interferes with obstacle avoidance reactions in healthy seniors

NARCIS (Netherlands)

Hegeman, J.; Weerdesteijn, V.G.M.; van den Bemt, B.; Nienhuis, B.; Limbeek, J. van; Duysens, J.E.J.

2012-01-01

Dual-tasking can lead to falls, as does a deterioration of obstacle avoidance (OA) skills. Hence, it is expected that a combination of both would be even more detrimental, especially when OA is time-critical. Previous studies confirmed this expectation, however, due to several limitations in their

Obstacles using amorphous materials for volume applications

Energy Technology Data Exchange (ETDEWEB)

Kiessling, Albert [Festo AG and Co. KG, 73734, Esslingen (Germany); Reininger, Thomas, E-mail: drn@de.festo.com [Festo AG and Co. KG, 73734, Esslingen (Germany)

2012-10-15

This contribution is especially focussed on the attempt to use amorphous or nanocrystalline metals in position sensor applications and to describe the difficulties and obstacles encountered in coherence with the development of appropriate industrial high volume series products in conjunction with the related quality requirements. The main motivation to do these investigations was to beat the generally known sensors especially silicon based Hall-sensors as well as AMR- and GMR-sensors - well known from mobile phones and electronic storage devices like hard discs and others - in terms of cost-effectiveness and functionality.

Scattering theory of walking droplets in the presence of obstacles

International Nuclear Information System (INIS)

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

2016-01-01

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

Journal Publication in Chile, Colombia, and Venezuela: University Responses to Global, Regional, and National Pressures and Trends

Science.gov (United States)

Delgado, Jorge Enrique

2011-01-01

Background. This project was motivated by the impressive growth that scholarly/scientific journals in Latin America have shown in recent decades. That advance is attributed to global, regional, and national pressures and trends, as well as a response to obstacles that scholars/researchers from the region face to be published in prestigious…

Numerical Study of Shock Wave Attenuation in Two-Dimensional Ducts Using Solid Obstacles: How to Utilize Shock Focusing Techniques to Attenuate Shock Waves

Directory of Open Access Journals (Sweden)

Qian Wan

2015-04-01

Full Text Available Research on shock wave mitigation in channels has been a topic of much attention in the shock wave community. One approach to attenuate an incident shock wave is to use obstacles of various geometries arranged in different patterns. This work is inspired by the study from Chaudhuri et al. (2013, in which cylinders, squares and triangles placed in staggered and non-staggered subsequent columns were used to attenuate a planar incident shock wave. Here, we present numerical simulations using a different obstacle pattern. Instead of using a matrix of obstacles, an arrangement of square or cylindrical obstacles placed along a logarithmic spiral curve is investigated, which is motivated by our previous work on shock focusing using logarithmic spirals. Results show that obstacles placed along a logarithmic spiral can delay both the transmitted and the reflected shock wave. For different incident shock Mach numbers, away from the logarithmic spiral design Mach number, this shape is effective to either delay the transmitted or the reflected shock wave. Results also confirm that the degree of attenuation depends on the obstacle shape, effective flow area and obstacle arrangement, much like other obstacle configurations.

Transition to Motherhood as an Immigrant: Risks and Obstacles

Directory of Open Access Journals (Sweden)

Ruveyde Aydin

2017-09-01

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

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

Directory of Open Access Journals (Sweden)

H Mohammadzadeh

2013-09-01

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

Stumbling over obstacles in older adults compared to young adults

NARCIS (Netherlands)

Schillings, AM; Mulder, T; Duysens, J

Falls are a major problem in older adults. Many falls occur because of stumbling. The aim of the present study is to investigate stumbling reactions of older adults and to compare them with young adults. While subjects walked on a treadmill, a rigid obstacle unexpectedly obstructed the forward sway

Obstacle Avoidance Control Design: An Experimental Evaluation in Vehicle Platooning

NARCIS (Netherlands)

Goos, J.; Alirezaei, M.; Semsar-Kazerooni, E.; Ploeg, J.

