WorldWideScience

Sample records for path planning tool

  1. 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.

  2. Path planning in changeable environments

    NARCIS (Netherlands)

    Nieuwenhuisen, D.

    2007-01-01

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

  3. 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.

  4. A new optimization tool path planning for 3-axis end milling of free-form surfaces based on efficient machining intervals

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    Amol M. Dalavi

    2016-07-01

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

  6. Cooperative path planning of unmanned aerial vehicles

    CERN Document Server

    Tsourdos, Antonios; Shanmugavel, Madhavan

    2010-01-01

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

  7. Integrated assignment and path planning

    Science.gov (United States)

    Murphey, Robert A.

    2005-11-01

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

  8. 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.

  9. Flexible integration of path-planning capabilities

    Science.gov (United States)

    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.

  10. 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.

  11. Cooperative organic mine avoidance path planning

    Science.gov (United States)

    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.

  12. 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.

  13. Path to a Research Plan

    Science.gov (United States)

    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

  14. 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

  15. Path Planning & Measurement Registration for Robotic Structural Asset Monitoring

    OpenAIRE

    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...

  16. 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.

  17. 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.

  18. Path planning algorithms for assembly sequence planning. [in robot kinematics

    Science.gov (United States)

    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.

  19. Robotic Online Path Planning on Point Cloud.

    Science.gov (United States)

    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.

  20. Static and Dynamic Path Planning Using Incremental Heuristic Search

    OpenAIRE

    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...

  1. Climate Action Planning Tool | NREL

    Science.gov (United States)

    NREL's Climate Action Planning Tool provides a quick, basic estimate of how various technology options can contribute to an overall climate action plan for your research campus. Use the tool to Tool Calculation Formulas and Assumptions Climate Neutral Research Campuses Website Climate Neutral

  2. 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.

  3. 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.

  4. 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...

  5. 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.

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

    CERN Document Server

    Fazlollahtabar, Hamed

    2015-01-01

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

  7. 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.

  8. Active Path Planning for Drones in Object Search

    OpenAIRE

    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...

  9. Path Planning Method in Multi-obstacle Marine Environment

    Science.gov (United States)

    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.

  10. 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

  11. Points-Based Safe Path Planning of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Khuram Shahzad

    2015-07-01

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

  12. The Unplanned Paths of Planning Schools.

    Science.gov (United States)

    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…

  13. CPM (Critical Path Method) as a Curriculum Tool.

    Science.gov (United States)

    Mongerson, M. Duane

    This document discusses and illustrates the use of the Critical Path Method (CPM) as a tool for developing curriculum. In so doing a brief review of the evolution of CPM as a management tool developed by E. I. duPont de Nemours Company is presented. It is also noted that CPM is only a method of sequencing learning activities and not an end unto…

  14. Robust Path Planning for Space Exploration Rovers

    Data.gov (United States)

    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...

  15. 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

  16. Aircraft path planning for optimal imaging using dynamic cost functions

    Science.gov (United States)

    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.

  17. Wilmar Planning Tool, VBA documentation

    Energy Technology Data Exchange (ETDEWEB)

    Larsen, Helge V.

    2006-01-15

    This is a documentation of the VBA (Visual Basic for Applications) in the Wilmar Planning Tool. VBA is used in the Wilmar User Shell (an Excel workbook) and in the three Access databases that hold input, scenario and output data. The Wilmar Planning Tool is developed in the project Wind Power Integration in Liberalised Electricity Markets (WILMAR) supported by EU (contract ENK5-CT-2002-00663). The User Shell controls the operation of the Wilmar Planning Tool. In the User Shell various control parameters are set, and then a macro in the Input Database is run that writes input files for the Joint market Model and the Long Term Model. Afterwards these models can be started from the User Shell. Finally, the User Shell can start a macro in the Output Database that imports the output files from the models. (LN)

  18. Wilmar Planning Tool, VBA documentation

    International Nuclear Information System (INIS)

    Larsen, Helge V.

    2006-01-01

    This is a documentation of the VBA (Visual Basic for Applications) in the Wilmar Planning Tool. VBA is used in the Wilmar User Shell (an Excel workbook) and in the three Access databases that hold input, scenario and output data. The Wilmar Planning Tool is developed in the project Wind Power Integration in Liberalised Electricity Markets (WILMAR) supported by EU (contract ENK5-CT-2002-00663). The User Shell controls the operation of the Wilmar Planning Tool. In the User Shell various control parameters are set, and then a macro in the Input Database is run that writes input files for the Joint market Model and the Long Term Model. Afterwards these models can be started from the User Shell. Finally, the User Shell can start a macro in the Output Database that imports the output files from the models. (LN)

  19. Path Planning Algorithms for Autonomous Border Patrol Vehicles

    Science.gov (United States)

    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.

  20. Survey of Robot 3D Path Planning Algorithms

    Directory of Open Access Journals (Sweden)

    Liang Yang

    2016-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

  2. Integrated Wind Power Planning Tool

    DEFF Research Database (Denmark)

    Rosgaard, M. H.; Hahmann, Andrea N.; Nielsen, T. S.

    This poster describes the status as of April 2012 of the Public Service Obligation (PSO) funded project PSO 10464 \\Integrated Wind Power Planning Tool". The project goal is to integrate a meso scale numerical weather prediction (NWP) model with a statistical tool in order to better predict short...... term power variation from off shore wind farms, as well as to conduct forecast error assessment studies in preparation for later implementation of such a feature in an existing simulation model. The addition of a forecast error estimation feature will further increase the value of this tool, as it...

  3. Mission-directed path planning for planetary rover exploration

    Science.gov (United States)

    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

  4. Safe Maritime Autonomous Path Planning in a High Sea State

    Science.gov (United States)

    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.

  5. Pseudo-random tool paths for CNC sub-aperture polishing and other applications.

    Science.gov (United States)

    Dunn, Christina R; Walker, David D

    2008-11-10

    In this paper we first contrast classical and CNC polishing techniques in regard to the repetitiveness of the machine motions. We then present a pseudo-random tool path for use with CNC sub-aperture polishing techniques and report polishing results from equivalent random and raster tool-paths. The random tool-path used - the unicursal random tool-path - employs a random seed to generate a pattern which never crosses itself. Because of this property, this tool-path is directly compatible with dwell time maps for corrective polishing. The tool-path can be used to polish any continuous area of any boundary shape, including surfaces with interior perforations.

  6. Aircraft path planning with the use of smooth trajectories

    Science.gov (United States)

    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.

  7. Robust Path Planning and Feedback Design Under Stochastic Uncertainty

    Science.gov (United States)

    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.

  8. The diagnostic path, a useful visualisation tool in virtual microscopy.

    Science.gov (United States)

    Schrader, Thomas; Niepage, Sonja; Leuthold, Thomas; Saeger, Kai; Schluns, Karsten; Hufnagl, Peter; Kayser, Klaus; Dietel, Manfred

    2006-11-08

    The Virtual Microscopy based on completely digitalised histological slide. Concerning this digitalisation many new features in mircoscopy can be processed by the computer. New applications are possible or old, well known techniques of image analyses can be adapted for routine use. A so called diagnostic path observes in the way of a professional sees through a histological virtual slide combined with the text information of the dictation process. This feature can be used for image retrieval, quality assurance or for educational purpose. The diagnostic path implements a metadata structure of image information. It stores and processes the different images seen by a pathologist during his "slide viewing" and the obtained image sequence ("observation path"). Contemporary, the structural details of the pathology reports were analysed. The results were transferred into an XML structure. Based on this structure, a report editor and a search function were implemented. The report editor compiles the "diagnostic path", which is the connection from the image viewing sequence ("observation path") and the oral report sequence of the findings ("dictation path"). The time set ups of speech and image viewing serve for the link between the two sequences. The search tool uses the obtained diagnostic path. It allows the user to search for particular histological hallmarks in pathology reports and in the corresponding images. The new algorithm was tested on 50 pathology reports and 74 attached histological images. The creation of a new individual diagnostic path is automatically performed during the routine diagnostic process. The test prototype experienced an insignificant prolongation of the diagnosis procedure (oral case description and stated diagnosis by the pathologist) and a fast and reliable retrieval, especially useful for continuous education and quality control of case description and diagnostic work. The Digital Virtual Microscope has been designed to handle 1000 images

  9. The diagnostic path, a useful visualisation tool in virtual microscopy

    Directory of Open Access Journals (Sweden)

    Hufnagl Peter

    2006-11-01

    Full Text Available Abstract Background The Virtual Microscopy based on completely digitalised histological slide. Concerning this digitalisation many new features in mircoscopy can be processed by the computer. New applications are possible or old, well known techniques of image analyses can be adapted for routine use. Aims A so called diagnostic path observes in the way of a professional sees through a histological virtual slide combined with the text information of the dictation process. This feature can be used for image retrieval, quality assurance or for educational purpose. Materials and methods The diagnostic path implements a metadata structure of image information. It stores and processes the different images seen by a pathologist during his "slide viewing" and the obtained image sequence ("observation path". Contemporary, the structural details of the pathology reports were analysed. The results were transferred into an XML structure. Based on this structure, a report editor and a search function were implemented. The report editor compiles the "diagnostic path", which is the connection from the image viewing sequence ("observation path" and the oral report sequence of the findings ("dictation path". The time set ups of speech and image viewing serve for the link between the two sequences. The search tool uses the obtained diagnostic path. It allows the user to search for particular histological hallmarks in pathology reports and in the corresponding images. Results The new algorithm was tested on 50 pathology reports and 74 attached histological images. The creation of a new individual diagnostic path is automatically performed during the routine diagnostic process. The test prototype experienced an insignificant prolongation of the diagnosis procedure (oral case description and stated diagnosis by the pathologist and a fast and reliable retrieval, especially useful for continuous education and quality control of case description and diagnostic work

  10. Image-based path planning for automated virtual colonoscopy navigation

    Science.gov (United States)

    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.

  11. Modeling of tool path for the CNC sheet cutting machines

    Science.gov (United States)

    Petunin, Aleksandr A.

    2015-11-01

    In the paper the problem of tool path optimization for CNC (Computer Numerical Control) cutting machines is considered. The classification of the cutting techniques is offered. We also propose a new classification of toll path problems. The tasks of cost minimization and time minimization for standard cutting technique (Continuous Cutting Problem, CCP) and for one of non-standard cutting techniques (Segment Continuous Cutting Problem, SCCP) are formalized. We show that the optimization tasks can be interpreted as discrete optimization problem (generalized travel salesman problem with additional constraints, GTSP). Formalization of some constraints for these tasks is described. For the solution GTSP we offer to use mathematical model of Prof. Chentsov based on concept of a megalopolis and dynamic programming.

  12. Wilmar Planning Tool, user guide

    Energy Technology Data Exchange (ETDEWEB)

    Larsen, Helge V.

    2006-01-15

    This is a short user guide to the Wilmar Planning Tool developed in the project Wind Power Integration in Liberalised Electricity Markets (WILMAR) supported by EU (Contract No. ENK5-CT-2002-00663). A User Shell implemented in an Excel workbook controls the Wilmar Planning Tool. All data are contained in Access databases that communicate with various sub-models through text files that are exported from or imported to the databases. In the User Shell various scenario variables and control parameters are set, and export of model data from the input database, activation of the models, as well as import of model results to the output database are triggered from the shell. (au)

  13. Wilmar Planning Tool, user guide

    International Nuclear Information System (INIS)

    Larsen, Helge V.

    2006-01-01

    This is a short user guide to the Wilmar Planning Tool developed in the project Wind Power Integration in Liberalised Electricity Markets (WILMAR) supported by EU (Contract No. ENK5-CT-2002-00663). A User Shell implemented in an Excel workbook controls the Wilmar Planning Tool. All data are contained in Access databases that communicate with various sub-models through text files that are exported from or imported to the databases. In the User Shell various scenario variables and control parameters are set, and export of model data from the input database, activation of the models, as well as import of model results to the output database are triggered from the shell. (au)

  14. Tool path strategy and cutting process monitoring in intelligent machining

    Science.gov (United States)

    Chen, Ming; Wang, Chengdong; An, Qinglong; Ming, Weiwei

    2018-06-01

    Intelligent machining is a current focus in advanced manufacturing technology, and is characterized by high accuracy and efficiency. A central technology of intelligent machining—the cutting process online monitoring and optimization—is urgently needed for mass production. In this research, the cutting process online monitoring and optimization in jet engine impeller machining, cranio-maxillofacial surgery, and hydraulic servo valve deburring are introduced as examples of intelligent machining. Results show that intelligent tool path optimization and cutting process online monitoring are efficient techniques for improving the efficiency, quality, and reliability of machining.

  15. Path Planning Algorithms for the Adaptive Sensor Fleet

    Science.gov (United States)

    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.

  16. Tools for Supporting Distributed Agile Project Planning

    Science.gov (United States)

    Wang, Xin; Maurer, Frank; Morgan, Robert; Oliveira, Josyleuda

    Agile project planning plays an important part in agile software development. In distributed settings, project planning is severely impacted by the lack of face-to-face communication and the inability to share paper index cards amongst all meeting participants. To address these issues, several distributed agile planning tools were developed. The tools vary in features, functions and running platforms. In this chapter, we first summarize the requirements for distributed agile planning. Then we give an overview on existing agile planning tools. We also evaluate existing tools based on tool requirements. Finally, we present some practical advices for both designers and users of distributed agile planning tools.

  17. Globally Optimal Path Planning with Anisotropic Running Costs

    Science.gov (United States)

    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

  18. 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

  19. Integrated Wind Power Planning Tool

    DEFF Research Database (Denmark)

    Rosgaard, M. H.; Giebel, Gregor; Nielsen, T. S.

    2012-01-01

    model to be developed in collaboration with ENFOR A/S; a danish company that specialises in forecasting and optimisation for the energy sector. This integrated prediction model will allow for the description of the expected variability in wind power production in the coming hours to days, accounting......This poster presents the current state of the public service obligation (PSO) funded project PSO 10464, with the working title "Integrated Wind Power Planning Tool". The project commenced October 1, 2011, and the goal is to integrate a numerical weather prediction (NWP) model with purely...

  20. Comparative Investigation on Tool Wear during End Milling of AISI H13 Steel with Different Tool Path Strategies

    Science.gov (United States)

    Adesta, Erry Yulian T.; Riza, Muhammad; Avicena

    2018-03-01

    Tool wear prediction plays a significant role in machining industry for proper planning and control machining parameters and optimization of cutting conditions. This paper aims to investigate the effect of tool path strategies that are contour-in and zigzag tool path strategies applied on tool wear during pocket milling process. The experiments were carried out on CNC vertical machining centre by involving PVD coated carbide inserts. Cutting speed, feed rate and depth of cut were set to vary. In an experiment with three factors at three levels, Response Surface Method (RSM) design of experiment with a standard called Central Composite Design (CCD) was employed. Results obtained indicate that tool wear increases significantly at higher range of feed per tooth compared to cutting speed and depth of cut. This result of this experimental work is then proven statistically by developing empirical model. The prediction model for the response variable of tool wear for contour-in strategy developed in this research shows a good agreement with experimental work.

  1. 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.

  2. Shore-based Path Planning for Marine Vehicles Using a Model of Ocean Currents

    Data.gov (United States)

    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...

  3. Path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong

    2016-08-20

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

  4. Robot path planning using expert systems and machine vision

    Science.gov (United States)

    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.

  5. 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...

  6. Open source Modeling and optimization tools for Planning

    Energy Technology Data Exchange (ETDEWEB)

    Peles, S. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2017-02-10

    Open source modeling and optimization tools for planning The existing tools and software used for planning and analysis in California are either expensive, difficult to use, or not generally accessible to a large number of participants. These limitations restrict the availability of participants for larger scale energy and grid studies in the state. The proposed initiative would build upon federal and state investments in open source software, and create and improve open source tools for use in the state planning and analysis activities. Computational analysis and simulation frameworks in development at national labs and universities can be brought forward to complement existing tools. An open source platform would provide a path for novel techniques and strategies to be brought into the larger community and reviewed by a broad set of stakeholders.

  7. Optimized path planning for soft tissue resection via laser vaporization

    Science.gov (United States)

    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.

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

    CERN Document Server

    Bohigas, Oriol; Ros, Lluís

    2017-01-01

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

  9. Visibility-based optimal path and motion planning

    CERN Document Server

    Wang, Paul Keng-Chieh

    2015-01-01

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

  10. 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

  11. 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....

  12. 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)

  13. Program plan recognition for year 2000 tools

    NARCIS (Netherlands)

    A. van Deursen (Arie); S. Woods; A. Quilici

    1997-01-01

    textabstractThere are many commercial tools that address various aspects of the Year 2000 problem. None of these tools, however, make any documented use of plan-based techniques for automated concept recovery. This implies a general perception that plan-based techniques is not useful for this

  14. Planning Tool for Strategic Evaluation of Facility Plans - 13570

    Energy Technology Data Exchange (ETDEWEB)

    Magoulas, Virginia; Cercy, Michael [Savannah River National Laboratory, Savannah River Site, Aiken, SC 29808 (United States); Hall, Irin [Newport News Shipbuilding, 4101 Washington Ave., Newport News, VA 23607 (United States)

    2013-07-01

    Savannah River National Laboratory (SRNL) has developed a strategic planning tool for the evaluation of the utilization of its unique resources for processing and research and development of nuclear materials. The Planning Tool is a strategic level tool for assessing multiple missions that could be conducted utilizing the SRNL facilities and showcasing the plan. Traditional approaches using standard scheduling tools and laying out a strategy on paper tended to be labor intensive and offered either a limited or cluttered view for visualizing and communicating results. A tool that can assess the process throughput, duration, and utilization of the facility was needed. SRNL teamed with Newport News Shipbuilding (NNS), a division of Huntington Ingalls Industries, to create the next generation Planning Tool. The goal of this collaboration was to create a simulation based tool that allows for quick evaluation of strategies with respect to new or changing missions, and clearly communicates results to the decision makers. This tool has been built upon a mature modeling and simulation software previously developed by NNS. The Planning Tool provides a forum for capturing dependencies, constraints, activity flows, and variable factors. It is also a platform for quickly evaluating multiple mission scenarios, dynamically adding/updating scenarios, generating multiple views for evaluating/communicating results, and understanding where there are areas of risks and opportunities with respect to capacity. The Planning Tool that has been developed is useful in that it presents a clear visual plan for the missions at the Savannah River Site (SRS). It not only assists in communicating the plans to SRS corporate management, but also allows the area stakeholders a visual look at the future plans for SRS. The design of this tool makes it easily deployable to other facility and mission planning endeavors. (authors)

  15. Planning Tool for Strategic Evaluation of Facility Plans - 13570

    International Nuclear Information System (INIS)

    Magoulas, Virginia; Cercy, Michael; Hall, Irin

    2013-01-01

    Savannah River National Laboratory (SRNL) has developed a strategic planning tool for the evaluation of the utilization of its unique resources for processing and research and development of nuclear materials. The Planning Tool is a strategic level tool for assessing multiple missions that could be conducted utilizing the SRNL facilities and showcasing the plan. Traditional approaches using standard scheduling tools and laying out a strategy on paper tended to be labor intensive and offered either a limited or cluttered view for visualizing and communicating results. A tool that can assess the process throughput, duration, and utilization of the facility was needed. SRNL teamed with Newport News Shipbuilding (NNS), a division of Huntington Ingalls Industries, to create the next generation Planning Tool. The goal of this collaboration was to create a simulation based tool that allows for quick evaluation of strategies with respect to new or changing missions, and clearly communicates results to the decision makers. This tool has been built upon a mature modeling and simulation software previously developed by NNS. The Planning Tool provides a forum for capturing dependencies, constraints, activity flows, and variable factors. It is also a platform for quickly evaluating multiple mission scenarios, dynamically adding/updating scenarios, generating multiple views for evaluating/communicating results, and understanding where there are areas of risks and opportunities with respect to capacity. The Planning Tool that has been developed is useful in that it presents a clear visual plan for the missions at the Savannah River Site (SRS). It not only assists in communicating the plans to SRS corporate management, but also allows the area stakeholders a visual look at the future plans for SRS. The design of this tool makes it easily deployable to other facility and mission planning endeavors. (authors)

  16. Alternative D and D Planning Tool - 12466

    Energy Technology Data Exchange (ETDEWEB)

    Starling, D.A.; Schubert, A.L.; Bergener, T.W. [URS - CH2M Oak Ridge LLC, P.O. Box 4699, Oak Ridge, Tennessee 37831-7293 (United States)

    2012-07-01

    On August 1, 2011, URS - CH2M Oak Ridge LLC (UCOR) began cleanup of the East Tennessee Technology Park (ETTP). UCOR's $2.2 billion contract has an initial five-year term and a four-year option period for completing the cleanup of ETTP and performing surveillance and maintenance and waste management operations at both the Oak Ridge National Laboratory and the Y-12 National Security Complex. ETTP D and D work includes disposition of large, complex, contaminated, Manhattan Project-era facilities such as the K-25 and K-27 uranium enrichment facilities. At ETTP, UCOR views the D and D process as a 'Waste Factory' with waste production lines from the point-of-generation to the point-of-disposal. Safely transforming vertically-standing buildings into horizontally-lying waste in a disposal facility is the primary cleanup objective. Whereas a factory produces widgets, D and D produces waste-lots of waste. In support of the Waste Factory view, UCOR is developing a systems planning tool to help better plan how to effect cleanup by improving waste planning, uniting waste generator with waste dis-positioner, and represent the 'waste factory' in a computer model that allows the D and D and waste management teams to better understand available disposal paths, waste uncertainties and potential consequences, driving variables, and sensitivity to changes. Any model of reality represents a compromise. Part of the Waste Factory Model's value may be in providing standardization and relative direction for assisting decision making as opposed to absolute cost or schedule answers. From that relative direction, management can commission detailed planning and estimating. Also, the model's output credibility is tied directly to its input quality. That is why, as discussed above, the Waste Factory Model's key informational component will be the standardized waste streams (e.g., Structure/Debris disposed at EMWMF) and associated standardized unit costs

  17. 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

  18. 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.

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

    Directory of Open Access Journals (Sweden)

    Kaijun Zhou

    2017-09-01

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

  20. Quality Assurance Project Plan Development Tool

    Science.gov (United States)

    This tool contains information designed to assist in developing a Quality Assurance (QA) Project Plan that meets EPA requirements for projects that involve surface or groundwater monitoring and/or the collection and analysis of water samples.

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

    Science.gov (United States)

    Keller, James F.

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

  2. Creating Helical Tool Paths for Single Point Incremental Forming

    DEFF Research Database (Denmark)

    Skjødt, Martin; Hancock, Michael H.; Bay, Niels

    2007-01-01

    Single point incremental forming (SPIF) is a relatively new sheet forming process. A sheet is clamped in a rig and formed incrementally using a rotating single point tool in the form of a rod with a spherical end. The process is often performed on a CNC milling machine and the tool movement...

  3. 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.

  4. Cooperative path planning for multi-USV based on improved artificial bee colony algorithm

    Science.gov (United States)

    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.

  5. 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.

  6. Tool for Military Logistics Planning of Peace Support Operations: The OTAS Planning Tool

    NARCIS (Netherlands)

    Merrienboer, S.A. van

    1998-01-01

    Within the research group Operations Research Studies Army of the TNO Physics and Electronics Laboratory the OTAS planning tool is developed for the Royal Netherlands Armed Forces. This paper gives a general and brief description of the tool.

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

    Science.gov (United States)

    Wang, Yong; Zhou, Heng; Wang, Ying

    2017-08-01

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

  8. Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

    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.

  9. Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

    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.

  10. 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.

  11. 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.

  12. Development of a transportation planning tool

    International Nuclear Information System (INIS)

    Funkhouser, B.R.; Moyer, J.W.; Ballweg, E.L.

    1994-01-01

    This paper describes the application of simulation modeling and logistics techniques to the development of a planning tool for the Department of Energy (DOE). The focus of the Transportation Planning Model (TPM) tool is to aid DOE and Sandia analysts in the planning of future fleet sizes, driver and support personnel sizes, base site locations, and resource balancing among the base sites. The design approach is to develop a rapid modeling environment which will allow analysts to easily set up a shipment scenario and perform multiple ''what if'' evaluations. The TPM is being developed on personal computers using commercial off-the shelf (COTS) software tools under the WINDOWS reg-sign operating environment. Prototype development of the TPM has been completed

  13. Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

    Science.gov (United States)

    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.

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

    Science.gov (United States)

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

    2016-05-01

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

  15. Path planning in uncertain flow fields using ensemble method

    KAUST Repository

    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

  16. Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

    Hameed, Ibahim

    2014-01-01

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

  18. Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Pablo Marin-Plaza

    2018-01-01

    Full Text Available The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB in real research platform based on Ackermann model. Moreover, it will be proved that all modules related to the navigation can coexist and work together to achieve the goal point without any collision. The study is done by analyzing the trajectory generated from global and local planners. The software prototyping tool is Robot Operating System (ROS from Open Source Robotics Foundation and the research platform is the iCab (Intelligent Campus Automobile from University Carlos III. This work has been validated from a test inside the campus where the iCab has performed the navigation between the starting point and the goal point without any collision. During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration and constraints.

  19. A TOOL FOR PLANNING AERIAL PHOTOGRAPHY

    Science.gov (United States)

    abstract The U.S. EPAs Pacific Coastal Ecology Branch has developed a tool in the form of an Excel. spreadsheet that facilitates planning aerial photography missions. The spreadsheet accepts various input parameters such as desired photo-scale and boundary coordinates of the stud...

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

    Science.gov (United States)

    Jung, Dongwon

    2007-12-01

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

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

    National Research Council Canada - National Science Library

    Hurezeanu, Vlad

    2000-01-01

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

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

    KAUST Repository

    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

  3. 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.

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

    KAUST Repository

    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

  5. 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.

  6. Positioning as a Strategic Marketing Planning Tool

    OpenAIRE

    Lhotáková, Markéta

    2001-01-01

    Positioning is an important tool of marketing planning and brand building on the market. Positionig is a streategy that helps marketers to differentiate the brand from those of competition and creaete unique brand perception in minds of target consumers. In a proces of positioning development four core elements must be defined and analyzed -- target consumer, unique consumer benefit which brand offeres to the target consumer, brand and its brand equity and competitors from whom we want to dif...

  7. Reasoning on the Self-Organizing Incremental Associative Memory for Online Robot Path Planning

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    Domokos Kiss

    2017-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

  10. Three-Dimensional Path Planning Software-Assisted Transjugular Intrahepatic Portosystemic Shunt: A Technical Modification

    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.

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

    Science.gov (United States)

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

    2013-01-01

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

  12. Synchronous method and engineering tool for the strategic factory planning

    OpenAIRE

    Abdul Rahman, O.; Jaeger, J.; Constantinescu, C.

    2011-01-01

    This paper presents the approach to combine two reference methods and engineering tools, for "Factory Performance and Investment Planning«as well as "Value Added Ideal Production Network Planning". The resulted synchronous method aims to support factories in the strategic planning as well as in the network planning. The corresponding engineering tool is employed for assessment planning, sales planning, capacity planning and production costs planning under the consideration of dynamic and stoc...

  13. ASPECTS REGARDING THE OPTIMUM CUTTING TOOL PATH IN PROCESSING FREE-FORM

    Directory of Open Access Journals (Sweden)

    Florin CHIFAN

    2014-11-01

    Full Text Available This paper describes an approach on tool paths optimization in CAM-type software for milling free forms, with the goal to improve efficiency in processing using CNC machine tools. The methodology proposed in this paper, tackles the problem of mechanical processing in 3 axes using ball nose milling cutters of small diameters, which follows a free form profile. I will consider two cases: the first one considers the ball nose end mill route on a free form with an angle of less than 30°, the second one with a tool path greater than 30°. The main objective of this paper is to determine the optimum angle in order to obtain a better surface roughness, a shorter time of processing and also a higher tool-life, all these by considering all other factors that occurs in the manufacturing process. This will be done by indicating and editing the tool path so that the tools will the minimum entries and exits on the surface of the piece. This will lead to a 10% decrease of the working time.

  14. 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.

  15. Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information

    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.

  16. Comparison of tool feed influence in CNC polishing between a novel circular-random path and other pseudo-random paths.

    Science.gov (United States)

    Takizawa, Ken; Beaucamp, Anthony

    2017-09-18

    A new category of circular pseudo-random paths is proposed in order to suppress repetitive patterns and improve surface waviness on ultra-precision polished surfaces. Random paths in prior research had many corners, therefore deceleration of the polishing tool affected the surface waviness. The new random path can suppress velocity changes of the polishing tool and thus restrict degradation of the surface waviness, making it suitable for applications with stringent mid-spatial-frequency requirements such as photomask blanks for EUV lithography.

  17. A novel approach for multiple mobile objects path planning: Parametrization method and conflict resolution strategy

    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.

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

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-04-01

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

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

    Science.gov (United States)

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

    2018-02-11

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

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

    Science.gov (United States)

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

    2018-01-01

    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

  1. ESHOPPS: A COMPUTATIONAL TOOL TO AID THE TEACHING OF SHORTEST PATH ALGORITHMS

    Directory of Open Access Journals (Sweden)

    S. J. de A. LIMA

    2015-07-01

    Full Text Available The development of a computational tool called EShoPPS – Environment for Shortest Path Problem Solving, which is used to assist students in understanding the working of Dijkstra, Greedy search and A*(star algorithms is presented in this paper. Such algorithms are commonly taught in graduate and undergraduate courses of Engineering and Informatics and are used for solving many optimization problems that can be characterized as Shortest Path Problem. The EShoPPS is an interactive tool that allows students to create a graph representing the problem and also helps in developing their knowledge of each specific algorithm. Experiments performed with 155 students of undergraduate and graduate courses such as Industrial Engineering, Computer Science and Information Systems have shown that by using the EShoPPS tool students were able to improve their interpretation of investigated algorithms.

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

    Science.gov (United States)

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

    2017-01-01

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

  3. 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.

  4. Strategy for robot motion and path planning in robot taping

    Science.gov (United States)

    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.

  5. A chord error conforming tool path B-spline fitting method for NC machining based on energy minimization and LSPIA

    OpenAIRE

    He, Shanshan; Ou, Daojiang; Yan, Changya; Lee, Chen-Han

    2015-01-01

    Piecewise linear (G01-based) tool paths generated by CAM systems lack G1 and G2 continuity. The discontinuity causes vibration and unnecessary hesitation during machining. To ensure efficient high-speed machining, a method to improve the continuity of the tool paths is required, such as B-spline fitting that approximates G01 paths with B-spline curves. Conventional B-spline fitting approaches cannot be directly used for tool path B-spline fitting, because they have shortages such as numerical...

  6. The Waypoint Planning Tool: Real Time Flight Planning for Airborne Science

    Science.gov (United States)

    He, M.; Goodman, H. M.; Blakeslee, R.; Hall, J. M.

    2010-12-01

    NASA Earth science research utilizes both spaceborne and airborne real time observations in the planning and operations of its field campaigns. The coordination of air and space components is critical to achieve the goals and objectives and ensure the success of an experiment. Spaceborne imagery provides regular and continual coverage of the Earth and it is a significant component in all NASA field experiments. Real time visible and infrared geostationary images from GOES satellites and multi-spectral data from the many elements of the NASA suite of instruments aboard the TRMM, Terra, Aqua, Aura, and other NASA satellites have become norm. Similarly, the NASA Airborne Science Program draws upon a rich pool of instrumented aircraft. The NASA McDonnell Douglas DC-8, Lockheed P3 Orion, DeHavilland Twin Otter, King Air B200, Gulfstream-III are all staples of a NASA’s well-stocked, versatile hangar. A key component in many field campaigns is coordinating the aircraft with satellite overpasses, other airplanes and the constantly evolving, dynamic weather conditions. Given the variables involved, developing a good flight plan that meets the objectives of the field experiment can be a challenging and time consuming task. Planning a research aircraft mission within the context of meeting the science objectives is complex task because it is much more than flying from point A to B. Flight plans typically consist of flying a series of transects or involve dynamic path changes when “chasing” a hurricane or forest fire. These aircraft flight plans are typically designed by the mission scientists then verified and implemented by the navigator or pilot. Flight planning can be an arduous task requiring frequent sanity checks by the flight crew. This requires real time situational awareness of the weather conditions that affect the aircraft track. Scientists at the University of Alabama-Huntsville and the NASA Marshall Space Flight Center developed the Waypoint Planning Tool

  7. An Interactive Simulation Tool for Production Planning in Bacon Factories

    DEFF Research Database (Denmark)

    Nielsen, Jens Frederik Dalsgaard; Nielsen, Kirsten Mølgaard

    1994-01-01

    The paper describes an interactive simulation tool for production planning in bacon factories. The main aim of the tool is to make it possible to combine the production plans of all parts of the factory......The paper describes an interactive simulation tool for production planning in bacon factories. The main aim of the tool is to make it possible to combine the production plans of all parts of the factory...

  8. Adaptive scallop height tool path generation for robot-based incremental sheet metal forming

    Science.gov (United States)

    Seim, Patrick; Möllensiep, Dennis; Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

    2016-10-01

    Incremental sheet metal forming is an emerging process for the production of individualized products or prototypes in low batch sizes and with short times to market. In these processes, the desired shape is produced by the incremental inward motion of the workpiece-independent forming tool in depth direction and its movement along the contour in lateral direction. Based on this shape production, the tool path generation is a key factor on e.g. the resulting geometric accuracy, the resulting surface quality, and the working time. This paper presents an innovative tool path generation based on a commercial milling CAM package considering the surface quality and working time. This approach offers the ability to define a specific scallop height as an indicator of the surface quality for specific faces of a component. Moreover, it decreases the required working time for the production of the entire component compared to the use of a commercial software package without this adaptive approach. Different forming experiments have been performed to verify the newly developed tool path generation. Mainly, this approach serves to solve the existing conflict of combining the working time and the surface quality within the process of incremental sheet metal forming.

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

    Science.gov (United States)

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

    2010-07-01

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

  10. Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

    2017-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Imen Chaari

    2017-03-01

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

  13. Ongoing development of digital radiotherapy plan review tools

    International Nuclear Information System (INIS)

    Ebert, M.A.; Hatton, J.; Cornes, D.

    2011-01-01

    Full text: To describe ongoing development of software to support the review of radiotherapy treatment planning system (TPS) data. The 'SWAN' software program was conceived in 2000 and initially developed for the RADAR (TROG 03.04) prostate radiotherapy trial. Validation of the SWAN program has been occurring via implementation by TROG in support of multiple clinical trials. Development has continued and the SWAN software program is now supported by modular components which comprise the 'SW AN system'. This provides a comprehensive set of tools for the review, analysis and archive of TPS exports. The SWAN system has now been used in support of over 20 radiotherapy trials and to review the plans of over 2,000 trial participants. The use of the system for the RADAR trial is now culminating in the derivation of dose-outcomes indices for prostate treatment toxicity. Newly developed SWAN tools include enhanced remote data archive/retrieval, display of dose in both relative and absolute modes, and interfacing to a Matlab-based add-on ('VAST') that allows quantitative analysis of delineated volumes including regional overlap statistics for multi-observer studies. Efforts are continuing to develop the SWAN system in the context of international collaboration aimed at harmonising the quality-assurance activities of collaborative trials groups. Tools such as the SWAN system are essential for ensuring the collection of accurate and reliable evidence to guide future radiotherapy treatments. One of the principal challenges of developing such a tool is establishing a development path that will ensure its validity and applicability well into the future.

  14. 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.

  15. Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb

    Science.gov (United States)

    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.

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

    Science.gov (United States)

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

    2011-01-01

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

  17. Springback effects during single point incremental forming: Optimization of the tool path

    Science.gov (United States)

    Giraud-Moreau, Laurence; Belchior, Jérémy; Lafon, Pascal; Lotoing, Lionel; Cherouat, Abel; Courtielle, Eric; Guines, Dominique; Maurine, Patrick

    2018-05-01

    Incremental sheet forming is an emerging process to manufacture sheet metal parts. This process is more flexible than conventional one and well suited for small batch production or prototyping. During the process, the sheet metal blank is clamped by a blank-holder and a small-size smooth-end hemispherical tool moves along a user-specified path to deform the sheet incrementally. Classical three-axis CNC milling machines, dedicated structure or serial robots can be used to perform the forming operation. Whatever the considered machine, large deviations between the theoretical shape and the real shape can be observed after the part unclamping. These deviations are due to both the lack of stiffness of the machine and residual stresses in the part at the end of the forming stage. In this paper, an optimization strategy of the tool path is proposed in order to minimize the elastic springback induced by residual stresses after unclamping. A finite element model of the SPIF process allowing the shape prediction of the formed part with a good accuracy is defined. This model, based on appropriated assumptions, leads to calculation times which remain compatible with an optimization procedure. The proposed optimization method is based on an iterative correction of the tool path. The efficiency of the method is shown by an improvement of the final shape.

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

    Science.gov (United States)

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

    2017-07-20

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

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

    Science.gov (United States)

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

    2015-01-01

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

  20. Hybrid path planning for non-holonomic autonomous vehicles: An experimental evaluation

    NARCIS (Netherlands)

    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

  1. Solving the empty space problem in robot path planning by mathematical morphology

    NARCIS (Netherlands)

    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

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

    DEFF Research Database (Denmark)

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

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

  3. Energy-Aware Path Planning for UAS Persistent Sampling and Surveillance

    Science.gov (United States)

    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.

  4. Enhancing Cassini Operations & Science Planning Tools

    Science.gov (United States)

    Castello, Jonathan

    2012-01-01

    The Cassini team uses a variety of software utilities as they manage and coordinate their mission to Saturn. Most of these tools have been unchanged for many years, and although stability is a virtue for long-lived space missions, there are some less-fragile tools that could greatly benefit from modern improvements. This report shall describe three such upgrades, including their architectural differences and their overall impact. Emphasis is placed on the motivation and rationale behind architectural choices rather than the final product, so as to illuminate the lessons learned and discoveries made.These three enhancements included developing a strategy for migrating Science Planning utilities to a new execution model, rewriting the team's internal portal for ease of use and maintenance, and developing a web-based agenda application for tracking the sequence of files being transmitted to the Cassini spacecraft. Of this set, the first two have been fully completed, while the agenda application is currently in the early prototype stage.

  5. 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.

  6. 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.

  7. 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.

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

    Science.gov (United States)

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

    2017-07-11

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

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

    Directory of Open Access Journals (Sweden)

    Jose Luis Blanco

    2015-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Wenyu Cai

    2017-07-01

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

  12. 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.

