Walking path-planning method for multiple radiation areas
International Nuclear Information System (INIS)
Liu, Yong-kuo; Li, Meng-kun; Peng, Min-jun; Xie, Chun-li; Yuan, Cheng-qian; Wang, Shuang-yu; Chao, Nan
2016-01-01
Highlights: • Radiation environment modeling method is designed. • Path-evaluating method and segmented path-planning method are proposed. • Path-planning simulation platform for radiation environment is built. • The method avoids to be misled by minimum dose path in single area. - Abstract: Based on minimum dose path-searching method, walking path-planning method for multiple radiation areas was designed to solve minimum dose path problem in single area and find minimum dose path in the whole space in this paper. Path-planning simulation platform was built using C# programming language and DirectX engine. The simulation platform was used in simulations dealing with virtual nuclear facilities. Simulation results indicated that the walking-path planning method is effective in providing safety for people walking in nuclear facilities.
Analysis of construction dynamic plan using fuzzy critical path method
Directory of Open Access Journals (Sweden)
Kurij Kazimir V.
2014-01-01
Full Text Available Critical Path Method (CPM technique has become widely recognized as valuable tool for the planning and scheduling large construction projects. The aim of this paper is to present an analytical method for finding the Critical Path in the precedence network diagram where the duration of each activity is represented by a trapezoidal fuzzy number. This Fuzzy Critical Path Method (FCPM uses a defuzzification formula for trapezoidal fuzzy number and applies it on the total float (slack time for each activity in the fuzzy precedence network to find the critical path. The method presented in this paper is very effective in determining the critical activities and finding the critical paths.
A New Method of Global Path Planning for AGV
Institute of Scientific and Technical Information of China (English)
SHI En-xiu; HUANG Yu-mei
2006-01-01
Path planning is important in the research of a mobile robot (MR). Methods for it have been used in different applications. An automated guided vehicle(AGV), which is a kind of MR, is used in a flexible manufacturing system(FMS). Path planning for it is essential to improve the efficiency of FMS. A new method was proposed with known obstacle space FMS in this paper. FMS is described by the Augmented Pos Matrix of a Machine (APMM) and Relative Pos Matrix of Machines (RPMM), which is smaller. The optimum path can be obtained according to the probability of the path and the maximal probability path. The suggested algorithm of path planning was good performance through simulation result: simplicity, saving time and reliability.
A Hybrid 3D Path Planning Method for UAVs
DEFF Research Database (Denmark)
Ortiz-Arroyo, Daniel
2015-01-01
This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a ﬂexible normalized on-line fuzzy controller to ﬁnd shortest paths. Our method, targeted to low altitude domains, is simple and efﬁcient. Our preliminary resu...
Path Planning Methods in an Environment with Obstacles (A Review
Directory of Open Access Journals (Sweden)
W. Liu
2018-01-01
Full Text Available Planning the path is the most important task in the mobile robot navigation. This task involves basically three aspects. First, the planned path must run from a given starting point to a given endpoint. Secondly, it should ensure robot’s collision-free movement. Thirdly, among all the possible paths that meet the first two requirements it must be, in a certain sense, optimal.Methods of path planning can be classified according to different characteristics. In the context of using intelligent technologies, they can be divided into traditional methods and heuristic ones. By the nature of the environment, it is possible to divide planning methods into planning methods in a static environment and in a dynamic one (it should be noted, however, that a static environment is rare. Methods can also be divided according to the completeness of information about the environment, namely methods with complete information (in this case the issue is a global path planning and methods with incomplete information (usually, this refers to the situational awareness in the immediate vicinity of the robot, in this case it is a local path planning. Note that incomplete information about the environment can be a consequence of the changing environment, i.e. in a dynamic environment, there is, usually, a local path planning.Literature offers a great deal of methods for path planning where various heuristic techniques are used, which, as a rule, result from the denotative meaning of the problem being solved. This review discusses the main approaches to the problem solution. Here we can distinguish five classes of basic methods: graph-based methods, methods based on cell decomposition, use of potential fields, optimization methods, фтв methods based on intelligent technologies.Many methods of path planning, as a result, give a chain of reference points (waypoints connecting the beginning and end of the path. This should be seen as an intermediate result. The problem
Path Planning Method in Multi-obstacle Marine Environment
Zhang, Jinpeng; Sun, Hanxv
2017-12-01
In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.
Path planning in uncertain flow fields using ensemble method
Wang, Tong
2016-08-20
An ensemble-based approach is developed to conduct optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where an ensemble of deterministic predictions is used to model and quantify uncertainty. In an operational setting, much about dynamics, topography, and forcing of the ocean environment is uncertain. To address this uncertainty, the flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each of the resulting realizations of the uncertain current field, we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of the sampling strategy and to develop insight into extensions dealing with general circulation ocean models. In particular, the ensemble method enables us to perform a statistical analysis of travel times and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.
Heuristic methods for shared backup path protection planning
DEFF Research Database (Denmark)
Haahr, Jørgen Thorlund; Stidsen, Thomas Riis; Zachariasen, Martin
2012-01-01
schemes are employed. In contrast to manual intervention, automatic protection schemes such as Shared Backup Path Protection (SBPP) can recover from failure quickly and efficiently. SBPP is a simple but efficient protection scheme that can be implemented in backbone networks with technology available...... present heuristic algorithms and lower bound methods for the SBPP planning problem. Experimental results show that the heuristic algorithms are able to find good quality solutions in minutes. A solution gap of less than 3.5% was achieved for more than half of the benchmark instances (and a gap of less...
Minimum dose method for walking-path planning of nuclear facilities
International Nuclear Information System (INIS)
Liu, Yong-kuo; Li, Meng-kun; Xie, Chun-li; Peng, Min-jun; Wang, Shuang-yu; Chao, Nan; Liu, Zhong-kun
2015-01-01
Highlights: • For radiation environment, the environment model is proposed. • For the least dose walking path problem, a path-planning method is designed. • The path-planning virtual–real mixed simulation program is developed. • The program can plan walking path and simulate. - Abstract: A minimum dose method based on staff walking road network model was proposed for the walking-path planning in nuclear facilities. A virtual–reality simulation program was developed using C# programming language and Direct X engine. The simulation program was used in simulations dealing with virtual nuclear facilities. Simulation results indicated that the walking-path planning method was effective in providing safety for people walking in nuclear facilities
Autonomous guided vehicles methods and models for optimal path planning
Fazlollahtabar, Hamed
2015-01-01
This book provides readers with extensive information on path planning optimization for both single and multiple Autonomous Guided Vehicles (AGVs), and discusses practical issues involved in advanced industrial applications of AGVs. After discussing previously published research in the field and highlighting the current gaps, it introduces new models developed by the authors with the goal of reducing costs and increasing productivity and effectiveness in the manufacturing industry. The new models address the increasing complexity of manufacturing networks, due for example to the adoption of flexible manufacturing systems that involve automated material handling systems, robots, numerically controlled machine tools, and automated inspection stations, while also considering the uncertainty and stochastic nature of automated equipment such as AGVs. The book discusses and provides solutions to important issues concerning the use of AGVs in the manufacturing industry, including material flow optimization with A...
Directory of Open Access Journals (Sweden)
Kaijun Zhou
2017-09-01
Full Text Available The Jump Point Search (JPS algorithm is adopted for local path planning of the driverless car under urban environment, and it is a fast search method applied in path planning. Firstly, a vector Geographic Information System (GIS map, including Global Positioning System (GPS position, direction, and lane information, is built for global path planning. Secondly, the GIS map database is utilized in global path planning for the driverless car. Then, the JPS algorithm is adopted to avoid the front obstacle, and to find an optimal local path for the driverless car in the urban environment. Finally, 125 different simulation experiments in the urban environment demonstrate that JPS can search out the optimal and safety path successfully, and meanwhile, it has a lower time complexity compared with the Vector Field Histogram (VFH, the Rapidly Exploring Random Tree (RRT, A*, and the Probabilistic Roadmaps (PRM algorithms. Furthermore, JPS is validated usefully in the structured urban environment.
Curvature-Continuous 3D Path-Planning Using QPMI Method
Directory of Open Access Journals (Sweden)
Seong-Ryong Chang
2015-06-01
Full Text Available It is impossible to achieve vertex movement and rapid velocity control in aerial robots and aerial vehicles because of momentum from the air. A continuous-curvature path ensures such robots and vehicles can fly with stable and continuous movements. General continuous path-planning methods use spline interpolation, for example B-spline and Bézier curves. However, these methods cannot be directly applied to continuous path planning in a 3D space. These methods use a subset of the waypoints to decide curvature and some waypoints are not included in the planned path. This paper proposes a method for constructing a curvature-continuous path in 3D space that includes every waypoint. The movements in each axis, x, y and z, are separated by the parameter u. Waypoint groups are formed, each with its own continuous path derived using quadratic polynomial interpolation. The membership function then combines each continuous path into one continuous path. The continuity of the path is verified and the curvature-continuous path is produced using the proposed method.
Time-optimal path planning in uncertain flow fields using ensemble method
Wang, Tong; Le Maitre, Olivier; Hoteit, Ibrahim; Knio, Omar
2016-01-01
the performance of sampling strategy, and develop insight into extensions dealing with regional or general circulation models. In particular, the ensemble method enables us to perform a statistical analysis of travel times, and consequently develop a path planning
Path planning in uncertain flow fields using ensemble method
Wang, Tong; Le Maî tre, Olivier P.; Hoteit, Ibrahim; Knio, Omar
2016-01-01
, we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values
Fractional path planning and path tracking
International Nuclear Information System (INIS)
Melchior, P.; Jallouli-Khlif, R.; Metoui, B.
2011-01-01
This paper presents the main results of the application of fractional approach in path planning and path tracking. A new robust path planning design for mobile robot was studied in dynamic environment. The normalized attractive force applied to the robot is based on a fictitious fractional attractive potential. This method allows to obtain robust path planning despite robot mass variation. The danger level of each obstacles is characterized by the fractional order of the repulsive potential of the obstacles. Under these conditions, the robot dynamic behavior was studied by analyzing its X - Y path planning with dynamic target or dynamic obstacles. The case of simultaneously mobile obstacles and target is also considered. The influence of the robot mass variation is studied and the robustness analysis of the obtained path shows the robustness improvement due to the non integer order properties. Pre shaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P.Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of C ommande Robuste d'Ordre Non Entier ) control system design is a frequency-domain based methodology using complex fractional integration.
International Nuclear Information System (INIS)
Ma, Yong; Wang, Hongwei; Zamirian, M.
2012-01-01
We present a new approach containing two steps to determine conflict-free paths for mobile objects in two and three dimensions with moving obstacles. Firstly, the shortest path of each object is set as goal function which is subject to collision-avoidance criterion, path smoothness, and velocity and acceleration constraints. This problem is formulated as calculus of variation problem (CVP). Using parametrization method, CVP is converted to time-varying nonlinear programming problems (TNLPP) and then resolved. Secondly, move sequence of object is assigned by priority scheme; conflicts are resolved by multilevel conflict resolution strategy. Approach efficiency is confirmed by numerical examples. -- Highlights: ► Approach with parametrization method and conflict resolution strategy is proposed. ► Approach fits for multi-object paths planning in two and three dimensions. ► Single object path planning and multi-object conflict resolution are orderly used. ► Path of each object obtained with parameterization method in the first phase. ► Conflict-free paths gained by multi-object conflict resolution in the second phase.
Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X
2017-01-01
Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.
Path planning in changeable environments
Nieuwenhuisen, D.
2007-01-01
This thesis addresses path planning in changeable environments. In contrast to traditional path planning that deals with static environments, in changeable environments objects are allowed to change their configurations over time. In many cases, path planning algorithms must facilitate quick
A Dynamic Hidden Forwarding Path Planning Method Based on Improved Q-Learning in SDN Environments
Directory of Open Access Journals (Sweden)
Yun Chen
2018-01-01
Full Text Available Currently, many methods are available to improve the target network’s security. The vast majority of them cannot obtain an optimal attack path and interdict it dynamically and conveniently. Almost all defense strategies aim to repair known vulnerabilities or limit services in target network to improve security of network. These methods cannot response to the attacks in real-time because sometimes they need to wait for manufacturers releasing corresponding countermeasures to repair vulnerabilities. In this paper, we propose an improved Q-learning algorithm to plan an optimal attack path directly and automatically. Based on this path, we use software-defined network (SDN to adjust routing paths and create hidden forwarding paths dynamically to filter vicious attack requests. Compared to other machine learning algorithms, Q-learning only needs to input the target state to its agents, which can avoid early complex training process. We improve Q-learning algorithm in two aspects. First, a reward function based on the weights of hosts and attack success rates of vulnerabilities is proposed, which can adapt to different network topologies precisely. Second, we remove the actions and merge them into every state that reduces complexity from O(N3 to O(N2. In experiments, after deploying hidden forwarding paths, the security of target network is boosted significantly without having to repair network vulnerabilities immediately.
Path Planning Method for UUV Homing and Docking in Movement Disorders Environment
Directory of Open Access Journals (Sweden)
Zheping Yan
2014-01-01
Full Text Available Path planning method for unmanned underwater vehicles (UUV homing and docking in movement disorders environment is proposed in this paper. Firstly, cost function is proposed for path planning. Then, a novel particle swarm optimization (NPSO is proposed and applied to find the waypoint with minimum value of cost function. Then, a strategy for UUV enters into the mother vessel with a fixed angle being proposed. Finally, the test function is introduced to analyze the performance of NPSO and compare with basic particle swarm optimization (BPSO, inertia weight particle swarm optimization (LWPSO, EPSO, and time-varying acceleration coefficient (TVAC. It has turned out that, for unimodal functions, NPSO performed better searching accuracy and stability than other algorithms, and, for multimodal functions, the performance of NPSO is similar to TVAC. Then, the simulation of UUV path planning is presented, and it showed that, with the strategy proposed in this paper, UUV can dodge obstacles and threats, and search for the efficiency path.
International Nuclear Information System (INIS)
Zamirian, M.; Kamyad, A.V.; Farahi, M.H.
2009-01-01
In this Letter a new approach for solving optimal path planning problems for a single rigid and free moving object in a two and three dimensional space in the presence of stationary or moving obstacles is presented. In this approach the path planning problems have some incompatible objectives such as the length of path that must be minimized, the distance between the path and obstacles that must be maximized and etc., then a multi-objective dynamic optimization problem (MODOP) is achieved. Considering the imprecise nature of decision maker's (DM) judgment, these multiple objectives are viewed as fuzzy variables. By determining intervals for the values of these fuzzy variables, flexible monotonic decreasing or increasing membership functions are determined as the degrees of satisfaction of these fuzzy variables on their intervals. Then, the optimal path planning policy is searched by maximizing the aggregated fuzzy decision values, resulting in a fuzzy multi-objective dynamic optimization problem (FMODOP). Using a suitable t-norm, the FMODOP is converted into a non-linear dynamic optimization problem (NLDOP). By using parametrization method and some calculations, the NLDOP is converted into the sequence of conventional non-linear programming problems (NLPP). It is proved that the solution of this sequence of the NLPPs tends to a Pareto optimal solution which, among other Pareto optimal solutions, has the best satisfaction of DM for the MODOP. Finally, the above procedure as a novel algorithm integrating parametrization method and fuzzy aggregation to solve the MODOP is proposed. Efficiency of our approach is confirmed by some numerical examples.
Time-optimal path planning in uncertain flow fields using ensemble method
Wang, Tong
2016-01-06
An ensemble-based approach is developed to conduct time-optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where a set deterministic predictions is used to model and quantify uncertainty in the predictions. In the operational setting, much about dynamics, topography and forcing of the ocean environment is uncertain, and as a result a single path produced by a model simulation has limited utility. To overcome this limitation, we rely on a finitesize ensemble of deterministic forecasts to quantify the impact of variability in the dynamics. The uncertainty of flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each the resulting realizations of the uncertain current field, we predict the optimal path by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of sampling strategy, and develop insight into extensions dealing with regional or general circulation models. In particular, the ensemble method enables us to perform a statistical analysis of travel times, and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.
Strategic Team AI Path Plans: Probabilistic Pathfinding
Directory of Open Access Journals (Sweden)
Tng C. H. John
2008-01-01
Full Text Available This paper proposes a novel method to generate strategic team AI pathfinding plans for computer games and simulations using probabilistic pathfinding. This method is inspired by genetic algorithms (Russell and Norvig, 2002, in that, a fitness function is used to test the quality of the path plans. The method generates high-quality path plans by eliminating the low-quality ones. The path plans are generated by probabilistic pathfinding, and the elimination is done by a fitness test of the path plans. This path plan generation method has the ability to generate variation or different high-quality paths, which is desired for games to increase replay values. This work is an extension of our earlier work on team AI: probabilistic pathfinding (John et al., 2006. We explore ways to combine probabilistic pathfinding and genetic algorithm to create a new method to generate strategic team AI pathfinding plans.
Wei, Kun; Ren, Bingyin
2018-02-13
In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.
Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment
Directory of Open Access Journals (Sweden)
Yong-feng Dong
2016-01-01
Full Text Available In the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoidal adaptive genetic algorithm is adopted. It can calculate the crossover probability and mutation probability adaptively changing with environment at any time. According to the cultural-genetic algorithm, it introduces the concept of reducing turns by parallelogram and reducing length by triangle in the belief space, which can improve the quality of population. And the fallback strategy can help to jump out of the “U” trap effectively. The algorithm analyses the virtual collision in dynamic environment with obstacles. According to the different collision types, different strategies are executed to avoid obstacles. The experimental results show that cultural-genetic algorithm can overcome the problems of premature and convergence of original algorithm effectively. It can avoid getting into the local optimum. And it is more effective for mobile robot path planning. Even in complex environment with static and dynamic obstacles, it can avoid collision safely and plan an optimal path rapidly at the same time.
Critical path method applied to research project planning: Fire Economics Evaluation System (FEES)
Earl B. Anderson; R. Stanton Hales
1986-01-01
The critical path method (CPM) of network analysis (a) depicts precedence among the many activities in a project by a network diagram; (b) identifies critical activities by calculating their starting, finishing, and float times; and (c) displays possible schedules by constructing time charts. CPM was applied to the development of the Forest Service's Fire...
Energy Technology Data Exchange (ETDEWEB)
Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)
2015-06-15
In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.
International Nuclear Information System (INIS)
Tuvshinjargal, Doopalam; Lee, Deok Jin
2015-01-01
In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments
Critical path method as the criterion for optimization of business planning process
Butsenko Elena V.
2016-01-01
In today's economy the task of improving business planning is considered a necessary component of any enterprise management process and is precisely the solution drawn from that task which determines the financial policy and economic structure. The development of technologies based on the optimization of business planning is a very urgent scientific challenge. In this paper we propose to use the methods of network planning and management as a tool for economic and mathematical modeling to...
Feasible Path Planning for Autonomous Vehicles
Directory of Open Access Journals (Sweden)
Vu Trieu Minh
2014-01-01
Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.
Buschbaum, Jan; Fremd, Rainer; Pohlemann, Tim; Kristen, Alexander
2017-08-01
Reduction is a crucial step in the surgical treatment of bone fractures. Finding an optimal path for restoring anatomical alignment is considered technically demanding because collisions as well as high forces caused by surrounding soft tissues can avoid desired reduction movements. The repetition of reduction movements leads to a trial-and-error process which causes a prolonged duration of surgery. By planning an appropriate reduction path-an optimal sequence of target-directed movements-these problems should be overcome. For this purpose, a computer-based method has been developed. Using the example of simple femoral shaft fractures, 3D models are generated out of CT images. A reposition algorithm aligns both fragments by reconstructing their broken edges. According to the criteria of a deduced planning strategy, a modified A*-algorithm searches collision-free route of minimal force from the dislocated into the computed target position. Muscular forces are considered using a musculoskeletal reduction model (OpenSim model), and bone collisions are detected by an appropriate method. Five femoral SYNBONE models were broken into different fracture classification types and were automatically reduced from ten randomly selected displaced positions. Highest mean translational and rotational error for achieving target alignment is [Formula: see text] and [Formula: see text]. Mean value and standard deviation of occurring forces are [Formula: see text] for M. tensor fasciae latae and [Formula: see text] for M. semitendinosus over all trials. These pathways are precise, collision-free, required forces are minimized, and thus regarded as optimal paths. A novel method for planning reduction paths under consideration of collisions and muscular forces is introduced. The results deliver additional knowledge for an appropriate tactical reduction procedure and can provide a basis for further navigated or robotic-assisted developments.
Integrated assignment and path planning
Murphey, Robert A.
2005-11-01
A surge of interest in unmanned systems has exposed many new and challenging research problems across many fields of engineering and mathematics. These systems have the potential of transforming our society by replacing dangerous and dirty jobs with networks of moving machines. This vision is fundamentally separate from the modern view of robotics in that sophisticated behavior is realizable not by increasing individual vehicle complexity, but instead through collaborative teaming that relies on collective perception, abstraction, decision making, and manipulation. Obvious examples where collective robotics will make an impact include planetary exploration, space structure assembly, remote and undersea mining, hazardous material handling and clean-up, and search and rescue. Nonetheless, the phenomenon driving this technology trend is the increasing reliance of the US military on unmanned vehicles, specifically, aircraft. Only a few years ago, following years of resistance to the use of unmanned systems, the military and civilian leadership in the United States reversed itself and have recently demonstrated surprisingly broad acceptance of increasingly pervasive use of unmanned platforms in defense surveillance, and even attack. However, as rapidly as unmanned systems have gained acceptance, the defense research community has discovered the technical pitfalls that lie ahead, especially for operating collective groups of unmanned platforms. A great deal of talent and energy has been devoted to solving these technical problems, which tend to fall into two categories: resource allocation of vehicles to objectives, and path planning of vehicle trajectories. An extensive amount of research has been conducted in each direction, yet, surprisingly, very little work has considered the integrated problem of assignment and path planning. This dissertation presents a framework for studying integrated assignment and path planning and then moves on to suggest an exact
RISK ASSESSMENT IN PROJECT PLANNING USING FMEA AND CRITICAL PATH METHOD
Directory of Open Access Journals (Sweden)
Sandra Milena CHOLES ARVILLA
2014-10-01
Full Text Available This paper is based upon the research undertaken for the development of the doctoral thesis “Management of software projects based on object-oriented technology”. The study examines the existing risk management practices commonly used for classic software development. The goal is to integrate the elements of the traditional risk management methodologies to create a new agile risk management methodology. The thesis focuses on techniques that can be easily implemented in extreme programming (XP and SCRUM. This study is motivated by the following research questions: What are the elements of existing quality assurance tools that could meet the principles of agile development? And is it possible to use risk estimation for improving quality in agile projects? The thesis presents a synthesis of the most common risk management techniques, as well as an introduction to agile methods XP and SCRUM. The proposal integrates the concepts of Failure Mode and Effect Analysis into the iterative life cycle of an agile software project. The thesis presents a metamodel which integrates the concepts of agile development methodologies: SCRUM and XP with the FMEA concepts for risk quantification. The model was partly implemented into a real development project. Partial results show the improvement in early identification of failures and allowed to reconsider the Sprint plan.
Cooperative path planning of unmanned aerial vehicles
Tsourdos, Antonios; Shanmugavel, Madhavan
2010-01-01
An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in...
Path planning algorithms for assembly sequence planning. [in robot kinematics
Krishnan, S. S.; Sanderson, Arthur C.
1991-01-01
Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.
Directory of Open Access Journals (Sweden)
Yong Ma
2013-01-01
Full Text Available We present one algorithm based on particle swarm optimization (PSO with penalty function to determine the conflict-free path for mobile objects in four-dimension (three spatial and one-time dimensions with obstacles. The shortest path of the mobile object is set as goal function, which is constrained by conflict-free criterion, path smoothness, and velocity and acceleration requirements. This problem is formulated as a calculus of variation problem (CVP. With parametrization method, the CVP is converted to a time-varying nonlinear programming problem (TNLPP. Constraints of TNLPP are transformed to general TNLPP without any constraints through penalty functions. Then, by using a little calculations and applying the algorithm PSO, the solution of the CVP is consequently obtained. Approach efficiency is confirmed by numerical examples.
Cooperative organic mine avoidance path planning
McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David
2005-06-01
The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.
Robotic Online Path Planning on Point Cloud.
Liu, Ming
2016-05-01
This paper deals with the path-planning problem for mobile wheeled- or tracked-robot which drive in 2.5-D environments, where the traversable surface is usually considered as a 2-D-manifold embedded in a 3-D ambient space. Specially, we aim at solving the 2.5-D navigation problem using raw point cloud as input. The proposed method is independent of traditional surface parametrization or reconstruction methods, such as a meshing process, which generally has high-computational complexity. Instead, we utilize the output of 3-D tensor voting framework on the raw point clouds. The computation of tensor voting is accelerated by optimized implementation on graphics computation unit. Based on the tensor voting results, a novel local Riemannian metric is defined using the saliency components, which helps the modeling of the latent traversable surface. Using the proposed metric, we prove that the geodesic in the 3-D tensor space leads to rational path-planning results by experiments. Compared to traditional methods, the results reveal the advantages of the proposed method in terms of smoothing the robot maneuver while considering the minimum travel distance.
Güler, Fatma; Kasap, Emin
Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.
Path Planning with a Lazy Significant Edge Algorithm (LSEA
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Joseph Polden
2013-04-01
Full Text Available Probabilistic methods have been proven to be effective for robotic path planning in a geometrically complex environment. In this paper, we propose a novel approach, which utilizes a specialized roadmap expansion phase, to improve lazy probabilistic path planning. This expansion phase analyses roadmap connectivity information to bias sampling towards objects in the workspace that have not yet been navigated by the robot. A new method to reduce the number of samples required to navigate narrow passages is also proposed and tested. Experimental results show that the new algorithm is more efficient than the traditional path planning methodologies. It was able to generate solutions for a variety of path planning problems faster, using fewer samples to arrive at a valid solution.
Chiaramonte, Fran
2003-01-01
This viewgraph presentation discusses the status and goals for the NASA OBPR Physical Science Research Program. The following text was used to summarize the presentation. The OBPR Physical Sciences Research program has been comprehensively reviewed and endorsed by National Research Council. The value and need for the research have been re-affirmed. The research program has been prioritized and resource re-allocations have been carried out through an OBPR-wide process. An increasing emphasis on strategic, mission-oriented research is planned. The program will strive to maintain a balance between strategic and fundamental research. A feasible ISS flight research program fitting within the budgetary and ISS resource envelopes has been formulated for the near term (2003-2007). The current ISS research program will be significantly strengthened starting 2005 by using discipline dedicated research facility racks. A research re-planning effort has been initiated and will include active participation from the research community in the next few months. The research re-planning effort will poise PSR to increase ISS research utilization for a potential enhancement beyond ISS IP Core Complete. The Physical Sciences research program readily integrates the cross-disciplinary requirements of the NASA and OBPR strategic objectives. Each fundamental research thrust will develop a roadmap through technical workshops and Discipline Working Groups (DWGs). Most fundamental research thrusts will involve cross-disciplinary efforts. A Technology Roadmap will guide the Strategic Research for Exploration thrust. The Research Plan will integrate and coordinate fundamental Research Thrusts Roadmaps with the Technology Roadmap. The Technology Roadmap will be developed in coordination with other OBPR programs as well as other Enterprise (R,S,M,N). International Partners will contribute to the roadmaps and through research coordination. The research plan will be vetted with the discipline
Shore-based Path Planning for Marine Vehicles Using a Model of Ocean Currents
National Aeronautics and Space Administration — Develop path planning methods that incorporate an approximate model of ocean currents in path planning for a range of autonomous marine vehicles such as surface...
Learning to improve path planning performance
International Nuclear Information System (INIS)
Chen, Pang C.
1995-04-01
In robotics, path planning refers to finding a short. collision-free path from an initial robot configuration to a desired configuratioin. It has to be fast to support real-time task-level robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To remedy this situation, we present and analyze a learning algorithm that uses past experience to increase future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful robot configurations is learned to support faster planning. More generally, the algorithm provides a speedup-learning framework in which a slow but capable planner may be improved both cost-wise and capability-wise by a faster but less capable planner coupled with experience. The basic algorithm is suitable for stationary environments, and can be extended to accommodate changing environments with on-demand experience repair and object-attached experience abstraction. To analyze the algorithm, we characterize the situations in which the adaptive planner is useful, provide quantitative bounds to predict its behavior, and confirm our theoretical results with experiments in path planning of manipulators. Our algorithm and analysis are sufficiently, general that they may also be applied to other planning domains in which experience is useful
Directory of Open Access Journals (Sweden)
Yuan Chen
2011-09-01
Full Text Available This paper proposes a piecewise acceleration-optimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot.
Aircraft path planning with the use of smooth trajectories
Belokon', S. A.; Zolotukhin, Yu. N.; Nesterov, A. A.
2017-01-01
A simplified method of plane trajectory calculation is proposed for solving the problem of planning a path defined by a sequence of waypoints. The trajectory consists of oriented segments of straight lines joined by clothoids (Cornu spirals). The efficiency of the method is validated by means of numerical simulations in the MATLAB/Simulink environment.
Flexible integration of path-planning capabilities
Stobie, Iain C.; Tambe, Milind; Rosenbloom, Paul S.
1993-05-01
Robots pursuing complex goals must plan paths according to several criteria of quality, including shortness, safety, speed and planning time. Many sources and kinds of knowledge, such as maps, procedures and perception, may be available or required. Both the quality criteria and sources of knowledge may vary widely over time, and in general they will interact. One approach to address this problem is to express all criteria and goals numerically in a single weighted graph, and then to search this graph to determine a path. Since this is problematic with symbolic or uncertain data and interacting criteria, we propose that what is needed instead is an integration of many kinds of planning capabilities. We describe a hybrid approach to integration, based on experiments with building simulated mobile robots using Soar, an integrated problem-solving and learning system. For flexibility, we have implemented a combination of internal planning, reactive capabilities and specialized tools. We illustrate how these components can complement each other's limitations and produce plans which integrate geometric and task knowledge.
Survey of Robot 3D Path Planning Algorithms
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Liang Yang
2016-01-01
Full Text Available Robot 3D (three-dimension path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints. The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.
A bat algorithm with mutation for UCAV path planning.
Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi
2012-01-01
Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models.
Path Planning Algorithms for Autonomous Border Patrol Vehicles
Lau, George Tin Lam
This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.
Aircraft path planning for optimal imaging using dynamic cost functions
Christie, Gordon; Chaudhry, Haseeb; Kochersberger, Kevin
2015-05-01
Unmanned aircraft development has accelerated with recent technological improvements in sensing and communications, which has resulted in an "applications lag" for how these aircraft can best be utilized. The aircraft are becoming smaller, more maneuverable and have longer endurance to perform sensing and sampling missions, but operating them aggressively to exploit these capabilities has not been a primary focus in unmanned systems development. This paper addresses a means of aerial vehicle path planning to provide a realistic optimal path in acquiring imagery for structure from motion (SfM) reconstructions and performing radiation surveys. This method will allow SfM reconstructions to occur accurately and with minimal flight time so that the reconstructions can be executed efficiently. An assumption is made that we have 3D point cloud data available prior to the flight. A discrete set of scan lines are proposed for the given area that are scored based on visibility of the scene. Our approach finds a time-efficient path and calculates trajectories between scan lines and over obstacles encountered along those scan lines. Aircraft dynamics are incorporated into the path planning algorithm as dynamic cost functions to create optimal imaging paths in minimum time. Simulations of the path planning algorithm are shown for an urban environment. We also present our approach for image-based terrain mapping, which is able to efficiently perform a 3D reconstruction of a large area without the use of GPS data.
Safe Maritime Autonomous Path Planning in a High Sea State
Ono, Masahiro; Quadrelli, Marco; Huntsberger, Terrance L.
2014-01-01
This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.
Robust Path Planning and Feedback Design Under Stochastic Uncertainty
Blackmore, Lars
2008-01-01
Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.
Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm
Directory of Open Access Journals (Sweden)
PeiJiang Yuan
2015-12-01
Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.
Globally Optimal Path Planning with Anisotropic Running Costs
2013-03-01
Eikonal equation and has numerous applications, for exam- ple, in path planning, computational geometry, computer vision, and image enhancement...Sethian 1999b]. Numerical methods for solving the Eikonal equation include Tsitsiklis’ control-theoretic algorithm [Tsitsiklis 1995], Fast Marching Methods...methods for Eikonal equations on triangular meshes, SIAM J. Numer. Anal. 45(1), 83—107. Rowe, M. P., Sidhu, H. S. & Mercer, G. N. (2009) Military
Mission-directed path planning for planetary rover exploration
Tompkins, Paul
2005-07-01
Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot
Image-based path planning for automated virtual colonoscopy navigation
Hong, Wei
2008-03-01
Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.
Static and Dynamic Path Planning Using Incremental Heuristic Search
Khattab, Asem
2018-01-01
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the layout of the environment is changing as the agent acquires new information. Attention is then given to the problem of path planning in dynamic environments where there are moving obstacles in addition to the static ones. Specifically, a 2D car-like agent t...
Path Planning Algorithms for the Adaptive Sensor Fleet
Stoneking, Eric; Hosler, Jeff
2005-01-01
The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.
AEDT sensor path methods using BADA4
2017-06-01
This report documents the development and use of sensor path data processing in the Federal Aviation Administration's (FAAs) Aviation Environmental Design Tool (AEDT). The methods are primarily intended to assist analysts with using AEDT to determ...
Cooperative Path-Planning for Multi-Vehicle Systems
Directory of Open Access Journals (Sweden)
Qichen Wang
2014-11-01
Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.
Multi-AGV path planning with double-path constraints by using an improved genetic algorithm.
Directory of Open Access Journals (Sweden)
Zengliang Han
Full Text Available This paper investigates an improved genetic algorithm on multiple automated guided vehicle (multi-AGV path planning. The innovations embody in two aspects. First, three-exchange crossover heuristic operators are used to produce more optimal offsprings for getting more information than with the traditional two-exchange crossover heuristic operators in the improved genetic algorithm. Second, double-path constraints of both minimizing the total path distance of all AGVs and minimizing single path distances of each AGV are exerted, gaining the optimal shortest total path distance. The simulation results show that the total path distance of all AGVs and the longest single AGV path distance are shortened by using the improved genetic algorithm.
Energy Technology Data Exchange (ETDEWEB)
Vandewouw, Marlee M., E-mail: marleev@mie.utoronto.ca; Aleman, Dionne M. [Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8 (Canada); Jaffray, David A. [Radiation Medicine Program, Princess Margaret Cancer Centre, Toronto, Ontario M5G 2M9 (Canada)
2016-08-15
Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, are used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.
International Nuclear Information System (INIS)
Vandewouw, Marlee M.; Aleman, Dionne M.; Jaffray, David A.
2016-01-01
Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, are used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.
Knowledge-inducing Global Path Planning for Robots in Environment with Hybrid Terrain
Directory of Open Access Journals (Sweden)
Yi-nan Guo
2010-09-01
Full Text Available In complex environment with hybrid terrain, different regions may have different terrain. Path planning for robots in such environment is an open NP-complete problem, which lacks effective methods. The paper develops a novel global path planning method based on common sense and evolution knowledge by adopting dual evolution structure in culture algorithms. Common sense describes terrain information and feasibility of environment, which is used to evaluate and select the paths. Evolution knowledge describes the angle relationship between the path and the obstacles, or the common segments of paths, which is used to judge and repair infeasible individuals. Taken two types of environments with different obstacles and terrain as examples, simulation results indicate that the algorithm can effectively solve path planning problem in complex environment and decrease the computation complexity for judgment and repair of infeasible individuals. It also can improve the convergence speed and have better computation stability.
Path optimization method for the sign problem
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Ohnishi Akira
2018-01-01
Full Text Available We propose a path optimization method (POM to evade the sign problem in the Monte-Carlo calculations for complex actions. Among many approaches to the sign problem, the Lefschetz-thimble path-integral method and the complex Langevin method are promising and extensively discussed. In these methods, real field variables are complexified and the integration manifold is determined by the flow equations or stochastically sampled. When we have singular points of the action or multiple critical points near the original integral surface, however, we have a risk to encounter the residual and global sign problems or the singular drift term problem. One of the ways to avoid the singular points is to optimize the integration path which is designed not to hit the singular points of the Boltzmann weight. By specifying the one-dimensional integration-path as z = t +if(t(f ϵ R and by optimizing f(t to enhance the average phase factor, we demonstrate that we can avoid the sign problem in a one-variable toy model for which the complex Langevin method is found to fail. In this proceedings, we propose POM and discuss how we can avoid the sign problem in a toy model. We also discuss the possibility to utilize the neural network to optimize the path.
Reactive Path Planning Approach for Docking Robots in Unknown Environment
Directory of Open Access Journals (Sweden)
Peng Cui
2017-01-01
Full Text Available Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.
Active Path Planning for Drones in Object Search
Wang, Zeyangyi
2017-01-01
Object searching is one of the most popular applications of unmanned aerial vehicles. Low cost small drones are particularly suited for surveying tasks in difficult conditions. With their limited on-board processing power and battery life, there is a need for more efficient search algorithm. The proposed path planning algorithm utilizes AZ-net, a deep learning network to process images captured on drones for adaptive flight path planning. Search simulation based on videos and actual experimen...
Singularities of robot mechanisms numerical computation and avoidance path planning
Bohigas, Oriol; Ros, Lluís
2017-01-01
This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves...
Points-Based Safe Path Planning of Continuum Robots
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Khuram Shahzad
2015-07-01
Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g., working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.
The Unplanned Paths of Planning Schools.
Alonso, William
1986-01-01
Describes the evolving emphasis of schools of urban planning from concentration on scientific management, beautifying cities, and educating the public in the 1920s to solving the social problems in the 1960s. Calls for a collaboration of business and other professional schools to redefine the function and purpose of urban planning schools to…
Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots
Directory of Open Access Journals (Sweden)
Yahui Gan
2012-09-01
Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.
Robust Path Planning for Space Exploration Rovers
National Aeronautics and Space Administration — Motion planning considers the problem of moving a system from a starting position to a desired goal position. This problem has been shown to be a computationally...
Visibility-based optimal path and motion planning
Wang, Paul Keng-Chieh
2015-01-01
This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases. The intended readers of this monograph are primarily studen...
Rapidly Exploring Random Trees Used for Mobile Robots Path Planning
Czech Academy of Sciences Publication Activity Database
Krejsa, Jiří; Věchet, S.
2005-01-01
Roč. 12, č. 4 (2005), s. 231-238 ISSN 1802-1484. [Mechatronics, Robotics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : path planning * mobile robot Subject RIV: JD - Computer Applications, Robotics
Reasoning on the Self-Organizing Incremental Associative Memory for Online Robot Path Planning
Kawewong, Aram; Honda, Yutaro; Tsuboyama, Manabu; Hasegawa, Osamu
Robot path-planning is one of the important issues in robotic navigation. This paper presents a novel robot path-planning approach based on the associative memory using Self-Organizing Incremental Neural Networks (SOINN). By the proposed method, an environment is first autonomously divided into a set of path-fragments by junctions. Each fragment is represented by a sequence of preliminarily generated common patterns (CPs). In an online manner, a robot regards the current path as the associative path-fragments, each connected by junctions. The reasoning technique is additionally proposed for decision making at each junction to speed up the exploration time. Distinct from other methods, our method does not ignore the important information about the regions between junctions (path-fragments). The resultant number of path-fragments is also less than other method. Evaluation is done via Webots physical 3D-simulated and real robot experiments, where only distance sensors are available. Results show that our method can represent the environment effectively; it enables the robot to solve the goal-oriented navigation problem in only one episode, which is actually less than that necessary for most of the Reinforcement Learning (RL) based methods. The running time is proved finite and scales well with the environment. The resultant number of path-fragments matches well to the environment.
Path planning of master-slave manipulator using graphic simulator
International Nuclear Information System (INIS)
Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.
2002-01-01
To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management
Creep analysis by the path function method
International Nuclear Information System (INIS)
Akin, J.E.; Pardue, R.M.
1977-01-01
The finite element method has become a common analysis procedure for the creep analysis of structures. The most recent programs are designed to handle a general class of material properties and are able to calculate elastic, plastic, and creep components of strain under general loading histories. The constant stress approach is too crude a model to accurately represent the actual behaviour of the stress for large time steps. The true path of a point in the effective stress-effective strain (sigmasup(e)-epsilonsup(c)) plane is often one in which the slope is rapidly changing. Thus the stress level quickly moves away from the initial stress level and then gradually approaches the final one. The result is that the assumed constant stress level quickly becomes inaccurate. What is required is a better method of approximation of the true path in the sigmasup(e)-epsilonsup(c) space. The method described here is called the path function approach because it employs an assumed function to estimate the motion of points in the sigmasup(e)-epsilonsup(c) space. (Auth.)
Wind Corrections in Flight Path Planning
Directory of Open Access Journals (Sweden)
Martin Selecký
2013-05-01
Full Text Available Abstract When operating autonomous unmanned aerial vehicles (UAVs in real environments it is necessary to deal with the effects of wind that causes the aircraft to drift in a certain direction. In such conditions it is hard or even impossible for UAVs with a bounded turning rate to follow certain trajectories. We designed a method based on an Accelerated A* algorithm that allows the trajectory planner to take the wind effects into account and to generate states that are reachable by UAV. This method was tested on hardware UAV and the reachability of its generated trajectories was compared to the trajectories computed by the original Accelerated A*.
Directory of Open Access Journals (Sweden)
Domokos Kiss
2017-01-01
Full Text Available In this paper we introduce a novel method for obtaining good quality paths for autonomous road vehicles (e.g., cars or buses in narrow environments. There are many traffic situations in urban scenarios where nontrivial maneuvering in narrow places is necessary. Navigating in cluttered parking lots or having to avoid obstacles blocking the way and finding a detour even in narrow streets are challenging, especially if the vehicle has large dimensions like a bus. We present a combined approximation-based approach to solve the path planning problem in such situations. Our approach consists of a global planner which generates a preliminary path consisting of straight and turning-in-place primitives and a local planner which is used to make the preliminary path feasible to car-like vehicles. The approximation methodology is well known in the literature; however, both components proposed in this paper differ from existing similar planning methods. The approximation process with the proposed local planner is proven to be convergent for any preliminary global paths. The resulting path has continuous curvature which renders our method well suited for application on real vehicles. Simulation experiments show that the proposed method outperforms similar approaches in terms of path quality in complicated planning tasks.
Path Planning & Measurement Registration for Robotic Structural Asset Monitoring
Pierce , Stephen Gareth; Macleod , Charles Norman; Dobie , Gordon; Summan , Rahul
2014-01-01
International audience; The move to increased levels of autonomy for robotic delivery of inspection for asset monitoring, demands a structured approach to path planning and measurement data presentation that greatly surpasses the more ad‐,hoc approach typically employed by remotely controlled, but manually driven robotic inspection vehicles. The authors describe a traditional CAD/CAM approach to motion planning (as used in machine tool operation) which has numerous benefits including the...
Path planning during combustion mode switch
Jiang, Li; Ravi, Nikhil
2015-12-29
Systems and methods are provided for transitioning between a first combustion mode and a second combustion mode in an internal combustion engine. A current operating point of the engine is identified and a target operating point for the internal combustion engine in the second combustion mode is also determined. A predefined optimized transition operating point is selected from memory. While operating in the first combustion mode, one or more engine actuator settings are adjusted to cause the operating point of the internal combustion engine to approach the selected optimized transition operating point. When the engine is operating at the selected optimized transition operating point, the combustion mode is switched from the first combustion mode to the second combustion mode. While operating in the second combustion mode, one or more engine actuator settings are adjusted to cause the operating point of the internal combustion to approach the target operating point.
A hybrid metaheuristic DE/CS algorithm for UCAV three-dimension path planning.
Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen
2012-01-01
Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model.
Evolutionistic or revolutionary paths? A PACS maturity model for strategic situational planning.
van de Wetering, Rogier; Batenburg, Ronald; Lederman, Reeva
2010-07-01
While many hospitals are re-evaluating their current Picture Archiving and Communication System (PACS), few have a mature strategy for PACS deployment. Furthermore, strategies for implementation, strategic and situational planning methods for the evolution of PACS maturity are scarce in the scientific literature. Consequently, in this paper we propose a strategic planning method for PACS deployment. This method builds upon a PACS maturity model (PMM), based on the elaboration of the strategic alignment concept and the maturity growth path concept previously developed in the PACS domain. First, we review the literature on strategic planning for information systems and information technology and PACS maturity. Secondly, the PMM is extended by applying four different strategic perspectives of the Strategic Alignment Framework whereupon two types of growth paths (evolutionistic and revolutionary) are applied that focus on a roadmap for PMM. This roadmap builds a path to get from one level of maturity and evolve to the next. An extended method for PACS strategic planning is developed. This method defines eight distinctive strategies for PACS strategic situational planning that allow decision-makers in hospitals to decide which approach best suits their hospitals' current situation and future ambition and what in principle is needed to evolve through the different maturity levels. The proposed method allows hospitals to strategically plan for PACS maturation. It is situational in that the required investments and activities depend on the alignment between the hospital strategy and the selected growth path. The inclusion of both strategic alignment and maturity growth path concepts make the planning method rigorous, and provide a framework for further empirical research and clinical practice.
Energy Technology Data Exchange (ETDEWEB)
Tsauo, Jiaywei, E-mail: 80732059@qq.com; Luo, Xuefeng, E-mail: luobo-913@126.com [West China Hospital of Sichuan University, Institute of Interventional Radiology (China); Ye, Linchao, E-mail: linchao.ye@siemens.com [Siemens Ltd, Healthcare Sector (China); Li, Xiao, E-mail: simonlixiao@gmail.com [West China Hospital of Sichuan University, Institute of Interventional Radiology (China)
2015-06-15
PurposeThis study was designed to report our results with a modified technique of three-dimensional (3D) path planning software assisted transjugular intrahepatic portosystemic shunt (TIPS).Methods3D path planning software was recently developed to facilitate TIPS creation by using two carbon dioxide portograms acquired at least 20° apart to generate a 3D path for overlay needle guidance. However, one shortcoming is that puncturing along the overlay would be technically impossible if the angle of the liver access set and the angle of the 3D path are not the same. To solve this problem, a prototype 3D path planning software was fitted with a utility to calculate the angle of the 3D path. Using this, we modified the angle of the liver access set accordingly during the procedure in ten patients.ResultsFailure for technical reasons occurred in three patients (unsuccessful wedged hepatic venography in two cases, software technical failure in one case). The procedure was successful in the remaining seven patients, and only one needle pass was required to obtain portal vein access in each case. The course of puncture was comparable to the 3D path in all patients. No procedure-related complication occurred following the procedures.ConclusionsAdjusting the angle of the liver access set to match the angle of the 3D path determined by the software appears to be a favorable modification to the technique of 3D path planning software assisted TIPS.