2016-01-01

In this paper, an obstacle avoidance controller (OA) based on the impedance control method is developed. The main goal of the OA controller is to guarantee robust gap making for a merging vehicle within a platoon of vehicles which are longitudinally automated. The proposed OA controller is developed

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

Science.gov (United States)

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

1996-06-01

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

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

Science.gov (United States)

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.

Multilevel variance estimators in MLMC and application for random obstacle problems

KAUST Repository

Chernov, Alexey

2014-01-06

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

Multilevel variance estimators in MLMC and application for random obstacle problems

KAUST Repository

Chernov, Alexey; Bierig, Claudio

2014-01-01

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

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

Science.gov (United States)

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

2016-06-01

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

Urinary tract infection as a preventable cause of pregnancy complications: opportunities, challenges, and a global call to action.

Science.gov (United States)

Gilbert, Nicole M; O'Brien, Valerie P; Hultgren, Scott; Macones, George; Lewis, Warren G; Lewis, Amanda L

2013-09-01

The urinary tract is a common site of infection in humans. During pregnancy, urinary tract infection (UTI) is associated with increased risks of maternal and neonatal morbidity and mortality, even when the infection is asymptomatic. By mapping available rates of UTI in pregnancy across different populations, we emphasize this as a problem of global significance. Many countries with high rates of preterm birth and neonatal mortality also have rates of UTI in pregnancy that exceed rates seen in more developed countries. A global analysis of the etiologies of UTI revealed familiar culprits as well as emerging threats. Screening and treatment of UTI have improved birth outcomes in several more developed countries and would likely improve maternal and neonatal health worldwide. However, challenges of implementation in resource-poor settings must be overcome. We review the nature of the barriers occurring at each step of the screening and treatment pipeline and highlight steps necessary to overcome these obstacles. It is our hope that the information compiled here will increase awareness of the global significance of UTI in maternal and neonatal health and embolden governments, nongovernmental organizations, and researchers to do their part to make urine screening and UTI treatment a reality for all pregnant women.

Increasing water cycle extremes in California and in relation to ENSO cycle under global warming

Science.gov (United States)

Yoon, Jin-Ho; Wang, S-Y Simon; Gillies, Robert R.; Kravitz, Ben; Hipps, Lawrence; Rasch, Philip J.

2015-01-01

Since the winter of 2013–2014, California has experienced its most severe drought in recorded history, causing statewide water stress, severe economic loss and an extraordinary increase in wildfires. Identifying the effects of global warming on regional water cycle extremes, such as the ongoing drought in California, remains a challenge. Here we analyse large-ensemble and multi-model simulations that project the future of water cycle extremes in California as well as to understand those associations that pertain to changing climate oscillations under global warming. Both intense drought and excessive flooding are projected to increase by at least 50% towards the end of the twenty-first century; this projected increase in water cycle extremes is associated with a strengthened relation to El Niño and the Southern Oscillation (ENSO)—in particular, extreme El Niño and La Niña events that modulate California's climate not only through its warm and cold phases but also its precursor patterns. PMID:26487088

A vibrating thermoelastic plate in a contact with an obstacle

Czech Academy of Sciences Publication Activity Database

Bock, I.; Jarušek, Jiří

2015-01-01

Roč. 63, č. 1 (2015), s. 39-52 ISSN 1210-3195 R&D Projects: GA ČR(CZ) GAP201/12/0671 Institutional support: RVO:67985840 Keywords : thermoelastic plate * unilateral dynamic contact * rigid obstacle Subject RIV: BA - General Mathematics http://tatra.mat.savba.sk/paper.php?id_paper=1244

Studi Numerik Pengaruh Posisi Sudut Obstacle Berbentuk Rectangular Terhadap Perpindahan Panas pada Tube Banks Staggered

Directory of Open Access Journals (Sweden)