  13. Validation of RetroPath, a computer-aided design tool for metabolic pathway engineering.

    Science.gov (United States)

    Fehér, Tamás; Planson, Anne-Gaëlle; Carbonell, Pablo; Fernández-Castané, Alfred; Grigoras, Ioana; Dariy, Ekaterina; Perret, Alain; Faulon, Jean-Loup

    2014-11-01

    Metabolic engineering has succeeded in biosynthesis of numerous commodity or high value compounds. However, the choice of pathways and enzymes used for production was many times made ad hoc, or required expert knowledge of the specific biochemical reactions. In order to rationalize the process of engineering producer strains, we developed the computer-aided design (CAD) tool RetroPath that explores and enumerates metabolic pathways connecting the endogenous metabolites of a chassis cell to the target compound. To experimentally validate our tool, we constructed 12 top-ranked enzyme combinations producing the flavonoid pinocembrin, four of which displayed significant yields. Namely, our tool queried the enzymes found in metabolic databases based on their annotated and predicted activities. Next, it ranked pathways based on the predicted efficiency of the available enzymes, the toxicity of the intermediate metabolites and the calculated maximum product flux. To implement the top-ranking pathway, our procedure narrowed down a list of nine million possible enzyme combinations to 12, a number easily assembled and tested. One round of metabolic network optimization based on RetroPath output further increased pinocembrin titers 17-fold. In total, 12 out of the 13 enzymes tested in this work displayed a relative performance that was in accordance with its predicted score. These results validate the ranking function of our CAD tool, and open the way to its utilization in the biosynthesis of novel compounds. Copyright © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Task path planning, scheduling and learning for free-ranging robot systems

    Science.gov (United States)

    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.

  15. 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)

  16. Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

    OpenAIRE

    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...

  17. 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.

  18. 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.

  19. A novel algorithm for solving optimal path planning problems based on parametrization method and fuzzy aggregation

    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.

  20. QUALITY FUNCTION DEPLOYMENT AS A STRATEGIC PLANNING TOOL

    OpenAIRE

    DEVRİM İÇTENBAŞ, Burcu; ERYILMAZ, Hande

    2011-01-01

    Quality Function Deployment (QFD) uses a house of quality to translate customer requirements into engineering specifications. QFD has been widely used as a tool to develop new products. It has been adopted in the fields of education quality, service quality, software development and marketing planning. The tool has recently been applied in strategic planning .In this study authors reviewed current research which uses QFD as a strategic planning tool and described how QFD methods can be ...

  1. Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators

    Science.gov (United States)

    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.

  2. 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.

  3. Optimal path planning for a mobile robot using cuckoo search algorithm

    Science.gov (United States)

    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.

  4. 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.

  5. An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage

    OpenAIRE

    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 ...

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

    Directory of Open Access Journals (Sweden)

    Zhou Feng

    2013-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

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

  8. Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

    Science.gov (United States)

    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.

  9. Optimization of IBF parameters based on adaptive tool-path algorithm

    Science.gov (United States)

    Deng, Wen Hui; Chen, Xian Hua; Jin, Hui Liang; Zhong, Bo; Hou, Jin; Li, An Qi

    2018-03-01

    As a kind of Computer Controlled Optical Surfacing(CCOS) technology. Ion Beam Figuring(IBF) has obvious advantages in the control of surface accuracy, surface roughness and subsurface damage. The superiority and characteristics of IBF in optical component processing are analyzed from the point of view of removal mechanism. For getting more effective and automatic tool path with the information of dwell time, a novel algorithm is proposed in this thesis. Based on the removal functions made through our IBF equipment and the adaptive tool-path, optimized parameters are obtained through analysis the residual error that would be created in the polishing process. A Φ600 mm plane reflector element was used to be a simulation instance. The simulation result shows that after four combinations of processing, the surface accuracy of PV (Peak Valley) value and the RMS (Root Mean Square) value was reduced to 4.81 nm and 0.495 nm from 110.22 nm and 13.998 nm respectively in the 98% aperture. The result shows that the algorithm and optimized parameters provide a good theoretical for high precision processing of IBF.

  10. Critical path method as the criterion for optimization of business planning process

    OpenAIRE

    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...

  11. MPGT - THE MISSION PLANNING GRAPHICAL TOOL

    Science.gov (United States)

    Jeletic, J. F.

    1994-01-01

    The Mission Planning Graphical Tool (MPGT) provides mission analysts with a mouse driven graphical representation of the spacecraft and environment data used in spaceflight planning. Developed by the Flight Dynamics Division at NASA's Goddard Space Flight Center, MPGT is designed to be a generic tool that can be configured to analyze any specified earth orbiting spacecraft mission. The data is presented as a series of overlays on top of a 2-dimensional or 3-dimensional projection of the earth. Up to six spacecraft orbit tracks can be drawn at one time. Position data can be obtained by either an analytical process or by use of ephemeris files. If the user chooses to propagate the spacecraft orbit using an ephemeris file, then Goddard Trajectory Determination System (GTDS) formatted ephemeris files must be supplied. The MPGT User's Guide provides a complete description of the GTDS ephemeris file format so that users can create their own. Other overlays included are ground station antenna masks, solar and lunar ephemeris, Tracking Data and Relay Satellite System (TDRSS) coverage, a field-of-view swath, and orbit number. From these graphical representations an analyst can determine such spacecraft-related constraints as communication coverage, interference zone infringement, sunlight availability, and instrument target visibility. The presentation of time and geometric data as graphical overlays on a world map makes possible quick analyses of trends and time-oriented parameters. For instance, MPGT can display the propagation of the position of the Sun and Moon over time, shadowing of sunrise/sunset terminators to indicate spacecraft and Earth day/night, and color coding of the spacecraft orbit tracks to indicate spacecraft day/night. With the 3-dimensional display, the user specifies a vector that represents the position in the universe from which the user wishes to view the earth. From these "viewpoint" parameters the user can zoom in on or rotate around the earth

  12. A Revenue Planning Tool for Charter School Operators

    Science.gov (United States)

    Keller, Eric; Hayes, Cheryl D.

    2009-01-01

    This revenue planning tool aims to help charter school operators develop a sound revenue base that can meet their school's current and future funding needs. It helps identify and assess potential public (federal, state, and local) and private funding sources. The tool incorporates a four-step revenue planning process which includes: (1)…

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

    Science.gov (United States)

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

    2012-01-01

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

  14. Integrated flight path planning system and flight control system for unmanned helicopters.

    Science.gov (United States)

    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).

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

    Science.gov (United States)

    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

  16. Robust path planning for flexible needle insertion using Markov decision processes.

    Science.gov (United States)

    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.

  17. Autonomously Implemented Versatile Path Planning for Mobile Robots Based on Cellular Automata and Ant Colony

    Directory of Open Access Journals (Sweden)

    Adel Akbarimajd

    2012-02-01

    Full Text Available A path planning method for mobile robots based on two dimensional cellular automata is proposed. The method can be applied for environments with both concave and convex obstacles. It is also appropriate for multi-robot problems as well as dynamic environments. In order to develop the planning method, environment of the robot is decomposed to a rectangular grid and the automata is defined with four states including Robot cell, Free cell, Goal cell and Obstacle cell. Evolution rules of automata are proposed in order to direct the robot toward its goal. CA based path planner method is afterwards modified by a colony technique to be applicable for concave obstacles. Then a layered architecture is proposed to autonomously implement the planning algorithm. The architecture employs an abstraction approach which makes the complexity manageable. An important feature of the architecture is internal artifacts that have some beliefs about the world. Most actions of the robot are planned and performed with respect to these artifacts.

  18. An Improved Ant Colony Algorithm for Solving the Path Planning Problem of the Omnidirectional Mobile Vehicle

    Directory of Open Access Journals (Sweden)

    Jiang Zhao

    2016-01-01

    Full Text Available This paper presents an improved ant colony algorithm for the path planning of the omnidirectional mobile vehicle. The purpose of the improved ant colony algorithm is to design an appropriate route to connect the starting point and ending point of the environment with obstacles. Ant colony algorithm, which is used to solve the path planning problem, is improved according to the characteristics of the omnidirectional mobile vehicle. And in the improved algorithm, the nonuniform distribution of the initial pheromone and the selection strategy with direction play a very positive role in the path search. The coverage and updating strategy of pheromone is introduced to avoid repeated search reducing the effect of the number of ants on the performance of the algorithm. In addition, the pheromone evaporation coefficient is segmented and adjusted, which can effectively balance the convergence speed and search ability. Finally, this paper provides a theoretical basis for the improved ant colony algorithm by strict mathematical derivation, and some numerical simulations are also given to illustrate the effectiveness of the theoretical results.

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

    Directory of Open Access Journals (Sweden)

    Vahid Behravesh

    2012-08-01

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

  20. A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.

    Science.gov (United States)

    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.

  1. A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

    Science.gov (United States)

    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.

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

    KAUST Repository

    Wang, Tong

    2016-01-06

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

  3. PathScore: a web tool for identifying altered pathways in cancer data.

    Science.gov (United States)

    Gaffney, Stephen G; Townsend, Jeffrey P

    2016-12-01

    PathScore quantifies the level of enrichment of somatic mutations within curated pathways, applying a novel approach that identifies pathways enriched across patients. The application provides several user-friendly, interactive graphic interfaces for data exploration, including tools for comparing pathway effect sizes, significance, gene-set overlap and enrichment differences between projects. Web application available at pathscore.publichealth.yale.edu. Site implemented in Python and MySQL, with all major browsers supported. Source code available at: github.com/sggaffney/pathscore with a GPLv3 license. stephen.gaffney@yale.edu. © The Author 2016. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

  4. Enroute flight-path planning - Cooperative performance of flight crews and knowledge-based systems

    Science.gov (United States)

    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.

  5. Visibility-Based Goal Oriented Metrics and Application to Navigation and Path Planning Problems

    Science.gov (United States)

    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

  6. Documentation of databases in the Wilmar Planning tool

    International Nuclear Information System (INIS)

    Kiviluioma, J.; Meimbom, P.

    2006-01-01

    The Wilmar Planning tool consists of a number of databases and models as shown in Figure 1. This report documents the design of the following subparts of the Wilmar Planning tool: 1. The Scenario database holding the scenario trees generated from the Scenario Tree Creation model. 2. The Input database holding input data to the Joint Market model and the Long-term model apart from the scenario trees. 3. The output database containing the results of a Joint Market model run. The Wilmar Planning Tool is developed in the project Wind Power Integration in Liberalised Electricity Markets (WILMAR) supported by EU (contract ENK5-CT-2002-00663). (LN)

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

    Science.gov (United States)

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

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

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

    Science.gov (United States)

    Wei, Kun; Ren, Bingyin

    2018-02-13

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

  9. An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning

    Directory of Open Access Journals (Sweden)

    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.

  10. Effect of Tool-Path on Morphology and Mechanical Properties of Ti-6Al-4V Fabricated by Wire and Arc Additive Manufacturing

    Directory of Open Access Journals (Sweden)

    Fu Jie

    2017-01-01

    Full Text Available Ti-6Al-4V components are widely used in aerospace industry. However, it’s not economic to manufacture them in traditional subtractive methods. Wire and arc additive manufacturing (WAAM is a promising alternative technology for fabricating it efficiently and economically. Tool-path planning strategy is a very important step in WAAM process. This paper investigated the influence of the lap way between layers and layers in tool-path on the Ti-6Al-4V samples fabricated by WAAM. It has been found that the lap way between layers and layers in tool-path do influence the forming quality and especially mechanical properties of the fabricated samples. Samples have different surface quality (smooth or undulating and defects inside or on the surface of the components. The highest and smallest ultra tensile strength of the fabricated samples are respectively 907.86 MPa, 684.82 MPa. But it has few effect on the grains of the fabricated samples, and they all have cross-sectional columnar grains.

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

    Science.gov (United States)

    Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando

    2017-08-15

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

  12. Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions.

    Science.gov (United States)

    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.

  13. Optimal path planning for single and multiple aircraft using a reduced order formulation

    Science.gov (United States)

    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.

  14. A Decision Support Tool For Thrift Savings Plan Investors

    National Research Council Canada - National Science Library

    Blanchette, Christopher

    2004-01-01

    .... These funds give investors the opportunity to diversify among a wide range of securities. This thesis examines the funds offered by the plan and creates a portfolio selection tool that uses investor inputs...

  15. Planning for Action: Campaign Concepts and Tools

    Science.gov (United States)

    2012-08-01

    painting that gets the creative juices flowing. Campaign planning is an art, but some of the science of tactics, techniques, and practices (TTP) can help...Designation of the reserve, including its location and composition .  Reconnaissance and security operations.  Essential stability tasks...measurable, collectable, and relevant to a specific time. Examples of indicators include bushels of apples sold in a specific market in the past

  16. Technical Paper on Physical Planning and Monitoring Tools

    DEFF Research Database (Denmark)

    Vagnby, Bo Hellisen

    and maintenance of such buildings.    Further, the paper outlines a number of physical planning and building tools to guide future planning and design development, and it suggests a range of action-oriented operational evaluation studies in order to improve the physical learning environment....

  17. A Spreadsheet-based GIS tool for planning aerial photography

    Science.gov (United States)

    The U.S.EPA's Pacific Coastal Ecology Branch has developed a tool which facilitates planning aerial photography missions. This tool is an Excel spreadsheet which accepts various input parameters such as desired photo-scale and boundary coordinates of the study area and compiles ...

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

    Directory of Open Access Journals (Sweden)

    Lavrenov Roman

    2017-01-01

    Full Text Available Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.

  19. Dose exposure work planning using DMU kinematics tools

    International Nuclear Information System (INIS)

    Rosli Darmawan

    2010-01-01

    The study on the possibility of using DMU Kinematics module in CAE tools for dose exposure work planning was carried out. A case scenario was created using 3D CAD software and transferred to DMU Kinematics module in CAE software. A work plan was created using DMU Kinematics tools and animated to simulate a real time scenario. Data on the phantom position against the radioactive source was collected by activating positioning sensors in the module. The data was used to estimate dose rate exposure for the phantom. The results can be used to plan the safest and optimum procedures in carrying out the radiation related task. (author)

  20. Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields

    Science.gov (United States)

    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

  1. Decision support tools for policy and planning

    International Nuclear Information System (INIS)

    Jacyk, P.; Schultz, D.; Spangenberg, L.

    1995-01-01

    A decision support system (DSS) is being developed at the Radioactive Liquid Waste Treatment Facility, Los Alamos National Laboratory (LANL). The DSS will be used to evaluate alternatives for improving LANL's existing central radioactive waste water treatment plant and to evaluate new site-wide liquid waste treatment schemes that are required in order to handle the diverse waste streams produced at LANL. The decision support system consists of interacting modules that perform the following tasks: rigorous process simulation, configuration management, performance analysis, cost analysis, risk analysis, environmental impact assessment, transportation modeling, and local, state, and federal regulation compliance checking. Uncertainty handling techniques are used with these modules and also with a decision synthesis module which combines results from the modules listed above. We believe the DSS being developed can be applied to almost any other industrial water treatment facility with little modification because in most situations the waste streams are less complex, fewer regulations apply, and the political environment is simpler. The techniques being developed are also generally applicable to policy and planning decision support systems in the chemical process industry

  2. A biomimetic, energy-harvesting, obstacle-avoiding, path-planning algorithm for UAVs

    Science.gov (United States)

    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.”.

  3. SPASE: Current Uses, Tools, and Plans

    Science.gov (United States)

    Thieman, J. R.; King, T. A.; Roberts, D.

    2011-12-01

    The Space Physics Archive Search and Extract (SPASE) project is an international collaboration among Heliophysics (solar and space physics) groups concerned with data acquisition and archiving. Within this community there are a variety of old and new data centers, resident archives, "virtual observatories", etc. acquiring, holding, and distributing data. The main product of the SPASE group is an XML-based SPASE Data Model now in operational use to enable searches for and ultimate acquisition of data of interest to a researcher. The SPASE Data Model defines the content of resource descriptions (metadata). The intent is to describe all scientifically usable Heliophysics data sets using the Data Model. Another product of the SPASE group, in collaboration with NASA's Virtual Observatories, is a set of tools and services which work with SPASE metadata. This includes Registry Services which can retrieve and render metadata using resource identifiers and facilitate the downloading of the data referenced by the metadata. The SPASE Data Model has also been used as a vocabulary in specialized data models. One example is the Heliophysics Event List Manager (HELM) model. The SPASE Data Model is also being expanded to provide the means for more detailed description of data sets with the aim of enabling more automated ingestion and use of the data through detailed format descriptions. The evolution is based on a number of lessons learned and feedback from our community. Some of the lessons learned are unique to Heliophysics, and some are common to the various data disciplines. We will discuss the present state of SPASE usage, the role the SPASE Data Model can play in specialized data models and how we foresee the development direction in the future.

  4. Optimal path planning for video-guided smart munitions via multitarget tracking

    Science.gov (United States)

    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.

  5. MR-based real time path planning for cardiac operations with transapical access.

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    T. A. Salih

    2013-05-01

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

  7. [The Hospital Emergency Plan: Important Tool for Disaster Preparedness].

    Science.gov (United States)

    Wurmb, Thomas; Scholtes, Katja; Kolibay, Felix; Rechenbach, Peer; Vogel, Ulrich; Kowalzik, Barbara

    2017-09-01

    Hospitals need to be prepared for any kind of disaster. The terrorist attacks and mass shootings that took place in Europe in recent years impressively demonstrated the capability of hospitals to manage such challenging and disastrous events. To be adequately prepared, the hospital emergency plan is a very important tool. In this article we describe the entire process of drafting the emergency plan. We discuss the theoretical background as well as different models of disaster planning and we give important practical hints and tips for those in charge of the hospital disaster planning. Georg Thieme Verlag KG Stuttgart · New York.

  8. Decision-support tools for climate change mitigation planning

    DEFF Research Database (Denmark)

    Puig, Daniel; Aparcana Robles, Sandra Roxana

    . For example, in the case of life-cycle analysis, the evaluation criterion entails that the impacts of interest are examined across the entire life-cycle of the product under study, from extraction of raw materials, to product disposal. Effectively, then, the choice of decision-support tool directs......This document describes three decision-support tools that can aid the process of planning climate change mitigation actions. The phrase ‘decision-support tools’ refers to science-based analytical procedures that facilitate the evaluation of planning options (individually or compared to alternative...... options) against a particular evaluation criterion or set of criteria. Most often decision-support tools are applied with the help of purpose-designed software packages and drawing on specialised databases.The evaluation criteria alluded to above define and characterise each decision-support tool...

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

    Directory of Open Access Journals (Sweden)

    Durdana Habib

    2013-05-01

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

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

    Science.gov (United States)

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

    2016-05-01

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

  11. Formability behavior studies on CP-Al sheets processed through the helical tool path of incremental forming process

    Science.gov (United States)

    Markanday, H.; Nagarajan, D.

    2018-02-01

    Incremental sheet forming (ISF) is a novel die-less sheet metal forming process, which can produce components directly from the CAD geometry using a CNC milling machine at less production time and cost. The formability of the sheet material used is greatly affected by the process parameters involved and tool path adopted, and the present study is aimed to investigate the influence of different process parameter values using the helical tool path strategy on the formability of a commercial pure Al and to achieve maximum formability in the material. ISF experiments for producing an 80 mm diameter axisymmetric dome were carried out on 2 mm thickness commercially pure Al sheets for different tool speeds and feed rates in a CNC milling machine with a 10 mm hemispherical forming tool. The obtained parts were analyzed for springback, amount of thinning and maximum forming depth. The results showed that when the tool speed was increased by keeping the feed rate constant, the forming depth and thinning were also increased. On contrary, when the feed rate was increased by keeping the tool speed constant, the forming depth and thinning were decreased. Springback was found to be higher when the feed rate was increased rather than the tool speed was increased.

  12. Panning for Gold: The personal journey of mental health wellness and its relationships with Planning Alternatives Tomorrows with Hope (PATH

    Directory of Open Access Journals (Sweden)

    Matthew Lyndon Armstrong

    2015-12-01

    Full Text Available This study explored how the Planning Alternatives Tomorrows with Hope (PATH process could enhance and strengthen an individual’s personal journey of recovery. This article utilised the knowledge base of members of a Community of Practice, located in Brisbane Australia. Members had a deep concern and passion to promote and strengthen wellbeing for people who live with the experience of mental ill health. They were invited to form a focus group to explore the use of PATH and its relationship with mental health wellness. After contemplating and reflecting on an example of the PATH process, the focus group explored opportunities for PATH to become one of many wellness resources for people experiencing and overcoming mental ill health. Through the exploration of personal meaning, storytelling and community connection (anchored in the visuals and graphics of the PATH example, the study found that PATH can make a valuable contribution by restoring some of the power inbalances in traditonal service frameworks and enhancing personal self direction. Keywords: mental health distress, practitioners, recovery, facilitation, creativity, planning

  13. Tool or Toy? Virtual Globes in Landscape Planning

    Directory of Open Access Journals (Sweden)

    Stephen R. J. Sheppard

    2011-10-01

    Full Text Available Virtual globes, i.e., geobrowsers that integrate multi-scale and temporal data from various sources and are based on a globe metaphor, have developed into serious tools that practitioners and various stakeholders in landscape and community planning have started using. Although these tools originate from Geographic Information Systems (GIS, they have become a different, potentially interactive and public tool set, with their own specific limitations and new opportunities. Expectations regarding their utility as planning and community engagement tools are high, but are tempered by both technical limitations and ethical issues [1,2]. Two grassroots campaigns and a collaborative visioning process, the Kimberley Climate Adaptation Project case study (British Columbia, illustrate and broaden our understanding of the potential benefits and limitations associated with the use of virtual globes in participatory planning initiatives. Based on observations, questionnaires and in-depth interviews with stakeholders and community members using an interactive 3D model of regional climate change vulnerabilities, potential impacts, and possible adaptation and mitigation scenarios in Kimberley, the benefits and limitations of virtual globes as a tool for participatory landscape planning are discussed. The findings suggest that virtual globes can facilitate access to geospatial information, raise awareness, and provide a more representative virtual landscape than static visualizations. However, landscape is not equally representative at all scales, and not all types of users seem to benefit equally from the tool. The risks of misinterpretation can be managed by integrating the application and interpretation of virtual globes into face-to-face planning processes.

  14. Team table: a framework and tool for continuous factory planning

    Science.gov (United States)

    Sihn, Wilfried; Bischoff, Juergen; von Briel, Ralf; Josten, Marcus

    2000-10-01

    Growing market turbulences and shorter product life cycles require a continuous adaptation of factory structures resulting in a continuous factory planning process. Therefore a new framework is developed which focuses on configuration and data management process integration. This enable an online system performance evaluation based on continuous availability of current data. The use of this framework is especially helpful and will guarantee high cost and time savings, when used in the early stages of the planning, called the concept or rough planning phase. The new framework is supported by a planning round table as a tool for team-based configuration processes integrating the knowledge of all persons involved in planning processes. A case study conducted at a German company shows the advantages which can be achieved by implementing the new framework and methods.

  15. Sustainable green urban planning: the Green Credit Tool

    NARCIS (Netherlands)

    Cilliers, E.J.; Diemont, E.; Stobbelaar, D.J.; Timmermans, W.

    2010-01-01

    Purpose – The Green Credit Tool is evaluated as a method to quantify the value of green-spaces and to determine how these green-space-values can be replaced or compensated for within urban spatial planning projects. Design/methodology/approach – Amersfoort Local Municipality created the Green Credit

  16. An online planning tool for designing terrace layouts

    Science.gov (United States)

    A web-based conservation planning tool, WebTERLOC (web-based Terrace Location Program), was developed to provide multiple terrace layout options using digital elevation model (DEM) and geographic information systems (GIS). Development of a terrace system is complicated by the time-intensive manual ...

  17. Planning organization and productivity simulation tool for maritime container terminals

    Directory of Open Access Journals (Sweden)

    B. Beškovnik

    2010-09-01

    Full Text Available The article describes a proposed planning organization and productivity simulation tool, with a special emphasis on orientations to the optimization of operations in a maritime container terminal. With the application of an adequate model frame for traffic and technical-technologic forecasting, infrastructure and manpower planning and productivity simulation are possible to measure and increase the productivity in the whole subsystem of the maritime container terminal. The emphasis is mainly put on setting up planning organization in order to collect important information and consequently to raise productivity. This is the main task and goal of terminal management that must develop elements and strategies for optimal operational and financial production. An adequate planning structure must use simplified but efficient simulation tools enabling owners and management to take a vast number of adequate financial and operational decisions. Considering all important and very dynamic facts in container and shipping industry, the proposed simulation tool gives a helpful instrument for checking productivity and its time variation and monitoring a competitive position of a certain maritime terminal with the terminals from the same group. Therefore, the management of every maritime container terminal must establish an appropriate internal planning system as a mechanism for strategic decision support relating basically to the assessment of the best development and optimization solutions for the infrastructure and suprastructure of the entire system.

  18. PathNet: a tool for pathway analysis using topological information

    Directory of Open Access Journals (Sweden)

    Dutta Bhaskar

    2012-09-01

    Full Text Available Abstract Background Identification of canonical pathways through enrichment of differentially expressed genes in a given pathway is a widely used method for interpreting gene lists generated from high-throughput experimental studies. However, most algorithms treat pathways as sets of genes, disregarding any inter- and intra-pathway connectivity information, and do not provide insights beyond identifying lists of pathways. Results We developed an algorithm (PathNet that utilizes the connectivity information in canonical pathway descriptions to help identify study-relevant pathways and characterize non-obvious dependencies and connections among pathways using gene expression data. PathNet considers both the differential expression of genes and their pathway neighbors to strengthen the evidence that a pathway is implicated in the biological conditions characterizing the experiment. As an adjunct to this analysis, PathNet uses the connectivity of the differentially expressed genes among all pathways to score pathway contextual associations and statistically identify biological relations among pathways. In this study, we used PathNet to identify biologically relevant results in two Alzheimer’s disease microarray datasets, and compared its performance with existing methods. Importantly, PathNet identified de-regulation of the ubiquitin-mediated proteolysis pathway as an important component in Alzheimer’s disease progression, despite the absence of this pathway in the standard enrichment analyses. Conclusions PathNet is a novel method for identifying enrichment and association between canonical pathways in the context of gene expression data. It takes into account topological information present in pathways to reveal biological information. PathNet is available as an R workspace image from http://www.bhsai.org/downloads/pathnet/.

  19. Multi Sector Planning Tools for Trajectory-Based Operations

    Science.gov (United States)

    Prevot, Thomas; Mainini, Matthew; Brasil, Connie

    2010-01-01

    This paper discusses a suite of multi sector planning tools for trajectory-based operations that were developed and evaluated in the Airspace Operations Laboratory (AOL) at the NASA Ames Research Center. The toolset included tools for traffic load and complexity assessment as well as trajectory planning and coordination. The situation assessment tools included an integrated suite of interactive traffic displays, load tables, load graphs, and dynamic aircraft filters. The planning toolset allowed for single and multi aircraft trajectory planning and data communication-based coordination of trajectories between operators. Also newly introduced was a real-time computation of sector complexity into the toolset that operators could use in lieu of aircraft count to better estimate and manage sector workload, especially in situations with convective weather. The tools were used during a joint NASA/FAA multi sector planner simulation in the AOL in 2009 that had multiple objectives with the assessment of the effectiveness of the tools being one of them. Current air traffic control operators who were experienced as area supervisors and traffic management coordinators used the tools throughout the simulation and provided their usefulness and usability ratings in post simulation questionnaires. This paper presents these subjective assessments as well as the actual usage data that was collected during the simulation. The toolset was rated very useful and usable overall. Many elements received high scores by the operators and were used frequently and successfully. Other functions were not used at all, but various requests for new functions and capabilities were received that could be added to the toolset.

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

    KAUST Repository

    Abdelkader, Mohamed

    2017-10-19

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

  1. "SABER": A new software tool for radiotherapy treatment plan evaluation.

    Science.gov (United States)

    Zhao, Bo; Joiner, Michael C; Orton, Colin G; Burmeister, Jay

    2010-11-01

    Both spatial and biological information are necessary in order to perform true optimization of a treatment plan and for predicting clinical outcome. The goal of this work is to develop an enhanced treatment plan evaluation tool which incorporates biological parameters and retains spatial dose information. A software system is developed which provides biological plan evaluation with a novel combination of features. It incorporates hyper-radiosensitivity using the induced-repair model and applies the new concept of dose convolution filter (DCF) to simulate dose wash-out effects due to cell migration, bystander effect, and/or tissue motion during treatment. Further, the concept of spatial DVH (sDVH) is introduced to evaluate and potentially optimize the spatial dose distribution in the target volume. Finally, generalized equivalent uniform dose is derived from both the physical dose distribution (gEUD) and the distribution of equivalent dose in 2 Gy fractions (gEUD2) and the software provides three separate models for calculation of tumor control probability (TCP), normal tissue complication probability (NTCP), and probability of uncomplicated tumor control (P+). TCP, NTCP, and P+ are provided as a function of prescribed dose and multivariable TCP, NTCP, and P+ plots are provided to illustrate the dependence on individual parameters used to calculate these quantities. Ten plans from two clinical treatment sites are selected to test the three calculation models provided by this software. By retaining both spatial and biological information about the dose distribution, the software is able to distinguish features of radiotherapy treatment plans not discernible using commercial systems. Plans that have similar DVHs may have different spatial and biological characteristics and the application of novel tools such as sDVH and DCF within the software may substantially change the apparent plan quality or predicted plan metrics such as TCP and NTCP. For the cases examined

  2. Energy management information systems - planning manual and tool

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2010-07-01

    An Energy Management Information System (EMIS) provides relevant information that makes energy, performance visible to various levels of an organization, enabling individuals and departments to plan, make decisions and take effective action to manage energy. This manual has two objectives: 1. To enable companies to conduct EMIS audits and prepare EMIS implementation plans; 2. To provide companies with the tools to prepare a financial business case for EMIS implementation. This manual consists of four parts: 1. EMIS Audit is theoretical and provides the methodology to be used by outside or in-house engineers and consultants to do a thorough EMIS Audit. 2. Implementation Plan is to help industry do the work themselves. 3. Appendices is to help the user develop an EMIS Audit, gather data and score their company, prepare a conceptual and detailed design, as well as a business and financial plan for implementation.

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

    Directory of Open Access Journals (Sweden)

    Zhiyong Wang

    2015-06-01

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

  4. Test plan for K-Basin fuel handling tools

    International Nuclear Information System (INIS)

    Bridges, A.E.

    1995-01-01

    The purpose of this document is to provide the test plan and procedures for the acceptance testing of the handling tools enveloped for the removal of an N-Reactor fuel element from its storage canister in the K-Basins storage pool and insertion into the Single fuel Element Can for subsequent shipment to a Hot Cell for examination. Examination of these N-Reactor fuel elements is part of the overall characterization effort. New hand tools were required since previous fuel movement has involved grasping the fuel in a horizontal position. The 305 Building Cold Test Facility will be used to conduct the acceptance testing of the Fuel Handling Tools. Upon completion of this acceptance testing and any subsequent training of operators, the tools will be transferred to the 105 KW Basin for installation and use

  5. A chord error conforming tool path B-spline fitting method for NC machining based on energy minimization and LSPIA

    Directory of Open Access Journals (Sweden)

    Shanshan He

    2015-10-01

    Full Text Available Piecewise linear (G01-based tool paths generated by CAM systems lack G1 and G2 continuity. The discontinuity causes vibration and unnecessary hesitation during machining. To ensure efficient high-speed machining, a method to improve the continuity of the tool paths is required, such as B-spline fitting that approximates G01 paths with B-spline curves. Conventional B-spline fitting approaches cannot be directly used for tool path B-spline fitting, because they have shortages such as numerical instability, lack of chord error constraint, and lack of assurance of a usable result. Progressive and Iterative Approximation for Least Squares (LSPIA is an efficient method for data fitting that solves the numerical instability problem. However, it does not consider chord errors and needs more work to ensure ironclad results for commercial applications. In this paper, we use LSPIA method incorporating Energy term (ELSPIA to avoid the numerical instability, and lower chord errors by using stretching energy term. We implement several algorithm improvements, including (1 an improved technique for initial control point determination over Dominant Point Method, (2 an algorithm that updates foot point parameters as needed, (3 analysis of the degrees of freedom of control points to insert new control points only when needed, (4 chord error refinement using a similar ELSPIA method with the above enhancements. The proposed approach can generate a shape-preserving B-spline curve. Experiments with data analysis and machining tests are presented for verification of quality and efficiency. Comparisons with other known solutions are included to evaluate the worthiness of the proposed solution.

  6. Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints

    NARCIS (Netherlands)

    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

  7. DYNAMIC PROGRAMMING – EFFICIENT TOOL FOR POWER SYSTEM EXPANSION PLANNING

    Directory of Open Access Journals (Sweden)

    SIMO A.

    2015-03-01

    Full Text Available The paper isfocusing on dynamic programming use for power system expansion planning (EP – transmission network (TNEP and distribution network (DNEP. The EP problem has been approached from the retrospective and prospective point of view. To achieve this goal, the authors are developing two software-tools in Matlab environment. Two techniques have been tackled: particle swarm optimization (PSO and genetic algorithms (GA. The case study refers to Test 25 buses test power system developed within the Power Systems Department.

  8. National Energy Audit Tool for Multifamily Buildings Development Plan

    Energy Technology Data Exchange (ETDEWEB)

    Malhotra, Mini [ORNL; MacDonald, Michael [Sentech, Inc.; Accawi, Gina K [ORNL; New, Joshua Ryan [ORNL; Im, Piljae [ORNL

    2012-03-01

    The U.S. Department of Energy's (DOE's) Weatherization Assistance Program (WAP) enables low-income families to reduce their energy costs by providing funds to make their homes more energy efficient. In addition, the program funds Weatherization Training and Technical Assistance (T and TA) activities to support a range of program operations. These activities include measuring and documenting performance, monitoring programs, promoting advanced techniques and collaborations to further improve program effectiveness, and training, including developing tools and information resources. The T and TA plan outlines the tasks, activities, and milestones to support the weatherization network with the program implementation ramp up efforts. Weatherization of multifamily buildings has been recognized as an effective way to ramp up weatherization efforts. To support this effort, the 2009 National Weatherization T and TA plan includes the task of expanding the functionality of the Weatherization Assistant, a DOE-sponsored family of energy audit computer programs, to perform audits for large and small multifamily buildings This report describes the planning effort for a new multifamily energy audit tool for DOE's WAP. The functionality of the Weatherization Assistant is being expanded to also perform energy audits of small multifamily and large multifamily buildings. The process covers an assessment of needs that includes input from national experts during two national Web conferences. The assessment of needs is then translated into capability and performance descriptions for the proposed new multifamily energy audit, with some description of what might or should be provided in the new tool. The assessment of needs is combined with our best judgment to lay out a strategy for development of the multifamily tool that proceeds in stages, with features of an initial tool (version 1) and a more capable version 2 handled with currently available resources. Additional

  9. VISIPLAN 3D ALARA planning and communication tool

    International Nuclear Information System (INIS)

    Vermeersch, F.

    2006-01-01

    Human operations are required in nuclear installation, during maintenance, outage, repair and decommissioning. This leads to the exposure of the worker to radiation. It is clear that these operations must be performed according to the ALARA principle (to reduce the dose As Low As Reasonably Achievable). The person responsible for planning the job needs to evaluate different scenarios based on the exposure of the worker. This involves the manipulation of a lot of information specific to the work place such as the geometry, materials, radiological and technical boundary conditions to assess the dose. A lot of communication between the ALARA stakeholders is needed during this pre-job study. A communication that can be cumbersome and tedious when based on written documents and paper plans. The use of 3D calculation and simulation tools provide a solution to this problem. They provide an excellent means to make the above mentioned process more efficient and effective by calculating and visualising the environment and the associated radiological risk. The VISIPLAN 3D ALARA planning tool is developed and designed by SCK-CEN as a dose assessment tool enabling the user to calculate the dose in a 3D environment for work scenarios. This software is very successful in the ALARA field. At present 22 companies in Europe use the VISIPLAN software in the field of dose assessment in maintenance and decommissioning. Recent developments and applications are discussed

  10. LitPathExplorer: a confidence-based visual text analytics tool for exploring literature-enriched pathway models.

    Science.gov (United States)

    Soto, Axel J; Zerva, Chrysoula; Batista-Navarro, Riza; Ananiadou, Sophia

    2018-04-15

    Pathway models are valuable resources that help us understand the various mechanisms underpinning complex biological processes. Their curation is typically carried out through manual inspection of published scientific literature to find information relevant to a model, which is a laborious and knowledge-intensive task. Furthermore, models curated manually cannot be easily updated and maintained with new evidence extracted from the literature without automated support. We have developed LitPathExplorer, a visual text analytics tool that integrates advanced text mining, semi-supervised learning and interactive visualization, to facilitate the exploration and analysis of pathway models using statements (i.e. events) extracted automatically from the literature and organized according to levels of confidence. LitPathExplorer supports pathway modellers and curators alike by: (i) extracting events from the literature that corroborate existing models with evidence; (ii) discovering new events which can update models; and (iii) providing a confidence value for each event that is automatically computed based on linguistic features and article metadata. Our evaluation of event extraction showed a precision of 89% and a recall of 71%. Evaluation of our confidence measure, when used for ranking sampled events, showed an average precision ranging between 61 and 73%, which can be improved to 95% when the user is involved in the semi-supervised learning process. Qualitative evaluation using pair analytics based on the feedback of three domain experts confirmed the utility of our tool within the context of pathway model exploration. LitPathExplorer is available at http://nactem.ac.uk/LitPathExplorer_BI/. sophia.ananiadou@manchester.ac.uk. Supplementary data are available at Bioinformatics online.

  11. Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning.

    Science.gov (United States)

    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

  12. Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning

    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

  13. STRATEGIC PLANNING AS A SUPPORTING TOOL TO DETERMINE MILITARY CAPABILITIES

    Directory of Open Access Journals (Sweden)

    DAVID VILLACIS PAZOS

    2017-09-01

    Full Text Available Planning by scenarios, also called prospective, is of great value in high turbulent and volatile environments, as is today, because it permits to visualize the future from a spectrum of possibilities. That visualization is strategic information that provides a competitive edge and facilitates the identification of possible threats in each scenario and in front of those threats determines the required capacities needed. Therefore, prospective planning is an indispensable tool for decision making and determining military capacities. The scenario spectrum could consider an infinite number; however, for a strategic analysis it is basic to visualize at least three options: an optimist, a pessimist, and a tendency. To determine the military capacities, it is a required minimum to consider the traditional and non-traditional threats, as well as “foreseeable” and “feasible” capacities. The present article provides a global vision of prospective planning and its relationship with determining military capacities.

  14. A Water Resources Planning Tool for the Jordan River Basin

    Directory of Open Access Journals (Sweden)

    Christopher Bonzi

    2011-06-01

    Full Text Available The Jordan River basin is subject to extreme and increasing water scarcity. Management of transboundary water resources in the basin is closely intertwined with political conflicts in the region. We have jointly developed with stakeholders and experts from the riparian countries, a new dynamic consensus database and—supported by hydro-climatological model simulations and participatory scenario exercises in the GLOWA (Global Change and the Hydrological Cycle Jordan River project—a basin-wide Water Evaluation and Planning (WEAP tool, which will allow testing of various unilateral and multilateral adaptation options under climate and socio-economic change. We present its validation and initial (climate and socio-economic scenario analyses with this budget and allocation tool, and invite further adaptation and application of the tool for specific Integrated Water Resources Management (IWRM problems.