Hu, Xuemin; Chen, Long; Tang, Bo; Cao, Dongpu; He, Haibo
2018-02-01
This paper presents a real-time dynamic path planning method for autonomous driving that avoids both static and moving obstacles. The proposed path planning method determines not only an optimal path, but also the appropriate acceleration and speed for a vehicle. In this method, we first construct a center line from a set of predefined waypoints, which are usually obtained from a lane-level map. A series of path candidates are generated by the arc length and offset to the center line in the s - ρ coordinate system. Then, all of these candidates are converted into Cartesian coordinates. The optimal path is selected considering the total cost of static safety, comfortability, and dynamic safety; meanwhile, the appropriate acceleration and speed for the optimal path are also identified. Various types of roads, including single-lane roads and multi-lane roads with static and moving obstacles, are designed to test the proposed method. The simulation results demonstrate the effectiveness of the proposed method, and indicate its wide practical application to autonomous driving.
Directory of Open Access Journals (Sweden)
Imen Chaari
2017-03-01
Full Text Available This article presents the results of the 2-year iroboapp research project that aims at devising path planning algorithms for large grid maps with much faster execution times while tolerating very small slacks with respect to the optimal path. We investigated both exact and heuristic methods. We contributed with the design, analysis, evaluation, implementation and experimentation of several algorithms for grid map path planning for both exact and heuristic methods. We also designed an innovative algorithm called relaxed A-star that has linear complexity with relaxed constraints, which provides near-optimal solutions with an extremely reduced execution time as compared to A-star. We evaluated the performance of the different algorithms and concluded that relaxed A-star is the best path planner as it provides a good trade-off among all the metrics, but we noticed that heuristic methods have good features that can be exploited to improve the solution of the relaxed exact method. This led us to design new hybrid algorithms that combine our relaxed A-star with heuristic methods which improve the solution quality of relaxed A-star at the cost of slightly higher execution time, while remaining much faster than A* for large-scale problems. Finally, we demonstrate how to integrate the relaxed A-star algorithm in the robot operating system as a global path planner and show that it outperforms its default path planner with an execution time 38% faster on average.
Research on Navigation Path Planning for An Underground Load Haul Dump
Directory of Open Access Journals (Sweden)
Qi Yulong
2015-11-01
Full Text Available The improved A * algorithm is a method of navigation path planning for articulated underground scrapers. Firstly, an environment model based on a mining Geographic Information System (GIS map is established, and then combined with improved A * algorithm, the underground global path planning problem of the intelligent Load Haul Dump (LHD is solved. In this paper, for the articulated structure, the method of expanding nodes by articulation angle is adopted to make expanded nodes meet the trajectory characteristics. In addition, collision threat cost is introduced in the evaluation function to avoid collisions between the LHD and the tunnel walls. As peran analysis of the simulation test to verify the effectiveness of the improved A * algorithm and a comparison with the traditional A * algorithm, the improved A * algorithm can enhance search efficiency. Acontrast of multiple sets of test parameters suggests that when the price weighted coefficient of collision is 0.2, the shortest path can be derived to avoid impact. Finally, tracking results indicate that the proposed algorithm for navigation path planning can maintain the tracking error to within 0.2 m in line with the structural characteristics of the scraper in the laboratory environment to realize the path planning of unmanned scrapers and trajectory tracking. Moreover, the algorithm can enhance the safety of scrapers and prevent roadway collisions. The feasibility and practicality of the proposed method is verified in this work.
Heuristic methods for single link shared backup path protection
DEFF Research Database (Denmark)
Haahr, Jørgen Thorlund; Stidsen, Thomas Riis; Zachariasen, Martin
2014-01-01
schemes are employed. In contrast to manual intervention, automatic protection schemes such as shared backup path protection (SBPP) can recover from failure quickly and efficiently. SBPP is a simple but efficient protection scheme that can be implemented in backbone networks with technology available...... heuristic algorithms and lower bound methods for the SBPP planning problem. Experimental results show that the heuristic algorithms are able to find good quality solutions in minutes. A solution gap of less than 3.5 % was achieved for 5 of 7 benchmark instances (and a gap of less than 11 % for the remaining...
Planning of optimal work path for minimizing exposure dose during radiation work in radwaste storage
International Nuclear Information System (INIS)
Kim, Yoon Hyuk; Park, Won Man; Kim, Kyung Soo; Whang, Joo Ho
2005-01-01
Since the safety of nuclear power plant has been becoming a big social issue, the exposure dose of radiation for workers has been one of the important factors concerning the safety problem. The existing calculation methods of radiation dose used in the planning of radiation work assume that dose rate dose not depend on the location within a work space, thus the variation of exposure dose by different work path is not considered. In this study, a modified numerical method was presented to estimate the exposure dose during radiation work in radwaste storage considering the effects of the distance between a worker and sources. And a new numerical algorithm was suggested to search the optimal work path minimizing the exposure dose in pre-defined work space with given radiation sources. Finally, a virtual work simulation program was developed to visualize the exposure dose of radiation during radiation works in radwaste storage and provide the capability of simulation for work planning. As a numerical example, a test radiation work was simulated under given space and two radiation sources, and the suggested optimal work path was compared with three predefined work paths. The optimal work path obtained in the study could reduce the exposure dose for the given test work. Based on the results, the developed numerical method and simulation program could be useful tools in the planning of radiation work
Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning
Duan, Haibin; Li, Pei; Shi, Yuhui; Zhang, Xiangyin; Sun, Changhao
2015-01-01
This paper describes the development of BOLE, a MATLAB-based interactive learning environment, that facilitates the process of learning bio-inspired optimization algorithms, and that is dedicated exclusively to unmanned aerial vehicle path planning. As a complement to conventional teaching methods, BOLE is designed to help students consolidate the…
Robot path planning using expert systems and machine vision
Malone, Denis E.; Friedrich, Werner E.
1992-02-01
This paper describes a system developed for the robotic processing of naturally variable products. In order to plan the robot motion path it was necessary to use a sensor system, in this case a machine vision system, to observe the variations occurring in workpieces and interpret this with a knowledge based expert system. The knowledge base was acquired by carrying out an in-depth study of the product using examination procedures not available in the robotic workplace and relates the nature of the required path to the information obtainable from the machine vision system. The practical application of this system to the processing of fish fillets is described and used to illustrate the techniques.
Directory of Open Access Journals (Sweden)
Zhou Feng
2013-09-01
Full Text Available A based on Rapidly-exploring Random Tree(RRT and Particle Swarm Optimizer (PSO for path planning of the robot is proposed.First the grid method is built to describe the working space of the mobile robot,then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path,and the Particle Swarm Optimizer algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved,and the model is robust and performs reliably.
PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time
Directory of Open Access Journals (Sweden)
N. Geng
2014-01-01
Full Text Available Since the strength of a trapped person often declines with time in urgent and dangerous circumstances, adopting a robot to rescue as many survivors as possible in limited time is of considerable significance. However, as one key issue in robot navigation, how to plan an optimal rescue path of a robot has not yet been fully solved. This paper studies robot path planning for multisurvivor rescue in limited survival time using a representative heuristic, particle swarm optimization (PSO. First, the robot path planning problem including multiple survivors is formulated as a discrete optimization one with high constraint, where the number of rescued persons is taken as the unique objective function, and the strength of a trapped person is used to constrain the feasibility of a path. Then, a new integer PSO algorithm is presented to solve the mathematical model, and several new operations, such as the update of a particle, the insertion and inversion operators, and the rapidly local search method, are incorporated into the proposed algorithm to improve its effectiveness. Finally, the simulation results demonstrate the capacity of our method in generating optimal paths with high quality.
Methodology for using root locus technique for mobile robots path planning
Directory of Open Access Journals (Sweden)
Mario Ricardo Arbulú Saavedra
2015-11-01
Full Text Available This paper shows the analysis and the implementation methodology of the technique of dynamic systems roots location used in free-obstacle path planning for mobile robots. First of all, the analysis and morphologic behavior identification of the paths depending on roots location in complex plane are performed, where paths type and their attraction and repulsion features in the presence of other roots similarly to the obtained with artificial potential fields are identified. An implementation methodology for this technique of mobile robots path planning is proposed, starting from three different methods of roots location for obstacles in the scene. Those techniques change depending on the obstacle key points selected for roots, such as borders, crossing points with original path, center and vertices. Finally, a behavior analysis of general technique and the effectiveness of each tried method is performed, doing 20 tests for each one, obtaining a value of 65% for the selected method. Modifications and possible improvements to this methodology are also proposed.
TP-Space RRT – Kinematic Path Planning of Non-Holonomic Any-Shape Vehicles
Directory of Open Access Journals (Sweden)
Jose Luis Blanco
2015-05-01
Full Text Available The autonomous navigation of vehicles typically combines two kinds of methods: a path is first planned, and then the robot is driven by a local obstacle-avoidance controller. The present work, which focuses on path planning, proposes an extension to the well-known rapidly-exploring random tree (RRT algorithm to allow its integration with a trajectory parameter-space (TP-space as an efficient method to detect collision-free, kinematically-feasible paths for arbitrarily-shaped vehicles. In contrast to original RRT, this proposal generates navigation trees, with poses as nodes, whose edges are all kinematically-feasible paths, suitable to being accurately followed by vehicles driven by pure reactive algorithms. Initial experiments demonstrate the suitability of the method with an Ackermann-steering vehicle model whose severe kinematic constraints cannot be obviated. An important result that sets this work apart from previous research is the finding that employing several families of potential trajectories to expand the tree, which can be done efficiently under the TP-space formalism, improves the optimality of the planned trajectories. A reference C++ implementation has been released as open-source.
The force control and path planning of electromagnetic induction-based massage robot.
Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing
2017-07-20
Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore
Toward solving the sign problem with path optimization method
Mori, Yuto; Kashiwa, Kouji; Ohnishi, Akira
2017-12-01
We propose a new approach to circumvent the sign problem in which the integration path is optimized to control the sign problem. We give a trial function specifying the integration path in the complex plane and tune it to optimize the cost function which represents the seriousness of the sign problem. We call it the path optimization method. In this method, we do not need to solve the gradient flow required in the Lefschetz-thimble method and then the construction of the integration-path contour arrives at the optimization problem where several efficient methods can be applied. In a simple model with a serious sign problem, the path optimization method is demonstrated to work well; the residual sign problem is resolved and precise results can be obtained even in the region where the global sign problem is serious.
Making planned paths look more human-like in humanoid robot manipulation planning
DEFF Research Database (Denmark)
Zacharias, F.; Schlette, C.; Schmidt, F.
2011-01-01
It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target...... for the robot arm....
Mathematical optimization for planning and design of cycle paths
Energy Technology Data Exchange (ETDEWEB)
LiÑan Ruiz, R.J.; Perez Aracil, J.; Cabrera Cañizares, V.
2016-07-01
The daily need for citizens to move for different activities, whatever its nature, has been greatly affected by the changes. The advantages resulting from the inclusion of the bicycle as a mode of transport and the proliferation of its use among citizens are numerous and extend both in the field of urban mobility and sustainable development.Currently, there are a number of programs for the implementation, promotion or increased public participation related to cycling in cities. But ultimately, each and every one of these initiatives have the same goal, to create a mesh of effective, useful and cycling trails that allow the use of bicycles in preferred routes with high guarantees of security, incorporating bicycle model intermodal urban transport.With the gradual implementation of bike lanes, many people have begun to use them to get around the city. But everything again needs a period of adaptation, and the reality is that the road network for these vehicles is full of obstacles to the rider. The current situation has led to the proposal that many kilometers of cycle paths needed to supply the demand of this mode of transport and, if implemented and planned are correct and sufficient.This paper presents a mathematical programming model for optimal design of a network for cyclists is presented. Specifically, the model determines a network of bicycle infrastructure, appropriate to the characteristics of a network of existing roads.As an application of the proposed model, the result of these experiments give a number of useful conclusions for planning and designing networks of cycle paths from a social perspective, applied to the case in the city of Malaga. (Author)
Robust path planning for flexible needle insertion using Markov decision processes.
Tan, Xiaoyu; Yu, Pengqian; Lim, Kah-Bin; Chui, Chee-Kong
2018-05-11
Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue-needle interactions. This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue-needle interaction. Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue-needle interactions. Future work will involve experiment with biological tissue in vivo. The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.
Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics
Directory of Open Access Journals (Sweden)
Wenfu Xu
2007-03-01
Full Text Available Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used. Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.
Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics
Directory of Open Access Journals (Sweden)
Wenfu Xu
2008-11-01
Full Text Available Dynamic singularities make it difficult to plan the Cartesian path of freefloating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used. Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.
Research and Implementation of Robot Path Planning Based onVSLAM
Directory of Open Access Journals (Sweden)
Wang Zi-Qiang
2018-01-01
Full Text Available In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results.
International Nuclear Information System (INIS)
Cornecsu, M.
1995-01-01
The work describes a method of documenting the AUDIT plan upon the basis of two quantitative elements resulting from quality assurance program appraisal system function implementation degree as established from the latest AUDIT performed an system function weight in QAP, respectively, appraised by taking into account their significance for the activities that are to be performed in the period for which the AUDITs are planned. (Author) 3 Figs., 2 Refs
Social network analysis using k-Path centrality method
Taniarza, Natya; Adiwijaya; Maharani, Warih
2018-03-01
k-Path centrality is deemed as one of the effective methods to be applied in centrality measurement in which the influential node is estimated as the node that is being passed by information path frequently. Regarding this, k-Path centrality has been employed in the analysis of this paper specifically by adapting random-algorithm approach in order to: (1) determine the influential user’s ranking in a social media Twitter; and (2) ascertain the influence of parameter α in the numeration of k-Path centrality. According to the analysis, the findings showed that the method of k-Path centrality with random-algorithm approach can be used to determine user’s ranking which influences in the dissemination of information in Twitter. Furthermore, the findings also showed that parameter α influenced the duration and the ranking results: the less the α value, the longer the duration, yet the ranking results were more stable.
Path Following in the Exact Penalty Method of Convex Programming.
Zhou, Hua; Lange, Kenneth
2015-07-01
Classical penalty methods solve a sequence of unconstrained problems that put greater and greater stress on meeting the constraints. In the limit as the penalty constant tends to ∞, one recovers the constrained solution. In the exact penalty method, squared penalties are replaced by absolute value penalties, and the solution is recovered for a finite value of the penalty constant. In practice, the kinks in the penalty and the unknown magnitude of the penalty constant prevent wide application of the exact penalty method in nonlinear programming. In this article, we examine a strategy of path following consistent with the exact penalty method. Instead of performing optimization at a single penalty constant, we trace the solution as a continuous function of the penalty constant. Thus, path following starts at the unconstrained solution and follows the solution path as the penalty constant increases. In the process, the solution path hits, slides along, and exits from the various constraints. For quadratic programming, the solution path is piecewise linear and takes large jumps from constraint to constraint. For a general convex program, the solution path is piecewise smooth, and path following operates by numerically solving an ordinary differential equation segment by segment. Our diverse applications to a) projection onto a convex set, b) nonnegative least squares, c) quadratically constrained quadratic programming, d) geometric programming, and e) semidefinite programming illustrate the mechanics and potential of path following. The final detour to image denoising demonstrates the relevance of path following to regularized estimation in inverse problems. In regularized estimation, one follows the solution path as the penalty constant decreases from a large value.
Directory of Open Access Journals (Sweden)
Yueyue Deng
2013-01-01
Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.
A path method for finding energy barriers and minimum energy paths in complex micromagnetic systems
International Nuclear Information System (INIS)
Dittrich, R.; Schrefl, T.; Suess, D.; Scholz, W.; Forster, H.; Fidler, J.
2002-01-01
Minimum energy paths and energy barriers are calculated for complex micromagnetic systems. The method is based on the nudged elastic band method and uses finite-element techniques to represent granular structures. The method was found to be robust and fast for both simple test problems as well as for large systems such as patterned granular media. The method is used to estimate the energy barriers in CoCr-based perpendicular recording media
Directory of Open Access Journals (Sweden)
Adel Akbarimajd
2012-02-01
Full Text Available A path planning method for mobile robots based on two dimensional cellular automata is proposed. The method can be applied for environments with both concave and convex obstacles. It is also appropriate for multi-robot problems as well as dynamic environments. In order to develop the planning method, environment of the robot is decomposed to a rectangular grid and the automata is defined with four states including Robot cell, Free cell, Goal cell and Obstacle cell. Evolution rules of automata are proposed in order to direct the robot toward its goal. CA based path planner method is afterwards modified by a colony technique to be applicable for concave obstacles. Then a layered architecture is proposed to autonomously implement the planning algorithm. The architecture employs an abstraction approach which makes the complexity manageable. An important feature of the architecture is internal artifacts that have some beliefs about the world. Most actions of the robot are planned and performed with respect to these artifacts.
Directory of Open Access Journals (Sweden)
Vahid Behravesh
2012-08-01
Full Text Available Presented article is studying the issue of path navigating for numerous robots. Our presented approach is based on both priority and the robust method for path finding in repetitive dynamic. Presented model can be generally implementable and useable: We do not assume any restriction regarding the quantity of levels of freedom for robots, and robots of diverse kinds can be applied at the same time. We proposed a random method and hill-climbing technique in the area based on precedence plans, which is used to determine a solution to a given trajectory planning problem and to make less the extent of total track. Our method plans trajectories for particular robots in the setting-time scope. Therefore, in order to specifying the interval of constant objects similar to other robots and the extent of the tracks which is traversed. For measuring the hazard for robots to conflict with each other it applied a method based on probability of the movements of robots. This algorithm applied to real robots with successful results. The proposed method performed and judged on both real robots and in simulation. We performed sequence of100tests with 8 robots for comparing with coordination method and current performances are effective. However, maximizing the performance is still possible. These performances estimations performed on Windows operating system and 3GHz Intel Pentium IV with and compiles with GCC 3.4. We used our PCGA robot for all experiments. For a large environment of 19×15m2where we accomplished 40tests, our model is competent to plan high-quality paths in a severely short time (less than a second. Moreover, this article utilized lookup tables to keep expenses the formerly navigated robots made, increasing the number of robots don’t expand computation time.
System Design and Implementation of Intelligent Fire Engine Path Planning based on SAT Algorithm
Institute of Scientific and Technical Information of China (English)
CAI Li-sha[1; ZENG Wei-peng[1; HAN Bao-ru[1
2016-01-01
In this paper, in order to make intelligent fi re car complete autonomy path planning in simulation map. Proposed system design of intelligent fi re car path planning based on SAT. The system includes a planning module, a communication module, a control module. Control module via the communication module upload the initial state and the goal state to planning module. Planning module solve this planning solution,and then download planning solution to control module, control the movement of the car fi re. Experiments show this the system is tracking short time, higher planning effi ciency.
User's guide to Monte Carlo methods for evaluating path integrals
Westbroek, Marise J. E.; King, Peter R.; Vvedensky, Dimitri D.; Dürr, Stephan
2018-04-01
We give an introduction to the calculation of path integrals on a lattice, with the quantum harmonic oscillator as an example. In addition to providing an explicit computational setup and corresponding pseudocode, we pay particular attention to the existence of autocorrelations and the calculation of reliable errors. The over-relaxation technique is presented as a way to counter strong autocorrelations. The simulation methods can be extended to compute observables for path integrals in other settings.
Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle
Directory of Open Access Journals (Sweden)
B. Mashadi
Full Text Available In this paper, the global optimal path planning of an autonomous vehicle for overtaking a moving obstacle is proposed. In this study, the autonomous vehicle overtakes a moving vehicle by performing a double lane-change maneuver after detecting it in a proper distance ahead. The optimal path of vehicle for performing the lane-change maneuver is generated by a path planning program in which the sum of lateral deviation of the vehicle from a reference path and the rate of steering angle become minimum while the lateral acceleration of vehicle does not exceed a safe limit value. A nonlinear optimal control theory with the lateral vehicle dynamics equations and inequality constraint of lateral acceleration are used to generate the path. The indirect approach for solving the optimal control problem is used by applying the calculus of variation and the Pontryagin's Minimum Principle to obtain first-order necessary conditions for optimality. The optimal path is generated as a global optimal solution and can be used as the benchmark of the path generated by the local motion planning of autonomous vehicles. A full nonlinear vehicle model in CarSim software is used for path following simulation by importing path data from the MATLAB code. The simulation results show that the generated path for the autonomous vehicle satisfies all vehicle dynamics constraints and hence is a suitable overtaking path for the following vehicle.
Cooperative path planning for multi-USV based on improved artificial bee colony algorithm
Cao, Lu; Chen, Qiwei
2018-03-01
Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for multiple unmanned surface vehicle (multi-USV), an improved artificial bee colony (I-ABC) algorithm were proposed to solve the model of cooperative path planning for multi-USV. First the Voronoi diagram of battle field space is conceived to generate the optimal area of USVs paths. Then the chaotic searching algorithm is used to initialize the collection of paths, which is regard as foods of the ABC algorithm. With the limited data, the initial collection can search the optimal area of paths perfectly. Finally simulations of the multi-USV path planning under various threats have been carried out. Simulation results verify that the I-ABC algorithm can improve the diversity of nectar source and the convergence rate of algorithm. It can increase the adaptability of dynamic battlefield and unexpected threats for USV.
Integrated flight path planning system and flight control system for unmanned helicopters.
Jan, Shau Shiun; Lin, Yu Hsiang
2011-01-01
This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).
Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters
Jan, Shau Shiun; Lin, Yu Hsiang
2011-01-01
This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029
Research and application of genetic algorithm in path planning of logistics distribution vehicle
Wang, Yong; Zhou, Heng; Wang, Ying
2017-08-01
The core of the logistics distribution system is the vehicle routing planning, research path planning problem, provide a better solution has become an important issue. In order to provide the decision support for logistics and distribution operations, this paper studies the problem of vehicle routing with capacity constraints (CVRP). By establishing a mathematical model, the genetic algorithm is used to plan the path of the logistics vehicle to meet the minimum logistics and transportation costs.
An adaptive dual-optimal path-planning technique for unmanned air vehicles
Directory of Open Access Journals (Sweden)
Whitfield Clifford A.
2016-01-01
Full Text Available A multi-objective technique for unmanned air vehicle path-planning generation through task allocation has been developed. The dual-optimal path-planning technique generates real-time adaptive flight paths based on available flight windows and environmental influenced objectives. The environmentally-influenced flight condition determines the aircraft optimal orientation within a downstream virtual window of possible vehicle destinations that is based on the vehicle’s kinematics. The intermittent results are then pursued by a dynamic optimization technique to determine the flight path. This path-planning technique is a multi-objective optimization procedure consisting of two goals that do not require additional information to combine the conflicting objectives into a single-objective. The technique was applied to solar-regenerative high altitude long endurance flight which can benefit significantly from an adaptive real-time path-planning technique. The objectives were to determine the minimum power required flight paths while maintaining maximum solar power for continual surveillance over an area of interest (AOI. The simulated path generation technique prolonged the flight duration over a sustained turn loiter flight path by approximately 2 months for a year of flight. The potential for prolonged solar powered flight was consistent for all latitude locations, including 2 months of available flight at 60° latitude, where sustained turn flight was no longer capable.
Path planning for persistent surveillance applications using fixed-wing unmanned aerial vehicles
Keller, James F.
This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C 2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length. • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction. • A smooth path generator that provides C 2 routes that satisfy user specified curvature constraints. C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles. C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have developed a diverse range of solutions for persistent
Planning paths through a spatial hierarchy - Eliminating stair-stepping effects
Slack, Marc G.
1989-01-01
Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.
Interactive multi-objective path planning through a palette-based user interface
Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph
2016-05-01
n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a
The shortest-path problem analysis and comparison of methods
Ortega-Arranz, Hector; Gonzalez-Escribano, Arturo
2014-01-01
Many applications in different domains need to calculate the shortest-path between two points in a graph. In this paper we describe this shortest path problem in detail, starting with the classic Dijkstra's algorithm and moving to more advanced solutions that are currently applied to road network routing, including the use of heuristics and precomputation techniques. Since several of these improvements involve subtle changes to the search space, it may be difficult to appreciate their benefits in terms of time or space requirements. To make methods more comprehensive and to facilitate their co
Entropic sampling in the path integral Monte Carlo method
International Nuclear Information System (INIS)
Vorontsov-Velyaminov, P N; Lyubartsev, A P
2003-01-01
We have extended the entropic sampling Monte Carlo method to the case of path integral representation of a quantum system. A two-dimensional density of states is introduced into path integral form of the quantum canonical partition function. Entropic sampling technique within the algorithm suggested recently by Wang and Landau (Wang F and Landau D P 2001 Phys. Rev. Lett. 86 2050) is then applied to calculate the corresponding entropy distribution. A three-dimensional quantum oscillator is considered as an example. Canonical distributions for a wide range of temperatures are obtained in a single simulation run, and exact data for the energy are reproduced
Rowe, Neil C.; Lewis, David H.
1989-01-01
Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.
DEFF Research Database (Denmark)
Hameed, Ibahim
2014-01-01
Field operations should be done in a manner that minimizes time and travels over the field surface. Automated and intelligent path planning can help to find the best coverage path so that costs of various field operations can be minimized. The algorithms for generating an optimized field coverage...
Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation
Jung, Dongwon
2007-12-01
Recently there has been a tremendous growth of research emphasizing control of unmanned aerial vehicles (UAVs) either in isolation or in teams. As a matter of fact, UAVs increasingly find their way into military and law enforcement applications (e.g., reconnaissance, remote delivery of urgent equipment/material, resource assessment, environmental monitoring, battlefield monitoring, ordnance delivery, etc.). This trend will continue in the future, as UAVs are poised to replace the human-in-the-loop during dangerous missions. Civilian applications of UAVs are also envisioned such as crop dusting, geological surveying, search and rescue operations, etc. In this thesis we propose a new online multiresolution path planning algorithm for a small UAV with limited on-board computational resources. The proposed approach assumes that the UAV has detailed information of the environment and the obstacles only in its vicinity. Information about far-away obstacles is also available, albeit less accurately. The proposed algorithm uses the fast lifting wavelet transform (FLWT) to get a multiresolution cell decomposition of the environment, whose dimension is commensurate to the on-board computational resources. A topological graph representation of the multiresolution cell decomposition is constructed efficiently, directly from the approximation and detail wavelet coefficients. Dynamic path planning is sequentially executed for an optimal path using the A* algorithm over the resulting graph. The proposed path planning algorithm is implemented on-line on a small autopilot. Comparisons with the standard D*-lite algorithm are also presented. We also investigate the problem of generating a smooth, planar reference path from a discrete optimal path. Upon the optimal path being represented as a sequence of cells in square geometry, we derive a smooth B-spline path that is constrained inside a channel that is induced by the geometry of the cells. To this end, a constrained optimization
National Research Council Canada - National Science Library
Hurezeanu, Vlad
2000-01-01
.... This vehicle performs tasks to include surveying fields, laying mines, and teleoperation. The capability of the vehicle will be increased if its supporting software plans paths that take into account the terrain features...
A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems
Abdelkader, Mohamed; Jaleel, Hassan; Shamma, Jeff S.
2017-01-01
We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which
Aircraft Engine Gas Path Diagnostic Methods: Public Benchmarking Results
Simon, Donald L.; Borguet, Sebastien; Leonard, Olivier; Zhang, Xiaodong (Frank)
2013-01-01
Recent technology reviews have identified the need for objective assessments of aircraft engine health management (EHM) technologies. To help address this issue, a gas path diagnostic benchmark problem has been created and made publicly available. This software tool, referred to as the Propulsion Diagnostic Method Evaluation Strategy (ProDiMES), has been constructed based on feedback provided by the aircraft EHM community. It provides a standard benchmark problem enabling users to develop, evaluate and compare diagnostic methods. This paper will present an overview of ProDiMES along with a description of four gas path diagnostic methods developed and applied to the problem. These methods, which include analytical and empirical diagnostic techniques, will be described and associated blind-test-case metric results will be presented and compared. Lessons learned along with recommendations for improving the public benchmarking processes will also be presented and discussed.
CPM (Critical Path Method) as a Curriculum Tool.
Mongerson, M. Duane
This document discusses and illustrates the use of the Critical Path Method (CPM) as a tool for developing curriculum. In so doing a brief review of the evolution of CPM as a management tool developed by E. I. duPont de Nemours Company is presented. It is also noted that CPM is only a method of sequencing learning activities and not an end unto…
Arctic curves in path models from the tangent method
Di Francesco, Philippe; Lapa, Matthew F.
2018-04-01
Recently, Colomo and Sportiello introduced a powerful method, known as the tangent method, for computing the arctic curve in statistical models which have a (non- or weakly-) intersecting lattice path formulation. We apply the tangent method to compute arctic curves in various models: the domino tiling of the Aztec diamond for which we recover the celebrated arctic circle; a model of Dyck paths equivalent to the rhombus tiling of a half-hexagon for which we find an arctic half-ellipse; another rhombus tiling model with an arctic parabola; the vertically symmetric alternating sign matrices, where we find the same arctic curve as for unconstrained alternating sign matrices. The latter case involves lattice paths that are non-intersecting but that are allowed to have osculating contact points, for which the tangent method was argued to still apply. For each problem we estimate the large size asymptotics of a certain one-point function using LU decomposition of the corresponding Gessel–Viennot matrices, and a reformulation of the result amenable to asymptotic analysis.
Optimized path planning for soft tissue resection via laser vaporization
Ross, Weston; Cornwell, Neil; Tucker, Matthew; Mann, Brian; Codd, Patrick
2018-02-01
Robotic and robotic-assisted surgeries are becoming more prevalent with the promise of improving surgical outcomes through increased precision, reduced operating times, and minimally invasive procedures. The handheld laser scalpel in neurosurgery has been shown to provide a more gentle approach to tissue manipulation on or near critical structures over classical tooling, though difficulties of control have prevented large scale adoption of the tool. This paper presents a novel approach to generating a cutting path for the volumetric resection of tissue using a computer-guided laser scalpel. A soft tissue ablation simulator is developed and used in conjunction with an optimization routine to select parameters which maximize the total resection of target tissue while minimizing the damage to surrounding tissue. The simulator predicts the ablative properties of tissue from an interrogation cut for tuning and simulates the removal of a tumorous tissue embedded on the surface of healthy tissue using a laser scalpel. We demonstrate the ability to control depth and smoothness of cut using genetic algorithms to optimize the ablation parameters and cutting path. The laser power level, cutting rate and spacing between cuts are optimized over multiple surface cuts to achieve the desired resection volumes.
Strategic Path Planning by Sequential Parametric Bayesian Decisions
Directory of Open Access Journals (Sweden)
Baro Hyun
2013-11-01
Full Text Available The objective of this research is to generate a path for a mobile agent that carries sensors used for classification, where the path is to optimize strategic objectives that account for misclassification and the consequences of misclassification, and where the weights assigned to these consequences are chosen by a strategist. We propose a model that accounts for the interaction between the agent kinematics (i.e., the ability to move, informatics (i.e., the ability to process data to information, classification (i.e., the ability to classify objects based on the information, and strategy (i.e., the mission objective. Within this model, we pose and solve a sequential decision problem that accounts for strategist preferences and the solution to the problem yields a sequence of kinematic decisions of a moving agent. The solution of the sequential decision problem yields the following flying tactics: “approach only objects whose suspected identity matters to the strategy”. These tactics are numerically illustrated in several scenarios.
Path Planning for Non-Circular, Non-Holonomic Robots in Highly Cluttered Environments.
Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando
2017-08-15
This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynamic-feasible lattice state space of high resolution; however, the technique is applicable to many search algorithms. With the purpose of allowing the algorithm to consider paths that take the robot through narrow passes and close to obstacles, high resolutions are used for the lattice space and the control set. This introduces new challenges because one of the most computationally expensive parts of path search based planning algorithms is calculating the cost of each one of the actions or steps that could potentially be part of the trajectory. The reason for this is that the evaluation of each one of these actions involves convolving the robot's footprint with a portion of a local map to evaluate the possibility of a collision, an operation that grows exponentially as the resolution is increased. The novel approach presented here reduces the need for these convolutions by using a set of offline precomputed maps that are updated, by means of a partial convolution, as new information arrives from sensors or other sources. Not only does this improve run-time performance, but it also provides support for dynamic search in changing environments. A set of alternative fast convolution methods are also proposed, depending on whether the environment is cluttered with obstacles or not. Finally, we provide both theoretical and experimental results from different experiments and applications.
Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles
Directory of Open Access Journals (Sweden)
Pablo Marin-Plaza
2018-01-01
Full Text Available The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB in real research platform based on Ackermann model. Moreover, it will be proved that all modules related to the navigation can coexist and work together to achieve the goal point without any collision. The study is done by analyzing the trajectory generated from global and local planners. The software prototyping tool is Robot Operating System (ROS from Open Source Robotics Foundation and the research platform is the iCab (Intelligent Campus Automobile from University Carlos III. This work has been validated from a test inside the campus where the iCab has performed the navigation between the starting point and the goal point without any collision. During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration and constraints.
Kenneth J. Ruzicka; Deanna H. Olson; Klaus J. Puettmann
2013-01-01
Initiated simultaneously, the Density Management and Riparian Buff er Study of western Oregon and the Northwest Forest Plan have had intertwining paths related to federal forest management and policy changes in the Pacifi c Northwest over the last 15 to 20 years. We briefl y discuss the development of the Northwest Forest Plan and how it changed the way forest policy...
Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination
Directory of Open Access Journals (Sweden)
Yong Ma
2014-01-01
Full Text Available This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.
Directory of Open Access Journals (Sweden)
Zheng Zhang
2013-03-01
Full Text Available In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.
Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields
Wolf, Michael; Blackmore, James C.; Kuwata, Yoshiaki
2011-01-01
Lighter-than-air vehicles such as hot-air balloons have been proposed for exploring Saturn s moon Titan, as well as other bodies with significant atmospheres. For these vehicles to navigate effectively, it is critical to incorporate the effects of surrounding wind fields, especially as these winds will likely be strong relative to the control authority of the vehicle. Predictive models of these wind fields are available, and previous research has considered problems of planning paths subject to these predicted forces. However, such previous work has considered the wind fields as known a priori, whereas in practical applications, the actual wind vector field is not known exactly and may deviate significantly from the wind velocities estimated by the model. A probabilistic 3D path-planning algorithm was developed for balloons to use uncertain wind models to generate time-efficient paths. The nominal goal of the algorithm is to determine what altitude and what horizontal actuation, if any is available on the vehicle, to use to reach a particular goal location in the least expected time, utilizing advantageous winds. The solution also enables one to quickly evaluate the expected time-to-goal from any other location and to avoid regions of large uncertainty. This method is designed for balloons in wind fields but may be generalized for any buoyant vehicle operating in a vector field. To prepare the planning problem, the uncertainty in the wind field is modeled. Then, the problem of reaching a particular goal location is formulated as a Markov decision process (MDP) using a discretized space approach. Solving the MDP provides a policy of what actuation option (how much buoyancy change and, if applicable, horizontal actuation) should be selected at any given location to minimize the expected time-to-goal. The results provide expected time-to-goal values from any given location on the globe in addition to the action policy. This stochastic approach can also provide
Construction of Optimal-Path Maps for Homogeneous-Cost-Region Path-Planning Problems
1989-09-01
of Artificial Inteligence , 9%,4. 24. Kirkpatrick, S., Gelatt Jr., C. D., and Vecchi, M. P., "Optinization by Sinmulated Ani- nealing", Science, Vol...studied in depth by researchers in such fields as artificial intelligence, robot;cs, and computa- tional geometry. Most methods require homogeneous...the results of the research. 10 U. L SLEVANT RESEARCH A. APPLICABLE CONCEPTS FROM ARTIFICIAL INTELLIGENCE 1. Search Methods One of the central
Minimum Time Path Planning for Robotic Manipulator in Drilling/ Spot Welding Tasks
Directory of Open Access Journals (Sweden)
Qiang Zhang
2016-04-01
Full Text Available In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.
Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.
Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng
2018-02-11
In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.
Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR
Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng
2018-01-01
In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447
MR-based real time path planning for cardiac operations with transapical access.
Yeniaras, Erol; Navkar, Nikhil V; Sonmez, Ahmet E; Shah, Dipan J; Deng, Zhigang; Tsekos, Nikolaos V
2011-01-01
Minimally invasive surgeries (MIS) have been perpetually evolving due to their potential high impact on improving patient management and overall cost effectiveness. Currently, MIS are further strengthened by the incorporation of magnetic resonance imaging (MRI) for amended visualization and high precision. Motivated by the fact that real-time MRI is emerging as a feasible modality especially for guiding interventions and surgeries in the beating heart; in this paper we introduce a real-time path planning algorithm for intracardiac procedures. Our approach creates a volumetric safety zone inside a beating heart and updates it on-the-fly using real-time MRI during the deployment of a robotic device. In order to prove the concept and assess the feasibility of the introduced method, a realistic operational scenario of transapical aortic valve replacement in a beating heart is chosen as the virtual case study.
An adaptation of Krylov subspace methods to path following
Energy Technology Data Exchange (ETDEWEB)
Walker, H.F. [Utah State Univ., Logan, UT (United States)
1996-12-31
Krylov subspace methods at present constitute a very well known and highly developed class of iterative linear algebra methods. These have been effectively applied to nonlinear system solving through Newton-Krylov methods, in which Krylov subspace methods are used to solve the linear systems that characterize steps of Newton`s method (the Newton equations). Here, we will discuss the application of Krylov subspace methods to path following problems, in which the object is to track a solution curve as a parameter varies. Path following methods are typically of predictor-corrector form, in which a point near the solution curve is {open_quotes}predicted{close_quotes} by some easy but relatively inaccurate means, and then a series of Newton-like corrector iterations is used to return approximately to the curve. The analogue of the Newton equation is underdetermined, and an additional linear condition must be specified to determine corrector steps uniquely. This is typically done by requiring that the steps be orthogonal to an approximate tangent direction. Augmenting the under-determined system with this orthogonality condition in a straightforward way typically works well if direct linear algebra methods are used, but Krylov subspace methods are often ineffective with this approach. We will discuss recent work in which this orthogonality condition is imposed directly as a constraint on the corrector steps in a certain way. The means of doing this preserves problem conditioning, allows the use of preconditioners constructed for the fixed-parameter case, and has certain other advantages. Experiments on standard PDE continuation test problems indicate that this approach is effective.
Effectiveness of Family Planning Methods
... women in a year Effectiveness of Family Planning Methods Implant Reversible Intrauterine Device (IUD) Permanent Male Sterilization ... 0.5 % Diaphragm 12 % How to make your method most effective After procedure, little or nothing to ...
Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints
Dijk, van N.J.M.; Wouw, van de N.; Pancras, W.C.M.; Nijmeijer, H.
2007-01-01
Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator
Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm
Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam
2017-04-01
The paper aims to present a design algorithm for multi quadrotor lanes in order to move towards the goal quickly and avoid obstacles in an area with obstacles. There are several problems in path planning including how to get to the goal position quickly and avoid static and dynamic obstacles. To overcome the problem, therefore, the paper presents fuzzy logic algorithm and fuzzy cell decomposition algorithm. Fuzzy logic algorithm is one of the artificial intelligence algorithms which can be applied to robot path planning that is able to detect static and dynamic obstacles. Cell decomposition algorithm is an algorithm of graph theory used to make a robot path map. By using the two algorithms the robot is able to get to the goal position and avoid obstacles but it takes a considerable time because they are able to find the shortest path. Therefore, this paper describes a modification of the algorithms by adding a potential field algorithm used to provide weight values on the map applied for each quadrotor by using decentralized controlled, so that the quadrotor is able to move to the goal position quickly by finding the shortest path. The simulations conducted have shown that multi-quadrotor can avoid various obstacles and find the shortest path by using the proposed algorithms.
On the orthogonalised reverse path method for nonlinear system identification
Muhamad, P.; Sims, N. D.; Worden, K.
2012-09-01
The problem of obtaining the underlying linear dynamic compliance matrix in the presence of nonlinearities in a general multi-degree-of-freedom (MDOF) system can be solved using the conditioned reverse path (CRP) method introduced by Richards and Singh (1998 Journal of Sound and Vibration, 213(4): pp. 673-708). The CRP method also provides a means of identifying the coefficients of any nonlinear terms which can be specified a priori in the candidate equations of motion. Although the CRP has proved extremely useful in the context of nonlinear system identification, it has a number of small issues associated with it. One of these issues is the fact that the nonlinear coefficients are actually returned in the form of spectra which need to be averaged over frequency in order to generate parameter estimates. The parameter spectra are typically polluted by artefacts from the identification of the underlying linear system which manifest themselves at the resonance and anti-resonance frequencies. A further problem is associated with the fact that the parameter estimates are extracted in a recursive fashion which leads to an accumulation of errors. The first minor objective of this paper is to suggest ways to alleviate these problems without major modification to the algorithm. The results are demonstrated on numerically-simulated responses from MDOF systems. In the second part of the paper, a more radical suggestion is made, to replace the conditioned spectral analysis (which is the basis of the CRP method) with an alternative time domain decorrelation method. The suggested approach - the orthogonalised reverse path (ORP) method - is illustrated here using data from simulated single-degree-of-freedom (SDOF) and MDOF systems.
Concurrent Path Planning with One or More Humanoid Robots
Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)
2014-01-01
A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
Machine learning methods for planning
Minton, Steven
1993-01-01
Machine Learning Methods for Planning provides information pertinent to learning methods for planning and scheduling. This book covers a wide variety of learning methods and learning architectures, including analogical, case-based, decision-tree, explanation-based, and reinforcement learning.Organized into 15 chapters, this book begins with an overview of planning and scheduling and describes some representative learning systems that have been developed for these tasks. This text then describes a learning apprentice for calendar management. Other chapters consider the problem of temporal credi
Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb
Dahl, Kristen P.; Thompson, David R.; McLaren, David; Chao, Yi; Chien, Steve
2011-01-01
This work investigates multi-agent path planning in strong, dynamic currents using thousands of highly under-actuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.
Hybrid path planning for non-holonomic autonomous vehicles: An experimental evaluation
Esposto, F.; Goos, J.; Teerhuis, A.; Alirezaei, M.
2017-01-01
Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach
Solving the empty space problem in robot path planning by mathematical morphology
Roerdink, J.B.T.M.
1993-01-01
In this paper we formulate a morphological approach to path planning problems, in particular with respect to the empty-space problem, that is, the question of finding the allowed states for an object, moving in a space with obstacles. Our approach is based upon a recent generalization of
Complete coverage path planning of a random polygon - A FroboMind component
DEFF Research Database (Denmark)
Aslund, Sebastian; Jensen, Kjeld; Jørgensen, Rasmus Nyholm
solution where all the steps in the process is included: Segmentation of a data set, creation of a configuration space, decomposition of a polygon, global and local path planning. To achieve this, a series of known algorithms are used including some tweaks and improvements to create a solid foundation...
Directory of Open Access Journals (Sweden)
Kun-Lin Wu
2016-01-01
Full Text Available In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.
Strategy for robot motion and path planning in robot taping
Yuan, Qilong; Chen, I.-Ming; Lembono, Teguh Santoso; Landén, Simon Nelson; Malmgren, Victor
2016-06-01
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
Energy-Aware Path Planning for UAS Persistent Sampling and Surveillance
Shaw-Cortez, Wenceslao
The focus of this work is to develop an energy-aware path planning algorithm that maximizes UAS endurance, while performing sampling and surveillance missions in a known, stationary wind environment. The energy-aware aspect is specifically tailored to extract energy from the wind to reduce thrust use, thereby increasing aircraft endurance. Wind energy extraction is performed by static soaring and dynamic soaring. Static soaring involves using upward wind currents to increase altitude and potential energy. Dynamic soaring involves taking advantage of wind gradients to exchange potential and kinetic energy. The path planning algorithm developed in this work uses optimization to combine these soaring trajectories with the overarching sampling and surveillance mission. The path planning algorithm uses a simplified aircraft model to tractably optimize soaring trajectories. This aircraft model is presented and along with the derivation of the equations of motion. A nonlinear program is used to create the soaring trajectories based on a given optimization problem. This optimization problem is defined using a heuristic decision tree, which defines appropriate problems given a sampling and surveillance mission and a wind model. Simulations are performed to assess the path planning algorithm. The results are used to identify properties of soaring trajectories as well as to determine what wind conditions support minimal thrust soaring. Additional results show how the path planning algorithm can be tuned between maximizing aircraft endurance and performing the sampling and surveillance mission. A means of trajectory stitching is demonstrated to show how the periodic soaring segments can be combined together to provide a full solution to an infinite/long horizon problem.
Trinh, Lan Anh; Ekström, Mikael; Cürüklü, Baran
2018-01-01
Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta * algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta * algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of
Directory of Open Access Journals (Sweden)
Lan Anh Trinh
2018-06-01
Full Text Available Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta* algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta* algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The
The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm
Directory of Open Access Journals (Sweden)
Yi Zhang
2016-01-01
Full Text Available Path planning is critical to the efficiency and fidelity of robot navigation. The solution of robot path planning is to seek a collision-free and the shortest path from the start node to target node. In this paper, we propose a new improved artificial fish swarm algorithm (IAFSA to process the mobile robot path planning problem in a real environment. In IAFSA, an attenuation function is introduced to improve the visual of standard AFSA and get the balance of global search and local search; also, an adaptive operator is introduced to enhance the adaptive ability of step. Besides, a concept of inertia weight factor is proposed in IAFSA inspired by PSO intelligence algorithm to improve the convergence rate and accuracy of IAFSA. Five unconstrained optimization test functions are given to illustrate the strong searching ability and ideal convergence of IAFSA. Finally, the ROS (robot operation system based experiment is carried out on a Pioneer 3-DX mobile robot; the experiment results also show the superiority of IAFSA.
Cai, Wenyu; Zhang, Meiyan; Zheng, Yahong Rosa
2017-07-11
This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X - Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.
Directory of Open Access Journals (Sweden)
Wenyu Cai
2017-07-01
Full Text Available This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP problem and the Genetic Algorithm (GA is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB or Tour Length Balance (TLB constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X − Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.
Task path planning, scheduling and learning for free-ranging robot systems
Wakefield, G. Steve
1987-01-01
The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.
PRELIMINARY PROJECT PLAN FOR LANSCE INTEGRATED FLIGHT PATHS 11A, 11B, 12, and 13
International Nuclear Information System (INIS)
Bultman, D. H.; Weinacht, D.
