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
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.
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...
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...
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
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.
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.
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.
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
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
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.
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.
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.
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.
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...
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.
Implementing successful strategic plans: a simple formula.
Blondeau, Whitney; Blondeau, Benoit
2015-01-01
Strategic planning is a process. One way to think of strategic planning is to envision its development and design as a framework that will help your hospital navigate through internal and external changing environments over time. Although the process of strategic planning can feel daunting, following a simple formula involving five steps using the mnemonic B.E.G.I.N. (Begin, Evaluate, Goals & Objectives, Integration, and Next steps) will help the planning process feel more manageable, and lead you to greater success.
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...
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.
Path integrals over phase space, their definition and simple properties
International Nuclear Information System (INIS)
Tarski, J.; Technische Univ. Clausthal, Clausthal-Zellerfeld
1981-10-01
Path integrals over phase space are defined in two ways. Some properties of these integrals are established. These properties concern the technique of integration and the quantization rule isup(-I)deltasub(q) p. (author)
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.
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...
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.
A Min-max Relation for Monotone Path Systems in Simple Regions
DEFF Research Database (Denmark)
Cameron, Kathleen
1996-01-01
A monotone path system (MPS) is a finite set of pairwise disjointpaths (polygonal arcs) in the plane such that every horizontal line intersectseach of the paths in at most one point. We consider a simple polygon in thexy-plane which bounds the simple polygonal (closed) region D. Let T and B betwo...
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.
Path Planning with a Lazy Significant Edge Algorithm (LSEA
Directory of Open Access Journals (Sweden)
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.
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...
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 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
Points-Based Safe Path Planning of Continuum Robots
Directory of Open Access Journals (Sweden)
Khuram Shahzad
2015-07-01
Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g., working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.
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…
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...
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
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.
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.
Survey of Robot 3D Path Planning Algorithms
Directory of Open Access Journals (Sweden)
Liang Yang
2016-01-01
Full Text Available Robot 3D (three-dimension path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints. The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.
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.
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
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.
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...
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.
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.
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.
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.
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
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
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.
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...
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.
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.
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...
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
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...
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)
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
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.
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.
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
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.
A simple approximation of productivity scores of fuzzy production plans
DEFF Research Database (Denmark)
Hougaard, Jens Leth
2005-01-01
This paper suggests a simple approximation procedure for the assessment of productivity scores with respect to fuzzy production plans. The procedure has a clear economic interpretation and all the necessary calculations can be performed in a spreadsheet making it highly operational...
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.
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.
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.
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.
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.
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.
MAINTENANCE PLANNING OF THE SEWING NEEDLES OF SIMPLE SEWING MACHINES
Directory of Open Access Journals (Sweden)
ŞUTEU Marius Darius
2017-05-01
Full Text Available The effectiveness of simple sewing machines can be increased through the planning of predictive maintenance activities. The monitoring of the technical condition of the sewing needles of simple sewing machines was based on the measurement of their noise level. For this purpose a Center 322 sonometer was used, while the data obtained during the monitoring process was analyzed through the E322 software. The working speed of the simple sewing machine that was used for obtaining the experimental results varied from 200 stitches/minute to 4000 stitches/minute. The noise levels of a new needle at the working speed of 200 stitches/minute and 4000 stitches/minute were measured. The noise levels for a fault needle at the same working speed of 200 stitches/minute, respectively 4000 stitches/minute were also measured. Using Fuzzy Logic Toolbox ™ module of Matlab®, a decision-making system for determining when replacement of the sewing needles of simple sewing machines should be performed was developed. A case study illustrates the employment of the decision-making system based on fuzzy logic for a simple sewing machine. By replacing the sewing needles of simple sewing machines at the time specified through the decision-making system based on fuzzy logic, the occurrence of the failure can be prevented and the quality of textile products can be improved.
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.
Tax planning: analysis between national simple and the estimated gain
Bassoli, Marlene Kempfer; Somma, Giovana Mattioli
2010-01-01
This study was initiated because of the need to define the legal situation that, really, is the tax planning in Brazil. The use of comparative method between the estimated gain and the national simple level to clarify an avoidance induced by the law, mainly, demonstrate the possibility of a reduced tax burden and tax savings for companies. Under the focus of the State of Law that honors the principles of strict legality and typicality closed. At first, the article focuses on Tax Planning, tal...
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
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
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
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.
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
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.
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.
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.
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.
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.
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.
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...
Stutzman, W. L.; Dishman, W. K.
1982-01-01
A simple attenuation model (SAM) is presented for estimating rain-induced attenuation along an earth-space path. The rain model uses an effective spatial rain distribution which is uniform for low rain rates and which has an exponentially shaped horizontal rain profile for high rain rates. When compared to other models, the SAM performed well in the important region of low percentages of time, and had the lowest percent standard deviation of all percent time values tested.
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.
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.
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
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.
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.
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.
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.
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.
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.
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.
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
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.
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.
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…
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...
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.
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.
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.
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.
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.
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.
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.
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.
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...
A simple planning technique of craniospinal irradiation in the eclipse treatment planning system
Directory of Open Access Journals (Sweden)
Hemalatha Athiyaman
2014-01-01
Full Text Available A new planning method for Craniospinal Irradiation by Eclipse treatment planning system using Field alignment, Field-in-Field technique was developed. Advantage of this planning method was also studied retrospectively for previously treated five patients of medulloblastoma with variable spine length. Plan consists of half beam blocked parallel opposed cranium, and a single posterior cervicospine field was created by sharing the same isocenter, which obviates divergence matching. Further, a single symmetrical field was created to treat remaining Lumbosacral spine. Matching between a inferior diverging edge of cervicospine field and superior diverging edge of a Lumbosacral field was done using the field alignment option. ′Field alignment′ is specific option in the Eclipse Treatment Planning System, which automatically matches the field edge divergence as per field alignment rule. Multiple segments were applied in both the spine field to manage with hot and cold spots created by varying depth of spinal cord. Plan becomes fully computerized using this field alignment option and multiple segments. Plan evaluation and calculated mean modified Homogeneity Index (1.04 and 0.1 ensured that dose to target volume is homogeneous and critical organ doses were within tolerance. Dose variation at the spinal field junction was verified using ionization chamber array (I′MatriXX for matched, overlapped and gap junction spine fields; the delivered dose distribution confirmed the ideal clinical match, over exposure and under exposure at the junction, respectively. This method is simple to plan, executable in Record and Verify mode and can be adopted for various length of spinal cord with only two isocenter in shorter treatment time.
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.
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.
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.
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.
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 ...
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.
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.
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.
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
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
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.
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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.
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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.
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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.
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.
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.
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.
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.
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.
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.
'Optimized' 3-D planning by simple means. An example
International Nuclear Information System (INIS)
Richter, S.; Flentje, M.; Richter, J.
2000-01-01
Aim: A treatment technique favorable for linacs with asymmetric jaws, which combines cranio-caudal matching fields with fields enclosing the whole target volume, is investigated with respect to field matching and sparing of normal tissue and organs at risk. Patient and methods: For a pelvic target volume rapidly varying in cranio-caudal direction a 5-field technique was planned with individually weighted and blocked fields. Three fields adjoining in cranio-caudal direction were completed by 2 fields enclosing the whole target volume. The matching line was measured and calculated with helax TMS copyright . Furthermore, a 4-field box and opposing fields were planned. The dose-volume histograms for target, bladder, intestine and soft tissue were exported. Normal tissue complication probability and tumor control probability, respectively, were calculated for all techniques. Results: In the region of the matching line the summation of the measured normalized curves resulted in relative dose maxima of 6.0% (caudal) and 4.5% (cranial), respectively. For fields enclosing the whole target volume the dose maxima in the region of the matching line decreased to 2.0% (caudal) and 1.8% (cranial), respectively. For the dose profiles calculated with Helax TMS copyright no overdose was found. The 5-field technique with adjoining fields results in a better sparing of the organs at risk compared to the other techniques, wheres the tumor control remains the same. Conclusions: In specific cases a technique with cranio-caudal adjoining fields can be recommended with respect to sparing of normal tissue and organs at risk. (orig.) [de
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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.
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
Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles
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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.
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.
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.
New Design of Mobile Robot Path Planning with Randomly Moving Obstacles
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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.
Employing Multiple Unmanned Aerial Vehicles for Co-Operative Path Planning
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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.
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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
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.
Path planning for first responders in the presence of moving obstacles
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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
Olivoto, T; Nardino, M; Carvalho, I R; Follmann, D N; Ferrari, M; Szareski, V J; de Pelegrin, A J; de Souza, V Q
2017-03-22
Methodologies using restricted maximum likelihood/best linear unbiased prediction (REML/BLUP) in combination with sequential path analysis in maize are still limited in the literature. Therefore, the aims of this study were: i) to use REML/BLUP-based procedures in order to estimate variance components, genetic parameters, and genotypic values of simple maize hybrids, and ii) to fit stepwise regressions considering genotypic values to form a path diagram with multi-order predictors and minimum multicollinearity that explains the relationships of cause and effect among grain yield-related traits. Fifteen commercial simple maize hybrids were evaluated in multi-environment trials in a randomized complete block design with four replications. The environmental variance (78.80%) and genotype-vs-environment variance (20.83%) accounted for more than 99% of the phenotypic variance of grain yield, which difficult the direct selection of breeders for this trait. The sequential path analysis model allowed the selection of traits with high explanatory power and minimum multicollinearity, resulting in models with elevated fit (R 2 > 0.9 and ε analysis is effective in the evaluation of maize-breeding trials.
Impact of MLC leaf position errors on simple and complex IMRT plans for head and neck cancer
International Nuclear Information System (INIS)
Mu, G; Ludlum, E; Xia, P
2008-01-01
The dosimetric impact of random and systematic multi-leaf collimator (MLC) leaf position errors is relatively unknown for head and neck intensity-modulated radiotherapy (IMRT) patients. In this report we studied 17 head and neck IMRT patients, including 12 treated with simple plans ( 100 segments). Random errors (-2 to +2 mm) and systematic errors (±0.5 mm and ±1 mm) in MLC leaf positions were introduced into the clinical plans and the resultant dose distributions were analyzed based on defined endpoint doses. The dosimetric effect was insignificant for random MLC leaf position errors up to 2 mm for both simple and complex plans. However, for systematic MLC leaf position errors, we found significant dosimetric differences between the simple and complex IMRT plans. For 1 mm systematic error, the average changes in D 95% were 4% in simple plans versus 8% in complex plans. The average changes in D 0.1cc of the spinal cord and brain stem were 4% in simple plans versus 12% in complex plans. The average changes in parotid glands were 9% in simple plans versus 13% for the complex plans. Overall, simple IMRT plans are less sensitive to leaf position errors than complex IMRT plans
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
SOME SIMPLE APPROACHES TO PLANNING THE INVENTORY OF SPARE COMPONENTS OF AN INDUSTRIAL SYSTEM
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Alenka Brezavšek
2016-02-01
Full Text Available Two variants of a simple stochastic model for planning the inventory of spare components supporting maintenance of an industrial system are developed. In both variants, the aim is to determine how many spare components are needed at the beginning of a planning interval to fulfil demand for corrective replacements during this interval. Under the first variant, the acceptable probability of spare shortage during the planning interval is chosen as a decision variable while in the second variant, the adequate spare inventory level is assessed taking into account the expected number of component failures within the planning interval. Calculation of the number of spare components needed depends on the form of the probability density function of component failure times. Different statistical density functions that are useful to describe this function are presented. Advantages and disadvantages of using a particular density function in our model are discussed. The applicability of the model is given through illustrative numerical examples.
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
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.
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.
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.
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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.
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
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.
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.
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...
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
International Nuclear Information System (INIS)
Cerjan, C.J.; Shi, S.; Miller, W.H.
1982-01-01
A simple but often reasonably accurate dynamical model--a synthesis of the semiclassical perturbation (SCP) approximation of Miller and Smith and the infinite order sudden (IOS) approximation--has been shown previously to take an exceptionally simple form when applied to the reaction path Hamiltonian derived by Miller, Handy, and Adams. This paper shows how this combined SCP-IOS reaction path model can be used to provide a simple but comprehensive description of a variety of phenomena in the dynamics of polyatomic molecules
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...
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.”.
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.
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
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.
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.
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.
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.
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.
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.
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...
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.
International Nuclear Information System (INIS)
Deufel, Christopher L; Furutani, Keith M
2014-01-01
As dose optimization for high dose rate brachytherapy becomes more complex, it becomes increasingly important to have a means of verifying that optimization results are reasonable. A method is presented for using a simple optimization as quality assurance for the more complex optimization algorithms typically found in commercial brachytherapy treatment planning systems. Quality assurance tests may be performed during commissioning, at regular intervals, and/or on a patient specific basis. A simple optimization method is provided that optimizes conformal target coverage using an exact, variance-based, algebraic approach. Metrics such as dose volume histogram, conformality index, and total reference air kerma agree closely between simple and complex optimizations for breast, cervix, prostate, and planar applicators. The simple optimization is shown to be a sensitive measure for identifying failures in a commercial treatment planning system that are possibly due to operator error or weaknesses in planning system optimization algorithms. Results from the simple optimization are surprisingly similar to the results from a more complex, commercial optimization for several clinical applications. This suggests that there are only modest gains to be made from making brachytherapy optimization more complex. The improvements expected from sophisticated linear optimizations, such as PARETO methods, will largely be in making systems more user friendly and efficient, rather than in finding dramatically better source strength distributions. (paper)
Directory of Open Access Journals (Sweden)
R Goudarzi
2018-03-01
process until the whole area is covered with a single coverage path direction (parallel to the longest edge. As it can be seen, no decomposition is proposed, because sweep line has faced no critical points. Based on the results in Table 2, there is 8% (equal to 88m more cost (in term of the non-effective distance in this case than an optimal direction and the split-merge algorithm. There are similar cases in the dataset: number 9, 12 and 13. This condition rarely occurs in complex environments, but in general it can be prevented by using an evaluation step at the end of the decomposition process. Ideally, the cost of coverage plan must be significantly less than related costs of a single optimal direction. Unlike the simple cases, algorithm returns near the optimal solution, especially in the case of complex environments. A good example of this ability of the algorithm can be seen in Figure 6. This field is case 17 in the dataset. It has many edges (almost 90 edges and several non-convex points and an internal irregular shaped obstacle. M-BCD algorithm in a very short time (87 ms generated several near to ideal shaped sub-regions around the field. Algorithm resulted in a calculated saving of 5% than an optimal direction with minimum non-effective distance. We can see the solution of split-merge algorithm by Oksanen and Visala (2009 in Figure 6, it can be clearly seen that coverage pattern by M-BCD is very close to the high time-consuming and optimal split-merge algorithm by Oksanen and Visala (2009. It verifies that M-BCD is efficient and optimal. There are similar test cases as hard cases in which considerable savings has been achieved (cases 6, 8 and 14. Conclusions In this paper a modified decomposition algorithm as a main part of path planning systems in agricultural environments was presented. Proposed algorithm uses method of parallelization of the edges of polygon. This method is based on encounter concept and "minimum facing to cost making condition". Although the
A simple tool to help decision making in infrastructure planning and ...
African Journals Online (AJOL)
2006-10-04
Oct 4, 2006 ... a tool to help decision making for planning and management of phytotreatment ... mental studies aimed at the quantitative estimation of biologi- cal processes .... water has been simulated with a logistic model assuming an.
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.
Lee, Chong Suh; Chung, Sung Soo; Park, Se Jun; Kim, Dong Min; Shin, Seong Kee
2014-01-01
This study aimed at deriving a lordosis predictive equation using the pelvic incidence and to establish a simple prediction method of lumbar lordosis for planning lumbar corrective surgery in Asians. Eighty-six asymptomatic volunteers were enrolled in the study. The maximal lumbar lordosis (MLL), lower lumbar lordosis (LLL), pelvic incidence (PI), and sacral slope (SS) were measured. The correlations between the parameters were analyzed using Pearson correlation analysis. Predictive equations of lumbar lordosis through simple regression analysis of the parameters and simple predictive values of lumbar lordosis using PI were derived. The PI strongly correlated with the SS (r = 0.78), and a strong correlation was found between the SS and LLL (r = 0.89), and between the SS and MLL (r = 0.83). Based on these correlations, the predictive equations of lumbar lordosis were found (SS = 0.80 + 0.74 PI (r = 0.78, R (2) = 0.61), LLL = 5.20 + 0.87 SS (r = 0.89, R (2) = 0.80), MLL = 17.41 + 0.96 SS (r = 0.83, R (2) = 0.68). When PI was between 30° to 35°, 40° to 50° and 55° to 60°, the equations predicted that MLL would be PI + 10°, PI + 5° and PI, and LLL would be PI - 5°, PI - 10° and PI - 15°, respectively. This simple calculation method can provide a more appropriate and simpler prediction of lumbar lordosis for Asian populations. The prediction of lumbar lordosis should be used as a reference for surgeons planning to restore the lumbar lordosis in lumbar corrective surgery.
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.
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.
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
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
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
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.
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
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.
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
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.
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...
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.
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.
White, Douglas E.
1990-01-01
Every planned giving administrator's ultimate responsibility is to serve the institution of higher education and not the donor. Planned giving administrators should instruct donors to consult a financial adviser because they cannot fill that role. (MLW)
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...
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)
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...
DEFF Research Database (Denmark)
Denwood, M.J.; McKendrick, I.J.; Matthews, L.
Introduction. There is an urgent need for a method of analysing FECRT data that is computationally simple and statistically robust. A method for evaluating the statistical power of a proposed FECRT study would also greatly enhance the current guidelines. Methods. A novel statistical framework has...... been developed that evaluates observed FECRT data against two null hypotheses: (1) the observed efficacy is consistent with the expected efficacy, and (2) the observed efficacy is inferior to the expected efficacy. The method requires only four simple summary statistics of the observed data. Power...... that the notional type 1 error rate of the new statistical test is accurate. Power calculations demonstrate a power of only 65% with a sample size of 20 treatment and control animals, which increases to 69% with 40 control animals or 79% with 40 treatment animals. Discussion. The method proposed is simple...
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.
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...
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
Quickly Planning TF/TA2 Trajectory by Artificial Immune Algorithm
Directory of Open Access Journals (Sweden)
LIU Lifeng
2015-04-01
Full Text Available Flight path planning by artificial immune algorithm approach met the requirements of aircraft's flyability and operation is proposed for the problem of single and double TF/TA2 flight path planning. Punishment function (affinity function with comprehensive 3D threat information is designed. A comprehensive threat model is formed including dynamic and static threats and no-fly-zone. Accordingly, single and dual flight paths are planned by AIA, which have been compared with the paths by GA. The results show that, GA's planned a quick and longer path compared under simple threat environment; in complex environments, GA has high failure rate (greater than 95% for single aircraft, but it is failed for double aircrafts. For the single and double aircrafts, AIA can provides one optimal and more candidate optimal flight paths.
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.
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
International Nuclear Information System (INIS)
Theodorou, K.; Kappas, C.; Gaboriaud, G.; Mazal, A.D.; Petrascu, O.; Rosenwald, J.C.
1997-01-01
Introduction: The most used imaging modality for diagnosis and localisation of arteriovenous malformations (AVMs) treated with stereotactic radiotherapy is angiography. The fact that the angiographic images are projected images imposes the need of the 3D reconstruction of the lesion. This, together with the 3D head anatomy from CT images could provide all the necessary information for stereotactic treatment planning. We have developed a method to combine the complementary information provided by angiography and 2D computerized tomography, matching the reconstructed AVM structure with the reconstructed head of the patient. Materials and methods: The ISIS treatment planning system, developed at Institute Curie, has been used for image acquisition, stereotactic localisation and 3D visualisation. A series of CT slices are introduced in the system as well as two orthogonal angiographic projected images of the lesion. A simple computer program has been developed for the 3D reconstruction of the lesion and for the superposition of the target contour on the CT slices of the head. Results and conclusions: In our approach we consider that the reconstruction can be made if the AVM is approximated with a number of adjacent ellipses. We assessed the method comparing the values of the reconstructed and the actual volumes of the target using linear regression analysis. For treatment planning purposes we overlapped the reconstructed AVM on the CT slices of the head. The above feature is to our knowledge a feature that the majority of the commercial stereotactic radiotherapy treatment planning system could not provide. The implementation of the method into ISIS TPS shows that we can reliably approximate and visualize the target volume
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...
On path generation and feedforward control for a class of surface sailing vessels
DEFF Research Database (Denmark)
Xiao, Lin; Jouffroy, Jerome
2010-01-01
Sailing vessels with wind as their main means of propulsion possess a unique property that the paths they take depend on the wind direction, which, in the literature, has attracted less attention than normal vehicles propelled by propellers or thrusters. This paper considers the problem of motion...... planning and controllability for sailing vehicles representing the no-sailing zone effect in sailing. Following our previous work, we present an extended algorithm for automatic path generation with a prescribed initial heading for a simple model of sailing vehicles, together with a feedforward controller...
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.
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...
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 ...
Path to Market for Compact Modular Fusion Power Cores
Woodruff, Simon; Baerny, Jennifer K.; Mattor, Nathan; Stoulil, Don; Miller, Ronald; Marston, Theodore
2012-08-01
The benefits of an energy source whose reactants are plentiful and whose products are benign is hard to measure, but at no time in history has this energy source been more needed. Nuclear fusion continues to promise to be this energy source. However, the path to market for fusion systems is still regularly a matter for long-term (20 + year) plans. This white paper is intended to stimulate discussion of faster commercialization paths, distilling guidance from investors, utilities, and the wider energy research community (including from ARPA-E). There is great interest in a small modular fusion system that can be developed quickly and inexpensively. A simple model shows how compact modular fusion can produce a low cost development path by optimizing traditional systems that burn deuterium and tritium, operating not only at high magnetic field strength, but also by omitting some components that allow for the core to become more compact and easier to maintain. The dominant hurdles to the development of low cost, practical fusion systems are discussed, primarily in terms of the constraints placed on the cost of development stages in the private sector. The main finding presented here is that the bridge from DOE Office of Science to the energy market can come at the Proof of Principle development stage, providing the concept is sufficiently compact and inexpensive that its development allows for a normal technology commercialization path.
Vervet monkeys use paths consistent with context-specific spatial movement heuristics.
Teichroeb, Julie A
2015-10-01
Animal foraging routes are analogous to the computationally demanding "traveling salesman problem" (TSP), where individuals must find the shortest path among several locations before returning to the start. Humans approximate solutions to TSPs using simple heuristics or "rules of thumb," but our knowledge of how other animals solve multidestination routing problems is incomplete. Most nonhuman primate species have shown limited ability to route plan. However, captive vervets were shown to solve a TSP for six sites. These results were consistent with either planning three steps ahead or a risk-avoidance strategy. I investigated how wild vervet monkeys (Chlorocebus pygerythrus) solved a path problem with six, equally rewarding food sites; where site arrangement allowed assessment of whether vervets found the shortest route and/or used paths consistent with one of three simple heuristics to navigate. Single vervets took the shortest possible path in fewer than half of the trials, usually in ways consistent with the most efficient heuristic (the convex hull). When in competition, vervets' paths were consistent with different, more efficient heuristics dependent on their dominance rank (a cluster strategy for dominants and the nearest neighbor rule for subordinates). These results suggest that, like humans, vervets may solve multidestination routing problems by applying simple, adaptive, context-specific "rules of thumb." The heuristics that were consistent with vervet paths in this study are the same as some of those asserted to be used by humans. These spatial movement strategies may have common evolutionary roots and be part of a universal mental navigational toolkit. Alternatively, they may have emerged through convergent evolution as the optimal way to solve multidestination routing problems.