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

    Directory of Open Access Journals (Sweden)

    Kun-Lin Wu

    2016-01-01

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

  16. Planning principles as integral tool of financial planning implementation at enterprise

    Directory of Open Access Journals (Sweden)

    A.V. Overchuk

    2016-09-01

    Full Text Available The main problems of using financial planning tools, namely its principles, in order to achieve an effective system of financial planning at the enterprise are considered. Planning is an integral part of management and provides achievement of sustainable enterprise development, that is why, effective financial planning is the necessary means of realization of the main objective of the company – profit maximization. It is determined that the principles of financial planning are the objective category of planning science, which serves as a starting fundamental concept that expresses the cumulative effect of a number of laws. In addition, on the base of the aggregation and analysis of planning principles the system of financial planning principles is specified, providing efficient financial planning and control functions use, achievement of the mission and objectives of the economic entity activity management and ensuring of its profitability. The scientific novelty of the research lies in the specification of financial planning principles defining at the enterprise and their semantic characteristics

  17. An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning.

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    Bai Li

    2014-01-01

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

  19. Artificial intelligence for the EChO mission planning tool

    Science.gov (United States)

    Garcia-Piquer, Alvaro; Ribas, Ignasi; Colomé, Josep

    2015-12-01

    The Exoplanet Characterisation Observatory (EChO) has as its main goal the measurement of atmospheres of transiting planets. This requires the observation of two types of events: primary and secondary eclipses. In order to yield measurements of sufficient Signal-to-Noise Ratio to fulfil the mission objectives, the events of each exoplanet have to be observed several times. In addition, several criteria have to be considered to carry out each observation, such as the exoplanet visibility, its event duration, and no overlapping with other tasks. It is expected that a suitable mission plan increases the efficiency of telescope operation, which will represent an important benefit in terms of scientific return and operational costs. Nevertheless, to obtain a long term mission plan becomes unaffordable for human planners due to the complexity of computing the huge number of possible combinations for finding an optimum solution. In this contribution we present a long term mission planning tool based on Genetic Algorithms, which are focused on solving optimization problems such as the planning of several tasks. Specifically, the proposed tool finds a solution that highly optimizes the defined objectives, which are based on the maximization of the time spent on scientific observations and the scientific return (e.g., the coverage of the mission survey). The results obtained on the large experimental set up support that the proposed scheduler technology is robust and can function in a variety of scenarios, offering a competitive performance which does not depend on the collection of exoplanets to be observed. Specifically, the results show that, with the proposed tool, EChO uses 94% of the available time of the mission, so the amount of downtime is small, and it completes 98% of the targets.

  20. Evolutionary paths of Old French reciprocal markers. New and old methodological tools

    Directory of Open Access Journals (Sweden)

    Mikołaj Nkollo

    2012-01-01

    Full Text Available The present paper revolves around unusual paths of grammaticalization of Old French (12th century reciprocal markers. This methodological framework requires medieval means of expressing reciprocity to be compared both with their parent forms in Classical Latin and with the markers introduced in subsequent stages of the history of French language. The first hypothesis deals with how parallel markers, i.e. ones that have a common origin and that are used inside the same area of grammar (se… entre- and entre eux < Lat. inter se, are different from each other. This path is claimed to materialize provided one of the two terms begins to serve a particular function not performed by the other one. The second hypothesis accounts for what means were used to prevent ongoing reflexive / reciprocal homonymy. This task happened to be provisionally fulfilled by cors a cors and coste a coste until the advent of adverbs ending in -ment in 14th century. As a consequence, body-part nouns lost most of their grammatical potential. The third hypothesis, formulated in terms of exaptation, explains how and why languages are likely to recycle erstwhile peripheral lexical elements. This evolutionary path takes place in response to a need to convey a given meaning unambiguously. Attempts at avoiding reflexive / reciprocal homonymy prompted the revival of seemingly forgotten Latin items reciprocus / mutuus. Concluding remarks address the problem of whether the concept of exaptation is useful in historical linguistics and contain a proposal towards constraining its scope. As for current views of grammaticalization, this notion seems to call for further refinements, as well.

  1. Software module for geometric product modeling and NC tool path generation

    International Nuclear Information System (INIS)

    Sidorenko, Sofija; Dukovski, Vladimir

    2003-01-01

    The intelligent CAD/CAM system named VIRTUAL MANUFACTURE is created. It is consisted of four intelligent software modules: the module for virtual NC machine creation, the module for geometric product modeling and automatic NC path generation, the module for virtual NC machining and the module for virtual product evaluation. In this paper the second intelligent software module is presented. This module enables feature-based product modeling carried out via automatic saving of the designed product geometric features as knowledge data. The knowledge data are afterwards applied for automatic NC program generation for the designed product NC machining. (Author)

  2. STRATEGIC INFORMATION SYSTEMS PLANNING IN THE BANKING SECTOR—A PATH ANALYTIC MODEL STUDY IN THE INDIAN CONTEXT

    Directory of Open Access Journals (Sweden)

    A. M. Rawani

    2002-01-01

    Full Text Available This paper presents a path analytic model showing the cause and effect relationships among various Information Systems (IS planning variables for the banking sector in India. In recent years, there has been an increased awareness among banks of the potential of Information Technology (IT and the use of information systems. Strategic information system planning (SISP becomes an important issue in the use of IS strategically. In India, banks have now started realizing the importance of SISP. In this study, 11 IS planning variables for the banking sector in India are examined and the influence of one over the other is investigated using path analysis. Data for the study are collected from 52 banks operating in India. The results of the study indicate that top management involvement in IS planning greatly influences the whole planning exercise. Moreover, top management involvement is higher when they foresee greater future impact of IS. The study also highlights the need and importance of user training in the banking sector. Change in the focus and orientation of user-training will make the users competent to conceive with innovative IS applications.

  3. Graphical User Interface Tool Kit for Path-Based Network Policy Language

    National Research Council Canada - National Science Library

    Ekin, Tufan

    2002-01-01

    .... Two of the changes are related to the semantics of the language. A graphical user interface tool kit for creating, validating, archiving and compiling policies represented in PPL has been developed...

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

    Science.gov (United States)

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

    2017-08-01

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

  5. Design tool for offshore wind farm cluster planning

    DEFF Research Database (Denmark)

    Hasager, Charlotte Bay; Madsen, Peter Hauge; Giebel, Gregor

    2015-01-01

    In the framework of the FP7 project EERA DTOC: Design Tool for Offshore wind farm Cluster, a new software supporting the planning of offshore wind farms was developed, based on state-of-the-art approaches from large scale wind potential to economic benchmarking. The model portfolio includes WAs......P, FUGA, WRF, Net-Op, LCoE model, CorWind, FarmFlow, EeFarm and grid code compliance calculations. The development is done by members from European Energy Research Alliance (EERA) and guided by several industrial partners. A commercial spin-off from the project is the tool ‘Wind & Economy’. The software...... by the software and several tests were performed. The calculations include the smoothing effect on produced energy between wind farms located in different regional wind zones and the short time scales relevant for assessing balancing power. The grid code compliance was tested for several cases and the results...

  6. Development of a biogas planning tool for project owners

    DEFF Research Database (Denmark)

    Fredenslund, Anders Michael; Kjær, Tyge

    are considered: Combined heat and power and natural gas grid injection. The main input to the model is the amount and types of substrates available for anaerobic digestion. By substituting the models’ default values with more project specific information, the model can be used in a biogas projects later phases......A spreadsheet model was developed, which can be used as a tool in the initial phases of planning a centralized biogas plant in Denmark. The model assesses energy production, total plant costs, operational costs and revenues and effect on greenhouse gas emissions. Two energy utilization alternatives...

  7. 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.

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

    Science.gov (United States)

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

    1987-01-01

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

  9. Energy Optimal Path Planning: Integrating Coastal Ocean Modelling with Optimal Control

    Science.gov (United States)

    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.

  10. Solving a Class of Spatial Reasoning Problems: Minimal-Cost Path Planning in the Cartesian Plane.

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2012-10-01

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

  12. Our path to better science in less time using open data science tools.

    Science.gov (United States)

    Lowndes, Julia S Stewart; Best, Benjamin D; Scarborough, Courtney; Afflerbach, Jamie C; Frazier, Melanie R; O'Hara, Casey C; Jiang, Ning; Halpern, Benjamin S

    2017-05-23

    Reproducibility has long been a tenet of science but has been challenging to achieve-we learned this the hard way when our old approaches proved inadequate to efficiently reproduce our own work. Here we describe how several free software tools have fundamentally upgraded our approach to collaborative research, making our entire workflow more transparent and streamlined. By describing specific tools and how we incrementally began using them for the Ocean Health Index project, we hope to encourage others in the scientific community to do the same-so we can all produce better science in less time.

  13. A Tool for Optimizing Observation Planning for Faint Moving Objects

    Science.gov (United States)

    Arredondo, Anicia; Bosh, Amanda S.; Levine, Stephen

    2016-10-01

    Observations of small solar system bodies such as trans-Neptunian objects and Centaurs are vital for understanding the basic properties of these small members of our solar system. Because these objects are often very faint, large telescopes and long exposures may be necessary, which can result in crowded fields in which the target of interest may be blended with a field star. For accurate photometry and astrometry, observations must be planned to occur when the target is free of background stars; this restriction results in limited observing windows. We have created a tool that can be used to plan observations of faint moving objects. Features of the tool include estimates of best times to observe (when the object is not too near another object), a finder chart output, a list of possible astrometric and photometric reference stars, and an exposure time calculator. This work makes use of the USNOFS Image and Catalogue Archive operated by the United States Naval Observatory, Flagstaff Station (S.E. Levine and D.G. Monet 2000), the JPL Horizons online ephemeris service (Giorgini et al. 1996), the Minor Planet Center's MPChecker (http://cgi.minorplanetcenter.net/cgi-bin/checkmp.cgi), and source extraction software SExtractor (Bertin & Arnouts 1996). Support for this work was provided by NASA SSO grant NNX15AJ82G.

  14. Evolution of project planning tools in a matrix organization

    Energy Technology Data Exchange (ETDEWEB)

    Furaus, J.P.; Figueroa-McInteer, C.; McKeever, P.S.; Wisler, D.B. [Sandia National Labs., Albuquerque, NM (United States); Zavadil, J.T. [Infomatrix (United States)

    1996-10-01

    Until recently, the Corporate Construction Program at Sandia was experiencing difficulties in managing projects: poor planning and cost estimating caused schedule and budget problems. The first step taken was a Microsoft {reg_sign} Project schedule that provides a standard template for scheduling individual construction projects. It is broken down according to the life cycle of the project and prevents the project team from leaving out an important item. A WBS (work breakdown structure) dictionary was also developed that describes how capital and operating funds are used to develop, design, construct, equip, and manage projects. We also developed a matrix chart that maps the planning guide against the major types of construction projects at Sandia. The guide, dictionary, and matrix chart offer enough flexibility that the project manager can make choices about how to structure work, yet ensure that all work rolls up to the cost categories and key DOE WBS elements. As requirements change, the tools can be updated; they also serve as training tools for new project team members.

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

    Directory of Open Access Journals (Sweden)

    Yunfei Zhang

    2014-07-01

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

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

    Science.gov (United States)

    Earl B. Anderson; R. Stanton Hales

    1986-01-01

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

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

    Science.gov (United States)

    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

  18. Simulating the Effect of Modulated Tool-Path Chip Breaking On Surface Texture and Chip Length

    Energy Technology Data Exchange (ETDEWEB)

    Smith, K.S.; McFarland, J.T.; Tursky, D. A.; Assaid, T. S.; Barkman, W. E.; Babelay, Jr., E. F.

    2010-04-30

    One method for creating broken chips in turning processes involves oscillating the cutting tool in the feed direction utilizing the CNC machine axes. The University of North Carolina at Charlotte and the Y-12 National Security Complex have developed and are refining a method to reliably control surface finish and chip length based on a particular machine's dynamic performance. Using computer simulations it is possible to combine the motion of the machine axes with the geometry of the cutting tool to predict the surface characteristics and map the surface texture for a wide range of oscillation parameters. These data allow the selection of oscillation parameters to simultaneously ensure broken chips and acceptable surface characteristics. This paper describes the machine dynamic testing and characterization activities as well as the computational method used for evaluating and predicting chip length and surface texture.

  19. WP3 Prototype development for operational planning tool

    Energy Technology Data Exchange (ETDEWEB)

    Kristoffersen, T.; Meibom, P. (Technical Univ. of Denmark. Risoe DTU (Denmark)); Apfelbeck, J.; Barth, R.; Brand, H. (IER, Univ. of Stuttgart (Germany))

    2008-04-15

    This report documents the model development carried out in work package 3 in the SUPWIND project. It was decided to focus on the estimation of the need for reserve power, and on the reservation of reserve power by TSOs. Reserve power is needed to cover deviations from the day-ahead forecasts of electricity load and wind power production, and to cover forced outages of power plants and transmission lines. Work has been carried out to include load uncertainty and forced outages in the two main components of the Wilmar Planning tool namely the Scenario Tree Tool and the Joint Market Model. This work is documented in chapter 1 and 2. The inclusion of load uncertainty and forced outages in the Scenario Tree Tool enables calculation of the demand for reserve power depending on the forecast horizon. The algorithm is given in Section 3.1. The design of a modified version of the Joint Market Model enabling estimation of the optimal amount of reserve power to reserve day-ahead before the actual operation hour is documented in Section 3.2. With regard to the evaluation of a power system, its ability to cope with extreme events is crucial to be investigated. Chapter 4 gives a definition of such extreme events. Further, the methodology to identify extreme events on the basis of the existing tools is described. Within the SUPWIND consortium there has been an interest in using the Joint Market Model to model smaller parts of a power system but with more detailed representation of the transmission and distribution grid. Chapter 5 documents this work. (author)

  20. Policy strategies and paths to promote sustainable energy systems-The dynamic Invert simulation tool

    International Nuclear Information System (INIS)

    Stadler, Michael; Kranzl, Lukas; Huber, Claus; Haas, Reinhard; Tsioliaridou, Elena

    2007-01-01

    The European Union has established a number of targets regarding energy efficiency, Renewable Energy Sources (RES) and CO 2 reductions as the 'GREEN PAPER on Energy Efficiency', the Directive for 'promotion of the use of bio-fuels or other renewable fuels for transport' or 'Directive of the European Parliament of the Council on the promotion of cogeneration based on a useful heat demand in the internal energy market'. Many of the according RES and RUE measures are not attractive for investors from an economic point of view. Therefore, governments all over the world have to spend public money to promote these technologies/measures to bring them into market. These expenditures have to be adjusted to budget concerns and should be spent most efficiently. Therefore, the spent money has to be dedicated to technologies and efficiency measures with the best yield in CO 2 reduction without wasting money. The core question: 'How can public money-for promoting sustainable energy systems-be spent most efficiently to reduce GHG emissions?' has well been investigated by the European project Invert. In course of this project, a simulation tool has been designed to answer this core question. This paper describes the modelling with the Invert simulation tool and shows the key features necessary for simulating the energy system. A definition of 'Promotion Scheme Efficiency' is given, which allows estimating the most cost-effective technologies and/or efficiency measures to reduce CO 2 emissions. Investigations performed with the Invert simulation tool deliver an optimum portfolio mix of technologies and efficiency measures for each selected region. Within Invert, seven European regions were simulated and for the Austrian case study, the detailed portfolio mix is shown and political conclusions are derived

  1. Tools of the Mind: A Path to Build Knowledge and Construct Language through Play

    OpenAIRE

    Aparicio, Yannelys (UNIR)

    2015-01-01

    Tools of the Mind” es un Proyecto en cuya creación se ha trabajado durante los últimos veinte años. Dicho proyecto se constituye sobre la base de las ideas de Vygotsky acerca del desarrollo cognitivo y las destrezas de lectoescritura en los niños más jóvenes. El proyecto se ha ido modificando teniendo en cuenta la adquisición de habilidades en los niños para aprender a aprender, con autonomía, mediante una filosofía que trata de inculcarles el pensamiento simbólico y el de la lectoescritura....

  2. Health impact assessment in planning: Development of the design for health HIA tools

    International Nuclear Information System (INIS)

    Forsyth, Ann; Slotterback, Carissa Schively; Krizek, Kevin J.

    2010-01-01

    How can planners more systematically incorporate health concerns into practical planning processes? This paper describes a suite of health impact assessment tools (HIAs) developed specifically for planning practice. Taking an evidence-based approach the tools are designed to fit into existing planning activities. The tools include: a short audit tool, the Preliminary Checklist; a structured participatory workshop, the Rapid HIA; an intermediate health impact assessment, the Threshold Analysis; and a set of Plan Review Checklists. This description provides a basis for future work including assessing tool validity, refining specific tools, and creating alternatives.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-06-15

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

  4. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in 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

  5. Building Performance Simulation tools for planning of energy efficiency retrofits

    DEFF Research Database (Denmark)

    Mondrup, Thomas Fænø; Karlshøj, Jan; Vestergaard, Flemming

    2014-01-01

    Designing energy efficiency retrofits for existing buildings will bring environmental, economic, social, and health benefits. However, selecting specific retrofit strategies is complex and requires careful planning. In this study, we describe a methodology for adopting Building Performance...... to energy efficiency retrofits in social housing. To generate energy savings, we focus on optimizing the building envelope. We evaluate alternative building envelope actions using procedural solar radiation and daylight simulations. In addition, we identify the digital information flow and the information...... Simulation (BPS) tools as energy and environmentally conscious decision-making aids. The methodology has been developed to screen buildings for potential improvements and to support the development of retrofit strategies. We present a case study of a Danish renovation project, implementing BPS approaches...

  6. CASH FLOW-FINANCIAL PLANNING TOOL IN THE TOURISM UNITS

    Directory of Open Access Journals (Sweden)

    Boby COSTI

    2017-05-01

    Full Text Available This paper addresses the issue of cash-flow tool for financial planning, cash flow calculation by applying the indirect method within a company in the field of tourism. Thus, it tackled issues concerning the organization of accounting of treasury which made a presentation of the subject reflected in treasury accounting record of the existence and movement of securities placement, availability of the accounts at banks, short term bank loans and other cash values. The importance of access to information as well as more detailed and clearer leads to an upward trend of the tourism society. Standardization of definitions helps to ensure that all parties are talking of the same terms or concepts with lower or no variables. This is essential for developers and contractors in different geographical regions of the world and different countries when they discuss issues of tourism and travel.

  7. A Strategic Planning Tool for Increasing African American Blood Donation.

    Science.gov (United States)

    Singleton, Ashley; Spratling, Regena

    2018-05-01

    Historically, African Americans (AAs) have been underrepresented as blood donors. Having a lack of racially diverse blood donors contributes to transfusion complications, particularly in patients with sickle cell disease, who are both disproportionately AA and the recipients of frequent transfusions. Increasing AA blood donation is a complex public health issue. This review article serves to fill a gap in translating research regarding known hindrances and facilitators of AA blood donation to improve real-world donation practice and ultimately, patient outcomes. We incorporate findings from a literature review to develop a tool that blood centers, provider organizations, and patient advocacy groups can use to aid strategic planning efforts aimed at increasing AA blood donation.

  8. Chapter 8: Planning Tools to Simulate and Optimize Neighborhood Energy Systems

    Energy Technology Data Exchange (ETDEWEB)

    Zhivov, Alexander Michael; Case, Michael Patrick; Jank, Reinhard; Eicker, Ursula; Booth, Samuel

    2017-03-15

    This section introduces different energy modeling tools available in Europe and the USA for community energy master planning process varying from strategic Urban Energy Planning to more detailed Local Energy Planning. Two modeling tools used for Energy Master Planning of primarily residential communities, the 3D city model with CityGML, and the Net Zero Planner tool developed for the US Department of Defense installations are described in more details.

  9. Outage preparation milestones - A tool to improve planned outage performance

    International Nuclear Information System (INIS)

    Laplatney, Jere; Hwang, Euiyoub

    2006-01-01

    Sustainable development of Nuclear Energy depends heavily on excellent performance of the existing fleet which in turn depend heavily on the performance of planned outages. Nuclear Power Plants who have successfully undertaken outage optimization projects have demonstrated than an effective Outage Preparation Milestone program is a key component of their improvement programs. This paper will provide background into the field of 'Outage Optimization' including the philosophy, general approach, and results obtained in the U. S. industry. The significant safety improvements afforded by properly implementing outage improvement programs will be explained. Some specific examples of outage improvements will be given including the adoption of a strong Outage Preparation Milestone Program. The paper will then describe the attributes of an effective Outage Preparation Milestone Program and list a set of specific key milestones. The key milestones are defined and the reasons for each are explained. Suggested due dates for each key milestone relative to the outage start date are provided. Successful implementation of an Outage Preparation Milestone program depends heavily upon the management tools and methods used to assure that the organization meets the milestones on time and in a quality fashion. These include methods to handle cases where milestones are not met - either partially or fully. KHNP is investigating implementing an improved Outage Preparation Milestone program for its fleet of reactors as part of its overall program to improve its performance of planned outages

  10. Plans to Observe the 2017 Total Solar Eclipse from near the Path Edges

    Science.gov (United States)

    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

  11. RTSTEP regional transportation simulation tool for emergency planning - final report.

    Energy Technology Data Exchange (ETDEWEB)

    Ley, H.; Sokolov, V.; Hope, M.; Auld, J.; Zhang, K.; Park, Y.; Kang, X. (Energy Systems)

    2012-01-20

    such materials over a large area, with responders trying to mitigate the immediate danger to the population in a variety of ways that may change over time (e.g., in-place evacuation, staged evacuations, and declarations of growing evacuation zones over time). In addition, available resources will be marshaled in unusual ways, such as the repurposing of transit vehicles to support mass evacuations. Thus, any simulation strategy will need to be able to address highly dynamic effects and will need to be able to handle any mode of ground transportation. Depending on the urgency and timeline of the event, emergency responders may also direct evacuees to leave largely on foot, keeping roadways as clear as possible for emergency responders, logistics, mass transport, and law enforcement. This RTSTEP project developed a regional emergency evacuation modeling tool for the Chicago Metropolitan Area that emergency responders can use to pre-plan evacuation strategies and compare different response strategies on the basis of a rather realistic model of the underlying complex transportation system. This approach is a significant improvement over existing response strategies that are largely based on experience gained from small-scale events, anecdotal evidence, and extrapolation to the scale of the assumed emergency. The new tool will thus add to the toolbox available to emergency response planners to help them design appropriate generalized procedures and strategies that lead to an improved outcome when used during an actual event.

  12. 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

  13. Managament quality of tools in the planned housing casting

    Directory of Open Access Journals (Sweden)

    Jaworski J.

    2007-01-01

    Full Text Available The Kaizen method of housing casting designing was presented in the paper. Algorithm making possibility of identification of tools limiting efficienty of tooling process was formulated. The system of tool management consisting of various was shown.

  14. Interactive 3D geodesign tool for multidisciplinary wind turbine planning.

    Science.gov (United States)

    Rafiee, Azarakhsh; Van der Male, Pim; Dias, Eduardo; Scholten, Henk

    2018-01-01

    Wind turbine site planning is a multidisciplinary task comprising of several stakeholder groups from different domains and with different priorities. An information system capable of integrating the knowledge on the multiple aspects of a wind turbine plays a crucial role on providing a common picture to the involved groups. In this study, we have developed an interactive and intuitive 3D system (Falcon) for planning wind turbine locations. This system supports iterative design loops (wind turbine configurations), based on the emerging field of geodesign. The integration of GIS, game engine and the analytical models has resulted in an interactive platform with real-time feedback on the multiple wind turbine aspects which performs efficiently for different use cases and different environmental settings. The implementation of tiling techniques and open standard web services support flexible and on-the-fly loading and querying of different (massive) geospatial elements from different resources. This boosts data accessibility and interoperability that are of high importance in a multidisciplinary process. The incorporation of the analytical models in Falcon makes this system independent from external tools for different environmental impacts estimations and results in a unified platform for performing different environmental analysis in every stage of the scenario design. Game engine techniques, such as collision detection, are applied in Falcon for the real-time implementation of different environmental models (e.g. noise and visibility). The interactivity and real-time performance of Falcon in any location in the whole country assist the stakeholders in the seamless exploration of various scenarios and their resulting environmental effects and provides a scope for an interwoven discussion process. The flexible architecture of the system enables the effortless application of Falcon in other countries, conditional to input data availability. The embedded open web

  15. Multi-scale path planning for reduced environmental impact of aviation

    Science.gov (United States)

    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.

  16. Outage planning in nuclear power plants. A paradigm shift from an external towards an integrated project planning tool

    Energy Technology Data Exchange (ETDEWEB)

    Rosemann, Andreas [Gesellschaft fuer integrierte Systemplanung (GiS) mbH, Weinheim (Germany)

    2014-05-15

    In nuclear power plants it is common to carry out the technical planning of the annual outage work orders in an Enterprise Application Management (EAM) system and to schedule the outage tasks in a project planning tool. The reason for this is historical: Former EAM systems did not (or just to some extend) offer the necessary functionalities to realise the scheduling of the outage; graphical support for the planning was not provided at all. Consequently, scheduling the annual outage was performed in a separate planning tool. Modern Enterprise Application Management (EAM) software builds on established project planning tools with respect to the functionalities and timing of work orders. As a standard they provide editable charts as well as a lot of functionalities which are required for scheduling the annual outage. The functional gap between the demanded planning functionalities and the functionalities provided by the EAM system has been significantly reduced. Depending on the deployed software itself it is possible to extend the EAM system with little effort (in comparison to the promising advantages) so that external project timing planning tools are not required any more. By shifting towards an integrated planning tool, efficiency in planning an outage as well as the quality of communication of the current planning status increases. Furthermore, the basis of information for work orders by the control room staff and therefore safety can be enhanced. (orig.)

  17. Outage planning in nuclear power plants. A paradigm shift from an external towards an integrated project planning tool

    International Nuclear Information System (INIS)

    Rosemann, Andreas

    2014-01-01

    In nuclear power plants it is common to carry out the technical planning of the annual outage work orders in an Enterprise Application Management (EAM) system and to schedule the outage tasks in a project planning tool. The reason for this is historical: Former EAM systems did not (or just to some extend) offer the necessary functionalities to realise the scheduling of the outage; graphical support for the planning was not provided at all. Consequently, scheduling the annual outage was performed in a separate planning tool. Modern Enterprise Application Management (EAM) software builds on established project planning tools with respect to the functionalities and timing of work orders. As a standard they provide editable charts as well as a lot of functionalities which are required for scheduling the annual outage. The functional gap between the demanded planning functionalities and the functionalities provided by the EAM system has been significantly reduced. Depending on the deployed software itself it is possible to extend the EAM system with little effort (in comparison to the promising advantages) so that external project timing planning tools are not required any more. By shifting towards an integrated planning tool, efficiency in planning an outage as well as the quality of communication of the current planning status increases. Furthermore, the basis of information for work orders by the control room staff and therefore safety can be enhanced. (orig.)

  18. Virtual environment simulation as a tool to support evacuation planning

    International Nuclear Information System (INIS)

    Mol, Antonio C.; Grecco, Claudio H.S.; Santos, Isaac J.A.L.; Carvalho, Paulo V.R.; Jorge, Carlos A.F.; Sales, Douglas S.; Couto, Pedro M.; Botelho, Felipe M.; Bastos, Felipe R.

    2007-01-01

    This work is a preliminary study of the use of a free game-engine as a tool to build and to navigate in virtual environments, with a good degree of realism, for virtual simulations of evacuation from building and risk zones. To achieve this goal, some adjustments in the game engine have been implemented. A real building with four floors, consisting of some rooms with furniture and people, has been virtually implemented. Simulations of simple different evacuation scenarios have been performed, measuring the total time spent in each case. The measured times have been compared with their corresponding real evacuation times, measured in the real building. The first results have demonstrated that the virtual environment building with the free game engine is capable to reproduce the real situation with a satisfactory level. However, it is important to emphasize that such virtual simulations serve only as an aid in the planning of real evacuation simulations, and as such must never substitute the later. (author)

  19. Multiperiod planning tool for multisite pig production systems.

    Science.gov (United States)

    Nadal-Roig, E; Plà, L M

    2014-09-01

    This paper presents a multiperiod planning tool for multisite pig production systems based on Linear Programming (LP). The aim of the model is to help pig managers of multisite systems in making short-term decisions (mainly related to pig transfers between farms and batch management in fattening units) and mid-term or long-term decisions (according to company targets and expansion strategy). The model skeleton follows the structure of a three-site system that can be adapted to any multisite system present in the modern pig industry. There are three basic phases, namely, piglet production, rearing pigs, and fattening. Each phase involves a different set of farms; therefore, transportation between farms and delivering of pigs to the abattoir are under consideration. The model maximizes the total gross margin calculated from the income of sales to the abattoir and the production costs over the time horizon considered. Production cost depends on each type of farm involved in the process. Parameters like number of farms per phase and distance, farm capacity, reproduction management policies, feeding and veterinary expenses, and transportation costs are taken into account. The model also provides a schedule of transfers between farms in terms of animals to be transported and number of trucks involved. The use of the model is illustrated with a case study based on a real instance of a company located in Catalonia (Spain).

  20. 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.

  1. Outage planning in nuclear power plants. A paradigm shift from an external towards an integrated project planning tool

    Energy Technology Data Exchange (ETDEWEB)

    Rosemann, Andreas [Gesellschaft fuer integrierte Systemplanung (GIS) mbH, Weinheim (Germany)

    2014-07-01

    Latest demands on nuclear plant inspections are the ongoing actualisation of the outage plan on the basis of the current work progress and current events as well as the permanent access to the current planning status and work process of all people involved in the outage. Modern EAM systems (EAM: Enterprise Application Management) made up ground on established project planning tools with regard to functionalities for scheduling work orders. A shift towards an integrated planning in the EAM system increases the efficiency in the outage planning and improves the communication of current states of planning. (orig.)

  2. Outage planning in nuclear power plants. A paradigm shift from an external towards an integrated project planning tool

    International Nuclear Information System (INIS)

    Rosemann, Andreas

    2014-01-01

    Latest demands on nuclear plant inspections are the ongoing actualisation of the outage plan on the basis of the current work progress and current events as well as the permanent access to the current planning status and work process of all people involved in the outage. Modern EAM systems (EAM: Enterprise Application Management) made up ground on established project planning tools with regard to functionalities for scheduling work orders. A shift towards an integrated planning in the EAM system increases the efficiency in the outage planning and improves the communication of current states of planning. (orig.)

  3. The World Health Organization Performance Assessment Tool for Quality Improvement in Hospitals (PATH): an analysis of the pilot implementation in 37 hospitals

    NARCIS (Netherlands)

    Groene, Oliver; Klazinga, Niek; Kazandjian, Vahé; Lombrail, Pierre; Bartels, Paul

    2008-01-01

    OBJECTIVE: To evaluate the pilot implementation of the World Health Organization Performance Assessment Tool for Quality Improvement in hospitals (PATH). DESIGN: Semi-structured interviews with regional/country coordinators and Internet-based survey distributed to hospital coordinators. SETTING: A

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

    KAUST Repository

    Abdelkader, Mohamed

    2014-05-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  6. Developing a planning tool for South African prosecution resources ...

    African Journals Online (AJOL)

    Strategic planning, forecasting, simulation, resource planning, prosecution ... whether a case should and can be prosecuted, what charges to prosecute .... various activities in the court environment, were the recently built discrete-event simula-.

  7. Intelligent Tools for Planning Knowledge base Development and Verification

    Science.gov (United States)

    Chien, Steve A.

    1996-01-01

    A key obstacle hampering fielding of AI planning applications is the considerable expense of developing, verifying, updating, and maintaining the planning knowledge base (KB). Planning systems must be able to compare favorably in terms of software lifecycle costs to other means of automation such as scripts or rule-based expert systems.

  8. Risk management plans as a tool for proactive pharmacovigilance

    DEFF Research Database (Denmark)

    Vermeer, N S; Duijnhoven, R G; Straus, S M J M

    2014-01-01

    Risk Management Plans (RMPs) have become a cornerstone in the pharmacovigilance of new drugs in Europe. The RMP was introduced in 2005 to support a proactive approach in gaining knowledge on safety concerns through early planning of pharmacovigilance activities. However, the rate at which...... of uncertainties, suggests that opportunities for optimization exist while ensuring feasible and risk-proportionate pharmacovigilance planning....

  9. SU-F-T-94: Plan2pdf - a Software Tool for Automatic Plan Report for Philips Pinnacle TPS

    Energy Technology Data Exchange (ETDEWEB)

    Wu, C [Sutter Medical Foundation, Roseville, CA (United States)

    2016-06-15

    Purpose: To implement an automatic electronic PDF plan reporting tool for Philips Pinnacle treatment planning system (TPS) Methods: An electronic treatment plan reporting software is developed by us to enable fully automatic PDF report from Pinnacle TPS to external EMR programs such as MOSAIQ. The tool is named “plan2pdf”. plan2pdf is implemented using Pinnacle scripts, Java and UNIX shell scripts, without any external program needed. plan2pdf supports full auto-mode and manual mode reporting. In full auto-mode, with a single mouse click, plan2pdf will generate a detailed Pinnacle plan report in PDF format, which includes customizable cover page, Pinnacle plan summary, orthogonal views through each plan POI and maximum dose point, DRR for each beam, serial transverse views captured throughout the dose grid at a user specified interval, DVH and scorecard windows. The final PDF report is also automatically bookmarked for each section above for convenient plan review. The final PDF report can either be saved on a user specified folder on Pinnacle, or it can be automatically exported to an EMR import folder via a user configured FTP service. In manual capture mode, plan2pdf allows users to capture any Pinnacle plan by full screen, individual window or rectangular ROI drawn on screen. Furthermore, to avoid possible patients’ plan mix-up during auto-mode reporting, a user conflict check feature is included in plan2pdf: it prompts user to wait if another patient is being exported by plan2pdf by another user. Results: plan2pdf is tested extensively and successfully at our institution consists of 5 centers, 15 dosimetrists and 10 physicists, running Pinnacle version 9.10 on Enterprise servers. Conclusion: plan2pdf provides a highly efficient, user friendly and clinical proven platform for all Philips Pinnacle users, to generate a detailed plan report in PDF format for external EMR systems.

  10. SU-F-T-94: Plan2pdf - a Software Tool for Automatic Plan Report for Philips Pinnacle TPS

    International Nuclear Information System (INIS)

    Wu, C

    2016-01-01

    Purpose: To implement an automatic electronic PDF plan reporting tool for Philips Pinnacle treatment planning system (TPS) Methods: An electronic treatment plan reporting software is developed by us to enable fully automatic PDF report from Pinnacle TPS to external EMR programs such as MOSAIQ. The tool is named “plan2pdf”. plan2pdf is implemented using Pinnacle scripts, Java and UNIX shell scripts, without any external program needed. plan2pdf supports full auto-mode and manual mode reporting. In full auto-mode, with a single mouse click, plan2pdf will generate a detailed Pinnacle plan report in PDF format, which includes customizable cover page, Pinnacle plan summary, orthogonal views through each plan POI and maximum dose point, DRR for each beam, serial transverse views captured throughout the dose grid at a user specified interval, DVH and scorecard windows. The final PDF report is also automatically bookmarked for each section above for convenient plan review. The final PDF report can either be saved on a user specified folder on Pinnacle, or it can be automatically exported to an EMR import folder via a user configured FTP service. In manual capture mode, plan2pdf allows users to capture any Pinnacle plan by full screen, individual window or rectangular ROI drawn on screen. Furthermore, to avoid possible patients’ plan mix-up during auto-mode reporting, a user conflict check feature is included in plan2pdf: it prompts user to wait if another patient is being exported by plan2pdf by another user. Results: plan2pdf is tested extensively and successfully at our institution consists of 5 centers, 15 dosimetrists and 10 physicists, running Pinnacle version 9.10 on Enterprise servers. Conclusion: plan2pdf provides a highly efficient, user friendly and clinical proven platform for all Philips Pinnacle users, to generate a detailed plan report in PDF format for external EMR systems.

  11. Predicting Climate-sensitive Infectious Diseases: Development of a Federal Science Plan and the Path Forward

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  13. Modeling of the Effect of Path Planning on Thermokinetic Evolutions in Laser Powder Deposition Process

    Science.gov (United States)

    Foroozmehr, Ehsan; Kovacevic, Radovan

    2011-07-01

    A thermokinetic model coupling finite-element heat transfer with transformation kinetics is developed to determine the effect of deposition patterns on the phase-transformation kinetics of laser powder deposition (LPD) process of a hot-work tool steel. The finite-element model is used to define the temperature history of the process used in an empirical-based kinetic model to analyze the tempering effect of the heating and cooling cycles of the deposition process. An area is defined to be covered by AISI H13 on a substrate of AISI 1018 with three different deposition patterns: one section, two section, and three section. The two-section pattern divides the area of the one-section pattern into two sections, and the three-section pattern divides that area into three sections. The results show that dividing the area under deposition into smaller areas can influence the phase transformation kinetics of the process and, consequently, change the final hardness of the deposited material. The two-section pattern shows a higher average hardness than the one-section pattern, and the three-section pattern shows a fully hardened surface without significant tempered zones of low hardness. To verify the results, a microhardness test and scanning electron microscope were used.

  14. The future of trusts as an estate planning tool / Burger T.

    OpenAIRE

    Burger, Trinette

    2011-01-01

    Estate planning is an important exercise aimed at increasing, preserving and protecting assets during a person's lifetime and providing for the disposition and continued utilisation of these assets after his death. The minimisation of estate duty, however, often dominates the motivation behind estate planning and many of the tools, structures and techniques used as part of the estate planning exercise are aimed at reducing or avoiding estate duty. One of these tools is the trust. In the 2010 ...

  15. NTL Data Management Planning "Greenout" Bingo Self Assessment Tool

    Science.gov (United States)

    2016-08-11

    This tool is designed to help assess your current data management practices. Pick a dataset or research project, sit down with your data collection team, and discuss each prompt below. This tool can guide DMP improvement by revealing best practices t...

  16. Video: useful tool for delivering family planning messages.

    Science.gov (United States)

    Sumarsono, S K

    1985-10-01

    In 1969, the Government of Indonesia declared that the population explosion was a national problem. The National Family Planning Program was consequently launched to encourage adoption of the ideal of a small, happy and prosperous family norm. Micro-approach messages are composed of the following: physiology of menstruation; reproductive process; healthy pregnancy; rational family planning; rational application of contraceptives; infant and child care; nutrition improvement; increase in breastfeeding; increase in family income; education in family life; family health; and deferred marriage age. Macro-approach messages include: the population problem and its impact on socioeconomic aspects; efforts to cope with the population problem; and improvement of women's lot. In utilizing the media and communication channels, the program encourages the implementation of units and working units of IEC to produce IEC materials; utilizes all possible existing media and IEC channels; maintains the consistent linkage between the activity of mass media and the IEC activities in the field; and encourages the private sector to participate in the production of IEC media and materials. A media production center was set up and carries out the following activities: producing video cassettes for tv broadcasts of family planning drama, family planning news, and tv spots; producing duplicates of the video cassettes for distribution to provinces in support of the video network; producing teaching materials for family planning workers; and transfering family planning films into video cassettes. A video network was developed and includes video monitors in family planning service points such as hospitals, family planning clinics and public places like bus stations. In 1985, the program will be expanded by 50 mobile information units equipped with video monitors. Video has potentials to increase the productivity and effectiveness of the family planning program. The video production process is

  17. Improved operational performance through the use of business planning tools

    International Nuclear Information System (INIS)

    Hoelscher, H.L.