Rizki Anggiansyah

2014-09-01

Full Text Available Compact heat exchanger merupakan salah satu tipe dari alat penukar kalo (heat exchanger yang memiliki luasan perpindahan panas per unit volume yang paling besar (≥ 400 m2/m3 for liquids dan ≥ 700 m2/m3 for gases yang tersusun dari fin and tube. Dalam hal performa, compact heat exchanger bergantung pada pola permukaan fin, yakni continuous plate fins, wavy fins dan circular fins. Continuous plate fins memiliki pola permukaan fin yang datar dan hal tersebut mengakibatkan perpindahan panas yang terjadi relatif lebih lama dibandingkan tipe wavy fins dengan pola permukaan yang bergelombang. Selain merubah pola permukaan fin, upaya lain untuk bisa memaksimalkan proses perpindahan panas pada continuous plate fins juga dapat dibentuk dengan penambahan obstacle pada permukaannya. Penelitian ini dilakukan dengan metode simulasi numerik dengan menggunakan bantuan software Fluent 6.3.26. Simulasi ini dikondisikan dengan menggunakan model turbulensi k-epsilon RNG dan metode second-order upwind scheme. Pada penelitian ini yang divariasikan adalah posisi sudut dari obstacle berbentuk rectangular pada kemiringan 120o, 135o dan 150o berdasarkan titik pusat tube yang diukur dari stagnation point, dengan ukuran panjang obstacle tetap sebesar 2,5 mm dan lebar sebesar 0,5 mm pada tube banks yang tersusun secara staggered. Fluida kerja yang digunakan adalah udara yang dimodelkan sebagai gas ideal yang mengalir melintas celah antara tube dengan temperatur inlet 310 K dan temperatur tube konstan sebesar 347 K. Dari hasil simulasi ini didapatkan visualisasi kontur kecepatan, temperatur dan visualisasi pola aliran yang terbentuk serta pembuktian hipotesa bahwa dengan adanya penambahan obstacle akan meningkatkan perpindahan panas. yakni nilai Nusselt number 8,9–40,6%  sebesar terhadap model baseline (tanpa penambahan obstacle.

Threat of plastic pollution to seabirds is global, pervasive, and increasing.

Science.gov (United States)

Wilcox, Chris; Van Sebille, Erik; Hardesty, Britta Denise

2015-09-22

Plastic pollution in the ocean is a global concern; concentrations reach 580,000 pieces per km(2) and production is increasing exponentially. Although a large number of empirical studies provide emerging evidence of impacts to wildlife, there has been little systematic assessment of risk. We performed a spatial risk analysis using predicted debris distributions and ranges for 186 seabird species to model debris exposure. We adjusted the model using published data on plastic ingestion by seabirds. Eighty of 135 (59%) species with studies reported in the literature between 1962 and 2012 had ingested plastic, and, within those studies, on average 29% of individuals had plastic in their gut. Standardizing the data for time and species, we estimate the ingestion rate would reach 90% of individuals if these studies were conducted today. Using these results from the literature, we tuned our risk model and were able to capture 71% of the variation in plastic ingestion based on a model including exposure, time, study method, and body size. We used this tuned model to predict risk across seabird species at the global scale. The highest area of expected impact occurs at the Southern Ocean boundary in the Tasman Sea between Australia and New Zealand, which contrasts with previous work identifying this area as having low anthropogenic pressures and concentrations of marine debris. We predict that plastics ingestion is increasing in seabirds, that it will reach 99% of all species by 2050, and that effective waste management can reduce this threat.

Threat of plastic pollution to seabirds is global, pervasive, and increasing

Science.gov (United States)

Wilcox, Chris; Van Sebille, Erik; Hardesty, Britta Denise

2015-01-01

Plastic pollution in the ocean is a global concern; concentrations reach 580,000 pieces per km2 and production is increasing exponentially. Although a large number of empirical studies provide emerging evidence of impacts to wildlife, there has been little systematic assessment of risk. We performed a spatial risk analysis using predicted debris distributions and ranges for 186 seabird species to model debris exposure. We adjusted the model using published data on plastic ingestion by seabirds. Eighty of 135 (59%) species with studies reported in the literature between 1962 and 2012 had ingested plastic, and, within those studies, on average 29% of individuals had plastic in their gut. Standardizing the data for time and species, we estimate the ingestion rate would reach 90% of individuals if these studies were conducted today. Using these results from the literature, we tuned our risk model and were able to capture 71% of the variation in plastic ingestion based on a model including exposure, time, study method, and body size. We used this tuned model to predict risk across seabird species at the global scale. The highest area of expected impact occurs at the Southern Ocean boundary in the Tasman Sea between Australia and New Zealand, which contrasts with previous work identifying this area as having low anthropogenic pressures and concentrations of marine debris. We predict that plastics ingestion is increasing in seabirds, that it will reach 99% of all species by 2050, and that effective waste management can reduce this threat. PMID:26324886