Path integration on the upper half-plane
International Nuclear Information System (INIS)
Kubo, Reijiro.
1987-06-01
Feynman's path integral is considered on the Poincare upper half-plane. It is shown that the fundamental solution to the heat equation δf/δt = Δ H f can be expressed in terms of a path integral. A simple relation between the path integral and the Selberg trace formula is discussed briefly. (author)
Path Integration on the Upper Half-Plane
Reijiro, KUBO; Research Institute for Theoretical Physics Hiroshima University
1987-01-01
Feynman's path integral is considered on the Poincare upper half-plane. It is shown that the fundamental solution to the heat equation ∂f/∂t=Δ_Hf can be expressed in terms of a path integral. A simple relation between the path integral and the Selberg trace formula is discussed briefly.
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)
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.
Graybill, George
2007-01-01
Just how simple are simple machines? With our ready-to-use resource, they are simple to teach and easy to learn! Chocked full of information and activities, we begin with a look at force, motion and work, and examples of simple machines in daily life are given. With this background, we move on to different kinds of simple machines including: Levers, Inclined Planes, Wedges, Screws, Pulleys, and Wheels and Axles. An exploration of some compound machines follows, such as the can opener. Our resource is a real time-saver as all the reading passages, student activities are provided. Presented in s
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....
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...
Directory of Open Access Journals (Sweden)
André Luiz Galo
2009-01-01
Full Text Available We describe the design and tests of a set-up mounted in a conventional double beam spectrophotometer, which allows the determination of optical density of samples confined in a long liquid core waveguide (LCW capillary. Very long optical path length can be achieved with capillary cell, allowing measurements of samples with very low optical densities. The device uses a custom optical concentrator optically coupled to LCW (TEFLON® AF. Optical density measurements, carried out using a LCW of ~ 45 cm, were in accordance with the Beer-Lambert Law. Thus, it was possible to analyze quantitatively samples at concentrations 45 fold lower than that regularly used in spectrophotometric measurements.
Dynamics of unwinding of a simple entaglement
Wiegel, F.W.; Michels, J.P.J.
1987-01-01
The dynamics of unwinding of a simple entanglement is studied in two ways, firstly using an optimal path approximation in the Rouse model and secondly by simulating the movement of a more realistic model using Brownian molecular dynamics
... Han M, Partin AW. Simple prostatectomy: open and robot-assisted laparoscopic approaches. In: Wein AJ, Kavoussi LR, ... M. is also a founding member of Hi-Ethics and subscribes to the principles of the Health ...
International Nuclear Information System (INIS)
Ponce, W.A.; Zepeda, A.
1987-08-01
We present the results obtained from our systematic search of a simple Lie group that unifies weak and electromagnetic interactions in a single truly unified theory. We work with fractionally charged quarks, and allow for particles and antiparticles to belong to the same irreducible representation. We found that models based on SU(6), SU(7), SU(8) and SU(10) are viable candidates for simple unification. (author). 23 refs
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.
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
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.
Feynman path integral formulation of quantum mechanics
International Nuclear Information System (INIS)
Mizrahi, M.M.
1975-01-01
The subject of this investigation is Feynman's path integral quantization scheme, which is a powerful global formalism with great intuitive appeal. It stems from the simple idea that a probability amplitude for a system to make a transition between two states is the ''sum'' of the amplitudes for all the possible ways the transition can take place
Multi-Dimensional Path Queries
DEFF Research Database (Denmark)
Bækgaard, Lars
1998-01-01
to create nested path structures. We present an SQL-like query language that is based on path expressions and we show how to use it to express multi-dimensional path queries that are suited for advanced data analysis in decision support environments like data warehousing environments......We present the path-relationship model that supports multi-dimensional data modeling and querying. A path-relationship database is composed of sets of paths and sets of relationships. A path is a sequence of related elements (atoms, paths, and sets of paths). A relationship is a binary path...
Strain path and work-hardening behavior of brass
International Nuclear Information System (INIS)
Sakharova, N.A.; Fernandes, J.V.; Vieira, M.F.
2009-01-01
Plastic straining in metal forming usually includes changes of strain path, which are frequently not taken into account in the analysis of forming processes. Moreover, strain path change can significantly affect the mechanical behavior and microstructural evolution of the material. For this reason, a combination of several simple loading test sequences is an effective way to investigate the dislocation microstructure of sheet metals under such forming conditions. Pure tension and rolling strain paths and rolling-tension strain path sequences were performed on brass sheets. A study of mechanical behavior and microstructural evolution during the simple and the complex strain paths was carried out, within a wide range of strain values. The appearance and development of deformation twinning was evident. It was shown that strain path change promotes the onset of premature twinning. The work-hardening behavior is discussed in terms of the twinning and dislocation microstructure evolution, as revealed by transmission electron microscopy
Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.
Hawary, A. F.; Razak, N. A.
2018-05-01
Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.
DEFF Research Database (Denmark)
Bessenrodt, Christine; Olsson, Jørn Børling; Sellers, James A.
2013-01-01
We give a complete classification of the unique path partitions and study congruence properties of the function which enumerates such partitions.......We give a complete classification of the unique path partitions and study congruence properties of the function which enumerates such partitions....
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
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.
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*.
USV Path Planning Using Potential Field Model
2017-09-01
on the Clearpath USV is identified. A bollard pull test was performed in the CAVR test tank to evaluate this relationship. The USV was given thrust...commands from -1.0 (reverse) to 1.0 (forward) while statically attached to the side of the CAVR test tank with a load cell in line with mooring. The...and illustrates the lack of reverse thrust of the USV. The forward thrust direction is much more effective and increases until settling out at 40.0 N
Towards Informative Path Planning for Acoustic SLAM
Evers, C; Moore, A; Naylor, P
2016-01-01
Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot?s positions and jointly map t...
International Nuclear Information System (INIS)
DeWitt-Morette, C.
1983-01-01
Much is expected of path integration as a quantization procedure. Much more is possible if one recognizes that path integration is at the crossroad of stochastic and differential calculus and uses the full power of both stochastic and differential calculus in setting up and computing path integrals. In contrast to differential calculus, stochastic calculus has only comparatively recently become an instrument of thought. It has nevertheless already been used in a variety of challenging problems, for instance in the quantization problem. The author presents some applications of the stochastic scheme. (Auth.)
Two dimensional simplicial paths
International Nuclear Information System (INIS)
Piso, M.I.
1994-07-01
Paths on the R 3 real Euclidean manifold are defined as 2-dimensional simplicial strips which are orbits of the action of a discrete one-parameter group. It is proven that there exists at least one embedding of R 3 in the free Z-module generated by S 2 (x 0 ). The speed is defined as the simplicial derivative of the path. If mass is attached to the simplex, the free Lagrangian is proportional to the width of the path. In the continuum limit, the relativistic form of the Lagrangian is recovered. (author). 7 refs
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…
Acquisition Path Analysis as a Collaborative Activity
International Nuclear Information System (INIS)
Nakao, A.; Grundule, R.; Gushchyn, K.; El Gebaly, A.; Higgy, R.; Tsvetkov, I.; Mandl, W.
2015-01-01
In the International Atomic Energy Agency, acquisition path analysis (APA) is indispensable to safeguards implementation. It is an integral part of both State evaluation process and the development of State level safeguards approaches, all performed through ongoing collaborative analysis of all available safeguards relevant information by State evaluation groups (SEG) with participation of other contributors, as required. To perform comprehensive State evaluation, to develop and revise State-level safeguards approaches, and to prepare annual implementation plans, the SEG in its collaborative analysis follows accepted safeguards methodology and guidance. In particular, the guide ''Performing Acquisition Path Analysis for the Development of a State-level Safeguards Approach for a State with a CSA'' is used. This guide identifies four major steps of the APA process: 1. Consolidating information about the State's past, present and planned nuclear fuel cycle-related capabilities and infrastructure; 2. Identifying and visually presenting technically plausible acquisition paths for the State; 3. Assessing acquisition path steps (State's technical capabilities and possible actions) along the identified acquisition paths; and 4. Assessing the time needed to accomplish each identified technically plausible acquisition path for the State. The paper reports on SEG members' and other contributors' experience with APA when following the above steps, including the identification of plausible acquisition pathways, estimation of time frames for all identified steps and determination of the time needed to accomplish each acquisition path. The difficulties that the SEG encountered during the process of performing the APA are also addressed. Feedback in the form of practical suggestions for improving the clarity of the acquisition path step assessment forms and a proposal for software support are also included. (author)
Leamer, Micah J.
2004-01-01
Let K be a field and Q a finite directed multi-graph. In this paper I classify all path algebras KQ and admissible orders with the property that all of their finitely generated ideals have finite Groebner bases. MS
Quantum mechanics on the half-line using path integrals
International Nuclear Information System (INIS)
Clark, T.E.; Menikoff, R.; Sharp, D.H.
1980-01-01
We study the Feynman path-integral formalism for the constrained problem of a free particle moving on the half-line. It is shown that the effect of the boundary condition at the origin can be incorporated into the path integral by a simple modification of the action. The small-time behavior of the Green's function can be obtained from the stationary-phase evaluation of our expression for the path integral, which in this case includes contributions from both the direct and reflected classical paths
Motion Planning in Multi-robot Systems using Timed Automata
DEFF Research Database (Denmark)
Andersen, Michael. S.; Jensen, Rune S.; Bak, Thomas
This paper dscribes how interacting timed automata can be used to model, analyze, and verify motion planning problems for systems with multiple mobile robots. The method assumes an infra-structure of simple unicycle type robots, moving om a planar grid. The motion of the robots, including simple...... kinematics, is captured in an automata formalism that allows formal composition and symbolic reasoning. The verification software UppAal is used to verify specification requirements formulated in computational tree logic (CTL), generating all feasible trajectories that satisfy specifications. The results...... of the planning are demonstrateted in a testbed that allows execution of the planned paths and motion primitives by synchronizing the planning results from UppAal with actual robotic vehicles. The planning problem may be modified online by moving obstacles in the physical environment, which causes a re...
Quivers of Bound Path Algebras and Bound Path Coalgebras
Directory of Open Access Journals (Sweden)
Dr. Intan Muchtadi
2010-09-01
Full Text Available bras and coalgebras can be represented as quiver (directed graph, and from quiver we can construct algebras and coalgebras called path algebras and path coalgebras. In this paper we show that the quiver of a bound path coalgebra (resp. algebra is the dual quiver of its bound path algebra (resp. coalgebra.
Qian, Weixian; Zhou, Xiaojun; Lu, Yingcheng; Xu, Jiang
2015-09-15
Both the Jones and Mueller matrices encounter difficulties when physically modeling mixed materials or rough surfaces due to the complexity of light-matter interactions. To address these issues, we derived a matrix called the paths correlation matrix (PCM), which is a probabilistic mixture of Jones matrices of every light propagation path. Because PCM is related to actual light propagation paths, it is well suited for physical modeling. Experiments were performed, and the reflection PCM of a mixture of polypropylene and graphite was measured. The PCM of the mixed sample was accurately decomposed into pure polypropylene's single reflection, pure graphite's single reflection, and depolarization caused by multiple reflections, which is consistent with the theoretical derivation. Reflection parameters of rough surface can be calculated from PCM decomposition, and the results fit well with the theoretical calculations provided by the Fresnel equations. These theoretical and experimental analyses verify that PCM is an efficient way to physically model light-matter interactions.
Abrams, Gene; Siles Molina, Mercedes
2017-01-01
This book offers a comprehensive introduction by three of the leading experts in the field, collecting fundamental results and open problems in a single volume. Since Leavitt path algebras were first defined in 2005, interest in these algebras has grown substantially, with ring theorists as well as researchers working in graph C*-algebras, group theory and symbolic dynamics attracted to the topic. Providing a historical perspective on the subject, the authors review existing arguments, establish new results, and outline the major themes and ring-theoretic concepts, such as the ideal structure, Z-grading and the close link between Leavitt path algebras and graph C*-algebras. The book also presents key lines of current research, including the Algebraic Kirchberg Phillips Question, various additional classification questions, and connections to noncommutative algebraic geometry. Leavitt Path Algebras will appeal to graduate students and researchers working in the field and related areas, such as C*-algebras and...
A Robust Planning Algorithm for Groups of Entities in Discrete Spaces
Directory of Open Access Journals (Sweden)
Igor Wojnicki
2015-07-01
Full Text Available Automated planning is a well-established field of artificial intelligence (AI, with applications in route finding, robotics and operational research, among others. The task of developing a plan is often solved by finding a path in a graph representing the search domain; a robust plan consists of numerous paths that can be chosen if the execution of the best (optimal one fails. While robust planning for a single entity is rather simple, development of a robust plan for multiple entities in a common environment can lead to combinatorial explosion. This paper proposes a novel hybrid approach, joining heuristic search and the wavefront algorithm to provide a plan featuring robustness in areas where it is needed, while maintaining a low level of computational complexity.
Flight Path Recovery System (FPRS) design study
Energy Technology Data Exchange (ETDEWEB)
1978-09-01
The study contained herein presents a design for a Flight Path Recovery System (FPPS) for use in the NURE Program which will be more accurate than systems presently used, provide position location data in digital form suitable for automatic data processing, and provide for flight path recovery in a more economic and operationally suitable manner. The design is based upon the use of presently available hardware and technoloy, and presents little, it any, development risk. In addition, a Flight Test Plan designed to test the FPRS design concept is presented.
Flight Path Recovery System (FPRS) design study
International Nuclear Information System (INIS)
1978-09-01
The study contained herein presents a design for a Flight Path Recovery System (FPPS) for use in the NURE Program which will be more accurate than systems presently used, provide position location data in digital form suitable for automatic data processing, and provide for flight path recovery in a more economic and operationally suitable manner. The design is based upon the use of presently available hardware and technoloy, and presents little, it any, development risk. In addition, a Flight Test Plan designed to test the FPRS design concept is presented
International Nuclear Information System (INIS)
Schiefer, H.; Peters, S.; Plasswilm, L.; Ingulfsen, N.; Kluckert, J.
2015-01-01
Purpose: For stereotactic radiosurgery, the AAPM Report No. 54 [AAPM Task Group 42 (AAPM, 1995)] requires the overall stability of the isocenter (couch, gantry, and collimator) to be within a 1 mm radius. In reality, a rotating system has no rigid axis and thus no isocenter point which is fixed in space. As a consequence, the isocenter concept is reviewed here. It is the aim to develop a measurement method following the revised definitions. Methods: The mechanical isocenter is defined here by the point which rotates on the shortest path in the room coordinate system. The path is labeled as “isocenter path.” Its center of gravity is assumed to be the mechanical isocenter. Following this definition, an image-based and radiation-free measurement method was developed. Multiple marker pairs in a plane perpendicular to the assumed gantry rotation axis of a linear accelerator are imaged with a smartphone application from several rotation angles. Each marker pair represents an independent measuring system. The room coordinates of the isocenter path and the mechanical isocenter are calculated based on the marker coordinates. The presented measurement method is by this means strictly focused on the mechanical isocenter. Results: The measurement result is available virtually immediately following completion of measurement. When 12 independent measurement systems are evaluated, the standard deviations of the isocenter path points and mechanical isocenter coordinates are 0.02 and 0.002 mm, respectively. Conclusions: The measurement is highly accurate, time efficient, and simple to adapt. It is therefore suitable for regular checks of the mechanical isocenter characteristics of the gantry and collimator rotation axis. When the isocenter path is reproducible and its extent is in the range of the needed geometrical accuracy, it should be taken into account in the planning process. This is especially true for stereotactic treatments and radiosurgery
Energy Technology Data Exchange (ETDEWEB)
Schiefer, H., E-mail: johann.schiefer@kssg.ch; Peters, S.; Plasswilm, L. [Klinik für Radio-Onkologie, Kantonsspital St.Gallen, Rorschacherstrasse 107, St.Gallen CH-9007 (Switzerland); Ingulfsen, N.; Kluckert, J. [Kantonsschule am Burggraben St.Gallen, Burggraben 21, St.Gallen CH-9000 (Switzerland)
2015-03-15
Purpose: For stereotactic radiosurgery, the AAPM Report No. 54 [AAPM Task Group 42 (AAPM, 1995)] requires the overall stability of the isocenter (couch, gantry, and collimator) to be within a 1 mm radius. In reality, a rotating system has no rigid axis and thus no isocenter point which is fixed in space. As a consequence, the isocenter concept is reviewed here. It is the aim to develop a measurement method following the revised definitions. Methods: The mechanical isocenter is defined here by the point which rotates on the shortest path in the room coordinate system. The path is labeled as “isocenter path.” Its center of gravity is assumed to be the mechanical isocenter. Following this definition, an image-based and radiation-free measurement method was developed. Multiple marker pairs in a plane perpendicular to the assumed gantry rotation axis of a linear accelerator are imaged with a smartphone application from several rotation angles. Each marker pair represents an independent measuring system. The room coordinates of the isocenter path and the mechanical isocenter are calculated based on the marker coordinates. The presented measurement method is by this means strictly focused on the mechanical isocenter. Results: The measurement result is available virtually immediately following completion of measurement. When 12 independent measurement systems are evaluated, the standard deviations of the isocenter path points and mechanical isocenter coordinates are 0.02 and 0.002 mm, respectively. Conclusions: The measurement is highly accurate, time efficient, and simple to adapt. It is therefore suitable for regular checks of the mechanical isocenter characteristics of the gantry and collimator rotation axis. When the isocenter path is reproducible and its extent is in the range of the needed geometrical accuracy, it should be taken into account in the planning process. This is especially true for stereotactic treatments and radiosurgery.
2016-07-22
be reduced to TP in -D UDH for any . We then show that the 2-D disk hypergraph constructed in the proof of Theorem 1 can be modified to an exposed...transmission range that induces hy- peredge , i.e., (3) GAO et al.: THINNEST PATH PROBLEM 1181 Theorem 5 shows that the covered area of the path...representation of (the two hyperedges rooted at from the example given in Fig. 6 are illustrated in green and blue, respectively). step, we show in this
DEFF Research Database (Denmark)
Garud, Raghu; Karnøe, Peter
This edited volume stems from a conference held in Copenhagen that the authors ran in August of 1997. The authors, aware of the recent work in evolutionary theory and the science of chaos and complexity, challenge the sometimes deterministic flavour of this work. They are interested in uncovering...... the place of agency in these theories that take history so seriously. In the end, they are as interested in path creation and destruction as they are in path dependence. This book is compiled of both theoretical and empirical writing. It shows relatively well-known industries such as the automobile...
Reparametrization in the path integral
International Nuclear Information System (INIS)
Storchak, S.N.
1983-01-01
The question of the invariance of a measure in the n-dimensional path integral under the path reparametrization is considered. The non-invariance of the measure through the jacobian is suggeste. After the path integral reparametrization the representatioq for the Green's function of the Hamilton operator in terms of the path integral with the classical Hamiltonian has been obtained
Computing the optimal path in stochastic dynamical systems
International Nuclear Information System (INIS)
Bauver, Martha; Forgoston, Eric; Billings, Lora
2016-01-01
In stochastic systems, one is often interested in finding the optimal path that maximizes the probability of escape from a metastable state or of switching between metastable states. Even for simple systems, it may be impossible to find an analytic form of the optimal path, and in high-dimensional systems, this is almost always the case. In this article, we formulate a constructive methodology that is used to compute the optimal path numerically. The method utilizes finite-time Lyapunov exponents, statistical selection criteria, and a Newton-based iterative minimizing scheme. The method is applied to four examples. The first example is a two-dimensional system that describes a single population with internal noise. This model has an analytical solution for the optimal path. The numerical solution found using our computational method agrees well with the analytical result. The second example is a more complicated four-dimensional system where our numerical method must be used to find the optimal path. The third example, although a seemingly simple two-dimensional system, demonstrates the success of our method in finding the optimal path where other numerical methods are known to fail. In the fourth example, the optimal path lies in six-dimensional space and demonstrates the power of our method in computing paths in higher-dimensional spaces.
International Nuclear Information System (INIS)
Liu Yingling
2008-01-01
The recent policy tools have also consolidated and advanced traditional renewable energy industries, including hydropower and solar thermal panels, where China has already been a world leader. The technologies are comparatively simple and low-cost, and the country has developed fairly strong construction, manufacturing and installation industries for both sources. They are still dominant in China's renewable energy use, and are expected to see continuous strong growth. Hydropower accounts for about two-thirds of China's current renewable energy use. It has grown by over 8 per cent annually from 2002 to 2006, and installed capacity will reach 190 GW by 2010 and 300 GW by 2020. China also has nearly two-thirds of the world's solar hot water capacity: more than one in every ten households bathe in water heated by the sun. Such solar thermal has witnessed 20-25 per cent annual growth in recent years, with installed capacity rising from 35 million square metres in 2000 to 100 million square metres by the end of 2006. The government aims for 150 million square metres by 2010 and double that figure by 2020. A more optimistic prediction envisages 800 million square metres installed capacity by 2030, which would mean that more than half of all Chinese households would be using solar energy for water heating. Renewable energy has become a strategic industry in China. The country has more than 50 domestic wind turbine manufacturers, over 15 major solar cell manufacturers and roughly 50 companies constructing, expanding or planning for polysilicon production lines, the key components for solar PV systems. Those two industries together employ some 80,000 people. The country also has thousands of hydropower manufacturers and engineering and design firms. More than a thousand solar water heater manufacturers throughout the country - and associated design, installation and service providers - provide some 600,000 jobs. As renewable industries are scaled up, costs will come down
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.
PATHS groundwater hydrologic model
Energy Technology Data Exchange (ETDEWEB)
Nelson, R.W.; Schur, J.A.
1980-04-01
A preliminary evaluation capability for two-dimensional groundwater pollution problems was developed as part of the Transport Modeling Task for the Waste Isolation Safety Assessment Program (WISAP). Our approach was to use the data limitations as a guide in setting the level of modeling detail. PATHS Groundwater Hydrologic Model is the first level (simplest) idealized hybrid analytical/numerical model for two-dimensional, saturated groundwater flow and single component transport; homogeneous geology. This document consists of the description of the PATHS groundwater hydrologic model. The preliminary evaluation capability prepared for WISAP, including the enhancements that were made because of the authors' experience using the earlier capability is described. Appendixes A through D supplement the report as follows: complete derivations of the background equations are provided in Appendix A. Appendix B is a comprehensive set of instructions for users of PATHS. It is written for users who have little or no experience with computers. Appendix C is for the programmer. It contains information on how input parameters are passed between programs in the system. It also contains program listings and test case listing. Appendix D is a definition of terms.
Spreading paths in partially observed social networks
Onnela, Jukka-Pekka; Christakis, Nicholas A.
2012-01-01
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 a static, s...