    1996-01-01

    Improved operational performance at Point Beach Nuclear Plant is based on a focused business plan. Quantitative goals that compare past performance with the performance of potential competitors are the basis of the business plan. This establishes goals for the nuclear power business unit which support corporate goals. Strategies and objectives are then developed to meet the established goals. To continue support for these strategies and objectives, individual performance plans are developed for all management personnel. These performance management plans identify individual contributor actions to support the goals, and also provide periodic feedback for changes to better prioritize individual actions. Performance criteria are also established to measure progress toward achieving the goals. The author also has a program to provide incentives for improved performance based upon success of the organization in achieving established goals

  18. An Efficient Missile Loadout Planning Tool for Operational Planners

    Science.gov (United States)

    2017-06-01

    dictionaries to access values for penalties and feasibility checks. VBA user-defined types are created to identify the base set of missions and base...Missile Defense TLAM Tomahawk Land Attack Missiles TSC Tomahawk Strike Coordinator USN United States Navy VBA Visual Basic for Applications VLP... accessible and usable form, we can start basing our loadouts on actual operational plans (OPLAN) and concept plans (CONPLAN). This will give fleet

  19. Climate changes and water resource planning: WIZ, an operational tool

    Directory of Open Access Journals (Sweden)

    Bernardo Mazzanti

    2013-09-01

    Full Text Available The institutional activity of the Arno River Basin Authority is focused on two strategical planning processes: the River Basin Management Plan, according to 2000/60/CE European Direcitve, and the Flood Management Plan, according to 2007/60/CE European Directive. Both plans contain most of the contents of Arno River Basin Plan, developed after the italian law L. 183/89, and are tackling with a global approach the management of extreme flood events and water budget problems. In this context, the evaluation of climate change impact on the water cycle is extremely relevant. Therefore the Arno River Basin Authority is engaged to analyze the impact of climate changes on water status, regarding as main reference the IPCC AR4 report e their connected forecasting scenarios. The involvement in a LIFE+ project (WIZ – WaterIZe Spatial Planning is the framework for a sample of preliminary evaluations, with the aim to include in the next updated edition of River Basin Management Plan new adapting measures (more than mitigation actions, in order to fight the negative impact of climate change on the possibility to achieve the Water Framework Directive’s quality objectives. Focusing the attention on the Lower Arno valley (Valdarno Inferiore and taking into account as simplifying hypothesis a linear correlation between groundwater recharge and total rainfall fluctuations, the effects of actual and projected climate changes are evaluated. For each water abstraction area, the potential variation of available groundwater for antropic use (in cubic meter per year is estimated, showing a decreasing trend ranging, with a high spatial variability, in a 5-10% interval. Due the increase of water demand and the distribution network losses, even such a percentage of decreasing potential recharge should be carefully evaluated; without water savings measures and investments on the renovation of distribution networks, an increase of the typical summer water scarcity crisis

  20. Implementing Strategic Environmental Assessment of spatial planning tools

    International Nuclear Information System (INIS)

    De Montis, Andrea

    2013-01-01

    After more than a decade from the publication of the European Directive 2001/42/CE (Directive) on Strategic Environmental Assessment (SEA), the design and construction of the interested spatial planning instruments has gone through a variety of changes and integrations in European and in world states. This inhomogeneous panorama can be explained with a pattern of institutional structures that have so far affected the implementation of the Directive. The aim of this paper is to investigate the level of implementation of the Directive in Italy by developing a comparative analysis of the quality of integration of SEA within the design of the spatial coordination plan of a set of Italian provinces. Italian practice is analyzed in the framework of a comparative study of worldwide SEA implementation within spatial and land use planning. The results reveal strengths and weaknesses in SEA implementation at the provincial level and, in particular, the emergence of critical areas of research concerning institutional context, public participation, monitoring, and observatory of the spatial transformations. -- Highlights: • This is a comparative analysis of SEA in strategic spatial planning in Italy. • The adhesion of Provinces to the study is remarkable. • SEA implementation and integration into spatial planning is still moderate. • Participation via consultations should be more widespread. • Monitoring and institution of observatories are still in an infancy stage

  1. TAX PLANNING: OPTIMIZATION TOOL OF DEBTS TOWARDS THE BUDGET

    Directory of Open Access Journals (Sweden)

    Anatol GRAUR

    2017-06-01

    Full Text Available Tax planning is complex of measures,consisting in the reduction of tax payments under the law. Tax planning at the enterprise starts from the initial structuring of businesses and activities and can be carried out both at entity level (corporate and the individual (individual. Compared to tax evasion, tax planning is performed only under the law by avoiding taxes. Avoiding or reducing taxes is possible by organizing activities in such a way that the law allows reducing the tax base or tax rate. Optimization of tax payments is possible by organizing the work in such a way, so as the legislation avoids or reduces the tax base,tax rates and tax incentives application.

  2. Planning National Radiotherapy Services: A Practical Tool (Russian Edition)

    International Nuclear Information System (INIS)

    2015-01-01

    The current and future burden of cancer incidence in developing countries requires the planning, establishment and upgrading of radiotherapy services at the national level. This publication is a practical guide outlining the main issues at stake when planning national radiotherapy services. It provides an assessment of the cancer burden, evaluates the existing resources, and determines what is needed and how to cover the gap in a resource oriented rational way. The publication will be of practical value to decision makers and programme managers in public health facing the organization or reorganization of radiotherapy services in their countries.

  3. Literary Translation as a Tool for Critical Language Planning

    Science.gov (United States)

    Mooneeram, Roshni

    2013-01-01

    This paper argues that Dev Virahsawmy, an author who manipulates literary translation for the purposes of linguistic prestige formation and re-negotiation, is a critical language-policy practitioner, as his work fills an important gap in language planning scholarship. A micro-analysis of the translation of a Shakespearean sonnet into Mauritian…

  4. Strategic plan: A tool to improve IPP project earnings

    International Nuclear Information System (INIS)

    LeClerc, S.

    1997-01-01

    This paper presents a strategic plan to analyze and convert project operations to gain short-term and long-term economic benefits. Areas of Opportunity were identified which may result in improved project economics from Independent Power Producers' project reviews. This paper discusses each Area of Opportunity, suggests options for investigation, and provides a potential magnitude of upside for solid fuel circulating fluidized bed projects in the 50 MW project size. The Areas of Opportunity are: (1) Power Purchase Agreement Modifications; (2) Fuel Use Optimization; (3) Power Plant Upgrades; (4) Power Plant Depreciation Schedule And FAS 121 Analysis; (5) Operation ampersand Maintenance Review; (6) Financial Contract Review; (7) Environmental Review; (8) Insurance Coverage Review; (9) Internal Management Review; and (10) Strategic Development For Energy Sales. Ten appendices are included which comprise a sample Strategic Plan: (1) Potential Plant Upgrades, (2) Enhancement Criteria, (3) Age of Coal Burning Plants, (4) Btu Energy Price Summary, (5) Typical Operation and Maintenance Audit Findings, (6) Typical Performance Objectives and Guidelines, (7) Typical Heavy Metal Emissions, (8) Typical Strategic Plan Formulation, (9) Strategic Plan Implementation Schedule, and (10) Typical Decision Tree. 8 refs

  5. GIS tools for strategic SB375 planning and program participation

    Science.gov (United States)

    2010-12-02

    The just-completed (2009-2010) phase of this project corresponds to the second year of an envisioned three-year initiative on integrated transportation and land use planning supported by the Leonard Transportation Center (LTC) and USDOT, and performe...

  6. A systematic planning tool for environmental characterisation - 16010

    International Nuclear Information System (INIS)

    Wilcox, Steven; Wilkins, Richard; Lyons, Martin

    2009-01-01

    Many organisations are currently dealing with long standing legacy issues in clean up, decommissioning and demolition projects. Industry is required to ensure that all bulk articles, substances and waste arisings are adequately characterised and assigned to the correct disposal routes in compliance with UK legislation and best practice. It is essential that data used to support waste sentencing is of the correct type, quality and quantity, and that it is appropriately assessed in order to support defensible, confident decisions that account for inherent uncertainties. AMEC has adopted the Data Quality Objectives (DQO) based methodology and the software package Visual Sample Plan (VSP) to provide a better, faster, and more cost effective approach to meeting regulatory and client requirements, whilst minimising the time spent gathering data and assessing the information. The DQO methodology is based on a scientific approach that requires clear objectives to be established from the outset of a project and that there is a demonstration of acceptability of the results. Through systematic planning, the team develops acceptance or performance criteria for the quality of the data collected and for the confidence in the final decision. The systematic planning process promotes communication between all departments and individuals involved in the decision-making process thus the planning phase gives an open and unambiguous method to support the decisions and enables the decision-makers (technical authorities on the materials of concern) to document all assumptions. The DQO process allows better planning, control and understanding of all the issues. All types of waste can be sentenced under one controllable system providing a more defensible position. This paper will explain that the DQO process consists of seven main steps that lead to a detailed Sampling and Analysis Plan (SAP). The process gives transparency to any assumptions made about the site or material being

  7. Workshop on IAEA Tools for Nuclear Energy System Assessment for Long-Term Planning and Development

    International Nuclear Information System (INIS)

    2009-01-01

    The purpose of the workshop is to present to Member States tools and methods that are available from the IAEA in support of long-term energy planning and nuclear energy system assessments, both focusing on the sustainable development of nuclear energy. This includes tools devoted to energy system planning, indicators for sustainable energy development, the INPRO methodology for Nuclear Energy System Assessment (NESA) and tools for analysing nuclear fuel cycle material balance. The workshop also intends to obtain feedback from Member States on applying the tools, share experiences and lessons learned, and identify needs for IAEA support

  8. Doing Academic Planning: Effective Tools for Decision Making.

    Science.gov (United States)

    Nedwek, Brian P., Ed.

    This sourcebook was designed to provide academic planners with the tools to perform core functions and activities that facilitate the transformation of higher education institutions from provider-centered cultures and organizations to learner-centered franchises. The readings examine partnerships and alliances needed for higher education to…

  9. Development of a Comprehensive and Interactive Tool to Inform State Violence and Injury Prevention Plans.

    Science.gov (United States)

    Wilson, Lauren; Deokar, Angela J; Zaesim, Araya; Thomas, Karen; Kresnow-Sedacca, Marcie-Jo

    The Center of Disease Control and Prevention's Core State Violence and Injury Prevention Program (Core SVIPP) provides an opportunity for states to engage with their partners to implement, evaluate, and disseminate strategies that lead to the reduction and prevention of injury and violence. Core SVIPP requires awardees to develop or update their state injury and violence plans. Currently, literature informing state planning efforts is limited, especially regarding materials related to injury and violence. Presumably, plans that are higher quality result in having a greater impact on preventing injury and violence, and literature to improve quality would benefit prevention programming. (1) To create a comprehensive injury-specific index to aid in the development and revision of state injury and violence prevention plans, and (2) to assess the reliability and utility of this index. Through an iterative development process, a workgroup of subject matter experts created the Violence and Injury Prevention: Comprehensive Index Tool (VIP:CIT). The tool was pilot tested on 3 state injury and violence prevention plans and assessed for initial usability. Following revisions to the tool (ie, a rubric was developed to further delineate consistent criteria for rating; items were added and clarified), the same state plans were reassessed to test interrater reliability and tool utility. For the second assessment, reliability of the VIP:CIT improved, indicating that the rubric was a useful addition. Qualitative feedback from states suggested that the tool significantly helped guide plan development and communicate about planning processes. The final VIP:CIT is a tool that can help increase plan quality, decrease the research-to-practice gap, and increase connectivity to emerging public health paradigms. The tool provides an example of tailoring guidance materials to reflect academic literature, and it can be easily adapted to other topic areas to promote quality of strategic plans

  10. A NEW TOOL FOR OFFICIAL CONTROL PLANNING AND MANAGEMENT OF AN AUDIT PROGRAM

    Directory of Open Access Journals (Sweden)

    G. Vestrini

    2013-02-01

    Full Text Available The new EU regulation on feed and food confirm audit like the most important tool for valuating GMP and HACCP procedures on food premises. Authors describe planning and results of 2007 audit activities.

  11. 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.

  12. WP3 Prototype development for operational planning tool

    DEFF Research Database (Denmark)

    Kristoffersen, Trine; Meibom, Peter; Apfelbeck, J.

    is documented in chapter 1 and 2. The inclusion of load uncertainty and forced outages in the Scenario Tree Tool enables calculation of the demand for reserve power depending on the forecast horizon. The algorithm is given in Section 3.1. The design of a modified version of the Joint Market Model enabling...... estimation of the optimal amount of reserve power to reserve day-ahead before the actual operation hour is documented in Section 3.2. With regard to the evaluation of a power system, its ability to cope with extreme events is crucial to be investigated. Chapter 4 gives a definition of such extreme events....... Further, the methodology to identify extreme events on the basis of the existing tools is described. Within the SUPWIND consortium there has been an interest in using the Joint Market Model to model smaller parts of a power system but with more detailed representation of the transmission and distribution...

  13. Interactive Decision-Support Tool for Risk-Based Radiation Therapy Plan Comparison for Hodgkin Lymphoma

    DEFF Research Database (Denmark)

    Brodin, N. Patrik; Maraldo, Maja V.; Aznar, Marianne C.

    2014-01-01

    PURPOSE: To present a novel tool that allows quantitative estimation and visualization of the risk of various relevant normal tissue endpoints to aid in treatment plan comparison and clinical decision making in radiation therapy (RT) planning for Hodgkin lymphoma (HL). METHODS AND MATERIALS...... and a volumetric modulated arc therapy plan for a patient with mediastinal HL. CONCLUSION: This multiple-endpoint decision-support tool provides quantitative risk estimates to supplement the clinical judgment of the radiation oncologist when comparing different RT options....... of dose-response curves to drive the reoptimization of a volumetric modulated arc therapy treatment plan for an HL patient with head-and-neck involvement. We also use this decision-support tool to visualize and quantitatively evaluate the trade-off between a 3-dimensional conformal RT plan...

  14. Social vulnerability indicators as a sustainable planning tool

    International Nuclear Information System (INIS)

    Lee, Yung-Jaan

    2014-01-01

    In the face of global warming and environmental change, the conventional strategy of resource centralization will not be able to cope with a future of increasingly extreme climate events and related disasters. It may even contribute to inter-regional disparities as a result of these events. To promote sustainable development, this study offers a case study of developmental planning in Chiayi, Taiwan and a review of the relevant literature to propose a framework of social vulnerability indicators at the township level. The proposed framework can not only be used to measure the social vulnerability of individual townships in Chiayi, but also be used to capture the spatial developmental of Chiayi. Seventeen social vulnerability indicators provide information in five dimensions. Owing to limited access to relevant data, the values of only 13 indicators were calculated. By simply summarizing indicators without using weightings and by using zero-mean normalization to standardize the indicators, this study calculates social vulnerability scores for each township. To make social vulnerability indicators more useful, this study performs an overlay analysis of social vulnerability and patterns of risk associated with national disasters. The social vulnerability analysis draws on secondary data for 2012 from Taiwan's National Geographic Information System. The second layer of analysis consists of the flood potential ratings of the Taiwan Water Resources Agency as an index of biophysical vulnerability. The third layer consists of township-level administrative boundaries. Analytical results reveal that four out of the 18 townships in Chiayi not only are vulnerable to large-scale flooding during serious flood events, but also have the highest degree of social vulnerability. Administrative boundaries, on which social vulnerability is based, do not correspond precisely to “cross-administrative boundaries,” which are characteristics of the natural environment. This study adopts

  15. Social vulnerability indicators as a sustainable planning tool

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Yung-Jaan, E-mail: yungjaanlee@gmail.com

    2014-01-15

    In the face of global warming and environmental change, the conventional strategy of resource centralization will not be able to cope with a future of increasingly extreme climate events and related disasters. It may even contribute to inter-regional disparities as a result of these events. To promote sustainable development, this study offers a case study of developmental planning in Chiayi, Taiwan and a review of the relevant literature to propose a framework of social vulnerability indicators at the township level. The proposed framework can not only be used to measure the social vulnerability of individual townships in Chiayi, but also be used to capture the spatial developmental of Chiayi. Seventeen social vulnerability indicators provide information in five dimensions. Owing to limited access to relevant data, the values of only 13 indicators were calculated. By simply summarizing indicators without using weightings and by using zero-mean normalization to standardize the indicators, this study calculates social vulnerability scores for each township. To make social vulnerability indicators more useful, this study performs an overlay analysis of social vulnerability and patterns of risk associated with national disasters. The social vulnerability analysis draws on secondary data for 2012 from Taiwan's National Geographic Information System. The second layer of analysis consists of the flood potential ratings of the Taiwan Water Resources Agency as an index of biophysical vulnerability. The third layer consists of township-level administrative boundaries. Analytical results reveal that four out of the 18 townships in Chiayi not only are vulnerable to large-scale flooding during serious flood events, but also have the highest degree of social vulnerability. Administrative boundaries, on which social vulnerability is based, do not correspond precisely to “cross-administrative boundaries,” which are characteristics of the natural environment. This study

  16. Stakeholder analysis: a useful tool for biobank planning.

    Science.gov (United States)

    Bjugn, Roger; Casati, Bettina

    2012-06-01

    Stakeholders are individuals, groups, or organizations that are affected by or can affect a particular action undertaken by others. Biobanks relate to a number of donors, researchers, research institutions, regulatory bodies, funders, and others. These stakeholders can potentially have a strong influence upon the organization and operation of a biobank. A sound strategy for stakeholder engagement is considered essential in project management and organization theory. In this article, we review relevant stakeholder theory and demonstrate how a stakeholder analysis was undertaken in the early stage of a planned research biobank at a public hospital in Norway.

  17. Final Report: Evaluation of Tools and Metrics to Support Employer Selection of Health Plans.

    Science.gov (United States)

    Mattke, Soeren; Van Busum, Kristin R; Martsolf, Grant R

    2014-01-01

    The Patient Protection and Affordable Care Act (ACA) places strong emphasis on quality of care as a means to improve outcomes for Americans and promote the financial sustainability of our health care system. Included in the ACA are new disclosure requirements that require health plans to provide a summary of benefits and coverage that accurately describes the benefits under the plan or coverage. These requirements are intended to support employers' procurement of high-value health coverage for their employees. This study attempts to help employers understand the structural differences between health plans and the performance dimensions along which plans can differ, as well as to educate employers about available tools that can be used to evaluate plan options. The study also discusses the extent to which these and other tools or resources are used by employers to inform choices between health plans.

  18. ReACT!: An Interactive Educational Tool for AI Planning for Robotics

    Science.gov (United States)

    Dogmus, Zeynep; Erdem, Esra; Patogulu, Volkan

    2015-01-01

    This paper presents ReAct!, an interactive educational tool for artificial intelligence (AI) planning for robotics. ReAct! enables students to describe robots' actions and change in dynamic domains without first having to know about the syntactic and semantic details of the underlying formalism, and to solve planning problems using…

  19. Identifying Professional Development Needs in Mathematics: A Planning Tool for Grades 3-7. Second Edition

    Science.gov (United States)

    Taylor, Mary Jo; Dimino, Joseph A.; Gellar, Leanne Ketterlin; Koontz, Trish

    2010-01-01

    This document offers a planning tool for grades 3-7 that can be used by regional comprehensive centers, other technical assistance centers, and state departments of education to plan professional development for teachers. It is based on the "National Mathematics Advisory Panel Report" which was published in 2008. The panel synthesized its final…

  20. Closing the Communication Gap: "Web 2.0 Tools for Enhanced Planning and Collaboration"

    Science.gov (United States)

    Charles, Kelly J.; Dickens, Virginia

    2012-01-01

    Web 2.0 is expanding the way general and special educators collaborate, especially in co-teaching situations. This article draws attention to several free web-based tools and a co-teaching lesson plan supplement that can be used to incorporate Web 2.0 technologies during the co-planning, co-teaching and shared reflection processes between the…

  1. A Portfolio Analysis Tool for Measuring NASAs Aeronautics Research Progress toward Planned Strategic Outcomes

    Science.gov (United States)

    Tahmasebi, Farhad; Pearce, Robert

    2016-01-01

    Description of a tool for portfolio analysis of NASA's Aeronautics research progress toward planned community strategic Outcomes is presented. The strategic planning process for determining the community Outcomes is also briefly described. Stakeholder buy-in, partnership performance, progress of supporting Technical Challenges, and enablement forecast are used as the criteria for evaluating progress toward Outcomes. A few illustrative examples are also presented.

  2. A Monte Carlo dose calculation tool for radiotherapy treatment planning

    International Nuclear Information System (INIS)

    Ma, C.-M.; Li, J.S.; Pawlicki, T.; Jiang, S.B.; Deng, J.; Lee, M.C.; Koumrian, T.; Luxton, M.; Brain, S.

    2002-01-01

    A Monte Carlo user code, MCDOSE, has been developed for radiotherapy treatment planning (RTP) dose calculations. MCDOSE is designed as a dose calculation module suitable for adaptation to host RTP systems. MCDOSE can be used for both conventional photon/electron beam calculation and intensity modulated radiotherapy (IMRT) treatment planning. MCDOSE uses a multiple-source model to reconstruct the treatment beam phase space. Based on Monte Carlo simulated or measured beam data acquired during commissioning, source-model parameters are adjusted through an automated procedure. Beam modifiers such as jaws, physical and dynamic wedges, compensators, blocks, electron cut-outs and bolus are simulated by MCDOSE together with a 3D rectilinear patient geometry model built from CT data. Dose distributions calculated using MCDOSE agreed well with those calculated by the EGS4/DOSXYZ code using different beam set-ups and beam modifiers. Heterogeneity correction factors for layered-lung or layered-bone phantoms as calculated by both codes were consistent with measured data to within 1%. The effect of energy cut-offs for particle transport was investigated. Variance reduction techniques were implemented in MCDOSE to achieve a speedup factor of 10-30 compared to DOSXYZ. (author)

  3. Crowdsourcing as a Tool for Knowledge Acquisition in Spatial Planning

    Directory of Open Access Journals (Sweden)

    Chrysaida-Aliki Papadopoulou

    2014-03-01

    Full Text Available The term “crowdsourcing” was initially introduced by Howe in his article “The Rise of Crowdsourcing” [1]. During the last few years, crowdsourcing has become popular among companies, institutions and universities, as a crowd-centered modern “tool” for problem solving. Crowdsourcing is mainly based on the idea of an open-call publication of a problem, requesting the response of the crowd for reaching the most appropriate solution. The focus of this paper is on the role of crowdsourcing in knowledge acquisition for planning applications. The first part provides an introduction to the origins of crowdsourcing in knowledge generation. The second part elaborates on the concept of crowdsourcing, while some indicative platforms supporting the development of crowdsourcing applications are also described. The third part focuses on the integration of crowdsourcing with certain web technologies and GIS (Geographic Information Systems, for spatial planning applications, while in the fourth part, a general framework of the rationale behind crowdsourcing applications is presented. Finally, the fifth part focuses on a range of case studies that adopted several crowdsourcing techniques.

  4. An interactive water indicator assessment tool to support land use planning

    NARCIS (Netherlands)

    Hellegers, P.J.G.J.; Jansen, H.C.; Bastiaanssen, W.G.M.

    2012-01-01

    This paper presents an interactive web-based rapid assessment tool that generates key water related indicators to support decision making by stakeholders in land use planning. The tool is built on a consistent science based method that combines remote sensing with hydrological and socioeconomic

  5. Requirements for advanced decision support tools in future distribution network planning

    NARCIS (Netherlands)

    Grond, M.O.W.; Morren, J.; Slootweg, J.G.

    2013-01-01

    This paper describes the need and requirements for advanced decision support tools in future network planning from a distribution network operator perspective. The existing tools will no longer be satisfactory for future application due to present developments in the electricity sector that increase

  6. A data-based conservation planning tool for Florida panthers

    Science.gov (United States)

    Murrow, Jennifer L.; Thatcher, Cindy A.; Van Manen, Frank T.; Clark, Joseph D.

    2013-01-01

    Habitat loss and fragmentation are the greatest threats to the endangered Florida panther (Puma concolor coryi). We developed a data-based habitat model and user-friendly interface so that land managers can objectively evaluate Florida panther habitat. We used a geographic information system (GIS) and the Mahalanobis distance statistic (D2) to develop a model based on broad-scale landscape characteristics associated with panther home ranges. Variables in our model were Euclidean distance to natural land cover, road density, distance to major roads, human density, amount of natural land cover, amount of semi-natural land cover, amount of permanent or semi-permanent flooded area–open water, and a cost–distance variable. We then developed a Florida Panther Habitat Estimator tool, which automates and replicates the GIS processes used to apply the statistical habitat model. The estimator can be used by persons with moderate GIS skills to quantify effects of land-use changes on panther habitat at local and landscape scales. Example applications of the tool are presented.

  7. PathMAPA: a tool for displaying gene expression and performing statistical tests on metabolic pathways at multiple levels for Arabidopsis

    Directory of Open Access Journals (Sweden)

    Ma Ligeng

    2003-11-01

    Full Text Available Abstract Background To date, many genomic and pathway-related tools and databases have been developed to analyze microarray data. In published web-based applications to date, however, complex pathways have been displayed with static image files that may not be up-to-date or are time-consuming to rebuild. In addition, gene expression analyses focus on individual probes and genes with little or no consideration of pathways. These approaches reveal little information about pathways that are key to a full understanding of the building blocks of biological systems. Therefore, there is a need to provide useful tools that can generate pathways without manually building images and allow gene expression data to be integrated and analyzed at pathway levels for such experimental organisms as Arabidopsis. Results We have developed PathMAPA, a web-based application written in Java that can be easily accessed over the Internet. An Oracle database is used to store, query, and manipulate the large amounts of data that are involved. PathMAPA allows its users to (i upload and populate microarray data into a database; (ii integrate gene expression with enzymes of the pathways; (iii generate pathway diagrams without building image files manually; (iv visualize gene expressions for each pathway at enzyme, locus, and probe levels; and (v perform statistical tests at pathway, enzyme and gene levels. PathMAPA can be used to examine Arabidopsis thaliana gene expression patterns associated with metabolic pathways. Conclusion PathMAPA provides two unique features for the gene expression analysis of Arabidopsis thaliana: (i automatic generation of pathways associated with gene expression and (ii statistical tests at pathway level. The first feature allows for the periodical updating of genomic data for pathways, while the second feature can provide insight into how treatments affect relevant pathways for the selected experiment(s.

  8. Planning and roadmapping technological innovations cases and tools

    CERN Document Server

    Pizarro, Melinda; Talla, Rajasree

    2014-01-01

    Across industries, firms vary broadly on how they operate with respect to their Research & Development (R&D) activities.  This volume presents a holistic approach to evaluating the critical elements of R&D management, including planning, organization, portfolio management, project management, and knowledge transfer—by assessing R&D management from different sectors.  Featuring empirical research and in-depth case studies from industries as diverse as medical imaging, electric vehicles, and cyber security, the authors identify common features of successful R&D management, despite fundamental differences, such as company size, number of employees, industry sector, and the R&D budget.  In particular, they consider the implications for decision making with respect to resource allocation and investments, such as site selection, purchasing, and cross-departmental communication.

  9. The Capital Asset Pricing Model: An Evaluation of its Potential as a Strategic Planning Tool

    OpenAIRE

    Thomas H. Naylor; Francis Tapon

    1982-01-01

    In this paper we provide a summary of the capital asset pricing model (CAPM) and point out how it might possibly be used as a tool for strategic planning by corporations that own a portfolio of businesses. We also point out some of the assumptions underlying the CAPM which must be satisfied if it is to be used for strategic planning. Next we include a critical appraisal of the CAPM as a strategic planning tool. Finally, we state the case for linking competitive strategy models, CAPM models, a...

  10. A Tool for Measuring NASA's Aeronautics Research Progress Toward Planned Strategic Community Outcomes

    Science.gov (United States)

    Tahmasebi, Farhad; Pearce, Robert

    2016-01-01

    Description of a tool for portfolio analysis of NASA's Aeronautics research progress toward planned community strategic Outcomes is presented. For efficiency and speed, the tool takes advantage of a function developed in Excels Visual Basic for Applications. The strategic planning process for determining the community Outcomes is also briefly discussed. Stakeholder buy-in, partnership performance, progress of supporting Technical Challenges, and enablement forecast are used as the criteria for evaluating progress toward Outcomes. A few illustrative examples of using the tool are also presented.

  11. 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.

  12. A motion-planning method for dexterous hand operating a tool based on bionic analysis

    Directory of Open Access Journals (Sweden)

    Wei Bo

    2017-01-01

    Full Text Available In order to meet the needs of robot’s operating tools for different types and sizes, the dexterous hand is studied by many scientific research institutions. However, the large number of joints in a dexterous hand leads to the difficulty of motion planning. Aiming at this problem, this paper proposes a planning method abased on BPNN inspired by human hands. Firstly, this paper analyses the structure and function of the human hand and summarizes its typical strategy of operation. Secondly, based on the manual operation strategy, the tools are classified according to the shape and the operation mode of the dexterous hand is presented. Thirdly, the BPNN is used to train the humanoid operation, and then output the operation plan. Finally, the simulating experiments of grasping simple tools and operating complex tools are made by MATLAB and ADAMS. The simulation verifies the effectiveness of this method.

  13. Planning the network of gas pipelines through modeling tools

    Energy Technology Data Exchange (ETDEWEB)

    Sucupira, Marcos L.L.; Lutif Filho, Raimundo B. [Companhia de Gas do Ceara (CEGAS), Fortaleza, CE (Brazil)

    2009-07-01

    Natural gas is a source of non-renewable energy used by different sectors of the economy of Ceara. Its use may be industrial, residential, commercial, as a source of automotive fuel, as a co-generation of energy and as a source for generating electricity from heat. For its practicality this energy has a strong market acceptance and provides a broad list of clients to fit their use, which makes it possible to reach diverse parts of the city. Its distribution requires a complex network of pipelines that branches throughout the city to meet all potential clients interested in this source of energy. To facilitate the design, analysis, expansion and location of bottlenecks and breaks in the distribution network, a modeling software is used that allows the network manager of the net to manage the various information about the network. This paper presents the advantages of modeling the gas distribution network of natural gas companies in Ceara, showing the tool used, the steps necessary for the implementation of the models, the advantages of using the software and the findings obtained with its use. (author)

  14. Modernizing Pickles - A Tool for Planning and Scheduling HST Astrometry

    Science.gov (United States)

    Juarez, Aaron; McArthur, B.; Benedict, G. F.

    2007-12-01

    Pickles is a Macintosh program written in C that was developed as a tool for determining pointings and rolls of the Hubble Space Telescope (HST) to place targets and astrometric reference stars in the Fine Guidance Sensor (FGS) field of regard ("pickles"). The program was developed in the late 1980s and runs under the "Classic” System. Ongoing HST astrometry projects require that this code be ported to the Intel-Mac OSX, because the Classic System is now unsupported. Pickles is a vital part of HST astrometry research. It graphically aids the investigator to determine where, when, and how the HST/FGS combination can observe an object and associated astrometric reference stars. Presently, Pickles can extract and display star positions from Guide Star Catalogs, such as the ACRS, SAO, and AGK3 catalogs via CD-ROMs. Future improvements will provide access to these catalogs and others through the internet. As an example of the past utility of Pickles, we highlight the recent determination of parallaxes for ten galactic Cepheids to determine an improved solar-metallicity Period-Luminosity relation. Support for this work was provided by NASA through grants GO-10989, -11210, and -11211 from the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS5-26555.

  15. Improvement of tool support of the spatial approach to regional planning: problems, specifics, trends

    Directory of Open Access Journals (Sweden)

    Nataliya Gennadievna Yushkova

    2015-01-01

    Full Text Available The emerging imperatives of innovation economic development in Russia determine the content of conceptual and institutional constraints to the development of regional economic systems (RES. They consider the regional planning system as a leading priority in its inseparable unity with modern public administration tasks. However, the practice of development of long-term plans in the RF subjects proves that the innovation challenges of economic policy are not reflected properly in them or they are significantly distorted. The following reasons reduce the effectiveness of modernization processes in the RF subjects and hamper the appropriate reaction of RES on their impact: the lack of coordination between socio-economic and spatial regional plans, the imbalance of interaction between state authorities engaged in long-term planning, the lack of real prerequisites for the implementation of innovation initiatives in the regions. Systematization and analysis of long-term plans make it possible to substantiate the consistency of the spatial approach to regional planning expressed in the dominance of the transformational function that synchronizes the configuration and parameters of RES, and to establish ways to integrate spatial components in the system of regional planning through optimization of its tool support. The change in the content of the instrumentation support is based on the synthesis of the predominant basic characteristics of the existing tools used in isolated subsystems of regional planning of socio-economic and territorial development. The study has established a system of tool support for regional planning that adapts to the changes in both internal and external factors in the development of RES. Three main groups of tools: organizing, regulating, and coordinating are defined by their typing in accordance with the groups of management functions. The article proposes the modeling of combinations of tools that are subordinated to the

  16. Using the Program Sustainability Assessment Tool to Assess and Plan for Sustainability

    Science.gov (United States)

    Mainor, Avia; Moreland-Russell, Sarah; Maier, Ryan C.; Brossart, Laura; Luke, Douglas A.

    2014-01-01

    Implementing and growing a public health program that benefits society takes considerable time and effort. To ensure that positive outcomes are maintained over time, program managers and stakeholders should plan and implement activities to build sustainability capacity within their programs. We describe a 3-part sustainability planning process that programs can follow to build their sustainability capacity. First, program staff and stakeholders take the Program Sustainability Assessment Tool to measure their program’s sustainability across 8 domains. Next, managers and stakeholders use results from the assessment to inform and prioritize sustainability action planning. Lastly, staff members implement the plan and keep track of progress toward their sustainability goals. Through this process, staff can more holistically address the internal and external challenges and pressures associated with sustaining a program. We include a case example of a chronic disease program that completed the Program Sustainability Assessment Tool and engaged in program sustainability planning. PMID:24456644

  17. A semiautomatic tool for prostate segmentation in radiotherapy treatment planning

    International Nuclear Information System (INIS)

    Schulz, Jörn; Skrøvseth, Stein Olav; Tømmerås, Veronika Kristine; Marienhagen, Kirsten; Godtliebsen, Fred

    2014-01-01

    Delineation of the target volume is a time-consuming task in radiotherapy treatment planning, yet essential for a successful treatment of cancers such as prostate cancer. To facilitate the delineation procedure, the paper proposes an intuitive approach for 3D modeling of the prostate by slice-wise best fitting ellipses. The proposed estimate is initialized by the definition of a few control points in a new patient. The method is not restricted to particular image modalities but assumes a smooth shape with elliptic cross sections of the object. A training data set of 23 patients was used to calculate a prior shape model. The mean shape model was evaluated based on the manual contour of 10 test patients. The patient records of training and test data are based on axial T1-weighted 3D fast-field echo (FFE) sequences. The manual contours were considered as the reference model. Volume overlap (Vo), accuracy (Ac) (both ratio, range 0-1, optimal value 1) and Hausdorff distance (HD) (mm, optimal value 0) were calculated as evaluation parameters. The median and median absolute deviation (MAD) between manual delineation and deformed mean best fitting ellipses (MBFE) was Vo (0.9 ± 0.02), Ac (0.81 ± 0.03) and HD (4.05 ± 1.3)mm and between manual delineation and best fitting ellipses (BFE) was Vo (0.96 ± 0.01), Ac (0.92 ± 0.01) and HD (1.6 ± 0.27)mm. Additional results show a moderate improvement of the MBFE results after Monte Carlo Markov Chain (MCMC) method. The results emphasize the potential of the proposed method of modeling the prostate by best fitting ellipses. It shows the robustness and reproducibility of the model. A small sample test on 8 patients suggest possible time saving using the model

  18. Automated planning target volume generation: an evaluation pitting a computer-based tool against human experts

    International Nuclear Information System (INIS)

    Ketting, Case H.; Austin-Seymour, Mary; Kalet, Ira; Jacky, Jon; Kromhout-Schiro, Sharon; Hummel, Sharon; Unger, Jonathan; Fagan, Lawrence M.; Griffin, Tom

    1997-01-01

    Purpose: Software tools are seeing increased use in three-dimensional treatment planning. However, the development of these tools frequently omits careful evaluation before placing them in clinical use. This study demonstrates the application of a rigorous evaluation methodology using blinded peer review to an automated software tool that produces ICRU-50 planning target volumes (PTVs). Methods and Materials: Seven physicians from three different institutions involved in three-dimensional treatment planning participated in the evaluation. Four physicians drew partial PTVs on nine test cases, consisting of four nasopharynx and five lung primaries. Using the same information provided to the human experts, the computer tool generated PTVs for comparison. The remaining three physicians, designated evaluators, individually reviewed the PTVs for acceptability. To exclude bias, the evaluators were blinded to the source (human or computer) of the PTVs they reviewed. Their scorings of the PTVs were statistically examined to determine if the computer tool performed as well as the human experts. Results: The computer tool was as successful as the human experts in generating PTVs. Failures were primarily attributable to insufficient margins around the clinical target volume and to encroachment upon critical structures. In a qualitative analysis, the human and computer experts displayed similar types and distributions of errors. Conclusions: Rigorous evaluation of computer-based radiotherapy tools requires comparison to current practice and can reveal areas for improvement before the tool enters clinical practice

  19. The practical use of an interactive visualization and planning tool for intervention planning in particle accelerator environments with ionizing radiation

    International Nuclear Information System (INIS)

    Fabry, Thomas; Blaha, Jan; Vanherpe, Liesbeth; Braesch, Christian; Tabourot, Laurent; Feral, Bruno

    2014-01-01

    A core issue during the planning of a maintenance intervention in a facility with ionizing radiation is the minimization of the integrated equivalent dose contracted by the maintenance workers during the intervention. In this work, we explore the use of a technical-scientific software program facilitating the intervention planning in irradiated environments using sound mathematical concepts. We show how the software can be used in planning future operations using a case studies: the decommissioning of a beam dump for a linear 160 MeV H − accelerator. Interactive visualization of the facilities and radiation levels, as well as tools for interactive trajectory planning are explored, as well as automatic calculation of the expected integrated individual dose contracted during an intervention

  20. The practical use of an interactive visualization and planning tool for intervention planning in particle accelerator environments with ionizing radiation

    Energy Technology Data Exchange (ETDEWEB)

    Fabry, Thomas, E-mail: thomas.fabry@cern.ch [European Organization for Nuclear Research, CERN, CH-1211 Genève 23 (Switzerland); Blaha, Jan; Vanherpe, Liesbeth [European Organization for Nuclear Research, CERN, CH-1211 Genève 23 (Switzerland); Braesch, Christian; Tabourot, Laurent [SYMME, Université de Savoie, Polytech Annecy-Chambéry, 5 Chemin de Bellevue, 74944 Annecy le Vieux (France); Feral, Bruno [European Organization for Nuclear Research, CERN, CH-1211 Genève 23 (Switzerland)

    2014-04-11

    A core issue during the planning of a maintenance intervention in a facility with ionizing radiation is the minimization of the integrated equivalent dose contracted by the maintenance workers during the intervention. In this work, we explore the use of a technical-scientific software program facilitating the intervention planning in irradiated environments using sound mathematical concepts. We show how the software can be used in planning future operations using a case studies: the decommissioning of a beam dump for a linear 160 MeV H{sup −} accelerator. Interactive visualization of the facilities and radiation levels, as well as tools for interactive trajectory planning are explored, as well as automatic calculation of the expected integrated individual dose contracted during an intervention.