2000-01-01
This Preliminary Project Plan Summarizes the Technical, Cost, and Schedule baselines for an integrated approach to developing several flight paths at the Manual Lujan Jr. Neutron Scattering Center at the Los Alamos Neutron Science Center. For example, the cost estimate is intended to serve only as a rough order of magnitude assessment of the cost that might be incurred as the flight paths are developed. Further refinement of the requirements and interfaces for each beamline will permit additional refinement and confidence in the accuracy of all three baselines (Technical, Cost, Schedule)
Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains
Jun , Jae-Yun; Saut , Jean-Philippe; Benamar , Faïz
2015-01-01
International audience; A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-RRT) and the Dynamic-Domain RRT (DD-RRT) algorithms) bidirectionally and of representing the robot-terrain interaction with the robot’s quasi-static tip-over stability measure (assuming that the robot traverses uneven ter...
Directory of Open Access Journals (Sweden)
Moharam Habibnejad Korayem
2012-10-01
Full Text Available In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obstacles. This paper presents a general formulation based on the combination of the potential field method and optimal control theory in order to plan the smooth point-to-point path of the tricycle mobile manipulators. The nonholonomic constraints of the tricycle mobile base are taken into account in the dynamic formulation of the system and then the optimality conditions are derived considering jerk restrictions and obstacle avoidance. Furthermore, by means of the potential field method, a new formulation of a repulsive potential function is proposed for collision avoidance between any obstacle and each part of the mobile manipulator. In addition, to ensure the accurate placement of the end effector on the target point an attractive potential function is applied to the optimal control formulation. Next, a mixed analytical-numerical algorithm is proposed to generate the point-to-point optimal path. Finally, the proposed method is verified by a number of simulations on a two-link tricycle manipulator.
Diagrammatical methods within the path integral representation for quantum systems
International Nuclear Information System (INIS)
Alastuey, A
2014-01-01
The path integral representation has been successfully applied to the study of equilibrium properties of quantum systems for a long time. In particular, such a representation allowed Ginibre to prove the convergence of the low-fugacity expansions for systems with short-range interactions. First, I will show that the crucial trick underlying Ginibre's proof is the introduction of an equivalent classical system made with loops. Within the Feynman-Kac formula for the density matrix, such loops naturally emerge by collecting together the paths followed by particles exchanged in a given cyclic permutation. Two loops interact via an average of two- body genuine interactions between particles belonging to different loops, while the interactions between particles inside a given loop are accounted for in a loop fugacity. It turns out that the grand-partition function of the genuine quantum system exactly reduces to its classical counterpart for the gas of loops. The corresponding so-called magic formula can be combined with standard Mayer diagrammatics for the classical gas of loops. This provides low-density representations for the quantum correlations or thermodynamical functions, which are quite useful when collective effects must be taken into account properly. Indeed, resummations and or reorganizations of Mayer graphs can be performed by exploiting their remarkable topological and combinatorial properties, while statistical weights and bonds are purely c-numbers. The interest of that method will be illustrated through a brief description of its application to two long-standing problems, namely recombination in Coulomb systems and condensation in the interacting Bose gas.
Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators
Islam, Md. Nazrul; Tamura, Shinsuke; Murata, Tomonari; Yanase, Tatsuro
This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.
Optimal path planning for a mobile robot using cuckoo search algorithm
Mohanty, Prases K.; Parhi, Dayal R.
2016-03-01
The shortest/optimal path planning is essential for efficient operation of autonomous vehicles. In this article, a new nature-inspired meta-heuristic algorithm has been applied for mobile robot path planning in an unknown or partially known environment populated by a variety of static obstacles. This meta-heuristic algorithm is based on the levy flight behaviour and brood parasitic behaviour of cuckoos. A new objective function has been formulated between the robots and the target and obstacles, which satisfied the conditions of obstacle avoidance and target-seeking behaviour of robots present in the terrain. Depending upon the objective function value of each nest (cuckoo) in the swarm, the robot avoids obstacles and proceeds towards the target. The smooth optimal trajectory is framed with this algorithm when the robot reaches its goal. Some simulation and experimental results are presented at the end of the paper to show the effectiveness of the proposed navigational controller.
An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage
Directory of Open Access Journals (Sweden)
German Gramajo
2017-01-01
Full Text Available A path planning strategy for a search and coverage mission for a small UAV that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of flight. Comparisons of this formulation to a path planning algorithm based on those with time constraint show equivalent coverage performance but improvement in prediction of overall mission duration and accuracy of the terminal position of the vehicle.
An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage
Gramajo, German; Shankar, Praveen
2017-01-01
A path planning strategy for a search and coverage mission for a small UAV that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of ...
The Global Optimal Algorithm of Reliable Path Finding Problem Based on Backtracking Method
Directory of Open Access Journals (Sweden)
Liang Shen
2017-01-01
Full Text Available There is a growing interest in finding a global optimal path in transportation networks particularly when the network suffers from unexpected disturbance. This paper studies the problem of finding a global optimal path to guarantee a given probability of arriving on time in a network with uncertainty, in which the travel time is stochastic instead of deterministic. Traditional path finding methods based on least expected travel time cannot capture the network user’s risk-taking behaviors in path finding. To overcome such limitation, the reliable path finding algorithms have been proposed but the convergence of global optimum is seldom addressed in the literature. This paper integrates the K-shortest path algorithm into Backtracking method to propose a new path finding algorithm under uncertainty. The global optimum of the proposed method can be guaranteed. Numerical examples are conducted to demonstrate the correctness and efficiency of the proposed algorithm.
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.
Directory of Open Access Journals (Sweden)
Jiang Zhao
2016-01-01
Full Text Available This paper presents an improved ant colony algorithm for the path planning of the omnidirectional mobile vehicle. The purpose of the improved ant colony algorithm is to design an appropriate route to connect the starting point and ending point of the environment with obstacles. Ant colony algorithm, which is used to solve the path planning problem, is improved according to the characteristics of the omnidirectional mobile vehicle. And in the improved algorithm, the nonuniform distribution of the initial pheromone and the selection strategy with direction play a very positive role in the path search. The coverage and updating strategy of pheromone is introduced to avoid repeated search reducing the effect of the number of ants on the performance of the algorithm. In addition, the pheromone evaporation coefficient is segmented and adjusted, which can effectively balance the convergence speed and search ability. Finally, this paper provides a theoretical basis for the improved ant colony algorithm by strict mathematical derivation, and some numerical simulations are also given to illustrate the effectiveness of the theoretical results.
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
A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.
Ayari, Asma; Bouamama, Sadok
2017-01-01
Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD pBest and LOD gBest . Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.
Fourier path-integral Monte Carlo methods: Partial averaging
International Nuclear Information System (INIS)
Doll, J.D.; Coalson, R.D.; Freeman, D.L.
1985-01-01
Monte Carlo Fourier path-integral techniques are explored. It is shown that fluctuation renormalization techniques provide an effective means for treating the effects of high-order Fourier contributions. The resulting formalism is rapidly convergent, is computationally convenient, and has potentially useful variational aspects
RSMDP-based Robust Q-learning for Optimal Path Planning in a Dynamic Environment
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Yunfei Zhang
2014-07-01
Full Text Available This paper presents arobust Q-learning method for path planningin a dynamic environment. The method consists of three steps: first, a regime-switching Markov decision process (RSMDP is formed to present the dynamic environment; second a probabilistic roadmap (PRM is constructed, integrated with the RSMDP and stored as a graph whose nodes correspond to a collision-free world state for the robot; and third, an onlineQ-learning method with dynamic stepsize, which facilitates robust convergence of the Q-value iteration, is integrated with the PRM to determine an optimal path for reaching the goal. In this manner, the robot is able to use past experience for improving its performance in avoiding not only static obstacles but also moving obstacles, without knowing the nature of the obstacle motion. The use ofregime switching in the avoidance of obstacles with unknown motion is particularly innovative. The developed approach is applied to a homecare robot in computer simulation. The results show that the online path planner with Q-learning is able torapidly and successfully converge to the correct path.
OSM-ORIENTED METHOD OF MULTIMODAL ROUTE PLANNING
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X. Li
2015-07-01
Full Text Available With the increasing pervasiveness of basic facilitate of transportation and information, the need of multimodal route planning is becoming more essential in the fields of communication and transportation, urban planning, logistics management, etc. This article mainly described an OSM-oriented method of multimodal route planning. Firstly, it introduced how to extract the information we need from OSM data and build proper network model and storage model; then it analysed the accustomed cost standard adopted by most travellers; finally, we used shortest path algorithm to calculate the best route with multiple traffic means.
Enroute flight-path planning - Cooperative performance of flight crews and knowledge-based systems
Smith, Philip J.; Mccoy, Elaine; Layton, Chuck; Galdes, Deb
1989-01-01
Interface design issues associated with the introduction of knowledge-based systems into the cockpit are discussed. Such issues include not only questions about display and control design, they also include deeper system design issues such as questions about the alternative roles and responsibilities of the flight crew and the computer system. In addition, the feasibility of using enroute flight path planning as a context for exploring such research questions is considered. In particular, the development of a prototyping shell that allows rapid design and study of alternative interfaces and system designs is discussed.
Visibility-Based Goal Oriented Metrics and Application to Navigation and Path Planning Problems
2017-12-14
Oriented Metrics and Application to Navigation and Path Planning Problems Report Term: 0-Other Email : ytsai@math.utexas.edu Distribution Statement: 1...error bounds that we have obtained. Report Date: 06-Dec-2017 INVESTIGATOR(S): Phone Number: 5122327757 Principal: Y Name: Yen-Hsi Tsai Email ...w1 w2 ◆ and ~z = ✓ z1 z2 ◆ . Then we can write D0 h (PN (xi,j)) = Rp (R+⌘)2+h2 + 1 2h (µ2w1 µ2z1) 0 µ2w2µ3z2 2h 0 ! . It follows that the non
Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan
This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.
An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning
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Nizar Hadi Abbas
2016-07-01
Full Text Available This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In order to evaluate the proposed algorithm in term of finding the best solution, six benchmark test functions are used to make a comparison between AMOPSO and the standard MOPSO. The results show that the AMOPSO has a better ability to get away from local optimums with a quickest convergence than the MOPSO. The simulation results using Matlab 2014a, indicate that this methodology is extremely valuable for every robot in multi-robot framework to discover its own particular proper path from the start to the destination position with minimum distance and time.
Ramos, A G; García-Garrido, V J; Mancho, A M; Wiggins, S; Coca, J; Glenn, S; Schofield, O; Kohut, J; Aragon, D; Kerfoot, J; Haskins, T; Miles, T; Haldeman, C; Strandskov, N; Allsup, B; Jones, C; Shapiro, J
2018-03-15
Transoceanic Gliders are Autonomous Underwater Vehicles (AUVs) for which there is a developing and expanding range of applications in open-seas research, technology and underwater clean transport. Mature glider autonomy, operating depth (0-1000 meters) and low energy consumption without a CO 2 footprint enable evolutionary access across ocean basins. Pursuant to the first successful transatlantic glider crossing in December 2009, the Challenger Mission has opened the door to long-term, long-distance routine transoceanic AUV missions. These vehicles, which glide through the water column between 0 and 1000 meters depth, are highly sensitive to the ocean current field. Consequently, it is essential to exploit the complex space-time structure of the ocean current field in order to plan a path that optimizes scientific payoff and navigation efficiency. This letter demonstrates the capability of dynamical system theory for achieving this goal by realizing the real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider (0-1000 m), that crossed the North Atlantic from April 2016 to March 2017. Path planning in real time based on this approach has facilitated an impressive speed up of the AUV to unprecedented velocities resulting in major battery savings on the mission, offering the potential for routine transoceanic long duration missions.
Optimal path planning for single and multiple aircraft using a reduced order formulation
Twigg, Shannon S.
High-flying unmanned reconnaissance and surveillance systems are now being used extensively in the United States military. Current development programs are producing demonstrations of next-generation unmanned flight systems that are designed to perform combat missions. Their use in first-strike combat operations will dictate operations in densely cluttered environments that include unknown obstacles and threats, and will require the use of terrain for masking. The demand for autonomy of operations in such environments dictates the need for advanced trajectory optimization capabilities. In addition, the ability to coordinate the movements of more than one aircraft in the same area is an emerging challenge. This thesis examines using an analytical reduced order formulation for trajectory generation for minimum time and terrain masking cases. First, pseudo-3D constant velocity equations of motion are used for path planning for a single vehicle. In addition, the inclusion of winds, moving targets and moving threats is considered. Then, this formulation is increased to using 3D equations of motion, both with a constant velocity and with a simplified varying velocity model. Next, the constant velocity equations of motion are expanded to include the simultaneous path planning of an unspecified number of vehicles, for both aircraft avoidance situations and formation flight cases.
A SIMPLE ANALYTICAL METHOD TO DETERMINE SOLAR ENERGETIC PARTICLES' MEAN FREE PATH
International Nuclear Information System (INIS)
He, H.-Q.; Qin, G.
2011-01-01
To obtain the mean free path of solar energetic particles (SEPs) for a solar event, one usually has to fit time profiles of both flux and anisotropy from spacecraft observations to numerical simulations of SEPs' transport processes. This method can be called a simulation method. But a reasonably good fitting needs a lot of simulations, which demand a large amount of calculation resources. Sometimes, it is necessary to find an easy way to obtain the mean free path of SEPs quickly, for example, in space weather practice. Recently, Shalchi et al. provided an approximate analytical formula of SEPs' anisotropy time profile as a function of particles' mean free path for impulsive events. In this paper, we determine SEPs' mean free path by fitting the anisotropy time profiles from Shalchi et al.'s analytical formula to spacecraft observations. This new method can be called an analytical method. In addition, we obtain SEPs' mean free path with the traditional simulation methods. Finally, we compare the mean free path obtained with the simulation method to that of the analytical method to show that the analytical method, with some minor modifications, can give us a good, quick approximation of SEPs' mean free path for impulsive events.
Electron beam treatment planning: A review of dose computation methods
International Nuclear Information System (INIS)
Mohan, R.; Riley, R.; Laughlin, J.S.
1983-01-01
Various methods of dose computations are reviewed. The equivalent path length methods used to account for body curvature and internal structure are not adequate because they ignore the lateral diffusion of electrons. The Monte Carlo method for the broad field three-dimensional situation in treatment planning is impractical because of the enormous computer time required. The pencil beam technique may represent a suitable compromise. The behavior of a pencil beam may be described by the multiple scattering theory or, alternatively, generated using the Monte Carlo method. Although nearly two orders of magnitude slower than the equivalent path length technique, the pencil beam method improves accuracy sufficiently to justify its use. It applies very well when accounting for the effect of surface irregularities; the formulation for handling inhomogeneous internal structure is yet to be developed
A path flux analysis method for the reduction of detailed chemical kinetic mechanisms
Energy Technology Data Exchange (ETDEWEB)
Sun, Wenting; Ju, Yiguang [Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544 (United States); Chen, Zheng [State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871 (China); Gou, Xiaolong [School of Power Engineering, Chongqing University, Chongqing 400044 (China)
2010-07-15
A direct path flux analysis (PFA) method for kinetic mechanism reduction is proposed and validated by using high temperature ignition, perfect stirred reactors, and steady and unsteady flame propagations of n-heptane and n-decane/air mixtures. The formation and consumption fluxes of each species at multiple reaction path generations are analyzed and used to identify the important reaction pathways and the associated species. The formation and consumption path fluxes used in this method retain flux conservation information and are used to define the path indexes for the first and the second generation reaction paths related to a targeted species. Based on the indexes of each reaction path for the first and second generations, different sized reduced chemical mechanisms which contain different number of species are generated. The reduced mechanisms of n-heptane and n-decane obtained by using the present method are compared to those generated by the direct relation graph (DRG) method. The reaction path analysis for n-decane is conducted to demonstrate the validity of the present method. The comparisons of the ignition delay times, flame propagation speeds, flame structures, and unsteady spherical flame propagation processes showed that with either the same or significantly less number of species, the reduced mechanisms generated by the present PFA are more accurate than that of DRG in a broad range of initial pressures and temperatures. The method is also integrated with the dynamic multi-timescale method and a further increase of computation efficiency is achieved. (author)
Directory of Open Access Journals (Sweden)
Lavrenov Roman
2017-01-01
Full Text Available Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.
A low complexity method for the optimization of network path length in spatially embedded networks
International Nuclear Information System (INIS)
Chen, Guang; Yang, Xu-Hua; Xu, Xin-Li; Ming, Yong; Chen, Sheng-Yong; Wang, Wan-Liang
2014-01-01
The average path length of a network is an important index reflecting the network transmission efficiency. In this paper, we propose a new method of decreasing the average path length by adding edges. A new indicator is presented, incorporating traffic flow demand, to assess the decrease in the average path length when a new edge is added during the optimization process. With the help of the indicator, edges are selected and added into the network one by one. The new method has a relatively small time computational complexity in comparison with some traditional methods. In numerical simulations, the new method is applied to some synthetic spatially embedded networks. The result shows that the method can perform competitively in decreasing the average path length. Then, as an example of an application of this new method, it is applied to the road network of Hangzhou, China. (paper)
The study of system function analysis method for success path alarm design
International Nuclear Information System (INIS)
Kang, S. K.; Shin, Y. C.
1999-01-01
The key benefit to the common use of the critical function approach for safety and mission functions is that monitoring methods expected to be used by operaotrs during emergency condition are used continuously during normal operation. For each critical safety function there exists two or more success paths. Information Processing System monitors the availability, operation state and performance of the critical function success paths. In this paper, We have studied System Function Analysis(SFA) for the design of Success Path Alarm(SPA) for applying in KNGR. In here, we thought that SFA will help the design of SPA. The SFA can be applicable to the design of SPA according to NUREG-0711, also can induce the algorithm for alarm of system, train and flow path. We present a method of system function analysis for designing Success Path Alarm
Project Management using Critical Path Method (CPM): A Pragmatic ...
African Journals Online (AJOL)
Traditional techniques of decision-making have hindered the technical efficiency of most professionals and executors of the public project in many developing countries such as Nigeria. The use of Gantt chart in project planning has continued to increase as a source of last resort in spite of its severe limitations for ineffective ...
AN IMPROVEMENT ON GEOMETRY-BASED METHODS FOR GENERATION OF NETWORK PATHS FROM POINTS
Directory of Open Access Journals (Sweden)
Z. Akbari
2014-10-01
Full Text Available Determining network path is important for different purposes such as determination of road traffic, the average speed of vehicles, and other network analysis. One of the required input data is information about network path. Nevertheless, the data collected by the positioning systems often lead to the discrete points. Conversion of these points to the network path have become one of the challenges which different researchers, presents many ways for solving it. This study aims at investigating geometry-based methods to estimate the network paths from the obtained points and improve an existing point to curve method. To this end, some geometry-based methods have been studied and an improved method has been proposed by applying conditions on the best method after describing and illustrating weaknesses of them.
A biomimetic, energy-harvesting, obstacle-avoiding, path-planning algorithm for UAVs
Gudmundsson, Snorri
This dissertation presents two new approaches to energy harvesting for Unmanned Aerial Vehicles (UAV). One method is based on the Potential Flow Method (PFM); the other method seeds a wind-field map based on updraft peak analysis and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one with the minimum energy cost is selected. The dissertation concludes by using the developed theory and modeling tools to simulate the flight paths of two small Unmanned Aerial Vehicles (sUAV) in the 500 kg and 250 kg class. The results show that, in mountainous regions, substantial energy can be recovered, depending on topography and wind characteristics. For the examples presented, as much as 50% of the energy was recovered for a complex, multi-heading, multi-altitude, 170 km mission in an average wind speed of 9 m/s. The algorithms constitute a Generic Intelligent Control Algorithm (GICA) for autonomous unmanned aerial vehicles that enables an extraction of atmospheric energy while completing a mission trajectory. At the same time, the algorithm. automatically adjusts the flight path in order to avoid obstacles, in a fashion not unlike what one would expect from living organisms, such as birds and insects. This multi-disciplinary approach renders the approach biomimetic, i.e. it constitutes a synthetic system that “mimics the formation and function of biological mechanisms and processes.”.
Based on Short Motion Paths and Artificial Intelligence Method for Chinese Chess Game
Directory of Open Access Journals (Sweden)
Chien-Ming Hung
2017-08-01
Full Text Available The article develops the decision rules to win each set of the Chinese chess game using evaluation algorithm and artificial intelligence method, and uses the mobile robot to be instead of the chess, and presents the movement scenarios using the shortest motion paths for mobile robots. Player can play the Chinese chess game according to the game rules with the supervised computer. The supervised computer decides the optimal motion path to win the set using artificial intelligence method, and controls mobile robots according to the programmed motion paths of the assigned chesses moving on the platform via wireless RF interface. We uses enhance A* searching algorithm to solve the shortest path problem of the assigned chess, and solve the collision problems of the motion paths for two mobile robots moving on the platform simultaneously. We implement a famous set to be called lwild horses run in farmr using the proposed method. First we use simulation method to display the motion paths of the assigned chesses for the player and the supervised computer. Then the supervised computer implements the simulation results on the chessboard platform using mobile robots. Mobile robots move on the chessboard platform according to the programmed motion paths and is guided to move on the centre line of the corridor, and avoid the obstacles (chesses, and detect the cross point of the platform using three reflective IR modules.
Optimal path planning for video-guided smart munitions via multitarget tracking
Borkowski, Jeffrey M.; Vasquez, Juan R.
2006-05-01
An advent in the development of smart munitions entails autonomously modifying target selection during flight in order to maximize the value of the target being destroyed. A unique guidance law can be constructed that exploits both attribute and kinematic data obtained from an onboard video sensor. An optimal path planning algorithm has been developed with the goals of obstacle avoidance and maximizing the value of the target impacted by the munition. Target identification and classification provides a basis for target value which is used in conjunction with multi-target tracks to determine an optimal waypoint for the munition. A dynamically feasible trajectory is computed to provide constraints on the waypoint selection. Results demonstrate the ability of the autonomous system to avoid moving obstacles and revise target selection in flight.
New Design of Mobile Robot Path Planning with Randomly Moving Obstacles
Directory of Open Access Journals (Sweden)
T. A. Salih
2013-05-01
Full Text Available The navigation of a mobile robot in an unknown environment has always been a very challenging task. In order to achieve safe and autonomous navigation, the mobile robot needs to sense the surrounding environment and plans a collision-free path. This paper focuses on designing and implementing a mobile robot which has the ability of navigating smoothly in an unknown environment, avoiding collisions, without having to stop in front of obstacles, detecting leakage of combustible gases and transmitting a message of detection results to the civil defense unit automatically through the Internet to the E-mail. This design uses the implementation of artificial neural network (ANN on a new technology represented by Field Programmable Analog Array (FPAA for controlling the motion of the robot. The robot with the proposed controller is tested and has completed the required objective successfully.
Introduction to functional and path integral methods in quantum field theory
International Nuclear Information System (INIS)
Strathdee, J.
1991-11-01
The following aspects concerning the use of functional and path integral methods in quantum field theory are discussed: generating functionals and the effective action, perturbation series, Yang-Mills theory and BRST symmetry. 10 refs, 3 figs
Directional spectrum of ocean waves from array measurements using phase/time/path difference methods
Digital Repository Service at National Institute of Oceanography (India)
Fernandes, A.A.; Sarma, Y.V.B.; Menon, H.B.
Wave direction has for the first time been consistently, accurately and unambiguously evaluated from array measurements using the phase/time/path difference (PTPD) methods of Esteva in case of polygonal arrays and Borgman in case of linear arrays...
Employing Multiple Unmanned Aerial Vehicles for Co-Operative Path Planning
Directory of Open Access Journals (Sweden)
Durdana Habib
2013-05-01
Full Text Available Abstract In this paper, we work to develop a path planning solution for a group of Unmanned Aerial Vehicles (UAVs using a Mixed Integer Linear Programming (MILP approach. Co-operation among team members not only helps reduce mission time, it makes the execution more robust in dynamic environments. However, the problem becomes more challenging as it requires optimal resource allocation and is NP-hard. Since UAVs may be lost or may suffer significant damage during the course of the mission, plans may need to be modified in real-time as the mission proceeds. Therefore, multiple UAVs have a better chance of completing a mission in the face of failures. Such military operations can be treated as a variant of the Multiple Depot Vehicle Routing Problem (MDVRP. The proposed solution must be such that m UAVs start from multiple source locations to visit n targets and return to a set of destination locations such that (1 each target is visited exactly by one of the chosen UAVs (2 the total distance travelled by the group is minimized and (3 the number of targets that each UAV visits may not be less than K or greater than L.
Path planning in GPS-denied environments via collective intelligence of distributed sensor networks
Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok
2016-05-01
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.
Path-integral method for the source apportionment of photochemical pollutants
Dunker, A. M.
2015-06-01
A new, path-integral method is presented for apportioning the concentrations of pollutants predicted by a photochemical model to emissions from different sources. A novel feature of the method is that it can apportion the difference in a species concentration between two simulations. For example, the anthropogenic ozone increment, which is the difference between a simulation with all emissions present and another simulation with only the background (e.g., biogenic) emissions included, can be allocated to the anthropogenic emission sources. The method is based on an existing, exact mathematical equation. This equation is applied to relate the concentration difference between simulations to line or path integrals of first-order sensitivity coefficients. The sensitivities describe the effects of changing the emissions and are accurately calculated by the decoupled direct method. The path represents a continuous variation of emissions between the two simulations, and each path can be viewed as a separate emission-control strategy. The method does not require auxiliary assumptions, e.g., whether ozone formation is limited by the availability of volatile organic compounds (VOCs) or nitrogen oxides (NOx), and can be used for all the species predicted by the model. A simplified configuration of the Comprehensive Air Quality Model with Extensions (CAMx) is used to evaluate the accuracy of different numerical integration procedures and the dependence of the source contributions on the path. A Gauss-Legendre formula using three or four points along the path gives good accuracy for apportioning the anthropogenic increments of ozone, nitrogen dioxide, formaldehyde, and nitric acid. Source contributions to these increments were obtained for paths representing proportional control of all anthropogenic emissions together, control of NOx emissions before VOC emissions, and control of VOC emissions before NOx emissions. There are similarities in the source contributions from the
Directory of Open Access Journals (Sweden)
Matthew Lyndon Armstrong
2015-12-01
Full Text Available This study explored how the Planning Alternatives Tomorrows with Hope (PATH process could enhance and strengthen an individual’s personal journey of recovery. This article utilised the knowledge base of members of a Community of Practice, located in Brisbane Australia. Members had a deep concern and passion to promote and strengthen wellbeing for people who live with the experience of mental ill health. They were invited to form a focus group to explore the use of PATH and its relationship with mental health wellness. After contemplating and reflecting on an example of the PATH process, the focus group explored opportunities for PATH to become one of many wellness resources for people experiencing and overcoming mental ill health. Through the exploration of personal meaning, storytelling and community connection (anchored in the visuals and graphics of the PATH example, the study found that PATH can make a valuable contribution by restoring some of the power inbalances in traditonal service frameworks and enhancing personal self direction. Keywords: mental health distress, practitioners, recovery, facilitation, creativity, planning
Wood, Nathan J.; Jones, Jeanne M.; Schmidtlein, Mathew; Schelling, John; Frazier, T.
2016-01-01
Successful evacuations are critical to saving lives from future tsunamis. Pedestrian-evacuation modeling related to tsunami hazards primarily has focused on identifying areas and the number of people in these areas where successful evacuations are unlikely. Less attention has been paid to identifying evacuation pathways and population demand at assembly areas for at-risk individuals that may have sufficient time to evacuate. We use the neighboring coastal communities of Hoquiam, Aberdeen, and Cosmopolis (Washington, USA) and the local tsunami threat posed by Cascadia subduction zone earthquakes as a case study to explore the use of geospatial, least-cost-distance evacuation modeling for supporting evacuation outreach, response, and relief planning. We demonstrate an approach that uses geospatial evacuation modeling to (a) map the minimum pedestrian travel speeds to safety, the most efficient paths, and collective evacuation basins, (b) estimate the total number and demographic description of evacuees at predetermined assembly areas, and (c) determine which paths may be compromised due to earthquake-induced ground failure. Results suggest a wide range in the magnitude and type of evacuees at predetermined assembly areas and highlight parts of the communities with no readily accessible assembly area. Earthquake-induced ground failures could obstruct access to some assembly areas, cause evacuees to reroute to get to other assembly areas, and isolate some evacuees from relief personnel. Evacuation-modeling methods and results discussed here have implications and application to tsunami-evacuation outreach, training, response procedures, mitigation, and long-term land use planning to increase community resilience.
IRP methods for Environmental Impact Statements of utility expansion plans
International Nuclear Information System (INIS)
Cavallo, J.D.; Hemphill, R.C.; Veselka, T.D.
1992-01-01
Most large electric utilities and a growing number of gas utilities in the United States are using a planning method -- Integrated Resource Planning (IRP) - which incorporates demand-side management (DSM) programs whenever the marginal cost of the DSM programs are lower than the marginal cost of supply-side expansion options. Argonne National Laboratory has applied the IRP method in its socio-economic analysis of an Environmental Impact Statement (EIS) of power marketing for a system of electric utilities in the mountain and western regions of the United States. Applying the IRP methods provides valuable information to the participants in an EIS process involving capacity expansion of an electric or gas utility. The major challenges of applying the IRP method within an EIS are the time consuming and costly task of developing a least cost expansion path for each altemative, the detailed quantification of environmental damages associated with capacity expansion, and the explicit inclusion of societal-impacts to the region
A Vision-Aided 3D Path Teaching Method before Narrow Butt Joint Welding.
Zeng, Jinle; Chang, Baohua; Du, Dong; Peng, Guodong; Chang, Shuhe; Hong, Yuxiang; Wang, Li; Shan, Jiguo
2017-05-11
For better welding quality, accurate path teaching for actuators must be achieved before welding. Due to machining errors, assembly errors, deformations, etc., the actual groove position may be different from the predetermined path. Therefore, it is significant to recognize the actual groove position using machine vision methods and perform an accurate path teaching process. However, during the teaching process of a narrow butt joint, the existing machine vision methods may fail because of poor adaptability, low resolution, and lack of 3D information. This paper proposes a 3D path teaching method for narrow butt joint welding. This method obtains two kinds of visual information nearly at the same time, namely 2D pixel coordinates of the groove in uniform lighting condition and 3D point cloud data of the workpiece surface in cross-line laser lighting condition. The 3D position and pose between the welding torch and groove can be calculated after information fusion. The image resolution can reach 12.5 μm. Experiments are carried out at an actuator speed of 2300 mm/min and groove width of less than 0.1 mm. The results show that this method is suitable for groove recognition before narrow butt joint welding and can be applied in path teaching fields of 3D complex components.
A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems
Abdelkader, Mohamed
2017-10-19
We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios.
Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers
Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren
2011-01-01
To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.
A Systematic, Automated Network Planning Method
DEFF Research Database (Denmark)
Holm, Jens Åge; Pedersen, Jens Myrup
2006-01-01
This paper describes a case study conducted to evaluate the viability of a systematic, automated network planning method. The motivation for developing the network planning method was that many data networks are planned in an adhoc manner with no assurance of quality of the solution with respect...... structures, that are ready to implement in a real world scenario, are discussed in the end of the paper. These are in the area of ensuring line independence and complexity of the design rules for the planning method....
A fast tomographic method for searching the minimum free energy path
International Nuclear Information System (INIS)
Chen, Changjun; Huang, Yanzhao; Xiao, Yi; Jiang, Xuewei
2014-01-01
Minimum Free Energy Path (MFEP) provides a lot of important information about the chemical reactions, like the free energy barrier, the location of the transition state, and the relative stability between reactant and product. With MFEP, one can study the mechanisms of the reaction in an efficient way. Due to a large number of degrees of freedom, searching the MFEP is a very time-consuming process. Here, we present a fast tomographic method to perform the search. Our approach first calculates the free energy surfaces in a sequence of hyperplanes perpendicular to a transition path. Based on an objective function and the free energy gradient, the transition path is optimized in the collective variable space iteratively. Applications of the present method to model systems show that our method is practical. It can be an alternative approach for finding the state-to-state MFEP
Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control
Directory of Open Access Journals (Sweden)
Moharam Habibnejad Korayem
2011-03-01
Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.
Teaching Basic Quantum Mechanics in Secondary School Using Concepts of Feynman Path Integrals Method
Fanaro, Maria de los Angeles; Otero, Maria Rita; Arlego, Marcelo
2012-01-01
This paper discusses the teaching of basic quantum mechanics in high school. Rather than following the usual formalism, our approach is based on Feynman's path integral method. Our presentation makes use of simulation software and avoids sophisticated mathematical formalism. (Contains 3 figures.)
Transport coefficients for deeply inelastic scattering from the Feynman path integral method
International Nuclear Information System (INIS)
Brink, D.M.; Neto, J.; Weidenmueller, H.A.
1979-01-01
Friction and diffusion coefficients can be derived simply by combining statistical arguments with the Feynman path integral method. A transport equation for Feynman's influence functional is obtained, and transport coefficients are deduced from it. The expressions are discussed in the limits of weak, and of strong coupling. (Auth.)
Reflector construction by sound path curves - A method of manual reflector evaluation in the field
International Nuclear Information System (INIS)
Siciliano, F.; Heumuller, R.
1985-01-01
In order to describe the time-of-flight behavior of various reflectors we have set up models and derived from them analytical and graphic approaches to reflector reconstruction. In the course of this work, maximum achievable accuracy and possible simplifications were investigated. The aim of the time-of-flight reconstruction method is to determine the points of a reflector on the basis of a sound path function (sound path as the function of the probe index position). This method can only be used on materials which are isotropic in terms of sound velocity since the method relies on time of flight being converted into sound path. This paper deals only with two-dimensional reconstruction, in other words all statements relate to the plane of incidence. The method is based on the fact that the geometrical location of the points equidistant from a certain probe index position is a circle. If circles with radiuses equal to the associated sound path are drawn for various search unit positions the points of intersection of the circles are the desired reflector points
Application of path integral method to heavy ion reactions, 1. General formalism
Energy Technology Data Exchange (ETDEWEB)
Fujita, J; Negishi, T [Tokyo Univ. of Education (Japan). Dept. of Physics
1976-03-01
The semiclassical approach for heavy ion reactions has become more and more important in analyzing rapidly accumulating data. The purpose of this paper is to lay a quantum-mechanical foundation of the conventional semiclassical treatments in heavy ion physics by using Feynman's path integral method on the basis of the second paper of Pechukas, and discuss simple consequences of the formalism.
Path integral methods via the use of the central limit theorem and application
International Nuclear Information System (INIS)
Thrapsaniotis, E G
2008-01-01
We consider a path integral in the phase space possibly with an influence functional in it and we use a method based on the use of the central limit theorem on the phase of the path integral representation to extract an equivalent expression which can be used in numerical calculations. Moreover we give conditions under which we can extract closed analytical results. As a specific application we consider a general system of two coupled and forced harmonic oscillators with coupling of the form x 1 x α 2 and we derive the relevant sign solved propagator
Applying Mixed Methods Techniques in Strategic Planning
Voorhees, Richard A.
2008-01-01
In its most basic form, strategic planning is a process of anticipating change, identifying new opportunities, and executing strategy. The use of mixed methods, blending quantitative and qualitative analytical techniques and data, in the process of assembling a strategic plan can help to ensure a successful outcome. In this article, the author…
Energy Technology Data Exchange (ETDEWEB)
Jeon, Hye Sung; Lee, Jin Won; Yang, Jeong Sam [Dept. of Industrial Engineering, Ajou University, Suwon (Korea, Republic of)
2016-10-15
The On-machine measurement (OMM), which measures a work piece during or after the machining process in the machining center, has the advantage of measuring the work piece directly within the work space without moving it. However, the path generation procedure used to determine the measuring sequence and variables for the complex features of a target work piece has the limitation of requiring time-consuming tasks to generate the measuring points and mostly relies on the proficiency of the on-site engineer. In this study, we propose a touch-probe path generation method using similarity analysis between the feature vectors of three-dimensional (3-D) shapes for the OMM. For the similarity analysis between a new 3-D model and existing 3-D models, we extracted the feature vectors from models that can describe the characteristics of a geometric shape model; then, we applied those feature vectors to a geometric histogram that displays a probability distribution obtained by the similarity analysis algorithm. In addition, we developed a computer-aided inspection planning system that corrects non-applied measuring points that are caused by minute geometry differences between the two models and generates the final touch-probe path.
Li, Bai; Gong, Li-gang; Yang, Wen-lun
2014-01-01
Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.
Directory of Open Access Journals (Sweden)
Bai Li
2014-01-01
Full Text Available Unmanned combat aerial vehicles (UCAVs have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC algorithm improved by a balance-evolution strategy (BES is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.
Welding Robot Collision-Free Path Optimization
Directory of Open Access Journals (Sweden)
Xuewu Wang
2017-02-01
Full Text Available Reasonable welding path has a significant impact on welding efficiency, and a collision-free path should be considered first in the process of welding robot path planning. The shortest path length is considered as an optimization objective, and obstacle avoidance is considered as the constraint condition in this paper. First, a grid method is used as a modeling method after the optimization objective is analyzed. For local collision-free path planning, an ant colony algorithm is selected as the search strategy. Then, to overcome the shortcomings of the ant colony algorithm, a secondary optimization is presented to improve the optimization performance. Finally, the particle swarm optimization algorithm is used to realize global path planning. Simulation results show that the desired welding path can be obtained based on the optimization strategy.
The Path Resistance Method for Bounding the Smallest Nontrivial Eigenvalue of a Laplacian
Guattery, Stephen; Leighton, Tom; Miller, Gary L.
1997-01-01
We introduce the path resistance method for lower bounds on the smallest nontrivial eigenvalue of the Laplacian matrix of a graph. The method is based on viewing the graph in terms of electrical circuits; it uses clique embeddings to produce lower bounds on lambda(sub 2) and star embeddings to produce lower bounds on the smallest Rayleigh quotient when there is a zero Dirichlet boundary condition. The method assigns priorities to the paths in the embedding; we show that, for an unweighted tree T, using uniform priorities for a clique embedding produces a lower bound on lambda(sub 2) that is off by at most an 0(log diameter(T)) factor. We show that the best bounds this method can produce for clique embeddings are the same as for a related method that uses clique embeddings and edge lengths to produce bounds.
A chain-of-states acceleration method for the efficient location of minimum energy paths
International Nuclear Information System (INIS)
Hernández, E. R.; Herrero, C. P.; Soler, J. M.
2015-01-01
We describe a robust and efficient chain-of-states method for computing Minimum Energy Paths (MEPs) associated to barrier-crossing events in poly-atomic systems, which we call the acceleration method. The path is parametrized in terms of a continuous variable t ∈ [0, 1] that plays the role of time. In contrast to previous chain-of-states algorithms such as the nudged elastic band or string methods, where the positions of the states in the chain are taken as variational parameters in the search for the MEP, our strategy is to formulate the problem in terms of the second derivatives of the coordinates with respect to t, i.e., the state accelerations. We show this to result in a very simple and efficient method for determining the MEP. We describe the application of the method to a series of test cases, including two low-dimensional problems and the Stone-Wales transformation in C 60
International Nuclear Information System (INIS)
Morimoto, Yuuichi; Fukuda, Mitsuko
1995-01-01
An automated generation method for test specifications has been developed for sequential control software in plant control equipment. Sequential control software can be represented as sequential circuits. The control software implemented in a control equipment is designed from these circuit diagrams. In logic tests of VLSI's, path sensitizing methods are widely used to generate test specifications. But the method generates test specifications at a single time only, and can not be directly applied to sequential control software. The basic idea of the proposed method is as follows. Specifications of each logic operator in the diagrams are defined in the software design process. Therefore, test specifications of each operator in the control software can be determined from these specifications, and validity of software can be judged by inspecting all of the operators in the logic circuit diagrams. Candidates for sensitized paths, on which test data for each operator propagates, can be generated by the path sensitizing method. To confirm feasibility of the method, it was experimentally applied to control software in digital control equipment. The program could generate test specifications exactly, and feasibility of the method was confirmed. (orig.) (3 refs., 7 figs.)
Directory of Open Access Journals (Sweden)
A. M. Rawani
2002-01-01
Full Text Available This paper presents a path analytic model showing the cause and effect relationships among various Information Systems (IS planning variables for the banking sector in India. In recent years, there has been an increased awareness among banks of the potential of Information Technology (IT and the use of information systems. Strategic information system planning (SISP becomes an important issue in the use of IS strategically. In India, banks have now started realizing the importance of SISP. In this study, 11 IS planning variables for the banking sector in India are examined and the influence of one over the other is investigated using path analysis. Data for the study are collected from 52 banks operating in India. The results of the study indicate that top management involvement in IS planning greatly influences the whole planning exercise. Moreover, top management involvement is higher when they foresee greater future impact of IS. The study also highlights the need and importance of user training in the banking sector. Change in the focus and orientation of user-training will make the users competent to conceive with innovative IS applications.
A new online secondary path modeling method for adaptive active structure vibration control
International Nuclear Information System (INIS)
Pu, Yuxue; Zhang, Fang; Jiang, Jinhui
2014-01-01
This paper proposes a new variable step size FXLMS algorithm with an auxiliary noise power scheduling strategy for online secondary path modeling. The step size for the secondary path modeling filter and the gain of auxiliary noise are varied in accordance with the parameters available directly. The proposed method has a low computational complexity. Computer simulations show that an active vibration control system with the proposed method gives much better vibration attenuation and modeling accuracy at a faster convergence rate than existing methods. National Instruments’ CompactRIO is used as an embedded processor to control simply supported beam vibration. Experimental results indicate that the vibration of the beam has been effectively attenuated. (papers)
Semantic text relatedness on Al-Qur’an translation using modified path based method
Irwanto, Yudi; Arif Bijaksana, Moch; Adiwijaya
2018-03-01
Abdul Baquee Muhammad [1] have built Corpus that contained AlQur’an domain, WordNet and dictionary. He has did initialisation in the development of knowledges about AlQur’an and the knowledges about relatedness between texts in AlQur’an. The Path based measurement method that proposed by Liu, Zhou and Zheng [3] has never been used in the AlQur’an domain. By using AlQur’an translation dataset in this research, the path based measurement method proposed by Liu, Zhou and Zheng [3] will be used to test this method in AlQur’an domain to obtain similarity values and to measure its correlation value. In this study the degree value is proposed to be used in modifying the path based method that proposed in previous research. Degree Value is the number of links that owned by a lcs (lowest common subsumer) node on a taxonomy. The links owned by a node on the taxonomy represent the semantic relationship that a node has in the taxonomy. By using degree value to modify the path-based method that proposed in previous research is expected that the correlation value obtained will increase. After running some experiment by using proposed method, the correlation measurement value can obtain fairly good correlation ties with 200 Word Pairs derive from Noun POS SimLex-999. The correlation value that be obtained is 93.3% which means their bonds are strong and they have very strong correlation. Whereas for the POS other than Noun POS vocabulary that owned by WordNet is incomplete therefore many pairs of words that the value of its similarity is zero so the correlation value is low.
A human-machine cooperation route planning method based on improved A* algorithm
Zhang, Zhengsheng; Cai, Chao
2011-12-01
To avoid the limitation of common route planning method to blindly pursue higher Machine Intelligence and autoimmunization, this paper presents a human-machine cooperation route planning method. The proposed method includes a new A* path searing strategy based on dynamic heuristic searching and a human cooperated decision strategy to prune searching area. It can overcome the shortage of A* algorithm to fall into a local long term searching. Experiments showed that this method can quickly plan a feasible route to meet the macro-policy thinking.
Calibration of neural networks using genetic algorithms, with application to optimal path planning
Smith, Terence R.; Pitney, Gilbert A.; Greenwood, Daniel
1987-01-01
Genetic algorithms (GA) are used to search the synaptic weight space of artificial neural systems (ANS) for weight vectors that optimize some network performance function. GAs do not suffer from some of the architectural constraints involved with other techniques and it is straightforward to incorporate terms into the performance function concerning the metastructure of the ANS. Hence GAs offer a remarkably general approach to calibrating ANS. GAs are applied to the problem of calibrating an ANS that finds optimal paths over a given surface. This problem involves training an ANS on a relatively small set of paths and then examining whether the calibrated ANS is able to find good paths between arbitrary start and end points on the surface.
Energy Optimal Path Planning: Integrating Coastal Ocean Modelling with Optimal Control
Subramani, D. N.; Haley, P. J., Jr.; Lermusiaux, P. F. J.
2016-02-01
A stochastic optimization methodology is formulated for computing energy-optimal paths from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field. To set up the energy optimization, the relative vehicle speed and headings are considered to be stochastic, and new stochastic Dynamically Orthogonal (DO) level-set equations that govern their stochastic time-optimal reachability fronts are derived. Their solution provides the distribution of time-optimal reachability fronts and corresponding distribution of time-optimal paths. An optimization is then performed on the vehicle's energy-time joint distribution to select the energy-optimal paths for each arrival time, among all stochastic time-optimal paths for that arrival time. The accuracy and efficiency of the DO level-set equations for solving the governing stochastic level-set reachability fronts are quantitatively assessed, including comparisons with independent semi-analytical solutions. Energy-optimal missions are studied in wind-driven barotropic quasi-geostrophic double-gyre circulations, and in realistic data-assimilative re-analyses of multiscale coastal ocean flows. The latter re-analyses are obtained from multi-resolution 2-way nested primitive-equation simulations of tidal-to-mesoscale dynamics in the Middle Atlantic Bight and Shelbreak Front region. The effects of tidal currents, strong wind events, coastal jets, and shelfbreak fronts on the energy-optimal paths are illustrated and quantified. Results showcase the opportunities for longer-duration missions that intelligently utilize the ocean environment to save energy, rigorously integrating ocean forecasting with optimal control of autonomous vehicles.
Solving a Class of Spatial Reasoning Problems: Minimal-Cost Path Planning in the Cartesian Plane.