On the reachability and observability of path and cycle graphs
Parlangeli, Gianfranco; Notarstefano, Giuseppe
2011-01-01
In this paper we investigate the reachability and observability properties of a network system, running a Laplacian based average consensus algorithm, when the communication graph is a path or a cycle. More in detail, we provide necessary and sufficient conditions, based on simple algebraic rules from number theory, to characterize all and only the nodes from which the network system is reachable (respectively observable). Interesting immediate corollaries of our results are: (i) a path graph...
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.
Some instructive examples of Mayer's interference in path integral
International Nuclear Information System (INIS)
Fiziev, P.P.
1984-01-01
A new technique of path integral evaluation by a discretization procedure is proposed. It is based on the requirement, found previously, to single out the set of classical trajectories over which the summation is performed. The notion of Mayer's interference is introduced and illustrated by a number of simple examples. The choice of the set of paths is shown to induce a corresponding quantization procedure and this line is followed to demonstrate its connection with the symmetries of the problem. The possibility of extracting information on the space of quantum states from path integrals has been reviewed. A class of paths has been found; the summation over these paths within the framework of the suggested approach produces the well known results for the motion in a homogeneous field and for the harmonic oscillator
Shortest Paths and Vehicle Routing
DEFF Research Database (Denmark)
Petersen, Bjørn
This thesis presents how to parallelize a shortest path labeling algorithm. It is shown how to handle Chvátal-Gomory rank-1 cuts in a column generation context. A Branch-and-Cut algorithm is given for the Elementary Shortest Paths Problem with Capacity Constraint. A reformulation of the Vehicle...... Routing Problem based on partial paths is presented. Finally, a practical application of finding shortest paths in the telecommunication industry is shown....
Path integral quantization of parametrized field theory
International Nuclear Information System (INIS)
Varadarajan, Madhavan
2004-01-01
Free scalar field theory on a flat spacetime can be cast into a generally covariant form known as parametrized field theory in which the action is a functional of the scalar field as well as the embedding variables which describe arbitrary, in general curved, foliations of the flat spacetime. We construct the path integral quantization of parametrized field theory in order to analyze issues at the interface of quantum field theory and general covariance in a path integral context. We show that the measure in the Lorentzian path integral is nontrivial and is the analog of the Fradkin-Vilkovisky measure for quantum gravity. We construct Euclidean functional integrals in the generally covariant setting of parametrized field theory using key ideas of Schleich and show that our constructions imply the existence of nonstandard 'Wick rotations' of the standard free scalar field two-point function. We develop a framework to study the problem of time through computations of scalar field two-point functions. We illustrate our ideas through explicit computation for a time independent (1+1)-dimensional foliation. Although the problem of time seems to be absent in this simple example, the general case is still open. We discuss our results in the contexts of the path integral formulation of quantum gravity and the canonical quantization of parametrized field theory
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.
Mehhtz, Peter
2005-01-01
JPF is an explicit state software model checker for Java bytecode. Today, JPF is a swiss army knife for all sort of runtime based verification purposes. This basically means JPF is a Java virtual machine that executes your program not just once (like a normal VM), but theoretically in all possible ways, checking for property violations like deadlocks or unhandled exceptions along all potential execution paths. If it finds an error, JPF reports the whole execution that leads to it. Unlike a normal debugger, JPF keeps track of every step how it got to the defect.
International Nuclear Information System (INIS)
Prokhorov, L.V.
1982-01-01
Problems related to consideration of operator nonpermutability in Hamiltonian path integral (HPI) are considered in the review. Integrals are investigated using trajectories in configuration space (nonrelativistic quantum mechanics). Problems related to trajectory integrals in HPI phase space are discussed: the problem of operator nonpermutability consideration (extra terms problem) and corresponding equivalence rules; ambiguity of HPI usual recording; transition to curvilinear coordinates. Problem of quantization of dynamical systems with couplings has been studied. As in the case of canonical transformations, quantization of the systems with couplings of the first kind requires the consideration of extra terms
Wolfowitz,Paul
2006-01-01
Paul Wolfowitz, President of the World Bank, discussed Singapore's remarkable progress along the road from poverty to prosperity which has also been discovered by many other countries in East Asia and around the world. He spoke of how each country must find its own path for people to pursue the same dreams of the chance to go to school, the security of a good job, and the ability to provide a better future for their children. Throughout the world, and importantly in the developing world, ther...
Solidification paths of multicomponent monotectic aluminum alloys
Energy Technology Data Exchange (ETDEWEB)
Mirkovic, Djordje; Groebner, Joachim [Clausthal University of Technology, Institute of Metallurgy, Robert-Koch-Street 42, D-38678 Clausthal-Zellerfeld (Germany); Schmid-Fetzer, Rainer [Clausthal University of Technology, Institute of Metallurgy, Robert-Koch-Street 42, D-38678 Clausthal-Zellerfeld (Germany)], E-mail: schmid-fetzer@tu-clausthal.de
2008-10-15
Solidification paths of three ternary monotectic alloy systems, Al-Bi-Zn, Al-Sn-Cu and Al-Bi-Cu, are studied using thermodynamic calculations, both for the pertinent phase diagrams and also for specific details concerning the solidification of selected alloy compositions. The coupled composition variation in two different liquids is quantitatively given. Various ternary monotectic four-phase reactions are encountered during solidification, as opposed to the simple binary monotectic, L' {yields} L'' + solid. These intricacies are reflected in the solidification microstructures, as demonstrated for these three aluminum alloy systems, selected in view of their distinctive features. This examination of solidification paths and microstructure formation may be relevant for advanced solidification processing of multicomponent monotectic alloys.
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
International Nuclear Information System (INIS)
Connolly, T.J.; Hansen, U.; Jaek, W.; Beckurts, K.H.
1979-01-01
In examing the world nuclear energy paths, the following assumptions were adopted: the world economy will grow somewhat more slowly than in the past, leading to reductions in electricity demand growth rates; national and international political impediments to the deployment of nuclear power will gradually disappear over the next few years; further development of nuclear power will proceed steadily, without serious interruption but with realistic lead times for the introduction of advanced technologies. Given these assumptions, this paper attempts a study of possible world nuclear energy developments, disaggregated on a regional and national basis. The scenario technique was used and a few alternative fuel-cycle scenarios were developed. Each is an internally consistent model of technically and economically feasible paths to the further development of nuclear power in an aggregate of individual countries and regions of the world. The main purpose of this modeling exercise was to gain some insight into the probable international locations of reactors and other nuclear facilities, the future requirements for uranium and for fuel-cycle services, and the problems of spent-fuel storage and waste management. The study also presents an assessment of the role that nuclear power might actually play in meeting future world energy demand
Energy Technology Data Exchange (ETDEWEB)
Portaluri, M.; Bambace, S.; Giuliano, G.; Pili, G.; Didonna, V. [General Hospital Di Summa-Perrino, Dept. of Radiation Oncology, Medical Physics, Brindisi (Italy); Perez, C.; Angone, G.; Alloro, E. [General Hospital Di Summa-Perrino, Dept. of Radiology, Medical Physics, Brindisi (Italy); Scialpi, M. [General Hospital SS. Annunziata, Dept. of Radiology, Taranto (Italy)
2004-08-01
Background and purpose. Many observations on potential inadequate coverage of tumour volume at risk in advanced cervical cancer (CC) when conventional radiation fields are used, have further substantiated by investigators using MRI, CT or lymph-angiographic imaging. This work tries to obtain three dimensional margins by observing enlarged nodes in CT scans in order to improve pelvic nodal chains clinical target volumes (CTVs) drawing, and by looking for corroborative evidence in the literature for a better delineation of tumour CTV. Method. Eleven consecutive patients (seven males, four females, mean age 62 years, range 43 8) with CT diagnosis of nodal involvement caused by pathologically proved carcinoma of the cervix (n = 2), carcinoma of the rectum (n = 2), carcinoma of the prostate (n = 2), non-Hodgkin lymphoma (n 2), Hodgkin lymphoma (n = 1), carcinoma of the penis (n = 1) and carcinoma of the corpus uteri (n = 1) were retrospectively reviewed. Sixty CT scans with 67 enlarged pelvic nodes were reviewed in order to record the more proximal structures (muscle, bone, vessels, cutis or sub-cutis and other organs) to each enlarged node or group of nodes according to the four surfaces (anterior, lateral, posterior and medial) in a clockwise direction. Results. summary of the observations of each nodal chain and the number of occurrences of every marginal structure on axial CT slices is presented. Finally, simple guidelines are proposed. Conclusions. Tumour CTV should be based on individual tumour anatomy mainly for lateral beams as it results from sagittal T2 weighted MRI images. Boundaries of pelvic nodes CTVs can be derived from observations of enlarged lymph nodes in CT scans. (author)
Overconfidence, preview, and probability in strategic planning
Wickens, Christopher D.; Pizarro, David; Bell, Brian
1991-01-01
The performance of eight subjects in a 'rescue' video game requiring choices as to which node they should fly to in order to rescue the simulated casualties is presently studied with a view to biases and display support criteria in strategic planning. After each choice, the subjects needed to fly a challenging tracking dynamic along a path to reach the next node. The results obtained indicate that the choices of the subjects were less optimal when full preview was offered, perhaps due to subjects' reliance on the simple strategy of choosing routes with the greatest number of casualties.
A middle path for electricity options and sustainable development
International Nuclear Information System (INIS)
Mills, J.I.; Herring, J.S.
1994-01-01
In a landmark article in Foreign Affairs in October 1976, Amory Lovins presented his vision of two vastly different and seemingly irreconcilable paths that energy provision might take into the future. One path was a ''hard'' path, characterized by extensive development of large, capital-intensive centralized electrical generating facilities and their peripherals, designed with little consideration given to the matching of these facilities to the requirements of the end-use needs. The second, ''soft'' path was characterized by energy technologies that are diverse, operate on renewable energy flows, are relatively simple, less capital-intensive, and matched in scale and energy quality to end-use needs. One of the most controversial arguments in the Lovins' paper was that the ''hard'' and ''soft'' paths are culturally and institutionally antagonistic. In retrospect, it seems this argument was self-fulfilling, for the history of the energy debate throughout the developed world since the appearance of the Lovins' article has been marked by an either-or antagonism that has left little room for serious discussion of a ''middle-path.'' In this paper, we argue that ''middle-path,'' paved with elements of both the soft and hard, is especially suited for developing countries, since they do not now carry the burden of an existing and extensive ''hard path'' energy infrastructure
Optimal Path Planner for Mobile Robot in 2D Environment
Directory of Open Access Journals (Sweden)
Valeri Kroumov
2004-06-01
Full Text Available The problem of path planning for the case of a mobile robot moving in an environment filled with obstacles with known shapes and positions is studied. A path planner based on the genetic algorithm approach, which generates optimal in length path is proposed. The population member paths are generated by another algorithm, which uses for description of the obstacles an artificial annealing neural network and is based on potential field approach. The resulting path is piecewise linear with changing directions at the corners of the obstacles. Because of this feature, the inverse kinematics problems in controlling differential drive robots are simply solved: to drive the robot to some goal pose (x, y, theta, the robot can be spun in place until it is aimed at (x, y, then driven forward until it is at (x, y, and then spun in place until the required goal orientation
PP: A graphics post-processor for the EQ6 reaction path code
International Nuclear Information System (INIS)
Stockman, H.W.
1994-09-01
The PP code is a graphics post-processor and plotting program for EQ6, a popular reaction-path code. PP runs on personal computers, allocates memory dynamically, and can handle very large reaction path runs. Plots of simple variable groups, such as fluid and solid phase composition, can be obtained with as few as two keystrokes. Navigation through the list of reaction path variables is simple and efficient. Graphics files can be exported for inclusion in word processing documents and spreadsheets, and experimental data may be imported and superposed on the reaction path runs. The EQ6 thermodynamic database can be searched from within PP, to simplify interpretation of complex plots
Accelerating cleanup. Paths to closure Hanford Site
International Nuclear Information System (INIS)
Edwards, C.
1998-01-01
This document was previously referred to as the Draft 2006 Plan. As part of the DOE's national strategy, the Richland Operations Office's Paths to Closure summarizes an integrated path forward for environmental cleanup at the Hanford Site. The Hanford Site underwent a concerted effort between 1994 and 1996 to accelerate the cleanup of the Site. These efforts are reflected in the current Site Baseline. This document describes the current Site Baseline and suggests strategies for further improvements in scope, schedule and cost. The Environmental Management program decided to change the name of the draft strategy and the document describing it in response to a series of stakeholder concerns, including the practicality of achieving widespread cleanup by 2006. Also, EM was concerned that calling the document a plan could be misconstrued to be a proposal by DOE or a decision-making document. The change in name, however, does not diminish the 2006 vision. To that end, Paths to Closure retains a focus on 2006, which serves as a point in time around which objectives and goals are established
Directory of Open Access Journals (Sweden)
Paul Ballonoff
2017-12-01
Full Text Available A theory of cultural structures predicts the objects observed by anthropologists. We here define those which use kinship relationships to define systems. A finite structure we call a partially defined quasigroup (or pdq, as stated by Definition 1 below on a dictionary (called a natural language allows prediction of certain anthropological descriptions, using homomorphisms of pdqs onto finite groups. A viable history (defined using pdqs states how an individual in a population following such history may perform culturally allowed associations, which allows a viable history to continue to survive. The vector states on sets of viable histories identify demographic observables on descent sequences. Paths of vector states on sets of viable histories may determine which histories can exist empirically.
Propagators and path integrals
Energy Technology Data Exchange (ETDEWEB)
Holten, J.W. van
1995-08-22
Path-integral expressions for one-particle propagators in scalar and fermionic field theories are derived, for arbitrary mass. This establishes a direct connection between field theory and specific classical point-particle models. The role of world-line reparametrization invariance of the classical action and the implementation of the corresponding BRST-symmetry in the quantum theory are discussed. The presence of classical world-line supersymmetry is shown to lead to an unwanted doubling of states for massive spin-1/2 particles. The origin of this phenomenon is traced to a `hidden` topological fermionic excitation. A different formulation of the pseudo-classical mechanics using a bosonic representation of {gamma}{sub 5} is shown to remove these extra states at the expense of losing manifest supersymmetry. (orig.).
Directory of Open Access Journals (Sweden)
Li Jian
2016-01-01
Full Text Available The world has entered the information age, all kinds of information technologies such as cloud technology, big data technology are in rapid development, and the “Internet plus” appeared. The main purpose of “Internet plus” is to provide an opportunity for the further development of the enterprise, the enterprise technology, business and other aspects of factors combine. For enterprises, grasp the “Internet plus” the impact of the market economy will undoubtedly pave the way for the future development of enterprises. This paper will be on the innovation path of the enterprise management “Internet plus” era tied you study, hope to be able to put forward some opinions and suggestions.
... Solitary Kidney Your Kidneys & How They Work Simple Kidney Cysts What are simple kidney cysts? Simple kidney cysts are abnormal, fluid-filled ... that form in the kidneys. What are the kidneys and what do they do? The kidneys are ...
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)
Webb, T.
1979-01-01
Energy policy is discussed, with particular reference to Scotland. The plans for nuclear power are analyzed in comparison with developments in coal mining, use of oil and gas and other possible energy sources such as wind and wave power. Arguments against the development of nuclear power are raised on grounds of economics, employment potential, and problems of waste disposal. (U.K.)
Path-integral computation of superfluid densities
International Nuclear Information System (INIS)
Pollock, E.L.; Ceperley, D.M.
1987-01-01
The normal and superfluid densities are defined by the response of a liquid to sample boundary motion. The free-energy change due to uniform boundary motion can be calculated by path-integral methods from the distribution of the winding number of the paths around a periodic cell. This provides a conceptually and computationally simple way of calculating the superfluid density for any Bose system. The linear-response formulation relates the superfluid density to the momentum-density correlation function, which has a short-ranged part related to the normal density and, in the case of a superfluid, a long-ranged part whose strength is proportional to the superfluid density. These facts are discussed in the context of path-integral computations and demonstrated for liquid 4 He along the saturated vapor-pressure curve. Below the experimental superfluid transition temperature the computed superfluid fractions agree with the experimental values to within the statistical uncertainties of a few percent in the computations. The computed transition is broadened by finite-sample-size effects
Zeng, Qiang; Yao, Zhihong; Liu, Lei
2011-03-01
Digital Imaging and Communications in Medicine (DICOM) is a standard for handling, storing, printing, and transmitting information in medical imaging. XML (Extensible Markup Language) is a set of rules for encoding documents in machine-readable form which has become more and more popular. The combination of these two is very necessary and promising. Using XML tags instead of numeric labels in DICOM files will effectively increase the readability and enhance the clear hierarchical structure of DICOM files. However, due to the fact that the XML tags rely heavily on the orders of the tags, the strong data dependency has a lot of influence on the flexibility of inserting and exchanging data. In order to improve the extensibility and sharing of DICOM files, this paper introduces XML Path-Tag to DICOM. When a DICOM file is converted to XML format, adding simple Path-Tag into the DICOM file in place of complex tags will keep the flexibility of a DICOM file while inserting data elements and give full play to the advantages of the structure and readability of an XML file. Our method can solve the weak readability problem of DICOM files and the tedious work of inserting data into an XML file. In addition, we set up a conversion engine that can transform among traditional DICOM files, XML-DCM and XML-DCM files involving XML Path-Tag efficiently.
Path integral for gauge theories with fermions
International Nuclear Information System (INIS)
Fujikawa, K.
1980-01-01
The Atiyah-Singer index theorem indicates that a naive unitary transformation of basis vectors for fermions interacting with gauge fields is not allowed in general. On the basis of this observation, it was previously shown that the path-integral measure of a gauge-invariant fermion theory is transformed nontrivially under the chiral transformation, and thus leads to a simple derivation of ''anomalous'' chiral Ward-Takahashi identities. We here clarify some of the technical aspects associated with the discussion. It is shown that the Jacobian factor in the path-integral measure, which corresponds to the Adler-Bell-Jackiw anomaly, is independent of any smooth regularization procedure of large eigenvalues of D in Euclidean theory; this property holds in any even-dimensional space-time and also for the gravitational anomaly. The appearance of the anomaly and its connection with the index theorem are thus related to the fact that the primary importance is attached to the Lorentz-covariant ''energy'' operator D and that D and γ 5 do not commute. The abnormal behavior of the path-integral measure at the zero-frequency sector in the presence of instantons and its connection with spontaneous symmetry breaking is also clarified. We comment on several other problems associated with the anomaly and on the Pauli-Villars regularization method
Earth Model with Laser Beam Simulating Seismic Ray Paths.
Ryan, John Arthur; Handzus, Thomas Jay, Jr.
1988-01-01
Described is a simple device, that uses a laser beam to simulate P waves. It allows students to follow ray paths, reflections and refractions within the earth. Included is a set of exercises that lead students through the steps by which the presence of the outer and inner cores can be recognized. (Author/CW)
Exploring Embedded Path Capacity Estimation in TCP Receiver
Marcondes, Cesar; Sanadidi, M.Y.; Gerla, Mario; Martinello, Magnos; de Souza Schwartz, Ramon
2007-01-01
Accurate estimation of network characteristics, such as capacity, based on non-intrusive measurements is a fundamental desire of several applications. For instance, P2P applications that build overlay networks can use path capacity for optimizing network performance. We present a simple technique to
Some illustrative examples of Mayer's interference in the path integral
International Nuclear Information System (INIS)
Fizichev, P.P.
1983-01-01
A new technique is proposed for evaluation of path integrals by means of a discretization procedure. It is based on the previously established necessity to single out the set of classical trajectories along which the summation is performed. The notion of Mayer interference is introduced and is illustrated on a number of simple examples. It is shown that the choice of the set of paths induced a corresponding quantization prosymmetries of the problem. The possibility is shown of extracting information about the space of quantum states from the path integral. A class of paths is established the summation over which in the framework of the suggested approach leads to the well-known results for the motion is a homogeneous field and for the harmonic oscillator
Bifurcation of transition paths induced by coupled bistable systems.
Tian, Chengzhe; Mitarai, Namiko
2016-06-07
We discuss the transition paths in a coupled bistable system consisting of interacting multiple identical bistable motifs. We propose a simple model of coupled bistable gene circuits as an example and show that its transition paths are bifurcating. We then derive a criterion to predict the bifurcation of transition paths in a generalized coupled bistable system. We confirm the validity of the theory for the example system by numerical simulation. We also demonstrate in the example system that, if the steady states of individual gene circuits are not changed by the coupling, the bifurcation pattern is not dependent on the number of gene circuits. We further show that the transition rate exponentially decreases with the number of gene circuits when the transition path does not bifurcate, while a bifurcation facilitates the transition by lowering the quasi-potential energy barrier.
Path-integral approach to resonant electron-molecule scattering
International Nuclear Information System (INIS)
Winterstetter, M.; Domcke, W.
1993-01-01
A path-integral formulation of resonant electron-molecule scattering is developed within the framework of the projection-operator formalism of scattering theory. The formation and decay of resonances is treated in real time as a quantum-mechanical electronic-tunneling process, modified by the coupling of the electronic motion with the nuclear degrees of freedom. It is shown that the electronic continuum can be summed over in the path-integral formulation, resulting formally in the path integral for an effective two-state system with coupling to vibrations. The harmonic-oscillator approximation is adopted for the vibrational motion in the present work. Approximation methods are introduced which render the numerical evaluation of the sum over paths feasible for up to ∼10 3 elementary time slices. The theory is numerically realized for simple but nontrivial models representing the 2 Π g d-wave shape resonance in e - +N 2 collisions and the 2 Σ u + p-wave shape resonance in e - +H 2 collisions, respectively. The accuracy of the path-integral results is assessed by comparison with exact numerical reference data for these models. The essential virtue of the path-integral approach is the fact that the computational effort scales at most linearly with the number of vibrational degrees of freedom. The path-integral method is thus well suited to treat electron collisions with polyatomic molecules and molecular aggregates
1991-01-01
Seagull Technology, Inc., Sunnyvale, CA, produced a computer program under a Langley Research Center Small Business Innovation Research (SBIR) grant called STAFPLAN (Seagull Technology Advanced Flight Plan) that plans optimal trajectory routes for small to medium sized airlines to minimize direct operating costs while complying with various airline operating constraints. STAFPLAN incorporates four input databases, weather, route data, aircraft performance, and flight-specific information (times, payload, crew, fuel cost) to provide the correct amount of fuel optimal cruise altitude, climb and descent points, optimal cruise speed, and flight path.
Feasible Path Generation Using Bezier Curves for Car-Like Vehicle
Latip, Nor Badariyah Abdul; Omar, Rosli
2017-08-01
When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.
Two Generations of Path Dependence
DEFF Research Database (Denmark)
Madsen, Mogens Ove
Even if there is no fully articulated and generally accepted theory of Path Dependence it has eagerly been taken up across a wide range of social sciences - primarily coming from economics. Path Dependence is most of all a metaphor that offers reason to believe, that some political, social...
Chromatic roots and hamiltonian paths
DEFF Research Database (Denmark)
Thomassen, Carsten
2000-01-01
We present a new connection between colorings and hamiltonian paths: If the chromatic polynomial of a graph has a noninteger root less than or equal to t(n) = 2/3 + 1/3 (3)root (26 + 6 root (33)) + 1/3 (3)root (26 - 6 root (33)) = 1.29559.... then the graph has no hamiltonian path. This result...
International Nuclear Information System (INIS)
Exner, P.; Kolerov, G.I.