  1. The practical use of an interactive visualization and planning tool for intervention planning in particle accelerator environments with ionizing radiation

    CERN Document Server

    Fabry, Thomas; Vanherpe, Liesbeth; Braesch, Christian; Tabourot, Laurent; Feral, Bruno

    2014-01-01

    A core issue during the planning of a maintenance intervention in a facility with ionizing radiation is the minimization of the integrated equivalent dose contracted by the maintenance workers during the intervention. In this work, we explore the use of a technical-scientific software program facilitating the intervention planning in irradiated environments using sound mathematical concepts. We show how the software can be used in planning future operations using a case studies: the decommissioning of a beam dump for a linear 160 MeV H− accelerator. Interactive visualization of the facilities and radiation levels, as well as tools for interactive trajectory planning are explored, as well as automatic calculation of the expected integrated individual dose contracted during an intervention.

  2. Employing mobile media technologies as a participatory planning tool in the suburban housing estate

    DEFF Research Database (Denmark)

    Andersson, Lasse; Knudsen, Anne-Marie Sanvig

    2013-01-01

    an on-going process, informed by mobile citizen generated information loops (open-source), the aim was to move beyond the master plan as a detached expert-driven product and towards an instant master planning process. In order to explore this iterative take on the planning process the research team...... and consulting firm employed mobile media technologies as a tool for creating new forms of citizen engagement. Based on the lessons learned from the research and development project we conclude by looking at what mobile media technologies afforded this planning process and what these experiences might add...

  3. Demonstration tools for the facility/land use planning process at Rocky Flats

    International Nuclear Information System (INIS)

    Ryan, K.B.

    1994-01-01

    The new mission for the Rocky Flats Site states, open-quotes Manage waste and materials, clean up and convert the Rocky Flats Site to beneficial use in a manner that is safe, environmentally and socially responsible, physical secure, and cost-effective.close quotes. In addition, community recognition and support is encouraged and expected. To accomplish this ambitious mission of converting to another use and incorporating stakeholder input, many tools must be developed. These tools must be clearly understandable and readily available, with the hope and plan that similar outcomes will be much more apparent if the same or similar tools are applied by all decision markers, both internal and external. Since the task is monumental and extremely complex, establishing and understanding these available tools early in the planning process is important. All decision makers must be identified and the availability of the tools should be shared to eliminate redundancy and expedite the planning process. Most documents utilized for decision making are very technical in nature. Since numerous and varied stakeholders will be involved, these documents must be socialized or open-quotes detechnicalized.close quotes This paper discusses developing internal and universally acceptable demonstration tools for explaining how facilities and land will be analyzed for constraints and opportunities during the planning process

  4. A planning quality evaluation tool for prostate adaptive IMRT based on machine learning

    International Nuclear Information System (INIS)

    Zhu Xiaofeng; Ge Yaorong; Li Taoran; Thongphiew, Danthai; Yin Fangfang; Wu, Q Jackie

    2011-01-01

    Purpose: To ensure plan quality for adaptive IMRT of the prostate, we developed a quantitative evaluation tool using a machine learning approach. This tool generates dose volume histograms (DVHs) of organs-at-risk (OARs) based on prior plans as a reference, to be compared with the adaptive plan derived from fluence map deformation. Methods: Under the same configuration using seven-field 15 MV photon beams, DVHs of OARs (bladder and rectum) were estimated based on anatomical information of the patient and a model learned from a database of high quality prior plans. In this study, the anatomical information was characterized by the organ volumes and distance-to-target histogram (DTH). The database consists of 198 high quality prostate plans and was validated with 14 cases outside the training pool. Principal component analysis (PCA) was applied to DVHs and DTHs to quantify their salient features. Then, support vector regression (SVR) was implemented to establish the correlation between the features of the DVH and the anatomical information. Results: DVH/DTH curves could be characterized sufficiently just using only two or three truncated principal components, thus, patient anatomical information was quantified with reduced numbers of variables. The evaluation of the model using the test data set demonstrated its accuracy ∼80% in prediction and effectiveness in improving ART planning quality. Conclusions: An adaptive IMRT plan quality evaluation tool based on machine learning has been developed, which estimates OAR sparing and provides reference in evaluating ART.

  5. Path Dependency

    OpenAIRE

    Mark Setterfield

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Yong Ma

    2013-01-01

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

  7. Review of quality assessment tools for family planning programmes in low- and middle-income countries.

    Science.gov (United States)

    Sprockett, Andrea

    2017-03-01

    Measuring and tracking the quality of healthcare is a critical part of improving service delivery, clinic efficiency and health outcomes. However, no standardized or widely accepted tool exists to assess the quality of clinic-based family planning services in low- and middle-income countries. The objective of this literature review was to identify widely used public domain quality assessment tools with existing or potential application in clinic-based family planning programmes. Using PubMed, PopLine, Google Scholar and Google, key terms such as ‘quality assessment tool’, ‘quality assessment method’, ‘quality measurement’, ‘LMIC’, ‘developing country’, ‘family planning’ and ‘reproductive health’ were searched for articles, identifying 20 relevant tools. Tools were assessed to determine the type of quality components assessed, divided into structure and process components, level of application (national or facility), health service domain that can be assessed by the tool, cost and current use of the tool. Tools were also assessed for shortcomings based on application in a low- and middle-income clinic-based family planning programme, including personnel required, re-assessment frequency, assessment of structure, process and outcome quality, comparability of data over time and across facilities and ability to benchmark clinic results to a national benchmark. No tools met all criteria, indicating a critical gap in quality assessment for low- and middle-income family planning programmes. To achieve Universal Health Coverage, agreed on in the Sustainable Development Goals and to improve system-wide healthcare quality, we must develop and widely adopt a standardized quality assessment tool.

  8. Resource Planning Model: An Integrated Resource Planning and Dispatch Tool for Regional Electric Systems

    Energy Technology Data Exchange (ETDEWEB)

    Mai, T.; Drury, E.; Eurek, K.; Bodington, N.; Lopez, A.; Perry, A.

    2013-01-01

    This report introduces a new capacity expansion model, the Resource Planning Model (RPM), with high spatial and temporal resolution that can be used for mid- and long-term scenario planning of regional power systems. Although RPM can be adapted to any geographic region, the report describes an initial version of the model adapted for the power system in Colorado. It presents examples of scenario results from the first version of the model, including an example of a 30%-by-2020 renewable electricity penetration scenario.

  9. Pembangunan Tools Audit Sistem Informasi Berdasarkan COBIT 5 pada Domain Align, Plan, And Organize (APO

    Directory of Open Access Journals (Sweden)

    Mukhammad Ilham Nur Faizin

    2015-10-01

    Full Text Available Fast growth of information technology (IT encourages the implementation of IT governance processes to achieve its purposes. To determine its achievement, several tools in a checklist form is required to ease the measurement of purpose achievement and process capability level. This study aims to develop capability level measurement tools which can help in information system audit process based on COBIT 5 in domain of Align, Plan, and Organize (APO. The development of capability level measurement tools was done in four stages. The first stage was the analysis about variables or indicators needed in the making of the measurement checklist based on COBIT 5 and Panduan Tata Kelola TIK Nasional (National ITC Governance Guide. The second stage was the content and the tools design. The third stage was building the tools using a spreadsheet software. The fourth stage was the tools evaluation by giving a questionnaire to its users. Respondents involved were the staff of Directorate Information System of Airlangga University. The components of evaluated tools consisted of its contents, interfaces, as well as its functions and operations. The result was used as a base for tools improvements. This study produces tools that gives outcomes in the form of current process capability level and improvement advices to achieve the expected capability level. Evaluation result shows that 86% of users agree that the tools have understandable contents and good interface, and 81% of users agrees that the tools have good functions and operations.

  10. A Monte Carlo-based treatment-planning tool for ion beam therapy

    CERN Document Server

    Böhlen, T T; Dosanjh, M; Ferrari, A; Haberer, T; Parodi, K; Patera, V; Mairan, A

    2013-01-01

    Ion beam therapy, as an emerging radiation therapy modality, requires continuous efforts to develop and improve tools for patient treatment planning (TP) and research applications. Dose and fluence computation algorithms using the Monte Carlo (MC) technique have served for decades as reference tools for accurate dose computations for radiotherapy. In this work, a novel MC-based treatment-planning (MCTP) tool for ion beam therapy using the pencil beam scanning technique is presented. It allows single-field and simultaneous multiple-fields optimization for realistic patient treatment conditions and for dosimetric quality assurance for irradiation conditions at state-of-the-art ion beam therapy facilities. It employs iterative procedures that allow for the optimization of absorbed dose and relative biological effectiveness (RBE)-weighted dose using radiobiological input tables generated by external RBE models. Using a re-implementation of the local effect model (LEM), theMCTP tool is able to perform TP studies u...

  11. Creating a strategic plan for configuration management using computer aided software engineering (CASE) tools

    International Nuclear Information System (INIS)

    Smith, P.R.; Sarfaty, R.

    1993-01-01

    This paper provides guidance in the definition, documentation, measurement, enhancement of processes, and validation of a strategic plan for configuration management (CM). The approach and methodology used in establishing a strategic plan is the same for any enterprise, including the Department of Energy (DOE), commercial nuclear plants, the Department of Defense (DOD), or large industrial complexes. The principles and techniques presented are used world wide by some of the largest corporations. The authors used industry knowledge and the areas of their current employment to illustrate and provide examples. Developing a strategic configuration and information management plan for DOE Idaho Field Office (DOE-ID) facilities is discussed in this paper. A good knowledge of CM principles is the key to successful strategic planning. This paper will describe and define CM elements, and discuss how CM integrates the facility's physical configuration, design basis, and documentation. The strategic plan does not need the support of a computer aided software engineering (CASE) tool. However, the use of the CASE tool provides a methodology for consistency in approach, graphics, and database capability combined to form an encyclopedia and a method of presentation that is easily understood and aids the process of reengineering. CASE tools have much more capability than those stated above. Some examples are supporting a joint application development group (JAD) to prepare a software functional specification document and, if necessary, provide the capability to automatically generate software application code. This paper briefly discusses characteristics and capabilities of two CASE tools that use different methodologies to generate similar deliverables

  12. Process planning optimization on turning machine tool using a hybrid genetic algorithm with local search approach

    Directory of Open Access Journals (Sweden)

    Yuliang Su

    2015-04-01

    Full Text Available A turning machine tool is a kind of new type of machine tool that is equipped with more than one spindle and turret. The distinctive simultaneous and parallel processing abilities of turning machine tool increase the complexity of process planning. The operations would not only be sequenced and satisfy precedence constraints, but also should be scheduled with multiple objectives such as minimizing machining cost, maximizing utilization of turning machine tool, and so on. To solve this problem, a hybrid genetic algorithm was proposed to generate optimal process plans based on a mixed 0-1 integer programming model. An operation precedence graph is used to represent precedence constraints and help generate a feasible initial population of hybrid genetic algorithm. Encoding strategy based on data structure was developed to represent process plans digitally in order to form the solution space. In addition, a local search approach for optimizing the assignments of available turrets would be added to incorporate scheduling with process planning. A real-world case is used to prove that the proposed approach could avoid infeasible solutions and effectively generate a global optimal process plan.

  13. Migration check tool: automatic plan verification following treatment management systems upgrade and database migration.

    Science.gov (United States)

    Hadley, Scott W; White, Dale; Chen, Xiaoping; Moran, Jean M; Keranen, Wayne M

    2013-11-04

    Software upgrades of the treatment management system (TMS) sometimes require that all data be migrated from one version of the database to another. It is necessary to verify that the data are correctly migrated to assure patient safety. It is impossible to verify by hand the thousands of parameters that go into each patient's radiation therapy treatment plan. Repeating pretreatment QA is costly, time-consuming, and may be inadequate in detecting errors that are introduced during the migration. In this work we investigate the use of an automatic Plan Comparison Tool to verify that plan data have been correctly migrated to a new version of a TMS database from an older version. We developed software to query and compare treatment plans between different versions of the TMS. The same plan in the two TMS systems are translated into an XML schema. A plan comparison module takes the two XML schemas as input and reports any differences in parameters between the two versions of the same plan by applying a schema mapping. A console application is used to query the database to obtain a list of active or in-preparation plans to be tested. It then runs in batch mode to compare all the plans, and a report of success or failure of the comparison is saved for review. This software tool was used as part of software upgrade and database migration from Varian's Aria 8.9 to Aria 11 TMS. Parameters were compared for 358 treatment plans in 89 minutes. This direct comparison of all plan parameters in the migrated TMS against the previous TMS surpasses current QA methods that relied on repeating pretreatment QA measurements or labor-intensive and fallible hand comparisons.

  14. Work plan for development of K-Basin fuel handling tools

    International Nuclear Information System (INIS)

    Bridges, A.E.

    1994-01-01

    The purpose of this document is to provide the engineering work plan for the development of handling tools for the removal of N-Reactor fuel elements from their storage canisters in the K-Basins storage pool and insertion into the Single Fuel Element Cans for subsequent shipment to a Hot Cell for examination. Examination of these N-Reactor fuel elements is part of the overall characterization effort. New hand tools are required since previous fuel movement has involved grasping the fuel in a horizontal position. These tools are required to lift an element from the storage canister

  15. Applied Railway Optimization in Production Planning at DSB-S-tog - Tasks, Tools and Challenges

    DEFF Research Database (Denmark)

    Clausen, Jens

    2007-01-01

    these conflicting goals. S-tog has therefore on the strategic level decided to use software with optimization capabilities in the planning processes. We describe the current status for each activity using optimization or simulation as a tool: Timetable evaluation, rolling stock planning, and crew scheduling...... to the customers, and has concurrently been met with demands for higher efficiency in the daily operation. The plans of timetable, rolling stock and crew must hence allow for a high level of customer service, be efficient, and be robust against disturbances of operations. It is a highly non-trivial task to meet....... In addition we describe on-going efforts in using mathematical models in activities such as timetable design and work-force planning. We also identify some organizatorial key factors, which have paved the way for extended use of optimization methods in railway production planning....

  16. Directed Graph Methodology for Acquisition Path Analysis: a possible tool to support the state-level approach

    International Nuclear Information System (INIS)

    Vincze, Arpad; Nemeth, Andras

    2013-01-01

    According to a recent statement, the IAEA seeks to develop a more effective safeguards system to achieve greater deterrence, because deterrence of proliferation is much more effective than detection. To achieve this goal, a less predictive safeguards system is being developed based on the advanced state-level approach that is driven by all available safeguards-relevant information. The 'directed graph analysis' is recommended as a possible methodology to implement acquisition path analysis by the IAEA to support the State evaluation process. The basic methodology is simple, well established, powerful, and its adaptation to the modelling of the nuclear profile of a State requires minimum software development. Based on this methodology the material flow network model has been developed under the Hungarian Support Programme to the IAEA, which is described in detail. In the proposed model, materials in different chemical and physical form can flow through pipes representing declared processes, material transports, diversions or undeclared processes. The nodes of the network are the material types, while the edges of the network are the pipes. A state parameter (p) is assigned to each node and edge representing the probability of their existence in the State. The possible application of this model in the State-level analytical approach will be discussed and outlook for further work will be given. The paper is followed by the slides of the presentation

  17. ALARA radiation protection applications at NPP A1 decommissioning using VISPLAN planning tool

    International Nuclear Information System (INIS)

    Slavik, O.; Kucharova, D.; Listjak, M.

    2005-01-01

    The SCK.CEN developed during the BR3 reactor decommissioning a graphical interfaced 3D dose assessment tool aimed at the above mentioned dose optimization problems. The tool was improved further and commercialized under the name VISIPLAN 3D ALARA planning tool. The use of VISIPLAN tool at NPP A1 decommissioning was advised by EDF within the IAEA TCP SLR/4008 project missions as a component of a 3D technological chain ensuring acquisition and evaluation of digitized information leading to ALARA optimisation of the developed decommissioning working procedures (see Fig. 1). VISIPLAN license was purchased by IAEA and granted to VUJE and NPP A1 within the IAEA TCP project SLR/4008, covering also the necessary basic and advanced training (at NPP A1 real decommissioning environment), and is currently used by VUJE analysts at NPP A1 decommissioning as an ALARA tool for intervention planning and optimisation. The VISIPLAN allows a fast dose assessment for work planned in a radioactive environment. The calculations are based on a 3D model of the work place. This PC-based tool is user friendly and calculates a detailed dose account for different work scenarios defined by the ALARA analyst, taking into account worker position, work duration and subsequent geometry and source distribution changes. The VISIPLAN methodology is described. The VISIPLAN tool was applied to several ALARA studies carried out by the VUJE within development and analysis of various Work Programs for NPP Al decommissioning tasks. The applications ranged from simpler to complex ALARA planning tasks covering simple shielding applications to selection of the most suitable order of complex working procedures. Removal of inner liners from underground reservoirs 6/1 and 6/2 as well as Dismantling of pipes and components from a (hostile) 60 m corridor are described. (authors)

  18. Development of a smart city planning support tool using the cooperative method

    Directory of Open Access Journals (Sweden)

    Takeshi Kobayashi

    2015-12-01

    Full Text Available A reduction of environmental burdens is currently required. In particular, proposing a new approach for the construction of a smart city using renewable energy is important. The technological development of a smart city is founded building equipment and infrastructure. However, planning methods and their techniques using the collaboration approach with residents are only just developing. This study aimed to develop a support tool for the construction of a smart city using renewable energy while facilitating consensus-building efforts among residents using the method for a cooperative housing development. We organized the supporting methods for the construction of residential area using the cooperative method. Then, we developed supporting tools that interface the computer with these methods. We examined the support techniques for the construction of a residential area using renewable energy technology by analyzing Japanese cases of a smart city. Moreover, we developed a support tool for the construction of a smart city on a trial basis. We integrated the smart city construction tools and the cooperative housing construction support tool. This tool has a 3D modeling system that helps residents to easily understand the space image as a result of the examination. We also developed a professional supporting tool that residents can consider for cost-effectiveness in renewable energy and its environmental load reduction rate for the planning of a smart city.

  19. Hospital development plans: a new tool to break ground for strategic thinking in Tanzanian hospitals.

    Science.gov (United States)

    Flessa, Steffen

    2005-12-01

    Tanzanian hospitals suffer from underfunding and poor management. In particular, planning and strategic thinking need improvement. Cultural values such as subordination, risk aversion, and high time preference, together with a long history of socialist government, result in lack of responsibility, accountability, and planning. This has been addressed by the health sector reform with its focus on decentralization, strengthened by the introduction of basket funding facilitated by the Comprehensive Council Health Plans. As a consequence of this the next logical step is to improve the authority of regional and district hospitals in the use of their resources by introducing hospital development plans. These strategic plans were introduced as tools of strategic planning in 2001 by the Kreditanstalt für Wiederaufbau in close collaboration with the Tanzanian Ministry of Health, binding the release of rehabilitation funds to presentation of a strategic hospital plan. This study examines the rationale and content of hospital development plans. Initial experiences are discussed. The quality of presented plans has steadily improved, but there is a tendency for hospitals with a close connection to development partners to present well prepared reports while other hospitals have severe problems fulfilling the requirements. For many hospitals it is in fact the first time that they have had to define their functions and future role, thus breaking ground for strategic thinking.

  20. Organizing to Use Facebook Advertisements: A Planning Tool for Extension Professionals, Businesses, and Communities

    Science.gov (United States)

    Barnes, James

    2016-01-01

    The purpose of this article is to explain how Extension professionals, businesses, and communities can use Facebook advertisements effectively. The article is a planning tool that introduces Facebook's Advertiser Help Center, explains some applicable key concepts, and suggests best practices to apply before launching a Facebook advertising…

  1. The Online Learning Knowledge Garden: A Pedagogic Planning Tool for e-Learning

    NARCIS (Netherlands)

    Scott, Bernard

    2006-01-01

    Please, cite this publication as: Scott, B. (2006). The Online Learning Knowledge Garden: A Pedagogic Planning Tool for e-Learning. Proceedings of International Workshop in Learning Networks for Lifelong Competence Development, TENCompetence Conference. March 30th-31st, Sofia, Bulgaria:

  2. Using a Strategic Planning Tool as a Framework for Case Analysis

    Science.gov (United States)

    Lai, Christine A.; Rivera, Julio C., Jr.

    2006-01-01

    In this article, the authors describe how they use a strategic planning tool known as SWOT as a framework for case analysis, using it to analyze the strengths, weaknesses, opportunities, and threats of a public works project intended to enhance regional economic development in Tempe, Arizona. Students consider the project in light of a variety of…

  3. The Theory of Planned Behaviour Applied to Search Engines as a Learning Tool

    Science.gov (United States)

    Liaw, Shu-Sheng

    2004-01-01

    Search engines have been developed for helping learners to seek online information. Based on theory of planned behaviour approach, this research intends to investigate the behaviour of using search engines as a learning tool. After factor analysis, the results suggest that perceived satisfaction of search engine, search engines as an information…

  4. The Inquiry Matrix: A Tool for Assessing and Planning Inquiry in Biology and Beyond

    Science.gov (United States)

    Grady, Julie

    2010-01-01

    One way to advance inquiry in the classroom is to establish a systematic strategy for reflecting on our practice and our students' readiness to engage in increasingly complex scientific reasoning. The Matrix for Assessing and Planning Scientific Inquiry (MAPSI) is a tool that promotes this valuable reflection so that we, as teachers, are better…

  5. Assistance tool commissioner of new algorithms of systems planning of therapy with ionizing

    International Nuclear Information System (INIS)

    Reinado, D.; Ricos, B.; Alonso, S.; Chinillach, N.; Bellido, P.; Tortosa, R.

    2013-01-01

    The Commissioner of a new scheduling algorithm is associated with a high number of hours of work and measures. In order to optimize the development of the Commissioner for the AAA algorithms and Acuros XB within planning Eclipse (V.10) system marketed by Varian and have developed a tool in Microsoft Excel format where the different tests have been included to perform. (Author)

  6. Primers-4-Yeast: a comprehensive web tool for planning primers for Saccharomyces cerevisiae.

    Science.gov (United States)

    Yofe, Ido; Schuldiner, Maya

    2014-02-01

    The budding yeast Saccharomyces cerevisiae is a key model organism of functional genomics, due to its ease and speed of genetic manipulations. In fact, in this yeast, the requirement for homologous sequences for recombination purposes is so small that 40 base pairs (bp) are sufficient. Hence, an enormous variety of genetic manipulations can be performed by simply planning primers with the correct homology, using a defined set of transformation plasmids. Although designing primers for yeast transformations and for the verification of their correct insertion is a common task in all yeast laboratories, primer planning is usually done manually and a tool that would enable easy, automated primer planning for the yeast research community is still lacking. Here we introduce Primers-4-Yeast, a web tool that allows primers to be designed in batches for S. cerevisiae gene-targeting transformations, and for the validation of correct insertions. This novel tool enables fast, automated, accurate primer planning for large sets of genes, introduces consistency in primer planning and is therefore suggested to serve as a standard in yeast research. Primers-4-Yeast is available at: http://www.weizmann.ac.il/Primers-4-Yeast Copyright © 2013 John Wiley & Sons, Ltd.

  7. Interesting tools for the cybersecurity plan of a nuclear power plant

    International Nuclear Information System (INIS)

    Pareja, I.; Carrasco, J. A.; Cerro, F. J. del

    2012-01-01

    The use of digital technologies in monitoring and control systems of nuclear power plants and their connectivity requirements, originate cybersecurity difficulties that should be addressed in a cybersecurity plan. This plan should guide the policies and procedures followed during the design maintenance and operation of the systems inside a nuclear power plant. It also should refer to adequate tools able to reach the established cybersecurity requirements. The combination of Datadiodes and tools for publishing video(like tVGA2web), permit an isolation and remote maintenance in a 100% safety way and their use should be disseminated. In the paper other type of tools useful for nuclear power plants are also mentioned.

  8. Measuring the quality of Patients’ goals and action plans: development and validation of a novel tool

    Directory of Open Access Journals (Sweden)

    Teal Cayla R

    2012-12-01

    Full Text Available Abstract Background The purpose of this study is to develop and test reliability, validity, and utility of the Goal-Setting Evaluation Tool for Diabetes (GET-D. The effectiveness of diabetes self-management is predicated on goal-setting and action planning strategies. Evaluation of self-management interventions is hampered by the absence of tools to assess quality of goals and action plans. To address this gap, we developed the GET-D, a criteria-based, observer rating scale that measures the quality of patients’ diabetes goals and action plans. Methods We conducted 3-stage development of GET-D, including identification of criteria for observer ratings of goals and action plans, rater training and pilot testing; and then performed psychometric testing of the GET-D. Results Trained raters could effectively rate the quality of patient-generated goals and action plans using the GET-D. Ratings performed by trained evaluators demonstrated good raw agreement (94.4% and inter-rater reliability (Kappa = 0.66. Scores on the GET-D correlated well with measures theoretically associated with goal-setting, including patient activation (r=.252, P Conclusions The GET-D can reliably and validly rate the quality of goals and action plans. It holds promise as a measure of intervention fidelity for clinical interventions that promote diabetes self-management behaviors to improve clinical outcomes. Trial registration Clinicaltrials.gov Identifier: NCT00481286

  9. First impressions of 3D visual tools and dose volume histograms for plan evaluation

    International Nuclear Information System (INIS)

    Rattray, G.; Simitcioglu, A.; Parkinson, M.; Biggs, J.

    1999-01-01

    Converting from 2D to 3D treatment planning offers numerous challenges. The practices that have evolved in the 2D environment may not be applicable when translated into the 3D environment. One such practice is the methods used to evaluate a plan. In 2D planning a plane by plane comparison method is generally practiced. This type of evaluation method would not be appropriate for plans produced by a 3D planning system. To this end 3D dose displays and Dose Volume Histograms (DVHs) have been developed to facilitate the evaluation of such plans. A survey was conducted to determine the impressions of Radiation Therapists as they used these tools for the first time. The survey involved comparing a number of plans for a small group of patients and selecting the best plan for each patient. Three evaluation methods were assessed. These included the traditional plane by plane, 3D dose display, and DVHs. Those surveyed found the DVH to be the easiest of the three methods to use, with the 3D display being the next easiest. Copyright (1999) Blackwell Science Pty Ltd

  10. A user's guide to coping with estuarine management bureaucracy: An Estuarine Planning Support System (EPSS) tool.

    Science.gov (United States)

    Lonsdale, Jemma; Nicholson, Rose; Weston, Keith; Elliott, Michael; Birchenough, Andrew; Sühring, Roxana

    2018-02-01

    Estuaries are amongst the most socio-economically and ecologically important environments however, due to competing and conflicting demands, management is often challenging with a complex legislative framework managed by multiple agencies. To facilitate the understanding of this legislative framework, we have developed a GISbased Estuarine Planning Support System tool. The tool integrates the requirements of the relevant legislation and provides a basis for assessing the current environmental state of an estuary as well as informing and assessing new plans to ensure a healthy estuarine state. The tool ensures that the information is easily accessible for regulators, managers, developers and the public. The tool is intended to be adaptable, but is assessed using the Humber Estuary, United Kingdom as a case study area. The successful application of the tool for complex socio-economic and environmental systems demonstrates that the tool can efficiently guide users through the complex requirements needed to support sustainable development. Crown Copyright © 2017. Published by Elsevier Ltd. All rights reserved.

  11. Roadmapping - A Tool for Strategic Planning and Leveraging R and D completed by other Agencies

    International Nuclear Information System (INIS)

    Collins, J. W.

    2002-01-01

    The Department of Energy (DOE) is responsible for management of the environmental legacy of the nation's nuclear weapons and research program. This is the largest, most complex environmental cleanup program in the world. The issues and problems encountered in this program create the need to develop many scientific and technological solutions. To be effective, the process used to create these solutions must be well coordinated through DOE's Environmental Management program, the rest of DOE, and other Federal agencies. Roadmapping is one strategic planning tool to provide the needed coordination. Past roadmapping accomplishments include: (1) Issuance of the Draft EM Roadmapping Guidance; (2) Issuance of the EM R and D Program Plan and Strategic Plan which established the direction for Roadmapping; (3) Issuance of the OST Management Plan which calls out Roadmapping as a key tool in EM Research and Development (R and D) Strategic Planning; (4) Completion of or progress on key EM Roadmaps, i.e., Savannah River High Level Waste (HLW) Salt Dispositioning Roadmaps, Hanford Groundwater/Vadose Zone Roadmap, Robotics and Intelligent Machines Critical Technology Roadmap, Complex-Wide Vadose Zone Roadmap, Long-Term Stewardship Preliminary Roadmap, Hydrogen Gas Generation R and D Plan (Roadmap), Idaho National Engineering and Environmental Laboratory (INEEL) Sodium Bearing Waste Dispositioning Roadmap, INEEL Voluntary Consent Order Tanks Characterization Roadmap, INEEL Vadose Zone/Groundwater Roadmap, Calcine Treatment Alternatives Roadmap. These efforts represent a great start; however, there is more to be accomplished in using Roadmapping as a tool for planning strategic initiatives and in coordinating the R and D performed by multiple federal agencies

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

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2003-03-05

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

  13. FROM DOCUMENTATION IMAGES TO RESTAURATION SUPPORT TOOLS: A PATH FOLLOWING THE NEPTUNE FOUNTAIN IN BOLOGNA DESIGN PROCESS

    Directory of Open Access Journals (Sweden)

    F. I. Apollonio

    2017-05-01

    Full Text Available The sixteenth-century Fountain of Neptune is one of Bologna’s most renowned landmarks. During the recent restoration activities of the monumental sculpture group, consisting in precious marbles and highly refined bronzes with water jets, a photographic campaign has been carried out exclusively for documentation purposes of the current state of preservation of the complex. Nevertheless, the highquality imagery was used for a different use, namely to create a 3D digital model accurate in shape and color by means of automated photogrammetric techniques and a robust customized pipeline. This 3D model was used as basic tool to support many and different activities of the restoration site. The paper describes the 3D model construction technique used and the most important applications in which it was used as support tool for restoration: (i reliable documentation of the actual state; (ii surface cleaning analysis; (iii new water system and jets; (iv new lighting design simulation; (v support for preliminary analysis and projectual studies related to hardly accessible areas; (vi structural analysis; (vii base for filling gaps or missing elements through 3D printing; (viii high-quality visualization and rendering and (ix support for data modelling and semantic-based diagrams.

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

    Science.gov (United States)

    Whitfield, Clifford A.

    2009-12-01

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

  15. Strategic planning as a tool for achieving alignment in academic health centers.

    Science.gov (United States)

    Higginbotham, Eve J; Church, Kathryn C

    2012-01-01

    After the passage of the Patient Protection and Affordable Care Act in March 2010, there is an urgent need for medical schools, teaching hospitals, and practice plans to work together seamlessly across a common mission. Although there is agreement that there should be greater coordination of initiatives and resources, there is little guidance in the literature to address the method to achieve the necessary transformation. Traditional approaches to strategic planning often engage a few leaders and produce a set of immeasurable initiatives. A nontraditional approach, consisting of a Whole-Scale (Dannemiller Tyson Associates, Ann Arbor, MI) engagement, appreciative inquiry, and a balanced scorecard can, more rapidly transform an academic health center. Using this nontraditional approach to strategic planning, increased organizational awareness was achieved in a single academic health center. Strategic planning can be an effective tool to achieve alignment, enhance accountability, and a first step in meeting the demands of the new landscape of healthcare.

  16. Strategic Planning as a Tool for Achieving Alignment in Academic Health Centers

    Science.gov (United States)

    Higginbotham, Eve J.; Church, Kathryn C.

    2012-01-01

    After the passage of the Patient Protection and Affordable Care Act in March 2010, there is an urgent need for medical schools, teaching hospitals, and practice plans to work together seamlessly across a common mission. Although there is agreement that there should be greater coordination of initiatives and resources, there is little guidance in the literature to address the method to achieve the necessary transformation. Traditional approaches to strategic planning often engage a few leaders and produce a set of immeasurable initiatives. A nontraditional approach, consisting of a Whole-Scale (Dannemiller Tyson Associates, Ann Arbor, MI) engagement, appreciative inquiry, and a balanced scorecard can, more rapidly transform an academic health center. Using this nontraditional approach to strategic planning, increased organizational awareness was achieved in a single academic health center. Strategic planning can be an effective tool to achieve alignment, enhance accountability, and a first step in meeting the demands of the new landscape of healthcare. PMID:23303997

  17. Provider Tools for Advance Care Planning and Goals of Care Discussions: A Systematic Review.

    Science.gov (United States)

    Myers, Jeff; Cosby, Roxanne; Gzik, Danusia; Harle, Ingrid; Harrold, Deb; Incardona, Nadia; Walton, Tara

    2018-01-01

    Advance care planning and goals of care discussions involve the exploration of what is most important to a person, including their values and beliefs in preparation for health-care decision-making. Advance care planning conversations focus on planning for future health care, ensuring that an incapable person's wishes are known and can guide the person's substitute decision maker for future decision-making. Goals of care discussions focus on preparing for current decision-making by ensuring the person's goals guide this process. To provide evidence regarding tools and/or practices available for use by health-care providers to effectively facilitate advance care planning conversations and/or goals of care discussions. A systematic review was conducted focusing on guidelines, randomized trials, comparative studies, and noncomparative studies. Databases searched included MEDLINE, EMBASE, and the proceedings of the International Advance Care Planning Conference and the American Society of Clinical Oncology Palliative Care Symposium. Although several studies report positive findings, there is a lack of consistent patient outcome evidence to support any one clinical tool for use in advance care planning or goals of care discussions. Effective advance care planning conversations at both the population and the individual level require provider education and communication skill development, standardized and accessible documentation, quality improvement initiatives, and system-wide coordination to impact the population level. There is a need for research focused on goals of care discussions, to clarify the purpose and expected outcomes of these discussions, and to clearly differentiate goals of care from advance care planning.

  18. Cast Off expansion plan by rapid improvement through Optimization tool design, Tool Parameters and using Six Sigma’s ECRS Technique

    Science.gov (United States)

    Gopalakrishnan, T.; Saravanan, R.

    2017-03-01

    Powerful management concepts step-up the quality of the product, time saving in producing the product thereby increase the production rate, improves tools and techniques, work culture, work place and employee motivation and morale. In this paper discussed about the case study of optimizing the tool design, tool parameters to cast off expansion plan according ECRS technique. The proposed designs and optimal tool parameters yielded best results and meet the customer demand without expansion plan. Hence the work yielded huge savings of money (direct and indirect cost), time and improved the motivation and more of employees significantly.

  19. Using the INEL site-specific plan as a community relations tool

    International Nuclear Information System (INIS)

    Hart, Michael; Macdonald, Don; Couch, Brad; Reuel Smith, M.

    1992-01-01

    Idaho National Engineering Laboratory (INEL) activities have affected, or have the potential to affect the environment. For this reason) the issues surrounding INEL activities are of interest to a broad range of people. The preparation of the INEL Site-Specific Plan (SSP) reflects the U.S. Department of Energy Idaho Field Office's (DOE-ID'S) initiative for open and clear communications with the public. The INEL SSP describes for the public DOE-ID'S plan to clean up inactive facilities and locations that were contaminated due to past waste management practices. It also discusses waste management strategies for avoiding future contamination by active operations. The SSP is an over-arching document and supplies 'the big picture' of environmental restoration and waste management activities to the public, including budget information and long-range plans. DOE-ID has been using the INEL Site-Specific Plan and its associated public comment period as a primary tool for public involvement and as way to get meaningful citizen input into DOE-ID planning. Public involvement in the INBL Site-Specific Plan has four main objectives: To inform public officials, Indian Tribes, interest groups, businesses, and individuals about current plans for environmental restoration and waste management activities at INEL; To ensure that public concerns and interests relating to environmental restoration and waste management are reflected in the SSP and DOE-ID planning; To provide flexibility so modifications can be made to DOE-ID plans and the SSP in response to changing concerns within the community, and; To ensure that DOE-ID and INEL contractors are given feedback regarding public interest in, and concerns about, the DOE-ID'S plans. To carry out these objectives, DOE-ID has implemented an aggressive public outreach effort that provides multiple opportunities for public participation in cleanup and waste management decisions. (author)

  20. Tools of the Future: How Decision Tree Analysis Will Impact Mission Planning

    Science.gov (United States)

    Otterstatter, Matthew R.

    2005-01-01

    The universe is infinitely complex; however, the human mind has a finite capacity. The multitude of possible variables, metrics, and procedures in mission planning are far too many to address exhaustively. This is unfortunate because, in general, considering more possibilities leads to more accurate and more powerful results. To compensate, we can get more insightful results by employing our greatest tool, the computer. The power of the computer will be utilized through a technology that considers every possibility, decision tree analysis. Although decision trees have been used in many other fields, this is innovative for space mission planning. Because this is a new strategy, no existing software is able to completely accommodate all of the requirements. This was determined through extensive research and testing of current technologies. It was necessary to create original software, for which a short-term model was finished this summer. The model was built into Microsoft Excel to take advantage of the familiar graphical interface for user input, computation, and viewing output. Macros were written to automate the process of tree construction, optimization, and presentation. The results are useful and promising. If this tool is successfully implemented in mission planning, our reliance on old-fashioned heuristics, an error-prone shortcut for handling complexity, will be reduced. The computer algorithms involved in decision trees will revolutionize mission planning. The planning will be faster and smarter, leading to optimized missions with the potential for more valuable data.