1987-06-01
as in Figure 72. By the Theorem of Pythagoras : Z1 <a z 2 < C Yl(bl+b 2)uI, the cost of going along (a,b,c) is greater that the...preceding lemmas to an indefinite number of boundary-crossing episodes is accomplished by the following theorems . Theorem 1 extends the result of Lemma 1... Theorem 1: Any two Snell’s-law paths within a K-explored wedge defined by Snell’s-law paths RL and R. do not intersect within the K-explored portion of
Path-Wise Test Data Generation Based on Heuristic Look-Ahead Methods
Directory of Open Access Journals (Sweden)
Ying Xing
2014-01-01
Full Text Available Path-wise test data generation is generally considered an important problem in the automation of software testing. In essence, it is a constraint optimization problem, which is often solved by search methods such as backtracking algorithms. In this paper, the backtracking algorithm branch and bound and state space search in artificial intelligence are introduced to tackle the problem of path-wise test data generation. The former is utilized to explore the space of potential solutions and the latter is adopted to construct the search tree dynamically. Heuristics are employed in the look-ahead stage of the search. Dynamic variable ordering is presented with a heuristic rule to break ties, values of a variable are determined by the monotonicity analysis on branching conditions, and maintaining path consistency is achieved through analysis on the result of interval arithmetic. An optimization method is also proposed to reduce the search space. The results of empirical experiments show that the search is conducted in a basically backtrack-free manner, which ensures both test data generation with promising performance and its excellence over some currently existing static and dynamic methods in terms of coverage. The results also demonstrate that the proposed method is applicable in engineering.
High-order Path Integral Monte Carlo methods for solving strongly correlated fermion problems
Chin, Siu A.
2015-03-01
In solving for the ground state of a strongly correlated many-fermion system, the conventional second-order Path Integral Monte Carlo method is plagued with the sign problem. This is due to the large number of anti-symmetric free fermion propagators that are needed to extract the square of the ground state wave function at large imaginary time. In this work, I show that optimized fourth-order Path Integral Monte Carlo methods, which uses no more than 5 free-fermion propagators, in conjunction with the use of the Hamiltonian energy estimator, can yield accurate ground state energies for quantum dots with up to 20 polarized electrons. The correlations are directly built-in and no explicit wave functions are needed. This work is supported by the Qatar National Research Fund NPRP GRANT #5-674-1-114.
Perturbative method for the derivation of quantum kinetic theory based on closed-time-path formalism
International Nuclear Information System (INIS)
Koide, Jun
2002-01-01
Within the closed-time-path formalism, a perturbative method is presented, which reduces the microscopic field theory to the quantum kinetic theory. In order to make this reduction, the expectation value of a physical quantity must be calculated under the condition that the Wigner distribution function is fixed, because it is the independent dynamical variable in the quantum kinetic theory. It is shown that when a nonequilibrium Green function in the form of the generalized Kadanoff-Baym ansatz is utilized, this condition appears as a cancellation of a certain part of contributions in the diagrammatic expression of the expectation value. Together with the quantum kinetic equation, which can be derived in the closed-time-path formalism, this method provides a basis for the kinetic-theoretical description
Multi Robot Path Planning for Budgeted Active Perception with Self-Organising Maps
2016-10-04
5], [6], [7], but the formulations have been limited to restricted cases, such as a single object or a constrained action space. Little attention has...solution paths. Object parts are shown in the coloured point clouds. Viewpoint regions are coloured black (low reward), orange (medium) and yellow (high
Application of Statistical Method of Path Analysis to Describe Soil Biological Indices
Directory of Open Access Journals (Sweden)
Y. Kooch
2016-09-01
Full Text Available Introduction: Among the collection of natural resources in the world, soil is considered as one of the most important components of the environment. Protect and improve the properties of this precious resource, requires a comprehensive and coordinated action that only through a deep understanding of quantitative (not only recognition of the quality the origin, distribution and functionality in a natural ecosystem is possible. Many researchers believe that due to the quick reactions of soil organisms to environmental changes, soil biological survey to estimate soil quality is more important than the chemical and physical properties. For this reason, in many studies the nitrogen mineralization and microbial respiration indices are regarded. The aim of the present study were to study the direct and indirect effects of soil physicochemical characteristics on the most important biological indicators (nitrogen mineralization and microbial respiration, which has not been carefully considered up to now. This research is the first study to provide evidence to the future planning and management of soil sciences. Materials and Methods: For this, a limitation of 20 ha area of Experimental Forest Station of Tarbiat Modares University was considered. Fifty five soil samples, from the top 15 cm of soil, were taken, from which bulk density, texture, organic C, total N, cation exchange capacity (CEC, nitrogen mineralization and microbial respiration were determined at the laboratory. The data stored in Excel as a database. To determine the relationship between biological indices and soil physicochemical characteristics, correlation analysis and factor analysis using principal component analysis (PCA were employed. To investigate all direct and indirect relationships between biological indices and different soil characteristics, path analysis (path analysis was used. Results and Discussion: Results showed significant positive relations between biological indices
Palmisano, Fabrizio; Elia, Angelo
2017-10-01
One of the main difficulties, when dealing with landslide structural vulnerability, is the diagnosis of the causes of crack patterns. This is also due to the excessive complexity of models based on classical structural mechanics that makes them inappropriate especially when there is the necessity to perform a rapid vulnerability assessment at the territorial scale. This is why, a new approach, based on a ‘simple model’ (i.e. the Load Path Method, LPM), has been proposed by Palmisano and Elia for the interpretation of the behaviour of masonry buildings subjected to landslide-induced settlements. However, the LPM is very useful for rapidly finding the 'most plausible solution' instead of the exact solution. To find the solution, optimization algorithms are necessary. In this scenario, this article aims to show how the Bidirectional Evolutionary Structural Optimization method by Huang and Xie, can be very useful to optimize the strut-and-tie models obtained by using the Load Path Method.
Vu, Duy-Duc; Monies, Frédéric; Rubio, Walter
2018-05-01
A large number of studies, based on 3-axis end milling of free-form surfaces, seek to optimize tool path planning. Approaches try to optimize the machining time by reducing the total tool path length while respecting the criterion of the maximum scallop height. Theoretically, the tool path trajectories that remove the most material follow the directions in which the machined width is the largest. The free-form surface is often considered as a single machining area. Therefore, the optimization on the entire surface is limited. Indeed, it is difficult to define tool trajectories with optimal feed directions which generate largest machined widths. Another limiting point of previous approaches for effectively reduce machining time is the inadequate choice of the tool. Researchers use generally a spherical tool on the entire surface. However, the gains proposed by these different methods developed with these tools lead to relatively small time savings. Therefore, this study proposes a new method, using toroidal milling tools, for generating toolpaths in different regions on the machining surface. The surface is divided into several regions based on machining intervals. These intervals ensure that the effective radius of the tool, at each cutter-contact points on the surface, is always greater than the radius of the tool in an optimized feed direction. A parallel plane strategy is then used on the sub-surfaces with an optimal specific feed direction for each sub-surface. This method allows one to mill the entire surface with efficiency greater than with the use of a spherical tool. The proposed method is calculated and modeled using Maple software to find optimal regions and feed directions in each region. This new method is tested on a free-form surface. A comparison is made with a spherical cutter to show the significant gains obtained with a toroidal milling cutter. Comparisons with CAM software and experimental validations are also done. The results show the
He, Shanshan; Ou, Daojiang; Yan, Changya; Lee, Chen-Han
2015-01-01
Piecewise linear (G01-based) tool paths generated by CAM systems lack G1 and G2 continuity. The discontinuity causes vibration and unnecessary hesitation during machining. To ensure efficient high-speed machining, a method to improve the continuity of the tool paths is required, such as B-spline fitting that approximates G01 paths with B-spline curves. Conventional B-spline fitting approaches cannot be directly used for tool path B-spline fitting, because they have shortages such as numerical...
A chain-of-states acceleration method for the efficient location of minimum energy paths
Energy Technology Data Exchange (ETDEWEB)
Hernández, E. R., E-mail: Eduardo.Hernandez@csic.es; Herrero, C. P. [Instituto de Ciencia de Materiales de Madrid (ICMM–CSIC), Campus de Cantoblanco, 28049 Madrid (Spain); Soler, J. M. [Departamento de Física de la Materia Condensada and IFIMAC, Universidad Autónoma de Madrid, 28049 Madrid (Spain)
2015-11-14
We describe a robust and efficient chain-of-states method for computing Minimum Energy Paths (MEPs) associated to barrier-crossing events in poly-atomic systems, which we call the acceleration method. The path is parametrized in terms of a continuous variable t ∈ [0, 1] that plays the role of time. In contrast to previous chain-of-states algorithms such as the nudged elastic band or string methods, where the positions of the states in the chain are taken as variational parameters in the search for the MEP, our strategy is to formulate the problem in terms of the second derivatives of the coordinates with respect to t, i.e., the state accelerations. We show this to result in a very simple and efficient method for determining the MEP. We describe the application of the method to a series of test cases, including two low-dimensional problems and the Stone-Wales transformation in C{sub 60}.
A Meta-Path-Based Prediction Method for Human miRNA-Target Association
Directory of Open Access Journals (Sweden)
Jiawei Luo
2016-01-01
Full Text Available MicroRNAs (miRNAs are short noncoding RNAs that play important roles in regulating gene expressing, and the perturbed miRNAs are often associated with development and tumorigenesis as they have effects on their target mRNA. Predicting potential miRNA-target associations from multiple types of genomic data is a considerable problem in the bioinformatics research. However, most of the existing methods did not fully use the experimentally validated miRNA-mRNA interactions. Here, we developed RMLM and RMLMSe to predict the relationship between miRNAs and their targets. RMLM and RMLMSe are global approaches as they can reconstruct the missing associations for all the miRNA-target simultaneously and RMLMSe demonstrates that the integration of sequence information can improve the performance of RMLM. In RMLM, we use RM measure to evaluate different relatedness between miRNA and its target based on different meta-paths; logistic regression and MLE method are employed to estimate the weight of different meta-paths. In RMLMSe, sequence information is utilized to improve the performance of RMLM. Here, we carry on fivefold cross validation and pathway enrichment analysis to prove the performance of our methods. The fivefold experiments show that our methods have higher AUC scores compared with other methods and the integration of sequence information can improve the performance of miRNA-target association prediction.
A Method of Forming the Optimal Set of Disjoint Path in Computer Networks
Directory of Open Access Journals (Sweden)
As'ad Mahmoud As'ad ALNASER
2017-04-01
Full Text Available This work provides a short analysis of algorithms of multipath routing. The modified algorithm of formation of the maximum set of not crossed paths taking into account their metrics is offered. Optimization of paths is carried out due to their reconfiguration with adjacent deadlock path. Reconfigurations are realized within the subgraphs including only peaks of the main and an adjacent deadlock path. It allows to reduce the field of formation of an optimum path and time complexity of its formation.
Synchronous method and engineering tool for the strategic factory planning
Abdul Rahman, O.; Jaeger, J.; Constantinescu, C.
2011-01-01
This paper presents the approach to combine two reference methods and engineering tools, for "Factory Performance and Investment Planning«as well as "Value Added Ideal Production Network Planning". The resulted synchronous method aims to support factories in the strategic planning as well as in the network planning. The corresponding engineering tool is employed for assessment planning, sales planning, capacity planning and production costs planning under the consideration of dynamic and stoc...
Plans to Observe the 2017 Total Solar Eclipse from near the Path Edges
Waring Dunham, David; Nugent, Richard; Guhl, Konrad; Bode, Hans-Joachim
2015-08-01
The August 21st, 2017 solar eclipse provides a good opportunity, to time the totality contacts, other Baily’s bead phenomena, and observe other dynamic edge phenomena, from locations near the edges of the path of totality. A good network of roads and generally favorable weather prospects means that more observers will likely be able to deploy more equipment than during most previous eclipses. The value of contact and Baily’s bead timings of total solar eclipses, for determining solar diameter and intensity variations, was described in an earlier presentation in Focus Meeting 13. This presentation will concentrate on how observations of different types that have been used during past eclipses can be made by different observers, to obtain better information about the accuracy of the different types of observations for determining the mean solar diameter, and the systematic differences between them. A problem has been that the few observers who have attempted recording Baily’s beads from path edge locations have wanted to use the latest technology, to try to record the observations better, rather than try to make the observations in the same ways that were used for many past eclipses. Several observers trying different techniques at the same location, and doing that at several locations at different places along the path, is needed. Past techniques that we would like to compare include direct visual observation (but keeping eye safety in mind); visual observation of telescopically projected images; direct filtered video telescopic observations; and recording the flash spectrum. There are several towns that straddle the path edges. The International Occultation Timing Association would like to mobilize people in those towns to observe the eclipse from many places, to say whether or not the eclipse happened, and if it did, time it. A suitable cell phone app could be designed to report observations, including the observer’s location, as was attempted for an
Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning
Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng
2015-01-01
Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.
Directory of Open Access Journals (Sweden)
Mário Mestria
2013-08-01
Full Text Available The Clustered Traveling Salesman Problem (CTSP is a generalization of the Traveling Salesman Problem (TSP in which the set of vertices is partitioned into disjoint clusters and objective is to find a minimum cost Hamiltonian cycle such that the vertices of each cluster are visited contiguously. The CTSP is NP-hard and, in this context, we are proposed heuristic methods for the CTSP using GRASP, Path Relinking and Variable Neighborhood Descent (VND. The heuristic methods were tested using Euclidean instances with up to 2000 vertices and clusters varying between 4 to 150 vertices. The computational tests were performed to compare the performance of the heuristic methods with an exact algorithm using the Parallel CPLEX software. The computational results showed that the hybrid heuristic method using VND outperforms other heuristic methods.
International Nuclear Information System (INIS)
Yashima, Masatomo; Nomura, Katsuhiro
2005-01-01
Research of the distribution of oxide ions and the ionic conduction path of bismuth oxide (Bi 2 O 3 ), cerium oxide (CeO 2 ) and lanthanum gallate ((La 0.8 Sr 0.2 )(Ga 0.8 Mg 0.15 Co 0.05 )O 3-δ ) is stated. The high temperature neutron diffraction method, analytical method such as Rietveld method, crystal structure analysis of ionic conductor and MEM (Maximum- Entropy Method) are explained. The nuclear density distribution of oxide ions in bismuth oxide showed so larger distribution in the direction of and than Bi ions that the oxide ions conducted these direction in the crystal. The nuclear density distribution of oxide ions of cerium oxide indicated larger distribution in the direction of than Ce ions and its tendency was remarkable at high temperature. Accordingly, the oxide ions conducted in the direction of and . The oxide ions distribution in lanthanum gallate compound was larger and complicated than positive ions. The oxide ions conducted to by describing an arc between the two stable positions. The nuclear density on the conduction path increased with increasing temperature. This above result corresponded to increase of oxide ion conductivity in the area. (S.Y.)
Reaction-diffusion path planning in a hybrid chemical and cellular-automaton processor
International Nuclear Information System (INIS)
Adamatzky, Andrew; Lacy Costello, Benjamin de
2003-01-01
To find the shortest collision-free path in a room containing obstacles we designed a chemical processor and coupled it with a cellular-automaton processor. In the chemical processor obstacles are represented by sites of high concentration of potassium iodide and a planar substrate is saturated with palladium chloride. Potassium iodide diffuses into the substrate and reacts with palladium chloride. A dark coloured precipitate of palladium iodide is formed almost everywhere except sites where two or more diffusion wavefronts collide. The less coloured sites are situated at the furthest distance from obstacles. Thus, the chemical processor develops a repulsive field, generated by obstacles. A snapshot of the chemical processor is inputted to a cellular automaton. The automaton behaves like a discrete excitable media; also, every cell of the automaton is supplied with a pointer that shows an origin of the cell's excitation. The excitation spreads along the cells corresponding to precipitate depleted sites of the chemical processor. When the destination-site is excited, waves travel on the lattice and update the orientations of the pointers. Thus, the automaton constructs a spanning tree, made of pointers, that guides a traveler towards the destination point. Thus, the automaton medium generates an attractive field and combination of this attractive field with the repulsive field, generated by the chemical processor, provides us with a solution of the collision-free path problem
International Nuclear Information System (INIS)
Yamamoto, K.; Hashizume, K.; Wada, T.; Ohta, M.; Suda, T.; Nishimura, T.; Fujimoto, M. Y.; Kato, K.; Aikawa, M.
2006-01-01
We propose a Monte Carlo method to study the reaction paths in nucleosynthesis during stellar evolution. Determination of reaction paths is important to obtain the physical picture of stellar evolution. The combination of network calculation and our method gives us a better understanding of physical picture. We apply our method to the case of the helium shell flash model in the extremely metal poor star
Construction of a path of MHD equilibrium solutions by an iterative method
International Nuclear Information System (INIS)
Kikuchi, Fumio.
1979-09-01
This paper shows a constructive proof of the existence of a path of solutions to a nonlinear eigenvalue problem expressed by -Δu = lambda u + in Ω, and u = -1 on deltaΩ where Ω is a two-dimensional domain with a boundary deltaΩ. This problem arises from the ideal MHD equilibria in tori. The existence proof is based on the principle of contraction mappings, which is widely employed in nonlinear problems such as those associated with bifurcation phenomena. Some comments are also given on the application of the present iteration techniques to numerical method. (author)
Multi-scale path planning for reduced environmental impact of aviation
Campbell, Scot Edward
A future air traffic management system capable of rerouting aircraft trajectories in real-time in response to transient and evolving events would result in increased aircraft efficiency, better utilization of the airspace, and decreased environmental impact. Mixed-integer linear programming (MILP) is used within a receding horizon framework to form aircraft trajectories which mitigate persistent contrail formation, avoid areas of convective weather, and seek a minimum fuel solution. Areas conducive to persistent contrail formation and areas of convective weather occur at disparate temporal and spatial scales, and thereby require the receding horizon controller to be adaptable to multi-scale events. In response, a novel adaptable receding horizon controller was developed to account for multi-scale disturbances, as well as generate trajectories using both a penalty function approach for obstacle penetration and hard obstacle avoidance constraints. A realistic aircraft fuel burn model based on aircraft data and engine performance simulations is used to form the cost function in the MILP optimization. The performance of the receding horizon algorithm is tested through simulation. A scalability analysis of the algorithm is conducted to ensure the tractability of the path planner. The adaptable receding horizon algorithm is shown to successfully negotiate multi-scale environments with performance exceeding static receding horizon solutions. The path planner is applied to realistic scenarios involving real atmospheric data. A single flight example for persistent contrail mitigation shows that fuel burn increases 1.48% when approximately 50% of persistent contrails are avoided, but 6.19% when 100% of persistent contrails are avoided. Persistent contrail mitigating trajectories are generated for multiple days of data, and the research shows that 58% of persistent contrails are avoided with a 0.48% increase in fuel consumption when averaged over a year.
Econometric methods for energy planning and policy
International Nuclear Information System (INIS)
Bhatia, R.
1989-01-01
The paper reports on the following: econometric models are often used in energy planning and policy for energy demand analysis at the macro and sectorial levels; estimating income and price elasticities of demand which can be used to analyze effects of growth and price changes; assessing interfuel and interfactor substitutions; forecasting energy demand; and estimating cost functions and forecasting supply. The illustrations in the paper are confined to single equation systems estimated by least squares method as used in analyzing changes in aggregate energy demand and sectorial energy demand. The use of econometric methods is illustrated with the help of empirical studies from a few countries (notably India). 2 tabs
Using Multiple Methods to teach ASTR 101 students the Path of the Sun and Shadows
D'Cruz, Noella L.
2015-01-01
It seems surprising that non-science major introductory astronomy students find the daily path of the Sun and shadows created by the Sun challenging to learn even though both can be easily observed (provided students do not look directly at the Sun). In order for our students to master the relevant concepts, we have usually used lecture, a lecture tutorial (from Prather, et al.) followed by think-pair-share questions, a planetarium presentation and an animation from the Nebraska Astronomy Applet Project to teach these topics. We cover these topics in a lecture-only, one semester introductory astronomy course at Joliet Junior College. Feedback from our Spring 2014 students indicated that the planetarium presentation was the most helpful in learning the path of the Sun while none of the four teaching methods was helpful when learning about shadows cast by the Sun. Our students did not find the lecture tutorial to be much help even though such tutorials have been proven to promote deep conceptual change. In Fall 2014, we continued to use these four methods, but we modified how we teach both topics so our students could gain more from the tutorial. We hoped our modifications would cause students to have a better overall grasp of the concepts. After our regular lecture, we gave a shorter than usual planetarium presentation on the path of the Sun and we asked students to work through a shadow activity from Project Astro materials. Then students completed the lecture tutorial and some think-pair-share questions. After this, we asked students to predict the Sun's path on certain days of the year and we used the planetarium projector to show them how well their predictions matched up. We ended our coverage of these topics by asking students a few more think-pair-share questions. In our poster, we will present our approach to teaching these topics in Fall 2014, how our Fall 2014 students feel about our teaching strategies and how they fared on related test questions.
Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications
Abdelkader, Mohamed
2014-05-01
Floods are the most common natural disasters, causing thousands of casualties every year in the world. In particular, flash flood events are particularly deadly because of the short timescales on which they occur. Unmanned air vehicles equipped with mobile microsensors could be capable of sensing flash floods in real time, saving lives and greatly improving the efficiency of the emergency response. However, of the main issues arising with sensing floods is the difficulty of planning the path of the sensing agents in advance so as to obtain meaningful data as fast as possible. In this particle, we present a fast numerical scheme to quickly compute the trajectories of a set of UAVs in order to maximize the accuracy of model parameter estimation over a time horizon. Simulation results are presented, a preliminary testbed is briefly described, and future research directions and problems are discussed. © 2014 IEEE.
International Nuclear Information System (INIS)
Yim, Ho Bin; Park, Jae Min; Lee, Chang Gyun; Huh, Jae Young; Lee, Gyu Cheon
2017-01-01
The concept of Common-Cause Failure (CCF) first appeared in the aerospace industry several decades ago, and nuclear power industry actively adopted the concept to the nuclear power plant (NPP) system analysis after the TMI accident. Since digital Instrumentation and Control (I and C) systems were applied to the NPP design, the CCF issues once again drew attention from the nuclear power industry in 90's. Identification of CCF has not been considered as a challenging issue because of its simplicity. However, as the systems become more complex and interconnected, demands are increasing to analyze CCF in more detail, for example, CCF with multiple initiating events or supporting situation awareness of the operation crew. The newly suggested CCF propagation paths identification method, CCF-SIREn, is expected to resolve path identification issue more practically and efficiently. CCF-SIREn uses general diagrams so that the compatibility and usability can be hugely increased. It also offers up-to-date CCF information with a least analysis effort whenever the ordinary NPP design change processes are made. A back-propagation technique is still under development to find out root-causes from the suspiciously responding signals, alarms and components. The probabilistic approach is also under consideration to prioritize defined CCF.
Logistic Regression and Path Analysis Method to Analyze Factors influencing Students’ Achievement
Noeryanti, N.; Suryowati, K.; Setyawan, Y.; Aulia, R. R.
2018-04-01
Students' academic achievement cannot be separated from the influence of two factors namely internal and external factors. The first factors of the student (internal factors) consist of intelligence (X1), health (X2), interest (X3), and motivation of students (X4). The external factors consist of family environment (X5), school environment (X6), and society environment (X7). The objects of this research are eighth grade students of the school year 2016/2017 at SMPN 1 Jiwan Madiun sampled by using simple random sampling. Primary data are obtained by distributing questionnaires. The method used in this study is binary logistic regression analysis that aims to identify internal and external factors that affect student’s achievement and how the trends of them. Path Analysis was used to determine the factors that influence directly, indirectly or totally on student’s achievement. Based on the results of binary logistic regression, variables that affect student’s achievement are interest and motivation. And based on the results obtained by path analysis, factors that have a direct impact on student’s achievement are students’ interest (59%) and students’ motivation (27%). While the factors that have indirect influences on students’ achievement, are family environment (97%) and school environment (37).
A method of signal transmission path analysis for multivariate random processes
International Nuclear Information System (INIS)
Oguma, Ritsuo
1984-04-01
A method for noise analysis called ''STP (signal transmission path) analysis'' is presentd as a tool to identify noise sources and their propagation paths in multivariate random proceses. Basic idea of the analysis is to identify, via time series analysis, effective network for the signal power transmission among variables in the system and to make use of its information to the noise analysis. In the present paper, we accomplish this through two steps of signal processings; first, we estimate, using noise power contribution analysis, variables which have large contribution to the power spectrum of interest, and then evaluate the STPs for each pair of variables to identify STPs which play significant role for the generated noise to transmit to the variable under evaluation. The latter part of the analysis is executed through comparison of partial coherence function and newly introduced partial noise power contribution function. This paper presents the procedure of the STP analysis and demonstrates, using simulation data as well as Borssele PWR noise data, its effectiveness for investigation of noise generation and propagation mechanisms. (author)
International Nuclear Information System (INIS)
Shimizu, T; Yamaguchi, T; Ai, H; Katagiri, Y; Kawase, J
2014-01-01
This study aims to seek method on travel path and transport mode identification in case positions of travellers are detected in low frequency. The survey in which ten test travellers with GPS logger move around Tokyo city centre was conducted. Travel path datasets of each traveller in which position data are selected every five minutes are processed from our survey data. Coverage index analysis based on the buffer analysis using GIS software is conducted. The condition and possibility to identify a path and a transport mode used are discussed
A Method for Automated Planning of FTTH Access Network Infrastructures
DEFF Research Database (Denmark)
Riaz, Muhammad Tahir; Pedersen, Jens Myrup; Madsen, Ole Brun
2005-01-01
In this paper a method for automated planning of Fiber to the Home (FTTH) access networks is proposed. We introduced a systematic approach for planning access network infrastructure. The GIS data and a set of algorithms were employed to make the planning process more automatic. The method explains...... method. The method, however, does not fully automate the planning but make the planning process significantly fast. The results and discussion are presented and conclusion is given in the end....
Trtanj, J.; Balbus, J. M.; Brown, C.; Shimamoto, M. M.
2017-12-01
The transmission and spread of infectious diseases, especially vector-borne diseases, water-borne diseases and zoonosis, are influenced by short and long-term climate factors, in conjunction with numerous other drivers. Public health interventions, including vaccination, vector control programs, and outreach campaigns could be made more effective if the geographic range and timing of increased disease risk could be more accurately targeted, and high risk areas and populations identified. While some progress has been made in predictive modeling for transmission of these diseases using climate and weather data as inputs, they often still start after the first case appears, the skill of those models remains limited, and their use by public health officials infrequent. And further, predictions with lead times of weeks, months or seasons are even rarer, yet the value of acting early holds the potential to save more lives, reduce cost and enhance both economic and national security. Information on high-risk populations and areas for infectious diseases is also potentially useful for the federal defense and intelligence communities as well. The US Global Change Research Program, through its Interagency Group on Climate Change and Human Health (CCHHG), has put together a science plan that pulls together federal scientists and programs working on predictive modeling of climate-sensitive diseases, and draws on academic and other partners. Through a series of webinars and an in-person workshop, the CCHHG has convened key federal and academic stakeholders to assess the current state of science and develop an integrated science plan to identify data and observation systems needs as well as a targeted research agenda for enhancing predictive modeling. This presentation will summarize the findings from this effort and engage AGU members on plans and next steps to improve predictive modeling for infectious diseases.
Tracer diffusion in an ordered alloy: application of the path probability and Monte Carlo methods
International Nuclear Information System (INIS)
Sato, Hiroshi; Akbar, S.A.; Murch, G.E.
1984-01-01
Tracer diffusion technique has been extensively utilized to investigate diffusion phenomena and has contributed a great deal to the understanding of the phenomena. However, except for self diffusion and impurity diffusion, the meaning of tracer diffusion is not yet satisfactorily understood. Here we try to extend the understanding to concentrated alloys. Our major interest here is directed towards understanding the physical factors which control diffusion through the comparison of results obtained by the Path Probability Method (PPM) and those by the Monte Carlo simulation method (MCSM). Both the PPM and the MCSM are basically in the same category of statistical mechanical approaches applicable to random processes. The advantage of the Path Probability method in dealing with phenomena which occur in crystalline systems has been well established. However, the approximations which are inevitably introduced to make the analytical treatment tractable, although their meaning may be well-established in equilibrium statistical mechanics, sometimes introduce unwarranted consequences the origin of which is often hard to trace. On the other hand, the MCSM which can be carried out in a parallel fashion to the PPM provides, with care, numerically exact results. Thus a side-by-side comparison can give insight into the effect of approximations in the PPM. It was found that in the pair approximation of the CVM, the distribution in the completely random state is regarded as homogeneous (without fluctuations), and hence, the fluctuation in distribution is not well represented in the PPM. These examples thus show clearly how the comparison of analytical results with carefully carried out calculations by the MCSM guides the progress of theoretical treatments and gives insights into the mechanism of diffusion
International Nuclear Information System (INIS)
Bertschinger, E.
1987-01-01
Path integrals may be used to describe the statistical properties of a random field such as the primordial density perturbation field. In this framework the probability distribution is given for a Gaussian random field subjected to constraints such as the presence of a protovoid or supercluster at a specific location in the initial conditions. An algorithm has been constructed for generating samples of a constrained Gaussian random field on a lattice using Monte Carlo techniques. The method makes possible a systematic study of the density field around peaks or other constrained regions in the biased galaxy formation scenario, and it is effective for generating initial conditions for N-body simulations with rare objects in the computational volume. 21 references
Nurulain, S.; Manap, H.
2017-09-01
This paper describes about a visible light transmission (VLT) measurement system using an optical method. VLT rate plays an important role in order to determine the visibility of a medium. Current instrument to measure visibility has a gigantic set up, costly and mostly fails to function at low light condition environment. This research focuses on the development of a VLT measurement system using a simple experimental set-up and at a low cost. An open path optical technique is used to measure a few series of known-VLT thin film that act as sample of different visibilities. This measurement system is able to measure the light intensity of these thin films within the visible light region (535-540 nm) and the response time is less than 1s.
Reliability and risk analysis methods research plan
International Nuclear Information System (INIS)
1984-10-01
This document presents a plan for reliability and risk analysis methods research to be performed mainly by the Reactor Risk Branch (RRB), Division of Risk Analysis and Operations (DRAO), Office of Nuclear Regulatory Research. It includes those activities of other DRAO branches which are very closely related to those of the RRB. Related or interfacing programs of other divisions, offices and organizations are merely indicated. The primary use of this document is envisioned as an NRC working document, covering about a 3-year period, to foster better coordination in reliability and risk analysis methods development between the offices of Nuclear Regulatory Research and Nuclear Reactor Regulation. It will also serve as an information source for contractors and others to more clearly understand the objectives, needs, programmatic activities and interfaces together with the overall logical structure of the program
DEFF Research Database (Denmark)
Hameed, Ibrahim; la Cour-Harbo, Anders; Osen, O. L.
2016-01-01
Automated path planning is important for the automation and optimization of field operations. It can provide the waypoints required for guidance, navigation and control of agricultural robots and autonomous tractors throughout the execution of these field operations. In agriculture, field...... operations are usually repeated in the same field and from year to year as well, therefore, it should be carried out in a manner that minimizes environmental impact and cost taking into account the topographic land features. Current 3D terrain field coverage path planning algorithms are simply 2D coverage...
Path durations for use in the stochastic‐method simulation of ground motions
Boore, David M.; Thompson, Eric M.
2014-01-01
The stochastic method of ground‐motion simulation assumes that the energy in a target spectrum is spread over a duration DT. DT is generally decomposed into the duration due to source effects (DS) and to path effects (DP). For the most commonly used source, seismological theory directly relates DS to the source corner frequency, accounting for the magnitude scaling of DT. In contrast, DP is related to propagation effects that are more difficult to represent by analytic equations based on the physics of the process. We are primarily motivated to revisit DT because the function currently employed by many implementations of the stochastic method for active tectonic regions underpredicts observed durations, leading to an overprediction of ground motions for a given target spectrum. Further, there is some inconsistency in the literature regarding which empirical duration corresponds to DT. Thus, we begin by clarifying the relationship between empirical durations and DT as used in the first author’s implementation of the stochastic method, and then we develop a new DP relationship. The new DP function gives significantly longer durations than in the previous DP function, but the relative contribution of DP to DT still diminishes with increasing magnitude. Thus, this correction is more important for small events or subfaults of larger events modeled with the stochastic finite‐fault method.
3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces
DEFF Research Database (Denmark)
Schøler, Flemming
, this planner uses a more analytical approach since it relies on combinations of optimal curves. Both planners operate on an explicit description of the configuration space in a work space containing 3D obstacles. A method was developed that generates convex configuration space obstacles from any point clouds...
Standard Test Methods for Insulation Integrity and Ground Path Continuity of Photovoltaic Modules
American Society for Testing and Materials. Philadelphia
2000-01-01
1.1 These test methods cover procedures for (1) testing for current leakage between the electrical circuit of a photovoltaic module and its external components while a user-specified voltage is applied and (2) for testing for possible module insulation breakdown (dielectric voltage withstand test). 1.2 A procedure is described for measuring the insulation resistance between the electrical circuit of a photovoltaic module and its external components (insulation resistance test). 1.3 A procedure is provided for verifying that electrical continuity exists between the exposed external conductive surfaces of the module, such as the frame, structural members, or edge closures, and its grounding point (ground path continuity test). 1.4 This test method does not establish pass or fail levels. The determination of acceptable or unacceptable results is beyond the scope of this test method. 1.5 There is no similar or equivalent ISO standard. This standard does not purport to address all of the safety concerns, if a...
Automatic path-planning for a multilink articulated boom within the torus of a fusion reactor
International Nuclear Information System (INIS)
Smidt, D.
1986-08-01
For in-torus maintenance of fusion machines a manipulator is conveyed to the working area by a multilink-transporter, also called 'articulated boom'. Systems of this type have in general four to five links and move in the midplane of the torus. They are kinematically redundant and have a very restricted working space. In this paper automatic methods for the collision free approach of any position of the final joint within the reach of the transporter are presented, including insertion and removal. By automatic teach-in with the CAD-simulation a table of safe configurations can be generated and supplemented by a fine-positioning algorithm. (orig.) [de
Energy Technology Data Exchange (ETDEWEB)
Etim, E; Basili, C [Rome Univ. (Italy). Ist. di Matematica
1978-08-21
The lagrangian in the path integral solution of the master equation of a stationary Markov process is derived by application of the Ehrenfest-type theorem of quantum mechanics and the Cauchy method of finding inverse functions. Applied to the non-linear Fokker-Planck equation the authors reproduce the result obtained by integrating over Fourier series coefficients and by other methods.
Energy Technology Data Exchange (ETDEWEB)
Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)
1999-04-01
This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)
Directory of Open Access Journals (Sweden)
JingRui Zhang
2015-03-01
Full Text Available In this article, we focus on safe and effective completion of a rendezvous and docking task by looking at planning approaches and control with fuel-optimal rendezvous for a target spacecraft running on a near-circular reference orbit. A variety of existent practical path constraints are considered, including the constraints of field of view, impulses, and passive safety. A rendezvous approach is calculated by using a hybrid genetic algorithm with those constraints. Furthermore, a control method of trajectory tracking is adopted to overcome the external disturbances. Based on Clohessy–Wiltshire equations, we first construct the mathematical model of optimal planning approaches of multiple impulses with path constraints. Second, we introduce the principle of hybrid genetic algorithm with both stronger global searching ability and local searching ability. We additionally explain the application of this algorithm in the problem of trajectory planning. Then, we give three-impulse simulation examples to acquire an optimal rendezvous trajectory with the path constraints presented in this article. The effectiveness and applicability of the tracking control method are verified with the optimal trajectory above as control objective through the numerical simulation.
Method of radiation therapy treatment planning
International Nuclear Information System (INIS)
Hodes, L.
1976-01-01
A technique of radiation therapy treatment planning designed to allow the assignment of dosage limits directly to chosen points in the computer-displayed cross-section of the patient. These dosage limits are used as constraints in a linear programming attempt to solve for beam strengths, minimizing integral dosage. If a feasible plan exists, the optimized plan will be displayed for approval as an isodose pattern. If there is no feasible plan, the operator/therapist can designate some of the point dosage constraints as ''relaxed.'' Linear programming will then optimize for minimum deviation at the relaxed points. This process can be iterated and new points selected until an acceptable plan is realized. In this manner the plan is optimized for uniformity as well as overall low dosage. 6 claims, 6 drawing figures
International Nuclear Information System (INIS)
He, H.-Q.; Wan, W.
2012-01-01
The parallel mean free path of solar energetic particles (SEPs), which is determined by physical properties of SEPs as well as those of solar wind, is a very important parameter in space physics to study the transport of charged energetic particles in the heliosphere, especially for space weather forecasting. In space weather practice, it is necessary to find a quick approach to obtain the parallel mean free path of SEPs for a solar event. In addition, the adiabatic focusing effect caused by a spatially varying mean magnetic field in the solar system is important to the transport processes of SEPs. Recently, Shalchi presented an analytical description of the parallel diffusion coefficient with adiabatic focusing. Based on Shalchi's results, in this paper we provide a direct analytical formula as a function of parameters concerning the physical properties of SEPs and solar wind to directly and quickly determine the parallel mean free path of SEPs with adiabatic focusing. Since all of the quantities in the analytical formula can be directly observed by spacecraft, this direct method would be a very useful tool in space weather research. As applications of the direct method, we investigate the inherent relations between the parallel mean free path and various parameters concerning physical properties of SEPs and solar wind. Comparisons of parallel mean free paths with and without adiabatic focusing are also presented.
Statistical methods for the planning of inspections
International Nuclear Information System (INIS)
Hough, C.G.; Beetle, T.M.
1976-01-01
Inspection plans are designed to detect diversions of M kilograms of nuclear material with a high degree of confidence. Attribute sample plans were first developed and applied at a zero-energy fast reactor in the United Kingdom in co-operation with the Agency. Battelle-Northwest in the United States of America proposed a variables sample plan based on decision theory. The Karlsruhe Research Center in the Federal Republic of Germany developed the strategic points concept and sample plans based on game theory considerations. All these approaches were combined into a common approach which is summarized in this report. (author)
Konduri, Aditya
Many natural and engineering systems are governed by nonlinear partial differential equations (PDEs) which result in a multiscale phenomena, e.g. turbulent flows. Numerical simulations of these problems are computationally very expensive and demand for extreme levels of parallelism. At realistic conditions, simulations are being carried out on massively parallel computers with hundreds of thousands of processing elements (PEs). It has been observed that communication between PEs as well as their synchronization at these extreme scales take up a significant portion of the total simulation time and result in poor scalability of codes. This issue is likely to pose a bottleneck in scalability of codes on future Exascale systems. In this work, we propose an asynchronous computing algorithm based on widely used finite difference methods to solve PDEs in which synchronization between PEs due to communication is relaxed at a mathematical level. We show that while stability is conserved when schemes are used asynchronously, accuracy is greatly degraded. Since message arrivals at PEs are random processes, so is the behavior of the error. We propose a new statistical framework in which we show that average errors drop always to first-order regardless of the original scheme. We propose new asynchrony-tolerant schemes that maintain accuracy when synchronization is relaxed. The quality of the solution is shown to depend, not only on the physical phenomena and numerical schemes, but also on the characteristics of the computing machine. A novel algorithm using remote memory access communications has been developed to demonstrate excellent scalability of the method for large-scale computing. Finally, we present a path to extend this method in solving complex multi-scale problems on Exascale machines.
A general parallelization strategy for random path based geostatistical simulation methods
Mariethoz, Grégoire
2010-07-01
The size of simulation grids used for numerical models has increased by many orders of magnitude in the past years, and this trend is likely to continue. Efficient pixel-based geostatistical simulation algorithms have been developed, but for very large grids and complex spatial models, the computational burden remains heavy. As cluster computers become widely available, using parallel strategies is a natural step for increasing the usable grid size and the complexity of the models. These strategies must profit from of the possibilities offered by machines with a large number of processors. On such machines, the bottleneck is often the communication time between processors. We present a strategy distributing grid nodes among all available processors while minimizing communication and latency times. It consists in centralizing the simulation on a master processor that calls other slave processors as if they were functions simulating one node every time. The key is to decouple the sending and the receiving operations to avoid synchronization. Centralization allows having a conflict management system ensuring that nodes being simulated simultaneously do not interfere in terms of neighborhood. The strategy is computationally efficient and is versatile enough to be applicable to all random path based simulation methods.
Directory of Open Access Journals (Sweden)
Esra Esim Büyükbayrak
2010-09-01
Full Text Available Objective: To evaluate the effect of family planning counseling on the changeover of the family planning method and to determine level of knowledge of participants on family planning methods and their attitude towards changeover of the method after counseling. Setting: Kartal education and reseach hospital obstetrics and gynecology clinic, department of family planning. Patients. 500 consecutive women applying to family planning department for any reason. Interventions: Effective family planning counseling service was given to each participant then a questioner containin 14 questions was applied with face to face technique. Main Outcome Measures: Attitude towards family planning counseling, comparison of the preference of family planning method before and after family planning counseling service and influential sociodemographic parameters on method choise were studied. Results: 45,2% of the participants were not taken family planning counseling service before. knowledge on family planning methods was sufficient in 25,2% of the participants, insufficient in 56,8% of the participants and 18% of the participants reported that they have no idea. 57,8% of the participants change mind about family planning counseling. 52,2% of the participants changeover perious method after counseling. 99,4% of the participants said that family planning counseling service should be given to every women. Preference of family planning method before and after family planning counseling service was statistically significantly different (p<0.01. Educational level, income and age were found to be influential sociodemographic factors for method preference. Conclusions: Effective family planning counseling service is found to have favorable effect on attitude and knowledge about family planning methods. Modern method usage increase as educational level and income of the participants increase.
Inspection Methods in Programming: Cliches and Plans.
1987-12-01
part of the definition of the data plan. 44 THE PLAN (ALCULUS old:indexed-sequence I base: index: *sequence integer bump: oneplus update: new- term A...select-in dexred- sele¢ t-in dexed- sequence- base sequence-index,!’ sSdbump:. . oneplus ’,U a ," .update: " alter-term make: alter-indexed- sequence-index
Investigation of real tissue water equivalent path lengths using an efficient dose extinction method
Zhang, Rongxiao; Baer, Esther; Jee, Kyung-Wook; Sharp, Gregory C.; Flanz, Jay; Lu, Hsiao-Ming
2017-07-01
For proton therapy, an accurate conversion of CT HU to relative stopping power (RSP) is essential. Validation of the conversion based on real tissue samples is more direct than the current practice solely based on tissue substitutes and can potentially address variations over the population. Based on a novel dose extinction method, we measured water equivalent path lengths (WEPL) on animal tissue samples to evaluate the accuracy of CT HU to RSP conversion and potential variations over a population. A broad proton beam delivered a spread out Bragg peak to the samples sandwiched between a water tank and a 2D ion-chamber detector. WEPLs of the samples were determined from the transmission dose profiles measured as a function of the water level in the tank. Tissue substitute inserts and Lucite blocks with known WEPLs were used to validate the accuracy. A large number of real tissue samples were measured. Variations of WEPL over different batches of tissue samples were also investigated. The measured WEPLs were compared with those computed from CT scans with the Stoichiometric calibration method. WEPLs were determined within ±0.5% percentage deviation (% std/mean) and ±0.5% error for most of the tissue surrogate inserts and the calibration blocks. For biological tissue samples, percentage deviations were within ±0.3%. No considerable difference (extinction measurement took around 5 min to produce ~1000 WEPL values to be compared with calculations. This dose extinction system measures WEPL efficiently and accurately, which allows the validation of CT HU to RSP conversions based on the WEPL measured for a large number of samples and real tissues.
Simons, Jacob V., Jr.
2017-01-01
The critical path method/program evaluation and review technique method of project scheduling is based on the importance of managing a project's critical path(s). Although a critical path is the longest path through a network, its location in large projects is facilitated by the computation of activity slack. However, logical fallacies in…
Directory of Open Access Journals (Sweden)
Peter Juhasz
2017-03-01
Full Text Available While risk management gained popularity during the last decades even some of the basic risk types are still far out of focus. One of these is path dependency that refers to the uncertainty of how we reach a certain level of total performance over time. While decision makers are careful in accessing how their position will look like the end of certain periods, little attention is given how they will get there through the period. The uncertainty of how a process will develop across a shorter period of time is often “eliminated” by simply choosing a longer planning time interval, what makes path dependency is one of the most often overlooked business risk types. After reviewing the origin of the problem we propose and compare seven risk measures to access path. Traditional risk measures like standard deviation of sub period cash flows fail to capture this risk type. We conclude that in most cases considering the distribution of the expected cash flow effect caused by the path dependency may offer the best method, but we may need to use several measures at the same time to include all the optimisation limits of the given firm
Path coupling and aggregate path coupling
Kovchegov, Yevgeniy
2018-01-01
This book describes and characterizes an extension to the classical path coupling method applied to statistical mechanical models, referred to as aggregate path coupling. In conjunction with large deviations estimates, the aggregate path coupling method is used to prove rapid mixing of Glauber dynamics for a large class of statistical mechanical models, including models that exhibit discontinuous phase transitions which have traditionally been more difficult to analyze rigorously. The book shows how the parameter regions for rapid mixing for several classes of statistical mechanical models are derived using the aggregate path coupling method.
Path integral methods for the dynamics of stochastic and disordered systems
DEFF Research Database (Denmark)
Hertz, John A.; Roudi, Yasser; Sollich, Peter
2017-01-01
We review some of the techniques used to study the dynamics of disordered systems subject to both quenched and fast (thermal) noise. Starting from the Martin–Siggia–Rose/Janssen–De Dominicis–Peliti path integral formalism for a single variable stochastic dynamics, we provide a pedagogical survey...
The Grid Method in Estimating the Path Length of a Moving Animal
Reddingius, J.; Schilstra, A.J.; Thomas, G.