1980-01-01
A Hilbert space of paths, the elements of which are determined by trigonometric series, was proposed and used recently by Truman. This space is shown to consist precisely of all absolutely continuous paths ending in the origin with square-integrable derivatives
Rules for integrals over products of distributions from coordinate independence of path integrals
International Nuclear Information System (INIS)
Kleinert, H.; Chervyakov, A.
2001-01-01
In perturbative calculations of quantum-mechanical path integrals in curvilinear coordinates, one encounters Feynman diagrams involving multiple temporal integrals over products of distributions which are mathematically undefined. In addition, there are terms proportional to powers of Dirac δ-functions at the origin coming from the measure of path integration. We derive simple rules for dealing with such singular terms from the natural requirement of coordinate independence of the path integrals. (orig.)
Hard paths, soft paths or no paths? Cross-cultural perceptions of water solutions
Wutich, A.; White, A. C.; White, D. D.; Larson, K. L.; Brewis, A.; Roberts, C.
2014-01-01
In this study, we examine how development status and water scarcity shape people's perceptions of "hard path" and "soft path" water solutions. Based on ethnographic research conducted in four semi-rural/peri-urban sites (in Bolivia, Fiji, New Zealand, and the US), we use content analysis to conduct statistical and thematic comparisons of interview data. Our results indicate clear differences associated with development status and, to a lesser extent, water scarcity. People in the two less developed sites were more likely to suggest hard path solutions, less likely to suggest soft path solutions, and more likely to see no path to solutions than people in the more developed sites. Thematically, people in the two less developed sites envisioned solutions that involve small-scale water infrastructure and decentralized, community-based solutions, while people in the more developed sites envisioned solutions that involve large-scale infrastructure and centralized, regulatory water solutions. People in the two water-scarce sites were less likely to suggest soft path solutions and more likely to see no path to solutions (but no more likely to suggest hard path solutions) than people in the water-rich sites. Thematically, people in the two water-rich sites seemed to perceive a wider array of unrealized potential soft path solutions than those in the water-scarce sites. On balance, our findings are encouraging in that they indicate that people are receptive to soft path solutions in a range of sites, even those with limited financial or water resources. Our research points to the need for more studies that investigate the social feasibility of soft path water solutions, particularly in sites with significant financial and natural resource constraints.
Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles
Cowlagi, Raghvendra V.
Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption
Perfect discretization of path integrals
International Nuclear Information System (INIS)
Steinhaus, Sebastian
2012-01-01
In order to obtain a well-defined path integral one often employs discretizations. In the case of General Relativity these generically break diffeomorphism symmetry, which has severe consequences since these symmetries determine the dynamics of the corresponding system. In this article we consider the path integral of reparametrization invariant systems as a toy example and present an improvement procedure for the discretized propagator. Fixed points and convergence of the procedure are discussed. Furthermore we show that a reparametrization invariant path integral implies discretization independence and acts as a projector onto physical states.
Perfect discretization of path integrals
Steinhaus, Sebastian
2012-05-01
In order to obtain a well-defined path integral one often employs discretizations. In the case of General Relativity these generically break diffeomorphism symmetry, which has severe consequences since these symmetries determine the dynamics of the corresponding system. In this article we consider the path integral of reparametrization invariant systems as a toy example and present an improvement procedure for the discretized propagator. Fixed points and convergence of the procedure are discussed. Furthermore we show that a reparametrization invariant path integral implies discretization independence and acts as a projector onto physical states.
International Nuclear Information System (INIS)
Collins, T.
1985-08-01
A simple criterion governs the beam distortion and/or loss of protons on a fast resonance crossing. Results from numerical integrations are illustrated for simple sextupole, octupole, and 10-pole resonances
Energy Technology Data Exchange (ETDEWEB)
Collins, T.
1985-08-01
A simple criterion governs the beam distortion and/or loss of protons on a fast resonance crossing. Results from numerical integrations are illustrated for simple sextupole, octupole, and 10-pole resonances.
An Introduction to Path Analysis
Wolfe, Lee M.
1977-01-01
The analytical procedure of path analysis is described in terms of its use in nonexperimental settings in the social sciences. The description assumes a moderate statistical background on the part of the reader. (JKS)
Probabilistic simulation of fermion paths
International Nuclear Information System (INIS)
Zhirov, O.V.
1989-01-01
Permutation symmetry of fermion path integral allows (while spin degrees of freedom are ignored) to use in its simulation any probabilistic algorithm, like Metropolis one, heat bath, etc. 6 refs., 2 tabs
Vapor nucleation paths in lyophobic nanopores.
Tinti, Antonio; Giacomello, Alberto; Casciola, Carlo Massimo
2018-04-19
In recent years, technologies revolving around the use of lyophobic nanopores gained considerable attention in both fundamental and applied research. Owing to the enormous internal surface area, heterogeneous lyophobic systems (HLS), constituted by a nanoporous lyophobic material and a non-wetting liquid, are promising candidates for the efficient storage or dissipation of mechanical energy. These diverse applications both rely on the forced intrusion and extrusion of the non-wetting liquid inside the pores; the behavior of HLS for storage or dissipation depends on the hysteresis between these two processes, which, in turn, are determined by the microscopic details of the system. It is easy to understand that molecular simulations provide an unmatched tool for understanding phenomena at these scales. In this contribution we use advanced atomistic simulation techniques in order to study the nucleation of vapor bubbles inside lyophobic mesopores. The use of the string method in collective variables allows us to overcome the computational challenges associated with the activated nature of the phenomenon, rendering a detailed picture of nucleation in confinement. In particular, this rare event method efficiently searches for the most probable nucleation path(s) in otherwise intractable, high-dimensional free-energy landscapes. Results reveal the existence of several independent nucleation paths associated with different free-energy barriers. In particular, there is a family of asymmetric transition paths, in which a bubble forms at one of the walls; the other family involves the formation of axisymmetric bubbles with an annulus shape. The computed free-energy profiles reveal that the asymmetric path is significantly more probable than the symmetric one, while the exact position where the asymmetric bubble forms is less relevant for the free energetics of the process. A comparison of the atomistic results with continuum models is also presented, showing how, for simple
Perfect discretization of path integrals
Steinhaus, Sebastian
2011-01-01
In order to obtain a well-defined path integral one often employs discretizations. In the case of General Relativity these generically break diffeomorphism symmetry, which has severe consequences since these symmetries determine the dynamics of the corresponding system. In this article we consider the path integral of reparametrization invariant systems as a toy example and present an improvement procedure for the discretized propagator. Fixed points and convergence of the procedure are discu...
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.
Path integrals on curved manifolds
International Nuclear Information System (INIS)
Grosche, C.; Steiner, F.
1987-01-01
A general framework for treating path integrals on curved manifolds is presented. We also show how to perform general coordinate and space-time transformations in path integrals. The main result is that one has to subtract a quantum correction ΔV ∝ ℎ 2 from the classical Lagrangian L, i.e. the correct effective Lagrangian to be used in the path integral is L eff = L-ΔV. A general prescription for calculating the quantum correction ΔV is given. It is based on a canonical approach using Weyl-ordering and the Hamiltonian path integral defined by the midpoint prescription. The general framework is illustrated by several examples: The d-dimensional rotator, i.e. the motion on the sphere S d-1 , the path integral in d-dimensional polar coordinates, the exact treatment of the hydrogen atom in R 2 and R 3 by performing a Kustaanheimo-Stiefel transformation, the Langer transformation and the path integral for the Morse potential. (orig.)
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.
Fast exploration of an optimal path on the multidimensional free energy surface
Chen, Changjun
2017-01-01
In a reaction, determination of an optimal path with a high reaction rate (or a low free energy barrier) is important for the study of the reaction mechanism. This is a complicated problem that involves lots of degrees of freedom. For simple models, one can build an initial path in the collective variable space by the interpolation method first and then update the whole path constantly in the optimization. However, such interpolation method could be risky in the high dimensional space for large molecules. On the path, steric clashes between neighboring atoms could cause extremely high energy barriers and thus fail the optimization. Moreover, performing simulations for all the snapshots on the path is also time-consuming. In this paper, we build and optimize the path by a growing method on the free energy surface. The method grows a path from the reactant and extends its length in the collective variable space step by step. The growing direction is determined by both the free energy gradient at the end of the path and the direction vector pointing at the product. With fewer snapshots on the path, this strategy can let the path avoid the high energy states in the growing process and save the precious simulation time at each iteration step. Applications show that the presented method is efficient enough to produce optimal paths on either the two-dimensional or the twelve-dimensional free energy surfaces of different small molecules. PMID:28542475
Path Dependency of High Pressure Phase Transformations
Cerreta, Ellen
2017-06-01
At high pressures titanium and zirconium are known to undergo a phase transformation from the hexagonal close packed (HCP), alpha-phase to the simple-hexagonal, omega-phase. Under conditions of shock loading, the high-pressure omega-phase can be retained upon release. It has been shown that temperature, peak shock stress, and texture can influence the transformation. Moreover, under these same loading conditions, plastic processes of slip and twinning are also affected by similar differences in the loading path. To understand this path dependency, in-situ velocimetry measurements along with post-mortem metallographic and neutron diffraction characterization of soft recovered specimens have been utilized to qualitatively understand the kinetics of transformation, quantify volume fraction of retained omega-phase and characterize the shocked alpha and omega-phases. Together the work described here can be utilized to map the non-equilibrium phase diagram for these metals and lend insight into the partitioning of plastic processes between phases during high pressure transformation. In collaboration with: Frank Addesssio, Curt Bronkhorst, Donald Brown, David Jones, Turab Lookman, Benjamin Morrow, Carl Trujillo, Los Alamos National Lab.; Juan Pablo Escobedo-Diaz, University of New South Wales; Paulo Rigg, Washington State University.
Navigating the Path to a Biomedical Science Career
Zimmerman, Andrea McNeely
The number of biomedical PhD scientists being trained and graduated far exceeds the number of academic faculty positions and academic research jobs. If this trend is compelling biomedical PhD scientists to increasingly seek career paths outside of academia, then more should be known about their intentions, desires, training experiences, and career path navigation. Therefore, the purpose of this study was to understand the process through which biomedical PhD scientists are trained and supported for navigating future career paths. In addition, the study sought to determine whether career development support efforts and opportunities should be redesigned to account for the proportion of PhD scientists following non-academic career pathways. Guided by the social cognitive career theory (SCCT) framework this study sought to answer the following central research question: How does a southeastern tier 1 research university train and support its biomedical PhD scientists for navigating their career paths? Key findings are: Many factors influence PhD scientists' career sector preference and job search process, but the most influential were relationships with faculty, particularly the mentor advisor; Planned activities are a significant aspect of the training process and provide skills for career success; and Planned activities provided skills necessary for a career, but influential factors directed the career path navigated. Implications for practice and future research are discussed.
Primal-dual path-following algorithms for circular programming
Directory of Open Access Journals (Sweden)
Baha Alzalg
2017-06-01
Full Text Available Circular programming problems are a new class of convex optimization problems that include second-order cone programming problems as a special case. Alizadeh and Goldfarb [Math. Program. Ser. A 95 (2003 3--51] introduced primal-dual path-following algorithms for solving second-order cone programming problems. In this paper, we generalize their work by using the machinery of Euclidean Jordan algebras associated with the circular cones to derive primal-dual path-following interior point algorithms for circular programming problems. We prove polynomial convergence of the proposed algorithms by showing that the circular logarithmic barrier is a strongly self-concordant barrier. The numerical examples show the path-following algorithms are simple and efficient.
Path integration on hyperbolic spaces
Energy Technology Data Exchange (ETDEWEB)
Grosche, C [Hamburg Univ. (Germany). 2. Inst. fuer Theoretische Physik
1991-11-01
Quantum mechanics on the hyperbolic spaces of rank one is discussed by path integration technique. Hyperbolic spaces are multi-dimensional generalisation of the hyperbolic plane, i.e. the Poincare upper half-plane endowed with a hyperbolic geometry. We evalute the path integral on S{sub 1} {approx equal} SO (n,1)/SO(n) and S{sub 2} {approx equal} SU(n,1)/S(U(1) x U(n)) in a particular coordinate system, yielding explicitly the wave-functions and the energy spectrum. Futhermore we can exploit a general property of all these spaces, namely that they can be parametrized by a pseudopolar coordinate system. This allows a separation in path integration over spheres and an additional path integration over the remaining hyperbolic coordinate, yielding effectively a path integral for a modified Poeschl-Teller potential. Only continuous spectra can exist in all the cases. For all the hyperbolic spaces of rank one we find a general formula for the largest lower bound (zero-point energy) of the spectrum which is given by E{sub O} = h{sup 2} /8m(m{sub {alpha}} +2m{sub 2} {alpha}){sup 2} (m {alpha} and m{sub 2}{alpha} denote the dimension of the root subspace corresponding to the roots {alpha} and 2{alpha}, respectively). I also discuss the case, where a constant magnetic field on H{sup n} is incorporated. (orig.).
Path integration on hyperbolic spaces
International Nuclear Information System (INIS)
Grosche, C.
1991-11-01
Quantum mechanics on the hyperbolic spaces of rank one is discussed by path integration technique. Hyperbolic spaces are multi-dimensional generalisation of the hyperbolic plane, i.e. the Poincare upper half-plane endowed with a hyperbolic geometry. We evalute the path integral on S 1 ≅ SO (n,1)/SO(n) and S 2 ≅ SU(n,1)/S[U(1) x U(n)] in a particular coordinate system, yielding explicitly the wave-functions and the energy spectrum. Futhermore we can exploit a general property of all these spaces, namely that they can be parametrized by a pseudopolar coordinate system. This allows a separation in path integration over spheres and an additional path integration over the remaining hyperbolic coordinate, yielding effectively a path integral for a modified Poeschl-Teller potential. Only continuous spectra can exist in all the cases. For all the hyperbolic spaces of rank one we find a general formula for the largest lower bound (zero-point energy) of the spectrum which is given by E O = h 2 /8m(m α +2m 2 α) 2 (m α and m 2 α denote the dimension of the root subspace corresponding to the roots α and 2α, respectively). I also discuss the case, where a constant magnetic field on H n is incorporated. (orig.)
Path generation algorithm for UML graphic modeling of aerospace test software
Qu, MingCheng; Wu, XiangHu; Tao, YongChao; Chen, Chao
2018-03-01
Aerospace traditional software testing engineers are based on their own work experience and communication with software development personnel to complete the description of the test software, manual writing test cases, time-consuming, inefficient, loopholes and more. Using the high reliability MBT tools developed by our company, the one-time modeling can automatically generate test case documents, which is efficient and accurate. UML model to describe the process accurately express the need to rely on the path is reached, the existing path generation algorithm are too simple, cannot be combined into a path and branch path with loop, or too cumbersome, too complicated arrangement generates a path is meaningless, for aerospace software testing is superfluous, I rely on our experience of ten load space, tailor developed a description of aerospace software UML graphics path generation algorithm.
On the optical path length in refracting media
Hasbun, Javier E.
2018-04-01
The path light follows as it travels through a substance depends on the substance's index of refraction. This path is commonly known as the optical path length (OPL). In geometrical optics, the laws of reflection and refraction are simple examples for understanding the path of light travel from source to detector for constant values of the traveled substances' refraction indices. In more complicated situations, the Euler equation can be quite useful and quite important in optics courses. Here, the well-known Euler differential equation (EDE) is used to obtain the OPL for several index of refraction models. For pedagogical completeness, the OPL is also obtained through a modified Monte Carlo (MC) method, versus which the various results obtained through the EDE are compared. The examples developed should be important in projects involving undergraduate as well as graduate students in an introductory optics course. A simple matlab script (program) is included that can be modified by students who wish to pursue the subject further.
Path Integrals in Quantum Mechanics
International Nuclear Information System (INIS)
Louko, J
2005-01-01
Jean Zinn-Justin's textbook Path Integrals in Quantum Mechanics aims to familiarize the reader with the path integral as a calculational tool in quantum mechanics and field theory. The emphasis is on quantum statistical mechanics, starting with the partition function Tr exp(-β H) and proceeding through the diffusion equation to barrier penetration problems and their semiclassical limit. The 'real time' path integral is defined via analytic continuation and used for the path-integral representation of the nonrelativistic S-matrix and its perturbative expansion. Holomorphic and Grassmannian path integrals are introduced and applied to nonrelativistic quantum field theory. There is also a brief discussion of path integrals in phase space. The introduction includes a brief historical review of path integrals, supported by a bibliography with some 40 entries. As emphasized in the introduction, mathematical rigour is not a central issue in the book. This allows the text to present the calculational techniques in a very readable manner: much of the text consists of worked-out examples, such as the quartic anharmonic oscillator in the barrier penetration chapter. At the end of each chapter there are exercises, some of which are of elementary coursework type, but the majority are more in the style of extended examples. Most of the exercises indeed include the solution or a sketch thereof. The book assumes minimal previous knowledge of quantum mechanics, and some basic quantum mechanical notation is collected in an appendix. The material has a large overlap with selected chapters in the author's thousand-page textbook Quantum Field Theory and Critical Phenomena (2002 Oxford: Clarendon). The stand-alone scope of the present work has, however, allowed a more focussed organization of this material, especially in the chapters on, respectively, holomorphic and Grassmannian path integrals. In my view the book accomplishes its aim admirably and is eminently usable as a textbook
International Nuclear Information System (INIS)
Canright, G.S.
1992-01-01
I offer a pedagogical review of the homotopy arguments for fractional statistics in two dimensions. These arguments arise naturally in path-integral language since they necessarily consider the properties of paths rather than simply permutations. The braid group replaces the permutation group as the basic structure for quantum statistics; hence properties of the braid group on several surfaces are briefly discussed. Finally, the question of multiple (real-space) occupancy is addressed; I suggest that the ''traditional'' treatment of this question (ie, an assumption that many-anyon wavefunctions necessarily vanish for multiple occupancy) needs reexamination
Isomorphisms and traversability of directed path graphs
Broersma, Haitze J.; Li, Xueliang; Li, X.
1998-01-01
The concept of a line digraph is generalized to that of a directed path graph. The directed path graph $\\forw P_k(D)$ of a digraph $D$ is obtained by representing the directed paths on $k$ vertices of $D$ by vertices. Two vertices are joined by an arc whenever the corresponding directed paths in $D$
Dynamics on the group manifolds and path integral
International Nuclear Information System (INIS)
Marinov, M.S.; Terentyev, M.V.
1979-01-01
Classical and quantum dynamics onn the compact simple Lie group and on the sphere of arbitrary dimensionality are considered. The accuracy of the semiclassical approximation for Green functions is discussed. Various path integral representations of the Green functions are presented. The special features of these representations due to the compactness and curvature are analysed. Basic results of the theory of Lie algebras and Lie groups used in the main text are presented
Statistical mechanics of paths with curvature dependent action
International Nuclear Information System (INIS)
Ambjoern, J.; Durhuus, B.; Jonsson, T.
1987-01-01
We analyze the scaling limit of discretized random paths with curvature dependent action. For finite values of the curvature coupling constant the theory belongs to the universality class of simple random walk. It is possible to define a non-trivial scaling limit if the curvature coupling tends to infinity. We compute exactly the two point function in this limit and discuss the relevance of our results for random surfaces and string theories. (orig.)
Data Science in Radiology: A Path Forward.
Aerts, Hugo J W L
2018-02-01
Artificial intelligence (AI), especially deep learning, has the potential to fundamentally alter clinical radiology. AI algorithms, which excel in quantifying complex patterns in data, have shown remarkable progress in applications ranging from self-driving cars to speech recognition. The AI application within radiology, known as radiomics, can provide detailed quantifications of the radiographic characteristics of underlying tissues. This information can be used throughout the clinical care path to improve diagnosis and treatment planning, as well as assess treatment response. This tremendous potential for clinical translation has led to a vast increase in the number of research studies being conducted in the field, a number that is expected to rise sharply in the future. Many studies have reported robust and meaningful findings; however, a growing number also suffer from flawed experimental or analytic designs. Such errors could not only result in invalid discoveries, but also may lead others to perpetuate similar flaws in their own work. This perspective article aims to increase awareness of the issue, identify potential reasons why this is happening, and provide a path forward. Clin Cancer Res; 24(3); 532-4. ©2017 AACR . ©2017 American Association for Cancer Research.
Gibbon travel paths are goal oriented.
Asensio, Norberto; Brockelman, Warren Y; Malaivijitnond, Suchinda; Reichard, Ulrich H
2011-05-01
Remembering locations of food resources is critical for animal survival. Gibbons are territorial primates which regularly travel through small and stable home ranges in search of preferred, limited and patchily distributed resources (primarily ripe fruit). They are predicted to profit from an ability to memorize the spatial characteristics of their home range and may increase their foraging efficiency by using a 'cognitive map' either with Euclidean or with topological properties. We collected ranging and feeding data from 11 gibbon groups (Hylobates lar) to test their navigation skills and to better understand gibbons' 'spatial intelligence'. We calculated the locations at which significant travel direction changes occurred using the change-point direction test and found that these locations primarily coincided with preferred fruit sources. Within the limits of biologically realistic visibility distances observed, gibbon travel paths were more efficient in detecting known preferred food sources than a heuristic travel model based on straight travel paths in random directions. Because consecutive travel change-points were far from the gibbons' sight, planned movement between preferred food sources was the most parsimonious explanation for the observed travel patterns. Gibbon travel appears to connect preferred food sources as expected under the assumption of a good mental representation of the most relevant sources in a large-scale space.
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....
DiversePathsJ: diverse shortest paths for bioimage analysis.
Uhlmann, Virginie; Haubold, Carsten; Hamprecht, Fred A; Unser, Michael
2018-02-01
We introduce a formulation for the general task of finding diverse shortest paths between two end-points. Our approach is not linked to a specific biological problem and can be applied to a large variety of images thanks to its generic implementation as a user-friendly ImageJ/Fiji plugin. It relies on the introduction of additional layers in a Viterbi path graph, which requires slight modifications to the standard Viterbi algorithm rules. This layered graph construction allows for the specification of various constraints imposing diversity between solutions. The software allows obtaining a collection of diverse shortest paths under some user-defined constraints through a convenient and user-friendly interface. It can be used alone or be integrated into larger image analysis pipelines. http://bigwww.epfl.ch/algorithms/diversepathsj. michael.unser@epfl.ch or fred.hamprecht@iwr.uni-heidelberg.de. Supplementary data are available at Bioinformatics online. © The Author(s) 2017. Published by Oxford University Press.
International Nuclear Information System (INIS)
Fuchs, J.
1990-08-01
A complete classification of simple currents of WZW theory is obtained. The proof is based on an analysis of the quantum dimensions of the primary fields. Simple currents are precisely the primaries with unit quantum dimension; for WZW theories explicit formulae for the quantum dimensions can be derived so that an identification of the fields with unit quantum dimension is possible. (author). 19 refs.; 2 tabs
Stochastic control with rough paths
International Nuclear Information System (INIS)
Diehl, Joscha; Friz, Peter K.; Gassiat, Paul
2017-01-01
We study a class of controlled differential equations driven by rough paths (or rough path realizations of Brownian motion) in the sense of Lyons. It is shown that the value function satisfies a HJB type equation; we also establish a form of the Pontryagin maximum principle. Deterministic problems of this type arise in the duality theory for controlled diffusion processes and typically involve anticipating stochastic analysis. We make the link to old work of Davis and Burstein (Stoch Stoch Rep 40:203–256, 1992) and then prove a continuous-time generalization of Roger’s duality formula [SIAM J Control Optim 46:1116–1132, 2007]. The generic case of controlled volatility is seen to give trivial duality bounds, and explains the focus in Burstein–Davis’ (and this) work on controlled drift. Our study of controlled rough differential equations also relates to work of Mazliak and Nourdin (Stoch Dyn 08:23, 2008).