  1. Robustness evaluation of cutting tool maintenance planning for soft ground tunneling projects

    Directory of Open Access Journals (Sweden)

    Alena Conrads

    2018-03-01

    Full Text Available Tunnel boring machines require extensive maintenance and inspection effort to provide a high availability. The cutting tools of the cutting wheel must be changed timely upon reaching a critical condition. While one possible maintenance strategy is to change tools only when it is absolutely necessary, tools can also be changed preventively to avoid further damages. Such different maintenance strategies influence the maintenance duration and the overall project performance. However, determine downtime related to a particular maintenance strategy is still a challenging task. This paper shows an analysis of the robustness to achieve the planned project performance of a maintenance strategy considering uncertainties of wear behavior of the cutting tools. A simulation based analysis is presented, implementing an empirical wear prediction model. Different strategies of maintenance planning are compared by performing a parameter variation study including Monte-Carlo simulations. The maintenance costs are calculated and evaluated with respect to their robustness. Finally, an improved and robust maintenance strategy has been determined. Keywords: Mechanized tunneling, Maintenance, Wear of cutting tools, Process simulation, Robustness, Uncertainty modeling

  2. Analysis of optoelectronic strategic planning in Taiwan by artificial intelligence portfolio tool

    Science.gov (United States)

    Chang, Rang-Seng

    1992-05-01

    Taiwan ROC has achieved significant advances in the optoelectronic industry with some Taiwan products ranked high in the world market and technology. Six segmentations of optoelectronic were planned. Each one was divided into several strategic items, design artificial intelligent portfolio tool (AIPT) to analyze the optoelectronic strategic planning in Taiwan. The portfolio is designed to provoke strategic thinking intelligently. This computer- generated strategy should be selected and modified by the individual. Some strategies for the development of the Taiwan optoelectronic industry also are discussed in this paper.

  3. Reducing variability of workforce as a tool to improve plan reliability

    DEFF Research Database (Denmark)

    Wandahl, Søren; Yicheng, S.; Zygmunt, K. J.

    Variability of flow is recognized as the greatest obstacle to production management. Since the work flow and labour flow are two dominators of work performance, it is important to manage them simultaneously. The objective of this paper is to examine whether by reducing the variance of a labour flow......, a plan reliability can be improved, therefore, three different construction labour data sets have been examined by utilizing Monte Carlo Simulation, to analyze the probability to finish simulated projects within a certain time. The research findings revealed that reducing variance in the workforce flow...... does not necessarily shorten the project length, nevertheless it increases probability to finish the tasks within a critical path duration. Additionally, it was concluded, that reducing the variance of crew allocation can improve the productivity....

  4. Reducing Variability of Workforce as a Tool to Improve Plan Reliability

    DEFF Research Database (Denmark)

    Shen, Yicheng; Zygmunt, Katarzyna Julia; Wandahl, Søren

    2017-01-01

    Variability of flow is recognized as one of the greatest obstacles to production management. Since the work flow and labour flow are two dominators of work performance, it is important to manage them simultaneously. The objective of this paper is to examine if an increased plan reliability could...... of the workforce flow does not necessarily shorten the project length, nevertheless it increases probability to finish the tasks within a critical path duration. Additionally, it was concluded, that reducing the variance of crew allocation can improve the productivity....... be reached by reducing the variance of a labour flow. Therefore, three different construction labour data sets have been examined by utilizing Monte Carlo Simulation, to analyze the probability to finish simulated projects within a certain time. The research findings revealed that reducing variance...

  5. Surface modeling of workpiece and tool trajectory planning for spray painting robot.

    Directory of Open Access Journals (Sweden)

    Yang Tang

    Full Text Available Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.

  6. Marketing plan for the introduction of a new high-end detection tool

    OpenAIRE

    Gibernau Torres, Alvaro

    2010-01-01

    The folowing master thesis focuses on the development of the marketing plan for a new high-end radar based detection tool. It was written in colaboration with Hilti Corp., one of the leading manufacturers of detection systems in the worldwide building construction industry. The purpose of this paper is to define the marketing mix (product, price, placement, and promotion) in order to present the market-entry strategy and eventualy become the most important ...

  7. LeatherNet: an evaluation as a mission planning and briefing tool

    OpenAIRE

    Hague, Tracy R.

    1996-01-01

    Information Technology Management The author evaluates LeatherNet, a Distributed Interactive Simulation compliant, virtual simulation system being developed by the Advanced Research Projects Agency to demonstrate Modeling and Simulation(M&S) technologies and to partially fulfill the U. S. Marine Corps M&S goals. The research focuses on evaluation of LeatherNet as a mission planning and briefing tool for Marine infantry company commanders, staff, and subordinate leaders. Evaluation is based...

  8. Path Expressions

    Science.gov (United States)

    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

  9. Developing a planning tool for South African prosecution resources: challenges and approach

    Directory of Open Access Journals (Sweden)

    R Koen

    2012-12-01

    Full Text Available In every country the prosecution of criminal cases is governed by different laws, policies and processes. In South Africa, the National Prosecuting Authority (NPA has the responsibility of planning and managing all prosecution functions. The NPA has certain unique characteristics that make it different from other similar organisations internationally. The development of a planning tool that the NPA could use to plan their future resource requirements over the short to medium term required extensive modelling, and its final form included features which, to the best knowledge of the development team, make it unique both locally and internationally. Model design was largely influenced by the challenges emanating from the special requirements and context of the problem. Resources were not forecasted directly, but were derived with the help of simulation models that traced docket flows through various resource-driven processes. Docket flows were derived as a proportion of reported crimes, and these were forecasted using a multivariate statistical model which could take into account explanatory variables as well as the correlations between the patterns observed within different crime categories. The simulation consisted of a number of smaller models which could be run independently, and not of one overarching model. This approach was found to make the best use of available data, and compensated for the fact that certain parameters, linking different courts and court types, were not available. In addition, it simplified scenario testing and sensitivity analysis. The various components of the planning tool, including inputs and outputs of the simulation models and the linkages between the forecasts and the simulation models, were implemented in a set of spreadsheets. By using spreadsheets as a common user interface, the planning tool could be used by prosecutors and managers who may not have extensive mathematical or modelling experience.

  10. Opportunites for Integrated Landscape Planning – the Broker, the Arena, the Tool

    Directory of Open Access Journals (Sweden)

    Julia Carlsson

    2017-12-01

    Full Text Available As an integrated social and ecological system, the forest landscape includes multiple values. The need for a landscape pproach in land use planning is being increasingly advocated in research, policy and practice. This paper explores how institutional conditions in the forest policy and management sector can be developed to meet demands for a multifunctional landscape perspective. Departing from obstacles recognised in collaborative planning literature, we build an analytical framework which is operationalised in a Swedish context at municipal level. Our case illustrating this is Vilhelmina Model Forest, where actual barriers and opportunities for a multiple-value landscape approach are identified through 32 semi-structured interviews displaying stakeholders’ views on forest values,ownership rights and willingness to consider multiple values, forest policy and management premises, and collaboration. As an opportunity to overcome the barriers, we suggest and discuss three key components by which an integrated landscape planning approach could be realized in forest management planning: the need for a landscape coordinator (broker, the need for a collaborative forum (arena, and the development of the existing forest management plan into an advanced multifunctional landscape plan (tool.

  11. Homogeneity index: effective tool for evaluation of intensity modulated radiation therapy plan

    International Nuclear Information System (INIS)

    Mohammed Ahmed, Wigdan Elsir Hassan

    2016-06-01

    Homogeneity index (HI) is a simple scoring tool that quantifies dose homogeneity in the target volume. It is therefore used to evaluate and compare the dose distribution of various treatment plans. This study aimed to analyze and compare HI using two formulae in patients with malignant tumors in different regions of the body. It also aimed to get knowledge about the optimal plan of IMRT and to apply it in cancer treatment cases. In this study treatment plans for 15 patients with different sites of malignant tumors was done including: cervical fibro sarcoma, nasal-sarcoma, abdomen nerosarcoma, crainopharyngioma, rabdomayosarcoma (R.M.S), which performed at three patients for each site. All of which are from the children cancer hospital (57357) in Cairo/ Egypt. The HI for each patient was calculated using two different formulae. HI values calculated using formulae (B) D max /D min was higher than those calculated using formulae (A) D5%, D95% Organs at risk were not exceeding their tolerance. The lowest values of HI were found in formula (A) D5%, D95%, therefore it was preferred to use in plan evaluation than formula (B) D max /D min. HI is used for early evaluation of the plan then the plan evaluation is completed with visual inspection of dose distribution and DVH. IMRT technique is special case of 3D conformal radiotherapy and it has accurate dose delivery for tumor and it has optimal sparing of normal tissue. (Author).

  12. Making accessibility analyses accessible: A tool to facilitate the public review of the effects of regional transportation plans on accessibility

    OpenAIRE

    Golub, Aaron; Robinson, Glenn; Brendan Nee, Brendan Nee

    2013-01-01

    The regional transportation planning process in the United States has not been easily opened to public oversight even after strengthened requirements for public participation and civil rights considerations. In the effort to improve the public review of regional transportation plans, this paper describes the construction of a proof-of concept web-based tool designed to analyze the effects of regional transportation plans on accessibility to jobs and other essential destinations. The tool allo...

  13. Evaluation of Crew-Centric Onboard Mission Operations Planning and Execution Tool: Year 2

    Science.gov (United States)

    Hillenius, S.; Marquez, J.; Korth, D.; Rosenbaum, M.; Deliz, Ivy; Kanefsky, Bob; Zheng, Jimin

    2018-01-01

    Currently, mission planning for the International Space Station (ISS) is largely affected by ground operators in mission control. The task of creating a week-long mission plan for ISS crew takes dozens of people multiple days to complete, and is often created far in advance of its execution. As such, re-planning or adapting to changing real-time constraints or emergent issues is similarly taxing. As we design for future mission operations concepts to other planets or areas with limited connectivity to Earth, more of these ground-based tasks will need to be handled autonomously by the crew onboard.There is a need for a highly usable (including low training time) tool that enables efficient self-scheduling and execution within a single package. The ISS Program has identified Playbook as a potential option. It already has high crew acceptance as a plan viewer from previous analogs and can now support a crew self-scheduling assessment on ISS or on another mission. The goals of this work, a collaboration between the Human Research Program and the ISS Program, are to inform the design of systems for more autonomous crew operations and provide a platform for research on crew autonomy for future deep space missions. Our second year of the research effort have included new insights on the crew self-scheduling sessions performed by the crew through use on the HERA (Human Exploration Research Analog) and NEEMO (NASA Extreme Environment Mission Operations) analogs. Use on the NEEMO analog involved two self-scheduling strategies where the crew planned and executed two days of EVAs (Extra-Vehicular Activities). On HERA year two represented the first HERA campaign where we were able to perform research tasks. This involved selected flexible activities that the crew could schedule, mock timelines where the crew completed more complex planning exercises, usability evaluation of the crew self-scheduling features, and more insights into the limit of plan complexity that the crew

  14. ADEPT - an innovative tool to reduce worker exposure using virtual job planning

    International Nuclear Information System (INIS)

    Verzilov, Y.; Husain, A.; Trifanov, A.

    2011-01-01

    Advanced Dose Exposure Planning Tool (ADEPT) is Kinectrics' innovative solution for assisting nuclear station staff to effectively minimize worker dose during inspection and maintenance activities. ADEPT is a PC-based software that provides 3D virtual reality job simulations for radioactive environments around the CANDU reactor components, namely, the horizontal feeder cabinet, the vertical feeder cabinet and the reactor face. ADEPT allows users to walk through a virtual job plan and receive a live radiation dose estimate for the planned work. A worker dose estimation is based on a predetermined radiation field around reactor components and a user-defined job description. Radiation fields are based on the Outage Activity Transport Monitoring (OATM) data. (author)

  15. ADEPT - an innovative tool to reduce worker exposure using virtual job planning

    Energy Technology Data Exchange (ETDEWEB)

    Verzilov, Y.; Husain, A. [Kinectrics Inc., Toronto, Ontario (Canada); Trifanov, A. [SoftBeam Ltd., Montreal, Quebec (Canada)

    2011-07-01

    Advanced Dose Exposure Planning Tool (ADEPT) is Kinectrics' innovative solution for assisting nuclear station staff to effectively minimize worker dose during inspection and maintenance activities. ADEPT is a PC-based software that provides 3D virtual reality job simulations for radioactive environments around the CANDU reactor components, namely, the horizontal feeder cabinet, the vertical feeder cabinet and the reactor face. ADEPT allows users to walk through a virtual job plan and receive a live radiation dose estimate for the planned work. A worker dose estimation is based on a predetermined radiation field around reactor components and a user-defined job description. Radiation fields are based on the Outage Activity Transport Monitoring (OATM) data. (author)

  16. The Promise, Practice, and State of Planning Tools to Assess Site Vulnerability to Runoff Phosphorus Loss.

    Science.gov (United States)

    Kleinman, P J A; Sharpley, A N; Buda, A R; Easton, Z M; Lory, J A; Osmond, D L; Radcliffe, D E; Nelson, N O; Veith, T L; Doody, D G

    2017-11-01

    Over the past 20 yr, there has been a proliferation of phosphorus (P) site assessment tools for nutrient management planning, particularly in the United States. The 19 papers that make up this special section on P site assessment include decision support tools ranging from the P Index to fate-and-transport models to weather-forecast-based risk calculators. All require objective evaluation to ensure that they are effective in achieving intended benefits to protecting water quality. In the United States, efforts have been underway to compare, evaluate, and advance an array of P site assessment tools. Efforts to corroborate their performance using water quality monitoring data confirms previously documented discrepancies between different P site assessment tools but also highlights a surprisingly strong performance of many versions of the P Index as a predictor of water quality. At the same time, fate-and-transport models, often considered to be superior in their prediction of hydrology and water quality due to their complexity, reveal limitations when applied to site assessment. Indeed, one consistent theme from recent experience is the need to calibrate highly parameterized models. As P site assessment evolves, so too do routines representing important aspects of P cycling and transport. New classes of P site assessment tools are an opportunity to move P site assessment from general, strategic goals to web-based tools supporting daily, operational decisions. Copyright © by the American Society of Agronomy, Crop Science Society of America, and Soil Science Society of America, Inc.

  17. Tooling up urban planning for climate change mitigation in Malaysian cities

    International Nuclear Information System (INIS)

    Chau, L W; Yap, Z C; Ho, C S

    2014-01-01

    The city's 2-dimensional spatial structure and 3-dimensional form significantly influence its energy and GHG emission intensity. In rapidly developing urban-regions, the ability of the local planning authorities to quantify the spatial structure and form of existing urban areas, new developments and the emergent urban-region in terms of GHG emission is vital to any effective local, national and global climate change mitigation effort. While a wide array of tools has been developed for assessing built environment sustainability at various spatial scales, these are predominantly eco-efficiency rating tools that do not model the 'spatial structure-GHG' relationship and do not illustrate the GHG implications of urban structure and form, which crucially inform local planning decisions with respect to climate change mitigation. This paper takes the first steps in analysing three spatial-based planning models (Envision Tomorrow, GHGProof, URBEMIS) that estimate GHG emissions towards assessing their adaptability for application in Malaysian cities. It looks into the models' i nner working , unpacking the variables and their relationships; assumptions and conversion rates used; and their data requirement and structure. The models' characteristics and features are critically compared to evaluate their capabilities, limitations and relevance to the Malaysian urban planning context, particularly in terms of data availability

  18. Effects of a Patient-Provider, Collaborative, Medication-Planning Tool: A Randomized, Controlled Trial

    Directory of Open Access Journals (Sweden)

    James F. Graumlich

    2016-01-01

    Full Text Available Among patients with various levels of health literacy, the effects of collaborative, patient-provider, medication-planning tools on outcomes relevant to self-management are uncertain. Objective. Among adult patients with type II diabetes mellitus, we tested the effectiveness of a medication-planning tool (Medtable™ implemented via an electronic medical record to improve patients’ medication knowledge, adherence, and glycemic control compared to usual care. Design. A multicenter, randomized controlled trial in outpatient primary care clinics. 674 patients received either the Medtable tool or usual care and were followed up for up to 12 months. Results. Patients who received Medtable had greater knowledge about indications for medications in their regimens and were more satisfied with the information about their medications. Patients’ knowledge of drug indication improved with Medtable regardless of their literacy status. However, Medtable did not improve patients’ demonstrated medication use, regimen adherence, or glycemic control (HbA1c. Conclusion. The Medtable tool supported provider/patient collaboration related to medication use, as reflected in patient satisfaction with communication, but had limited impact on patient medication knowledge, adherence, and HbA1c outcomes. This trial is registered with ClinicalTrials.gov NCT01296633.

  19. AngelStow: A Commercial Optimization-Based Decision Support Tool for Stowage Planning

    DEFF Research Database (Denmark)

    Delgado-Ortegon, Alberto; Jensen, Rune Møller; Guilbert, Nicolas

    save port fees, optimize use of vessel capacity, and reduce bunker consumption. Stowage Coordinators (SCs) produce these plans manually with the help of graphical tools, but high-quality SPs are hard to generate with the limited support they provide. In this abstract, we introduce AngelStow which...... is a commercial optimization-based decision support tool for stowing container vessels developed in collaboration between Ange Optimization and The IT University of Copenhagen. The tool assists SCs in the process of generating SPs interactively, focusing on satisfying and optimizing constraints and objectives...... that are tedious to deal with for humans, while letting the SCs use their expertise to deal with hard combinatorial objectives and corner cases....

  20. Planning Tools For Estimating Radiation Exposure At The National Ignition Facility

    International Nuclear Information System (INIS)

    Verbeke, J.; Young, M.; Brereton, S.; Dauffy, L.; Hall, J.; Hansen, L.; Khater, H.; Kim, S.; Pohl, B.; Sitaraman, S.

    2010-01-01

    A set of computational tools was developed to help estimate and minimize potential radiation exposure to workers from material activation in the National Ignition Facility (NIF). AAMI (Automated ALARA-MCNP Interface) provides an efficient, automated mechanism to perform the series of calculations required to create dose rate maps for the entire facility with minimal manual user input. NEET (NIF Exposure Estimation Tool) is a web application that combines the information computed by AAMI with a given shot schedule to compute and display the dose rate maps as a function of time. AAMI and NEET are currently used as work planning tools to determine stay-out times for workers following a given shot or set of shots, and to help in estimating integrated doses associated with performing various maintenance activities inside the target bay. Dose rate maps of the target bay were generated following a low-yield 10 16 D-T shot and will be presented in this paper.

  1. Assessing the quality of conformal treatment planning: a new tool for quantitative comparison

    International Nuclear Information System (INIS)

    Menhel, J; Levin, D; Alezra, D; Symon, Z; Pfeffer, R

    2006-01-01

    We develop a novel radiotherapy plan comparison index, critical organ scoring index (COSI), which is a measure of both target coverage and critical organ overdose. COSI is defined as COSI = 1 - (V(OAR) >tol /TC), where V(OAR) >tol is the fraction of volume of organ at risk receiving more than tolerance dose, and TC is the target coverage, V T,PI /V T , where V T,PI is the target volume receiving at a least prescription dose and V T is the total target volume. COSI approaches unity when the critical structure is completely spared and the target coverage is unity. We propose a two-dimensional, graphical representation of COSI versus conformity index (CI), where CI is a measure of a normal tissue overdose. We show that this 2D representation is a reliable, visual quantitative tool for evaluating competing plans. We generate COSI-CI plots for three sites: head and neck, cavernous sinus, and pancreas, and evaluate competing non-coplanar 3D and IMRT treatment plans. For all three sites this novel 2D representation assisted the physician in choosing the optimal plan, both in terms of target coverage and in terms of critical organ sparing. We verified each choice by analysing individual DVHs and isodose lines. Comparing our results to the widely used conformation number, we found that in all cases where there were discrepancies in the choice of the best treatment plan, the COSI-CI choice was considered the correct one, in several cases indicating that a non-coplanar 3D plan was superior to the IMRT plans. The choice of plan was quick, simple and accurate using the new graphical representation

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

    Science.gov (United States)

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

    2016-08-01

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

  3. WE-DE-201-02: A Statistical Analysis Tool for Plan Quality Verification in HDR Brachytherapy Forward Planning for Cervix Cancer

    Energy Technology Data Exchange (ETDEWEB)

    Ma, R; Zhu, X; Li, S; Zheng, D; Lei, Y; Wang, S; Verma, V; Bennion, N; Wahl, A; Zhou, S [University of Nebraska Medical Center, Omaha, NE (United States)

    2016-06-15

    Purpose: High Dose Rate (HDR) brachytherapy forward planning is principally an iterative process; hence, plan quality is affected by planners’ experiences and limited planning time. Thus, this may lead to sporadic errors and inconsistencies in planning. A statistical tool based on previous approved clinical treatment plans would help to maintain the consistency of planning quality and improve the efficiency of second checking. Methods: An independent dose calculation tool was developed from commercial software. Thirty-three previously approved cervical HDR plans with the same prescription dose (550cGy), applicator type, and treatment protocol were examined, and ICRU defined reference point doses (bladder, vaginal mucosa, rectum, and points A/B) along with dwell times were collected. Dose calculation tool then calculated appropriate range with a 95% confidence interval for each parameter obtained, which would be used as the benchmark for evaluation of those parameters in future HDR treatment plans. Model quality was verified using five randomly selected approved plans from the same dataset. Results: Dose variations appears to be larger at the reference point of bladder and mucosa as compared with rectum. Most reference point doses from verification plans fell between the predicted range, except the doses of two points of rectum and two points of reference position A (owing to rectal anatomical variations & clinical adjustment in prescription points, respectively). Similar results were obtained for tandem and ring dwell times despite relatively larger uncertainties. Conclusion: This statistical tool provides an insight into clinically acceptable range of cervical HDR plans, which could be useful in plan checking and identifying potential planning errors, thus improving the consistency of plan quality.

  4. SU-F-BRB-07: A Plan Comparison Tool to Ensure Robustness and Deliverability in Online-Adaptive Radiotherapy

    International Nuclear Information System (INIS)

    Hill, P; Labby, Z; Bayliss, R A; Geurts, M; Bayouth, J

    2015-01-01

    Purpose: To develop a plan comparison tool that will ensure robustness and deliverability through analysis of baseline and online-adaptive radiotherapy plans using similarity metrics. Methods: The ViewRay MRIdian treatment planning system allows export of a plan file that contains plan and delivery information. A software tool was developed to read and compare two plans, providing information and metrics to assess their similarity. In addition to performing direct comparisons (e.g. demographics, ROI volumes, number of segments, total beam-on time), the tool computes and presents histograms of derived metrics (e.g. step-and-shoot segment field sizes, segment average leaf gaps). Such metrics were investigated for their ability to predict that an online-adapted plan reasonably similar to a baseline plan where deliverability has already been established. Results: In the realm of online-adaptive planning, comparing ROI volumes offers a sanity check to verify observations found during contouring. Beyond ROI analysis, it has been found that simply editing contours and re-optimizing to adapt treatment can produce a delivery that is substantially different than the baseline plan (e.g. number of segments increased by 31%), with no changes in optimization parameters and only minor changes in anatomy. Currently the tool can quickly identify large omissions or deviations from baseline expectations. As our online-adaptive patient population increases, we will continue to develop and refine quantitative acceptance criteria for adapted plans and relate them historical delivery QA measurements. Conclusion: The plan comparison tool is in clinical use and reports a wide range of comparison metrics, illustrating key differences between two plans. This independent check is accomplished in seconds and can be performed in parallel to other tasks in the online-adaptive workflow. Current use prevents large planning or delivery errors from occurring, and ongoing refinements will lead to

  5. Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images

    Science.gov (United States)

    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

  6. An interactive beam-weight optimization tool for three-dimensional radiotherapy treatment planning

    International Nuclear Information System (INIS)

    Burba, S.; Gardey, K.; Nadobny, J.; Stalling, D.; Seebass, M.; Beier, J.; Wust, P.; Budach, V.; Felix, R.

    1997-01-01

    Purpose: A computer software tool has been developed to aid the treatment planner in selecting beam weights for three-dimensional radiotherapy treatment planning. An approach to plan optimization has been made that is based on the use of an iterative feasibility search algorithm combined with a quadratic convergence method that seeks a set of beam weights which satisfies all the dose constraints set by the planner. Materials and Methods: A FORTRAN module for dose calculation for radiotherapy (a VOXELPLAN modification) has been integrated into an object-oriented Silicon Graphics TM platform in an IRIS Inventor environment on basis of the OpenGL which up to now has been exclusively used for the calculation of E-field distributions in hyperthermia (HyperPlan TM ). After the successful calculation and representation of the dose distribution in the Silicon Graphics TM platform, an algorithm involving the minimization method according to the principle of quadratic convergence was developed for optimizing beam weights of a number of pre-calculated fields. The verification of the algorithms for dose calculation and dose optimization has been realized by use of a standardized interface to the program VIRTUOS as well as by the collapsed cone algorithm implemented in the commercial treatment planning system Helax TMS TM . Results: The search algorithm allows the planner to incorporate relative importance weightings to target volumes and anatomical structures, specifying, for example, that a dose constraint to the spinal cord is much more crucial to the overall evaluation of a treatment plan than a dose constraint to otherwise uninvolved soft tissue. In most cases the applied minimization method according to the model of Davidon-Fletcher-Powell showed ultimate fast convergence for a general function f(x) with continuous second derivatives and fast convergence for a positive definite quadratic function. In other cases, however, the absence of an acceptable solution may indicate

  7. Innovative Stormwater Quality Tools by SARA for Holistic Watershed Master Planning

    Science.gov (United States)

    Thomas, S. M.; Su, Y. C.; Hummel, P. R.

    2016-12-01

    Stormwater management strategies such as Best Management Practices (BMP) and Low-Impact Development (LID) have increasingly gained attention in urban runoff control, becoming vital to holistic watershed master plans. These strategies can help address existing water quality impairments and support regulatory compliance, as well as guide planning and management of future development when substantial population growth and urbanization is projected to occur. However, past efforts have been limited to qualitative planning due to the lack of suitable tools to conduct quantitative assessment. The San Antonio River Authority (SARA), with the assistance of Lockwood, Andrews & Newnam, Inc. (LAN) and AQUA TERRA Consultants (a division of RESPEC), developed comprehensive hydrodynamic and water quality models using the Hydrological Simulation Program-FORTRAN (HSPF) for several urban watersheds in the San Antonio River Basin. These models enabled watershed management to look at water quality issues on a more refined temporal and spatial scale than the limited monitoring data. They also provided a means to locate and quantify potential water quality impairments and evaluate the effects of mitigation measures. To support the models, a suite of software tools were developed. including: 1) SARA Timeseries Utility Tool for managing and processing of large model timeseries files, 2) SARA Load Reduction Tool to determine load reductions needed to achieve screening levels for each modeled constituent on a sub-basin basis, and 3) SARA Enhanced BMP Tool to determine the optimal combination of BMP types and units needed to achieve the required load reductions. Using these SARA models and tools, water quality agencies and stormwater professionals can determine the optimal combinations of BMP/LID to accomplish their goals and save substantial stormwater infrastructure and management costs. The tools can also help regulators and permittees evaluate the feasibility of achieving compliance

  8. SU-D-BRB-01: A Predictive Planning Tool for Stereotactic Radiosurgery

    Energy Technology Data Exchange (ETDEWEB)

    Palefsky, S; Roper, J; Elder, E; Dhabaan, A [Winship Cancer Institute of Emory University, Atlanta, GA (United States)

    2015-06-15

    Purpose: To demonstrate the feasibility of a predictive planning tool which provides SRS planning guidance based on simple patient anatomical properties: PTV size, PTV shape and distance from critical structures. Methods: Ten framed SRS cases treated at Winship Cancer Institute of Emory University were analyzed to extract data on PTV size, sphericity (shape), and distance from critical structures such as the brainstem and optic chiasm. The cases consisted of five pairs. Each pair consisted of two cases with a similar diagnosis (such as pituitary adenoma or arteriovenous malformation) that were treated with different techniques: DCA, or IMRS. A Naive Bayes Classifier was trained on this data to establish the conditions under which each treatment modality was used. This model was validated by classifying ten other randomly-selected cases into DCA or IMRS classes, calculating the probability of each technique, and comparing results to the treated technique. Results: Of the ten cases used to validate the model, nine had their technique predicted correctly. The three cases treated with IMRS were all identified as such. Their probabilities of being treated with IMRS ranged between 59% and 100%. Six of the seven cases treated with DCA were correctly classified. These probabilities ranged between 51% and 95%. One case treated with DCA was incorrectly predicted to be an IMRS plan. The model’s confidence in this case was 91%. Conclusion: These findings indicate that a predictive planning tool based on simple patient anatomical properties can predict the SRS technique used for treatment. The algorithm operated with 90% accuracy. With further validation on larger patient populations, this tool may be used clinically to guide planners in choosing an appropriate treatment technique. The prediction algorithm could also be adapted to guide selection of treatment parameters such as treatment modality and number of fields for radiotherapy across anatomical sites.

  9. SU-D-BRB-01: A Predictive Planning Tool for Stereotactic Radiosurgery

    International Nuclear Information System (INIS)

    Palefsky, S; Roper, J; Elder, E; Dhabaan, A

    2015-01-01

    Purpose: To demonstrate the feasibility of a predictive planning tool which provides SRS planning guidance based on simple patient anatomical properties: PTV size, PTV shape and distance from critical structures. Methods: Ten framed SRS cases treated at Winship Cancer Institute of Emory University were analyzed to extract data on PTV size, sphericity (shape), and distance from critical structures such as the brainstem and optic chiasm. The cases consisted of five pairs. Each pair consisted of two cases with a similar diagnosis (such as pituitary adenoma or arteriovenous malformation) that were treated with different techniques: DCA, or IMRS. A Naive Bayes Classifier was trained on this data to establish the conditions under which each treatment modality was used. This model was validated by classifying ten other randomly-selected cases into DCA or IMRS classes, calculating the probability of each technique, and comparing results to the treated technique. Results: Of the ten cases used to validate the model, nine had their technique predicted correctly. The three cases treated with IMRS were all identified as such. Their probabilities of being treated with IMRS ranged between 59% and 100%. Six of the seven cases treated with DCA were correctly classified. These probabilities ranged between 51% and 95%. One case treated with DCA was incorrectly predicted to be an IMRS plan. The model’s confidence in this case was 91%. Conclusion: These findings indicate that a predictive planning tool based on simple patient anatomical properties can predict the SRS technique used for treatment. The algorithm operated with 90% accuracy. With further validation on larger patient populations, this tool may be used clinically to guide planners in choosing an appropriate treatment technique. The prediction algorithm could also be adapted to guide selection of treatment parameters such as treatment modality and number of fields for radiotherapy across anatomical sites

  10. PULSim: User-Based Adaptable Simulation Tool for Railway Planning and Operations

    Directory of Open Access Journals (Sweden)

    Yong Cui

    2018-01-01

    Full Text Available Simulation methods are widely used in the field of railway planning and operations. Currently, several commercial software tools are available that not only provide functionality for railway simulation but also enable further evaluation and optimisation of the network for scheduling, dispatching, and capacity research. However, the various tools are all lacking with respect to the standards they utilise as well as their published interfaces. For an end-user, the basic mechanism and the assumptions built into a simulation tool are unknown, which means that the true potential of these software tools is limited. One of the most critical issues is the lack of the ability of users to define a sophisticated workflow, integrated in several rounds of simulation with adjustable parameters and settings. This paper develops and describes a user-based, customisable platform. As the preconditions of the platform, the design aspects for modelling the components of a railway system and building the workflow of railway simulation are elaborated in detail. Based on the model and the workflow, an integrated simulation platform with open interfaces is developed. Users and researchers gain the ability to rapidly develop their own algorithms, supported by the tailored simulation process in a flexible manner. The productivity of using simulation tools for further evaluation and optimisation will be significantly improved through the user-adaptable open interfaces.

  11. Review. Supporting problem structuring with computer-based tools in participatory forest planning

    Energy Technology Data Exchange (ETDEWEB)

    Hujala, T.; Khadka, C.; Wolfslehner, B.; Vacik, H.

    2013-09-01

    Aim of study: This review presents the state-of-art of using computerized techniques for problem structuring (PS) in participatory forest planning. Frequency and modes of using different computerized tool types and their contribution for planning processes as well as critical observations are described, followed by recommendations on how to better integrate PS with the use of forest decision support systems. Area of study: The reviewed research cases are from Asia, Europe, North-America, Africa and Australia. Material and methods: Via Scopus search and screening of abstracts, 32 research articles from years 2002-2011 were selected for review. Explicit and implicit evidence of using computerized tools for PS was recorded and assessed with content-driven qualitative analysis. Main results: GIS and forest-specific simulation tools were the most prevalent software types whereas cognitive modelling software and spreadsheet and calculation tools were less frequently used, followed by multi-criteria and interactive tools. The typical use type was to provide outputs of simulation–optimization or spatial analysis to negotiation situations or to compile summaries or illustrations afterwards; using software during group negotiation to foster interaction was observed only in a few cases. Research highlights: Expertise in both decision support systems and group learning is needed to better integrate PS and computerized decision analysis. From the knowledge management perspective, it is recommended to consider how the results of PS —e.g. conceptual models— could be stored into a problem perception database, and how PS and decision making could be streamlined by retrievals from such systems. (Author)

  12. Review. Supporting problem structuring with computer-based tools in participatory forest planning

    Directory of Open Access Journals (Sweden)

    T. Hujala

    2013-07-01

    Full Text Available Aim of study: This review presents the state-of-art of using computerized techniques for problem structuring (PS in participatory forest planning. Frequency and modes of using different computerized tool types and their contribution for planning processes as well as critical observations are described, followed by recommendations on how to better integrate PS with the use of forest decision support systems.Area of study: The reviewed research cases are from Asia, Europe, North-America, Africa and Australia.Materials and methods: Via Scopus search and screening of abstracts, 32 research articles from years 2002–2011 were selected for review. Explicit and implicit evidence of using computerized tools for PS was recorded and assessed with content-driven qualitative analysis.Main results: GIS and forest-specific simulation tools were the most prevalent software types whereas cognitive modelling software and spreadsheet and calculation tools were less frequently used, followed by multi-criteria and interactive tools. The typical use type was to provide outputs of simulation–optimization or spatial analysis to negotiation situations or to compile summaries or illustrations afterwards; using software during group negotiation to foster interaction was observed only in a few cases.Research highlights: Expertise in both decision support systems and group learning is needed to better integrate PS and computerized decision analysis. From the knowledge management perspective, it is recommended to consider how the results of PS – e.g. conceptual models – could be stored into a problem perception database, and how PS and decision making could be streamlined by retrievals from such systems.Keywords: facilitated modeling; group negotiation; knowledge management; natural resource management; PSM; soft OR; stakeholders.

  13. The Evaluation and Application Plan Report for the Development of Nuclear Power Plant DCS Using CASE Tools

    Energy Technology Data Exchange (ETDEWEB)

    Lee, B.Y.; Moon, H.J.; Yoon, M.H.; Lee, Y.K. [Korea Electric Power Research Institute, Taejon (Korea)

    2000-06-01

    This report contains the evaluation and application plan report for the development of nuclear power plant DCS using CASE tools. In this report, the necessity of using CASE tools is considered and a available CASE environment is suggested. And, also according to the IEEE Std 1209 Recommended Practice for Evaluation and Selection of CASE Tools, their functional and economical evaluation about available commercial CASE tools is performed and described. (author). 6 figs., 3 tabs.

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

    Science.gov (United States)

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

    1981-01-01

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

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

    Science.gov (United States)

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

    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.

  16. iDermatoPath - a novel software tool for mitosis detection in H&E-stained tissue sections of malignant melanoma.

    Science.gov (United States)

    Andres, C; Andres-Belloni, B; Hein, R; Biedermann, T; Schäpe, A; Brieu, N; Schönmeyer, R; Yigitsoy, M; Ring, J; Schmidt, G; Harder, N

    2017-07-01

    Malignant Melanoma (MM) is characterized by a growing incidence and a high malignant potential. Besides well-defined prognostic factors such as tumour thickness and ulceration, the Mitotic Rate (MR) was included in the AJCC recommendations for diagnosis and treatment of MM. In daily routine, the identification of a single mitosis can be difficult on haematoxylin and eosin slides alone. Several studies showed a big inter- and intra-individual variability in detecting the MR in MM even by very experienced investigators, thus raising the question for a computer-assisted method. The objective was to develop a software system for mitosis detection in MM on H&E slides based on machine learning for diagnostic support. We developed a computer-aided staging support system based on image analysis and machine learning on the basis of 59 MM specimens. Our approach automatically detects tumour regions, identifies mitotic nuclei and classifies them with respect to their diagnostic relevance. A convenient user interface enables the investigator to browse through the proposed mitoses for fast and efficient diagnosing. A quantitative evaluation on manually labelled ground truth data revealed that the tumour region detection yields a medium spatial overlap index (dice coefficient) of 0.72. For the mitosis detection, we obtained high accuracies of above 83%. On the technical side, the developed iDermatoPath software tool provides a novel approach for mitosis detection in MM, which can be further improved using more training data such as dermatopathologist annotations. On the practical side, a first evaluation of the clinical utility was positive, albeit this approach provides most benefit for difficult cases in a research setting. Assuming all slides to be digitally processed and reported in the near future, this method could become a helpful additional tool for the pathologist. © 2017 European Academy of Dermatology and Venereology.

  17. MAP-IT: A Practical Tool for Planning Complex Behavior Modification Interventions.

    Science.gov (United States)

    Hansen, Sylvia; Kanning, Martina; Lauer, Romy; Steinacker, Jürgen M; Schlicht, Wolfgang

    2017-09-01

    Health research often aims to prevent noncommunicable diseases and to improve individual and public health by discovering intervention strategies that are effective in changing behavior and/or environments that are detrimental to one's health. Ideally, findings from original research support practitioners in planning and implementing effective interventions. Unfortunately, interventions often fail to overcome the translational block between science and practice. They often ignore theoretical knowledge, overlook empirical evidence, and underrate the impact of the environment. Accordingly, sustainable changes in individual behavior and/or the environment are difficult to achieve. Developing theory-driven and evidence-based interventions in the real world is a complex task. Existing implementation frameworks and theories often do not meet the needs of health practitioners. The purpose of this article is to synthesize existing frameworks and to provide a tool, the Matrix Assisting Practitioner's Intervention Planning Tool (MAP-IT), that links research to practice and helps practitioners to design multicomponent interventions. In this article, we use physical activity of older adults as an example to explain the rationale of MAP-IT. In MAP-IT, individual as well as environmental mechanisms are listed and behavior change techniques are linked to these mechanisms and to intervention components. MAP-IT is theory-driven and evidence-based. It is time-saving and helpful for practitioners when planning complex interventions.

  18. Laser Cutting Tool Path Optimization

    OpenAIRE

    Dewil, Reginald; Cattrysse, Dirk; Vansteenwegen, Pieter

    2011-01-01

    Given a set of irregular parts nested on a metal sheet, minimize the total non- cutting time for the cutter head, cutting all the required elements and returning to the starting location. The problem is modeled as a generalized traveling sales- person problem with special precedence constraints. An initial feasible solution is generated and improved by local moves embedded in a tabu search framework. The proposed algorithm shows promising results in comparison with a commercial...

  19. A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks

    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.

  20. A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks.

    Science.gov (United States)

    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.