1983-01-01
(1) The length of a path covered by a moving animal may be estimated by counting the number of times the animal crosses any line of a grid and applying a conversion factor. (2) Some factors are based on the expected distance through a randomly crossed square; another on the expected crossings of a
Directory of Open Access Journals (Sweden)
R Goudarzi
2018-03-01
Full Text Available Introduction The demand of pre-determined optimal coverage paths in agricultural environments have been increased due to the growing application of field robots and autonomous field machines. Also coverage path planning problem (CPP has been extensively studied in robotics and many algorithms have been provided in many topics, but differences and limitations in agriculture lead to several different heuristic and modified adaptive methods from robotics. In this paper, a modified and enhanced version of currently used decomposition algorithm in robotics (boustrophedon cellular decomposition has been presented as a main part of path planning systems of agricultural vehicles. Developed algorithm is based on the parallelization of the edges of the polygon representing the environment to satisfy the requirements of the problem as far as possible. This idea is based on "minimum facing to the cost making condition" in turn, it is derived from encounter concept as a basis of cost making factors. Materials and Methods Generally, a line termed as a slice in boustrophedon cellular decomposition (BCD, sweeps an area in a pre-determined direction and decomposes the area only at critical points (where two segments can be extended to top and bottom of the point. Furthermore, sweep line direction does not change until the decomposition finish. To implement the BCD for parallelization method, two modifications were applied in order to provide a modified version of the boustrophedon cellular decomposition (M-BCD. In the first modification, the longest edge (base edge is targeted, and sweep line direction is set in line with the base edge direction (sweep direction is set perpendicular to the sweep line direction. Then Sweep line moves through the environment and stops at the first (nearest critical point. Next sweep direction will be the same as previous, If the length of those polygon's newly added edges, during the decomposition, are less than or equal to the
Improving of Business Planning Using the Method of Fuzzy Numbers
Directory of Open Access Journals (Sweden)
Iryna Kosteteska
2016-03-01
Full Text Available Purpose: Summarize the experience of using modern methods in the business plan with the application of economic and mathematical modeling. Methodology: Theoretical and methodological basis of the study is the basic principles of economic theory, agricultural economics and scientific research of leading home and foreign scholars on the theory of planning. Originality: This further justifies business planning processes in agriculture from the standpoint of raising economic protection of farmers. The methodology for assessing farm income for planned indicators through the application of fuzzy numbers method in business planning is improved.
视觉移动机器人的模糊智能路径规划%Intelligent Path Planning of Vision- Based Mobile Robot with Fuzzy Approach
Institute of Scientific and Technical Information of China (English)
张一巍; 黄源清
2002-01-01
The path planning problem for intelligent mobile robots inwbves two main problems: the represent of task emionment including obstacles and the development of a strategy to determine a collision - free route. In this paper, new approaches have been developed to solve these problems .The first problem was solve using the fuzzy system approach, which represent obstacles with a circle. The other problem was overcome throughthe use of a strategy selector, which chooses the best stategy between velocity control strategy and direction control strategy.
A geometrically based method for automated radiosurgery planning
International Nuclear Information System (INIS)
Wagner, Thomas H.; Yi Taeil; Meeks, Sanford L.; Bova, Francis J.; Brechner, Beverly L.; Chen Yunmei; Buatti, John M.; Friedman, William A.; Foote, Kelly D.; Bouchet, Lionel G.
2000-01-01
Purpose: A geometrically based method of multiple isocenter linear accelerator radiosurgery treatment planning optimization was developed, based on a target's solid shape. Methods and Materials: Our method uses an edge detection process to determine the optimal sphere packing arrangement with which to cover the planning target. The sphere packing arrangement is converted into a radiosurgery treatment plan by substituting the isocenter locations and collimator sizes for the spheres. Results: This method is demonstrated on a set of 5 irregularly shaped phantom targets, as well as a set of 10 clinical example cases ranging from simple to very complex in planning difficulty. Using a prototype implementation of the method and standard dosimetric radiosurgery treatment planning tools, feasible treatment plans were developed for each target. The treatment plans generated for the phantom targets showed excellent dose conformity and acceptable dose homogeneity within the target volume. The algorithm was able to generate a radiosurgery plan conforming to the Radiation Therapy Oncology Group (RTOG) guidelines on radiosurgery for every clinical and phantom target examined. Conclusions: This automated planning method can serve as a valuable tool to assist treatment planners in rapidly and consistently designing conformal multiple isocenter radiosurgery treatment plans.
Xin, Fengxin; Guo, Jinjia; Sun, Jiayun; Li, Jie; Zhao, Chaofang; Liu, Zhishen
2017-06-01
An open-path atmospheric CO2 measurement system was built based on tunable diode laser absorption spectroscopy (TDLAS). The CO2 absorption line near 2 μm was selected, measuring the atmospheric CO2 with direct absorption spectroscopy and carrying on the comparative experiment with multipoint measuring instruments of the open-path. The detection limit of the TDLAS system is 1.94×10-6. The calibration experiment of three AZ-7752 handheld CO2 measuring instruments was carried out with the Los Gatos Research gas analyzer. The consistency of the results was good, and the handheld instrument could be used in the TDLAS system after numerical calibration. With the contrast of three AZ-7752 and their averages, the correlation coefficients are 0.8828, 0.9004, 0.9079, and 0.9393 respectively, which shows that the open-path TDLAS has the best correlation with the average of three AZ-7752 and measures the concentration of atmospheric CO2 accurately. Multipoint measurement provides a convenient comparative method for open-path TDLAS.
Huang, Guo-Jiao; Bai, Chao-Ying; Greenhalgh, Stewart
2013-09-01
The traditional grid/cell-based wavefront expansion algorithms, such as the shortest path algorithm, can only find the first arrivals or multiply reflected (or mode converted) waves transmitted from subsurface interfaces, but cannot calculate the other later reflections/conversions having a minimax time path. In order to overcome the above limitations, we introduce the concept of a stationary minimax time path of Fermat's Principle into the multistage irregular shortest path method. Here we extend it from Cartesian coordinates for a flat earth model to global ray tracing of multiple phases in a 3-D complex spherical earth model. The ray tracing results for 49 different kinds of crustal, mantle and core phases show that the maximum absolute traveltime error is less than 0.12 s and the average absolute traveltime error is within 0.09 s when compared with the AK135 theoretical traveltime tables for a 1-D reference model. Numerical tests in terms of computational accuracy and CPU time consumption indicate that the new scheme is an accurate, efficient and a practical way to perform 3-D multiphase arrival tracking in regional or global traveltime tomography.
Picking Robot Arm Trajectory Planning Method
Directory of Open Access Journals (Sweden)
Zhang Zhiyong
2014-01-01
Full Text Available The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.
Directory of Open Access Journals (Sweden)
Shanshan He
2015-10-01
Full Text Available Piecewise linear (G01-based tool paths generated by CAM systems lack G1 and G2 continuity. The discontinuity causes vibration and unnecessary hesitation during machining. To ensure efficient high-speed machining, a method to improve the continuity of the tool paths is required, such as B-spline fitting that approximates G01 paths with B-spline curves. Conventional B-spline fitting approaches cannot be directly used for tool path B-spline fitting, because they have shortages such as numerical instability, lack of chord error constraint, and lack of assurance of a usable result. Progressive and Iterative Approximation for Least Squares (LSPIA is an efficient method for data fitting that solves the numerical instability problem. However, it does not consider chord errors and needs more work to ensure ironclad results for commercial applications. In this paper, we use LSPIA method incorporating Energy term (ELSPIA to avoid the numerical instability, and lower chord errors by using stretching energy term. We implement several algorithm improvements, including (1 an improved technique for initial control point determination over Dominant Point Method, (2 an algorithm that updates foot point parameters as needed, (3 analysis of the degrees of freedom of control points to insert new control points only when needed, (4 chord error refinement using a similar ELSPIA method with the above enhancements. The proposed approach can generate a shape-preserving B-spline curve. Experiments with data analysis and machining tests are presented for verification of quality and efficiency. Comparisons with other known solutions are included to evaluate the worthiness of the proposed solution.
Path integral methods for the dynamics of stochastic and disordered systems
International Nuclear Information System (INIS)
Hertz, John A; Roudi, Yasser; Sollich, Peter
2017-01-01
We review some of the techniques used to study the dynamics of disordered systems subject to both quenched and fast (thermal) noise. Starting from the Martin–Siggia–Rose/Janssen–De Dominicis–Peliti path integral formalism for a single variable stochastic dynamics, we provide a pedagogical survey of the perturbative, i.e. diagrammatic, approach to dynamics and how this formalism can be used for studying soft spin models. We review the supersymmetric formulation of the Langevin dynamics of these models and discuss the physical implications of the supersymmetry. We also describe the key steps involved in studying the disorder-averaged dynamics. Finally, we discuss the path integral approach for the case of hard Ising spins and review some recent developments in the dynamics of such kinetic Ising models. (topical review)
Land management planning: a method of evaluating alternatives
Andres Weintraub; Richard Adams; Linda Yellin
1982-01-01
A method is described for developing and evaluating alternatives in land management planning. A structured set of 15 steps provides a framework for such an evaluation. when multiple objectives and uncertainty must be considered in the planning process. The method is consistent with other processes used in organizational evaluation, and allows for the interaction of...
Mark Setterfield
2015-01-01
Path dependency is defined, and three different specific concepts of path dependency – cumulative causation, lock in, and hysteresis – are analyzed. The relationships between path dependency and equilibrium, and path dependency and fundamental uncertainty are also discussed. Finally, a typology of dynamical systems is developed to clarify these relationships.
The method of planning the energy consumption for electricity market
Russkov, O. V.; Saradgishvili, S. E.
2017-10-01
The limitations of existing forecast models are defined. The offered method is based on game theory, probabilities theory and forecasting the energy prices relations. New method is the basis for planning the uneven energy consumption of industrial enterprise. Ecological side of the offered method is disclosed. The program module performed the algorithm of the method is described. Positive method tests at the industrial enterprise are shown. The offered method allows optimizing the difference between planned and factual consumption of energy every hour of a day. The conclusion about applicability of the method for addressing economic and ecological challenges is made.
Cancer Detection and Diagnosis Methods - Annual Plan
Early cancer detection is a proven life-saving strategy. Learn about the research opportunities NCI supports, including liquid biopsies and other less-invasive methods, for detecting early cancers and precancerous growths.
Improving of Business Planning Using the Method of Fuzzy Numbers
Iryna Kosteteska
2016-01-01
Purpose: Summarize the experience of using modern methods in the business plan with the application of economic and mathematical modeling. Methodology: Theoretical and methodological basis of the study is the basic principles of economic theory, agricultural economics and scientific research of leading home and foreign scholars on the theory of planning. Originality: This further justifies business planning processes in agriculture from the standpoint of raising economic protection of farmers...
Study on State Transition Method Applied to Motion Planning for a Humanoid Robot
Directory of Open Access Journals (Sweden)
Xuyang Wang
2008-11-01
Full Text Available This paper presents an approach of motion planning for a humanoid robot using a state transition method. In this method, motion planning is simplified by introducing a state-space to describe the whole motion series. And each state in the state-space corresponds to a contact state specified during the motion. The continuous motion is represented by a sequence of discrete states. The concept of the transition between two neighboring states, that is the state transition, can be realized by using some traditional path planning methods. Considering the dynamical stability of the robot, a state transition method based on search strategy is proposed. Different sets of trajectories are generated by using a variable 5th-order polynomial interpolation method. After quantifying the stabilities of these trajectories, the trajectories with the largest stability margin are selected as the final state transition trajectories. Rising motion process is exemplified to validate the method and the simulation results show the proposed method to be feasible and effective.
Numerical continuation methods for dynamical systems path following and boundary value problems
Krauskopf, Bernd; Galan-Vioque, Jorge
2007-01-01
Path following in combination with boundary value problem solvers has emerged as a continuing and strong influence in the development of dynamical systems theory and its application. It is widely acknowledged that the software package AUTO - developed by Eusebius J. Doedel about thirty years ago and further expanded and developed ever since - plays a central role in the brief history of numerical continuation. This book has been compiled on the occasion of Sebius Doedel''s 60th birthday. Bringing together for the first time a large amount of material in a single, accessible source, it is hoped that the book will become the natural entry point for researchers in diverse disciplines who wish to learn what numerical continuation techniques can achieve. The book opens with a foreword by Herbert B. Keller and lecture notes by Sebius Doedel himself that introduce the basic concepts of numerical bifurcation analysis. The other chapters by leading experts discuss continuation for various types of systems and objects ...
Barriers to utilization of modern methods of family planning amongst ...
African Journals Online (AJOL)
Barriers to utilization of modern methods of family planning amongst women in a ... is recognized by the world health organization (WHO) as a universal human right. ... Conclusion: The study finds numerous barriers to utilization of family ...
Use of family planning methods in Kassala, Eastern Sudan
Directory of Open Access Journals (Sweden)
Mamoun Mona
2011-02-01
Full Text Available Abstract Background Investigating use and determinants of family planning methods may be instructive in the design of interventions to improve reproductive health services. Findings Across sectional community-based study was conducted during the period February-April 2010 to investigate the use of family planning in Kassala, eastern Sudan. Structured questionnaires were used to gather socio-demographic data and use of family planning. The mean ± SD of the age and parity of 613 enrolled women was 31.1 ± 7 years and 3.4 ± 1.9, respectively. Only 44.0% of these women had previously or currently used one or more of the family planning methods. Combined pills (46.7% and progesterone injection (17.8% were the predominant method used by the investigated women. While age, residence were not associated with the use of family planning, parity (> five, couple education (≥ secondary level were significantly associated with the use of family planning. Husband objection and religious beliefs were the main reasons of non-use of family planning. Conclusion Education, encouragement of health education programs and involvement of the religious persons might promote family planning in eastern Sudan.
Knowledge attitude to modern family planning methods in Abraka ...
African Journals Online (AJOL)
Objective:. To assess the level of regard and misconceptions of modern family planning methods in Abraka communities. Methods: The interviewer\\'s administered questionnaire method was used to gather the required information from 657 respondents randomly chosen from PO, Ajalomi, Erho, Oria, Otorho, Umeghe, ...
Olariu, Victor; Manesso, Erica; Peterson, Carsten
2017-06-01
Depicting developmental processes as movements in free energy genetic landscapes is an illustrative tool. However, exploring such landscapes to obtain quantitative or even qualitative predictions is hampered by the lack of free energy functions corresponding to the biochemical Michaelis-Menten or Hill rate equations for the dynamics. Being armed with energy landscapes defined by a network and its interactions would open up the possibility of swiftly identifying cell states and computing optimal paths, including those of cell reprogramming, thereby avoiding exhaustive trial-and-error simulations with rate equations for different parameter sets. It turns out that sigmoidal rate equations do have approximate free energy associations. With this replacement of rate equations, we develop a deterministic method for estimating the free energy surfaces of systems of interacting genes at different noise levels or temperatures. Once such free energy landscape estimates have been established, we adapt a shortest path algorithm to determine optimal routes in the landscapes. We explore the method on three circuits for haematopoiesis and embryonic stem cell development for commitment and reprogramming scenarios and illustrate how the method can be used to determine sequential steps for onsets of external factors, essential for efficient reprogramming.
Distribution network planning method considering distributed generation for peak cutting
International Nuclear Information System (INIS)
Ouyang Wu; Cheng Haozhong; Zhang Xiubin; Yao Liangzhong
2010-01-01
Conventional distribution planning method based on peak load brings about large investment, high risk and low utilization efficiency. A distribution network planning method considering distributed generation (DG) for peak cutting is proposed in this paper. The new integrated distribution network planning method with DG implementation aims to minimize the sum of feeder investments, DG investments, energy loss cost and the additional cost of DG for peak cutting. Using the solution techniques combining genetic algorithm (GA) with the heuristic approach, the proposed model determines the optimal planning scheme including the feeder network and the siting and sizing of DG. The strategy for the site and size of DG, which is based on the radial structure characteristics of distribution network, reduces the complexity degree of solving the optimization model and eases the computational burden substantially. Furthermore, the operation schedule of DG at the different load level is also provided.
Methodical approaches in the Norwegian Master Plan for Water Resources
International Nuclear Information System (INIS)
Bowitz, Einar
1997-01-01
The Norwegian Master Plan for Water Resources instructs the management not to consider applications for concession to develop hydroelectric projects in the so called category II of the plan. These are the environmentally most controversial projects or the most expensive projects. This report discusses the methods used in this Master Plan to classify the projects. The question whether the assessments of the environmental disadvantages of hydropower development are reasonable is approached in two ways: (1) Compare the environmental costs imbedded in the Plan with direct assessments, and (2) Discuss the appropriateness of the methodology used for environmental evaluations in the Plan. The report concludes that (1) the environmental costs that can be derived from the ranking in the Plan are significantly greater than those following from direct evaluations, (2) the differences are generally so great that one may ask whether the methods used in the Plan overestimate the real environmental costs, (3) it seems to have been difficult to make a unified assessment of the environmental disadvantages, (4) the Plan has considered the economic impact on agriculture and forestry very roughly and indirectly, which may have contributed to overestimated environmental costs of hydropower development. 20 refs., 6 figs., 7 tabs
Energy Technology Data Exchange (ETDEWEB)
None, None
2003-03-05
This report presents a plan for the deployment of a fusion demonstration power plant within 35 years, leading to commercial application of fusion energy by mid-century. The plan is derived from the necessary features of a demonstration fusion power plant and from the time scale defined by President Bush. It identifies critical milestones, key decision points, needed major facilities and required budgets.
Whitfield, Clifford A.
2009-12-01
A multi-objective technique for Unmanned Air Vehicle (UAV) path and trajectory autonomy generation, through task allocation and sensor fusion has been developed. The Dual-Optimal Path-Planning (D-O.P-P.) Technique generates on-line adaptive flight paths for UAVs based on available flight windows and environmental influenced objectives. The environmental influenced optimal condition, known as the driver' determines the condition, within a downstream virtual window of possible vehicle destinations and orientation built from the UAV kinematics. The intermittent results are pursued by a dynamic optimization technique to determine the flight path. This sequential optimization technique is a multi-objective optimization procedure consisting of two goals, without requiring additional information to combine the conflicting objectives into a single-objective. An example case-study and additional applications are developed and the results are discussed; including the application to the field of Solar Regenerative (SR) High Altitude Long Endurance (HALE) UAV flight. Harnessing solar energy has recently been adapted for use on high altitude UAV platforms. An aircraft that uses solar panels and powered by the sun during the day and through the night by SR systems, in principle could sustain flight for weeks or months. The requirements and limitations of solar powered flight were determined. The SR-HALE UAV platform geometry and flight characteristics were selected from an existing aircraft that has demonstrated the capability for sustained flight through flight tests. The goals were to maintain continual Situational Awareness (SA) over a case-study selected Area of Interest (AOI) and existing UAV power and surveillance systems. This was done for still wind and constant wind conditions at altitude along with variations in latitude. The characteristics of solar flux and the dependence on the surface location and orientation were established along with fixed flight maneuvers for
Directory of Open Access Journals (Sweden)
Ehsan Zakeri
Full Text Available Abstract In this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV without collision is investigated. This is done by utilizing spline technique, in which the spline control points positions are determined by Imperialist Competitive Algorithm (ICA in three-dimensional space such that the shortest possible path from the starting point to the target point without colliding with obstacles is achieved. Furthermore, for guiding the UUV in the generated path, an Interval Type-2 Fuzzy Logic Controller (IT2FLC, the coefficients of which are optimized by considering an objective function that includes quadratic terms of the input forces and state error of the system, is used. Selecting such objective function reduces the control error and also the force applied to the UUV, which consequently leads to reduction of energy consumption. Therefore, by using a special method, desired signals of UUV state are obtained from generated three-dimensional optimal path such that tracking these signals by the controller leads to the tracking of this path by UUV. In this paper, the dynamical model of the UUV, entitled as "mUUV-WJ-1" , is derived and its hydrodynamic coefficients are calculated by CFD in order to be used in the simulations. For simulation by the method presented in this study, three environments with different obstacles are intended in order to check the performance of the IT2FLC controller in generating optimal paths for guiding the UUV. In this article, in addition to ICA, Particle Swarm Optimization (PSO and Artificial Bee Colony (ABC are also used for generation of the paths and the results are compared with each other. The results show the appropriate performance of ICA rather than ABC and PSO. Moreover, to evaluate the performance of the IT2FLC, optimal Type-1 Fuzzy Logic Controller (T1FLC and Proportional Integrator Differentiator (PID controller are designed
An assembly sequence planning method based on composite algorithm
Directory of Open Access Journals (Sweden)
Enfu LIU
2016-02-01
Full Text Available To solve the combination explosion problem and the blind searching problem in assembly sequence planning of complex products, an assembly sequence planning method based on composite algorithm is proposed. In the composite algorithm, a sufficient number of feasible assembly sequences are generated using formalization reasoning algorithm as the initial population of genetic algorithm. Then fuzzy knowledge of assembly is integrated into the planning process of genetic algorithm and ant algorithm to get the accurate solution. At last, an example is conducted to verify the feasibility of composite algorithm.
ORGANIZATIONAL AND METHODIC SUPPORT TO COMMERCIAL BANK STRATEGIC PLANNING
Directory of Open Access Journals (Sweden)
N. G. Korostyliov
2011-01-01
Full Text Available Organizational and methodic support to bank activity strategic planning comprises making prospects for main bank finance activity indices, their correction and examination as well as control over their dynamics. There are specific features of organization of bank strategic planning at present stage of development of Russian economics. Main stages of this process and principles on which this study should be based are discussed. Banking environment information level should be taken into account, feasibility testing of organizational planning systems having to be undertaken in practice.
Compressive force-path method unified ultimate limit-state design of concrete structures
Kotsovos, Michael D
2014-01-01
This book presents a method which simplifies and unifies the design of reinforced concrete (RC) structures and is applicable to any structural element under both normal and seismic loading conditions. The proposed method has a sound theoretical basis and is expressed in a unified form applicable to all structural members, as well as their connections. It is applied in practice through the use of simple failure criteria derived from first principles without the need for calibration through the use of experimental data. The method is capable of predicting not only load-carrying capacity but also the locations and modes of failure, as well as safeguarding the structural performance code requirements. In this book, the concepts underlying the method are first presented for the case of simply supported RC beams. The application of the method is progressively extended so as to cover all common structural elements. For each structural element considered, evidence of the validity of the proposed method is presented t...
1975-06-01
Traditionally, synchronization of concurrent processes is coded in line by operations on semaphores or similar objects. Path expressions move the...discussion about a variety of synchronization primitives . An analysis of their relative power is found in [3]. Path expressions do not introduce yet...another synchronization primitive . A path expression relates to such primitives as a for- or while-statement of an ALGOL-like language relates to a JUMP
Calculation of the reliability of large complex systems by the relevant path method
International Nuclear Information System (INIS)
Richter, G.
1975-03-01
In this paper, analytical methods are presented and tested with which the probabilistic reliability data of technical systems can be determined for given fault trees and block diagrams and known reliability data of the components. (orig./AK) [de
Optical efficiency of solar concentrators by a reverse optical path method.
Parretta, A; Antonini, A; Milan, E; Stefancich, M; Martinelli, G; Armani, M
2008-09-15
A method for the optical characterization of a solar concentrator, based on the reverse illumination by a Lambertian source and measurement of intensity of light projected on a far screen, has been developed. It is shown that the projected light intensity is simply correlated to the angle-resolved efficiency of a concentrator, conventionally obtained by a direct illumination procedure. The method has been applied by simulating simple reflective nonimaging and Fresnel lens concentrators.
Performance assessment plans and methods for the Salt Repository Project
International Nuclear Information System (INIS)
1984-08-01
This document presents the preliminary plans and anticipated methods of the Salt Repository Project (SRP) for assessing the postclosure and radiological aspects of preclosure performance of a nuclear waste repository in salt. This plan is intended to be revised on an annual basis. The emphasis in this preliminary effort is on the method of conceptually dividing the system into three subsystems (the very near field, the near field, and the far field) and applying models to analyze the behavior of each subsystem and its individual components. The next revision will contain more detailed plans being developed as part of Site Characterization Plan (SCP) activities. After a brief system description, this plan presents the performance targets which have been established for nuclear waste repositories by regulatory agencies (Chapter 3). The SRP approach to modeling, including sensitivity and uncertainty techniques is then presented (Chapter 4). This is followed by a discussion of scenario analysis (Chapter 5), a presentation of preliminary data needs as anticipated by the SRP (Chapter 6), and a presentation of the SRP approach to postclosure assessment of the very near field, the near field, and the far field (Chapters 7, 8, and 9, respectively). Preclosure radiological assessment is discussed in Chapter 10. Chapter 11 presents the SRP approach to code verification and validation. Finally, the Appendix lists all computer codes anticipated for use in performance assessments. The list of codes will be updated as plans are revised
International Nuclear Information System (INIS)
Zeng Xiancheng; Hu Hao; Hu Xiangqian; Yang Weitao
2009-01-01
A quantum mechanical/molecular mechanical minimum free energy path (QM/MM-MFEP) method was developed to calculate the redox free energies of large systems in solution with greatly enhanced efficiency for conformation sampling. The QM/MM-MFEP method describes the thermodynamics of a system on the potential of mean force surface of the solute degrees of freedom. The molecular dynamics (MD) sampling is only carried out with the QM subsystem fixed. It thus avoids 'on-the-fly' QM calculations and thus overcomes the high computational cost in the direct QM/MM MD sampling. In the applications to two metal complexes in aqueous solution, the new QM/MM-MFEP method yielded redox free energies in good agreement with those calculated from the direct QM/MM MD method. Two larger biologically important redox molecules, lumichrome and riboflavin, were further investigated to demonstrate the efficiency of the method. The enhanced efficiency and uncompromised accuracy are especially significant for biochemical systems. The QM/MM-MFEP method thus provides an efficient approach to free energy simulation of complex electron transfer reactions.
Fuzzy based method for project planning of the infrastructure design for the diagnostic in ITER
International Nuclear Information System (INIS)
Piros, Attila; Veres, Gábor
2013-01-01
The long-term design projects need special preparation before the start of the execution. This preparation usually includes the drawing of the network diagram for the whole procedure. This diagram includes the time estimation of the individual subtasks and gives us information about the predicted dates of the milestones. The calculated critical path in this network characterizes a specific design project concerning to its duration very well. Several methods are available to support this step of preparation. This paper describes a new method to map the structure of the design process and clarify the milestones and predict the dates of these milestones. The method is based on the PERT (Project Evaluation and Review Technique) network but as a novelty it applies fuzzy logic to find out the concerning times in this graph. With the application of the fuzzy logic the handling of the different kinds of design uncertainties becomes feasible. Many kinds of design uncertainties exist from the possible electric blackout up to the illness of an engineer. In many cases these uncertainties are related with human errors and described with linguistic expressions. The fuzzy logic enables to transform these ambiguous expressions into numeric values for further mathematical evaluation. The method is introduced in the planning of the design project of the infrastructure for the diagnostic systems of ITER. The method not only helps the project in the planning phase, but it will be a powerful tool in mathematical modeling and monitoring of the project execution
Fuzzy based method for project planning of the infrastructure design for the diagnostic in ITER
Energy Technology Data Exchange (ETDEWEB)
Piros, Attila, E-mail: attila.piros@gt3.bme.hu [Department of Machine and Product Design, Budapest University of Technology and Economics, Budapest (Hungary); Veres, Gábor [Department of Plasma Physics, Wigner Research Centre for Physics, Hungarian Academy of Sciences, Budapest (Hungary)
2013-10-15
The long-term design projects need special preparation before the start of the execution. This preparation usually includes the drawing of the network diagram for the whole procedure. This diagram includes the time estimation of the individual subtasks and gives us information about the predicted dates of the milestones. The calculated critical path in this network characterizes a specific design project concerning to its duration very well. Several methods are available to support this step of preparation. This paper describes a new method to map the structure of the design process and clarify the milestones and predict the dates of these milestones. The method is based on the PERT (Project Evaluation and Review Technique) network but as a novelty it applies fuzzy logic to find out the concerning times in this graph. With the application of the fuzzy logic the handling of the different kinds of design uncertainties becomes feasible. Many kinds of design uncertainties exist from the possible electric blackout up to the illness of an engineer. In many cases these uncertainties are related with human errors and described with linguistic expressions. The fuzzy logic enables to transform these ambiguous expressions into numeric values for further mathematical evaluation. The method is introduced in the planning of the design project of the infrastructure for the diagnostic systems of ITER. The method not only helps the project in the planning phase, but it will be a powerful tool in mathematical modeling and monitoring of the project execution.
Hagger, Martin S; Chan, Derwin K C; Protogerou, Cleo; Chatzisarantis, Nikos L D
2016-08-01
Synthesizing research on social cognitive theories applied to health behavior is an important step in the development of an evidence base of psychological factors as targets for effective behavioral interventions. However, few meta-analyses of research on social cognitive theories in health contexts have conducted simultaneous tests of theoretically-stipulated pattern effects using path analysis. We argue that conducting path analyses of meta-analytic effects among constructs from social cognitive theories is important to test nomological validity, account for mediation effects, and evaluate unique effects of theory constructs independent of past behavior. We illustrate our points by conducting new analyses of two meta-analyses of a popular theory applied to health behaviors, the theory of planned behavior. We conducted meta-analytic path analyses of the theory in two behavioral contexts (alcohol and dietary behaviors) using data from the primary studies included in the original meta-analyses augmented to include intercorrelations among constructs and relations with past behavior missing from the original analysis. Findings supported the nomological validity of the theory and its hypotheses for both behaviors, confirmed important model processes through mediation analysis, demonstrated the attenuating effect of past behavior on theory relations, and provided estimates of the unique effects of theory constructs independent of past behavior. Our analysis illustrates the importance of conducting a simultaneous test of theory-stipulated effects in meta-analyses of social cognitive theories applied to health behavior. We recommend researchers adopt this analytic procedure when synthesizing evidence across primary tests of social cognitive theories in health. Copyright © 2016 Elsevier Inc. All rights reserved.
International Nuclear Information System (INIS)
Prokhorov, L.V.
1982-01-01
The properties of path integrals associated with the allowance for nonstandard terms reflecting the operator nature of the canonical variables are considered. Rules for treating such terms (''equivalence rules'') are formulated. Problems with a boundary, the behavior of path integrals under canonical transformations, and the problem of quantization of dynamical systems with constraints are considered in the framework of the method
Zhu, Liucun; Zhang, Yu-Hang; Su, Fangchu; Chen, Lei; Huang, Tao; Cai, Yu-Dong
2016-01-01
Biologically, fruits are defined as seed-bearing reproductive structures in angiosperms that develop from the ovary. The fertilization, development and maturation of fruits are crucial for plant reproduction and are precisely regulated by intrinsic genetic regulatory factors. In this study, we used Arabidopsis thaliana as a model organism and attempted to identify novel genes related to fruit-associated biological processes. Specifically, using validated genes, we applied a shortest-path-based method to identify several novel genes in a large network constructed using the protein-protein interactions observed in Arabidopsis thaliana. The described analyses indicate that several of the discovered genes are associated with fruit fertilization, development and maturation in Arabidopsis thaliana.
Directory of Open Access Journals (Sweden)
Vatutin Eduard
2017-12-01
Full Text Available The article deals with the problem of analysis of effectiveness of the heuristic methods with limited depth-first search techniques of decision obtaining in the test problem of getting the shortest path in graph. The article briefly describes the group of methods based on the limit of branches number of the combinatorial search tree and limit of analyzed subtree depth used to solve the problem. The methodology of comparing experimental data for the estimation of the quality of solutions based on the performing of computational experiments with samples of graphs with pseudo-random structure and selected vertices and arcs number using the BOINC platform is considered. It also shows description of obtained experimental results which allow to identify the areas of the preferable usage of selected subset of heuristic methods depending on the size of the problem and power of constraints. It is shown that the considered pair of methods is ineffective in the selected problem and significantly inferior to the quality of solutions that are provided by ant colony optimization method and its modification with combinatorial returns.
Vatutin, Eduard
2017-12-01
The article deals with the problem of analysis of effectiveness of the heuristic methods with limited depth-first search techniques of decision obtaining in the test problem of getting the shortest path in graph. The article briefly describes the group of methods based on the limit of branches number of the combinatorial search tree and limit of analyzed subtree depth used to solve the problem. The methodology of comparing experimental data for the estimation of the quality of solutions based on the performing of computational experiments with samples of graphs with pseudo-random structure and selected vertices and arcs number using the BOINC platform is considered. It also shows description of obtained experimental results which allow to identify the areas of the preferable usage of selected subset of heuristic methods depending on the size of the problem and power of constraints. It is shown that the considered pair of methods is ineffective in the selected problem and significantly inferior to the quality of solutions that are provided by ant colony optimization method and its modification with combinatorial returns.
A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics
Directory of Open Access Journals (Sweden)
Chuntao Leng
2008-11-01
Full Text Available A more suitable motion planning method for an omni-directional mobile robot (OMR, an improved APF method (iAPF, is proposed in this paper by introducing the revolving factor into the artificial potential field (APF. Accordingly, the motion direction derived from traditional artificial potential field (tAPF is regulated. The maximum velocity, maximum acceleration and energy consumption of the OMR moving in different directions are analyzed, based on the kinematic and dynamic constraints of an OMR, and the anisotropy of OMR is presented in this paper. Then the novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time-optimality, stability and efficacy-optimality. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. Finally, simulations and experiments are carried out to demonstrate that the motion resulting from the iAPF is high-speed, highly stable and highly efficient when compared to the tAPF.
Development of planning methods for demand-side management (DSM)
International Nuclear Information System (INIS)
Kaerkkaeinen, S.; Kekkonen, V.; Rissanen, P.
1995-01-01
The interest of utilities and governmental agencies in Demand-side management (IDSM) and Integrated Resource Planning (IRP) has increased during recent years also in Finland. From the governmental point of view, the main reason for this has been concern about the environmental effects of electricity supply and consumption. Utilities are mainly interested in cost reductions in electricity supply and distribution caused by DSM. Also improved service to the customer due to DSM has increasing value to utilities. In this project, the main target has been to develop and assess methods for DSM planning from the utility point of view. The final goal is to integrate these methods into the strategic planning of electric utilities
Vrooijink, Gustaaf J.; Abayazid, Momen; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak
2015-01-01
Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimensional (2D) ultrasound images. The needle is steered to a moving target while avoiding moving obstacles in a three-dimensional (3D) non-static environment. Using a 2D ultrasound imaging device, our system accurately tracks the needle tip motion in 3D space in order to estimate the tip pose. The needle tip pose is used by a rapidly exploring random tree-based motion planner to compute a feasible needle path to the target. The motion planner is sufficiently fast such that replanning can be performed repeatedly in a closed-loop manner. This enables the system to correct for perturbations in needle motion, and movement in obstacle and target locations. Our needle steering experiments in a soft-tissue phantom achieves maximum targeting errors of 0.86 ± 0.35 mm (without obstacles) and 2.16 ± 0.88 mm (with a moving obstacle). PMID:26279600
Optimising the Design Process of the Injection Camshaft by Critical Path Method (CPM
Directory of Open Access Journals (Sweden)
Olga-Ioana Amariei
2016-10-01
Full Text Available In the present paper a series of advantages of the CPM method are presented, focusing on the optimization of design duration of an injection camshaft, by cost criteria. The minimum duration of finalizing the design of the injection camshaft will be determined, as well as the total cost associated to this project, normally, and then under crash regime. At the end, two types of sensitivity analysis will be performed: Meeting the desire completation time and Meeting the desired budget cost
Spatial Analysis of Traffic and Routing Path Methods for Tsunami Evacuation
Fakhrurrozi, A.; Sari, A. M.
2018-02-01
Tsunami disaster occurred relatively very fast. Thus, it has a very large-scale impact on both non-material and material aspects. Community evacuation caused mass panic, crowds, and traffic congestion. A further research in spatial based modelling, traffic engineering and splitting zone evacuation simulation is very crucial as an effort to reduce higher losses. This topic covers some information from the previous research. Complex parameters include route selection, destination selection, the spontaneous timing of both the departure of the source and the arrival time to destination and other aspects of the result parameter in various methods. The simulation process and its results, traffic modelling, and routing analysis emphasized discussion which is the closest to real conditions in the tsunami evacuation process. The method that we should highlight is Clearance Time Estimate based on Location Priority in which the computation result is superior to others despite many drawbacks. The study is expected to have input to improve and invent a new method that will be a part of decision support systems for disaster risk reduction of tsunamis disaster.
Solimun, Fernandes, Adji Achmad Rinaldo; Arisoesilaningsih, Endang
2017-12-01
Research in various fields generally investigates systems and involves latent variables. One method to analyze the model representing the system is path analysis. The data of latent variables measured using questionnaires by applying attitude scale model yields data in the form of score, before analyzed should be transformation so that it becomes data of scale. Path coefficient, is parameter estimator, calculated from scale data using method of successive interval (MSI) and summated rating scale (SRS). In this research will be identifying which data transformation method is better. Path coefficients have smaller varieties are said to be more efficient. The transformation method that produces scaled data and used in path analysis capable of producing path coefficients (parameter estimators) with smaller varieties is said to be better. The result of analysis using real data shows that on the influence of Attitude variable to Intention Entrepreneurship, has relative efficiency (ER) = 1, where it shows that the result of analysis using data transformation of MSI and SRS as efficient. On the other hand, for simulation data, at high correlation between items (0.7-0.9), MSI method is more efficient 1.3 times better than SRS method.
Traditional Methods Used in Family Planning and Conception in ...
African Journals Online (AJOL)
... knowledge and incorporate it into the national health care delivery service. Researchers should document the available indigenous knowledge before they are forgotten while ascertaining the validity of some of the methods. Keywords: Maternal health, family planning, pregnancy management, homebased health care.
Pattern of Family Planning Methods used by Antenatal Patients in ...
African Journals Online (AJOL)
This study aimed at assessing the pattern of family planning methods used by antenatal patients at Federal Medical Centre, Owo, Ondo State, Nigeria. The study was conducted between December,2007 and February,2008 at the antenatal clinic of the hospital. Ethical clearance was obtained from the Ethical committee of ...
A Review of Family Planning Methods Used in Kano, Nigeria ...
African Journals Online (AJOL)
Method All records of the clients that attended the Family Planning Clinic from January 2003 to December 2007 were analyzed Results New clients were 22% while revisits were 78%, with a steady increase in the number of new clients from 4% in 2003 to 26% in 2007. Injectable contraceptives were the most commonly ...
Markov chain Monte Carlo methods in radiotherapy treatment planning
International Nuclear Information System (INIS)
Hugtenburg, R.P.
2001-01-01
The Markov chain method can be used to incorporate measured data in Monte Carlo based radiotherapy treatment planning. This paper shows that convergence to the measured data, within the target precision, is achievable. Relative output factors for blocked fields and oblique beams are shown to compare well with independent measurements according to the same criterion. (orig.)
Planning of operation & maintenance using risk and reliability based methods
DEFF Research Database (Denmark)
Florian, Mihai; Sørensen, John Dalsgaard
2015-01-01
Operation and maintenance (OM) of offshore wind turbines contributes with a substantial part of the total levelized cost of energy (LCOE). The objective of this paper is to present an application of risk- and reliability-based methods for planning of OM. The theoretical basis is presented...
Foundation of the semiclassical approximation by means of path integral methods
International Nuclear Information System (INIS)
Krisztinkovics, F.
1984-01-01
The aim of our study is to find a technically unique semiclassical treatment to describe the collision processes between heavy ions. Thereby it shall be started from a complete quantum mechanical formulation of the collision process. This aim requires: 1. A completely quantum mechanical initial formulation for the whole system, 2. a unique and conceptually clear transition to semiclassics. In order to fulfil the requirements a method is offered which is in closest connection with the Feynman propagator respectively influence functional. (orig./HSI) [de
A Crowd Avoidance Method Using Circular Avoidance Path for Robust Person Following
Directory of Open Access Journals (Sweden)
Kohei Morishita
2017-01-01
Full Text Available A life-support service robot must avoid both static and dynamic obstacles for working in a real environment. Here, a static obstacle means an obstacle that does not move, and a dynamic obstacle is the one that moves. Assuming the robot is following a target person, we discuss how the robot avoids a crowd through which the target person passes and arrives at the target position. The purpose of this paper is to propose a crowd avoidance method that makes a robot to be able to avoid both static and dynamic obstacles. The method uses the surface points of the obstacles to form an avoidance region, and the robot moves along the edge of the region. We conducted experiments assuming various situations such that the robot was blocked, there was a wide gap in the crowd, or a person in the crowd yielded for the robot to pass through. As an experimental result, it was confirmed the robot could avoid the crowd even when the obstacles were aligned in an “inverted wedge” shape.
Paraphrase and Allegory Methods on Understanding from Quran at Gnosticism school and Batini’s Path
Directory of Open Access Journals (Sweden)
Jafar Shanazari
2010-07-01
Full Text Available on Gnosticism school and Batinis religion, have common belief that Quran have esoteric meanings on words and verses, therefore, those two methods have specific approachs to finding the real meanings of this verses. With exact focus on the texts and Sources of this two methods, we faced with Similarities and differences of hermeneutic on three specific Gnosticism Aspects A finding the meanings on context of verses, B by moral edification to achievement this meanings, C by passing through apparent feeling and reaching to spiritual feeling of real meaning of verses. In the Batini ’ s beliefs, the main specifications of paraphrase are: a Specifying the antitye of the words in the Qoran. b Education of Paraphrases. c Specifying the relation between feeling and spiritual meanings and vice versa. This Study, at first, has abigated to explane the meaning of paraphrase and allegory, and eventually, reviewed to similiarities and differences between them and Quran explanation, in addition we doing a arbitration between them.
Paraphrase and Allegory Methods on Understanding from Quran at Gnosticism school and Batini’s Path
Directory of Open Access Journals (Sweden)
Dr Jafar Shanazari
2010-01-01
Full Text Available on Gnosticism school and Batinis religion, have common belief that Quran have esoteric meanings on words and verses, therefore, those two methods have specific approachs to finding the real meanings of this verses. With exact focus on the texts and Sources of this two methods, we faced with Similarities and differences of hermeneutic on three specific Gnosticism Aspects A finding the meanings on context of verses, B by moral edification to achievement this meanings, C by passing through apparent feeling and reaching to spiritual feeling of real meaning of verses. In the Batini’s beliefs, the main specifications of paraphrase are: a Specifying the antitye of the words in the Qoran. b Education of Paraphrases.c Specifying the relation between feeling and spiritual meanings and vice versa.This Study, at first, has abigated to explane the meaning of paraphrase and allegory, and eventually, reviewed to similiarities and differences between them and Quran explanation, in addition we doing a arbitration between them.
Morris, J. F.; Merrill, O. S.; Reddy, H. K.
1981-01-01
Thermionic energy conversion (TEC) is discussed. In recent TEC-topping analyses, overall plant efficiency (OPE) and cost of electricity (COE) improved slightly with current capabilities and substantially with fully matured technologies. Enhanced credibility derives from proven hot-corrosion protection for TEC by silicon-carbide clads in fossil fuel combustion products. Combustion augmentation with TEC (CATEC) affords minimal cost and plant perturbation, but with smaller OPE and COE improvements than more conventional topping applications. Risk minimization as well as comparative simplicity and convenience, favor CATEC for early market penetration. A program-management plan is proposed. Inputs, characteristics, outputs and capabilities are discussed.
Morris, J. F.; Merrill, O. S.; Reddy, H. K.
Thermionic energy conversion (TEC) is discussed. In recent TEC-topping analyses, overall plant efficiency (OPE) and cost of electricity (COE) improved slightly with current capabilities and substantially with fully matured technologies. Enhanced credibility derives from proven hot-corrosion protection for TEC by silicon-carbide clads in fossil fuel combustion products. Combustion augmentation with TEC (CATEC) affords minimal cost and plant perturbation, but with smaller OPE and COE improvements than more conventional topping applications. Risk minimization as well as comparative simplicity and convenience, favor CATEC for early market penetration. A program-management plan is proposed. Inputs, characteristics, outputs and capabilities are discussed.
Hexographic Method of Complex Town-Planning Terrain Estimate
Khudyakov, A. Ju
2017-11-01
The article deals with the vital problem of a complex town-planning analysis based on the “hexographic” graphic analytic method, makes a comparison with conventional terrain estimate methods and contains the method application examples. It discloses a procedure of the author’s estimate of restrictions and building of a mathematical model which reflects not only conventional town-planning restrictions, but also social and aesthetic aspects of the analyzed territory. The method allows one to quickly get an idea of the territory potential. It is possible to use an unlimited number of estimated factors. The method can be used for the integrated assessment of urban areas. In addition, it is possible to use the methods of preliminary evaluation of the territory commercial attractiveness in the preparation of investment projects. The technique application results in simple informative graphics. Graphical interpretation is straightforward from the experts. A definite advantage is the free perception of the subject results as they are not prepared professionally. Thus, it is possible to build a dialogue between professionals and the public on a new level allowing to take into account the interests of various parties. At the moment, the method is used as a tool for the preparation of integrated urban development projects at the Department of Architecture in Federal State Autonomous Educational Institution of Higher Education “South Ural State University (National Research University)”, FSAEIHE SUSU (NRU). The methodology is included in a course of lectures as the material on architectural and urban design for architecture students. The same methodology was successfully tested in the preparation of business strategies for the development of some territories in the Chelyabinsk region. This publication is the first in a series of planned activities developing and describing the methodology of hexographical analysis in urban and architectural practice. It is also
Directory of Open Access Journals (Sweden)
Ahmadreza Vajdi
2018-05-01
Full Text Available We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP. Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach.
Vajdi, Ahmadreza; Zhang, Gongxuan; Zhou, Junlong; Wei, Tongquan; Wang, Yongli; Wang, Tianshu
2018-05-04
We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs) for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs) in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP). Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach.
Zhang, Gongxuan; Wang, Yongli; Wang, Tianshu
2018-01-01
We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs) for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs) in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP). Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach. PMID:29734718
International Nuclear Information System (INIS)
Kosaka, Shinya; Saji, Etsuro
2000-01-01
A characteristics transport theory code, CHAPLET, has been developed for the purpose of making it practical to perform a whole LWR core calculation with the same level of calculational model and accuracy as that of an ordinary single assembly calculation. The characteristics routine employs the CACTUS algorithm for drawing ray tracing lines, which assists the two key features of the flux solution in the CHAPLET code. One is the direct neutron path linking (DNPL) technique which strictly connects angular fluxes at each assembly interface in the flux solution separated between assemblies. Another is to reduce the required memory storage by sharing the data related to ray tracing among assemblies with the same configuration. For faster computation, the coarse mesh rebalance (CMR) method and the Aitken method were incorporated in the code and the combined use of both methods showed the most promising acceleration performance among the trials. In addition, the parallelization of the flux solution was attempted, resulting in a significant reduction in the wall-clock time of the calculation. By all these efforts, coupled with the results of many verification studies, a whole LWR core heterogeneous transport theory calculation finally became practical. CHAPLET is thought to be a useful tool which can produce the reference solutions for analyses of an LWR (author)
The paper describes preliminary results from a field experiment designed to evaluate a new approach to quantifying gaseous fugitive emissions from area air pollution sources. The new approach combines path-integrated concentration data acquired with any path-integrated optical re...