Stochastic control with rough paths
Energy Technology Data Exchange (ETDEWEB)
Diehl, Joscha [University of California San Diego (United States); Friz, Peter K., E-mail: friz@math.tu-berlin.de [TU & WIAS Berlin (Germany); Gassiat, Paul [CEREMADE, Université Paris-Dauphine, PSL Research University (France)
2017-04-15
We study a class of controlled differential equations driven by rough paths (or rough path realizations of Brownian motion) in the sense of Lyons. It is shown that the value function satisfies a HJB type equation; we also establish a form of the Pontryagin maximum principle. Deterministic problems of this type arise in the duality theory for controlled diffusion processes and typically involve anticipating stochastic analysis. We make the link to old work of Davis and Burstein (Stoch Stoch Rep 40:203–256, 1992) and then prove a continuous-time generalization of Roger’s duality formula [SIAM J Control Optim 46:1116–1132, 2007]. The generic case of controlled volatility is seen to give trivial duality bounds, and explains the focus in Burstein–Davis’ (and this) work on controlled drift. Our study of controlled rough differential equations also relates to work of Mazliak and Nourdin (Stoch Dyn 08:23, 2008).
Path modeling and process control
DEFF Research Database (Denmark)
Høskuldsson, Agnar; Rodionova, O.; Pomerantsev, A.
2007-01-01
and having three or more stages. The methods are applied to a process control of a multi-stage production process having 25 variables and one output variable. When moving along the process, variables change their roles. It is shown how the methods of path modeling can be applied to estimate variables...... be performed regarding the foreseeable output property y, and with respect to an admissible range of correcting actions for the parameters of the next stage. In this paper the basic principles of path modeling is presented. The mathematics is presented for processes having only one stage, having two stages...... of the next stage with the purpose of obtaining optimal or almost optimal quality of the output variable. An important aspect of the methods presented is the possibility of extensive graphic analysis of data that can provide the engineer with a detailed view of the multi-variate variation in data....
The Toggle Local Planner for sampling-based motion planning
Denny, Jory
2012-05-01
Sampling-based solutions to the motion planning problem, such as the probabilistic roadmap method (PRM), have become commonplace in robotics applications. These solutions are the norm as the dimensionality of the planning space grows, i.e., d > 5. An important primitive of these methods is the local planner, which is used for validation of simple paths between two configurations. The most common is the straight-line local planner which interpolates along the straight line between the two configurations. In this paper, we introduce a new local planner, Toggle Local Planner (Toggle LP), which extends local planning to a two-dimensional subspace of the overall planning space. If no path exists between the two configurations in the subspace, then Toggle LP is guaranteed to correctly return false. Intuitively, more connections could be found by Toggle LP than by the straight-line planner, resulting in better connected roadmaps. As shown in our results, this is the case, and additionally, the extra cost, in terms of time or storage, for Toggle LP is minimal. Additionally, our experimental analysis of the planner shows the benefit for a wide array of robots, with DOF as high as 70. © 2012 IEEE.
Factorization-algebraization-path integration
International Nuclear Information System (INIS)
Inomata, A.; Wilson, R.
1986-01-01
The authors review the method of factorization proposed by Schroedinger of a quantum mechanical second-order linear differential equation into a product of two first-order differential operators, often referred to as ladder operators, as well as the modifications made to Schroedinger's method by Infeld and Hull. They then review the group theoretical treatments proposed by Miller of the Schroedinger-Infeld-Hull factorizations and go on to demonstrate the application of dynamical symmetry to path integral calculations. 30 references
CERN. Geneva
2017-01-01
Join the path of code linting and discover how it can help you reach higher levels of programming enlightenment. Today we will cover how to embrace code linters to offload cognitive strain on preserving style standards in your code base as well as avoiding error-prone constructs. Additionally, I will show you the journey ahead for integrating several code linters in the programming tools your already use with very little effort.
Career path for operations personnel
International Nuclear Information System (INIS)
Asher, J.A.
1985-01-01
This paper explains how selected personnel can now obtain a Bachelor of Science degree in Physics with a Nuclear Power Operations option. The program went into effect the Fall of 1984. Another program was worked out in 1982 whereby students attending the Nuclear Operators Training Program could obtain an Associates of Science degree in Mechanical Engineering Technology at the end of two years of study. This paper presents tables and charts which describe these programs and outline the career path for operators
Conditionally solvable path integral problems
International Nuclear Information System (INIS)
Grosche, C.
1995-05-01
Some specific conditionally exactly solvable potentials are discussed within the path integral formalism. They generalize the usually known potentials by the incorporation of a fractional power behaviour and strongly anharmonic terms. We find four different kinds of such potentials, the first is related to the Coulomb potential, the second is an anharmonic confinement potential, and the third and the fourth are related to the Manning-Rosen potential. (orig.)
Path integrals in curvilinear coordinates
International Nuclear Information System (INIS)
Prokhorov, L.V.
1984-01-01
Integration limits are studied for presenting the path integral curvilinear coordinates. For spherical (and topoloqically equivalent) coordinates it is shown that in formulas involving classical action in the exponent integration over all variables should be carried out within infinite limits. Another peculiarity is associated with appearance of the operator q which provides a complete definition of the wave functions out of the physical region. arguments are given upporting the validity of the cited statament in the general case
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
International Nuclear Information System (INIS)
Exner, P.; Kolerov, G.I.
1981-01-01
Properties of the subset of polygonal paths in the Hilbert space H of paths referring to a d-dimensional quantum-mechanical system are examined. Using the reproduction kernel technique we prove that each element of H is approximated by polygonal paths uniformly with respect to the ''norm'' of time-interval partitions. This result will be applied in the second part of the present paper to prove consistency of the uniform polygonal-path extension of the Feynman maps [ru
Path Integrals in Quantum Mechanics
International Nuclear Information System (INIS)
Chetouani, L
2005-01-01
By treating path integrals the author, in this book, places at the disposal of the reader a modern tool for the comprehension of standard quantum mechanics. Thus the most important applications, such as the tunnel effect, the diffusion matrix, etc, are presented from an original point of view on the action S of classical mechanics while having it play a central role in quantum mechanics. What also emerges is that the path integral describes these applications more richly than are described traditionally by differential equations, and consequently explains them more fully. The book is certainly of high quality in all aspects: original in presentation, rigorous in the demonstrations, judicious in the choice of exercises and, finally, modern, for example in the treatment of the tunnel effect by the method of instantons. Moreover, the correspondence that exists between classical and quantum mechanics is well underlined. I thus highly recommend this book (the French version being already available) to those who wish to familiarize themselves with formulation by path integrals. They will find, in addition, interesting topics suitable for exploring further. (book review)
Nonperturbative path integral expansion II
International Nuclear Information System (INIS)
Kaiser, H.J.
1976-05-01
The Feynman path integral representation of the 2-point function for a self-interacting Bose field is investigated using an expansion ('Path Integral Expansion', PIE) of the exponential of the kinetic term of the Lagrangian. This leads to a series - illustrated by a graph scheme - involving successively a coupling of more and more points of the lattice space commonly employed in the evaluation of path integrals. The values of the individual PIE graphs depend of course on the lattice constant. Two methods - Pade approximation and Borel-type extrapolation - are proposed to extract information about the continuum limit from a finite-order PIE. A more flexible PIE is possible by expanding besides the kinetic term a suitably chosen part of the interaction term too. In particular, if the co-expanded part is a mass term the calculation becomes only slightly more complicated than in the original formulation and the appearance of the graph scheme is unchanged. A significant reduction of the number of graphs and an improvement of the convergence of the PIE can be achieved by performing certain sums over an infinity of graph elements. (author)
Distribution definition of path integrals
International Nuclear Information System (INIS)
Kerler, W.
1979-01-01
By starting from quantum mechanics it turns out that a rather general definition of quantum functional integrals can be given which is based on distribution theory. It applies also to curved space and provides clear rules for non-linear transformations. The refinements necessary in usual definitions of path integrals are pointed out. Since the quantum nature requires special care with time sequences, it is not the classical phase space which occurs in the phase-space form of the path integral. Feynman's configuration-space form only applies to a highly specialized situation, and therefore is not a very advantageous starting point for general investigations. It is shown that the commonly used substitutions of variables do not properly account for quantum effects. The relation to the traditional ordering problem is clarified. The distribution formulation has allowed to treat constrained systems directly at the quantum level, to complete the path integral formulation of the equivalence theorem, and to define functional integrals also for space translation after the transition to fields. (orig.)
Tour of a Simple Trigonometry Problem
Poon, Kin-Keung
2012-01-01
This article focuses on a simple trigonometric problem that generates a strange phenomenon when different methods are applied to tackling it. A series of problem-solving activities are discussed, so that students can be alerted that the precision of diagrams is important when solving geometric problems. In addition, the problem-solving plan was…
Extended charge banking model of dual path shocks for implantable cardioverter defibrillators.
Dosdall, Derek J; Sweeney, James D
2008-08-01
Single path defibrillation shock methods have been improved through the use of the Charge Banking Model of defibrillation, which predicts the response of the heart to shocks as a simple resistor-capacitor (RC) circuit. While dual path defibrillation configurations have significantly reduced defibrillation thresholds, improvements to dual path defibrillation techniques have been limited to experimental observations without a practical model to aid in improving dual path defibrillation techniques. The Charge Banking Model has been extended into a new Extended Charge Banking Model of defibrillation that represents small sections of the heart as separate RC circuits, uses a weighting factor based on published defibrillation shock field gradient measures, and implements a critical mass criteria to predict the relative efficacy of single and dual path defibrillation shocks. The new model reproduced the results from several published experimental protocols that demonstrated the relative efficacy of dual path defibrillation shocks. The model predicts that time between phases or pulses of dual path defibrillation shock configurations should be minimized to maximize shock efficacy. Through this approach the Extended Charge Banking Model predictions may be used to improve dual path and multi-pulse defibrillation techniques, which have been shown experimentally to lower defibrillation thresholds substantially. The new model may be a useful tool to help in further improving dual path and multiple pulse defibrillation techniques by predicting optimal pulse durations and shock timing parameters.
Artificial pheromone for path selection by a foraging swarm of robots.
Campo, Alexandre; Gutiérrez, Alvaro; Nouyan, Shervin; Pinciroli, Carlo; Longchamp, Valentin; Garnier, Simon; Dorigo, Marco
2010-11-01
Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.
Eisenhardt, K M; Sull, D N
2001-01-01
The success of Yahoo!, eBay, Enron, and other companies that have become adept at morphing to meet the demands of changing markets can't be explained using traditional thinking about competitive strategy. These companies have succeeded by pursuing constantly evolving strategies in market spaces that were considered unattractive according to traditional measures. In this article--the third in an HBR series by Kathleen Eisenhardt and Donald Sull on strategy in the new economy--the authors ask, what are the sources of competitive advantage in high-velocity markets? The secret, they say, is strategy as simple rules. The companies know that the greatest opportunities for competitive advantage lie in market confusion, but they recognize the need for a few crucial strategic processes and a few simple rules. In traditional strategy, advantage comes from exploiting resources or stable market positions. In strategy as simple rules, advantage comes from successfully seizing fleeting opportunities. Key strategic processes, such as product innovation, partnering, or spinout creation, place the company where the flow of opportunities is greatest. Simple rules then provide the guidelines within which managers can pursue such opportunities. Simple rules, which grow out of experience, fall into five broad categories: how- to rules, boundary conditions, priority rules, timing rules, and exit rules. Companies with simple-rules strategies must follow the rules religiously and avoid the temptation to change them too frequently. A consistent strategy helps managers sort through opportunities and gain short-term advantage by exploiting the attractive ones. In stable markets, managers rely on complicated strategies built on detailed predictions of the future. But when business is complicated, strategy should be simple.
Electron Inelastic-Mean-Free-Path Database
SRD 71 NIST Electron Inelastic-Mean-Free-Path Database (PC database, no charge) This database provides values of electron inelastic mean free paths (IMFPs) for use in quantitative surface analyses by AES and XPS.
Time optimal paths for high speed maneuvering
Energy Technology Data Exchange (ETDEWEB)
Reister, D.B.; Lenhart, S.M.
1993-01-01
Recent theoretical results have completely solved the problem of determining the minimum length path for a vehicle with a minimum turning radius moving from an initial configuration to a final configuration. Time optimal paths for a constant speed vehicle are a subset of the minimum length paths. This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed vehicle. The time optimal paths consist of sequences of axes of circles and straight lines. The maximum principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. We explore the properties of the optimal paths and present some experimental results for a mobile robot following an optimal path.
Classical and quantum dynamics from classical paths to path integrals
Dittrich, Walter
2016-01-01
Graduate students who want to become familiar with advanced computational strategies in classical and quantum dynamics will find here both the fundamentals of a standard course and a detailed treatment of the time-dependent oscillator, Chern-Simons mechanics, the Maslov anomaly and the Berry phase, to name a few. Well-chosen and detailed examples illustrate the perturbation theory, canonical transformations, the action principle and demonstrate the usage of path integrals. This new edition has been revised and enlarged with chapters on quantum electrodynamics, high energy physics, Green’s functions and strong interaction.
The effect of PLS regression in PLS path model estimation when multicollinearity is present
DEFF Research Database (Denmark)
Nielsen, Rikke; Kristensen, Kai; Eskildsen, Jacob
PLS path modelling has previously been found to be robust to multicollinearity both between latent variables and between manifest variables of a common latent variable (see e.g. Cassel et al. (1999), Kristensen, Eskildsen (2005), Westlund et al. (2008)). However, most of the studies investigate...... models with relatively few variables and very simple dependence structures compared to the models that are often estimated in practical settings. A recent study by Nielsen et al. (2009) found that when model structure is more complex, PLS path modelling is not as robust to multicollinearity between...... latent variables as previously assumed. A difference in the standard error of path coefficients of as much as 83% was found between moderate and severe levels of multicollinearity. Large differences were found not only for large path coefficients, but also for small path coefficients and in some cases...
MultiPaths Revisited - A novel approach using OpenFlow-enabled devices
Al-Shabibi, Ali; Martin, Brian
2011-06-11
This thesis presents novel approaches enhancing the performance of computer networks using multipaths. Our enhancements take the form of congestion-aware routing protocols. We present three protocols called MultiRoute, Step-Route, and finally PathRoute. Each of these protocols leverage both local and remote congestion statistics and build different representations (or views) of the network congestion by using an innovative representation of congestion for router-router links. These congestion statistics are then distributed via an aggregation protocol to other routers in the network. For many years, multipath routing protocols have only been used in simple situations, such as Link Aggregation and/or networks where paths of equal cost (and therefore equal delay) exist. But, paths of unequal costs are often discarded to the benefit of shortest path only routing because it is known that paths of unequal length present different delays and therefore cause out of order packets which cause catastrophic network per...
Path Integral Formulation of Anomalous Diffusion Processes
Friedrich, Rudolf; Eule, Stephan
2011-01-01
We present the path integral formulation of a broad class of generalized diffusion processes. Employing the path integral we derive exact expressions for the path probability densities and joint probability distributions for the class of processes under consideration. We show that Continuous Time Random Walks (CTRWs) are included in our framework. A closed expression for the path probability distribution of CTRWs is found in terms of their waiting time distribution as the solution of a Dyson ...
Efficient stochastic thermostatting of path integral molecular dynamics.
Ceriotti, Michele; Parrinello, Michele; Markland, Thomas E; Manolopoulos, David E
2010-09-28
The path integral molecular dynamics (PIMD) method provides a convenient way to compute the quantum mechanical structural and thermodynamic properties of condensed phase systems at the expense of introducing an additional set of high frequency normal modes on top of the physical vibrations of the system. Efficiently sampling such a wide range of frequencies provides a considerable thermostatting challenge. Here we introduce a simple stochastic path integral Langevin equation (PILE) thermostat which exploits an analytic knowledge of the free path integral normal mode frequencies. We also apply a recently developed colored noise thermostat based on a generalized Langevin equation (GLE), which automatically achieves a similar, frequency-optimized sampling. The sampling efficiencies of these thermostats are compared with that of the more conventional Nosé-Hoover chain (NHC) thermostat for a number of physically relevant properties of the liquid water and hydrogen-in-palladium systems. In nearly every case, the new PILE thermostat is found to perform just as well as the NHC thermostat while allowing for a computationally more efficient implementation. The GLE thermostat also proves to be very robust delivering a near-optimum sampling efficiency in all of the cases considered. We suspect that these simple stochastic thermostats will therefore find useful application in many future PIMD simulations.
Education - path towards solution regarding disposal of spent nuclear fuel
International Nuclear Information System (INIS)
Klein, D.E.
1991-01-01
Education, not emotional reaction, is the path to take in the safe disposal of spent nuclear fuel. Education is needed at all levels: Elementary schools, secondary schools, two-year colleges, four-year colleges, graduate schools, and adult education. The Office of Civilian Radioactive Waste Management (OCRWM) should not be expected to tackle this problem alone. Assistance is needed from local communities, schools, and state and federal governments. However, OCRWM can lay the foundation for a comprehensive educational plan directed specifically at educating the public on the spent nuclear fuel issue and OCRWM can begin the implementation of this plan
Partial Path Column Generation for the ESPPRC
DEFF Research Database (Denmark)
Jepsen, Mads Kehlet; Petersen, Bjørn
This talk introduces a decomposition of the Elementary Shortest Path Problem with Resource Constraints(ESPPRC), where the path is combined by smaller sub paths. We show computational result by comparing different approaches for the decomposition and compare the best of these with existing algorit...
Strain path dependency in metal plasticity
Viatkina, E.M.; Brekelmans, W.A.M.; Geers, M.G.D.
2003-01-01
A change in strain path has a significant effect on the mechanical response of metals. Strain path change effects physically originate from a complex microstructure evolution. This paper deals with the contribution of cell structure evolution to the strain path change effect. The material with cells
Alabdulmohsin, Ibrahim M.
2018-03-07
We will begin our treatment of summability calculus by analyzing what will be referred to, throughout this book, as simple finite sums. Even though the results of this chapter are particular cases of the more general results presented in later chapters, they are important to start with for a few reasons. First, this chapter serves as an excellent introduction to what summability calculus can markedly accomplish. Second, simple finite sums are encountered more often and, hence, they deserve special treatment. Third, the results presented in this chapter for simple finite sums will, themselves, be used as building blocks for deriving the most general results in subsequent chapters. Among others, we establish that fractional finite sums are well-defined mathematical objects and show how various identities related to the Euler constant as well as the Riemann zeta function can actually be derived in an elementary manner using fractional finite sums.
Alabdulmohsin, Ibrahim M.
2018-01-01
We will begin our treatment of summability calculus by analyzing what will be referred to, throughout this book, as simple finite sums. Even though the results of this chapter are particular cases of the more general results presented in later chapters, they are important to start with for a few reasons. First, this chapter serves as an excellent introduction to what summability calculus can markedly accomplish. Second, simple finite sums are encountered more often and, hence, they deserve special treatment. Third, the results presented in this chapter for simple finite sums will, themselves, be used as building blocks for deriving the most general results in subsequent chapters. Among others, we establish that fractional finite sums are well-defined mathematical objects and show how various identities related to the Euler constant as well as the Riemann zeta function can actually be derived in an elementary manner using fractional finite sums.
Continuous-Curvature Path Generation Using Fermat's Spiral
Directory of Open Access Journals (Sweden)
Anastasios M. Lekkas
2013-10-01
Full Text Available This paper proposes a novel methodology, based on Fermat's spiral (FS, for constructing curvature-continuous parametric paths in a plane. FS has a zero curvature at its origin, a property that allows it to be connected with a straight line smoothly, that is, without the curvature discontinuity which occurs at the transition point between a line and a circular arc when constructing Dubins paths. Furthermore, contrary to the computationally expensive clothoids, FS is described by very simple parametric equations that are trivial to compute. On the downside, computing the length of an FS arc involves a Gaussian hypergeometric function. However, this function is absolutely convergent and it is also shown that it poses no restrictions to the domain within which the length can be calculated. In addition, we present an alternative parametrization of FS which eliminates the parametric speed singularity at the origin, hence making the spiral suitable for path-tracking applications. A detailed description of how to construct curvature-continuous paths with FS is given.
Accelerating Sequential Gaussian Simulation with a constant path
Nussbaumer, Raphaël; Mariethoz, Grégoire; Gravey, Mathieu; Gloaguen, Erwan; Holliger, Klaus
2018-03-01
Sequential Gaussian Simulation (SGS) is a stochastic simulation technique commonly employed for generating realizations of Gaussian random fields. Arguably, the main limitation of this technique is the high computational cost associated with determining the kriging weights. This problem is compounded by the fact that often many realizations are required to allow for an adequate uncertainty assessment. A seemingly simple way to address this problem is to keep the same simulation path for all realizations. This results in identical neighbourhood configurations and hence the kriging weights only need to be determined once and can then be re-used in all subsequent realizations. This approach is generally not recommended because it is expected to result in correlation between the realizations. Here, we challenge this common preconception and make the case for the use of a constant path approach in SGS by systematically evaluating the associated benefits and limitations. We present a detailed implementation, particularly regarding parallelization and memory requirements. Extensive numerical tests demonstrate that using a constant path allows for substantial computational gains with very limited loss of simulation accuracy. This is especially the case for a constant multi-grid path. The computational savings can be used to increase the neighbourhood size, thus allowing for a better reproduction of the spatial statistics. The outcome of this study is a recommendation for an optimal implementation of SGS that maximizes accurate reproduction of the covariance structure as well as computational efficiency.
Real-time Stitched Video for Contextual Path Planning
National Aeronautics and Space Administration — The crew and flight controllers who control the Space Station Remote Manipulator System (SSRMS) currently rely on multiple camera views to confirm or infer clearance...
Distance estimation by computer vision and shortest path planning ...
African Journals Online (AJOL)
pc
2018-03-22
Mar 22, 2018 ... static or dynamic obstacle environment [1] [2] [3]. Several sensors as laser sensors, ultrasonic sensors ... decrement in processing time with higher speed. .... [1] A. Kynova, "Indoor Spatial Data Model for Wayfinding: A Case.
Distance estimation by computer vision and shortest path planning ...
African Journals Online (AJOL)
Journal Home > Vol 10, No 6S (2018) > ... The proposed way also detects and avoids obstacles in an environment using a single ... This paper has a great importance because of its fast execution speed also vision is a smart sensor as it helps ...
Goal-oriented path planning for ground and aerial vehicles
Signifredi, Andrea
2017-01-01
Nowadays autonomous robots are used in everyday life more than ever. The idea that motivate the develop of new autonomous application is to lessen the fatigue of repetitive works and to make safer the work that are difficult if done by humans alone. Another goal of autonomous robots is to improve precision and repetitiveness in the actuation of actions. Car makers are now showing to consider autonomous driving a ground braking functionality and one of the most important additions to their ass...