An Aging Workforce: Employment Opportunities and Obstacles

Directory of Open Access Journals (Sweden)

Full Professor, Institute of Economic Sciences

2013-05-01

Full Text Available The last decade has witnessed significant changes in the structure of unemployment in the global labour market. This is corroborated by the fact that the global workforce is rapidly aging and the share of people aged 50 and over in the structure of the labour market is increasing. In line with this trend, unemployment issues should be considered as a global problem that cannot be fully resolved at the level of any individual country separately.The main objective of this paper is to throw some light on the aging workforce and the elderly population’s opportunity to realise their right to work and be treated equally with younger age groups. Hence, the paper simultaneously focuses on the age and gender discrimination of elderly population in terms of their employment prospects. The aim of our research is not only to point out certain stereotypes concerning the elderly labour force, but also to stress that unless preconditions for overcoming these stereotypes are created and employment opportunities are given to this segment of the labour force, full employment as an ultimate goal of global economic policy cannot be achieved. It is in accordance with these considerations that we offer a model to achieve this goal.

Historic and future increase in the global land area affected by monthly heat extremes

International Nuclear Information System (INIS)

Coumou, Dim; Robinson, Alexander

2013-01-01

Climatic warming of about 0.5 ° C in the global mean since the 1970s has strongly increased the occurrence-probability of heat extremes on monthly to seasonal time scales. For the 21st century, climate models predict more substantial warming. Here we show that the multi-model mean of the CMIP5 (Coupled Model Intercomparison Project) climate models accurately reproduces the evolution over time and spatial patterns of the historically observed increase in monthly heat extremes. For the near-term (i.e., by 2040), the models predict a robust, several-fold increase in the frequency of such heat extremes, irrespective of the emission scenario. However, mitigation can strongly reduce the number of heat extremes by the second half of the 21st century. Unmitigated climate change causes most (>50%) continental regions to move to a new climatic regime with the coldest summer months by the end of the century substantially hotter than the hottest experienced today. We show that the land fraction experiencing extreme heat as a function of global mean temperature follows a simple cumulative distribution function, which depends only on natural variability and the level of spatial heterogeneity in the warming. (letter)

Global warming increases the interspecific competitiveness of the invasive plant alligator weed, Alternanthera philoxeroides.

Science.gov (United States)

Wu, Hao; Ismail, Mohannad; Ding, Jianqing

2017-01-01

Global warming could accelerate the spread of invasive species to higher latitudes and intensify their effects on native species. Here, we report results of two years of field surveys along a latitudinal gradient (21°N to 31°N) in southern China, to determine the species structure of the invasive plant Alternanthera philoxeroides community. We also performed a replacement series experiment (mono and mixed) to evaluate the effects of elevated temperature on the competitiveness of A. philoxeroides with the native co-occurring species Digitaria sanguinalis. In the field survey, we found that the dominance of A. philoxeroides increased with increasing of latitude gradient while cover of D. sanguinalis decreased. In monospecific plantings, artificial warming reduced the length of D. sanguinalis roots. In mixed plantings, warming reduced both A. philoxeroides abundance and D. sanguinalis stem length when A. philoxeroides was more prevalent in the planting. Warming also significantly reduced D. sanguinalis biomass, but increased that of A. philoxeroides. In addition, elevated temperatures significantly reduced the relative yield (RY) of D. sanguinalis, particularly when A. philoxeroides was planted in higher proportion in the plot. These results suggest that the invasiveness of A. philoxeroides increased with increasing latitude, and that warming may increase the effectiveness of its interspecific competition with D. sanguinalis. Hence, under global warming conditions, the harm to native species from A. philoxeroides would increase at higher latitudes. Our findings are critical for predicting the invasiveness of alien species under climate change. Copyright © 2016 Elsevier B.V. All rights reserved.

Cumulative effects in Swedish EIA practice - difficulties and obstacles