Path-based Queries on Trajectory Data
DEFF Research Database (Denmark)
Krogh, Benjamin Bjerre; Pelekis, Nikos; Theodoridis, Yannis
2014-01-01
In traffic research, management, and planning a number of path-based analyses are heavily used, e.g., for computing turn-times, evaluating green waves, or studying traffic flow. These analyses require retrieving the trajectories that follow the full path being analyzed. Existing path queries cannot...... sufficiently support such path-based analyses because they retrieve all trajectories that touch any edge in the path. In this paper, we define and formalize the strict path query. This is a novel query type tailored to support path-based analysis, where trajectories must follow all edges in the path...... a specific path by only retrieving data from the first and last edge in the path. To correctly answer strict path queries existing network-constrained trajectory indexes must retrieve data from all edges in the path. An extensive performance study of NETTRA using a very large real-world trajectory data set...
Resolution and optimization methods for tour planning problems
International Nuclear Information System (INIS)
Vasserot, Jean-Pierre
1976-12-01
The aim of this study is to describe computerized methods for the resolution of the computer supported tour planning problem. After a presentation of this problem in operational research, the different existing methods of resolution are reviewed with the different approaches which have led to their elaboration. Different critics and comparisons are made on these methods and some improvements and new procedures are proposed, some of them allowing to solve more general problems. Finally, the structure of such a program, made at the CII to solve this kind of problem under multiple constraints is analysed [fr
A New Method for Local Energy Planning in Developing Countries
International Nuclear Information System (INIS)
Van Beeck, N.
2001-01-01
Energy planning is an essential tool in the economic development of industrialized as well as developing countries. Energy planning in this paper is restricted to the selection of new energy systems for the production of proper energy forms in order to meet increased energy demand. This demand is actually the desire for certain energy services, which are the starting point of the new decision support method for local energy planning presented in this paper. In the decision making process concerning energy planning at the local level it is important to include context-related issues because the context determines for a large part the viability of the technologies or systems used. The context, in turn, is represented by the aims of the relevant actors, which are translated into measurable indicators to compare the different options. The impact assessment must allow for inclusion of all the indicators, either quantitative or qualitative in order to find the most appropriate technology for a region rather than the technically best or economically most optimal one. Appropriateness is defined by the context and is thus case specific, but the framework described in this paper is generally applicable within the given limitations. Note that the new method described in this paper is a decision support tool, implying that it does not decide for the energy planner which actions to take. The ultimate decision must be made by the planners themselves
Dondelinger, Robert M
2004-01-01
This complex method of equipment replacement planning is a methodology; it is a means to an end, a process that focuses on equipment most in need of replacement, rather than the end itself. It uses data available from the maintenance management database, and attempts to quantify those subjective items important [figure: see text] in making equipment replacement decisions. Like the simple method of the last issue, it is a starting point--albeit an advanced starting point--which the user can modify to fit their particular organization, but the complex method leaves room for expansion. It is based on sound logic, documented facts, and is fully defensible during the decision-making process and will serve your organization well as provide a structure for your equipment replacement planning decisions.
District nursing workforce planning: a review of the methods.
Reid, Bernie; Kane, Kay; Curran, Carol
2008-11-01
District nursing services in Northern Ireland face increasing demands and challenges which may be responded to by effective and efficient workforce planning and development. The aim of this paper is to critically analyse district nursing workforce planning and development methods, in an attempt to find a suitable method for Northern Ireland. A systematic analysis of the literature reveals four methods: professional judgement; population-based health needs; caseload analysis and dependency-acuity. Each method has strengths and weaknesses. Professional judgement offers a 'belt and braces' approach but lacks sensitivity to fluctuating patient numbers. Population-based health needs methods develop staffing algorithms that reflect deprivation and geographical spread, but are poorly understood by district nurses. Caseload analysis promotes equitable workloads but poorly performing district nursing localities may continue if benchmarking processes only consider local data. Dependency-acuity methods provide a means of equalizing and prioritizing workload but are prone to district nurses overstating factors in patient dependency or understating carers' capability. In summary a mixed method approach is advocated to evaluate and adjust the size and mix of district nursing teams using empirically determined patient dependency and activity-based variables based on the population's health needs.
The lead-lag relationship between stock index and stock index futures: A thermal optimal path method
Gong, Chen-Chen; Ji, Shen-Dan; Su, Li-Ling; Li, Sai-Ping; Ren, Fei
2016-02-01
The study of lead-lag relationship between stock index and stock index futures is of great importance for its wide application in hedging and portfolio investments. Previous works mainly use conventional methods like Granger causality test, GARCH model and error correction model, and focus on the causality relation between the index and futures in a certain period. By using a non-parametric approach-thermal optimal path (TOP) method, we study the lead-lag relationship between China Securities Index 300 (CSI 300), Hang Seng Index (HSI), Standard and Poor 500 (S&P 500) Index and their associated futures to reveal the variance of their relationship over time. Our finding shows evidence of pronounced futures leadership for well established index futures, namely HSI and S&P 500 index futures, while index of developing market like CSI 300 has pronounced leadership. We offer an explanation based on the measure of an indicator which quantifies the differences between spot and futures prices for the surge of lead-lag function. Our results provide new perspectives for the understanding of the dynamical evolution of lead-lag relationship between stock index and stock index futures, which is valuable for the study of market efficiency and its applications.
Directory of Open Access Journals (Sweden)
Amol M. Dalavi
2016-07-01
Full Text Available Optimization of hole-making operations in manufacturing industry plays a vital role. Tool travel and tool switch planning are the two major issues in hole-making operations. Many industrial applications such as moulds, dies, engine block, automotive parts etc. requires machining of large number of holes. Large number of machining operations like drilling, enlargement or tapping/reaming are required to achieve the final size of individual hole, which gives rise to number of possible sequences to complete hole-making operations on the part depending upon the location of hole and tool sequence to be followed. It is necessary to find the optimal sequence of operations which minimizes the total processing cost of hole-making operations. In this work, therefore an attempt is made to reduce the total processing cost of hole-making operations by applying relatively new optimization algorithms known as shuffled frog leaping algorithm and proposed modified shuffled frog leaping algorithm for the determination of optimal sequence of hole-making operations. An industrial application example of ejector plate of injection mould is considered in this work to demonstrate the proposed approach. The obtained results by the shuffled frog leaping algorithm and proposed modified shuffled frog leaping algorithm are compared with each other. It is seen from the obtained results that the results of proposed modified shuffled frog leaping algorithm are superior to those obtained using shuffled frog leaping algorithm.
Detto, Matteo; Verfaillie, Joseph; Anderson, Frank; Xu, Liukang; Baldocchi, Dennis
2011-01-01
Closed- and open-path methane gas analyzers are used in eddy covariance systems to compare three potential methane emitting ecosystems in the Sacramento-San Joaquin Delta (CA, USA): a rice field, a peatland pasture and a restored wetland. The study points out similarities and differences of the systems in field experiments and data processing. The closed-path system, despite a less intrusive placement with the sonic anemometer, required more care and power. In contrast, the open-path system appears more versatile for a remote and unattended experimental site. Overall, the two systems have comparable minimum detectable limits, but synchronization between wind speed and methane data, air density corrections and spectral losses have different impacts on the computed flux covariances. For the closed-path analyzer, air density effects are less important, but the synchronization and spectral losses may represent a problem when fluxes are small or when an undersized pump is used. For the open-path analyzer air density corrections are greater, due to spectroscopy effects and the classic Webb–Pearman–Leuning correction. Comparison between the 30-min fluxes reveals good agreement in terms of magnitudes between open-path and closed-path flux systems. However, the scatter is large, as consequence of the intensive data processing which both systems require.
International Nuclear Information System (INIS)
Piao, Cheng Dao; Lee, Cheol Soo; Cho, Kyu Zong; Park, Gwang Ryeol
2004-01-01
In this paper, an efficient method for generating 5-axis cutting data for a turbine blade is presented. The interference elimination of 5-axis cutting currently is very complicated, and it takes up a lot of time. The proposed method can generate an interference-free tool path, within an allowance range. Generating the cutting data just point to the cutting process and using it to obtain NC data by calculating the feed rate, allows us to maintain the proper feed rate of the 5-axis machine. This paper includes the algorithms for: (1) CL data generation by detecting an interference-free heel angle, (2) finding the optimal tool path interval considering the cusp-height, (3) finding the adaptive feed rate values for each cutter path, and (4) the inverse kinematics depending on the structure of the 5-axis machine, for generating the NC data
International Nuclear Information System (INIS)
Sung, Lung-Yu; Lu, Chia-Jung
2014-01-01
This study introduced a quantitative method that can be used to measure the concentration of analytes directly from a single-beam spectrum of open-path Fourier Transform Infrared Spectroscopy (OP-FTIR). The peak shapes of the analytes in a single-beam spectrum were gradually canceled (i.e., “titrated”) by dividing an aliquot of a standard transmittance spectrum with a known concentration, and the sum of the squared differential synthetic spectrum was calculated as an indicator for the end point of this titration. The quantity of a standard transmittance spectrum that is needed to reach the end point can be used to calculate the concentrations of the analytes. A NIST traceable gas standard containing six known compounds was used to compare the quantitative accuracy of both this titration method and that of a classic least square (CLS) using a closed-cell FTIR spectrum. The continuous FTIR analysis of industrial exhausting stack showed that concentration trends were consistent between the CLS and titration methods. The titration method allowed the quantification to be performed without the need of a clean single-beam background spectrum, which was beneficial for the field measurement of OP-FTIR. Persistent constituents of the atmosphere, such as NH 3 , CH 4 and CO, were successfully quantified using the single-beam titration method with OP-FTIR data that is normally inaccurate when using the CLS method due to the lack of a suitable background spectrum. Also, the synthetic spectrum at the titration end point contained virtually no peaks of analytes, but it did contain the remaining information needed to provide an alternative means of obtaining an ideal single-beam background for OP-FTIR. - Highlights: • Establish single beam titration quantification method for OP-FTIR. • Define the indicator for the end-point of spectrum titration. • An ideal background spectrum can be obtained using single beam titration. • Compare the quantification between titration
Improvement Methods in NPP's Radiation Emergency Plan: An Administrative Approach
International Nuclear Information System (INIS)
Lee, Yoon Wook; Yang, He Sun
2009-01-01
The Radiation Emergency Plan (REP) can be divided into a technical and an administrative responses. The domestic NPP's REPs are reviewed from the viewpoint of the administrative response and improvement methods are also suggested in this treatise. The fields of the reviews are the composition of the emergency response organizations, the activation criteria of the organizations, the selection of the staffings and the reasonableness of the REP's volume. In addition, the limitations of the current radiation exercises are reviewed and the improvement method of the exercise is presented. It is expected that the suggested recommendations will be helpful in establishing useful REPs and making practical radiation exercises in Korea
Computational methods for planning and evaluating geothermal energy projects
International Nuclear Information System (INIS)
Goumas, M.G.; Lygerou, V.A.; Papayannakis, L.E.
1999-01-01
In planning, designing and evaluating a geothermal energy project, a number of technical, economic, social and environmental parameters should be considered. The use of computational methods provides a rigorous analysis improving the decision-making process. This article demonstrates the application of decision-making methods developed in operational research for the optimum exploitation of geothermal resources. Two characteristic problems are considered: (1) the economic evaluation of a geothermal energy project under uncertain conditions using a stochastic analysis approach and (2) the evaluation of alternative exploitation schemes for optimum development of a low enthalpy geothermal field using a multicriteria decision-making procedure. (Author)
International Nuclear Information System (INIS)
Marketos, Philip; Zurek, Stan; Moses, Anthony J.
2008-01-01
This paper discusses the effect of non-sinusoidal excitation on the mean path length of the Epstein frame. Two different steels, a non-oriented (NO) steel and a high-permeability grain-oriented (HGO) electrical steel have been tested under pure sinusoidal and non-sinusoidal excitations and the mean path length of the Epstein frame has been re-calculated. Results indicate that the actual mean path of the Epstein frame depends not only on the material permeability and anisotropy but also on the peak flux density and magnetising frequency. The amount of distortion of the excitation frequency also has an effect on the value of the actual mean path length of the Epstein frame
Schmitz, Oliver; Soenario, Ivan; Vaartjes, Ilonca; Strak, Maciek; Hoek, Gerard; Brunekreef, Bert; Dijst, Martin; Karssenberg, Derek
2016-04-01
Air pollution is one of the major concerns for human health. Associations between air pollution and health are often calculated using long-term (i.e. years to decades) information on personal exposure for each individual in a cohort. Personal exposure is the air pollution aggregated along the space-time path visited by an individual. As air pollution may vary considerably in space and time, for instance due to motorised traffic, the estimation of the spatio-temporal location of a persons' space-time path is important to identify the personal exposure. However, long term exposure is mostly calculated using the air pollution concentration at the x, y location of someone's home which does not consider that individuals are mobile (commuting, recreation, relocation). This assumption is often made as it is a major challenge to estimate space-time paths for all individuals in large cohorts, mostly because limited information on mobility of individuals is available. We address this issue by evaluating multiple approaches for the calculation of space-time paths, thereby estimating the personal exposure along these space-time paths with hyper resolution air pollution maps at national scale. This allows us to evaluate the effect of the space-time path and resulting personal exposure. Air pollution (e.g. NO2, PM10) was mapped for the entire Netherlands at a resolution of 5×5 m2 using the land use regression models developed in the European Study of Cohorts for Air Pollution Effects (ESCAPE, http://escapeproject.eu/) and the open source software PCRaster (http://www.pcraster.eu). The models use predictor variables like population density, land use, and traffic related data sets, and are able to model spatial variation and within-city variability of annual average concentration values. We approximated space-time paths for all individuals in a cohort using various aggregations, including those representing space-time paths as the outline of a persons' home or associated parcel
Integrating financial theory and methods in electricity resource planning
Energy Technology Data Exchange (ETDEWEB)
Felder, F.A. [Economics Resource Group, Cambridge, MA (United States)
1996-02-01
Decision makers throughout the world are introducing risk and market forces in the electric power industry to lower costs and improve services. Incentive based regulation (IBR), which replaces cost of service ratemaking with an approach that divorces costs from revenues, exposes the utility to the risk of profits or losses depending on their performance. Regulators also are allowing for competition within the industry, most notably in the wholesale market and possibly in the retail market. Two financial approaches that incorporate risk in resource planning are evaluated: risk adjusted discount rates (RADR) and options theory (OT). These two complementary approaches are an improvement over the standard present value revenue requirement (PVRR). However, each method has some important limitations. By correctly using RADR and OT and understanding their limitations, decision makers can improve their ability to value risk properly in power plant projects and integrated resource plans. (Author)
Methods and Algorithms for Economic MPC in Power Production Planning
DEFF Research Database (Denmark)
Sokoler, Leo Emil
in real-time. A generator can represent a producer of electricity, a consumer of electricity, or possibly both. Examples of generators are heat pumps, electric vehicles, wind turbines, virtual power plants, solar cells, and conventional fuel-fired thermal power plants. Although this thesis is mainly...... concerned with EMPC for minutes-ahead production planning, we show that the proposed EMPC scheme can be extended to days-ahead planning (including unit commitment) as well. The power generation from renewable energy sources such as wind and solar power is inherently uncertain and variable. A portfolio...... design an algorithm based on the alternating direction method of multipliers (ADMM) to solve input-constrained OCPs with convex objective functions. The OCPs that occur in EMPC of dynamically decoupled subsystems, e.g. power generators, have a block-angular structure. Subsystem decomposition algorithms...
Optimal Paths in Gliding Flight
Wolek, Artur
Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.
DEFF Research Database (Denmark)
Madsen, Mogens Ove
Begrebet Path Dependence blev oprindelig udviklet inden for New Institutionel Economics af bl.a. David, Arthur og North. Begrebet har spredt sig vidt i samfundsvidenskaberne og undergået en udvikling. Dette paper propagerer for at der er sket så en så omfattende udvikling af begrebet, at man nu kan...... tale om 1. og 2. generation af Path Dependence begrebet. Den nyeste udvikling af begrebet har relevans for metodologi-diskusionerne i relation til Keynes...
Nazemizadeh, M.; Rahimi, H. N.; Amini Khoiy, K.
2012-03-01
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange's principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.
Path Searching Based Fault Automated Recovery Scheme for Distribution Grid with DG
Xia, Lin; Qun, Wang; Hui, Xue; Simeng, Zhu
2016-12-01
Applying the method of path searching based on distribution network topology in setting software has a good effect, and the path searching method containing DG power source is also applicable to the automatic generation and division of planned islands after the fault. This paper applies path searching algorithm in the automatic division of planned islands after faults: starting from the switch of fault isolation, ending in each power source, and according to the line load that the searching path traverses and the load integrated by important optimized searching path, forming optimized division scheme of planned islands that uses each DG as power source and is balanced to local important load. Finally, COBASE software and distribution network automation software applied are used to illustrate the effectiveness of the realization of such automatic restoration program.
Risky Group Decision-Making Method for Distribution Grid Planning
Li, Cunbin; Yuan, Jiahang; Qi, Zhiqiang
2015-12-01
With rapid speed on electricity using and increasing in renewable energy, more and more research pay attention on distribution grid planning. For the drawbacks of existing research, this paper proposes a new risky group decision-making method for distribution grid planning. Firstly, a mixing index system with qualitative and quantitative indices is built. On the basis of considering the fuzziness of language evaluation, choose cloud model to realize "quantitative to qualitative" transformation and construct interval numbers decision matrices according to the "3En" principle. An m-dimensional interval numbers decision vector is regarded as super cuboids in m-dimensional attributes space, using two-level orthogonal experiment to arrange points uniformly and dispersedly. The numbers of points are assured by testing numbers of two-level orthogonal arrays and these points compose of distribution points set to stand for decision-making project. In order to eliminate the influence of correlation among indices, Mahalanobis distance is used to calculate the distance from each solutions to others which means that dynamic solutions are viewed as the reference. Secondly, due to the decision-maker's attitude can affect the results, this paper defines the prospect value function based on SNR which is from Mahalanobis-Taguchi system and attains the comprehensive prospect value of each program as well as the order. At last, the validity and reliability of this method is illustrated by examples which prove the method is more valuable and superiority than the other.
Distribution Route Planning of Clean Coal Based on Nearest Insertion Method
Wang, Yunrui
2018-01-01
Clean coal technology has made some achievements for several ten years, but the research in its distribution field is very small, the distribution efficiency would directly affect the comprehensive development of clean coal technology, it is the key to improve the efficiency of distribution by planning distribution route rationally. The object of this paper was a clean coal distribution system which be built in a county. Through the surveying of the customer demand and distribution route, distribution vehicle in previous years, it was found that the vehicle deployment was only distributed by experiences, and the number of vehicles which used each day changed, this resulted a waste of transport process and an increase in energy consumption. Thus, the mathematical model was established here in order to aim at shortest path as objective function, and the distribution route was re-planned by using nearest-insertion method which been improved. The results showed that the transportation distance saved 37 km and the number of vehicles used had also been decreased from the past average of 5 to fixed 4 every day, as well the real loading of vehicles increased by 16.25% while the current distribution volume staying same. It realized the efficient distribution of clean coal, achieved the purpose of saving energy and reducing consumption.
A multi-stage stochastic transmission expansion planning method
International Nuclear Information System (INIS)
Akbari, Tohid; Rahimikian, Ashkan; Kazemi, Ahad
2011-01-01
Highlights: → We model a multi-stage stochastic transmission expansion planning problem. → We include available transfer capability (ATC) in our model. → Involving this criterion will increase the ATC between source and sink points. → Power system reliability will be increased and more money can be saved. - Abstract: This paper presents a multi-stage stochastic model for short-term transmission expansion planning considering the available transfer capability (ATC). The ATC can have a huge impact on the power market outcomes and the power system reliability. The transmission expansion planning (TEP) studies deal with many uncertainties, such as system load uncertainties that are considered in this paper. The Monte Carlo simulation method has been applied for generating different scenarios. A scenario reduction technique is used for reducing the number of scenarios. The objective is to minimize the sum of investment costs (IC) and the expected operation costs (OC). The solution technique is based on the benders decomposition algorithm. The N-1 contingency analysis is also done for the TEP problem. The proposed model is applied to the IEEE 24 bus reliability test system and the results are efficient and promising.
An integrated approach for facilities planning by ELECTRE method
Elbishari, E. M. Y.; Hazza, M. H. F. Al; Adesta, E. Y. T.; Rahman, Nur Salihah Binti Abdul
2018-01-01
Facility planning is concerned with the design, layout, and accommodation of people, machines and activities of a system. Most of the researchers try to investigate the production area layout and the related facilities. However, few of them try to investigate the relationship between the production space and its relationship with service departments. The aim of this research to is to integrate different approaches in order to evaluate, analyse and select the best facilities planning method that able to explain the relationship between the production area and other supporting departments and its effect on human efforts. To achieve the objective of this research two different approaches have been integrated: Apple’s layout procedure as one of the effective tools in planning factories, ELECTRE method as one of the Multi Criteria Decision Making methods (MCDM) to minimize the risk of getting poor facilities planning. Dalia industries have been selected as a case study to implement our integration the factory have been divided two main different area: the whole facility (layout A), and the manufacturing area (layout B). This article will be concerned with the manufacturing area layout (Layout B). After analysing the data gathered, the manufacturing area was divided into 10 activities. There are five factors that the alternative were compared upon which are: Inter department satisfactory level, total distance travelled for workers, total distance travelled for the product, total time travelled for the workers, and total time travelled for the product. Three different layout alternatives have been developed in addition to the original layouts. Apple’s layout procedure was used to study and evaluate the different alternatives layouts, the study and evaluation of the layouts was done by calculating scores for each of the factors. After obtaining the scores from evaluating the layouts, ELECTRE method was used to compare the proposed alternatives with each other and with
Integrated Task and Motion Planning with Verification via Formal Methods
National Aeronautics and Space Administration — This proposal lays out a research plan to "lift" current state-of-the-art results combining discrete and continuous layers of planning in motion planning to the more...
Kavuma, Awusi; Glegg, Martin; Metwaly, Mohamed; Currie, Garry; Elliott, Alex
2010-01-01
In vivo dosimetry is one of the quality assurance tools used in radiotherapy to monitor the dose delivered to the patient. Electronic portal imaging device (EPID) images for a set of solid water phantoms of varying thicknesses were acquired and the data fitted onto a quadratic equation, which relates the reduction in photon beam intensity to the attenuation coefficient and material thickness at a reference condition. The quadratic model is used to convert the measured grey scale value into water equivalent path length (EPL) at each pixel for any material imaged by the detector. For any other non-reference conditions, scatter, field size and MU variation effects on the image were corrected by relative measurements using an ionization chamber and an EPID. The 2D EPL is linked to the percentage exit dose table, for different thicknesses and field sizes, thereby converting the plane pixel values at each point into a 2D dose map. The off-axis ratio is corrected using envelope and boundary profiles generated from the treatment planning system (TPS). The method requires field size, monitor unit and source-to-surface distance (SSD) as clinical input parameters to predict the exit dose, which is then used to determine the entrance dose. The measured pixel dose maps were compared with calculated doses from TPS for both entrance and exit depth of phantom. The gamma index at 3% dose difference (DD) and 3 mm distance to agreement (DTA) resulted in an average of 97% passing for the square fields of 5, 10, 15 and 20 cm. The exit dose EPID dose distributions predicted by the algorithm were in better agreement with TPS-calculated doses than phantom entrance dose distributions.
Next Generation Nuclear Plant Methods Technical Program Plan
Energy Technology Data Exchange (ETDEWEB)
Richard R. Schultz; Abderrafi M. Ougouag; David W. Nigg; Hans D. Gougar; Richard W. Johnson; William K. Terry; Chang H. Oh; Donald W. McEligot; Gary W. Johnsen; Glenn E. McCreery; Woo Y. Yoon; James W. Sterbentz; J. Steve Herring; Temitope A. Taiwo; Thomas Y. C. Wei; William D. Pointer; Won S. Yang; Michael T. Farmer; Hussein S. Khalil; Madeline A. Feltus
2010-12-01
One of the great challenges of designing and licensing the Very High Temperature Reactor (VHTR) is to confirm that the intended VHTR analysis tools can be used confidently to make decisions and to assure all that the reactor systems are safe and meet the performance objectives of the Generation IV Program. The research and development (R&D) projects defined in the Next Generation Nuclear Plant (NGNP) Design Methods Development and Validation Program will ensure that the tools used to perform the required calculations and analyses can be trusted. The Methods R&D tasks are designed to ensure that the calculational envelope of the tools used to analyze the VHTR reactor systems encompasses, or is larger than, the operational and transient envelope of the VHTR itself. The Methods R&D focuses on the development of tools to assess the neutronic and thermal fluid behavior of the plant. The fuel behavior and fission product transport models are discussed in the Advanced Gas Reactor (AGR) program plan. Various stress analysis and mechanical design tools will also need to be developed and validated and will ultimately also be included in the Methods R&D Program Plan. The calculational envelope of the neutronics and thermal-fluids software tools intended to be used on the NGNP is defined by the scenarios and phenomena that these tools can calculate with confidence. The software tools can only be used confidently when the results they produce have been shown to be in reasonable agreement with first-principle results, thought-problems, and data that describe the “highly ranked” phenomena inherent in all operational conditions and important accident scenarios for the VHTR.
Next Generation Nuclear Plant Methods Technical Program Plan -- PLN-2498
Energy Technology Data Exchange (ETDEWEB)
Richard R. Schultz; Abderrafi M. Ougouag; David W. Nigg; Hans D. Gougar; Richard W. Johnson; William K. Terry; Chang H. Oh; Donald W. McEligot; Gary W. Johnsen; Glenn E. McCreery; Woo Y. Yoon; James W. Sterbentz; J. Steve Herring; Temitope A. Taiwo; Thomas Y. C. Wei; William D. Pointer; Won S. Yang; Michael T. Farmer; Hussein S. Khalil; Madeline A. Feltus
2010-09-01
One of the great challenges of designing and licensing the Very High Temperature Reactor (VHTR) is to confirm that the intended VHTR analysis tools can be used confidently to make decisions and to assure all that the reactor systems are safe and meet the performance objectives of the Generation IV Program. The research and development (R&D) projects defined in the Next Generation Nuclear Plant (NGNP) Design Methods Development and Validation Program will ensure that the tools used to perform the required calculations and analyses can be trusted. The Methods R&D tasks are designed to ensure that the calculational envelope of the tools used to analyze the VHTR reactor systems encompasses, or is larger than, the operational and transient envelope of the VHTR itself. The Methods R&D focuses on the development of tools to assess the neutronic and thermal fluid behavior of the plant. The fuel behavior and fission product transport models are discussed in the Advanced Gas Reactor (AGR) program plan. Various stress analysis and mechanical design tools will also need to be developed and validated and will ultimately also be included in the Methods R&D Program Plan. The calculational envelope of the neutronics and thermal-fluids software tools intended to be used on the NGNP is defined by the scenarios and phenomena that these tools can calculate with confidence. The software tools can only be used confidently when the results they produce have been shown to be in reasonable agreement with first-principle results, thought-problems, and data that describe the “highly ranked” phenomena inherent in all operational conditions and important accident scenarios for the VHTR.
DEFF Research Database (Denmark)
Karnøe, Peter; Garud, Raghu
2012-01-01
This paper employs path creation as a lens to follow the emergence of the Danish wind turbine cluster. Supplier competencies, regulations, user preferences and a market for wind power did not pre-exist; all had to emerge in a tranformative manner involving multiple actors and artefacts. Competenc......This paper employs path creation as a lens to follow the emergence of the Danish wind turbine cluster. Supplier competencies, regulations, user preferences and a market for wind power did not pre-exist; all had to emerge in a tranformative manner involving multiple actors and artefacts....... Competencies emerged through processes and mechanisms such as co-creation that implicated multiple learning processes. The process was not an orderly linear one as emergent contingencies influenced the learning processes. An implication is that public policy to catalyse clusters cannot be based...
Mielke, Steven L; Dinpajooh, Mohammadhasan; Siepmann, J Ilja; Truhlar, Donald G
2013-01-07
We present a procedure to calculate ensemble averages, thermodynamic derivatives, and coordinate distributions by effective classical potential methods. In particular, we consider the displaced-points path integral (DPPI) method, which yields exact quantal partition functions and ensemble averages for a harmonic potential and approximate quantal ones for general potentials, and we discuss the implementation of the new procedure in two Monte Carlo simulation codes, one that uses uncorrelated samples to calculate absolute free energies, and another that employs Metropolis sampling to calculate relative free energies. The results of the new DPPI method are compared to those from accurate path integral calculations as well as to results of two other effective classical potential schemes for the case of an isolated water molecule. In addition to the partition function, we consider the heat capacity and expectation values of the energy, the potential energy, the bond angle, and the OH distance. We also consider coordinate distributions. The DPPI scheme performs best among the three effective potential schemes considered and achieves very good accuracy for all of the properties considered. A key advantage of the effective potential schemes is that they display much lower statistical sampling variances than those for accurate path integral calculations. The method presented here shows great promise for including quantum effects in calculations on large systems.
A method for livestock waste management planning in NE Spain
International Nuclear Information System (INIS)
Teira-Esmatges, M.R.; Flotats, X.
2003-01-01
A method of decision-making on livestock wastes management in areas with nutrient surplus due to high livestock density is applied in Catalonia (NE Spain). Nutrient balance is made considering soil nitrogen application as the limiting factor. Special attention is paid to the centralized treatment option. The method presented consists of: - minimizing livestock waste generation (at farm scale) as a step previous to any other, both in amount and limiting components,; - applying the nitrogen balance method at regional and municipal scale and providing enough storage capacity in order to apply wastes in an agronomically correct way,; - spatially refining the results of the nitrogen balance by a proposed method that allows precisely pinpointing the hotspots of livestock waste generation, where centralized treatment might be an interesting option, and; - deciding on the waste treatment objectives, provided that treatments be necessary. Knowledge about the wastes, meeting the interests and merging the efforts of the various actors, as well as an adequate budget are necessary ingredients for the success of any waste management plan
Xiao, Zhiyan; Zou, Wei J; Chen, Ting; Yue, Ning J; Jabbour, Salma K; Parikh, Rahul; Zhang, Miao
2018-03-01
The goal of this study was to exam the efficacy of current DVH based clinical guidelines draw from photon experience for lung cancer radiation therapy on proton therapy. Comparison proton plans and IMRT plans were generated for 10 lung patients treated in our proton facility. A gEUD based plan evaluation method was developed for plan evaluation. This evaluation method used normal lung gEUD(a) curve in which the model parameter "a" was sampled from the literature reported value. For all patients, the proton plans delivered lower normal lung V 5 Gy with similar V 20 Gy and similar target coverage. Based on current clinical guidelines, proton plans were ranked superior to IMRT plans for all 10 patients. However, the proton and IMRT normal lung gEUD(a) curves crossed for 8 patients within the tested range of "a", which means there was a possibility that proton plan would be worse than IMRT plan for lung sparing. A concept of deficiency index (DI) was introduced to quantify the probability of proton plans doing worse than IMRT plans. By applying threshold on DI, four patients' proton plan was ranked inferior to the IMRT plan. Meanwhile if a threshold to the location of curve crossing was applied, 6 patients' proton plan was ranked inferior to the IMRT plan. The contradictory ranking results between the current clinical guidelines and the gEUD(a) curve analysis demonstrated there is potential pitfalls by applying photon experience directly to the proton world. A comprehensive plan evaluation based on radio-biological models should be carried out to decide if a lung patient would really be benefit from proton therapy. © 2018 The Authors. Journal of Applied Clinical Medical Physics published by Wiley Periodicals, Inc. on behalf of American Association of Physicists in Medicine.
Planning Pharmacies: An Operational Method to Find the Best Location
Directory of Open Access Journals (Sweden)
Simona Tondelli
2014-05-01
Full Text Available The theme of the spatial distribution of the pharmacies on the territory is closely connected to urban planning and to services supply. In Italy, the regulatory change that took place in 2012, triggered partly by the need to adhere more to a constantly changing economic system, has led to a revision of the existing situation, consisting both on the method to quantify the pharmacies distribution and on the efficiency of the service. If Law 27/2012 has effectively allowed municipalities to increase the number of pharmacies that they can settle on the municipal territory, it has also started a process of rethinking the logic of pharmacies location and of their catchment areas. In this framework, the present paper aims to discuss the merits of a regulatory evolutions that sparked the process of liberalization of locations, integrating the law guidelines and goals with an operating logic process, usable and useful to translate goals into planning actions in a continuous dialogue between law and territory, constraints and opportunities, equity and accessibility of the care services. Following this logic operations, we have investigated the urban context of Castelfranco Emilia, assuming the location of new offices on the basis of pharmaceutical analyzes.
A hybrid TOPSIS-BSC method for strategic planning
Directory of Open Access Journals (Sweden)
Mohammad Reza Shojaee
2012-09-01
Full Text Available For years, tangible assets used to be the most important precious wealth of organizations. However, the recent advances in technology has changed this concept and today, intangible assets such as human resources, customers, processes are playing essential roles on making strategies. In this paper, we present a study to setup appropriate strategies using the implementation of balanced score card in four perspectives of customers, processes, learning and financial. The proposed study of this paper gathers important factors through three different brainstorming sessions and prioritize them using TOPSIS method. Based on the results of MCDM technique, selecting appropriate target market for penetration is the number one priority followed by having good accounting system and preparing for more diversified production. These are the most important items influencing strategic planning. Therefore, the study uses BSC for the first two important strategies and discusses possible actions for productivity improvement.
Wilson, Robert H.; Vishwanath, Karthik; Mycek, Mary-Ann
2009-02-01
Monte Carlo (MC) simulations are considered the "gold standard" for mathematical description of photon transport in tissue, but they can require large computation times. Therefore, it is important to develop simple and efficient methods for accelerating MC simulations, especially when a large "library" of related simulations is needed. A semi-analytical method involving MC simulations and a path-integral (PI) based scaling technique generated time-resolved reflectance curves from layered tissue models. First, a zero-absorption MC simulation was run for a tissue model with fixed scattering properties in each layer. Then, a closed-form expression for the average classical path of a photon in tissue was used to determine the percentage of time that the photon spent in each layer, to create a weighted Beer-Lambert factor to scale the time-resolved reflectance of the simulated zero-absorption tissue model. This method is a unique alternative to other scaling techniques in that it does not require the path length or number of collisions of each photon to be stored during the initial simulation. Effects of various layer thicknesses and absorption and scattering coefficients on the accuracy of the method will be discussed.
Energy Technology Data Exchange (ETDEWEB)
Malinowski, Jacek
2004-05-01
A coherent system with independent components and known minimal paths (cuts) is considered. In order to compute its reliability, a tree structure T is constructed whose nodes contain the modified minimal paths (cuts) and numerical values. The value of a non-leaf node is a function of its child nodes' values. The values of leaf nodes are calculated from a simple formula. The value of the root node is the system's failure probability (reliability). Subsequently, an algorithm computing the system's failure probability (reliability) is constructed. The algorithm scans all nodes of T using a stack structure for this purpose. The nodes of T are alternately put on and removed from the stack, their data being modified in the process. Once the algorithm has terminated, the stack contains only the final modification of the root node of T, and its value is equal to the system's failure probability (reliability)
International Nuclear Information System (INIS)
Malinowski, Jacek
2004-01-01
A coherent system with independent components and known minimal paths (cuts) is considered. In order to compute its reliability, a tree structure T is constructed whose nodes contain the modified minimal paths (cuts) and numerical values. The value of a non-leaf node is a function of its child nodes' values. The values of leaf nodes are calculated from a simple formula. The value of the root node is the system's failure probability (reliability). Subsequently, an algorithm computing the system's failure probability (reliability) is constructed. The algorithm scans all nodes of T using a stack structure for this purpose. The nodes of T are alternately put on and removed from the stack, their data being modified in the process. Once the algorithm has terminated, the stack contains only the final modification of the root node of T, and its value is equal to the system's failure probability (reliability)
THE METHOD OF MULTIPLE SPATIAL PLANNING BASIC MAP
Directory of Open Access Journals (Sweden)
C. Zhang
2018-04-01
Full Text Available The “Provincial Space Plan Pilot Program” issued in December 2016 pointed out that the existing space management and control information management platforms of various departments were integrated, and a spatial planning information management platform was established to integrate basic data, target indicators, space coordinates, and technical specifications. The planning and preparation will provide supportive decision support, digital monitoring and evaluation of the implementation of the plan, implementation of various types of investment projects and space management and control departments involved in military construction projects in parallel to approve and approve, and improve the efficiency of administrative approval. The space planning system should be set up to delimit the control limits for the development of production, life and ecological space, and the control of use is implemented. On the one hand, it is necessary to clarify the functional orientation between various kinds of planning space. On the other hand, it is necessary to achieve “multi-compliance” of various space planning. Multiple spatial planning intergration need unified and standard basic map(geographic database and technical specificaton to division of urban, agricultural, ecological three types of space and provide technical support for the refinement of the space control zoning for the relevant planning. The article analysis the main space datum, the land use classification standards, base map planning, planning basic platform main technical problems. Based on the geographic conditions, the results of the census preparation of spatial planning map, and Heilongjiang, Hainan many rules combined with a pilot application.
The Method of Multiple Spatial Planning Basic Map
Zhang, C.; Fang, C.
2018-04-01
The "Provincial Space Plan Pilot Program" issued in December 2016 pointed out that the existing space management and control information management platforms of various departments were integrated, and a spatial planning information management platform was established to integrate basic data, target indicators, space coordinates, and technical specifications. The planning and preparation will provide supportive decision support, digital monitoring and evaluation of the implementation of the plan, implementation of various types of investment projects and space management and control departments involved in military construction projects in parallel to approve and approve, and improve the efficiency of administrative approval. The space planning system should be set up to delimit the control limits for the development of production, life and ecological space, and the control of use is implemented. On the one hand, it is necessary to clarify the functional orientation between various kinds of planning space. On the other hand, it is necessary to achieve "multi-compliance" of various space planning. Multiple spatial planning intergration need unified and standard basic map(geographic database and technical specificaton) to division of urban, agricultural, ecological three types of space and provide technical support for the refinement of the space control zoning for the relevant planning. The article analysis the main space datum, the land use classification standards, base map planning, planning basic platform main technical problems. Based on the geographic conditions, the results of the census preparation of spatial planning map, and Heilongjiang, Hainan many rules combined with a pilot application.
Study on Top-Down Estimation Method of Software Project Planning
Institute of Scientific and Technical Information of China (English)
ZHANG Jun-guang; L(U) Ting-jie; ZHAO Yu-mei
2006-01-01
This paper studies a new software project planning method under some actual project data in order to make software project plans more effective. From the perspective of system theory, our new method regards a software project plan as an associative unit for study. During a top-down estimation of a software project, Program Evaluation and Review Technique (PERT) method and analogy method are combined to estimate its size, then effort estimation and specific schedules are obtained according to distributions of the phase effort. This allows a set of practical and feasible planning methods to be constructed. Actual data indicate that this set of methods can lead to effective software project planning.
A Collision-Free G2 Continuous Path-Smoothing Algorithm Using Quadratic Polynomial Interpolation
Directory of Open Access Journals (Sweden)
Seong-Ryong Chang
2014-12-01
Full Text Available Most path-planning algorithms are used to obtain a collision-free path without considering continuity. On the other hand, a continuous path is needed for stable movement. In this paper, the searched path was converted into a G2 continuous path using the modified quadratic polynomial and membership function interpolation algorithm. It is simple, unique and provides a good geometric interpretation. In addition, a collision-checking and improvement algorithm is proposed. The collision-checking algorithm can check the collisions of a smoothed path. If collisions are detected, the collision improvement algorithm modifies the collision path to a collision-free path. The collision improvement algorithm uses a geometric method. This method uses the perpendicular line between a collision position and the collision piecewise linear path. The sub-waypoint is added, and the QPMI algorithm is applied again. As a result, the collision-smoothed path is converted into a collision-free smooth path without changing the continuity.
Development of methods for DSM and distribution automation planning
International Nuclear Information System (INIS)
Kaerkkaeinen, S.; Kekkonen, V.; Rissanen, P.
1998-01-01
Demand-Side Management (DSM) is usually an utility (or sometimes governmental) activity designed to influence energy demand of customers (both level and load variation). It includes basic options like strategic conservation or load growth, peak clipping. Load shifting and fuel switching. Typical ways to realize DSM are direct load control, innovative tariffs, different types of campaign etc. Restructuring of utility in Finland and increased competition in electricity market have had dramatic influence on the DSM. Traditional ways are impossible due to the conflicting interests of generation, network and supply business and increased competition between different actors in the market. Costs and benefits of DSM are divided to different companies, and different type of utilities are interested only in those activities which are beneficial to them. On the other hand, due to the increased competition the suppliers are diversifying to different types of products and increasing number of customer services partly based on DSM are available. The aim of this project was to develop and assess methods for DSM and distribution automation planning from the utility point of view. The methods were also applied to case studies at utilities
Development of methods for DSM and distribution automation planning
Energy Technology Data Exchange (ETDEWEB)
Kaerkkaeinen, S; Kekkonen, V [VTT Energy, Espoo (Finland); Rissanen, P [Tietosavo Oy (Finland)
1998-08-01
Demand-Side Management (DSM) is usually an utility (or sometimes governmental) activity designed to influence energy demand of customers (both level and load variation). It includes basic options like strategic conservation or load growth, peak clipping. Load shifting and fuel switching. Typical ways to realize DSM are direct load control, innovative tariffs, different types of campaign etc. Restructuring of utility in Finland and increased competition in electricity market have had dramatic influence on the DSM. Traditional ways are impossible due to the conflicting interests of generation, network and supply business and increased competition between different actors in the market. Costs and benefits of DSM are divided to different companies, and different type of utilities are interested only in those activities which are beneficial to them. On the other hand, due to the increased competition the suppliers are diversifying to different types of products and increasing number of customer services partly based on DSM are available. The aim of this project was to develop and assess methods for DSM and distribution automation planning from the utility point of view. The methods were also applied to case studies at utilities
Hagger, Martin; Chan, Dervin K. C.; Protogerou, Cleo; Chatzisarantis, Nikos L. D.
2016-01-01
Objective Synthesizing research on social cognitive theories applied to health behavior is an important step in the development of an evidence base of psychological factors as targets for effective behavioral interventions. However, few meta-analyses of research on social cognitive theories in health contexts have conducted simultaneous tests of theoretically-stipulated pattern effects using path analysis. We argue that conducting path analyses of meta-analytic effects among constructs fr...
Energy Technology Data Exchange (ETDEWEB)
Mignemi, S., E-mail: smignemi@unica.it [Dipartimento di Matematica e Informatica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); INFN, Sezione di Cagliari, Cittadella Universitaria, 09042 Monserrato (Italy); Štrajn, R. [Dipartimento di Matematica e Informatica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); INFN, Sezione di Cagliari, Cittadella Universitaria, 09042 Monserrato (Italy)
2016-04-29
The definition of path integrals in one- and two-dimensional Snyder space is discussed in detail both in the traditional setting and in the first-order formalism of Faddeev and Jackiw. - Highlights: • The definition of the path integral in Snyder space is discussed using phase space methods. • The same result is obtained in the first-order formalism of Faddeev and Jackiw. • The path integral formulation of the two-dimensional Snyder harmonic oscillator is outlined.
International Nuclear Information System (INIS)
Mignemi, S.; Štrajn, R.
2016-01-01
The definition of path integrals in one- and two-dimensional Snyder space is discussed in detail both in the traditional setting and in the first-order formalism of Faddeev and Jackiw. - Highlights: • The definition of the path integral in Snyder space is discussed using phase space methods. • The same result is obtained in the first-order formalism of Faddeev and Jackiw. • The path integral formulation of the two-dimensional Snyder harmonic oscillator is outlined.
International Nuclear Information System (INIS)
Losnegaard, Are; Hodneland, Erlend; Lundervold, Arvid; Hysing, Liv Bolstad; Muren, Ludvig Paul
2010-01-01
A fast and accurate segmentation of organs at risk, such as the healthy colon, would be of benefit for planning of radiotherapy, in particular in an adaptive scenario. For the treatment of pelvic tumours, a great challenge is the segmentation of the most adjacent and sensitive parts of the gastrointestinal tract, the sigmoid and descending colon. We propose a semi-automated method to segment these bowel parts using the fast marching (FM) method. Standard 3D computed tomography (CT) image data obtained from routine radiotherapy planning were used. Our pre-processing steps distinguish the intestine, muscles and air from connective tissue. The core part of our method separates the sigmoid and descending colon from the muscles and other segments of the intestine. This is done by utilizing the ability of the FM method to compute a specified minimal energy functional integrated along a path, and thereby extracting the colon centre line between user-defined control points in the sigmoid and descending colon. Further, we reconstruct the tube-shaped geometry of the sigmoid and descending colon by fitting ellipsoids to points on the path and by adding adjacent voxels that are likely voxels belonging to these bowel parts. Our results were compared to manually outlined sigmoid and descending colon, and evaluated using the Dice coefficient (DC). Tests on 11 patients gave an average DC of 0.83 (±0.07) with little user interaction. We conclude that the proposed method makes it possible to fast and accurately segment the sigmoid and descending colon from routine CT image data.
THE METHOD OF MULTIPLE SPATIAL PLANNING BASIC MAP
Zhang, C.; Fang, C.
2018-01-01
The “Provincial Space Plan Pilot Program” issued in December 2016 pointed out that the existing space management and control information management platforms of various departments were integrated, and a spatial planning information management platform was established to integrate basic data, target indicators, space coordinates, and technical specifications. The planning and preparation will provide supportive decision support, digital monitoring and evaluation of the implementation of the p...
A Strategic Planning Primer: Model, Methods, and Misunderstandings
1992-06-01
ý.omfplc\\ social atctivity thai cannot be sirnpl stnlct tired b.\\ rules, of thumb or quaint itatk e procedures. Tb is papel attempt,, to bring to~gether mnan...Planners. 1988, pp. 172-183. Hlack. Gary. Phvswal Planning and Urban Design. in Cantonese and Snyder. Urban Planning, Second Edition, 1988, pp. 187-220...Washington. D.C., 1984. Sn\\ der. James C.. Fise’al Planning amn Budgeting. in Cantonese and Snder. Urban Planning, 1988, ,,p. 140-158. 34 Index A action
DEFF Research Database (Denmark)
Andersen, Andreas G; Casares-Magaz, Oscar; Muren, Ludvig P
2015-01-01
of the pelvic lymph nodes (LNs) from different beam angles. Patient- versus population-specific patterns in dose deterioration were explored. MATERIAL AND METHODS: Patient data sets consisting of a planning computed tomography (pCT) as well as multiple repeat CT (rCT) scans for three patients were used......BACKGROUND: The benefit of proton therapy may be jeopardized by dose deterioration caused by water equivalent path length (WEPL) variations. In this study we introduced a method to evaluate robustness of proton therapy with respect to inter-fractional motion and applied it to irradiation...... in deterioration patterns were found for the investigated patients, with beam angles delivering less dose to rectum, bladder and overall normal tissue identified around 40° and around 150°-160° for the left LNs, and corresponding angles for the right LNs. These angles were also associated with low values of WEPL...