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.
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.
Katz, Abbott
2011-01-01
Get the most out of Excel 2010 with Excel 2010 Made Simple - learn the key features, understand what's new, and utilize dozens of time-saving tips and tricks to get your job done. Over 500 screen visuals and clear-cut instructions guide you through the features of Excel 2010, from formulas and charts to navigating around a worksheet and understanding Visual Basic for Applications (VBA) and macros. Excel 2010 Made Simple takes a practical and highly effective approach to using Excel 2010, showing you the best way to complete your most common spreadsheet tasks. You'll learn how to input, format,
Mazo, Gary
2011-01-01
If you have a Droid series smartphone - Droid, Droid X, Droid 2, or Droid 2 Global - and are eager to get the most out of your device, Droids Made Simple is perfect for you. Authors Martin Trautschold, Gary Mazo and Marziah Karch guide you through all of the features, tips, and tricks using their proven combination of clear instructions and detailed visuals. With hundreds of annotated screenshots and step-by-step directions, Droids Made Simple will transform you into a Droid expert, improving your productivity, and most importantly, helping you take advantage of all of the cool features that c
International Nuclear Information System (INIS)
Sator, N.
2003-01-01
This article concerns the correspondence between thermodynamics and the morphology of simple fluids in terms of clusters. Definitions of clusters providing a geometric interpretation of the liquid-gas phase transition are reviewed with an eye to establishing their physical relevance. The author emphasizes their main features and basic hypotheses, and shows how these definitions lead to a recent approach based on self-bound clusters. Although theoretical, this tutorial review is also addressed to readers interested in experimental aspects of clustering in simple fluids
Thouzery, Michel
2014-01-01
Fondée par les producteurs du Syndicat Inter-Massifs pour la Production et l’Économie des Simples (S.I.M.P.L.E.S), l’association base son action sur la recherche et le maintien d’une production de qualité (herboristerie et préparations à base de plantes) qui prend en compte le respect de l’environnement et la pérennité des petits producteurs en zone de montagne. Actions de formation Stages de découverte de la flore médicinale sauvage, Stages de culture et transformation des plantes médicinale...
International Nuclear Information System (INIS)
Dobrzynski, L; Akjouj, A; Djafari-Rouhani, B; Al-Wahsh, H; Zielinski, P
2003-01-01
We present a simple multiplexing device made of two atomic chains coupled by two other transition metal atoms. We show that this simple atomic device can transfer electrons at a given energy from one wire to the other, leaving all other electron states unaffected. Closed-form relations between the transmission coefficients and the inter-atomic distances are given to optimize the desired directional electron ejection. Such devices can be adsorbed on insulating substrates and characterized by current surface technologies. (letter to the editor)
International Nuclear Information System (INIS)
Wald, H.B.
1990-01-01
The 'PATH' codes are used to design magnetic optics subsystems for neutral particle beam systems. They include a 2-1/2D and three 3-D space charge models, two of which have recently been added. This paper describes the 3-D models and reports on preliminary benchmark studies in which these models are checked for stability as the cloud size is varied and for consistency with each other. Differences between the models are investigated and the computer time requirements for running these models are established
Innovation paths in wind power
DEFF Research Database (Denmark)
Lema, Rasmus; Nordensvärd, Johan; Urban, Frauke
Denmark and Germany both make substantial investments in low carbon innovation, not least in the wind power sector. These investments in wind energy are driven by the twin objectives of reducing carbon emissions and building up international competitive advantage. Support for wind power dates back....... The ‘Danish Design’ remains the global standard. The direct drive design, while uncommon in Denmark, dominates the German installation base. Direct drive technology has thus emerged as a distinctly German design and sub-trajectory within the overall technological innovation path. When it comes to organising...... global interconnectedness of wind technology markets and the role of emerging new players, such as China and India....
Uncommon paths in quantum physics
Kazakov, Konstantin V
2014-01-01
Quantum mechanics is one of the most fascinating, and at the same time most controversial, branches of contemporary science. Disputes have accompanied this science since its birth and have not ceased to this day. Uncommon Paths in Quantum Physics allows the reader to contemplate deeply some ideas and methods that are seldom met in the contemporary literature. Instead of widespread recipes of mathematical physics, based on the solutions of integro-differential equations, the book follows logical and partly intuitional derivations of non-commutative algebra. Readers can directly penetrate the
Air Pollution alongside Bike-Paths in Bogota - Colombia
Directory of Open Access Journals (Sweden)
Juan Felipe Franco
2016-11-01
Full Text Available The study we present in this paper aims at characterizing the range of fine particulate matter (PM2.5 and black carbon (BC concentrations to which bike-path users in Bogotá are exposed to. Using a bike equipped with a DustTrak and a micro-aethalometer we measured PM2.5 and BC concentration levels along bike-paths corridors, during weekdays and weekends. Experiments were conducted in fours streets, representing four typical configurations of bike-paths in the city. Traffic data for workdays was also available from local mobility authority. Results indicate that bike-paths users in Bogota are exposed to air pollution levels far exceeding the threshold values established as potentially dangerous for human health. Average concentrations for PM2.5 ranged between 80 and 136 ug/m3 in workdays and between 30 and 72 ug/m3 in weekends. BC mean concentrations were between 16 and 38 µg/m3 during workdays and in the range 10 to 32 µg/m3 during weekends. A statistically significant difference exists in the levels of pollutants concentrations measured during workdays and weekends for all the considered bike paths. According to our results, both traffic volume and diffusions conditions, which are affected by many factors including street geometry, affect bike-path user’s exposure levels. Taking into account the important role that bicycling is playing as an alternative transport mode in Latin American cities, we consider these results provide useful insights to increase the appreciation of the excessive bikers´ exposure to air pollution in Bogotá. Moreover, these findings contribute with technical elements that should lead to the inclusion of air quality variable when designing and planning sustainable urban mobility infrastructures.
DEFF Research Database (Denmark)
Rosendahl, Mads
2002-01-01
-like language. Our aim is to extract a simple notion of driving and show that even in this tamed form it has much of the power of more general notions of driving. Our driving technique may be used to simplify functional programs which use function composition and will often be able to remove intermediate data...
Dix, M. G.; Harrison, D. R.; Edwards, T. M.
1982-01-01
Bubble vial with external aluminum-foil electrodes is sensing element for simple indicating tiltmeter. To measure bubble displacement, bridge circuit detects difference in capacitance between two sensing electrodes and reference electrode. Tiltmeter was developed for experiment on forecasting seismic events by changes in Earth's magnetic field.
Eggen, Per-Odd
2009-01-01
This article describes the construction of an inexpensive, robust, and simple hydrogen electrode, as well as the use of this electrode to measure "standard" potentials. In the experiment described here the students can measure the reduction potentials of metal-metal ion pairs directly, without using a secondary reference electrode. Measurements…
International Nuclear Information System (INIS)
Blain, J.F.
1969-01-01
The results obtained by application to argon and sodium of the two important methods of studying the structure of liquids: scattering of X-rays and neutrons, are presented on one hand. On the other hand the principal models employed for reconstituting the structure of simple liquids are exposed: mathematical models, lattice models and their derived models, experimental models. (author) [fr
International Nuclear Information System (INIS)
De Luca, R; Faella, O
2014-01-01
Mathematical fireworks are reproduced in two dimensions by means of simple notions in kinematics and Newtonian mechanics. Extension of the analysis in three dimensions is proposed and the geometric figures the falling tiny particles make on the ground after explosion are determined. (paper)
African Journals Online (AJOL)
In the present study, 78 mapped simple sequence repeat (SSR) markers representing 11 linkage groups of adzuki bean were evaluated for transferability to mungbean and related Vigna spp. 41 markers amplified characteristic bands in at least one Vigna species. The transferability percentage across the genotypes ranged ...
Temiz, Burak Kagan; Yavuz, Ahmet
2015-01-01
This study was done to develop a simple and inexpensive wave driver that can be used in experiments on string waves. The wave driver was made using a battery-operated toy car, and the apparatus can be used to produce string waves at a fixed frequency. The working principle of the apparatus is as follows: shortly after the car is turned on, the…
Mixed time slicing in path integral simulations
International Nuclear Information System (INIS)
Steele, Ryan P.; Zwickl, Jill; Shushkov, Philip; Tully, John C.
2011-01-01
A simple and efficient scheme is presented for using different time slices for different degrees of freedom in path integral calculations. This method bridges the gap between full quantization and the standard mixed quantum-classical (MQC) scheme and, therefore, still provides quantum mechanical effects in the less-quantized variables. Underlying the algorithm is the notion that time slices (beads) may be 'collapsed' in a manner that preserves quantization in the less quantum mechanical degrees of freedom. The method is shown to be analogous to multiple-time step integration techniques in classical molecular dynamics. The algorithm and its associated error are demonstrated on model systems containing coupled high- and low-frequency modes; results indicate that convergence of quantum mechanical observables can be achieved with disparate bead numbers in the different modes. Cost estimates indicate that this procedure, much like the MQC method, is most efficient for only a relatively few quantum mechanical degrees of freedom, such as proton transfer. In this regime, however, the cost of a fully quantum mechanical simulation is determined by the quantization of the least quantum mechanical degrees of freedom.
Water evaporation: a transition path sampling study.
Varilly, Patrick; Chandler, David
2013-02-07
We use transition path sampling to study evaporation in the SPC/E model of liquid water. On the basis of thousands of evaporation trajectories, we characterize the members of the transition state ensemble (TSE), which exhibit a liquid-vapor interface with predominantly negative mean curvature at the site of evaporation. We also find that after evaporation is complete, the distributions of translational and angular momenta of the evaporated water are Maxwellian with a temperature equal to that of the liquid. To characterize the evaporation trajectories in their entirety, we find that it suffices to project them onto just two coordinates: the distance of the evaporating molecule to the instantaneous liquid-vapor interface and the velocity of the water along the average interface normal. In this projected space, we find that the TSE is well-captured by a simple model of ballistic escape from a deep potential well, with no additional barrier to evaporation beyond the cohesive strength of the liquid. Equivalently, they are consistent with a near-unity probability for a water molecule impinging upon a liquid droplet to condense. These results agree with previous simulations and with some, but not all, recent experiments.
Regular paths in SparQL: querying the NCI Thesaurus.
Detwiler, Landon T; Suciu, Dan; Brinkley, James F
2008-11-06
OWL, the Web Ontology Language, provides syntax and semantics for representing knowledge for the semantic web. Many of the constructs of OWL have a basis in the field of description logics. While the formal underpinnings of description logics have lead to a highly computable language, it has come at a cognitive cost. OWL ontologies are often unintuitive to readers lacking a strong logic background. In this work we describe GLEEN, a regular path expression library, which extends the RDF query language SparQL to support complex path expressions over OWL and other RDF-based ontologies. We illustrate the utility of GLEEN by showing how it can be used in a query-based approach to defining simpler, more intuitive views of OWL ontologies. In particular we show how relatively simple GLEEN-enhanced SparQL queries can create views of the OWL version of the NCI Thesaurus that match the views generated by the web-based NCI browser.
Directory of Open Access Journals (Sweden)
Manish Sreenivasa
Full Text Available The path that humans take while walking to a goal is the result of a cognitive process modulated by the perception of the environment and physiological constraints. The path shape and timing implicitly embeds aspects of the architecture behind this process. Here, locomotion paths were investigated during a simple task of walking to and from a goal, by looking at the evolution of the position of the human on a horizontal (x,y plane. We found that the path while walking to a goal was not the same as that while returning from it. Forward-return paths were systematically separated by 0.5-1.9m, or about 5% of the goal distance. We show that this path separation occurs as a consequence of anticipating the desired body orientation at the goal while keeping the target in view. The magnitude of this separation was strongly influenced by the bearing angle (difference between body orientation and angle to goal and the final orientation imposed at the goal. This phenomenon highlights the impact of a trade-off between a directional perceptual apparatus-eyes in the head on the shoulders-and and physiological limitations, in the formation of human locomotion paths. Our results give an insight into the influence of environmental and perceptual variables on human locomotion and provide a basis for further mathematical study of these mechanisms.
Directory of Open Access Journals (Sweden)
Kahriman Emina
2008-01-01
Full Text Available Paper discuss specific features of internet plan as well as planning as management process in general in the contemporary environment. No need to stress out that marketing plan and marketing planning is core activity in approaching to market. At the same time, there are a lot specific c request in preparing marketing plan comparing to business planning due to marketing plan is an essential part. The importance of internet plan and planning rely on specific features of the internet network but as a part of general corporate as well as marketing strategy.
Master equations and the theory of stochastic path integrals
Weber, Markus F.; Frey, Erwin
2017-04-01
This review provides a pedagogic and self-contained introduction to master equations and to their representation by path integrals. Since the 1930s, master equations have served as a fundamental tool to understand the role of fluctuations in complex biological, chemical, and physical systems. Despite their simple appearance, analyses of master equations most often rely on low-noise approximations such as the Kramers-Moyal or the system size expansion, or require ad-hoc closure schemes for the derivation of low-order moment equations. We focus on numerical and analytical methods going beyond the low-noise limit and provide a unified framework for the study of master equations. After deriving the forward and backward master equations from the Chapman-Kolmogorov equation, we show how the two master equations can be cast into either of four linear partial differential equations (PDEs). Three of these PDEs are discussed in detail. The first PDE governs the time evolution of a generalized probability generating function whose basis depends on the stochastic process under consideration. Spectral methods, WKB approximations, and a variational approach have been proposed for the analysis of the PDE. The second PDE is novel and is obeyed by a distribution that is marginalized over an initial state. It proves useful for the computation of mean extinction times. The third PDE describes the time evolution of a ‘generating functional’, which generalizes the so-called Poisson representation. Subsequently, the solutions of the PDEs are expressed in terms of two path integrals: a ‘forward’ and a ‘backward’ path integral. Combined with inverse transformations, one obtains two distinct path integral representations of the conditional probability distribution solving the master equations. We exemplify both path integrals in analysing elementary chemical reactions. Moreover, we show how a well-known path integral representation of averaged observables can be recovered from
Master equations and the theory of stochastic path integrals.
Weber, Markus F; Frey, Erwin
2017-04-01
This review provides a pedagogic and self-contained introduction to master equations and to their representation by path integrals. Since the 1930s, master equations have served as a fundamental tool to understand the role of fluctuations in complex biological, chemical, and physical systems. Despite their simple appearance, analyses of master equations most often rely on low-noise approximations such as the Kramers-Moyal or the system size expansion, or require ad-hoc closure schemes for the derivation of low-order moment equations. We focus on numerical and analytical methods going beyond the low-noise limit and provide a unified framework for the study of master equations. After deriving the forward and backward master equations from the Chapman-Kolmogorov equation, we show how the two master equations can be cast into either of four linear partial differential equations (PDEs). Three of these PDEs are discussed in detail. The first PDE governs the time evolution of a generalized probability generating function whose basis depends on the stochastic process under consideration. Spectral methods, WKB approximations, and a variational approach have been proposed for the analysis of the PDE. The second PDE is novel and is obeyed by a distribution that is marginalized over an initial state. It proves useful for the computation of mean extinction times. The third PDE describes the time evolution of a 'generating functional', which generalizes the so-called Poisson representation. Subsequently, the solutions of the PDEs are expressed in terms of two path integrals: a 'forward' and a 'backward' path integral. Combined with inverse transformations, one obtains two distinct path integral representations of the conditional probability distribution solving the master equations. We exemplify both path integrals in analysing elementary chemical reactions. Moreover, we show how a well-known path integral representation of averaged observables can be recovered from them. Upon
Yang-Mills theory in null path space
International Nuclear Information System (INIS)
Kent, S.L.
1982-01-01
A reformulation of classical GL(n,c) Yang-Mills theory is presented. The reformulation is in terms of a single matrix-valued function G on a six-dimensional subspace of the space of paths in Minkowski space, M. This subspace is defined as the null paths beginning at each point, (X/sup a/), of M and ending at future null infinity. A convenient parametrization of these paths is to give the Minkowski coordinates x/sup a/ of the starting point and the (complex) stereographic coordinates (xi, antixi) on S 2 which label the light cone generators of x/sup a/. A path is thus labeled by (x/sup a/,xi, antixi). The function G(x/sup a/,xi, antixi) is defined by the parallel propagation (with a given connection) of n linearly independent fiber vectors from x/sup a/ to null infinity along the (xi, antixi) generator. From knowledge of G(x/sup a/,xi, antixi) the connection one-form γ/sub a/ at the point x/sup a/ can be obtained is shown. Furthermore how the vacuum Yang-Mills equations can be imposed on the G is shown. This results in a rather complicated integro-differential equation for G which involves the characteristic initial data (essentially the radiation field) acting as the driving term. Two simple special cases are immediately obtainable; in the case of self-dual (or anti-self dual) fields the author obtains a simple derivation of the Sparling equation, namely delta G = -GA, while for Abelian (Maxwell) theories obtained the equation delta anti delta log G = -anti delta A-anti delta A, where A and its conjugate anti A are the characteristic free data given on null infinity. The latter equation is equivalent to the vacuum Maxwell equations
Edwards, James P.; Gerber, Urs; Schubert, Christian; Trejo, Maria Anabel; Weber, Axel
2018-04-01
We introduce two integral transforms of the quantum mechanical transition kernel that represent physical information about the path integral. These transforms can be interpreted as probability distributions on particle trajectories measuring respectively the relative contribution to the path integral from paths crossing a given spatial point (the hit function) and the likelihood of values of the line integral of the potential along a path in the ensemble (the path-averaged potential).
Classical and quantum dynamics from classical paths to path integrals
Dittrich, Walter
2017-01-01
Graduate students who wish to become familiar with advanced computational strategies in classical and quantum dynamics will find in this book both the fundamentals of a standard course and a detailed treatment of the time-dependent oscillator, Chern-Simons mechanics, the Maslov anomaly and the Berry phase, to name just a few topics. Well-chosen and detailed examples illustrate perturbation theory, canonical transformations and the action principle, and demonstrate the usage of path integrals. The fifth edition has been revised and enlarged to include chapters on quantum electrodynamics, in particular, Schwinger’s proper time method and the treatment of classical and quantum mechanics with Lie brackets and pseudocanonical transformations. It is shown that operator quantum electrodynamics can be equivalently described with c-numbers, as demonstrated by calculating the propagation function for an electron in a prescribed classical electromagnetic field.
Game theory and risk-based leveed river system planning with noncooperation
Hui, Rui; Lund, Jay R.; Madani, Kaveh
2016-01-01
Optimal risk-based levee designs are usually developed for economic efficiency. However, in river systems with multiple levees, the planning and maintenance of different levees are controlled by different agencies or groups. For example, along many rivers, levees on opposite riverbanks constitute a simple leveed river system with each levee designed and controlled separately. Collaborative planning of the two levees can be economically optimal for the whole system. Independent and self-interested landholders on opposite riversides often are willing to separately determine their individual optimal levee plans, resulting in a less efficient leveed river system from an overall society-wide perspective (the tragedy of commons). We apply game theory to simple leveed river system planning where landholders on each riverside independently determine their optimal risk-based levee plans. Outcomes from noncooperative games are analyzed and compared with the overall economically optimal outcome, which minimizes net flood cost system-wide. The system-wide economically optimal solution generally transfers residual flood risk to the lower-valued side of the river, but is often impractical without compensating for flood risk transfer to improve outcomes for all individuals involved. Such compensation can be determined and implemented with landholders' agreements on collaboration to develop an economically optimal plan. By examining iterative multiple-shot noncooperative games with reversible and irreversible decisions, the costs of myopia for the future in making levee planning decisions show the significance of considering the externalities and evolution path of dynamic water resource problems to improve decision-making.
Simulation and validation of concentrated subsurface lateral flow paths in an agricultural landscape
Zhu, Q.; Lin, H. S.
2009-08-01
and thus is a useful indicator of possible subsurface flow path over a large area; and (3) observable Mn distribution in soil profiles can be used as a simple indicator of water flow paths in soils and over the landscape; however, it does require sufficient soil sampling (by excavation or augering) to possibly infer landscape-scale subsurface flow paths. In areas where subsurface interface topography varies similarly with surface topography, surface DEM can be used to simulate potential subsurface lateral flow path reasonably so the cost associated with obtaining depth to subsurface water-restricting layer can be minimized.
Factorial representations of path groups
International Nuclear Information System (INIS)
Albeverio, S.; Hoegh-Krohn, R.; Testard, D.; Vershik, A.
1983-11-01
We give the reduction of the energy representation of the group of mappings from I = [ 0,1 ], S 1 , IRsub(+) or IR into a compact semi simple Lie group G. For G = SU(2) we prove the factoriality of the representation, which is of type III in the case I = IR
Cottrell, William; Montero, Miguel
2018-02-01
In this note we investigate the role of Lloyd's computational bound in holographic complexity. Our goal is to translate the assumptions behind Lloyd's proof into the bulk language. In particular, we discuss the distinction between orthogonalizing and `simple' gates and argue that these notions are useful for diagnosing holographic complexity. We show that large black holes constructed from series circuits necessarily employ simple gates, and thus do not satisfy Lloyd's assumptions. We also estimate the degree of parallel processing required in this case for elementary gates to orthogonalize. Finally, we show that for small black holes at fixed chemical potential, the orthogonalization condition is satisfied near the phase transition, supporting a possible argument for the Weak Gravity Conjecture first advocated in [1].
Unicameral (simple) bone cysts.
Baig, Rafath; Eady, John L
2006-09-01
Since their original description by Virchow, simple bone cysts have been studied repeatedly. Although these defects are not true neoplasms, simple bone cysts may create major structural defects of the humerus, femur, and os calcis. They are commonly discovered incidentally when x-rays are taken for other reasons or on presentation due to a pathologic fracture. Various treatment strategies have been employed, but the only reliable predictor of success of any treatment strategy is the age of the patient; those being older than 10 years of age heal their cysts at a higher rate than those under age 10. The goal of management is the formation of a bone that can withstand the stresses of use by the patient without evidence of continued bone destruction as determined by serial radiographic follow-up. The goal is not a normal-appearing x-ray, but a functionally stable bone.
Information technology made simple
Carter, Roger
1991-01-01
Information Technology: Made Simple covers the full range of information technology topics, including more traditional subjects such as programming languages, data processing, and systems analysis. The book discusses information revolution, including topics about microchips, information processing operations, analog and digital systems, information processing system, and systems analysis. The text also describes computers, computer hardware, microprocessors, and microcomputers. The peripheral devices connected to the central processing unit; the main types of system software; application soft
Modern mathematics made simple
Murphy, Patrick
1982-01-01
Modern Mathematics: Made Simple presents topics in modern mathematics, from elementary mathematical logic and switching circuits to multibase arithmetic and finite systems. Sets and relations, vectors and matrices, tesselations, and linear programming are also discussed.Comprised of 12 chapters, this book begins with an introduction to sets and basic operations on sets, as well as solving problems with Venn diagrams. The discussion then turns to elementary mathematical logic, with emphasis on inductive and deductive reasoning; conjunctions and disjunctions; compound statements and conditional
Path Creation, Path Dependence and Breaking Away from the Path: Re-Examining the Case of Nokia
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...