  1. A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks

    Science.gov (United States)

    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

  2. Index of Access: a new innovative and dynamic tool for rural health service and workforce planning.

    Science.gov (United States)

    McGrail, Matthew R; Russell, Deborah J; Humphreys, John S

    2017-10-01

    Objective Improving access to primary health care (PHC) remains a key issue for rural residents and health service planners. This study aims to show that how access to PHC services is measured has important implications for rural health service and workforce planning. Methods A more sophisticated tool to measure access to PHC services is proposed, which can help health service planners overcome the shortcomings of existing measures and long-standing access barriers to PHC. Critically, the proposed Index of Access captures key components of access and uses a floating catchment approach to better define service areas and population accessibility levels. Moreover, as demonstrated through a case study, the Index of Access enables modelling of the effects of workforce supply variations. Results Hypothetical increases in supply are modelled for a range of regional centres, medium and small rural towns, with resulting changes of access scores valuable to informing health service and workforce planning decisions. Conclusions The availability and application of a specific 'fit-for-purpose' access measure enables a more accurate empirical basis for service planning and allocation of health resources. This measure has great potential for improved identification of PHC access inequities and guiding redistribution of PHC services to correct such inequities. What is known about the topic? Resource allocation and health service planning decisions for rural and remote health settings are currently based on either simple measures of access (e.g. provider-to-population ratios) or proxy measures of access (e.g. standard geographical classifications). Both approaches have substantial limitations for informing rural health service planning and decision making. What does this paper add? The adoption of a new improved tool to measure access to PHC services, the Index of Access, is proposed to assist health service and workforce planning. Its usefulness for health service planning is

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

    Directory of Open Access Journals (Sweden)

    Yuan Chen

    2011-09-01

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

  4. 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...

  5. Interesting tools for the cybersecurity plan of a nuclear power plant; Herramientas de utilidad para el plan de Ciberseguridad de una Planta Nuclear

    Energy Technology Data Exchange (ETDEWEB)

    Pareja, I.; Carrasco, J. A.; Cerro, F. J. del

    2012-07-01

    The use of digital technologies in monitoring and control systems of nuclear power plants and their connectivity requirements, originate cybersecurity difficulties that should be addressed in a cybersecurity plan. This plan should guide the policies and procedures followed during the design maintenance and operation of the systems inside a nuclear power plant. It also should refer to adequate tools able to reach the established cybersecurity requirements. The combination of Datadiodes and tools for publishing video (like tVGA2web), permit an isolation and remote maintenance in a 100% safety way and their use should be disseminated. In the paper other type of tools useful for nuclear power plants are also mentioned.

  6. Regional Energy Planning Tool for Renewable Integrated Low-Energy District Heating Systems

    DEFF Research Database (Denmark)

    Tol, Hakan; Dincer, Ibrahim; Svendsen, Svend

    2013-01-01

    Low-energy district heating systems, operating at low temperature of 55 °C as supply and 25°C as return, can be the energy solution as being the prevailing heating infrastructure in urban areas, considering future energy schemesaiming at increased exploitation of renewable energy sources together...... with low-energy houses in focus with intensified energy efficiency measures. Employing low-temperature operation allows the ease to exploit not only any type of heat source but also low-grade sources, i.e., renewable and industrial waste heat, which would otherwise be lost. In this chapter, a regional...... energy planning tool is described considered with various energy conversion systems based on renewable energy sources to be supplied to an integrated energy infrastructure involving a low-energy district heating, a district cooling, and an electricity grid. The developed tool is performed for two case...

  7. Scale models: A proven cost-effective tool for outage planning

    Energy Technology Data Exchange (ETDEWEB)

    Lee, R. [Commonwealth Edison Co., Morris, IL (United States); Segroves, R. [Sargent & Lundy, Chicago, IL (United States)

    1995-03-01

    As generation costs for operating nuclear stations have risen, more nuclear utilities have initiated efforts to improve cost effectiveness. Nuclear plant owners are also being challenged with lower radiation exposure limits and new revised radiation protection related regulations (10 CFR 20), which places further stress on their budgets. As source term reduction activities continue to lower radiation fields, reducing the amount of time spent in radiation fields becomes one of the most cost-effective ways of reducing radiation exposure. An effective approach for minimizing time spent in radiation areas is to use a physical scale model for worker orientation planning and monitoring maintenance, modifications, and outage activities. To meet the challenge of continued reduction in the annual cumulative radiation exposures, new cost-effective tools are required. One field-tested and proven tool is the physical scale model.

  8. Support Tool in the Diagnosis of Sales Price of Dental Plans

    Science.gov (United States)

    de Oliveira, Raquel A. F.; Lóscio, Bernadette F.; Pinheiro, Plácido Rogério

    It shows the formatting of a table of price to be used by a company is an activity that cannot be performed only empirically. The application of statistical methodologies and actuarial comes, increasingly, being used widely by companies primarily in the business of health plan. The increasing use of these techniques ensures that a manager of these companies more security and lower risk exposure while assisting them in making decisions. The aim of this paper is to present a tool for calculating the price of dental health developed in Java and PL/PgSQL.

  9. Evaluation of multi-modality CT-MRI-SPECT registration tools for radiotherapy treatment planning purposes

    International Nuclear Information System (INIS)

    Bianchini, S.; Alfonso, R.; Castillo, J.; Coca, M.; Torres, L.

    2013-01-01

    A qualitative and quantitative comparison of registration CT-CT, CT-MR and CT-SPECT performed by the different software and algorithms studies is presented. Only two studied software were full DICOM RT compatible while accepting DICOM images in any layout. Quantitative results of fiducial displacement errors were calculated for all software and available registration methods. The presented methodology demonstrated being effective for assessing the quality of studied image registration tools in the radiotherapy planning context, provided the images are free of significant geometric deformation. When implementing this methodology in real patients, the use of immobilization devices, such as thermoplastic masks, is recommended for enhanced quality of image registration. (Author)

  10. A software tool for advanced MRgFUS prostate therapy planning and follow up

    Science.gov (United States)

    van Straaten, Dörte; Hoogenboom, Martijn; van Amerongen, Martinus J.; Weiler, Florian; Issawi, Jumana Al; Günther, Matthias; Fütterer, Jurgen; Jenne, Jürgen W.

    2017-03-01

    US guided HIFU/FUS ablation for the therapy of prostate cancer is a clinical established method, while MR guided HIFU/FUS applications for prostate recently started clinical evaluation. Even if MRI examination is an excellent diagnostic tool for prostate cancer, it is a time consuming procedure and not practicable within an MRgFUS therapy session. The aim of our ongoing work is to develop software to support therapy planning and post-therapy follow-up for MRgFUS on localized prostate cancer, based on multi-parametric MR protocols. The clinical workflow of diagnosis, therapy and follow-up of MR guided FUS on prostate cancer was deeply analyzed. Based on this, the image processing workflow was designed and all necessary components, e.g. GUI, viewer, registration tools etc. were defined and implemented. The software bases on MeVisLab with several implemented C++ modules for the image processing tasks. The developed software, called LTC (Local Therapy Control) will register and visualize automatically all images (T1w, T2w, DWI etc.) and ADC or perfusion maps gained from the diagnostic MRI session. This maximum of diagnostic information helps to segment all necessary ROIs, e.g. the tumor, for therapy planning. Final therapy planning will be performed based on these segmentation data in the following MRgFUS therapy session. In addition, the developed software should help to evaluate the therapy success, by synchronization and display of pre-therapeutic, therapy and follow-up image data including the therapy plan and thermal dose information. In this ongoing project, the first stand-alone prototype was completed and will be clinically evaluated.

  11. State Wildlife Action Plans as Tools for Adapting to a Continuously Changing Climate

    Science.gov (United States)

    Metivier, D. W.; Yocum, H.; Ray, A. J.

    2015-12-01

    Public land management plans are potentially powerful policies for building sustainability and adaptive capacity. Land managers are recognizing the need to respond to numerous climate change impacts on natural and human systems. For the first time, in 2015, the federal government required each state to incorporate climate change into their State Wildlife Action Plans (SWAP) as a condition for funding. As important land management tools, SWAPs have the potential to guide state agencies in shaping and implementing practices for climate change adaptation. Intended to be revised every ten years, SWAPs can change as conditions and understanding of climate change evolves. This study asks what practices are states using to integrate climate change, and how does this vary between states? To answer this question, we conducted a broad analysis among seven states (CO, MT, NE, ND, SD, UT, WY) and a more in-depth analysis of four states (CO, ND, SD, WY). We use seven key factors that represent best practices for incorporating climate change identified in the literature. These best practices are species prioritization, key habitats, threats, monitoring, partnerships and participation, identification of management options, and implementation of management options. The in-depth analysis focuses on how states are using climate change information for specific habitats addressed in the plans. We find that states are integrating climate change in many different ways, showing varying degrees of sophistication and preparedness. We summarize different practices and highlight opportunities to improve the effectiveness of plans through: communication tools across state lines and stakeholders, explicit targeting of key habitats, enforcement and monitoring progress and success, and conducting vulnerability analyses that incorporate topics beyond climate and include other drivers, trajectories, and implications of historic and future land-use change.

  12. Using a concept map as a tool for strategic planning: The Healthy Brain Initiative.

    Science.gov (United States)

    Anderson, Lynda A; Day, Kristine L; Vandenberg, Anna E

    2011-09-01

    Concept mapping is a tool to assist in strategic planning that allows planners to work through a sequence of phases to produce a conceptual framework. Although several studies describe how concept mapping is applied to various public health problems, the flexibility of the methods used in each phase of the process is often overlooked. If practitioners were more aware of the flexibility, more public health endeavors could benefit from using concept mapping as a tool for strategic planning. The objective of this article is to describe how the 6 concept-mapping phases originally outlined by William Trochim guided our strategic planning process and how we adjusted the specific methods in the first 2 phases to meet the specialized needs and requirements to create The Healthy Brain Initiative: A National Public Health Road Map to Maintaining Cognitive Health. In the first stage (phases 1 and 2 of concept mapping), we formed a steering committee, convened 4 work groups over a period of 3 months, and generated an initial set of 42 action items grounded in science. In the second stage (phases 3 and 4), we engaged stakeholders in sorting and rating the action items and constructed a series of concept maps. In the third and final stage (phases 5 and 6), we examined and refined the action items and generated a final concept map consisting of 44 action items. We then selected the top 10 action items, and in 2007, we published The Healthy Brain Initiative: A National Public Health Road Map to Maintaining Cognitive Health, which represents the strategic plan for The Healthy Brain Initiative.

  13. How to plan workflow changes: a practical quality improvement tool used in an outpatient hospital pharmacy.

    Science.gov (United States)

    Aguilar, Christine; Chau, Connie; Giridharan, Neha; Huh, Youchin; Cooley, Janet; Warholak, Terri L

    2013-06-01

    A quality improvement tool is provided to improve pharmacy workflow with the goal of minimizing errors caused by workflow issues. This study involved workflow evaluation and reorganization, and staff opinions of these proposed changes. The study pharmacy was an outpatient pharmacy in the Tucson area. However, the quality improvement tool may be applied in all pharmacy settings, including but not limited to community, hospital, and independent pharmacies. This tool can help the user to identify potential workflow problem spots, such as high-traffic areas through the creation of current and proposed workflow diagrams. Creating a visual representation can help the user to identify problem spots and to propose changes to optimize workflow. It may also be helpful to assess employees' opinions of these changes. The workflow improvement tool can be used to assess where improvements are needed in a pharmacy's floor plan and workflow. Suggestions for improvements in the study pharmacy included increasing the number of verification points and decreasing high traffic areas in the workflow. The employees of the study pharmacy felt that the proposed changes displayed greater continuity, sufficiency, accessibility, and space within the pharmacy.

  14. Knowing the operative game plan: a novel tool for the assessment of surgical procedural knowledge.

    Science.gov (United States)

    Balayla, Jacques; Bergman, Simon; Ghitulescu, Gabriela; Feldman, Liane S; Fraser, Shannon A

    2012-08-01

    What is the source of inadequate performance in the operating room? Is it a lack of technical skills, poor judgment or a lack of procedural knowledge? We created a surgical procedural knowledge (SPK) assessment tool and evaluated its use. We interviewed medical students, residents and training program staff on SPK assessment tools developed for 3 different common general surgery procedures: inguinal hernia repair with mesh in men, laparoscopic cholecystectomy and right hemicolectomy. The tools were developed as a step-wise assessment of specific surgical procedures based on techniques described in a current surgical text. We compared novice (medical student to postgraduate year [PGY]-2) and expert group (PGY-3 to program staff) scores using the Mann-Whitney U test. We calculated the total SPK score and defined a cut-off score using receiver operating characteristic analysis. In all, 5 participants in 7 different training groups (n = 35) underwent an interview. Median scores for each procedure and overall SPK scores increased with experience. The median SPK for novices was 54.9 (95% confidence interval [CI] 21.6-58.8) compared with 98.05 (95% CP 94.1-100.0) for experts (p = 0.012). The SPK cut-off score of 93.1 discriminates between novice and expert surgeons. Surgical procedural knowledge can reliably be assessed using our SPK assessment tool. It can discriminate between novice and expert surgeons for common general surgical procedures. Future studies are planned to evaluate its use for more complex procedures.

  15. Hanford River Protection Project Life cycle Cost Modeling Tool to Enhance Mission Planning - 13396

    International Nuclear Information System (INIS)

    Dunford, Gary; Williams, David; Smith, Rick

    2013-01-01

    The Life cycle Cost Model (LCM) Tool is an overall systems model that incorporates budget, and schedule impacts for the entire life cycle of the River Protection Project (RPP) mission, and is replacing the Hanford Tank Waste Operations Simulator (HTWOS) model as the foundation of the RPP system planning process. Currently, the DOE frequently requests HTWOS simulations of alternative technical and programmatic strategies for completing the RPP mission. Analysis of technical and programmatic changes can be performed with HTWOS; however, life cycle costs and schedules were previously generated by manual transfer of time-based data from HTWOS to Primavera P6. The LCM Tool automates the preparation of life cycle costs and schedules and is needed to provide timely turnaround capability for RPP mission alternative analyses. LCM is the simulation component of the LCM Tool. The simulation component is a replacement of the HTWOS model with new capability to support life cycle cost modeling. It is currently deployed in G22, but has been designed to work in any full object-oriented language with an extensive feature set focused on networking and cross-platform compatibility. The LCM retains existing HTWOS functionality needed to support system planning and alternatives studies going forward. In addition, it incorporates new functionality, coding improvements that streamline programming and model maintenance, and capability to input/export data to/from the LCM using the LCM Database (LCMDB). The LCM Cost/Schedule (LCMCS) contains cost and schedule data and logic. The LCMCS is used to generate life cycle costs and schedules for waste retrieval and processing scenarios. It uses time-based output data from the LCM to produce the logic ties in Primavera P6 necessary for shifting activities. The LCM Tool is evolving to address the needs of decision makers who want to understand the broad spectrum of risks facing complex organizations like DOE-RPP to understand how near

  16. Hanford River Protection Project Life cycle Cost Modeling Tool to Enhance Mission Planning - 13396

    Energy Technology Data Exchange (ETDEWEB)

    Dunford, Gary [AEM Consulting, LLC, 1201 Jadwin Avenue, Richland, WA 99352 (United States); Williams, David [WIT, Inc., 11173 Oak Fern Court, San Diego, CA 92131 (United States); Smith, Rick [Knowledge Systems Design, Inc., 13595 Quaker Hill Cross Rd, Nevada City, CA 95959 (United States)

    2013-07-01

    The Life cycle Cost Model (LCM) Tool is an overall systems model that incorporates budget, and schedule impacts for the entire life cycle of the River Protection Project (RPP) mission, and is replacing the Hanford Tank Waste Operations Simulator (HTWOS) model as the foundation of the RPP system planning process. Currently, the DOE frequently requests HTWOS simulations of alternative technical and programmatic strategies for completing the RPP mission. Analysis of technical and programmatic changes can be performed with HTWOS; however, life cycle costs and schedules were previously generated by manual transfer of time-based data from HTWOS to Primavera P6. The LCM Tool automates the preparation of life cycle costs and schedules and is needed to provide timely turnaround capability for RPP mission alternative analyses. LCM is the simulation component of the LCM Tool. The simulation component is a replacement of the HTWOS model with new capability to support life cycle cost modeling. It is currently deployed in G22, but has been designed to work in any full object-oriented language with an extensive feature set focused on networking and cross-platform compatibility. The LCM retains existing HTWOS functionality needed to support system planning and alternatives studies going forward. In addition, it incorporates new functionality, coding improvements that streamline programming and model maintenance, and capability to input/export data to/from the LCM using the LCM Database (LCMDB). The LCM Cost/Schedule (LCMCS) contains cost and schedule data and logic. The LCMCS is used to generate life cycle costs and schedules for waste retrieval and processing scenarios. It uses time-based output data from the LCM to produce the logic ties in Primavera P6 necessary for shifting activities. The LCM Tool is evolving to address the needs of decision makers who want to understand the broad spectrum of risks facing complex organizations like DOE-RPP to understand how near

  17. The Application of Strategic Planning Tools for Enhanced Palliative Care Services at the Minneapolis Veterans Affairs Medical Center

    National Research Council Canada - National Science Library

    Mylan, Marci M

    2005-01-01

    .... Using selected strategic planning tools, the study examined the gaps in services by gathering staff opinions, examining local statistics regarding end-of-life care, and looking at community and national trends...

  18. An audit of local government planning tools for their potential use in addressing community food and nutrition issues.

    Science.gov (United States)

    Good, Elizabeth; Hammond, Melinda; Martin, Caroline; Burns, Catherine; Groos, Anita

    2010-04-01

    This project aimed to identify how local government planning tools could be used to influence physical and policy environments to support healthy eating behaviours in communities. An audit of Queensland's legislative and non-legislative local government planning tools was conducted by a public health nutritionist to assess their potential use in addressing strategies to achieve positive nutrition outcomes. Ten strategies were identified and covered the following themes: improving access to healthy foods and drinks; increasing access to breastfeeding facilities; decreasing fast food outlet density; and unhealthy food advertising. The audit found that all of the 10 strategies to achieve positive nutrition outcomes could be considered through three or more of the planning tools. Based on the findings of this audit, local government planning tools provide opportunities to address food and nutrition issues and contribute toward creating physical and policy environments that support healthy eating behaviours.

  19. Developing tools for the safety specification in risk management plans: lessons learned from a pilot project.

    Science.gov (United States)

    Cooper, Andrew J P; Lettis, Sally; Chapman, Charlotte L; Evans, Stephen J W; Waller, Patrick C; Shakir, Saad; Payvandi, Nassrin; Murray, Alison B

    2008-05-01

    Following the adoption of the ICH E2E guideline, risk management plans (RMP) defining the cumulative safety experience and identifying limitations in safety information are now required for marketing authorisation applications (MAA). A collaborative research project was conducted to gain experience with tools for presenting and evaluating data in the safety specification. This paper presents those tools found to be useful and the lessons learned from their use. Archive data from a successful MAA were utilised. Methods were assessed for demonstrating the extent of clinical safety experience, evaluating the sensitivity of the clinical trial data to detect treatment differences and identifying safety signals from adverse event and laboratory data to define the extent of safety knowledge with the drug. The extent of clinical safety experience was demonstrated by plots of patient exposure over time. Adverse event data were presented using dot plots, which display the percentages of patients with the events of interest, the odds ratio, and 95% confidence interval. Power and confidence interval plots were utilised for evaluating the sensitivity of the clinical database to detect treatment differences. Box and whisker plots were used to display laboratory data. This project enabled us to identify new evidence-based methods for presenting and evaluating clinical safety data. These methods represent an advance in the way safety data from clinical trials can be analysed and presented. This project emphasises the importance of early and comprehensive planning of the safety package, including evaluation of the use of epidemiology data.

  20. Developing a Graphical User Interface for the ALSS Crop Planning Tool

    Science.gov (United States)

    Koehlert, Erik

    1997-01-01

    The goal of my project was to create a graphical user interface for a prototype crop scheduler. The crop scheduler was developed by Dr. Jorge Leon and Laura Whitaker for the ALSS (Advanced Life Support System) program. The addition of a system-independent graphical user interface to the crop planning tool will make the application more accessible to a wider range of users and enhance its value as an analysis, design, and planning tool. My presentation will demonstrate the form and functionality of this interface. This graphical user interface allows users to edit system parameters stored in the file system. Data on the interaction of the crew, crops, and waste processing system with the available system resources is organized and labeled. Program output, which is stored in the file system, is also presented to the user in performance-time plots and organized charts. The menu system is designed to guide the user through analysis and decision making tasks, providing some help if necessary. The Java programming language was used to develop this interface in hopes of providing portability and remote operation.

  1. Minimizing Collision Risk Between Migrating Raptors and Marine Wind Farms: Development of a Spatial Planning Tool

    Science.gov (United States)

    Baisner, Anette Jægerfeldt; Andersen, Jonas Lembcke; Findsen, Anders; Yde Granath, Simon Wilhelm; Madsen, Karin Ølgaard; Desholm, Mark

    2010-11-01

    An increased focus on renewable energy has led to the planning and construction of marine wind farms in Europe. Since several terrestrial studies indicate that raptors are especially susceptible to wind turbine related mortality, a Spatial Planning Tool is needed so that wind farms can be sited, in an optimal way, to minimize risk of collisions. Here we use measurements of body mass, wingspan and wing area of eight European raptor species, to calculate their Best Glide Ratio (BGR). The BGR was used to construct a linear equation, which, by the use of initial take-off altitude, could be used to calculate a Theoretical Maximum Distance (TMD) from the coast, attained by these soaring-gliding raptor species. If the nearest turbine, of future marine wind farms, is placed farther away from the coast than the estimated TMD, the collision risk between the turbine blades and these gliding raptors will be minimized. The tool was demonstrated in a case study at the Rødsand II wind farm in Denmark. Data on raptor migration altitude were gathered by radar. From the TMD attained by registered soaring-gliding raptors in the area, we concluded that the Rødsand II wind farm is not sited ideally, from an ornithological point of view, as potentially all three registered species are at risk of gliding through the area swept by the turbine rotor blades, and thereby at risk of colliding with the wind turbines.

  2. A tool for planning retinoblastoma services in sub-Saharan Africa.

    Science.gov (United States)

    Hampejsková, Lindsay; Bascaran, Covadonga; Zondervan, Marcia

    2017-04-01

    Cancer care remains inadequate in low-middle income countries (LMICs). Children with cancer have 80% chance of surviving in high-income countries compared to 20% in LMICs. Retinoblastoma (RB), an aggressive eye cancer of childhood and top childhood cancer in sub-Saharan Africa (SSA), has a low survival rate, due to a delay in diagnosis and abandonment of treatment. The purpose of this study is to provide a tool for planning human resources required to manage RB in SSA. Online tool was developed with 19 modifiable fields and 23 estimates. Routine data were used to populate modifiable fields: population, birthrate, infant mortality rate, and total fertility rate. Values were held constant: frequency, 1:17,000; familial cases, 8%; unilateral RB, 74%; extraocular disease, 70%; and survival postextraocular treatment, 10%. One thousand twenty-three RB incident and familial cases are estimated each year across Ethiopia, Ghana, Malawi, Nigeria, Tanzania, Uganda, Zambia, and Zimbabwe: 75 familial, 700 unilateral, 717 extraocular disease, and 645 palliative. Nigeria represents 431 cases and Zimbabwe 33 cases. Over the eight countries, a total of 41,558 patient visits are estimated each year consisting of unilateral enucleation, follow-up visits, intensive treatment, and familial screening, with a total of 2,802 prosthetic eyes being required each year. In the absence of data, estimates are essential for planning countrywide medical services. More attention is needed around planning for services from the Ministry level including emphasis on building multidisciplinary teams for diseases such as RB, including countrywide database and integrated clinical practice guidelines among all levels of care. © 2016 Wiley Periodicals, Inc.

  3. [Written personalized action plan for atopic dermatitis: a patient education tool].

    Science.gov (United States)

    Gabeff, R; Assathiany, R; Barbarot, S; Salinier, C; Stalder, J-F

    2014-07-01

    Atopic dermatitis (AD) is the most frequent children's chronic skin disease. Management of AD can be difficult because local treatments must be adapted to the skin's condition. Between consultations, sudden changes in the state of the disease can make it difficult to manage local treatment. Parents and children need information that will help them adapt their treatment to the course of their disease. Aiming to enable parents to better treat their atopic child by themselves, we have developed a personalized action plan in order to simplify, personalize, and adapt the medical prescription to the state of the disease. The Personalized Written Action Plan for Atopics (PA2P) is based on the model used in the treatment of asthma, with integrated specificities for AD in children. The aim of this study was to assess the feasibility and pertinence of the PA2P for pediatricians to use in private practice. A total of 479 pediatricians answered a questionnaire sent by e-mail. The vast majority of the respondents gave positive reviews of the tool: 99% of the pediatricians declared the tool to be pertinent, qualifying it as clear and logical. The PA2P appeared to be appropriate for the atopic patient because it improves the families' involvement in the application of local treatment by offering personalized care and by simplifying the doctor's prescription. Finally, 72% of doctors responding to the questionnaire were willing to take part in future studies involving parents. More than a gadget, the PA2P could become a useful tool for therapeutic patient education. Copyright © 2014 Elsevier Masson SAS. All rights reserved.

  4. Artificial intelligence for the EChO long-term mission planning tool

    Science.gov (United States)

    García-Piquer, Álvaro; Ribas, Ignasi; Colomé, Josep

    2014-08-01

    The Exoplanet Characterisation Observatory (EChO) was an ESA mission candidate competing for a launch opportunity within the M3 call. Its main aim was to carry out research on the physics and chemistry of atmospheres of transiting planets. This requires the observation of two types of events: primary and secondary eclipses. The events of each exoplanet have to be observed several times in order to obtain measurements with adequate Signal-to-Noise Ratio. Furthermore, several criteria must be considered to perform an observation, among which we can highlight the exoplanet visibility, its event duration, and the avoidance of overlapping with other tasks. It is important to emphasize that, since the communications for transferring data from ground stations to the spacecraft are restricted, it is necessary to compute a long-term plan of observations in order to provide autonomy to the observatory. Thus, a suitable mission plan will increase the efficiency of telescope operation, and this will result in a raise of the scientific return and a reduction of operational costs. Obtaining a long-term mission plan becomes unaffordable for human planners due to the complexity of computing the large amount of possible combinations for finding a near-optimal solution. In this contribution we present a long-term mission planning tool based on Genetic Algorithms, which are focused on solving optimization problems such as the planning of several tasks. Specifically, the proposed tool finds a solution that highly optimizes the objectives defined, which are based on the maximization of the time spent on scientific observations and the scientific return (e.g., the coverage of the mission survey). The results obtained on the large experimental set up support that the proposed scheduler technology is robust and can function in a variety of scenarios, offering a competitive performance which does not depend on the collection of objects to be observed. Finally, it is noteworthy that the

  5. Planning and land policy tools for limiting urban sprawl: The example of Belgrade

    Directory of Open Access Journals (Sweden)

    Zeković Slavka

    2015-01-01

    Full Text Available Both the characteristics of Serbia’s urban land policy, the delay in reforms and land development management of the Belgrade Metropolitan Area (BMA illustrate the complexities following the reshaping of institutional framework under the conditions of economic and other uncertainties of societal transition. The negative implications of the prolonged crisis on the new urban development policy and urban land tools can postpone the establishment and application of guidelines for limiting the urban sprawl. This paper presents a brief literature review, as well as the current urban land policy and land-use efficiency in the BMA. Traditional urban land tools will be shortly described, followed by recommendations for limiting sprawl. There is a need for readjusting the current planning and urban policy regarding the urban sprawl, from an urban “command-and-control” approach to a “learn-and-adapt” approach. We suggest the introduction of more innovative and flexible urban land policy tools. [Projekat Ministarstva nauke Republike Srbije, br. III47014

  6. The critical components of an electronic care plan tool for primary care: an exploratory qualitative study

    Directory of Open Access Journals (Sweden)

    Lisa Rotenstein

    2016-07-01

    Full Text Available Background A critical need exists for effective electronic tools that facilitate multidisciplinary care for complex patients in patient-centered medical homes. Objective To identify the essential components of a primary care (PC based electronic care plan (ECP tool that facilitates coordination of care for complex patients. Methods Three focus groups and nine semi-structured interviews were conducted at an academic PC practice in order to identify the ideal components of an ECP. Results Critical components of an ECP identified included: 1 patient background information, including patient demographics, care team member designation and key patient contacts, 2 user- and patient-centric task management functionalities, 3 a summary of a patient’s care needs linked to the responsible member of the care team and 4 integration with the electronic medical record. We then designed an ECP mockup incorporating these components. Conclusion Our investigation identified key principles that healthcare software developers can integrate into PC and patient-centered ECP tools.

  7. New Approaches for the Use of the Classical Tools of Scenario Planning

    Directory of Open Access Journals (Sweden)

    Ricardo Balieiro Fischer

    2016-04-01

    Full Text Available The future is to be built – is multiple and uncertain. Within the social sciences, scenarios can be defined as a description of a future situation and a course of events that allow move from a primary position toward this future situation. Currently, there is a multiplicity of methods and tools available for building scenarios, including methods of an essentially rationalist approach, as Michel Godet’s method. The purpose of this work is to use the hypothetical-deductive method to reduce, starting from Michel Godet’s Scenario Method and its tools, the complexity of the scenario-building process while maintaining the robustness of the findings. For this purpose, it is proposed two different approaches: (1 to integrate, in one step, the structural analysis and the cross-impact matrix so the first one derives automatically while filling the last one; (2 to use the concept of Bayesian networks as a method to integrate the cross-impact matrix and the morphological analysis. Both approaches aim to reduce the amount of information needed to feed the tools and improve the feedback criteria, resulting in greater flexibility during the process and better holistic view of the system. Scientifically, these approaches open a new field of studies in scenario planning as it appropriates the concept of Bayesian networks, widely used in other areas of knowledge (artificial intelligence, geological studies, medical diagnostics, pattern classification, etc., and bring it to the field of social sciences.

  8. Tools and measures for stimulation the efficient energy consumption. Integrated resource planning in Romania

    International Nuclear Information System (INIS)

    Scripcariu, Daniela; Scripcariu, Mircea; Leca, Aureliu

    1996-01-01

    The integrated resource planning is based on analyses of the energy generation and energy consumption as a whole. Thus, increasing the energy efficiency appears to be the cheapest, the most available and the most cost-effective energy resource. In order to stimulate the increase of efficiency of energy consumption, besides economic efficiency criteria for selecting technical solutions, additional tools and measures are necessary. The paper presents the main tools and measures needed to foster an efficient energy consumption. Actions meant to stimulate DSM (Demand-Side Management) implementation in Romania are proposed. The paper contains 5 sections. In the introduction, the main aspects of the DSM are considered, namely, where the programs are implemented, who is the responsible, which are the objectives and finally, how the DSM programs are implemented. The following tools in management of energy use are examined: the energy prices, the regulation in the field of energy efficiency, standards and norms, energy labelling of the products and energy education. Among the measures for managing the energy use, the paper takes into consideration the institutions responsible for DSM, for instance, the Romanian Agency for Energy Conservation (ARCE), decentralization of decision making, the program approaches and financing the actions aiming at improving the energy efficiency. Finally, the paper analyses the criteria in choosing adequate solutions of improving the energy efficiency

  9. Optimal Paths in Gliding Flight

    Science.gov (United States)

    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.

  10. Path Dependence

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

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

  11. Tools for an integrated systems approach to sustainable port city planning

    Directory of Open Access Journals (Sweden)

    Gilles Morel

    2013-12-01

    Full Text Available Large port cities like Shanghai, Amsterdam and Rio de Janeiro are key cogwheels in international logistics and transport networks but also serve as showcases for the rest of the world; as such, they constitute strategic assets for the host country´s economy and international influence. Historically, a city and its port often developed independently, through sometimes contradictory or even confrontational policies. Today, the growing number of usage disputes over increasingly coveted coastal areas is prompting local managers to incorporate urban and port-related issues in overarching planning programs. In particular, planning of the sea front and the buffer zone between the port and the city must contribute decisively to the deployment of more effective, cleaner transport services for the port city as a whole. In general, one of the key global challenges for planners and decision-makers consists in integrating sustainable development goals (environmental and social components, as well as the stimulation of industrial competitiveness into urban planning. In this context the PHEBUS research group has initiated an international program of research to develop innovative methods and tools that can help territorial stakeholders to design, evaluate, compare and ultimately choose development scenarios for the future of their port cities. The main themes are addressed via a multidisciplinary systems approach on the scale of a coastal urban area with an industrial and port complex. In particular, the themes include sea front planning, the city-port interface, energy optimization (e.g. the introduction and sharing of renewable energies, risk resilience, climate change and multimodal, clean transport.

  12. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    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)

  13. Topological clustering as a tool for planning water quality monitoring in water distribution networks

    DEFF Research Database (Denmark)

    Kirstein, Jonas Kjeld; Albrechtsen, Hans-Jørgen; Rygaard, Martin

    2015-01-01

    ) identify steady clusters for a part of the network where an actual contamination has occurred; (2) analyze this event by the use of mesh diagrams; and (3) analyze the use of mesh diagrams as a decision support tool for planning water quality monitoring. Initially, the network model was divided...... into strongly and weakly connected clusters for selected time periods and mesh diagrams were used for analysing cluster connections in the Nørrebro district. Here, areas of particular interest for water quality monitoring were identified by including user-information about consumption rates and consumers...... particular sensitive towards water quality deterioration. The analysis revealed sampling locations within steady clusters, which increased samples' comparability over time. Furthermore, the method provided a simplified overview of water movement in complex distribution networks, and could assist...

  14. The concept of cluster- villages as planning tool in the rural districts of Denmark

    DEFF Research Database (Denmark)

    Laursen, Lea Louise Holst; Møller, Jørgen

    on economies of scale, or the decentralised model based on proximity. In the developments and debate relating to these matters, strategic and visionary planning is back in the municipal arena as the only tool capable of handling the many different challenges facing the municipalities. Mellem disse...... and uses each other’s strengths, as well as developing the individual village in addition to the specific potentials of that village. In recent years, rural Denmark has been undergoing a sweeping and very noticeable process of adjustment, Development in municipal service provision plays a particular...... to forskellige positioner ser vi en ny mulighed for landsbyudvikling, som vi kalder Clustervillages. In order to investigate the potentials and possibilities of the cluster-village concept the paper will seek to unfold the concept strategically; looking into the benefits of such concept. Further, the paper seeks...

  15. Simulation as a planning tool for job-shop production environment

    Science.gov (United States)

    Maram, Venkataramana; Nawawi, Mohd Kamal Bin Mohd; Rahman, Syariza Abdul; Sultan, Sultan Juma

    2015-12-01

    In this paper, we made an attempt to use discrete event simulation software ARENA® as a planning tool for job shop production environment. We considered job shop produces three types of Jigs with different sequence of operations to study and improve shop floor performance. The sole purpose of the study is to identifying options to improve machines utilization, reducing job waiting times at bottleneck machines. First, the performance of the existing system was evaluated by using ARENA®. Then identified improvement opportunities by analyzing base system results. Second, updated the model with most economical options. The proposed new system outperforms with that of the current base system by 816% improvement in delay times at paint shop by increase 2 to 3 and Jig cycle time reduces by Jig1 92%, Jig2 65% and Jig3 41% and hence new proposal was recommended.

  16. Presentation of a Modified Boustrophedon Decomposition Algorithm for Optimal Configuration of Flat Fields to use in Path Planning Systems of Agricultural Vehicles

    Directory of Open Access Journals (Sweden)

    R Goudarzi

    2018-03-01

    Full Text Available Introduction The demand of pre-determined optimal coverage paths in agricultural environments have been increased due to the growing application of field robots and autonomous field machines. Also coverage path planning problem (CPP has been extensively studied in robotics and many algorithms have been provided in many topics, but differences and limitations in agriculture lead to several different heuristic and modified adaptive methods from robotics. In this paper, a modified and enhanced version of currently used decomposition algorithm in robotics (boustrophedon cellular decomposition has been presented as a main part of path planning systems of agricultural vehicles. Developed algorithm is based on the parallelization of the edges of the polygon representing the environment to satisfy the requirements of the problem as far as possible. This idea is based on "minimum facing to the cost making condition" in turn, it is derived from encounter concept as a basis of cost making factors. Materials and Methods Generally, a line termed as a slice in boustrophedon cellular decomposition (BCD, sweeps an area in a pre-determined direction and decomposes the area only at critical points (where two segments can be extended to top and bottom of the point. Furthermore, sweep line direction does not change until the decomposition finish. To implement the BCD for parallelization method, two modifications were applied in order to provide a modified version of the boustrophedon cellular decomposition (M-BCD. In the first modification, the longest edge (base edge is targeted, and sweep line direction is set in line with the base edge direction (sweep direction is set perpendicular to the sweep line direction. Then Sweep line moves through the environment and stops at the first (nearest critical point. Next sweep direction will be the same as previous, If the length of those polygon's newly added edges, during the decomposition, are less than or equal to the

  17. Tools and methods for integrated resource planning. Improving energy efficiency and protecting the environment

    International Nuclear Information System (INIS)

    Swisher, J.N.; Martino Jannuzzi, G. de; Redlinger, R.Y.

    1997-01-01

    This book resulted from our recognition of the need to have systematic teaching and training materials on energy efficiency, end-use analysis, demand-side management (DSM) and integrated resource planning (IRP). This book addresses energy efficiency programs and IRP, exploring their application in the electricity sector. We believe that these methods will provide powerful and practical tools for designing efficient and environmentally-sustainable energy supply and demand-side programs to minimize the economic, environmental and other social costs of electricity conversion and use. Moreover, the principles of IRP can be and already are being applied in other areas such as natural gas, water supply, and even transportation and health services. Public authorities can use IRP principles to design programs to encourage end-use efficiency and environmental protection through environmental charges and incentives, non-utility programs, and utility programs applied to the functions remaining in monopoly concessions such as the distribution wires. Competitive supply firms can use IRP principles to satisfy customer needs for efficiency and low prices, to comply with present and future environmental restrictions, and to optimize supply and demand-side investments and returns, particularly at the distribution level, where local-area IRP is now being actively practiced. Finally, in those countries where a strong planning function remains in place, IRP provides a way to integrate end-use efficiency and environmental protection into energy development. (EG) 181 refs

  18. Tools and methods for integrated resource planning. Improving energy efficiency and protecting the environment

    Energy Technology Data Exchange (ETDEWEB)

    Swisher, J N; Martino Jannuzzi, G de; Redlinger, R Y

    1997-11-01

    This book resulted from our recognition of the need to have systematic teaching and training materials on energy efficiency, end-use analysis, demand-side management (DSM) and integrated resource planning (IRP). This book addresses energy efficiency programs and IRP, exploring their application in the electricity sector. We believe that these methods will provide powerful and practical tools for designing efficient and environmentally-sustainable energy supply and demand-side programs to minimize the economic, environmental and other social costs of electricity conversion and use. Moreover, the principles of IRP can be and already are being applied in other areas such as natural gas, water supply, and even transportation and health services. Public authorities can use IRP principles to design programs to encourage end-use efficiency and environmental protection through environmental charges and incentives, non-utility programs, and utility programs applied to the functions remaining in monopoly concessions such as the distribution wires. Competitive supply firms can use IRP principles to satisfy customer needs for efficiency and low prices, to comply with present and future environmental restrictions, and to optimize supply and demand-side investments and returns, particularly at the distribution level, where local-area IRP is now being actively practiced. Finally, in those countries where a strong planning function remains in place, IRP provides a way to integrate end-use efficiency and environmental protection into energy development. (EG) 181 refs.