Nonadiabatic transition path sampling
International Nuclear Information System (INIS)
Sherman, M. C.; Corcelli, S. A.
2016-01-01
Fewest-switches surface hopping (FSSH) is combined with transition path sampling (TPS) to produce a new method called nonadiabatic path sampling (NAPS). The NAPS method is validated on a model electron transfer system coupled to a Langevin bath. Numerically exact rate constants are computed using the reactive flux (RF) method over a broad range of solvent frictions that span from the energy diffusion (low friction) regime to the spatial diffusion (high friction) regime. The NAPS method is shown to quantitatively reproduce the RF benchmark rate constants over the full range of solvent friction. Integrating FSSH within the TPS framework expands the applicability of both approaches and creates a new method that will be helpful in determining detailed mechanisms for nonadiabatic reactions in the condensed-phase.
Kim, Kwang Hyeon; Lee, Suk; Shim, Jang Bo; Yang, Dae Sik; Yoon, Won Sup; Park, Young Je; Kim, Chul Yong; Cao, Yuan Jie; Chang, Kyung Hwan
2018-01-01
The aim of this study was to derive a new plan-scoring index using normal tissue complication probabilities to verify different plans in the selection of personalized treatment. Plans for 12 patients treated with tomotherapy were used to compare scoring for ranking. Dosimetric and biological indexes were analyzed for the plans for a clearly distinguishable group ( n = 7) and a similar group ( n = 12), using treatment plan verification software that we developed. The quality factor ( QF) of our support software for treatment decisions was consistent with the final treatment plan for the clearly distinguishable group (average QF = 1.202, 100% match rate, n = 7) and the similar group (average QF = 1.058, 33% match rate, n = 12). Therefore, we propose a normal tissue complication probability (NTCP) based on the plan scoring index for verification of different plans for personalized treatment-plan selection. Scoring using the new QF showed a 100% match rate (average NTCP QF = 1.0420). The NTCP-based new QF scoring method was adequate for obtaining biological verification quality and organ risk saving using the treatment-planning decision-support software we developed for prostate cancer.
Directory of Open Access Journals (Sweden)
Ali Keyvanfar
2018-03-01
Full Text Available Transportation is the major contributor of ever-increasing CO2 and Greenhouse Gas emissions in cities. The ever-increasing hazardous emissions of transportation and energy consumption have persuaded transportation and urban planners to motivate people to non-motorized mode of travel, especially walking. Currently, there are several urban walkability assessment models; however, coping with a limited range of walkability assessment variables make these models not fully able to promote inclusive walkable urban neighborhoods. In this regard, this study develops the path walkability assessment (PWA index model which evaluates and analyzes path walkability in association with the pedestrian’s decision-tree-making (DTM. The model converts the pedestrian’s DTM qualitative data to quantifiable values. This model involves ninety-two (92 physical and environmental walkability assessment variables clustered into three layers of DTM (Layer 1: features; Layer 2: Criteria; and Layer 3: Sub-Criteria, and scoped to shopping and retail type of walking. The PWA model as a global decision support tool can be applied in any neighborhood in the world, and this study implements it at Taman Universiti neighborhood in Skudai, Malaysia. The PWA model has established the walkability score index which determines the grading rate of walkability accomplishment for each walkability variable of the under-survey neighborhood. Using the PWA grading index enables urban designers to manage properly the financial resource allocation for inspiring walkability in the targeted neighborhood.
29 CFR 4206.7 - Amount of credit in plans using the direct attribution method.
2010-07-01
... TO A PARTIAL WITHDRAWAL § 4206.7 Amount of credit in plans using the direct attribution method. In a plan that uses the direct attribution allocation method described in section 4211(c)(4) of ERISA, the... 29 Labor 9 2010-07-01 2010-07-01 false Amount of credit in plans using the direct attribution...
Spreading paths in partially observed social networks
Onnela, Jukka-Pekka; Christakis, Nicholas A.
2012-03-01
Understanding how and how far information, behaviors, or pathogens spread in social networks is an important problem, having implications for both predicting the size of epidemics, as well as for planning effective interventions. There are, however, two main challenges for inferring spreading paths in real-world networks. One is the practical difficulty of observing a dynamic process on a network, and the other is the typical constraint of only partially observing a network. Using static, structurally realistic social networks as platforms for simulations, we juxtapose three distinct paths: (1) the stochastic path taken by a simulated spreading process from source to target; (2) the topologically shortest path in the fully observed network, and hence the single most likely stochastic path, between the two nodes; and (3) the topologically shortest path in a partially observed network. In a sampled network, how closely does the partially observed shortest path (3) emulate the unobserved spreading path (1)? Although partial observation inflates the length of the shortest path, the stochastic nature of the spreading process also frequently derails the dynamic path from the shortest path. We find that the partially observed shortest path does not necessarily give an inflated estimate of the length of the process path; in fact, partial observation may, counterintuitively, make the path seem shorter than it actually is.
Spreading paths in partially observed social networks.
Onnela, Jukka-Pekka; Christakis, Nicholas A
2012-03-01
Understanding how and how far information, behaviors, or pathogens spread in social networks is an important problem, having implications for both predicting the size of epidemics, as well as for planning effective interventions. There are, however, two main challenges for inferring spreading paths in real-world networks. One is the practical difficulty of observing a dynamic process on a network, and the other is the typical constraint of only partially observing a network. Using static, structurally realistic social networks as platforms for simulations, we juxtapose three distinct paths: (1) the stochastic path taken by a simulated spreading process from source to target; (2) the topologically shortest path in the fully observed network, and hence the single most likely stochastic path, between the two nodes; and (3) the topologically shortest path in a partially observed network. In a sampled network, how closely does the partially observed shortest path (3) emulate the unobserved spreading path (1)? Although partial observation inflates the length of the shortest path, the stochastic nature of the spreading process also frequently derails the dynamic path from the shortest path. We find that the partially observed shortest path does not necessarily give an inflated estimate of the length of the process path; in fact, partial observation may, counterintuitively, make the path seem shorter than it actually is.
29 CFR 4211.35 - Direct attribution method for withdrawals after the initial plan year.
2010-07-01
... WITHDRAWING EMPLOYERS Allocation Methods for Merged Multiemployer Plans § 4211.35 Direct attribution method for withdrawals after the initial plan year. The allocation method under this section is the... 29 Labor 9 2010-07-01 2010-07-01 false Direct attribution method for withdrawals after the initial...
Yoo-Kong, Sikarin; Liewrian, Watchara
2015-12-01
We report on a theoretical investigation concerning the polaronic effect on the transport properties of a charge carrier in a one-dimensional molecular chain. Our technique is based on the Feynman's path integral approach. Analytical expressions for the frequency-dependent mobility and effective mass of the carrier are obtained as functions of electron-phonon coupling. The result exhibits the crossover from a nearly free particle to a heavily trapped particle. We find that the mobility depends on temperature and decreases exponentially with increasing temperature at low temperature. It exhibits large polaronic-like behaviour in the case of weak electron-phonon coupling. These results agree with the phase transition (A.S. Mishchenko et al., Phys. Rev. Lett. 114, 146401 (2015)) of transport phenomena related to polaron motion in the molecular chain.
Huang, Ya; Ferguson, Neil S.
2018-04-01
The study implements a classic signal analysis technique, typically applied to structural dynamics, to examine the nonlinear characteristics seen in the apparent mass of a recumbent person during whole-body horizontal random vibration. The nonlinearity in the present context refers to the amount of 'output' that is not correlated or coherent to the 'input', usually indicated by values of the coherence function that are less than unity. The analysis is based on the longitudinal horizontal inline and vertical cross-axis apparent mass of twelve human subjects exposed to 0.25-20 Hz random acceleration vibration at 0.125 and 1.0 ms-2 r.m.s. The conditioned reverse path frequency response functions (FRF) reveal that the uncorrelated 'linear' relationship between physical input (acceleration) and outputs (inline and cross-axis forces) has much greater variation around the primary resonance frequency between 0.5 and 5 Hz. By reversing the input and outputs of the physical system, it is possible to assemble additional mathematical inputs from the physical output forces and mathematical constructs (e.g. square root of inline force). Depending on the specific construct, this can improve the summed multiple coherence at frequencies where the response magnitude is low. In the present case this is between 6 and 20 Hz. The statistical measures of the response force time histories of each of the twelve subjects indicate that there are potential anatomical 'end-stops' for the sprung mass in the inline axis. No previous study has applied this reverse path multi-input-single-output approach to human vibration kinematic and kinetic data before. The implementation demonstrated in the present study will allow new and existing data to be examined using this different analytical tool.
Awareness and Utilization of Family Planning Methods among ...
African Journals Online (AJOL)
deficiency Virus (HIV) infection influence the design and background Family planning is an important preventive measure against maternal and child morbidity and mortality. This study was aimed at determining the awareness and utilization of family ...
Terminal location planning in intermodal transportation with Bayesian inference method.
2014-01-01
In this project, we consider the planning of terminal locations for intermodal transportation systems. For a given number of potential terminals and coexisted multiple service pairs, we find the set of appropriate terminals and their locations that p...
SU-F-T-447: The Impact of Treatment Planning Methods On RapidPlan Modeling for Rectum Cancer
Energy Technology Data Exchange (ETDEWEB)
Lu, S; Peng, J; Li, K; Wang, J; Hu, W [Fudan University Shanghai Cancer Center, Shanghai, Shanghai (China)
2016-06-15
Purpose: To investigate the dose volume histogram (DVH) prediction varieties based on intensity modulate radiotherapy (IMRT) plan or volume arc modulate radiotherapy (VMAT) plan models on the RapidPlan. Methods: Two DVH prediction models were generated in this study, including an IMRT model trained from 83 IMRT rectum plans and a VMAT model trained from 60 VMAT rectum plans. In the internal validation, 20 plans from each training database were selected to verify the clinical feasibility of the model. Then, 10 IMRT plans (PIMRT-by-IMRT-model) generated from IMRT model and 10 IMRT plans generated from VMAT model (PIMRT-by-VMAT-model) were compared on the dose to organs at risk (OAR), which included bladder, left and right femoral heads. The similar comparison was also performed on the VMAT plans generated from IMRT model (PVMAT-by-IMRT-model) and VMAT plans generated from VMAT (PVMAT-by-VMAT-model) model. Results: For the internal validation, all plans from IMRT or VMAT model shows significantly improvement on OAR sparing compared with the corresponded clinical ones. Compared to the PIMRT-by-VMAT-model, the PIMRT-by-IMRT-model has a reduction of 6.90±3.87%(p<0.001) on V40 6.63±3.62%(p<0.001) on V45 and 4.74±2.26%(p<0.001) on V50 in bladder; and a mean dose reduction of 2.12±1.75Gy(p=0.004) and 2.84±1.53Gy(p<0.001) in right and left femoral head, respectively. There was no significant difference on OAR sparing between PVMAT-by-IMRT-model and PVMAT-by-VMAT-model. Conclusion: The IMRT model for the rectal cancer in the RapidPlan can be applied to for VMAT planning. However, the VMAT model is not suggested to use in the IMRT planning. Cautions should be taken that the planning model based on some technique may not feasible to other planning techniques.
Milton, Kimball A
2015-01-01
Starting from the earlier notions of stationary action principles, these tutorial notes shows how Schwinger’s Quantum Action Principle descended from Dirac’s formulation, which independently led Feynman to his path-integral formulation of quantum mechanics. Part I brings out in more detail the connection between the two formulations, and applications are discussed. Then, the Keldysh-Schwinger time-cycle method of extracting matrix elements is described. Part II will discuss the variational formulation of quantum electrodynamics and the development of source theory.
Krukowska, Jolanta; Bugajski, Marcin; Sienkiewicz, Monika; Czernicki, Jan
In stroke patients, the NDT - (Bobath - Neurodevelopmental Treatment) and PNF (Proprioceptive Neuromuscular Facilitation) methods are used to achieve the main objective of rehabilitation, which aims at the restoration of maximum patient independence in the shortest possible period of time (especially the balance of the body). The aim of the study is to evaluate the effect of the NDT-Bobath and PNF methods on the field support and total path length measure foot pressure (COP) in patients after stroke. The study included 72 patients aged from 20 to 69 years after ischemic stroke with Hemiparesis. The patients were divided into 4 groups by a simple randomization. The criteria for this division were: the body side (right or left) affected by paresis and the applied rehabilitation methods. All the patients were applied the recommended kinesitherapeutic method (randomized), 35 therapy sessions, every day for a period of six weeks. Before initiation of therapy and after 6 weeks was measured the total area of the support and path length (COP (Center Of Pressure) measure foot pressure) using stabilometer platform - alpha. The results were statistically analyzed. After treatment studied traits decreased in all groups. The greatest improvement was obtained in groups with NDT-Bobath therapy. NDT-Bobath method for improving the balance of the body is a more effective method of treatment in comparison with of the PNF method. In stroke patients, the effectiveness of NDT-Bobath method does not depend on hand paresis. Copyright © 2016 Polish Neurological Society. Published by Elsevier Urban & Partner Sp. z o.o. All rights reserved.
Directory of Open Access Journals (Sweden)
Donald C. Boone
2017-10-01
Full Text Available This computational research study will analyze the multi-physics of lithium ion insertion into a silicon nanowire in an attempt to explain the electrochemical kinetics at the nanoscale and quantum level. The electron coherent states and a quantum field version of photon density waves will be the joining theories that will explain the electron-photon interaction within the lithium-silicon lattice structure. These two quantum particles will be responsible for the photon absorption rate of silicon atoms that are hypothesized to be the leading cause of breaking diatomic silicon covalent bonds that ultimately leads to volume expansion. It will be demonstrated through the combination of Maxwell stress tensor, optical amplification and path integrals that a stochastic analyze using a variety of Poisson distributions that the anisotropic expansion rates in the <110>, <111> and <112> orthogonal directions confirms the findings ascertained in previous works made by other research groups. The computational findings presented in this work are similar to those which were discovered experimentally using transmission electron microscopy (TEM and simulation models that used density functional theory (DFT and molecular dynamics (MD. The refractive index and electric susceptibility parameters of lithiated silicon are interwoven in the first principle theoretical equations and appears frequently throughout this research presentation, which should serve to demonstrate the importance of these parameters in the understanding of this component in lithium ion batteries.
Directory of Open Access Journals (Sweden)
Mehrak Rahimi
2015-01-01
Full Text Available This study investigated the role of EFL teachers’ classroom discipline strategies in their teaching effectiveness and their students’ motivation and achievement in learning English as a foreign language. 1408 junior high-school students expressed their perceptions of the strategies their English teachers used (punishment, recognition/reward, discussion, involvement, and aggression to discipline the classroom. The students evaluated their teachers’ teaching effectiveness by completing effective Iranian EFL teacher questionnaire (Moafian, & Pishghadam, 2009. They also filled in Attitude/Motivation Test Battery (GhorbanDordinejad & ImamJomeh, 2011 that assessed their motivation towards learning English as a foreign language. Achievement in English was established based on formal grades students received at the end of the academic year. The results showed that EFL teachers reward and praise students for good behavior and they are not very authoritarian. Further, teaching effectiveness, motivation and achievement in learning English were all found to be related to discipline strategies. The results of path analysis showed that those teachers who used involvement and recognition strategies more frequently were perceived to be more effective teachers; however, students perceived teachers who used punitive strategies as being less effective in their teaching. It was also revealed that in classes where teachers managed disruptive behaviors by using punitive strategies, students had problems in learning as punitive strategies lowered students’ motivation. Teaching effectiveness was found to mediate the effect of punishment on motivation while motivation mediated the effect of punitive strategies on achievement. Motivation was found to have the strongest effect on achievement.
Directory of Open Access Journals (Sweden)
Wei Xu
2016-01-01
Full Text Available Taking the underground powerhouse of a pumped storage power station as the engineering background, this study established a 3D finite element model of the main and auxiliary powerhouse and performed the dynamic harmonica calculation for its fluctuating pressure. Based on the power flow theory, the ANSYS Parametric Design Language (APDL procedure was completed to calculate the power transmission in the powerhouse. The law of dominant path recognition was first proposed to assess the structure’s dominant transmission using a numerical solution on nodes in the model. The conductivity of the closed-cell foam that filled the structure’s joints was examined, as were the dynamic transmission features of the rock around and beneath the powerhouse. The results indicated that, as a structural joint filler, closed-cell foam could actively restrict vibration transmission, and the directions of dynamic transmission were mainly perpendicular to and along the river in the foundation rock. Approximately 20 percent of the foundation rock beneath the auxiliary powerhouse was disturbed by the concrete around the spiral case and induced vibrations in the powerhouse’s lower floors. Vibration in the higher floors was derived from downstream rock, and the dynamic transmission effect had a clear advantage along the horizontal direction.
29 CFR 4281.16 - Benefit valuation methods-plans closing out.
2010-07-01
..., as determined under this subpart. (b) Valuation rule. The present value of nonforfeitable benefits... 4281(b) of ERISA, the plan sponsor shall value the plan's benefits in accordance with paragraph (b) of... 29 Labor 9 2010-07-01 2010-07-01 false Benefit valuation methods-plans closing out. 4281.16...
29 CFR 2520.104-4 - Alternative method of compliance for certain successor pension plans.
2010-07-01
... pension plans. 2520.104-4 Section 2520.104-4 Labor Regulations Relating to Labor (Continued) EMPLOYEE... certain successor pension plans. (a) General. Under the authority of section 110 of the Act, this section sets forth an alternative method of compliance for certain successor pension plans in which some...
HISTORICAL PROCEDURES AND G-DSG METHOD BASED MANUFACTURING PLANNING
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
Oriented to CAD/CAM seamless integration, this paper presents an idea for synthetically considering the qualitative history model, which represents the whole course of modeling, and the quantitative geometry model, which contains the extended Brep model, CSG and feature pedigree. History model building captures in background the dynamic interactive definition of engineering requirement and then explicitly conveys the original intention to successive application layers, which is conductive to the decision support of manufacturing planning in not only automatic geometry re-constructing but also machining set-up. G-DSG theory as an earlier achievement is applied to generate the topology-independent generalized mid-model as an input to manufacturing planning, which is therefore simplified and its accuracy is simultaneously improved. Manufacturing planning lays emphasis on optimizing the mapping in both geometry and function from part itself to detail machining scheme. Comparatively, process planning pays more attention to the mapping to those items like tool, fixture, etc. Theoretically, such an idea is also beneficial to realizing the parametric NC machining trajectory generation and maintaining its dynamic consistency with the update of the design model.
Camera Planning in Virtual Environments using the Corridor Map Method
Geraerts, R.J.
2009-01-01
Planning high-quality camera motions is a challenging problem for applications dealing with interactive virtual environments. This challenge is caused by conflicting requirements. On the one hand we need good motions, formed by trajectories that are collision-free and keep the character that is
Resampling: An optimization method for inverse planning in robotic radiosurgery
International Nuclear Information System (INIS)
Schweikard, Achim; Schlaefer, Alexander; Adler, John R. Jr.
2006-01-01
By design, the range of beam directions in conventional radiosurgery are constrained to an isocentric array. However, the recent introduction of robotic radiosurgery dramatically increases the flexibility of targeting, and as a consequence, beams need be neither coplanar nor isocentric. Such a nonisocentric design permits a large number of distinct beam directions to be used in one single treatment. These major technical differences provide an opportunity to improve upon the well-established principles for treatment planning used with GammaKnife or LINAC radiosurgery. With this objective in mind, our group has developed over the past decade an inverse planning tool for robotic radiosurgery. This system first computes a set of beam directions, and then during an optimization step, weights each individual beam. Optimization begins with a feasibility query, the answer to which is derived through linear programming. This approach offers the advantage of completeness and avoids local optima. Final beam selection is based on heuristics. In this report we present and evaluate a new strategy for utilizing the advantages of linear programming to improve beam selection. Starting from an initial solution, a heuristically determined set of beams is added to the optimization problem, while beams with zero weight are removed. This process is repeated to sample a set of beams much larger compared with typical optimization. Experimental results indicate that the planning approach efficiently finds acceptable plans and that resampling can further improve its efficiency
Planning and Optimization Methods for Active Distribution Systems
DEFF Research Database (Denmark)
Abbey, Chad; Baitch, Alex; Bak-Jensen, Birgitte
distribution planning. Active distribution networks (ADNs) have systems in place to control a combination of distributed energy resources (DERs), defined as generators, loads and storage. With these systems in place, the AND becomes an Active Distribution System (ADS). Distribution system operators (DSOs) have...
International Nuclear Information System (INIS)
Ertaş, Mehmet; Keskin, Mustafa
2015-01-01
By using the path probability method (PPM) with point distribution, we study the dynamic phase transitions (DPTs) in the Blume–Emery–Griffiths (BEG) model under an oscillating external magnetic field. The phases in the model are obtained by solving the dynamic equations for the average order parameters and a disordered phase, ordered phase and four mixed phases are found. We also investigate the thermal behavior of the dynamic order parameters to analyze the nature dynamic transitions as well as to obtain the DPT temperatures. The dynamic phase diagrams are presented in three different planes in which exhibit the dynamic tricritical point, double critical end point, critical end point, quadrupole point, triple point as well as the reentrant behavior, strongly depending on the values of the system parameters. We compare and discuss the dynamic phase diagrams with dynamic phase diagrams that were obtained within the Glauber-type stochastic dynamics based on the mean-field theory. - Highlights: • Dynamic magnetic behavior of the Blume–Emery–Griffiths system is investigated by using the path probability method. • The time variations of average magnetizations are studied to find the phases. • The temperature dependence of the dynamic magnetizations is investigated to obtain the dynamic phase transition points. • We compare and discuss the dynamic phase diagrams with dynamic phase diagrams that were obtained within the Glauber-type stochastic dynamics based on the mean-field theory
Energy Technology Data Exchange (ETDEWEB)
Ertaş, Mehmet, E-mail: mehmetertas@erciyes.edu.tr; Keskin, Mustafa
2015-03-01
By using the path probability method (PPM) with point distribution, we study the dynamic phase transitions (DPTs) in the Blume–Emery–Griffiths (BEG) model under an oscillating external magnetic field. The phases in the model are obtained by solving the dynamic equations for the average order parameters and a disordered phase, ordered phase and four mixed phases are found. We also investigate the thermal behavior of the dynamic order parameters to analyze the nature dynamic transitions as well as to obtain the DPT temperatures. The dynamic phase diagrams are presented in three different planes in which exhibit the dynamic tricritical point, double critical end point, critical end point, quadrupole point, triple point as well as the reentrant behavior, strongly depending on the values of the system parameters. We compare and discuss the dynamic phase diagrams with dynamic phase diagrams that were obtained within the Glauber-type stochastic dynamics based on the mean-field theory. - Highlights: • Dynamic magnetic behavior of the Blume–Emery–Griffiths system is investigated by using the path probability method. • The time variations of average magnetizations are studied to find the phases. • The temperature dependence of the dynamic magnetizations is investigated to obtain the dynamic phase transition points. • We compare and discuss the dynamic phase diagrams with dynamic phase diagrams that were obtained within the Glauber-type stochastic dynamics based on the mean-field theory.
Vermeeren, Günter; Joseph, Wout; Martens, Luc
2013-04-01
Assessing the whole-body absorption in a human in a realistic environment requires a statistical approach covering all possible exposure situations. This article describes the development of a statistical multi-path exposure method for heterogeneous realistic human body models. The method is applied for the 6-year-old Virtual Family boy (VFB) exposed to the GSM downlink at 950 MHz. It is shown that the whole-body SAR does not differ significantly over the different environments at an operating frequency of 950 MHz. Furthermore, the whole-body SAR in the VFB for multi-path exposure exceeds the whole-body SAR for worst-case single-incident plane wave exposure by 3.6%. Moreover, the ICNIRP reference levels are not conservative with the basic restrictions in 0.3% of the exposure samples for the VFB at the GSM downlink of 950 MHz. The homogeneous spheroid with the dielectric properties of the head suggested by the IEC underestimates the absorption compared to realistic human body models. Moreover, the variation in the whole-body SAR for realistic human body models is larger than for homogeneous spheroid models. This is mainly due to the heterogeneity of the tissues and the irregular shape of the realistic human body model compared to homogeneous spheroid human body models. Copyright © 2012 Wiley Periodicals, Inc.
International Nuclear Information System (INIS)
Wang Xiaochun; Zhang Xiaodong; Dong Lei; Liu, Helen; Gillin, Michael; Ahamad, Anesa; Ang Kian; Mohan, Radhe
2005-01-01
Purpose: To determine the effectiveness of noncoplanar beam configurations and the benefit of plans using fewer but optimally placed beams designed by a parallelized multiple-resolution beam angle optimization (PMBAO) approach. Methods and Materials: The PMBAO approach uses a combination of coplanar and noncoplanar beam configurations for intensity-modulated radiation therapy (IMRT) treatment planning of paranasal sinus cancers. A smaller number of beams (e.g. 3) are first used to explore the solution space to determine the best and worst beam directions. The results of this exploration are then used as a starting point for determining an optimum beam orientation configuration with more beams (e.g. 5). This process is parallelized using a message passing interface, which greatly reduces the overall computation time for routine clinical practice. To test this approach, treatment for 10 patients with paranasal sinus cancer was planned using a total of 5 beams from a pool of 46 possible beam angles. The PMBAO treatment plans were also compared with IMRT plans designed using 9 equally spaced coplanar beams, which is the standard approach in our clinic. Plans with these two different beam configurations were compared with respect to dose conformity, dose heterogeneity, dose-volume histograms, and doses to organs at risk (i.e., eyes, optic nerve, optic chiasm, and brain). Results: The noncoplanar beam configuration was superior in most paranasal sinus carcinoma cases. The target dose homogeneity was better using a PMBAO 5-beam configuration. However, the dose conformity using PMBAO was not improved and was case dependent. Compared with the 9-beam configuration, the PMBAO configuration significantly reduced the mean dose to the eyes and optic nerves and the maximum dose to the contralateral optical path (e.g. the contralateral eye and optic nerve). The maximum dose to the ipsilateral eye and optic nerve was also lower using the PMBAO configuration than using the 9-beam
Tool path in torus tool CNC machining
Directory of Open Access Journals (Sweden)
XU Ying
2016-10-01
Full Text Available This paper is about tool path in torus tool CNC machining.The mathematical model of torus tool is established.The tool path planning algorithm is determined through calculation of the cutter location,boundary discretization,calculation of adjacent tool path and so on,according to the conversion formula,the cutter contact point will be converted to the cutter location point and then these points fit a toolpath.Lastly,the path planning algorithm is implemented by using Matlab programming.The cutter location points for torus tool are calculated by Matlab,and then fit these points to a toolpath.While using UG software,another tool path of free surface is simulated of the same data.It is drew compared the two tool paths that using torus tool is more efficient.
Czech Academy of Sciences Publication Activity Database
Vacik, H.; Kurttila, M.; Hujala, T.; Khadka, Chiranjeewee; Haara, A.; Pykäläinen, J.; Honkakoski, P.; Wolfslehner, B.
2014-01-01
Roč. 144, NOV 2014 (2014), s. 304-315 ISSN 0301-4797 R&D Projects: GA MŠk(CZ) ED1.1.00/02.0073 Institutional support: RVO:67179843 Keywords : participatory planning * group decision making * problem identification * problem modeling * problem solving * natural resource management Subject RIV: EH - Ecology, Behaviour Impact factor: 2.723, year: 2014
Application of Grid Planning Method in Drilling-Blasting Operations
Dambov, Risto; Spasovski, Orce
2012-01-01
The problem occurs almost every day in operation and causes troubles to mining engineers. The right performance of drilling-blasting work is important for the successful operation of the entire excavation. The aim of the paper is to point out the importance of planning and how it can contribute to the right organization and make drilling-blasting and other mining activities in mine operations easier. Defining the activities and practical example that has been given are carried out by the u...
Path Creation, Path Dependence and Breaking Away from the Path
Wang, Jens; Hedman, Jonas; Tuunainen, Virpi Kristiina
2016-01-01
The explanation of how and why firms succeed or fail is a recurrent research challenge. This is particularly important in the context of technological innovations. We focus on the role of historical events and decisions in explaining such success and failure. Using a case study of Nokia, we develop and extend a multi-layer path dependence framework. We identify four layers of path dependence: technical, strategic and leadership, organizational, and external collaboration. We show how path dep...
International Nuclear Information System (INIS)
Langer, Mark Peter; Papiez, Lech; Spirydovich, Siarhei; Thai, Van
2005-01-01
Purpose: The effect of rotational errors on the coverage of clinical target volumes (CTVs) is examined. A new planning target volume (PTV) construction that considers the individual paths traced by movements of the target boundary points is developed. Methods and Materials: A standard uniform margin expansion was compared with a PTV constructed from the space swept out by a concave moving target. A new method formed the PTV by aggregating the separate convex hulls taken of the positions of the individual target boundary points in a sampling of CTV displacements. Results: A 0.5-cm uniform margin adequate for translations was inadequate given CTV rotation about a fixed off-center axis. A PTV formed of the target's swept-out area was 22% smaller than needed for coverage by a uniform margin, but computationally is not readily extended to translations combined with rotations about a shifting axis. Forming instead the union of convex hulls of the boundary points in a sampling of CTV displacements represented these movements in the PTV design and retained the target's concave shape. Conclusions: Planning target volumes should accommodate target rotation. The union of convex hulls of the boundary point positions in a sampling of displacements can effectively represent multiple sources of deviations while preserving target concavities
Barriers to Use of Family Planning Methods Among Heterosexual Mexican Couples.
Arias, María Luisa Flores; Champion, Jane Dimmitt; Soto, Norma Elva Sáenz; Tovar, Marlene; Dávila, Sandra Paloma Esparza
2017-05-01
Family planning has become increasingly important as a fundamental component of sexual health and as such is offered via public health systems worldwide. Identification of barriers to use of family planning methods among heterosexual couples living in Mexico is indicated to facilitate access to family planning methods. Barriers to family planning methods were assessed among Mexican heterosexual, sexually active males and females of reproductive age, using a modified Spanish version of the Barriers to the Use of Family Planning Methods scale (Cronbach's alpha = .89, subscales ranging from .53 to .87). Participants were recruited via convenience sampling in ambulatory care clinics within a metropolitan area in Central Mexico. Participants included 52 heterosexual couples aged 18-35 years (N = 104). Sociodemographic comparisons by gender identified older age and higher education, income, and numbers of sexual partners among men than women. More men (50%) than women (25%) were currently using family planning methods; however, 80% overall indicated intentions for its use. Overall, male condoms were used and intended for use most often by men than women. Significant gender-specific differences were found, with men (71.15%) reporting no family planning barriers, whereas women (55.66%) reported barriers including low socioeconomic status, medical concerns, and stigma. The modified Spanish translation demonstrated usefulness for measuring barriers to family planning methods use in Mexico among heterosexual males and females of reproductive age. Barriers identified by Mexican women in this study may be addressed to reduce potential barriers to family planning among Mexican populations.
RANGE RAM: a long-term planning method for managing grazing lands
Henricus C. Jansen
1976-01-01
Range RAM (Resource Allocation Method) is a computerized planning method designed to assist range managers in developing and selecting alternatives in spatial and temporal allocation of resources. The technique is applicable at the frest or district management levels, or their equivalents. Range RAM can help formulate plans that maximize the production of range outputs...
Zhou, Chuan; Chan, Heang-Ping; Guo, Yanhui; Wei, Jun; Chughtai, Aamer; Hadjiiski, Lubomir M.; Sundaram, Baskaran; Patel, Smita; Kuriakose, Jean W.; Kazerooni, Ella A.
2013-03-01
The curved planar reformation (CPR) method re-samples the vascular structures along the vessel centerline to generate longitudinal cross-section views. The CPR technique has been commonly used in coronary CTA workstation to facilitate radiologists' visual assessment of coronary diseases, but has not yet been used for pulmonary vessel analysis in CTPA due to the complicated tree structures and the vast network of pulmonary vasculature. In this study, a new curved planar reformation and optimal path tracing (CROP) method was developed to facilitate feature extraction and false positive (FP) reduction and improve our PE detection system. PE candidates are first identified in the segmented pulmonary vessels at prescreening. Based on Dijkstra's algorithm, the optimal path (OP) is traced from the pulmonary trunk bifurcation point to each PE candidate. The traced vessel is then straightened and a reformatted volume is generated using CPR. Eleven new features that characterize the intensity, gradient, and topology are extracted from the PE candidate in the CPR volume and combined with the previously developed 9 features to form a new feature space for FP classification. With IRB approval, CTPA of 59 PE cases were retrospectively collected from our patient files (UM set) and 69 PE cases from the PIOPED II data set with access permission. 595 and 800 PEs were manually marked by experienced radiologists as reference standard for the UM and PIOPED set, respectively. At a test sensitivity of 80%, the average FP rate was improved from 18.9 to 11.9 FPs/case with the new method for the PIOPED set when the UM set was used for training. The FP rate was improved from 22.6 to 14.2 FPs/case for the UM set when the PIOPED set was used for training. The improvement in the free response receiver operating characteristic (FROC) curves was statistically significant (p<0.05) by JAFROC analysis, indicating that the new features extracted from the CROP method are useful for FP reduction.
Kalenichenko, Valentin V.
2000-11-01
The electronic version of an extensive catalogue of the results of the fireball physics inverse problem solution for the precise observational data of the Prairie Network Fireballs (DTHM-values) obtained by local-ballistic method of a variably-sliding path-segment contains a set of the physical parameters for the 480 fireball images of the 248 cosmic body entries into the Earth's atmosphere (PNVK-values). The parameters are: the fireball velocity with the corresponding values of the mass to cross-section area ratio for the fireball-generating body a teach measured point of the fireball path, the ablation factor and the ratio of the luminous fireball energy to the drag work for the body in the Earth's atmosphere using a factor inversely proportional to the density of the body. The catalogue of all PNVK-values, about 3.1 Mbytes in ASCII is accessible from ftp://ftp2.mao.kiev.ua/pub/astro/pnvk, files pnvk.cat and pnvks.cat
Scowen, Paul A.; Tripp, Todd; Beasley, Matt; Ardila, David; Andersson, B-G; Apellániz, Jesús Maíz; Barstow, Martin; Bianchi, Luciana; Calzetti, Daniela; Clampin, Mark; Evans, Christopher J.; France, Kevin; García, Miriam García; de Castro, Ana Gomez; Harris, Walt
2016-01-01
We present the science cases and technological discussions that came from the workshop titled ¿Finding the ultraviolet (UV)-Visible Path Forward¿ held at NASA GSFC 2015 June 25-26. The material presented outlines the compelling science that can be enabled by a next generation space-based observatory dedicated for UV¿visible science, the technologies that are available to include in that observatory design, and the range of possible alternative launch approaches that could also enable some of ...
Tunjo Perić; Željko Mandić
2017-01-01
This paper presents the production plan optimization in the metal industry considered as a multi-criteria programming problem. We first provided the definition of the multi-criteria programming problem and classification of the multicriteria programming methods. Then we applied two multi-criteria programming methods (the STEM method and the PROMETHEE method) in solving a problem of multi-criteria optimization production plan in a company from the metal industry. The obtained resul...
DEFF Research Database (Denmark)
Pinder, David
2011-01-01
Walking has moved into increasing visibility in social, cultural, and geographical studies as well as art and cultural practice in recent times.Walking practices are often mobilised as a means for sensing and learning about spaces, for enabling reflection on the mutual constitution of bodies...... and landscapes, and for finding meaning within and potentially re-enchanting environments. Through the influence of Michel de Certeau in particular, the idea that walking `encunciates' spaces and is a creative, elusive, and resistive everyday practice, counterpoised to the `solar eye', has become commonplace....... This paper focuses on projects by the artist Francis Aly«s that are based on walking in London and other cities, to consider their engagements with the politics of urban space. Attention is paid to walking as his method of unfolding stories, and to its potential to unsettle and bring into question current...
Unmanned aerial vehicle trajectory planning with direct methods
Geiger, Brian
A real-time method for trajectory optimization to maximize surveillance time of a fixed or moving ground target by one or more unmanned aerial vehicles (UAVs) is presented. The method accounts for performance limits of the aircraft, intrinsic properties of the camera, and external disturbances such as wind. Direct collocation with nonlinear programming is used to implement the method in simulation and onboard the Penn State/Applied Research Lab's testbed UAV. Flight test results compare well with simulation. Both stationary targets and moving targets, such as a low flying UAV, were successfully tracked in flight test. In addition, a new method using a neural network approximation is presented that removes the need for collocation and numerical derivative calculation. Neural networks are used to approximate the objective and dynamics functions in the optimization problem which allows for reduced computation requirements. The approximation reduces the size of the resulting nonlinear programming problem compared to direct collocation or pseudospectral methods. This method is shown to be faster than direct collocation and psuedospectral methods using numerical or automatic derivative techniques. The neural network approximation is also shown to be faster than analytical derivatives but by a lesser factor. Comparative results are presented showing similar accuracy for all methods. The method is modular and enables application to problems of the same class without network retraining.
Directory of Open Access Journals (Sweden)
Jamie Waters
2014-09-01
Full Text Available This project uses Newton’s Second Law of Motion, Euler’s method, basic physics, and basic calculus to model the flight path of a rocket. From this, one can find the height and velocity at any point from launch to the maximum altitude, or apogee. This can then be compared to the actual values to see if the method of estimation is a plausible. The rocket used for this project is modeled after Bullistic-1 which was launched by the Society of Aeronautics and Rocketry at the University of South Florida.
Formal language constrained path problems
Energy Technology Data Exchange (ETDEWEB)
Barrett, C.; Jacob, R.; Marathe, M.
1997-07-08
In many path finding problems arising in practice, certain patterns of edge/vertex labels in the labeled graph being traversed are allowed/preferred, while others are disallowed. Motivated by such applications as intermodal transportation planning, the authors investigate the complexity of finding feasible paths in a labeled network, where the mode choice for each traveler is specified by a formal language. The main contributions of this paper include the following: (1) the authors show that the problem of finding a shortest path between a source and destination for a traveler whose mode choice is specified as a context free language is solvable efficiently in polynomial time, when the mode choice is specified as a regular language they provide algorithms with improved space and time bounds; (2) in contrast, they show that the problem of finding simple paths between a source and a given destination is NP-hard, even when restricted to very simple regular expressions and/or very simple graphs; (3) for the class of treewidth bounded graphs, they show that (i) the problem of finding a regular language constrained simple path between source and a destination is solvable in polynomial time and (ii) the extension to finding context free language constrained simple paths is NP-complete. Several extensions of these results are presented in the context of finding shortest paths with additional constraints. These results significantly extend the results in [MW95]. As a corollary of the results, they obtain a polynomial time algorithm for the BEST k-SIMILAR PATH problem studied in [SJB97]. The previous best algorithm was given by [SJB97] and takes exponential time in the worst case.
Manufacturing Methods and Technology Program Plan, CY 1983,
1983-09-01
materials needed for night vision devices. Currently, infrared detectors are produced on a small scale under laboratory conditions. Unit costs are high and...X 4 0- 40 CL 0 2 9WW 00 0 0 -J C3 0 . xo z Idu d00 co. a 40U- ca w2 C30 U 0. wl WW2 -9 .M~ a iI- I.- 0I .1 UJ 33 Ř :1 <o 0 wJ w p I co x W 0U 2U...the Plan. The development of millimeter wave and infrared laser systems for all-weather end smoke fighting is being pursued. This will require the
International Nuclear Information System (INIS)
Young, Tony; Som, Seu; Sathiakumar, Chithradevi; Holloway, Lois
2013-01-01
Positron emission tomography (PET) imaging has been used to provide additional information regarding patient tumor location, size, and staging for radiotherapy treatment planning purposes. This additional information reduces interobserver variability and produces more consistent contouring. It is well recognized that different contouring methodology for PET data results in different contoured volumes. The goal of this study was to compare the difference in PET contouring methods for 2 different treatment planning systems using a phantom dataset and a series of patient datasets. Contouring methodology was compared on the ADAC Pinnacle Treatment Planning System and the CMS XiO Treatment Planning System. Contours were completed on the phantom and patient datasets using a number of PET contouring methods—the standardized uptake value 2.5 method, 30%, 40%, and 50% of the maximum uptake method and the signal to background ratio method. Differences of >15% were observed for PET-contoured volumes between the different treatment planning systems for the same data and the same PET contouring methodology. Contoured volume differences between treatment planning systems were caused by differences in data formatting and display and the different contouring tools available. Differences in treatment planning system as well as contouring methodology should be considered carefully in dose-volume contouring and reporting, especially between centers that may use different treatment planning systems or those that have several different treatment planning systems
Feynman's path integrals and Bohm's particle paths
International Nuclear Information System (INIS)
Tumulka, Roderich
2005-01-01
Both Bohmian mechanics, a version of quantum mechanics with trajectories, and Feynman's path integral formalism have something to do with particle paths in space and time. The question thus arises how the two ideas relate to each other. In short, the answer is, path integrals provide a re-formulation of Schroedinger's equation, which is half of the defining equations of Bohmian mechanics. I try to give a clear and concise description of the various aspects of the situation. (letters and comments)
A Geographic Method for High Resolution Spatial Heat Planning
DEFF Research Database (Denmark)
Nielsen, Steffen
2014-01-01
more detailed modelling that takes the geographic placement of buildings and the differences among DH systems into account. In the present article, a method for assessing the costs of DH expansions has been developed. The method was applied in a geographic information system (GIS) model that consists...... are considering distribution costs based on the geographic properties of each area and assessing transmission costs based on an iterative process that examines expansion potentials gradually. The GIS model is only applicable to a Danish context, but the method itself can be applied to other countries....... of three parts and assesses the costs of heat production, distribution, and transmission. The model was also applied to an actual case in order to show how it can be used. The model shows many improvements in the method for the assessment of distribution costs and transmission costs. Most notable...
Are deterministic methods suitable for short term reserve planning?
International Nuclear Information System (INIS)
Voorspools, Kris R.; D'haeseleer, William D.
2005-01-01
Although deterministic methods for establishing minutes reserve (such as the N-1 reserve or the percentage reserve) ignore the stochastic nature of reliability issues, they are commonly used in energy modelling as well as in practical applications. In order to check the validity of such methods, two test procedures are developed. The first checks if the N-1 reserve is a logical fixed value for minutes reserve. The second test procedure investigates whether deterministic methods can realise a stable reliability that is independent of demand. In both evaluations, the loss-of-load expectation is used as the objective stochastic criterion. The first test shows no particular reason to choose the largest unit as minutes reserve. The expected jump in reliability, resulting in low reliability for reserve margins lower than the largest unit and high reliability above, is not observed. The second test shows that both the N-1 reserve and the percentage reserve methods do not provide a stable reliability level that is independent of power demand. For the N-1 reserve, the reliability increases with decreasing maximum demand. For the percentage reserve, the reliability decreases with decreasing demand. The answer to the question raised in the title, therefore, has to be that the probability based methods are to be preferred over the deterministic methods
Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
Directory of Open Access Journals (Sweden)
Jesús Morales
2009-01-01
Full Text Available Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a robotic mission can be composed of a combination of different types of path segments. These techniques have been successfully tested in the tracked mobile robot Auriga-α in an indoor environment.
Qualification paths of adult educators in Sweden and Denmark
DEFF Research Database (Denmark)
Andersson, Per; Köpsén, Susanne; Larson, Anne
2013-01-01
fields of education and training. In this study, we analyse the qualification paths, or learning trajectories, of prospective adult educators in Sweden and Denmark. The analysis is based on narrative interviews with 29 students in training to become adult educators. The career paths of adult educators...... are often long and winding roads. Becoming an adult educator could be their primary desire, but it could also be their ‘Plan B’, a second choice. Individual motives and external demands interact in the professionalisation process. A shift in focus from teaching subject and methods to teaching context...... and the relation to the learners is part of the professional development. Finally, we argue that both academic studies and hands-on work in the adult education community are crucial parts of the adult educator’s qualification path....
Paraphrase and Allegory Methods on Understanding from Quran at Gnosticism school and Batiniâs Path
Directory of Open Access Journals (Sweden)
Jafar Shanazari
2010-06-01
Full Text Available on Gnosticism school and Batinis religion, have common belief that Quran have esoteric meanings on words and verses, therefore, those two methods have specific approachs to finding the real meanings of this verses. With exact focus on the texts and Sources of this two methods, we faced with Similarities and differences of hermeneutic on three specific Gnosticism Aspects A finding the meanings on context of verses, B by moral edification to achievement this meanings, C by passing through apparent feeling and reaching to spiritual feeling of real meaning of verses. In the Batini ’ s beliefs, the main specifications of paraphrase are: a Specifying the antitye of the words in the Qoran. b Education of Paraphrases. c Specifying the relation between feeling and spiritual meanings and vice versa. This Study, at first, has abigated to explane the meaning of paraphrase and allegory, and eventually, reviewed to similiarities and differences between them and Quran explanation, in addition we doing a arbitration between them.
A new digital preoperative planning method for total hip arthroplasties
Crooijmans, H.J.A.; Laumen, A.M.R.P.; van Pul, C.; van Mourik, J.B.A.
Preoperative templating is an important part of a THA. The ability to accurately determine magnification of the hip on the radiograph and apply identical magnification to the radiograph and template will improve accuracy of preoperative templating of THA. We designed a templating method using a new
A hybrid Planning Method for Transmission Network in a Deregulated Enviroment
DEFF Research Database (Denmark)
Xu, Zhao; Dong, Zhaoyang; Poulsen, Kit
2006-01-01
The reconstruction of power industries has brought fundamental changes to both power system operation and planning. This paper presents a new planning method using a multi-objective optimization (MOOP) technique, as well as human knowledge, to expand the transmission network in open-access scheme...
Schmitt, M. A.; And Others
1994-01-01
Compares traditional manure application planning techniques calculated to meet agronomic nutrient needs on a field-by-field basis with plans developed using computer-assisted linear programming optimization methods. Linear programming provided the most economical and environmentally sound manure application strategy. (Contains 15 references.) (MDH)
Fast film dosimetry calibration method for IMRT treatment plan verification
International Nuclear Information System (INIS)
Schwob, N.; Wygoda, A.