Stiewing, Janis
2002-01-01
Revising the strategic plan was the beginning of a multiyear initiative that will determine the path of the JRCERT. The key word in the preceding statement is beginning. The strategic plan is an ever-changing document. Although some components, such as the values statements, will stand over time, other components will change as accreditation and educational arenas change. That is the paradox of strategic planning: Remaining true to the vision, values and mission statements requires knowing when to change to keep the JRCERT aligned with the responsive to its communities of interest.
On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles
2006-02-17
On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is
Rainbow paths with prescribed ends
DEFF Research Database (Denmark)
Alishahi, Meysam; Taherkhani, Ali; Thomassen, Carsten
2011-01-01
vertices. We also prove that every connected graph with atleast one edge has a proper k-coloring (for some k) such that every vertex of color i has a neighbor of color i + 1 (mod k). C-5 shows that k may have to be greater than the chromatic number. However, if the graph is connected, infinite and locally...... finite, and has finite chromatic number, then the k-coloring exists for every k >= chi(G). In fact, the k-coloring can be chosen such that every vertex is a starting vertex of an infinite path such that the color increases by 1 (mod k) along each edge. The method is based on the circular chromatic number...... chi(c)(G). In particular, we verify the above conjecture for all connected graphs whose circular chromatic number equals the chromatic number....
Counting paths with Schur transitions
Energy Technology Data Exchange (ETDEWEB)
Díaz, Pablo [Department of Physics and Astronomy, University of Lethbridge, Lethbridge, Alberta, T1K 3M4 (Canada); Kemp, Garreth [Department of Physics, University of Johannesburg, P.O. Box 524, Auckland Park 2006 (South Africa); Véliz-Osorio, Alvaro, E-mail: aveliz@gmail.com [Mandelstam Institute for Theoretical Physics, University of the Witwatersrand, WITS 2050, Johannesburg (South Africa); School of Physics and Astronomy, Queen Mary, University of London, Mile End Road, London E1 4NS (United Kingdom)
2016-10-15
In this work we explore the structure of the branching graph of the unitary group using Schur transitions. We find that these transitions suggest a new combinatorial expression for counting paths in the branching graph. This formula, which is valid for any rank of the unitary group, reproduces known asymptotic results. We proceed to establish the general validity of this expression by a formal proof. The form of this equation strongly hints towards a quantum generalization. Thus, we introduce a notion of quantum relative dimension and subject it to the appropriate consistency tests. This new quantity finds its natural environment in the context of RCFTs and fractional statistics; where the already established notion of quantum dimension has proven to be of great physical importance.
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.
2014-05-01
To save energy, the FAA is planning to convert from incandescent lights to light-emitting diodes (LEDs) in : precision approach path indicator (PAPI) systems. Preliminary work on the usability of LEDs by color vision-waivered pilots (Bullough, Skinne...
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.
Effect of State-Specific Factors on Acquisition Path Ranking
International Nuclear Information System (INIS)
Vincze, A.; Nemeth, A.
2015-01-01
The ''directed graph analysis'' has been shown to be a promising methodology to implement acquisition path analysis by the IAEA to support the State evaluation process. Based on this methodology a material flow network model has been developed under the Hungarian Support Programme to the IAEA, in which materials in different chemical and physical form can flow through pipes representing declared processes, material transports, diversions or undeclared processes. The ranking of the resulting acquisition paths of the analysis is a key step to facilitate the determination of technical objectives and the planning of safeguards implementation on State-level. These are determined by the attributes of the processes included into the graph and different state-specific factors. In this paper different set of attributes, State-specific factors and their functional combination will be tested for hypothetical case studies. (author)
Design of Active N-path Filters
Darvishi, M.; van der Zee, Ronan A.R.; Nauta, Bram
2013-01-01
A design methodology for synthesis of active N-path bandpass filters is introduced. Based on this methodology, a 0.1-to-1.2 GHz tunable 6th-order N-path channel-select filter in 65 nm LP CMOS is introduced. It is based on coupling N-path filters with gyrators, achieving a “flat‿ passband shape and
Dimensional analysis made simple
International Nuclear Information System (INIS)
Lira, Ignacio
2013-01-01
An inductive strategy is proposed for teaching dimensional analysis to second- or third-year students of physics, chemistry, or engineering. In this strategy, Buckingham's theorem is seen as a consequence and not as the starting point. In order to concentrate on the basics, the mathematics is kept as elementary as possible. Simple examples are suggested for classroom demonstrations of the power of the technique and others are put forward for homework or experimentation, but instructors are encouraged to produce examples of their own. (paper)
Applied mathematics made simple
Murphy, Patrick
1982-01-01
Applied Mathematics: Made Simple provides an elementary study of the three main branches of classical applied mathematics: statics, hydrostatics, and dynamics. The book begins with discussion of the concepts of mechanics, parallel forces and rigid bodies, kinematics, motion with uniform acceleration in a straight line, and Newton's law of motion. Separate chapters cover vector algebra and coplanar motion, relative motion, projectiles, friction, and rigid bodies in equilibrium under the action of coplanar forces. The final chapters deal with machines and hydrostatics. The standard and conte
Wooldridge, Susan
2013-01-01
Data Processing: Made Simple, Second Edition presents discussions of a number of trends and developments in the world of commercial data processing. The book covers the rapid growth of micro- and mini-computers for both home and office use; word processing and the 'automated office'; the advent of distributed data processing; and the continued growth of database-oriented systems. The text also discusses modern digital computers; fundamental computer concepts; information and data processing requirements of commercial organizations; and the historical perspective of the computer industry. The
Deane, Sharon
2003-01-01
ASP Made Simple provides a brief introduction to ASP for the person who favours self teaching and/or does not have expensive computing facilities to learn on. The book will demonstrate how the principles of ASP can be learned with an ordinary PC running Personal Web Server, MS Access and a general text editor like Notepad.After working through the material readers should be able to:* Write ASP scripts that can display changing information on a web browser* Request records from a remote database or add records to it* Check user names & passwords and take this knowledge forward, either for their
Hansen, Jean-Pierre
1986-01-01
This book gives a comprehensive and up-to-date treatment of the theory of ""simple"" liquids. The new second edition has been rearranged and considerably expanded to give a balanced account both of basic theory and of the advances of the past decade. It presents the main ideas of modern liquid state theory in a way that is both pedagogical and self-contained. The book should be accessible to graduate students and research workers, both experimentalists and theorists, who have a good background in elementary mechanics.Key Features* Compares theoretical deductions with experimental r
Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.
1989-01-01
Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.
Pereira, Hernane Borges de Barros; Pérez Vidal, Lluís; Lozada, Eleazar G. Madrid
2003-01-01
Behavioral impedance domain consists of a theory on route planning for pedestrians, within which constraint management is considered. The goal of this paper is to present the k-shortest path model using the behavioral impedance approach. After the mathematical model building, optimization problem and resolution problem by a behavioral impedance algorithm, it is discussed how behavioral impedance cost function is embedded in the k-shortest path model. From the pedestrian's route planning persp...
Path integrals and geometry of trajectories
International Nuclear Information System (INIS)
Blau, M.; Keski-Vakkuri, E.; Niemi, A.J.
1990-01-01
A geometrical interpretation of path integrals is developed in the space of trajectories. This yields a supersymmetric formulation of a generic path integral, with the supersymmetry resembling the BRST supersymmetry of a first class constrained system. If the classical equation of motion is a Killing vector field in the space of trajectories, the supersymmetry localizes the path integral to classical trajectories and the WKB approximation becomes exact. This can be viewed as a path integral generalization of the Duistermaat-Heckman theorem, which states the conditions for the exactness of the WKB approximation for integrals in a compact phase space. (orig.)
Path integrals for arbitrary canonical transformations
International Nuclear Information System (INIS)
Oliveira, L.A.R. de.
1980-01-01
Some aspects of the path integral formulation of quantum mechanics are studied. This formalism is generalized to arbitrary canonical transformations, by means of an association between path integral probalility amplitudes and classical generators of transformations, analogous to the usual Hamiltonian time development phase space expression. Such association turns out to be equivalent to the Weyl quantization rule, and it is also shown that this formalism furnishes a path integral representation for a Lie algebra of a given set of classical generators. Some physical considerations about the path integral quantization procedure and about the relationship between classical and quantum dynamical structures are also discussed. (Author) [pt
Techniques and applications of path integration
Schulman, L S
2005-01-01
A book of techniques and applications, this text defines the path integral and illustrates its uses by example. It is suitable for advanced undergraduates and graduate students in physics; its sole prerequisite is a first course in quantum mechanics. For applications requiring specialized knowledge, the author supplies background material.The first part of the book develops the techniques of path integration. Topics include probability amplitudes for paths and the correspondence limit for the path integral; vector potentials; the Ito integral and gauge transformations; free particle and quadra
DEFF Research Database (Denmark)
Luckow, Kasper Søe; Păsăreanu, Corina
2014-01-01
We describe Symbolic PathFinder v7 in terms of its updated design addressing the changes of Java PathFinder v7 and of its new optimization when computing path conditions. Furthermore, we describe the Symbolic Execution Tree Extension; a newly added feature that allows for outputting the symbolic...... execution tree that characterizes the execution paths covered during symbolic execution. The new extension can be tailored to the needs of subsequent analyses/processing facilities, and we demonstrate this by presenting SPF-Visualizer, which is a tool for customizable visualization of the symbolic execution...
Automated Planning and Scheduling for Planetary Rover Distributed Operations
Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve
1999-01-01
Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.
Probabilistic simple sticker systems
Selvarajoo, Mathuri; Heng, Fong Wan; Sarmin, Nor Haniza; Turaev, Sherzod
2017-04-01
A model for DNA computing using the recombination behavior of DNA molecules, known as a sticker system, was introduced by by L. Kari, G. Paun, G. Rozenberg, A. Salomaa, and S. Yu in the paper entitled DNA computing, sticker systems and universality from the journal of Acta Informatica vol. 35, pp. 401-420 in the year 1998. A sticker system uses the Watson-Crick complementary feature of DNA molecules: starting from the incomplete double stranded sequences, and iteratively using sticking operations until a complete double stranded sequence is obtained. It is known that sticker systems with finite sets of axioms and sticker rules generate only regular languages. Hence, different types of restrictions have been considered to increase the computational power of sticker systems. Recently, a variant of restricted sticker systems, called probabilistic sticker systems, has been introduced [4]. In this variant, the probabilities are initially associated with the axioms, and the probability of a generated string is computed by multiplying the probabilities of all occurrences of the initial strings in the computation of the string. Strings for the language are selected according to some probabilistic requirements. In this paper, we study fundamental properties of probabilistic simple sticker systems. We prove that the probabilistic enhancement increases the computational power of simple sticker systems.
Schilstra, Maria J; Martin, Stephen R
2009-01-01
Stochastic simulations may be used to describe changes with time of a reaction system in a way that explicitly accounts for the fact that molecules show a significant degree of randomness in their dynamic behavior. The stochastic approach is almost invariably used when small numbers of molecules or molecular assemblies are involved because this randomness leads to significant deviations from the predictions of the conventional deterministic (or continuous) approach to the simulation of biochemical kinetics. Advances in computational methods over the three decades that have elapsed since the publication of Daniel Gillespie's seminal paper in 1977 (J. Phys. Chem. 81, 2340-2361) have allowed researchers to produce highly sophisticated models of complex biological systems. However, these models are frequently highly specific for the particular application and their description often involves mathematical treatments inaccessible to the nonspecialist. For anyone completely new to the field to apply such techniques in their own work might seem at first sight to be a rather intimidating prospect. However, the fundamental principles underlying the approach are in essence rather simple, and the aim of this article is to provide an entry point to the field for a newcomer. It focuses mainly on these general principles, both kinetic and computational, which tend to be not particularly well covered in specialist literature, and shows that interesting information may even be obtained using very simple operations in a conventional spreadsheet.
Separations: The path to waste minimization
International Nuclear Information System (INIS)
Bell, J.T.
1992-01-01
Waste materials usually are composed of large amounts of innocuous and frequently useful components mixed with lesser amounts of one or more hazardous components. The ultimate path to waste minimization is the separation of the lesser quantities of hazardous components from the innocuous components, and then recycle the useful components. This vision is so simple that everyone would be expected to properly manage waste. Several parameters interfere with this proper waste management, which encourages the open-quotes sweep it under the rugclose quotes or the open-quotes bury it allclose quotes attitudes, both of which delay and complicate proper waste management. The two primary parameters that interfere with proper waste management are: economics drives a process to a product without concerns of waste minimization, and emergency needs for immediate production of a product usually delays proper waste management. A third parameter in recent years is also interfering with proper waste management: quick relief of waste insults to political and public perceptions is promoting the open-quotes bury it allclose quotes attitude. A fourth parameter can promote better waste management for any scenario that suffers either or all of the first three parameters: separations technology can minimize wastes when the application of this technology is not voided by influence of the first three parameters. The US Department of Energy's management of nuclear waste has been seriously affected by the above four parameters. This paper includes several points about how the generation and management of DOE wastes have been, and continue to be, affected by these parameters. Particular separations technologies for minimizing the DOE wastes that must be stored for long periods are highlighted
Polymer density functional approach to efficient evaluation of path integrals
DEFF Research Database (Denmark)
Brukhno, Andrey; Vorontsov-Velyaminov, Pavel N.; Bohr, Henrik
2005-01-01
A polymer density functional theory (P-DFT) has been extended to the case of quantum statistics within the framework of Feynman path integrals. We start with the exact P-DFT formalism for an ideal open chain and adapt its efficient numerical solution to the case of a ring. We show that, similarly......, the path integral problem can, in principle, be solved exactly by making use of the two-particle pair correlation function (2p-PCF) for the ends of an open polymer, half of the original. This way the exact data for one-dimensional quantum harmonic oscillator are reproduced in a wide range of temperatures....... The exact solution is not, though, reachable in three dimensions (3D) because of a vast amount of storage required for 2p-PCF. In order to treat closed paths in 3D, we introduce a so-called "open ring" approximation which proves to be rather accurate in the limit of long chains. We also employ a simple self...
Path analyses of yield and some agronomic and quality traits of ...
African Journals Online (AJOL)
ONOS
2010-08-09
Aug 9, 2010 ... This research was conducted to determine characters effecting grain yield in fifty bread wheat (Triticum aestivum L.) cultivars and advanced lines by using simple correlation coefficient and path analysis under 2 locations (high rainfall and low rainfall; 745 and 506 mm, respectively). A total of 50 genotypes,.
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.
International Nuclear Information System (INIS)
Rezende, J.
1983-01-01
We give a simple proof of Feynman's formula for the Green's function of the n-dimensional harmonic oscillator valid for every time t with Im t<=0. As a consequence the Schroedinger equation for the anharmonic oscillator is integrated and expressed by the Feynman path integral on Hilbert space. (orig.)
Model for calculating shock loading and release paths for multicomponent geologic media
International Nuclear Information System (INIS)
Butkovich, T.R.; Moran, B.; Burton, D.E.
1981-07-01
A model has been devised to calculate shock Hugoniots and release paths off the Hugoniots for multicomponent rocks containing silicate, carbonate, and water. Hugoniot equations of state are constructed from relatively simple measurements of rock properties including bulk density, grain density of the silicate component, and weight fractions of water and carbonate. Release paths off the composite Hugoniot are calculated by mixing release paths off the component Hugoniots according to their weight fractions. If the shock imparts sufficient energy to the component to cause vaporization, a gas equation of state is used to calculate the release paths. For less energetic shocks, the rock component will unload like a solid or liquid, taking into account the irreversible removal of air-filled porosity
Electron mean free path from angle-dependent photoelectron spectroscopy of aerosol particles
Energy Technology Data Exchange (ETDEWEB)
Goldmann, Maximilian; Miguel-Sánchez, Javier; West, Adam H. C.; Yoder, Bruce L.; Signorell, Ruth, E-mail: rsignorell@ethz.ch [Laboratory of Physical Chemistry, ETH Zürich, Vladimir-Prelog-Weg 2, 8093 Zürich (Switzerland)
2015-06-14
We propose angle-resolved photoelectron spectroscopy of aerosol particles as an alternative way to determine the electron mean free path of low energy electrons in solid and liquid materials. The mean free path is obtained from fits of simulated photoemission images to experimental ones over a broad range of different aerosol particle sizes. The principal advantage of the aerosol approach is twofold. First, aerosol photoemission studies can be performed for many different materials, including liquids. Second, the size-dependent anisotropy of the photoelectrons can be exploited in addition to size-dependent changes in their kinetic energy. These finite size effects depend in different ways on the mean free path and thus provide more information on the mean free path than corresponding liquid jet, thin film, or bulk data. The present contribution is a proof of principle employing a simple model for the photoemission of electrons and preliminary experimental data for potassium chloride aerosol particles.
Thermodynamic metrics and optimal paths.
Sivak, David A; Crooks, Gavin E
2012-05-11
A fundamental problem in modern thermodynamics is how a molecular-scale machine performs useful work, while operating away from thermal equilibrium without excessive dissipation. To this end, we derive a friction tensor that induces a Riemannian manifold on the space of thermodynamic states. Within the linear-response regime, this metric structure controls the dissipation of finite-time transformations, and bestows optimal protocols with many useful properties. We discuss the connection to the existing thermodynamic length formalism, and demonstrate the utility of this metric by solving for optimal control parameter protocols in a simple nonequilibrium model.
DEFF Research Database (Denmark)
Kaplan, Sigal; Prato, Carlo Giacomo
2010-01-01
A behavioural and a modelling framework are proposed for representing route choice from a path set that satisfies travellers’ spatiotemporal constraints. Within the proposed framework, travellers’ master sets are constructed by path generation, consideration sets are delimited according to spatio...
Directory of Open Access Journals (Sweden)
L.-I. Lugo-Villeda
2006-01-01
Full Text Available Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces.
Decision paths in complex tasks
Galanter, Eugene
1991-01-01
Complex real world action and its prediction and control has escaped analysis by the classical methods of psychological research. The reason is that psychologists have no procedures to parse complex tasks into their constituents. Where such a division can be made, based say on expert judgment, there is no natural scale to measure the positive or negative values of the components. Even if we could assign numbers to task parts, we lack rules i.e., a theory, to combine them into a total task representation. We compare here two plausible theories for the amalgamation of the value of task components. Both of these theories require a numerical representation of motivation, for motivation is the primary variable that guides choice and action in well-learned tasks. We address this problem of motivational quantification and performance prediction by developing psychophysical scales of the desireability or aversiveness of task components based on utility scaling methods (Galanter 1990). We modify methods used originally to scale sensory magnitudes (Stevens and Galanter 1957), and that have been applied recently to the measure of task 'workload' by Gopher and Braune (1984). Our modification uses utility comparison scaling techniques which avoid the unnecessary assumptions made by Gopher and Braune. Formula for the utility of complex tasks based on the theoretical models are used to predict decision and choice of alternate paths to the same goal.
Practicality of diversion path analysis
International Nuclear Information System (INIS)
Murphey, W.M.; Schleter, J.C.
1974-07-01
One can define the safeguards system for nuclear material as the set of all protective actions taken to prevent or to deter attempts to divert nuclear material to unauthorized use. Maintenance of effective safeguards requires a program for routine assessment of plant safeguards systems in terms of their capabilities to satisfy safeguards aims. Plant internal control systems provide capabilities for detection of unprevented diversion and can provide assurance that diversion has not occurred. A procedure called Diversion Path Analysis (DPA) enables routine assessment of the capabilities of internal control systems in this regard and identification of safeguards problem areas in a plant. A framework for safeguards system design is also provided which will allow flexibility to accommodate individual plant circumstances while maintaining acceptable diversion detection capability. The steps of the procedure are described and the practicality of the analytical method is shown by referring to a demonstration test for a high throughput process where plant personnel were major participants. The boundary conditions for the demonstration case are given, along with some conclusions about the general procedure. (U.S.)
Inked Careers: Tattooing Professional Paths
Directory of Open Access Journals (Sweden)
Gabriela DeLuca
2016-12-01
Full Text Available The concept of career has an interdisciplinary and historical constitution, which includes persons, groups, organizations and society. Given that, we aim to deepen the interactionist notion of career from the understanding of a deviant path, supported by a theory and a method appropriated to the cited call for interdisciplinary approaches. Dilemmas (Hughes, 1958 and conflicts (Hughes, 1937 emerged as important analytical categories. Although necessary, these two concepts were not sufficient to contemplate analyses in their entirety. For this reason we conceptualized a third possibility of controversy during a career: the inquiries. The study followed the Narrative method to analyze objective and subjective changes during a tattoo artist’s career through interviews and informal conversations carried out over 22 months. The discussion presents three main contributions. Theoretically, a new understanding of the concept of careers, linking past, present and future and the idea of non-linearity of experienced and envisioned careers. Methodologically, suggesting orientations for future career studies such as the use of turning points as a methodological tool and the investigation of deviant fields. Finally, our defense of the interactionist perspective as suitable for career studies, since it allows the investigation of deviant elements.
Path Network Recovery Using Remote Sensing Data and Geospatial-Temporal Semantic Graphs
Energy Technology Data Exchange (ETDEWEB)
McLendon, William C.,; Brost, Randolph
2016-05-01
Remote sensing systems produce large volumes of high-resolution images that are difficult to search. The GeoGraphy (pronounced Geo-Graph-y) framework [2, 20] encodes remote sensing imagery into a geospatial-temporal semantic graph representation to enable high level semantic searches to be performed. Typically scene objects such as buildings and trees tend to be shaped like blocks with few holes, but other shapes generated from path networks tend to have a large number of holes and can span a large geographic region due to their connectedness. For example, we have a dataset covering the city of Philadelphia in which there is a single road network node spanning a 6 mile x 8 mile region. Even a simple question such as "find two houses near the same street" might give unexpected results. More generally, nodes arising from networks of paths (roads, sidewalks, trails, etc.) require additional processing to make them useful for searches in GeoGraphy. We have assigned the term Path Network Recovery to this process. Path Network Recovery is a three-step process involving (1) partitioning the network node into segments, (2) repairing broken path segments interrupted by occlusions or sensor noise, and (3) adding path-aware search semantics into GeoQuestions. This report covers the path network recovery process, how it is used, and some example use cases of the current capabilities.
Simple turbulence measurements with azopolymer thin films.
Barillé, Regis; Pérez, Darío G; Morille, Yohann; Zielińska, Sonia; Ortyl, Ewelina
2013-04-01
A simple method to measure the influence on the laser beam propagation by a turbid medium is proposed. This measurement is based on the inscription of a surface relief grating (SRG) on an azopolymer thin film. The grating obtained with a single laser beam after propagation into a turbulent medium is perturbed and directly analyzed by a CCD camera through its diffraction pattern. Later, by scanning the surface pattern with an atomic force microscope, the inscribed SRG is analyzed with the Radon transform. This method has the advantage of using a single beam to remotely inscribe a grating detecting perturbations during the beam path. A method to evaluate the refractive index constant structure is developed.
Klimasewski, A.; Sahakian, V. J.; Baltay, A.; Boatwright, J.; Fletcher, J. B.; Baker, L. M.