2004-01-01
Intensity-Modulated Radiation Therapy (IMRT) treatments are delivered dynamically and as so, require routinely performed verification measurements [1]. Radiographic film dosimetry is a well-adapted method for integral measurements of dynamic treatments fields, with some drawbacks related to the known problems of dose calibration of films. Classically, several films are exposed to increasing doses, and a Net Optical Density (N.O.D) vs. dose sensitometric curve (S.C.) is generated. In order to speed up the process, some authors have developed a method based on the irradiation of a single film with a non-uniform pattern of O.D., delivered with a dynamic MLC. However, this curve still needs to be calibrated to dose by the means of measurements in a water phantom. It is recommended to make a new calibration for every series of measurements, in order to avoid the processing quality dependence of the film response. These frequent measurements are very time consuming. We developed a simple method for quick dose calibration of films, including a check of the accuracy of the calibration curve obtained
Monte Carlo Planning Method Estimates Planning Horizons during Interactive Social Exchange
Hula, Andreas; Montague, P. Read; Dayan, Peter
2015-01-01
Reciprocating interactions represent a central feature of all human exchanges. They have been the target of various recent experiments, with healthy participants and psychiatric populations engaging as dyads in multi-round exchanges such as a repeated trust task. Behaviour in such exchanges involves complexities related to each agent’s preference for equity with their partner, beliefs about the partner’s appetite for equity, beliefs about the partner’s model of their partner, and so on. Agents may also plan different numbers of steps into the future. Providing a computationally precise account of the behaviour is an essential step towards understanding what underlies choices. A natural framework for this is that of an interactive partially observable Markov decision process (IPOMDP). However, the various complexities make IPOMDPs inordinately computationally challenging. Here, we show how to approximate the solution for the multi-round trust task using a variant of the Monte-Carlo tree search algorithm. We demonstrate that the algorithm is efficient and effective, and therefore can be used to invert observations of behavioural choices. We use generated behaviour to elucidate the richness and sophistication of interactive inference. PMID:26053429
Monte Carlo Planning Method Estimates Planning Horizons during Interactive Social Exchange.
Hula, Andreas; Montague, P Read; Dayan, Peter
2015-06-01
Reciprocating interactions represent a central feature of all human exchanges. They have been the target of various recent experiments, with healthy participants and psychiatric populations engaging as dyads in multi-round exchanges such as a repeated trust task. Behaviour in such exchanges involves complexities related to each agent's preference for equity with their partner, beliefs about the partner's appetite for equity, beliefs about the partner's model of their partner, and so on. Agents may also plan different numbers of steps into the future. Providing a computationally precise account of the behaviour is an essential step towards understanding what underlies choices. A natural framework for this is that of an interactive partially observable Markov decision process (IPOMDP). However, the various complexities make IPOMDPs inordinately computationally challenging. Here, we show how to approximate the solution for the multi-round trust task using a variant of the Monte-Carlo tree search algorithm. We demonstrate that the algorithm is efficient and effective, and therefore can be used to invert observations of behavioural choices. We use generated behaviour to elucidate the richness and sophistication of interactive inference.
TU-AB-BRB-02: Stochastic Programming Methods for Handling Uncertainty and Motion in IMRT Planning
Energy Technology Data Exchange (ETDEWEB)
Unkelbach, J. [Massachusetts General Hospital (United States)
2015-06-15
The accepted clinical method to accommodate targeting uncertainties inherent in fractionated external beam radiation therapy is to utilize GTV-to-CTV and CTV-to-PTV margins during the planning process to design a PTV-conformal static dose distribution on the planning image set. Ideally, margins are selected to ensure a high (e.g. >95%) target coverage probability (CP) in spite of inherent inter- and intra-fractional positional variations, tissue motions, and initial contouring uncertainties. Robust optimization techniques, also known as probabilistic treatment planning techniques, explicitly incorporate the dosimetric consequences of targeting uncertainties by including CP evaluation into the planning optimization process along with coverage-based planning objectives. The treatment planner no longer needs to use PTV and/or PRV margins; instead robust optimization utilizes probability distributions of the underlying uncertainties in conjunction with CP-evaluation for the underlying CTVs and OARs to design an optimal treated volume. This symposium will describe CP-evaluation methods as well as various robust planning techniques including use of probability-weighted dose distributions, probability-weighted objective functions, and coverage optimized planning. Methods to compute and display the effect of uncertainties on dose distributions will be presented. The use of robust planning to accommodate inter-fractional setup uncertainties, organ deformation, and contouring uncertainties will be examined as will its use to accommodate intra-fractional organ motion. Clinical examples will be used to inter-compare robust and margin-based planning, highlighting advantages of robust-plans in terms of target and normal tissue coverage. Robust-planning limitations as uncertainties approach zero and as the number of treatment fractions becomes small will be presented, as well as the factors limiting clinical implementation of robust planning. Learning Objectives: To understand
Shi, Jianwei; Liu, Rui; Jiang, Hua; Wang, Chunxu; Xiao, Yue; Liu, Nana; Wang, Zhaoxin; Shi, Leiyu
2018-02-08
Few studies have systematically examined the effects of the existing regulations for alleviating corruption in China. This study assesses the effectiveness of China's reforms to curb medical corruption. We used mixed methods for the evaluation of existing countermeasures. First, qualitative informant interviews based on the Donabedian model were conducted to obtain experts' evaluation of various kinds of countermeasures. Second, using data from 'China Judgements Online', we analysed the trend of occurrence and the characteristics of the medical corruption cases in recent years to reflect the overall effects of these countermeasures in China. Since 1990s, China has implemented three main categories of countermeasures to oppose medical corruption: fines and criminal penalties, health policy regulations, and reporting scheme policy. Information from the interviews showed that first the level of fines and criminal penalties for medical corruption behaviours may not be sufficient. Second, health policy regulations are also insufficient. Although the National Reimbursement Drug List and Essential Drug List were implemented, they were incomplete and created additional opportunities for corruption. Moreover, the new programme that centralised the purchase of pharmaceuticals found that most purchasing committees were not independent, and the selection criteria for bidding lacked scientific evidence. Third, the reporting scheme for commercial bribery records by the health bureau was executed poorly. In addition, quantitative online data showed no obvious decrease of institutional medical corruption in recent years, and most criminals have been committing crimes for a long time before getting detected, which further demonstrated the low effectiveness of the above countermeasures. Although existing countermeasures have exerted certain effects according to Chinese experts, more rigorous legislation and well-functioning administrative mechanisms are needed. Fundamentally
Directory of Open Access Journals (Sweden)
Tunjo Perić
2017-09-01
Full Text Available This paper presents the production plan optimization in the metal industry considered as a multi-criteria programming problem. We first provided the definition of the multi-criteria programming problem and classification of the multicriteria programming methods. Then we applied two multi-criteria programming methods (the STEM method and the PROMETHEE method in solving a problem of multi-criteria optimization production plan in a company from the metal industry. The obtained results indicate a high efficiency of the applied methods in solving the problem.
COMPARISON OF TWO METHODS OF OPERATING THEATRE PLANNING: APPLICATION IN BELGIAN HOSPITAL
Institute of Scientific and Technical Information of China (English)
Sondes CHAABANE; Nadine MESKENS; Alain GUINET; Marius LAURENT
2008-01-01
Operating Theatre is the centre of the hospital management's efforts. It constitutes the most expensive sector with more than 10% of the intended operating budget of the hospital. To reduce the costs while maintaining a good quality of care, one of the solutions is to improve the existent planning and scheduling methods by improving the services and surgical specialty coordination or finding the best estimation of surgical case durations. The other solution is to construct an effective surgical case plan and schedule. The operating theatre planning and scheduling is the two important steps, which aim to make a surgical case programming with an objective of obtaining a realizable and efficient surgical case schedule. This paper focuses on the first step, the operating theatre planning problem. Two planning methods are introduced and compared. Real data of a Belgian university hospital "Tivoli" are used for the experiments.
A STUDY ON FAMILY PLANNING PRACTICES AND METHODS AMONG WOMEN OF URBAN SLUMS OF LUCKNOW CITY
Directory of Open Access Journals (Sweden)
Arjit Kumar
2011-12-01
Full Text Available Background: Utilization of family planning methods, their side effects and the factors influencing their uses. Aims: To study the family planning practices/methods among the married women of reproductive age (15- 45yrs. Study Design: Community-based study. Study Subjects: The Women of reproductive age groups (15-45yrs adopting family planning methods & those residing in urban slums of, Lucknow. Sample size: 540, Study Period : July 2009 to July 2011. Sampling Technique: thirty cluster sampling. Result: The acceptance of family planning methods both temporary and permanent methods increased with level of literacy of women. About 53.40 % adopted I.U.C.D, 38.83% O.C pills & only 7.77% of their partners used condoms. 66.6% have undergone laparoscopic & 33.4% mini-lap sterilization. Vasectomy was not done for even a single partner. More number of illiterate and primary educated accepted permanent method after 3 or more children than higher educated who accepted it after 1 or 2 children. Among acceptors of permanent methods, total 70.27 % were experiencing side effects and among temporary method users, it accounted 23.30%. Conclusions: Acceptance in family planning is associated with increasing age, nuclear family & level of literacy. IUCD is the most accepted one among all the temporary methods. Vasectomy and newer contraceptives were not at all used.
The Historical Path of Evaluation as Reflected in the Content of Evaluation and Program Planning
DEFF Research Database (Denmark)
Ayob, Abu H.; Morell, Jonathan A.
2016-01-01
This paper examines the intellectual structure of evaluation by means of citation analysis. By using various article attributes and citation counts in Google Scholar and (Social) Science Citation Index Web of Science, we analyze all articles published in Evaluation and Program Planning from 2000...... until 2012. We identify and discuss the characteristics and development of the field as reflected in the history of those citations....
H∞ control for path tracking of autonomous underwater vehicle motion
Directory of Open Access Journals (Sweden)
Lin-Lin Wang
2015-05-01
Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.
An evolutionary method for synthesizing technological planning and architectural advance
Cole, Bjorn Forstrom
In the development of systems with ever-increasing performance and/or decreasing drawbacks, there inevitably comes a point where more progress is available by shifting to a new set of principles of use. This shift marks a change in architecture, such as between the piston-driven propeller and the jet engine. The shift also often involves an abandonment of previous competencies that have been developed with great effort, and so a foreknowledge of these shifts can be advantageous. A further motivation for this work is the consideration of the Micro Autonomous Systems and Technology (MAST) project, which aims to develop very small (thesis provide context and a philosophical background to the studies and research that was conducted. In particular, the idea that technology progresses in a fundamentally gradual way is developed and supported with previous historical research. The import of this is that the future can to some degree be predicted by the past, provided that the appropriate technological antecedents are accounted for in developing the projection. The third chapter of the thesis compiles a series of observations and philosophical considerations into a series of research questions. Some research questions are then answered with further thought, observation, and reading, leading to conjectures on the problem. The remainder require some form of experimentation, and so are used to formulate hypotheses. Falsifiability conditions are then generated from those hypotheses, and used to get the development of experiments to be performed, in this case on a computer upon various conditions of use of a genetic algorithm. The fourth chapter of the thesis walks through the formulation of a method to attack the problem of strategically choosing an architecture. This method is designed to find the optimum architecture under multiple conditions, which is required for the ability to play the "what if" games typically undertaken in strategic situations. The chapter walks through
The search conference as a method in planning community health promotion actions
Directory of Open Access Journals (Sweden)
Eva Magnus
2016-08-01
Full Text Available Aims: The aim of this article is to describe and discuss how the search conference can be used as a method for planning health promotion actions in local communities. Design and methods: The article draws on experiences with using the method for an innovative project in health promotion in three Norwegian municipalities. The method is described both in general and how it was specifically adopted for the project. Results and conclusions: The search conference as a method was used to develop evidence-based health promotion action plans. With its use of both bottom-up and top-down approaches, this method is a relevant strategy for involving a community in the planning stages of health promotion actions in line with political expectations of participation, ownership, and evidence-based initiatives.
International Nuclear Information System (INIS)
Keskin, Mustafa; Erdinc, Ahmet
2004-01-01
As a continuation of the previously published work, the pair approximation of the cluster variation method is applied to study the temperature dependences of the order parameters of the Blume-Emery-Griffiths model with repulsive biquadratic coupling on a body centered cubic lattice. We obtain metastable and unstable branches of the order parameters besides the stable branches and phase transitions of these branches are investigated extensively. We study the dynamics of the model by the path probability method with pair distribution in order to make sure that we find and define the metastable and unstable branches of the order parameters completely and correctly. We present the metastable phase diagram in addition to the equilibrium phase diagram and also the first-order phase transition line for the unstable branches of the quadrupole order parameter is superimposed on the phase diagrams. It is found that the metastable phase diagram and the first-order phase boundary for the unstable quadrupole order parameter always exist at the low temperatures which are consistent with experimental and theoretical works
International Nuclear Information System (INIS)
Fredriksson, Albin; Bokrantz, Rasmus
2014-01-01
Purpose: To critically evaluate and compare three worst case optimization methods that have been previously employed to generate intensity-modulated proton therapy treatment plans that are robust against systematic errors. The goal of the evaluation is to identify circumstances when the methods behave differently and to describe the mechanism behind the differences when they occur. Methods: The worst case methods optimize plans to perform as well as possible under the worst case scenario that can physically occur (composite worst case), the combination of the worst case scenarios for each objective constituent considered independently (objectivewise worst case), and the combination of the worst case scenarios for each voxel considered independently (voxelwise worst case). These three methods were assessed with respect to treatment planning for prostate under systematic setup uncertainty. An equivalence with probabilistic optimization was used to identify the scenarios that determine the outcome of the optimization. Results: If the conflict between target coverage and normal tissue sparing is small and no dose-volume histogram (DVH) constraints are present, then all three methods yield robust plans. Otherwise, they all have their shortcomings: Composite worst case led to unnecessarily low plan quality in boundary scenarios that were less difficult than the worst case ones. Objectivewise worst case generally led to nonrobust plans. Voxelwise worst case led to overly conservative plans with respect to DVH constraints, which resulted in excessive dose to normal tissue, and less sharp dose fall-off than the other two methods. Conclusions: The three worst case methods have clearly different behaviors. These behaviors can be understood from which scenarios that are active in the optimization. No particular method is superior to the others under all circumstances: composite worst case is suitable if the conflicts are not very severe or there are DVH constraints whereas
Path integration in conical space
International Nuclear Information System (INIS)
Inomata, Akira; Junker, Georg
2012-01-01
Quantum mechanics in conical space is studied by the path integral method. It is shown that the curvature effect gives rise to an effective potential in the radial path integral. It is further shown that the radial path integral in conical space can be reduced to a form identical with that in flat space when the discrete angular momentum of each partial wave is replaced by a specific non-integral angular momentum. The effective potential is found proportional to the squared mean curvature of the conical surface embedded in Euclidean space. The path integral calculation is compatible with the Schrödinger equation modified with the Gaussian and the mean curvature. -- Highlights: ► We study quantum mechanics on a cone by the path integral approach. ► The path integral depends only on the metric and the curvature effect is built in. ► The approach is consistent with the Schrödinger equation modified by an effective potential. ► The effective potential is found to be of the “Jensen–Koppe” and “da Costa” type.
Generating Approximative Minimum Length Paths in 3D for UAVs
DEFF Research Database (Denmark)
Schøler, Flemming; la Cour-Harbo, Anders; Bisgaard, Morten
2012-01-01
We consider the challenge of planning a minimum length path from an initial position to a desired position for a rotorcraft. The path is found in a 3-dimensional Euclidean space containing a geometric obstacle. We base our approach on visibility graphs which have been used extensively for path pl...
A focussed dynamic path finding algorithm with constraints
CSIR Research Space (South Africa)
Leenen, L
2013-11-01
Full Text Available heuristic to focus the search for an optimal path. Existing approaches to solving path planning problems tend to combine path costs with various other criteria such as obstacle avoidance in the objective function which is being optimised. The authors...
The equivalence of multi-criteria methods for radiotherapy plan optimization
International Nuclear Information System (INIS)
Breedveld, Sebastiaan; Storchi, Pascal R M; Heijmen, Ben J M
2009-01-01
Several methods can be used to achieve multi-criteria optimization of radiation therapy treatment planning, which strive for Pareto-optimality. The property of the solution being Pareto optimal is desired, because it guarantees that no criteria can be improved without deteriorating another criteria. The most widely used methods are the weighted-sum method, in which the different treatment objectives are weighted, and constrained optimization methods, in which treatment goals are set and the algorithm has to find the best plan fulfilling these goals. The constrained method used in this paper, the 2pεc (2-phase ε-constraint) method is based on the ε-constraint method, which generates Pareto-optimal solutions. Both approaches are uniquely related to each other. In this paper, we will show that it is possible to switch from the constrained method to the weighted-sum method by using the Lagrange multipliers from the constrained optimization problem, and vice versa by setting the appropriate constraints. In general, the theory presented in this paper can be useful in cases where a new situation is slightly different from the original situation, e.g. in online treatment planning, with deformations of the volumes of interest, or in automated treatment planning, where changes to the automated plan have to be made. An example of the latter is given where the planner is not satisfied with the result from the constrained method and wishes to decrease the dose in a structure. By using the Lagrange multipliers, a weighted-sum optimization problem is constructed, which generates a Pareto-optimal solution in the neighbourhood of the original plan, but fulfills the new treatment objectives.
Applying social science and public health methods to community-based pandemic planning.
Danforth, Elizabeth J; Doying, Annette; Merceron, Georges; Kennedy, Laura
2010-11-01
Pandemic influenza is a unique threat to communities, affecting schools, businesses, health facilities and individuals in ways not seen in other emergency events. This paper aims to outline a local government project which utilised public health and social science research methods to facilitate the creation of an emergency response plan for pandemic influenza coincidental to the early stages of the 2009 H1N1 ('swine flu') outbreak. A multi-disciplinary team coordinated the creation of a pandemic influenza emergency response plan which utilised emergency planning structure and concepts and encompassed a diverse array of county entities including schools, businesses, community organisations, government agencies and healthcare facilities. Lessons learned from this project focus on the need for (1) maintaining relationships forged during the planning process, (2) targeted public health messaging, (3) continual evolution of emergency plans, (4) mutual understanding of emergency management concepts by business and community leaders, and (5) regional coordination with entities outside county boundaries.
Reasons for using traditional methods and role of nurses in family planning.
Yurdakul, Mine; Vural, Gülsen
2002-05-01
The withdrawal method and other traditional methods of contraception are still used in Turkey. Ninety-eight percent of women in Turkey know about modern family planning methods and where to find contraceptives. In fact, only one in every three women uses an effective method. The aim of this descriptive and experimental study was to investigate reasons for using traditional methods and the role of nurses in family planning. The women included in the sample were visited in their homes by nurses and educated for family planning in four sessions. Overall, 53.3% of women were using an effective method. However, 54.3% of women living in the Sirintepe district and 41.6% of women living in the Yenikent district were still using the traditional methods they used before. After the education sessions, the most widely used method was found to be intrauterine device (22.8%) in Sirintepe and condom (25%) in Yenikent. There was a significant difference in family planning methods between these two districts (p < 0.001).
Directory of Open Access Journals (Sweden)
Masahito Ueyama
2012-07-01
Full Text Available Synthesis studies using multiple-site datasets for eddy covariance potentially contain uncertainties originating from the use of different flux calculation options, because the choice of the process for calculating half-hourly fluxes from raw time series data is left to individual researchers. In this study, we quantified the uncertainties associated with different flux calculation methods at seven sites. The differences in the half-hourly fluxes were small, generally of the order less than a few percentiles, but they were substantial for the annual fluxes. After the standardisation under current recommendations in the FLUXNET communities, we estimated the uncertainties in the annual fluxes associated with the flux calculations to be 2.6±2.7 W m−2 (the mean 90% ± confidence interval for the sensible heat flux, 72±37 g C m−2 yr−1 for net ecosystem exchange (NEE, 12±6% for evapotranspiration, 12±6% for gross primary productivity and 16±10% for ecosystem respiration. The self-heating correction strongly influenced the annual carbon balance (143±93 g C m−2 yr−1, not only for cold sites but also for warm sites, but did not fully account for differences between the open- and closed-path systems (413±189 g C m−2 yr−1.
International Nuclear Information System (INIS)
Habershon, Scott
2013-01-01
We introduce a new approach for calculating quantum time-correlation functions and time-dependent expectation values in many-body thermal systems; both electronically adiabatic and non-adiabatic cases can be treated. Our approach uses a path integral simulation to sample an initial thermal density matrix; subsequent evolution of this density matrix is equivalent to solution of the time-dependent Schrödinger equation, which we perform using a linear expansion of Gaussian wavepacket basis functions which evolve according to simple classical-like trajectories. Overall, this methodology represents a formally exact approach for calculating time-dependent quantum properties; by introducing approximations into both the imaginary-time and real-time propagations, this approach can be adapted for complex many-particle systems interacting through arbitrary potentials. We demonstrate this method for the spin Boson model, where we find good agreement with numerically exact calculations. We also discuss future directions of improvement for our approach with a view to improving accuracy and efficiency
Habershon, Scott
2013-09-14
We introduce a new approach for calculating quantum time-correlation functions and time-dependent expectation values in many-body thermal systems; both electronically adiabatic and non-adiabatic cases can be treated. Our approach uses a path integral simulation to sample an initial thermal density matrix; subsequent evolution of this density matrix is equivalent to solution of the time-dependent Schrödinger equation, which we perform using a linear expansion of Gaussian wavepacket basis functions which evolve according to simple classical-like trajectories. Overall, this methodology represents a formally exact approach for calculating time-dependent quantum properties; by introducing approximations into both the imaginary-time and real-time propagations, this approach can be adapted for complex many-particle systems interacting through arbitrary potentials. We demonstrate this method for the spin Boson model, where we find good agreement with numerically exact calculations. We also discuss future directions of improvement for our approach with a view to improving accuracy and efficiency.
Directory of Open Access Journals (Sweden)
Yongwei Shan
2014-07-01
Full Text Available Steel construction activities are often undertaken in an environment with limited climate control. Both hot and cold temperatures can physically and psychologically affect construction workers, thus decreasing their productivity. Temperature and humidity are two factors that constantly exert forces on workers and influence their performance and efficiency. Previous studies have established a relationship between labor productivity and temperature and humidity. This research is built on the existing body of knowledge and develops a framework of integrating building information modeling (BIM with a lower level critical path method (CPM schedule to simulate the overall impact of temperature and humidity on a healthcare facility’s structural steel installation project in terms of total man hours required to build the project. This research effort utilized historical weather data of four cities across the U.S., with each city having workable seasons year-round and conducted a baseline assessment to test if various project starting dates and locations could significantly impact the project’s schedule performance. It was found that both varied project start dates and locations can significantly contribute to the difference in the man hours required to build the model project and that the project start date and location can have an interaction effect. This study contributes to the overall body of knowledge by providing a framework that can help practitioners better understand the overall impact of a productivity influencing factor at a project level, in order to facilitate better decision making.
Methods for Aquifer Thermal Energy Storage planning; The hidden side of cities.
Jaxa-Rozen, M.; Bloemendal, M.; Theo, O.
2017-12-01
Aquifer Thermal Energy Storage (ATES) systems reduce energy use and greenhouse gas emissions in urban areas, by supplying heating and cooling to buildings with a heat pump combined with seasonal heat storage in aquifers. The climactic and geohydrological conditions required for this technology can be found in many temperate regions around the world; In The Netherlands there are currently approximately 2,200 active systems. Despite this modest adoption level, many urban areas in the Netherlands already struggle to accommodate the subsurface claims needed to further develop ATES under current planning regulations. To identify best practices for ATES planning and maximize the technology's future potential, this work first reviews a set of 24 ATES-plans which were used for the spatial layout of ATES in various urban areas in The Netherlands and the method used to make those plans. This analysis revealed that three crucial elements are found to be missing in current ATES planning: i) a consistent assessment framework which can be used to compare the performance of different planning strategies; ii) a systematic adjustment of ATES design parameters to suit local conditions; iii) the identification and use of aquifer allocation thresholds to guide the choice of a planning strategy. All three steps are elaborated and added to the method. For the latter, these thresholds are identified by exploratory numerical modelling, using a coupled agent-based/geohydrological (MODFLOW) simulation to explore a broad range of scenarios for ATES design and layout parameters. The results give insight in how technical ATES-well design choices affect optimal use of subsurface space and in the trade-of between individual efficiency and overall emission reductions. The improved ATES-planning method now fosters planning and design rules ensuring optimal and sustainable use of subsurface space, i.e. maximizing energy saving by accommodating as much ATES systems as possible while maintaining
Application of the Monte Carlo method to the problem of expensive experiment planning
International Nuclear Information System (INIS)
Aleksandrov, V.M.; Sanina, S.B.
1989-01-01
Numerical method for determination of the optimal experiment plan by the criterion of maximizing the information worth is suggested. The method is based on statistical mathematical simulation of possible outcomes of the experiment and on the analysis of efficiency of subsequent solutions. It is shown that results of conducted statistical simulation contain the data, enabling to determine the direction of plan correction, which provides the increase of its efficiency. A major advantages of the method are that it enables to interpret evidently all its stages and can be used in many-dimensional problems
Institute of Scientific and Technical Information of China (English)
Ying; WANG; Xin; PAN; Zhilun; XIAO; Xiangwei; CHENG; Caige; LI
2014-01-01
This paper reviews the wave of rural community construction, compares the urban and rural areas on the aspects of land property right, financing channels, construction management procedures, and the user-builder difference, and examines the unique characteristics of rural communities. On the basis of that, it proposes some planning methods for the rural community planning and construction, such as encouraging public participation, conducting public facility-oriented planning, and providing house-design menu, and further puts forward some supporting measures and policies.
B. Dolezal
1978-01-01
The method proposed is derived from long experience of intensive management in forest stands of Central Europe and from our proposal for management in virgin Iranian forests of the Caspian Region. The method establishes the need for systematic planning of stand conversion to insure both sustained yield and the harvesting of sufficient timber to sustain economic...
Systematic Methods in School Planning and Design. A Selected and Annotated Bibliography.
Murtha, D. Michael
A selection of technical reports, journal articles and books on various aspects of systematic methods for school planning and design, are presented in this bibliography. The subject areas include the design process in terms of--(1) practice, (2) theory, (3) methods, (4) decision systems, and (5) computer applications. Criteria for design with…
Is pregnancy termination being used as a family planning method in ...
African Journals Online (AJOL)
Background: This study determined the profile of women seeking termination of pregnancy (TOP) in the Free State and whether TOP was used as a family planning method. Methods: Seven hundred and fifty women (15-47 years old) seeking TOP at the Reproductive Health Unit of the National Hospital in Bloemfontein were ...
The Search Conference as a Method in Planning Community Health Promotion Actions
Magnus, Eva; Knudtsen, Margunn Skjei; Wist, Guri; Weiss, Daniel; Lillefjell, Monica
2016-01-01
Aims: The aim of this article is to describe and discuss how the search conference can be used as a method for planning health promotion actions in local communities. Design and methods: The article draws on experiences with using the method for an innovative project in health promotion in three Norwegian municipalities. The method is described both in general and how it was specifically adopted for the project. Results and conclusions: The search conference as a method was used to develop evidence-based health promotion action plans. With its use of both bottom-up and top-down approaches, this method is a relevant strategy for involving a community in the planning stages of health promotion actions in line with political expectations of participation, ownership, and evidence-based initiatives. Significance for public health This article describe and discuss how the Search conference can be used as a method when working with knowledge based health promotion actions in local communities. The article describe the sequences of the conference and shows how this have been adapted when planning and prioritizing health promotion actions in three Norwegian municipalities. The significance of the article is that it shows how central elements in the planning of health promotion actions, as participation and involvements as well as evidence was a fundamental thinking in how the conference were accomplished. The article continue discussing how the method function as both a top-down and a bottom-up strategy, and in what way working evidence based can be in conflict with a bottom-up strategy. The experiences described can be used as guidance planning knowledge based health promotion actions in communities. PMID:27747199
Directory of Open Access Journals (Sweden)
Siti Fatimah
2015-04-01
Full Text Available The aim of this paper to find out the planning scheduling method that used in dock engineering consultants as a project supervisor dock. This research use qualitative approach to find the most preferred method by engineering consultants, this research was explorative that test and find out the most preferred method. This research showed that dock engineering consultants in Palu City, Central Sulawesi most preferred curve-s method than method such as CPM, PERT, PDM, and Bar Chart. This research can help further research to determine differences and similarities the project planning scheduling method and being basic for The New Dock Engineering Consultans. This research looking for the most preferred method with limited respondents dock engineering consultans in Palu City, Central Sulawesi.
Optimization in radiotherapy treatment planning thanks to a fast dose calculation method
International Nuclear Information System (INIS)
Yang, Mingchao
2014-01-01
This thesis deals with the radiotherapy treatments planning issue which need a fast and reliable treatment planning system (TPS). The TPS is composed of a dose calculation algorithm and an optimization method. The objective is to design a plan to deliver the dose to the tumor while preserving the surrounding healthy and sensitive tissues. The treatment planning aims to determine the best suited radiation parameters for each patient's treatment. In this thesis, the parameters of treatment with IMRT (Intensity modulated radiation therapy) are the beam angle and the beam intensity. The objective function is multi-criteria with linear constraints. The main objective of this thesis is to demonstrate the feasibility of a treatment planning optimization method based on a fast dose-calculation technique developed by (Blanpain, 2009). This technique proposes to compute the dose by segmenting the patient's phantom into homogeneous meshes. The dose computation is divided into two steps. The first step impacts the meshes: projections and weights are set according to physical and geometrical criteria. The second step impacts the voxels: the dose is computed by evaluating the functions previously associated to their mesh. A reformulation of this technique makes possible to solve the optimization problem by the gradient descent algorithm. The main advantage of this method is that the beam angle parameters could be optimized continuously in 3 dimensions. The obtained results in this thesis offer many opportunities in the field of radiotherapy treatment planning optimization. (author) [fr
SU-F-T-504: Non-Divergent Planning Method for Craniospinal Irradiation
Energy Technology Data Exchange (ETDEWEB)
Sperling, N; Bogue, J; Parsai, E [University of Toledo Medical Center, Toledo, OH (United States)
2016-06-15
Purpose: Traditional Craniospinal Irradiation (CSI) planning techniques require careful field placement to allow optimal divergence and field overlap at depth, and measurement of skin gap. The result of this is a necessary field overlap resulting in dose heterogeneity in the spinal canal. A novel, nondivergent field matching method has been developed to allow simple treatment planning and delivery without the need to measure skin gap. Methods: The CSI patient was simulated in the prone, and a plan was developed. Bilateral cranial fields were designed with couch and collimator rotation to eliminate divergence with the upper spine field and minimize anterior divergence into the lenses. Spinal posterior-to-anterior fields were designed with the couch rotated to 90 degrees to allow gantry rotation to eliminate divergence at the match line, and the collimator rotated to 90 degrees to allow appropriate field blocking with the MLCs. A match line for the two spinal fields was placed and the gantry rotated to equal angles in opposite directions about the match line. Jaw positions were then defined to allow 1mm overlap at the match line to avoid cold spots. A traditional CSI plan was generated using diverging spinal fields, and a comparison between the two techniques was generated. Results: The non-divergent treatment plan was able to deliver a highly uniform dose to the spinal cord with a cold spot of only 95% and maximum point dose of 115.8%, as compared to traditional plan cold spots of 87% and hot spots of 132% of the prescription dose. Conclusion: A non-divergent method for planning CSI patients has been developed and clinically implemented. Planning requires some geometric manipulation in order to achieve an adequate dose distribution, however, it can help to manage cold spots and simplify the shifts needed between spinal fields.
SU-F-T-504: Non-Divergent Planning Method for Craniospinal Irradiation
International Nuclear Information System (INIS)
Sperling, N; Bogue, J; Parsai, E
2016-01-01
Purpose: Traditional Craniospinal Irradiation (CSI) planning techniques require careful field placement to allow optimal divergence and field overlap at depth, and measurement of skin gap. The result of this is a necessary field overlap resulting in dose heterogeneity in the spinal canal. A novel, nondivergent field matching method has been developed to allow simple treatment planning and delivery without the need to measure skin gap. Methods: The CSI patient was simulated in the prone, and a plan was developed. Bilateral cranial fields were designed with couch and collimator rotation to eliminate divergence with the upper spine field and minimize anterior divergence into the lenses. Spinal posterior-to-anterior fields were designed with the couch rotated to 90 degrees to allow gantry rotation to eliminate divergence at the match line, and the collimator rotated to 90 degrees to allow appropriate field blocking with the MLCs. A match line for the two spinal fields was placed and the gantry rotated to equal angles in opposite directions about the match line. Jaw positions were then defined to allow 1mm overlap at the match line to avoid cold spots. A traditional CSI plan was generated using diverging spinal fields, and a comparison between the two techniques was generated. Results: The non-divergent treatment plan was able to deliver a highly uniform dose to the spinal cord with a cold spot of only 95% and maximum point dose of 115.8%, as compared to traditional plan cold spots of 87% and hot spots of 132% of the prescription dose. Conclusion: A non-divergent method for planning CSI patients has been developed and clinically implemented. Planning requires some geometric manipulation in order to achieve an adequate dose distribution, however, it can help to manage cold spots and simplify the shifts needed between spinal fields.
Multiagent path-finding in strategic games
Mihevc, Simon
2014-01-01
In this thesis I worked on creating, comparing and improving algorithms for multi-agent path planning on a domain typical for real-time strategy games. I implemented and compared Multiagent pathfinding using clearance and Multiagent pathfinding using independence detection and operator decomposition. I discovered that they had problems maintaining group compactness and took too long to calculate the path. I considerably improved the efficiency of both algorithms.
Climate Change: Implications for the Assumptions, Goals and Methods of Urban Environmental Planning
Directory of Open Access Journals (Sweden)
Kristina Hill
2016-12-01
Full Text Available As a result of increasing awareness of the implications of global climate change, shifts are becoming necessary and apparent in the assumptions, concepts, goals and methods of urban environmental planning. This review will present the argument that these changes represent a genuine paradigm shift in urban environmental planning. Reflection and action to develop this paradigm shift is critical now and in the next decades, because environmental planning for cities will only become more urgent as we enter a new climate period. The concepts, methods and assumptions that urban environmental planners have relied on in previous decades to protect people, ecosystems and physical structures are inadequate if they do not explicitly account for a rapidly changing regional climate context, specifically from a hydrological and ecological perspective. The over-arching concept of spatial suitability that guided planning in most of the 20th century has already given way to concepts that address sustainability, recognizing the importance of temporality. Quite rapidly, the concept of sustainability has been replaced in many planning contexts by the priority of establishing resilience in the face of extreme disturbance events. Now even this concept of resilience is being incorporated into a novel concept of urban planning as a process of adaptation to permanent, incremental environmental changes. This adaptation concept recognizes the necessity for continued resilience to extreme events, while acknowledging that permanent changes are also occurring as a result of trends that have a clear direction over time, such as rising sea levels. Similarly, the methods of urban environmental planning have relied on statistical data about hydrological and ecological systems that will not adequately describe these systems under a new climate regime. These methods are beginning to be replaced by methods that make use of early warning systems for regime shifts, and process
International Nuclear Information System (INIS)
Khrapko, R.I.
1985-01-01
A uniform description of various path-dependent functions is presented with the help of expansion of the type of the Taylor series. So called ''path-integrals'' and ''path-tensor'' are introduced which are systems of many-component quantities whose values are defined for arbitrary paths in coordinated region of space in such a way that they contain a complete information on the path. These constructions are considered as elementary path-dependent functions and are used instead of power monomials in the usual Taylor series. Coefficients of such an expansion are interpreted as partial derivatives dependent on the order of the differentiations or else as nonstandard cavariant derivatives called two-point derivatives. Some examples of pathdependent functions are presented.Space curvature tensor is considered whose geometrica properties are determined by the (non-transitive) translator of parallel transport of a general type. Covariant operation leading to the ''extension'' of tensor fiels is pointed out
Development of methods of key performance indicators formation for corporate planning
International Nuclear Information System (INIS)
Chebotarev, A.N.
2011-01-01
A theoretical proposition, a model of enterprise performance management and a concept of balanced key performance indicators as a method to control the enterprise strategy have been systematized and presented. An algorithm that increases the efficiency of action plans' formation has been developed and implemented. In particular, a set of criteria for the selection of events and parameters necessary for the formation of an action plan has been created. A method of control of the business processes, allowing the experts to establish the relationship between the business processes performance indicators and the enterprise's key indicators has been developed [ru
An efficient inverse radiotherapy planning method for VMAT using quadratic programming optimization.
Hoegele, W; Loeschel, R; Merkle, N; Zygmanski, P
2012-01-01
The purpose of this study is to investigate the feasibility of an inverse planning optimization approach for the Volumetric Modulated Arc Therapy (VMAT) based on quadratic programming and the projection method. The performance of this method is evaluated against a reference commercial planning system (eclipse(TM) for rapidarc(TM)) for clinically relevant cases. The inverse problem is posed in terms of a linear combination of basis functions representing arclet dose contributions and their respective linear coefficients as degrees of freedom. MLC motion is decomposed into basic motion patterns in an intuitive manner leading to a system of equations with a relatively small number of equations and unknowns. These equations are solved using quadratic programming under certain limiting physical conditions for the solution, such as the avoidance of negative dose during optimization and Monitor Unit reduction. The modeling by the projection method assures a unique treatment plan with beneficial properties, such as the explicit relation between organ weightings and the final dose distribution. Clinical cases studied include prostate and spine treatments. The optimized plans are evaluated by comparing isodose lines, DVH profiles for target and normal organs, and Monitor Units to those obtained by the clinical treatment planning system eclipse(TM). The resulting dose distributions for a prostate (with rectum and bladder as organs at risk), and for a spine case (with kidneys, liver, lung and heart as organs at risk) are presented. Overall, the results indicate that similar plan qualities for quadratic programming (QP) and rapidarc(TM) could be achieved at significantly more efficient computational and planning effort using QP. Additionally, results for the quasimodo phantom [Bohsung et al., "IMRT treatment planning: A comparative inter-system and inter-centre planning exercise of the estro quasimodo group," Radiother. Oncol. 76(3), 354-361 (2005)] are presented as an example
Methods and apparatus for graphical display and editing of flight plans
Gibbs, Michael J. (Inventor); Adams, Jr., Mike B. (Inventor); Chase, Karl L. (Inventor); Lewis, Daniel E. (Inventor); McCrobie, Daniel E. (Inventor); Omen, Debi Van (Inventor)
2002-01-01
Systems and methods are provided for an integrated graphical user interface which facilitates the display and editing of aircraft flight-plan data. A user (e.g., a pilot) located within the aircraft provides input to a processor through a cursor control device and receives visual feedback via a display produced by a monitor. The display includes various graphical elements associated with the lateral position, vertical position, flight-plan and/or other indicia of the aircraft's operational state as determined from avionics data and/or various data sources. Through use of the cursor control device, the user may modify the flight-plan and/or other such indicia graphically in accordance with feedback provided by the display. In one embodiment, the display includes a lateral view, a vertical profile view, and a hot-map view configured to simplify the display and editing of the aircraft's flight-plan data.
Iterated Leavitt Path Algebras
International Nuclear Information System (INIS)
Hazrat, R.
2009-11-01
Leavitt path algebras associate to directed graphs a Z-graded algebra and in their simplest form recover the Leavitt algebras L(1,k). In this note, we introduce iterated Leavitt path algebras associated to directed weighted graphs which have natural ± Z grading and in their simplest form recover the Leavitt algebras L(n,k). We also characterize Leavitt path algebras which are strongly graded. (author)
Energy Technology Data Exchange (ETDEWEB)
Janse van Rensburg, E J, E-mail: rensburg@yorku.c [Department of Mathematics and Statistics, York University, Toronto, ON, M3J 1P3 (Canada)
2010-08-20
In this paper the models of pulled Dyck paths in Janse van Rensburg (2010 J. Phys. A: Math. Theor. 43 215001) are generalized to pulled Motzkin path models. The generating functions of pulled Motzkin paths are determined in terms of series over trinomial coefficients and the elastic response of a Motzkin path pulled at its endpoint (see Orlandini and Whittington (2004 J. Phys. A: Math. Gen. 37 5305-14)) is shown to be R(f) = 0 for forces pushing the endpoint toward the adsorbing line and R(f) = f(1 + 2cosh f))/(2sinh f) {yields} f as f {yields} {infinity}, for forces pulling the path away from the X-axis. In addition, the elastic response of a Motzkin path pulled at its midpoint is shown to be R(f) = 0 for forces pushing the midpoint toward the adsorbing line and R(f) = f(1 + 2cosh (f/2))/sinh (f/2) {yields} 2f as f {yields} {infinity}, for forces pulling the path away from the X-axis. Formal combinatorial identities arising from pulled Motzkin path models are also presented. These identities are the generalization of combinatorial identities obtained in directed paths models to their natural trinomial counterparts.
Janse van Rensburg, E. J.
2010-08-01
In this paper the models of pulled Dyck paths in Janse van Rensburg (2010 J. Phys. A: Math. Theor. 43 215001) are generalized to pulled Motzkin path models. The generating functions of pulled Motzkin paths are determined in terms of series over trinomial coefficients and the elastic response of a Motzkin path pulled at its endpoint (see Orlandini and Whittington (2004 J. Phys. A: Math. Gen. 37 5305-14)) is shown to be R(f) = 0 for forces pushing the endpoint toward the adsorbing line and R(f) = f(1 + 2cosh f))/(2sinh f) → f as f → ∞, for forces pulling the path away from the X-axis. In addition, the elastic response of a Motzkin path pulled at its midpoint is shown to be R(f) = 0 for forces pushing the midpoint toward the adsorbing line and R(f) = f(1 + 2cosh (f/2))/sinh (f/2) → 2f as f → ∞, for forces pulling the path away from the X-axis. Formal combinatorial identities arising from pulled Motzkin path models are also presented. These identities are the generalization of combinatorial identities obtained in directed paths models to their natural trinomial counterparts.
International Nuclear Information System (INIS)
Janse van Rensburg, E J
2010-01-01
In this paper the models of pulled Dyck paths in Janse van Rensburg (2010 J. Phys. A: Math. Theor. 43 215001) are generalized to pulled Motzkin path models. The generating functions of pulled Motzkin paths are determined in terms of series over trinomial coefficients and the elastic response of a Motzkin path pulled at its endpoint (see Orlandini and Whittington (2004 J. Phys. A: Math. Gen. 37 5305-14)) is shown to be R(f) = 0 for forces pushing the endpoint toward the adsorbing line and R(f) = f(1 + 2cosh f))/(2sinh f) → f as f → ∞, for forces pulling the path away from the X-axis. In addition, the elastic response of a Motzkin path pulled at its midpoint is shown to be R(f) = 0 for forces pushing the midpoint toward the adsorbing line and R(f) = f(1 + 2cosh (f/2))/sinh (f/2) → 2f as f → ∞, for forces pulling the path away from the X-axis. Formal combinatorial identities arising from pulled Motzkin path models are also presented. These identities are the generalization of combinatorial identities obtained in directed paths models to their natural trinomial counterparts.
Directory of Open Access Journals (Sweden)
Srinivasan Murali
2007-01-01
Full Text Available Networks on Chips (NoCs are required to tackle the increasing delay and poor scalability issues of bus-based communication architectures. Many of today's NoC designs are based on single path routing. By utilizing multiple paths for routing, congestion in the network is reduced significantly, which translates to improved network performance or reduced network bandwidth requirements and power consumption. Multiple paths can also be utilized to achieve spatial redundancy, which helps in achieving tolerance against faults or errors in the NoC. A major problem with multipath routing is that packets can reach the destination in an out-of-order fashion, while many applications require in-order packet delivery. In this work, we present a multipath routing strategy that guarantees in-order packet delivery for NoCs. It is based on the idea of routing packets on partially nonintersecting paths and rebuilding packet order at path reconvergent nodes. We present a design methodology that uses the routing strategy to optimally spread the traffic in the NoC to minimize the network bandwidth needs and power consumption. We also integrate support for tolerance against transient and permanent failures in the NoC links in the methodology by utilizing spatial and temporal redundancy for transporting packets. Our experimental studies show large reduction in network bandwidth requirements (36.86% on average and power consumption (30.51% on average compared to single-path systems. The area overhead of the proposed scheme is small (a modest 5% increase in network area. Hence, it is practical to be used in the on-chip domain.
A study of acceptors and non-acceptors of family planning methods among three tribal communities.
Mutharayappa, R
1995-03-01
Primary data were collected from 399 currently married women of the Marati, Malekudiya, and Koraga tribes in the Dakshina Kannada district of Karnataka State in this study of the implementation of family planning programs in tribal areas. The Marati, Malekudiya, and Koraga tribes are three different endogamous tribal populations living in similar ecological conditions. Higher levels of literacy and a high rate of acceptance of family planning methods, however, have been observed among these tribes compared to the rest of the tribal population in the state. 46.4% of currently married women aged 15-49 years in the tribes were acceptors of family planning methods, having a mean 3.7 children. The majority of acceptors opted for tubectomy and vasectomy. The adoption of spacing methods is less common among tribal people. Most acceptors received their operations through government health facilities. They were motivated mainly by female health workers and received both cash and other incentives to accept family planning. The main reason for non-acceptance of family planning among non-acceptors was the desire to conceive and bear more children. The data indicate that most of the tribal households are nuclear families with household size more or less similar to that of the general population. They have a higher literacy rate than the rest of the tribal population in the state, with literacy levels between males and females and between the three tribes being quite different; the school enrollment ratio is relatively higher for both boys and girls.
Utilizing Strategic and Operational Methods for Whole-Community Disaster Planning.
Franks, Stevee; Seaton, Ellen
2017-12-01
Analysis of response and recovery efforts to disasters over the past 2 decades has identified a consistent gap that plagues the nation in regard to persons with access and functional needs. This gap can be highlighted by Hurricane Katrina, where the majority of those killed were a part of the access and functional needs population. After a disaster, many individuals with access and functional needs require assistance recovering but often have difficulty accessing services and resources. These difficulties are due to a combination of issues, such as health problems and the disruption of community support services. We sought to help bridge this gap by focusing on strategic and operational methods used while planning for the whole community. This article highlights the many partnerships that must be fostered for successful whole-community planning. These partnerships include, but are not limited to, local government departments, health agencies, nonprofit and nongovernmental organizations, and other volunteer organizations. We showcase these methods by using a developmental Post-Disaster Canvassing Plan to highlight planning methods that may aid jurisdictions across the United States in disaster planning for the whole community. (Disaster Med Public Health Preparedness. 2017;11:741-746).