2017-12-01
A large source of epistemic uncertainty in Ground Motion Prediction Equations (GMPEs) is derived from the path term, currently represented as a simple geometric spreading and intrinsic attenuation term. Including additional physical relationships between the path properties and predicted ground motions would produce more accurate and precise, region-specific GMPEs by reclassifying some of the random, aleatory uncertainty as epistemic. This study focuses on regions of Southern California, using data from the Anza network and Southern California Seismic network to create a catalog of events magnitude 2.5 and larger from 1998 to 2016. The catalog encompasses regions of varying geology and therefore varying path and site attenuation. Within this catalog of events, we investigate several collections of event region-to-station pairs, each of which share similar origin locations and stations so that all events have similar paths. Compared with a simple regional GMPE, these paths consistently have high or low residuals. By working with events that have the same path, we can isolate source and site effects, and focus on the remaining residual as path effects. We decompose the recordings into source and site spectra for each unique event and site in our greater Southern California regional database using the inversion method of Andrews (1986). This model represents each natural log record spectra as the sum of its natural log event and site spectra, while constraining each record to a reference site or Brune source spectrum. We estimate a regional, path-specific anelastic attenuation (Q) and site attenuation (t*) from the inversion site spectra and corner frequency from the inversion event spectra. We then compute the residuals between the observed record data, and the inversion model prediction (event*site spectra). This residual is representative of path effects, likely anelastic attenuation along the path that varies from the regional median attenuation. We examine the
Beyond Simple Headquarters Configurations
DEFF Research Database (Denmark)
Dellestrand, Henrik; Kappen, Philip; Nell, Phillip Christopher
We investigate “dual headquarters involvement”, i.e. corporate and divisional headquarters’ simultaneous involvement in subsidiaries’ innovation development projects. Analyses draw on 85 innovation projects in 23 multibusiness firms and reveal that cross-divisional innovation importance, i.......e., an innovation that is important for the firm beyond the divisional boundaries, drives dual headquarters involvement in innovation development. Contrary to expectations, on average, a non-significant effect of cross-divisional embeddedness on dual headquarters involvement is found. Yet, both cross......-divisional importance and embeddedness effects are contingent on the overall complexity of the innovation project as signified by the size of the development network. The results lend support for the notion that parenting in complex structures entails complex headquarters structures and that we need to go beyond simple...
Givant, Steven
2017-01-01
This monograph details several different methods for constructing simple relation algebras, many of which are new with this book. By drawing these seemingly different methods together, all are shown to be aspects of one general approach, for which several applications are given. These tools for constructing and analyzing relation algebras are of particular interest to mathematicians working in logic, algebraic logic, or universal algebra, but will also appeal to philosophers and theoretical computer scientists working in fields that use mathematics. The book is written with a broad audience in mind and features a careful, pedagogical approach; an appendix contains the requisite background material in relation algebras. Over 400 exercises provide ample opportunities to engage with the material, making this a monograph equally appropriate for use in a special topics course or for independent study. Readers interested in pursuing an extended background study of relation algebras will find a comprehensive treatme...
Energy Technology Data Exchange (ETDEWEB)
Graham, Peter W.; /Stanford U., ITP; Horn, Bart; Kachru, Shamit; /Stanford U., ITP /SLAC; Rajendran, Surjeet; /Johns Hopkins U. /Stanford U., ITP; Torroba, Gonzalo; /Stanford U., ITP /SLAC
2011-12-14
We explore simple but novel bouncing solutions of general relativity that avoid singularities. These solutions require curvature k = +1, and are supported by a negative cosmological term and matter with -1 < w < -1 = 3. In the case of moderate bounces (where the ratio of the maximal scale factor a{sub +} to the minimal scale factor a{sub -} is {Omicron}(1)), the solutions are shown to be classically stable and cycle through an infinite set of bounces. For more extreme cases with large a{sub +} = a{sub -}, the solutions can still oscillate many times before classical instabilities take them out of the regime of validity of our approximations. In this regime, quantum particle production also leads eventually to a departure from the realm of validity of semiclassical general relativity, likely yielding a singular crunch. We briefly discuss possible applications of these models to realistic cosmology.
SIMPLE for industrial radiography
International Nuclear Information System (INIS)
Azhar Azmi; Abd Nassir Ibrahim; Siti Madiha Muhammad Amir; Glam Hadzir Patai Mohamad; Saidi Rajab
2004-01-01
The first thing industrial radiographers have to do before commencing radiography works is to determine manually the amount of correct exposure that the film need to be exposed in order to obtain the right density. The amount of exposure depends on many variables such as type of radioisotope, type of film, nature of test-object and its orientation, and specific arrangement related to object location and configuration. In many cases radiography works are rejected because of radiographs fail to meet certain reference criteria as defined in the applicable standard. One of the main reasons of radiograph rejection is due to inadequate exposure received by the films. SIMPLE is a software specially developed to facilitate the calculation of gamma-radiography exposure. By using this software and knowing radiographic parameters to be encountered during the work, it is expected that human error will be minimized, thus enhancing the quality and productivity of NDT jobs. (Author)
Molecular genetics made simple
Directory of Open Access Journals (Sweden)
Heba Sh. Kassem
2012-07-01
Full Text Available Genetics have undoubtedly become an integral part of biomedical science and clinical practice, with important implications in deciphering disease pathogenesis and progression, identifying diagnostic and prognostic markers, as well as designing better targeted treatments. The exponential growth of our understanding of different genetic concepts is paralleled by a growing list of genetic terminology that can easily intimidate the unfamiliar reader. Rendering genetics incomprehensible to the clinician however, defeats the very essence of genetic research: its utilization for combating disease and improving quality of life. Herein we attempt to correct this notion by presenting the basic genetic concepts along with their usefulness in the cardiology clinic. Bringing genetics closer to the clinician will enable its harmonious incorporation into clinical care, thus not only restoring our perception of its simple and elegant nature, but importantly ensuring the maximal benefit for our patients.
Molecular genetics made simple
Kassem, Heba Sh.; Girolami, Francesca; Sanoudou, Despina
2012-01-01
Abstract Genetics have undoubtedly become an integral part of biomedical science and clinical practice, with important implications in deciphering disease pathogenesis and progression, identifying diagnostic and prognostic markers, as well as designing better targeted treatments. The exponential growth of our understanding of different genetic concepts is paralleled by a growing list of genetic terminology that can easily intimidate the unfamiliar reader. Rendering genetics incomprehensible to the clinician however, defeats the very essence of genetic research: its utilization for combating disease and improving quality of life. Herein we attempt to correct this notion by presenting the basic genetic concepts along with their usefulness in the cardiology clinic. Bringing genetics closer to the clinician will enable its harmonious incorporation into clinical care, thus not only restoring our perception of its simple and elegant nature, but importantly ensuring the maximal benefit for our patients. PMID:25610837
Directory of Open Access Journals (Sweden)
Ahmet YILDIRIM
2014-07-01
Full Text Available Individuals in terms of the economy in which we live is one of the most important phenomenon of the century. This phenomenon present itself as the only determinant of people's lives by entering almost makes itself felt. The mo st obvious objective needs of the economy by triggering motive is to induce people to consume . Consumer culture pervades all aspects of the situation are people . Therefore, these people have the blessing of culture , beauty and value all in the name of w hatever is consumed. This is way out of the siege of moral and religious values we have is to go back again . Referred by local cultural and religious values, based on today increasingly come to the fore and the Muslim way of life appears to be close to th e plain / lean preferred by many people life has been a way of life. Even the simple life , a way of life in the Western world , a conception of life , a philosophy, a movement as it has become widely accepted. Here in determining the Muslim way of life Pr ophet. Prophet (sa lived the kind of life a very important model, sample, and determining which direction is known. Religious values, which is the carrier of the prophets, sent to the society they have always been examples and models. Because every aspect of human life, his life style and the surrounding area has a feature. We also value his life that he has unknowingly and without learning and skills and to understand it is not possible to live our religion . We also our presentation, we mainly of Islam o utlook on life and predicted life - style, including the Prophet of Islam 's (sa simple life to scrutinize and lifestyle issues related to reveal , in short Islam's how life has embraced and the Prophet. Prophet's will try to find answers to questions reg arding how to live.
Two Generations of Path Dependence in Economics?
DEFF Research Database (Denmark)
Madsen, Mogens Ove
2010-01-01
Even if there is no fully articulated and generally accepted theory of Path Dependence it has eagerly been taken up across a wide range of social sciences – primarily coming from economics. Path Dependence is most of all a metaphor that offers reason to believe, that some political, social...
Evaluation of Calcine Disposition Path Forward
International Nuclear Information System (INIS)
Birrer, S.A.; Heiser, M.B.
2003-01-01
This document describes an evaluation of the baseline and two alternative disposition paths for the final disposition of the calcine wastes stored at the Idaho Nuclear Technology and Engineering Center at the Idaho National Engineering and Environmental Laboratory. The pathways are evaluated against a prescribed set of criteria and a recommendation is made for the path forward
Generalized measures and the Feynman path integral
International Nuclear Information System (INIS)
Maslov, V.P.; Chebotarev, A.M.
1976-01-01
Generalizations are obtained for the earlier results by the authors concerning the inclusion of the Feynmann path integral in the momentum representation into the general integration theory. Feynmann path integrals are considered which do not represent T-products. Generalized Feynmann measure in the configuration representation is introduced
Approximate Shortest Homotopic Paths in Weighted Regions
Cheng, Siu-Wing; Jin, Jiongxin; Vigneron, Antoine; Wang, Yajun
2010-01-01
Let P be a path between two points s and t in a polygonal subdivision T with obstacles and weighted regions. Given a relative error tolerance ε ∈(0,1), we present the first algorithm to compute a path between s and t that can be deformed to P
Paths and cycles in colored graphs
Li, Xueliang; Zhang, Shenggui; Hurink, Johann L.; Pickl, Stefan; Broersma, Haitze J.; Faigle, U.
2001-01-01
Let G be an (edge-)colored graph. A path (cycle) is called monochromatic if all the edges of it have the same color, and is called heterochromatic if all the edges of it have different colors. In this note, some sufficient conditions for the existence of monochromatic and heterochromatic paths and
Path Minima Queries in Dynamic Weighted Trees
DEFF Research Database (Denmark)
Davoodi, Pooya; Brodal, Gerth Stølting; Satti, Srinivasa Rao
2011-01-01
In the path minima problem on a tree, each edge is assigned a weight and a query asks for the edge with minimum weight on a path between two nodes. For the dynamic version of the problem, where the edge weights can be updated, we give data structures that achieve optimal query time\\todo{what about...
Approximate shortest homotopic paths in weighted regions
Cheng, Siuwing; Jin, Jiongxin; Vigneron, Antoine E.; Wang, Yajun
2012-01-01
A path P between two points s and t in a polygonal subdivision T with obstacles and weighted regions defines a class of paths that can be deformed to P without passing over any obstacle. We present the first algorithm that, given P and a relative
from synchronic variation to a grammaticalization path
African Journals Online (AJOL)
Kate H
Abstract. The authors argue that the synchronic variation of cognate objects of weather verbs exhibited in six African languages of South Africa (Sepedi, Sesotho, Tshivenda, isiXhosa, Xitsonga, and. isiZulu) has a diachronic explanation, and may be represented as a grammaticalization path. This path gradually leads from ...
Correcting slightly less simple movements
Directory of Open Access Journals (Sweden)
M.P. Aivar
2005-01-01
Full Text Available Many studies have analysed how goal directed movements are corrected in response to changes in the properties of the target. However, only simple movements to single targets have been used in those studies, so little is known about movement corrections under more complex situations. Evidence from studies that ask for movements to several targets in sequence suggests that whole sequences of movements are planned together. Planning related segments of a movement together makes it possible to optimise the whole sequence, but it means that some parts are planned quite long in advance, so that it is likely that they will have to be modified. In the present study we examined how people respond to changes that occur while they are moving to the first target of a sequence. Subjects moved a stylus across a digitising tablet. They moved from a specified starting point to two targets in succession. The first of these targets was always at the same position but it could have one of two sizes. The second target could be in one of two different positions and its size was different in each case. On some trials the first target changed size, and on some others the second target changed size and position, as soon as the subject started to move. When the size of the first target changed the subjects slowed down the first segment of their movements. Even the peak velocity, which was only about 150 ms after the change in size, was lower. Beside this fast response to the change itself, the dwell time at the first target was also affected: its duration increased after the change. Changing the size and position of the second target did not influence the first segment of the movement, but also increased the dwell time. The dwell time was much longer for a small target, irrespective of its initial size. If subjects knew in advance which target could change, they moved faster than if they did not know which could change. Taken together, these
Computing paths and cycles in biological interaction graphs
Directory of Open Access Journals (Sweden)
von Kamp Axel
2009-06-01
Full Text Available Abstract Background Interaction graphs (signed directed graphs provide an important qualitative modeling approach for Systems Biology. They enable the analysis of causal relationships in cellular networks and can even be useful for predicting qualitative aspects of systems dynamics. Fundamental issues in the analysis of interaction graphs are the enumeration of paths and cycles (feedback loops and the calculation of shortest positive/negative paths. These computational problems have been discussed only to a minor extent in the context of Systems Biology and in particular the shortest signed paths problem requires algorithmic developments. Results We first review algorithms for the enumeration of paths and cycles and show that these algorithms are superior to a recently proposed enumeration approach based on elementary-modes computation. The main part of this work deals with the computation of shortest positive/negative paths, an NP-complete problem for which only very few algorithms are described in the literature. We propose extensions and several new algorithm variants for computing either exact results or approximations. Benchmarks with various concrete biological networks show that exact results can sometimes be obtained in networks with several hundred nodes. A class of even larger graphs can still be treated exactly by a new algorithm combining exhaustive and simple search strategies. For graphs, where the computation of exact solutions becomes time-consuming or infeasible, we devised an approximative algorithm with polynomial complexity. Strikingly, in realistic networks (where a comparison with exact results was possible this algorithm delivered results that are very close or equal to the exact values. This phenomenon can probably be attributed to the particular topology of cellular signaling and regulatory networks which contain a relatively low number of negative feedback loops. Conclusion The calculation of shortest positive
Optimization of educational paths for higher education
Tarasyev, Alexandr A.; Agarkov, Gavriil; Medvedev, Aleksandr
2017-11-01
In our research, we combine the theory of economic behavior and the methodology of increasing efficiency of the human capital to estimate the optimal educational paths. We provide an optimization model for higher education process to analyze possible educational paths for each rational individual. The preferences of each rational individual are compared to the best economically possible educational path. The main factor of the individual choice, which is formed by the formation of optimal educational path, deals with higher salaries level in the chosen economic sector after graduation. Another factor that influences on the economic profit is the reduction of educational costs or the possibility of the budget support for the student. The main outcome of this research consists in correction of the governmental policy of investment in human capital based on the results of educational paths optimal control.
A cost effective topology migration path towards fibre
Phillipson, F.
2013-01-01
If an operator has as starting position a Full Copper topology in which ADSL or VDSL is offered from the Central Office, the next choice he has to make is to provide Full FttH or use an other topology option, e.g. FttCab, first as intermediate step to provide a next generation service package. In this paper we present a gradual topology migration path from Full Copper via FttCab and Hybrid FttH towards Full FttH. We look at the planning issues of this topology migration and the financial impa...
The Japanese energy sector: Current situation, and future paths
International Nuclear Information System (INIS)
Takase, Kae; Suzuki, Tatsujiro
2011-01-01
As the world's third leading economy and a major importer of fuels, the choice of future energy paths and policies that Japan makes in the next few years will have a significant influence on the energy security of the world as a whole, and of the Northeast Asia region in particular. In this article we describe the current status of and recent trends in the Japanese energy sector, including energy demand and supply by fuel and by sector. We then discuss the current energy policy situation in Japan, focusing on policies related to climate change targets, renewable energy development and deployment, liberalization of energy markets, and the evolution of the Japanese nuclear power sector. The final section of the article presents the structure of the Japan LEAP (long-range energy alternatives planning software system) dataset, describes several alternative energy paths for Japan - with an emphasis on alternative paths for nuclear power development and GHG emission abatement - and touches upon key current issues of energy policy facing Japan, as reflected in the modeling inputs and results.
The Japanese energy sector: Current situation, and future paths
Energy Technology Data Exchange (ETDEWEB)
Takase, Kae, E-mail: kae@gdl.jp [Governance Design Laboratory, Inc., 2301 City Tower Bashamichi 5-71 Onoe-cho, Naka-ku, Yokohama, Kanagawa 231-0015 (Japan); Suzuki, Tatsujiro [University of Tokyo, Graduate School of Public Policy, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-0081 (Japan)
2011-11-15
As the world's third leading economy and a major importer of fuels, the choice of future energy paths and policies that Japan makes in the next few years will have a significant influence on the energy security of the world as a whole, and of the Northeast Asia region in particular. In this article we describe the current status of and recent trends in the Japanese energy sector, including energy demand and supply by fuel and by sector. We then discuss the current energy policy situation in Japan, focusing on policies related to climate change targets, renewable energy development and deployment, liberalization of energy markets, and the evolution of the Japanese nuclear power sector. The final section of the article presents the structure of the Japan LEAP (long-range energy alternatives planning software system) dataset, describes several alternative energy paths for Japan - with an emphasis on alternative paths for nuclear power development and GHG emission abatement - and touches upon key current issues of energy policy facing Japan, as reflected in the modeling inputs and results.
Directory of Open Access Journals (Sweden)
2005-11-01
Full Text Available Quasispecies are clouds of genotypes that appear in a population at mutation-selection balance. This concept has recently attracted the attention of virologists, because many RNA viruses appear to generate high levels of genetic variation that may enhance the evolution of drug resistance and immune escape. The literature on these important evolutionary processes is, however, quite challenging. Here we use simple models to link mutation-selection balance theory to the most novel property of quasispecies: the error threshold-a mutation rate below which populations equilibrate in a traditional mutation-selection balance and above which the population experiences an error catastrophe, that is, the loss of the favored genotype through frequent deleterious mutations. These models show that a single fitness landscape may contain multiple, hierarchically organized error thresholds and that an error threshold is affected by the extent of back mutation and redundancy in the genotype-to-phenotype map. Importantly, an error threshold is distinct from an extinction threshold, which is the complete loss of the population through lethal mutations. Based on this framework, we argue that the lethal mutagenesis of a viral infection by mutation-inducing drugs is not a true error catastophe, but is an extinction catastrophe.
International Nuclear Information System (INIS)
Narayanan, R.; Kalavathy, K.R.
1989-01-01
In any nuclear reactor, the start-up channels monitor the neutron flux during the start-up operation and give the alarm signals for safety purposes. Normally, a fission chamber is used as a detector to detect the low level neutron fluxes. The output of the detector after amplification and discrimination is shaped in a pulse shaper to provide constant width, constant height pulses for further processing in rate meters. The shaped pulses also go to a scaler timer, where they are counted for fixed time intervals and the accumulated counts displayed. The scaler timer described in this paper uses LSIs to get at a simple, compact and reliable unit. The design is centered around two LSIs. MOS Counter Timebase LSI type MK 5009P (U1) is used to generate the gating pulses. A 1 MHz crystal is used to generate the system clock. A 4 bit address selects the desired gating intervals of 1 or 10 or 100 seconds. In fact, MK 5009 is a very versatile LSI in a 16 pin DIP package, consisting of a MOS oscillator and divider chain. It is binary encoded for frequency division selection ranging from 1 to 36 x 10. With an input frequency of 1 MHz, MK 5009 provides the time periods of 1 μs to 100 seconds, one minute, ten minute and one hour periods. (author)
A Simple Accelerometer Calibrator
International Nuclear Information System (INIS)
Salam, R A; Islamy, M R F; Khairurrijal; Munir, M M; Latief, H; Irsyam, M
2016-01-01
High possibility of earthquake could lead to the high number of victims caused by it. It also can cause other hazards such as tsunami, landslide, etc. In that case it requires a system that can examine the earthquake occurrence. Some possible system to detect earthquake is by creating a vibration sensor system using accelerometer. However, the output of the system is usually put in the form of acceleration data. Therefore, a calibrator system for accelerometer to sense the vibration is needed. In this study, a simple accelerometer calibrator has been developed using 12 V DC motor, optocoupler, Liquid Crystal Display (LCD) and AVR 328 microcontroller as controller system. The system uses the Pulse Wave Modulation (PWM) form microcontroller to control the motor rotational speed as response to vibration frequency. The frequency of vibration was read by optocoupler and then those data was used as feedback to the system. The results show that the systems could control the rotational speed and the vibration frequencies in accordance with the defined PWM. (paper)
Integrated path towards geological storage
International Nuclear Information System (INIS)
Bouchard, R.; Delaytermoz, A.
2004-01-01
Among solutions to contribute to CO 2 emissions mitigation, sequestration is a promising path that presents the main advantage of being able to cope with the large volume at stake when considering the growing energy demand. Of particular importance, geological storage has widely been seen as an effective solution for large CO 2 sources like power plants or refineries. Many R and D projects have been initiated, whereby research institutes, government agencies and end-users achieve an effective collaboration. So far, progress has been made towards reinjection of CO 2 , in understanding and then predicting the phenomenon and fluid dynamics inside the geological target, while monitoring the expansion of the CO 2 bubble in the case of demonstration projects. A question arises however when talking about sequestration, namely the time scale to be taken into account. Time is indeed of the essence, and points out the need to understand leakage as well as trapping mechanisms. It is therefore of prime importance to be able to predict the fate of the injected fluids, in an accurate manner and over a relevant period of time. On the grounds of geology, four items are involved in geological storage reliability: the matrix itself, which is the recipient of the injected fluids; the seal, that is the mechanistic trap preventing the injected fluids to flow upward and escape; the lower part of the concerned structure, usually an aquifer, that can be a migration way for dissolved fluids; and the man- made injecting hole, the well, whose characteristics should be as good as the geological formation itself. These issues call for specific competencies such as reservoir engineering, geology and hydrodynamics, mineral chemistry, geomechanics, and well engineering. These competencies, even if put to use to a large extent in the oil industry, have never been connected with the reliability of geological storage as ultimate goal. This paper aims at providing an introduction to these
Integrated robust controller for vehicle path following
Energy Technology Data Exchange (ETDEWEB)
Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)
2015-02-15
The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.
Path integral for relativistic particle theory
International Nuclear Information System (INIS)
Fradkin, E.S.; Gitman, D.M.; Shvartsman, Sh.M.
1990-06-01
An action for a relativistic spinning particle interacting with external electromagnetic field is considered in reparametrization and local supergauge invariant form. It is shown that various path integral representations derived for the causal Green function correspond to the different forms of the relativistic particle action. The analogy of the path integral derived with the Lagrangian path integral of the field theory is discussed. It is shown that to obtain the causal propagator, the integration over the null mode of the Lagrangian multiplier corresponding to the reparametrization invariance, has to be performed in the (0,+infinity) limits. (author). 23 refs
Integrated robust controller for vehicle path following
International Nuclear Information System (INIS)
Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi
2015-01-01
The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties
Path-Goal Theory of Leadership
1975-04-01
Leadership and Turnover Among Managers ," Organization Behavior and Human Performance, 10(1973), pp. 184-200; R. J. House, "A Path-Goal Theory of...of Leadership ." 6R. J. House and G. Dessler, "Path-Goal Theory of Leadership " R. M. Stqg- dill. Managers , Employees, Organization (Ohio State...of Control." 23 R. J. House, "Notes on the Path-Goal Theory of Leadership " (University of Toronto, Faculty of Management Studies, May 1974). 24 R