  19. Adapting EVIAVE methodology as a planning and decision-making tool in Venezuela

    International Nuclear Information System (INIS)

    Zamorano, M.; Paolini, A.; Ramos, A.; Rodriguez, M.L.

    2009-01-01

    Landfills in Venezuela have serious problems regarding their location, design and operation. In fact, basic waste disposal is one of the main weaknesses of the municipal waste management in this country. The Venezuelan Ministry of Environment and Renewable Resources has studied and identified the negative impacts of operating landfills, but no program has been implemented to determine the cause-effect relation of these impacts or to design strategies to counteract with the serious environmental and health risks generated. This paper describes how EVIAVE methodology can be successfully used for landfill diagnosis, and shows how this type of landfill diagnosis was applied in Venezuela. For our research study, we carried out both a quantitative and qualitative evaluation of the environmental problems generated by 22 landfills in Venezuela. Our study was based on the following environmental indexes: Landfill Environment, Environmental Risk, Environmental Value, and Probability of Contamination. For the purposes of our study, it was first necessary to adapt EVIAVE to the legal system and social context in Venezuela. The results obtained confirmed the applicability of this methodology to Venezuelan landfills. EVIAVE was found to be an effective planning tool that provided crucial information for the development of action plans, which would improve landfill operation, and help make decisions pertaining to their closure, sealing and eventual recovery.

  20. The Lunar Reconnaissance Orbiter, a Planning Tool for Missions to the Moon

    Science.gov (United States)

    Keller, J. W.; Petro, N. E.

    2017-12-01

    The Lunar Reconnaissance Orbiter Mission was conceived as a one year exploration mission to pave the way for a return to the lunar surface, both robotically and by humans. After a year in orbit LRO transitioned to a science mission but has operated in a duel role of science and exploration ever since. Over the years LRO has compiled a wealth of data that can and is being used for planning future missions to the Moon by NASA, other national agencies and by private enterprises. While collecting this unique and unprecedented data set, LRO's science investigations have uncovered new questions that motivate new missions and targets. Examples include: when did volcanism on the Moon cease, motivating a sample return mission from an irregular mare patch such as Ina-D; or, is there significant water ice sequestered near the poles outside of the permanently shaded regions? In this presentation we will review the data products, tools and maps that are available for mission planning, discuss how the operating LRO mission can further enhance future missions, and suggest new targets motivated by LRO's scientific investigations.

  1. Enterprise resource planning (ERP) implementation using the value engineering methodology and Six Sigma tools

    Science.gov (United States)

    Leu, Jun-Der; Lee, Larry Jung-Hsing

    2017-09-01

    Enterprise resource planning (ERP) is a software solution that integrates the operational processes of the business functions of an enterprise. However, implementing ERP systems is a complex process. In addition to the technical issues, companies must address problems associated with business process re-engineering, time and budget control, and organisational change. Numerous industrial studies have shown that the failure rate of ERP implementation is high, even for well-designed systems. Thus, ERP projects typically require a clear methodology to support the project execution and effectiveness. In this study, we propose a theoretical model for ERP implementation. The value engineering (VE) method forms the basis of the proposed framework, which integrates Six Sigma tools. The proposed framework encompasses five phases: knowledge generation, analysis, creation, development and execution. In the VE method, potential ERP problems related to software, hardware, consultation and organisation are analysed in a group-decision manner and in relation to value, and Six Sigma tools are applied to avoid any project defects. We validate the feasibility of the proposed model by applying it to an international manufacturing enterprise in Taiwan. The results show improvements in customer response time and operational efficiency in terms of work-in-process and turnover of materials. Based on the evidence from the case study, the theoretical framework is discussed together with the study's limitations and suggestions for future research.

  2. Clustering Algorithm As A Planning Support Tool For Rural Electrification Optimization

    Directory of Open Access Journals (Sweden)

    Ronaldo Pornillosa Parreno Jr

    2015-08-01

    Full Text Available Abstract In this study clustering algorithm was developed to optimize electrification plans by screening and grouping potential customers to be supplied with electricity. The algorithm provided adifferent approach in clustering problem which combines conceptual and distance-based clustering algorithmsto analyze potential clusters using spanning tree with the shortest possible edge weight and creating final cluster trees based on the test of inconsistency for the edges. The clustering criteria consists of commonly used distance measure with the addition of household information as basis for the ability to pay ATP value. The combination of these two parameters resulted to a more significant and realistic clusters since distance measure alone could not take the effect of the household characteristics in screening the most sensible groupings of households. In addition the implications of varying geographical features were incorporated in the algorithm by using routing index across the locations of the households. This new approach of connecting the households in an area was applied in an actual case study of one village or barangay that was not yet energized. The results of clustering algorithm generated cluster trees which could becomethetheoretical basis for power utilities to plan the initial network arrangement of electrification. Scenario analysis conducted on the two strategies of clustering the households provideddifferent alternatives for the optimization of the cost of electrification. Futhermorethe benefits associated with the two strategies formulated from the two scenarios was evaluated using benefit cost ratio BC to determine which is more economically advantageous. The results of the study showed that clustering algorithm proved to be effective in solving electrification optimization problem and serves its purpose as a planning support tool which can facilitate electrification in rural areas and achieve cost-effectiveness.

  3. Energy Portfolio Assessment Tool (EPAT): Sustainable Energy Planning Using the WEF Nexus Approach - Texas Case Study

    Science.gov (United States)

    Mroue, A. M.

    2017-12-01

    The future energy portfolio at the national and subnational levels should consider its impact on water resources and environment. Although energy resources are the main contributors to the national economic growth, these resources must not exploit other primary natural resources. A study of the connections between energy and natural systems, such as water, environment and land is required prior to proceeding to energy development. Policy makers are in need of a tool quantifying the interlinkages across energy, water and the environment, while demonstrating the consequent trade-offs across the nexus systems. The Energy Portfolio Assessment Tool (EPAT) is a tool that enables the policy maker to create different energy portfolio scenarios with various energy and electricity sources, and evaluate the scenario's sustainability environmentally and economically. The Water-Energy-Food nexus systematic approach is the foundation of the EPAT framework. The research evaluates the impact of the current and projected Texas energy portfolios on water and the environment, taking into consideration energy production, electricity generation and policy change. The three scenarios to be assessed include EIA projections for energy production, and EIA projections for electricity generation with and without the Clean Power Plan (CPP). Each scenario is accompanied by tradeoffs across water, land, emissions, energy revenue and electricity cost. The CPP succeeds in mitigating the emissions of the electricity portfolio, but leads to an increase in water consumption and land use. The cost of electricity generation is almost identical with and without environmental conservation. Revenue from energy production increased, but results are majorly influenced by commodity price. Therefore, conservation policies should move from the silo to the nexus mentality to avoid unintended consequences as improving one part of the nexus could end up worsening the other parts.

  4. A Planning Tool for Estimating Waste Generated by a Radiological Incident and Subsequent Decontamination Efforts - 13569

    International Nuclear Information System (INIS)

    Boe, Timothy; Lemieux, Paul; Schultheisz, Daniel; Peake, Tom; Hayes, Colin

    2013-01-01

    Management of debris and waste from a wide-area radiological incident would probably constitute a significant percentage of the total remediation cost and effort. The U.S. Environmental Protection Agency's (EPA's) Waste Estimation Support Tool (WEST) is a unique planning tool for estimating the potential volume and radioactivity levels of waste generated by a radiological incident and subsequent decontamination efforts. The WEST was developed to support planners and decision makers by generating a first-order estimate of the quantity and characteristics of waste resulting from a radiological incident. The tool then allows the user to evaluate the impact of various decontamination/demolition strategies on the waste types and volumes generated. WEST consists of a suite of standalone applications and Esri R ArcGIS R scripts for rapidly estimating waste inventories and levels of radioactivity generated from a radiological contamination incident as a function of user-defined decontamination and demolition approaches. WEST accepts Geographic Information System (GIS) shape-files defining contaminated areas and extent of contamination. Building stock information, including square footage, building counts, and building composition estimates are then generated using the Federal Emergency Management Agency's (FEMA's) Hazus R -MH software. WEST then identifies outdoor surfaces based on the application of pattern recognition to overhead aerial imagery. The results from the GIS calculations are then fed into a Microsoft Excel R 2007 spreadsheet with a custom graphical user interface where the user can examine the impact of various decontamination/demolition scenarios on the quantity, characteristics, and residual radioactivity of the resulting waste streams. (authors)

  5. A Planning Tool for Estimating Waste Generated by a Radiological Incident and Subsequent Decontamination Efforts - 13569

    Energy Technology Data Exchange (ETDEWEB)

    Boe, Timothy [Oak Ridge Institute for Science and Education, Research Triangle Park, NC 27711 (United States); Lemieux, Paul [U.S. Environmental Protection Agency, Research Triangle Park, NC 27711 (United States); Schultheisz, Daniel; Peake, Tom [U.S. Environmental Protection Agency, Washington, DC 20460 (United States); Hayes, Colin [Eastern Research Group, Inc, Morrisville, NC 26560 (United States)

    2013-07-01

    Management of debris and waste from a wide-area radiological incident would probably constitute a significant percentage of the total remediation cost and effort. The U.S. Environmental Protection Agency's (EPA's) Waste Estimation Support Tool (WEST) is a unique planning tool for estimating the potential volume and radioactivity levels of waste generated by a radiological incident and subsequent decontamination efforts. The WEST was developed to support planners and decision makers by generating a first-order estimate of the quantity and characteristics of waste resulting from a radiological incident. The tool then allows the user to evaluate the impact of various decontamination/demolition strategies on the waste types and volumes generated. WEST consists of a suite of standalone applications and Esri{sup R} ArcGIS{sup R} scripts for rapidly estimating waste inventories and levels of radioactivity generated from a radiological contamination incident as a function of user-defined decontamination and demolition approaches. WEST accepts Geographic Information System (GIS) shape-files defining contaminated areas and extent of contamination. Building stock information, including square footage, building counts, and building composition estimates are then generated using the Federal Emergency Management Agency's (FEMA's) Hazus{sup R}-MH software. WEST then identifies outdoor surfaces based on the application of pattern recognition to overhead aerial imagery. The results from the GIS calculations are then fed into a Microsoft Excel{sup R} 2007 spreadsheet with a custom graphical user interface where the user can examine the impact of various decontamination/demolition scenarios on the quantity, characteristics, and residual radioactivity of the resulting waste streams. (authors)

  6. Investments Portfolio Optimal Planning for industrial assets management: Method and Tool

    International Nuclear Information System (INIS)

    Lonchampt, Jerome; Fessart, Karine

    2012-01-01

    The purpose of this paper is to describe the method and tool dedicated to optimize investments planning for industrial assets. These investments may either be preventive maintenance tasks, asset enhancement or logistic investment such as spare parts purchase. The three methodological points to investigate in such an issue are: 1. The measure of the profitability of a portfolio of investments 2. The selection and planning of an optimal set of investments 3. The measure of the risk of a portfolio of investments The measure of the profitability of a set of investments in the IPOP (registered) tool is synthesised in the Net Present Value indicator. The NPV is the sum of the differences of discounted cash flows (direct costs, forced outages...) between the situations with and without a given investment. These cash flows are calculated through a pseudo-markov reliability model representing independently the components of the industrial asset and the spare parts inventories. The component model has been widely discussed over the years but the spare part model is a new one based on some approximations that will be discussed. This model, referred as the NPV function, takes for input an investments portfolio and gives its NPV. The second issue is to optimize the NPV. If all investments were independent, this optimization would be an easy calculation, unfortunately there are two sources of dependency. The first one is introduced by the spare part model, as if components are indeed independent in their reliability model, the fact that several components use the same inventory induces a dependency. The second dependency comes from economic, technical or logistic constraints, such as a global maintenance budget limit or a precedence constraint between two investments, making the aggregation of individual optimum not necessary feasible. The algorithm used to solve such a difficult optimization problem is a genetic algorithm. After a description of the features of the software a

  7. Path Creation

    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...

  8. TECHNOLOGICAL ELEMENTS OF THE SYSTEM OF STRATEGIC PLANNING AS TOOLS FOR PROVIDING THE ECONOMIC DEVELOPMENT OF THE SERVICES SPHERE

    Directory of Open Access Journals (Sweden)

    V. V. Gromov

    2015-01-01

    Full Text Available Topicality article is to determine the composition of the technological elements of the strategic planning system, the interaction of which is aimed at achieving the planned economic results in the changing factors influence macro microenvironments on the activities of institutions and economic activities of services. The articles structurally is made on the basis of respect for the logical sequence of interactions of technological elements of strategic planning and combat their negative factors of external and internal environment. Active interaction of technological elements of strategic planning tools is to ensure long-term development planning authorities of economic entities, economic activities service sector for sustainable economic growth. Contribution of the author in the scope of this article is to generalize the definition of the target composition and installation of technological elements of strategic planning and development institutions and industry components of the service sector.

  9. Environmental screening tools for assessment of infrastructure plans based on biodiversity preservation and global warming (PEIT, Spain)

    International Nuclear Information System (INIS)

    Garcia-Montero, Luis G.; Lopez, Elena; Monzon, Andres; Otero Pastor, Isabel

    2010-01-01

    Most Strategic Environmental Assessment (SEA) research has been concerned with SEA as a procedure, and there have been relatively few developments and tests of analytical methodologies. The first stage of the SEA is the 'screening', which is the process whereby a decision is taken on whether or not SEA is required for a particular programme or plan. The effectiveness of screening and SEA procedures will depend on how well the assessment fits into the planning from the early stages of the decision-making process. However, it is difficult to prepare the environmental screening for an infrastructure plan involving a whole country. To be useful, such methodologies must be fast and simple. We have developed two screening tools which would make it possible to estimate promptly the overall impact an infrastructure plan might have on biodiversity and global warming for a whole country, in order to generate planning alternatives, and to determine whether or not SEA is required for a particular infrastructure plan.

  10. A tool for enhancing strategic health planning: a modeled use of the International Classification of Functioning, Disability and Health.

    Science.gov (United States)

    Sinclair, Lisa Bundara; Fox, Michael H; Betts, Donald R

    2013-01-01

    This article describes use of the International Classification of Functioning, Disability and Health (ICF) as a tool for strategic planning. The ICF is the international classification system for factors that influence health, including Body Structures, Body Functions, Activities and Participation and Environmental Factors. An overview of strategic planning and the ICF are provided. Selected ICF concepts and nomenclature are used to demonstrate its utility in helping develop a classic planning framework, objectives, measures and actions. Some issues and resolutions for applying the ICF are described. Applying the ICF for strategic health planning is an innovative approach that fosters the inclusion of social ecological health determinants and broad populations. If employed from the onset of planning, the ICF can help public health organizations systematically conceptualize, organize and communicate a strategic health plan. Published 2012. This article is a US Government work and is in the public domain in the USA.

  11. Improving health aid for a better planet: The planning, monitoring and evaluation tool (PLANET).

    Science.gov (United States)

    Sridhar, Devi; Car, Josip; Chopra, Mickey; Campbell, Harry; Woods, Ngaire; Rudan, Igor

    2015-12-01

    International development assistance for health (DAH) quadrupled between 1990 and 2012, from US$ 5.6 billion to US$ 28.1 billion. This generates an increasing need for transparent and replicable tools that could be used to set investment priorities, monitor the distribution of funding in real time, and evaluate the impact of those investments. In this paper we present a methodology that addresses these three challenges. We call this approach PLANET, which stands for planning, monitoring and evaluation tool. Fundamentally, PLANET is based on crowdsourcing approach to obtaining information relevant to deployment of large-scale programs. Information is contributed in real time by a diverse group of participants involved in the program delivery. PLANET relies on real-time information from three levels of participants in large-scale programs: funders, managers and recipients. At each level, information is solicited to assess five key risks that are most relevant to each level of operations. The risks at the level of funders involve systematic neglect of certain areas, focus on donor's interests over that of program recipients, ineffective co-ordination between donors, questionable mechanisms of delivery and excessive loss of funding to "middle men". At the level of managers, the risks are corruption, lack of capacity and/or competence, lack of information and /or communication, undue avoidance of governmental structures / preference to non-governmental organizations and exclusion of local expertise. At the level of primary recipients, the risks are corruption, parallel operations / "verticalization", misalignment with local priorities and lack of community involvement, issues with ethics, equity and/or acceptability, and low likelihood of sustainability beyond the end of the program's implementation. PLANET is intended as an additional tool available to policy-makers to prioritize, monitor and evaluate large-scale development programs. In this, it should complement

  12. MO-H-19A-01: FEATURED PRESENTATION - Treatment Planning Tool for Radiotherapy with Very High-Energy Electron Beams

    International Nuclear Information System (INIS)

    Bazalova, M; Qu, B; Palma, B; Loo, B; Maxim, P; Hynning, E; Hardemark, B

    2014-01-01

    Purpose: To develop a tool for treatment planning optimization for fast radiotherapy delivered with very high-energy electron beams (VHEE) and to compare VHEE plans to state-of-the-art plans for challenging pelvis and H'N cases. Methods: Treatment planning for radiotherapy delivered with VHEE scanning pencil beams was performed by integrating EGSnrc Monte Carlo (MC) dose calculations with spot scanning optimization run in a research version of RayStation. A Matlab GUI for MC beamlet generation was developed, in which treatment parameters such as the pencil beam size and spacing, energy and number of beams can be selected. Treatment planning study for H'N and pelvis cases was performed and the effect of treatment parameters on the delivered dose distributions was evaluated and compared to the clinical treatment plans. The pelvis case with a 691cm3 PTV was treated with 2-arc 15MV VMAT and the H'N case with four PTVs with total volume of 531cm3 was treated with 4-arc 6MV VMAT. Results: Most studied VHEE plans outperformed VMAT plans. The best pelvis 80MeV VHEE plan with 25 beams resulted in 12% body dose sparing and 8% sparing to the bowel and right femur compared to the VMAT plan. The 100MeV plan was superior to the 150MeV plan. Mixing 100 and 150MeV improved dose sparing to the bladder by 7% compared to either plan. Plans with 16 and 36 beams did not significantly affect the dose distributions compared to 25 beam plans. The best H'N 100MeV VHEE plan decreased mean doses to the brainstem, chiasm, and both globes by 10-42% compared to the VMAT plan. Conclusion: The pelvis and H'N cases suggested that sixteen 100MeV beams might be sufficient specifications of a novel VHEE treatment machine. However, optimum machine parameters will be determined with the presented VHEE treatment-planning tool for a large number of clinical cases. BW Loo and P Maxim received research support from RaySearch Laboratories. E Hynning and B Hardemark are employees of

  13. Biochemical markers and the FDA Critical Path: how biomarkers may contribute to the understanding of pathophysiology and provide unique and necessary tools for drug development

    DEFF Research Database (Denmark)

    Karsdal, M A; Henriksen, K; Leeming, D J

    2009-01-01

    The aim of this review is to discuss the potential usefulness of a novel class of biochemical markers, neoepitopes, in the context of the US Food and Drug Administration (FDA) Critical Path Initiative, which emphasizes biomarkers of safety and efficacy as areas of pivotal interest. Examples...

  14. SU-E-T-595: Design of a Graphical User Interface for An In-House Monte Carlo Based Treatment Planning System: Planning and Contouring Tools

    International Nuclear Information System (INIS)

    EMAM, M; Eldib, A; Lin, M; Li, J; Chibani, O; Ma, C

    2014-01-01

    Purpose: An in-house Monte Carlo based treatment planning system (MC TPS) has been developed for modulated electron radiation therapy (MERT). Our preliminary MERT planning experience called for a more user friendly graphical user interface. The current work aimed to design graphical windows and tools to facilitate the contouring and planning process. Methods: Our In-house GUI MC TPS is built on a set of EGS4 user codes namely MCPLAN and MCBEAM in addition to an in-house optimization code, which was named as MCOPTIM. Patient virtual phantom is constructed using the tomographic images in DICOM format exported from clinical treatment planning systems (TPS). Treatment target volumes and critical structures were usually contoured on clinical TPS and then sent as a structure set file. In our GUI program we developed a visualization tool to allow the planner to visualize the DICOM images and delineate the various structures. We implemented an option in our code for automatic contouring of the patient body and lungs. We also created an interface window displaying a three dimensional representation of the target and also showing a graphical representation of the treatment beams. Results: The new GUI features helped streamline the planning process. The implemented contouring option eliminated the need for performing this step on clinical TPS. The auto detection option for contouring the outer patient body and lungs was tested on patient CTs and it was shown to be accurate as compared to that of clinical TPS. The three dimensional representation of the target and the beams allows better selection of the gantry, collimator and couch angles. Conclusion: An in-house GUI program has been developed for more efficient MERT planning. The application of aiding tools implemented in the program is time saving and gives better control of the planning process

  15. The regional climate model as a tool for long-term planning of Quebec water resources

    International Nuclear Information System (INIS)

    Frigon, A.

    2008-01-01

    'Full text': In recent years, important progress has been made in downscaling GCM (Global Climate Model) projections to a resolution where hydrological studies become feasible. Climate change simulations performed with RCMs (Regional Climate Models) have reached a level of confidence that allows us to take advantage of this information in long-term planning of water resources. The RCMs' main advantage consist in their construction based on balanced land as well as atmosphere water and energy budgets, and on their inclusion of feedbacks between the surface and the atmosphere. Such models therefore generate sequences of weather events, providing long time series of hydro-climatic variables that are internally consistent, allowing the analysis of hydrologic regimes. At OURANOS, special attention is placed on the hydrological cycle, given its key role on socioeconomic activities. The Canadian Regional Climate Model (CRCM) was developed as a potential tool to provide climate projections at the watershed scale. Various analyses performed over small basins in Quebec provide information on the level of confidence we have in the CRCM for use in hydrological studies. Even though this approach is not free of uncertainty, it was found useful by some water resource managers and hence this information should be considered. One of the keys to retain usefulness, despite the associated uncertainties, is to make use of more than a single regional climate projection. This approach will allow for the evaluation of the climate change signal and its associated level of confidence. Such a methodology is already applied by Hydro-Quebec in the long-term planning of its water resources for hydroelectric generation over the Quebec territory. (author)

  16. Tool to address green roof widespread implementation effect in flood characteristics for water management planning

    Directory of Open Access Journals (Sweden)

    R. Tassi

    2015-06-01

    Full Text Available In the last decades, new approaches were adopted to manage stormwater as close to its source as possible through technologies and devices that preserve and recreate natural landscape features. Green Roofs (GR are examples of these devices that are also incentivized by city's stormwater management plans. Several studies show that GR decreases on-site runoff from impervious surfaces, however, the analysis of the effect of widespread implementation of GR in the flood characteristics at the urban basin scale in subtropical areas are little discussed, mainly because of the absence of data. Thereby, this paper shows results related to the monitoring of an extensive modular GR under subtropical weather conditions, the development of a rainfall–runoff model based on the modified Curve Number (CN and SCS Triangular Unit Hydrograph (TUH methods and the analysis of large-scale impact of GR by modelling different basins. The model was calibrated against observed data and showed that GR absorbed almost all the smaller storms and reduced runoff even during the most intense rainfall. The overall CN was estimated in 83 (consistent with available literature with the shape of hydrographs well reproduced. Large-scale modelling (in basins ranging from 0.03 ha to several square kilometers showed that the widespread use of GRs reduced peak flows (volumes around 57% (48% at source and 38% (32% at the basin scale. Thus, this research validated a tool for the assessment of structural management measures (specifically GR to address changes in flood characteristics in the city's water management planning. From the application of this model it was concluded that even if the efficiency of GR decreases as the basin scale increase they still provide a good option to cope with urbanization impact.

  17. 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.

  18. Application of System Dynamics model as decision making tool in urban planning process toward stabilizing carbon dioxide emissions from cities

    International Nuclear Information System (INIS)

    Fong, Wee-Kean; Matsumoto, Hiroshi; Lun, Yu-Fat

    2009-01-01

    In spite of the fact that cities are the main sources of CO 2 emissions, presently there are still no specific measures directly addressing the global warming issue in the urban planning process in Malaysia. The present study thus aims to shed new light in the urban planning sector in Malaysia by adopting System Dynamics Model as one of the decision making tools in the urban planning process, with specific considerations on the future CO 2 emission trends. This paper presented projections of future CO 2 emission trends based on the case of Iskandar Development Region of Malaysia, under various options of urban policies, using the System Dynamics Model. The projections demonstrated the capability of the said model in serving as a decision making tool in the urban planning process, with specific reference to CO 2 emissions from cities. Recommendations have been made on the possible approach of adopting the model in the process of Structure Plan study. If the current model was successfully adopted in the urban planning process in Malaysia, it will mark the first step for Malaysia in taking specific considerations on the issues of CO 2 emissions and global warming in the urban planning process. (author)

  19. Sustainable Urban Development: Spatial Analyses as Novel Tools for Planning a Universally Designed City

    Directory of Open Access Journals (Sweden)

    Joanna Borowczyk

    2018-05-01

    Full Text Available The aim of the research was to analyze the “design for all” concept as a key strategy for creating social sustainability. The paper attempts to answer the question: how can universal design contribute to the rational development of the city space? The author has taken part in participatory experiments. The research took into account various criteria, including the level of the city space’s adaptation to the needs and capabilities of persons with different disabilities. Analyses included qualitative studies concerning the possibilities of developing the social capital as well as creating and preserving a cohesive social structure. The analytic process allowed determining the means of raising the quality of urban planning. Finding effective and reliable analytical tools enabling the development of healthy cities which are compatible with the principles of sustainability could become both a great chance and a great challenge for urban planners. Transition from the microplanning to the macroplanning scale and following the principles of universal design at the stage of the formation of urban concepts using spatiotemporal modelling methods will lead to the creation of harmonious accessible spaces adjusted to the needs of present and future users, which will generate sustainable development and lead to the healing of a city.

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

    OpenAIRE

    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...

  1. MEASURING PATH DEPENDENCY

    Directory of Open Access Journals (Sweden)

    Peter Juhasz

    2017-03-01

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

  2. Impact of the World Health Organization's Decision-Making Tool for Family Planning Clients and Providers on the quality of family planning services in Iran.

    Science.gov (United States)

    Farrokh-Eslamlou, Hamidreza; Aghlmand, Siamak; Eslami, Mohammad; Homer, Caroline S E

    2014-04-01

    We investigated whether use of the World Health Organization's (WHO's) Decision-Making Tool (DMT) for Family Planning Clients and Providers would improve the process and outcome quality indicators of family planning (FP) services in Iran. The DMT was adapted for the Iranian setting. The study evaluated 24 FP quality key indicators grouped into two main areas, namely process and outcome. The tool was implemented in 52 urban and rural public health facilities in four selected and representative provinces of Iran. A pre-post methodology was undertaken to examine whether use of the tool improved the quality of FP services and client satisfaction with the services. Quantitative data were collected through observations of counselling and exit interviews with clients using structured questionnaires. Different numbers of FP clients were recruited during the baseline and the post-intervention rounds (n=448 vs 547, respectively). The DMT improved many client-provider interaction indicators, including verbal and non-verbal communication (p<0.05). The tool also impacted positively on the client's choice of contraceptive method, providers' technical competence, and quality of information provided to clients (p<0.05). Use of the tool improved the clients' satisfaction with FP services (from 72% to 99%; p<0.05). The adapted WHO's DMT has the potential to improve the quality of FP services.

  3. Development of the good food planning tool: A food system approach to food security in indigenous Australian remote communities.

    Science.gov (United States)

    Brimblecombe, Julie; van den Boogaard, Christel; Wood, Beverley; Liberato, Selma C; Brown, Jacqui; Barnes, Adam; Rogers, Alison; Coveney, John; Ritchie, Jan; Bailie, Ross

    2015-07-01

    Few frameworks exist to assist food system planning, especially for Indigenous Australian remote communities. We developed a Good Food Planning Tool to support stakeholders to collectively plan and take action for local food system improvement. Development occurred over a four-year period through an evolving four phase participatory process that included literature review, several meetings with representatives of various organisations and communities and application of the Tool with multi-sector groups in each of four Indigenous Australian remote communities. A diverse range of 148 stakeholders, 78 of whom were Indigenous, had input to its development. Five food system domains: (i) Leadership and partnerships; (ii) Traditional food and local food production; (iii) Food businesses; (iv) Buildings, public places and transport; (v) Community and services and 28 activity areas form the framework of the Tool. The Good Food Planning Tool provides a useful framework to facilitate collective appraisal of the food system and to identify opportunities for food system improvement in Indigenous Australian remote communities, with potential for adaptation for wider application. Copyright © 2015 Elsevier Ltd. All rights reserved.

  4. Participatory soil and water conservation planning using an erosion mapping tool in the central highlands of kenya

    NARCIS (Netherlands)

    Okoba, B.O.; Tenge, A.J.M.; Sterk, G.; Stroosnijder, L.

    2007-01-01

    Despite several approaches that aimed at mobilising East African farmers to embrace soil and water conservation (SWC) activities, farmers hardly responded since they were seldom involved in the planning of SWC activities. Two tools that employ farmers' participation were developed and applied at

  5. Combining pre-spill shoreline segmentation data and shoreline assessment tools to support early response management and planning

    International Nuclear Information System (INIS)

    Lamarche, A.; Owens, E.H.; Martin, V.; Laforest, S.

    2003-01-01

    Several organizations, such as Environment Canada and the Alyeska Pipeline Service Company, are developing or refining pre-spill databases containing information about physical shoreline characteristics. Automated links between these pre-spill shoreline characteristic databases and computerized shoreline assessment tools were recently created by Environment Canada (Quebec and Ontario regions). The tools, which use Geographical Information System (GIS) technology, can be used for planning and documenting support needed for shoreline cleanup operations. A training exercise, designed to evaluate a spill management system integrating the Quebec region pre-spill shoreline database and the ShoreAssess R shoreline assessment system, was conducted at Vercheres, Quebec in October 2002 by Eastern Canada Response Corporation. The testing took place during the planning stage of the early phases of a spill, namely after the first over-flight. The computerized shoreline assessment tools made it possible to evaluate the length and type of shoreline that would potentially be impacted by oil. The tools also made it possible to assess the shoreline treatment methods most likely to be used, and evaluate the probable duration of the cleanup operation. The information would have to be available in time to be considered during the planning activities. The training exercise demonstrated that the integration of the databases is a valuable tool during the early phases of an oil spill response. 9 refs., 2 tabs., 6 figs

  6. A Microsoft Project-Based Planning, Tracking, and Management Tool for the National Transonic Facility's Model Changeover Process

    Science.gov (United States)

    Vairo, Daniel M.

    1998-01-01

    The removal and installation of sting-mounted wind tunnel models in the National Transonic Facility (NTF) is a multi-task process having a large impact on the annual throughput of the facility. Approximately ten model removal and installation cycles occur annually at the NTF with each cycle requiring slightly over five days to complete. The various tasks of the model changeover process were modeled in Microsoft Project as a template to provide a planning, tracking, and management tool. The template can also be used as a tool to evaluate improvements to this process. This document describes the development of the template and provides step-by-step instructions on its use and as a planning and tracking tool. A secondary role of this document is to provide an overview of the model changeover process and briefly describe the tasks associated with it.

  7. A Stream Erosion Susceptibility Identification Tool for use in Hydromodification Planning

    Science.gov (United States)

    Berntsen, E.; Bowles, C.

    2008-12-01

    A stream erosion susceptibility identification tool has been developed for use in hydromodification planning based on a three-tiered approach. Tier 1 involved development of a susceptibility map. This included conducting a watershed scale GIS- and remote sensing-based screening analysis of two methodologies to quantify stream susceptibility to hydromodification. Tier 2 will involve conducting rapid geomorphic assessments for selected areas that were screened to have high and low erosion potential in Tier 1. Tier 3 will identify key geomorphic thresholds (e.g., relationship between channel slope, median particle size, and drainage area for stable and unstable channels, critical bank heights in various channel materials, channel response to changes in flow and sediment supply, etc.) from comparison of stable and unstable channels. This poster will primarily cover the methodology and results in Tier 1 for a pilot project in the Laguna Creek Watershed in Sacramento County, California. We used two methodologies, relying on readily available topographic information (i.e., USGS 10-meter DEM), for producing the Tier 1 susceptibility map: Hack's relationship (Hack, 1957; Bledsoe and Watson, 2004) and specific stream power (Simons and Downs, 1995). Hack's relationship involved calculating the hydraulic stability number (Nh), which is the ratio of the existing channel slope to the corresponding equilibrium slope, whereby a value greater than 1 represents a relatively unstable channel. Specific stream power involved calculating the power expended per unit area of the streambed (in Watts/m2), whereby a value greater than 35 represents a relatively unstable channel. The results of the Tier 1 analysis indicated that the two methodologies compared favorably in their predictions of channel instability. Comparisons of the two methodologies were also made with existing channel conditions as observed by others in a recent study in the watershed and completed in 2007. As shown by this

  8. MO-B-BRB-03: Systems Engineering Tools for Treatment Planning Process Optimization in Radiation Medicine

    International Nuclear Information System (INIS)

    Kapur, A.

    2015-01-01

    The radiotherapy treatment planning process has evolved over the years with innovations in treatment planning, treatment delivery and imaging systems. Treatment modality and simulation technologies are also rapidly improving and affecting the planning process. For example, Image-guided-radiation-therapy has been widely adopted for patient setup, leading to margin reduction and isocenter repositioning after simulation. Stereotactic Body radiation therapy (SBRT) and Radiosurgery (SRS) have gradually become the standard of care for many treatment sites, which demand a higher throughput for the treatment plans even if the number of treatments per day remains the same. Finally, simulation, planning and treatment are traditionally sequential events. However, with emerging adaptive radiotherapy, they are becoming more tightly intertwined, leading to iterative processes. Enhanced efficiency of planning is therefore becoming more critical and poses serious challenge to the treatment planning process; Lean Six Sigma approaches are being utilized increasingly to balance the competing needs for speed and quality. In this symposium we will discuss the treatment planning process and illustrate effective techniques for managing workflow. Topics will include: Planning techniques: (a) beam placement, (b) dose optimization, (c) plan evaluation (d) export to RVS. Planning workflow: (a) import images, (b) Image fusion, (c) contouring, (d) plan approval (e) plan check (f) chart check, (g) sequential and iterative process Influence of upstream and downstream operations: (a) simulation, (b) immobilization, (c) motion management, (d) QA, (e) IGRT, (f) Treatment delivery, (g) SBRT/SRS (h) adaptive planning Reduction of delay between planning steps with Lean systems due to (a) communication, (b) limited resource, (b) contour, (c) plan approval, (d) treatment. Optimizing planning processes: (a) contour validation (b) consistent planning protocol, (c) protocol/template sharing, (d) semi

  9. MO-B-BRB-03: Systems Engineering Tools for Treatment Planning Process Optimization in Radiation Medicine

    Energy Technology Data Exchange (ETDEWEB)

    Kapur, A. [Long Island Jewish Medical Center (United States)

    2015-06-15

    The radiotherapy treatment planning process has evolved over the years with innovations in treatment planning, treatment delivery and imaging systems. Treatment modality and simulation technologies are also rapidly improving and affecting the planning process. For example, Image-guided-radiation-therapy has been widely adopted for patient setup, leading to margin reduction and isocenter repositioning after simulation. Stereotactic Body radiation therapy (SBRT) and Radiosurgery (SRS) have gradually become the standard of care for many treatment sites, which demand a higher throughput for the treatment plans even if the number of treatments per day remains the same. Finally, simulation, planning and treatment are traditionally sequential events. However, with emerging adaptive radiotherapy, they are becoming more tightly intertwined, leading to iterative processes. Enhanced efficiency of planning is therefore becoming more critical and poses serious challenge to the treatment planning process; Lean Six Sigma approaches are being utilized increasingly to balance the competing needs for speed and quality. In this symposium we will discuss the treatment planning process and illustrate effective techniques for managing workflow. Topics will include: Planning techniques: (a) beam placement, (b) dose optimization, (c) plan evaluation (d) export to RVS. Planning workflow: (a) import images, (b) Image fusion, (c) contouring, (d) plan approval (e) plan check (f) chart check, (g) sequential and iterative process Influence of upstream and downstream operations: (a) simulation, (b) immobilization, (c) motion management, (d) QA, (e) IGRT, (f) Treatment delivery, (g) SBRT/SRS (h) adaptive planning Reduction of delay between planning steps with Lean systems due to (a) communication, (b) limited resource, (b) contour, (c) plan approval, (d) treatment. Optimizing planning processes: (a) contour validation (b) consistent planning protocol, (c) protocol/template sharing, (d) semi

  10. Resource Planning in Glaucoma: A Tool to Evaluate Glaucoma Service Capacity.

    Science.gov (United States)

    Batra, Ruchika; Sharma, Hannah E; Elaraoud, Ibrahim; Mohamed, Shabbir

    2017-12-28

    The National Patient Safety Agency (2009) publication advising timely follow-up of patients with established glaucoma followed several reported instances of visual loss due to postponed appointments and patients lost to follow-up. The Royal College of Ophthalmologists Quality Standards Development Group stated that all hospital appointments should occur within 15% of the intended follow-up period. To determine whether: 1. Glaucoma follow-up appointments at a teaching hospital occur within the requested time 2. Appointments are requested at appropriate intervals based on the NICE Guidelines 3. The capacity of the glaucoma service is adequate Methods: A two-part audit was undertaken of 98 and 99 consecutive patients respectively attending specialist glaucoma clinics. In the first part, the reasons for delayed appointments were recorded. In the second part the requested follow-up was compared with NICE guidelines where applicable. Based on the findings, changes were implemented and a re-audit of 100 patients was carried out. The initial audit found that although clinical decisions regarding follow-up intervals were 100% compliant with NICE guidelines where applicable, 24% of appointments were delayed beyond 15% of the requested period, due to administrative errors and inadequate capacity, leading to significant clinical deterioration in two patients. Following the introduction of an electronic appointment tracker and increased clinical capacity created by extra clinics and clinicians, the re-audit found a marked decrease in the percentage of appointments being delayed (9%). This audit is a useful tool to evaluate glaucoma service provision, assist in resource planning for the service and bring about change in a non-confrontational way. It can be widely applied and adapted for use in other medical specialities.

  11. NASA Life Sciences Data Repositories: Tools for Retrospective Analysis and Future Planning

    Science.gov (United States)

    Thomas, D.; Wear, M.; VanBaalen, M.; Lee, L.; Fitts, M.

    2011-01-01

    As NASA transitions from the Space Shuttle era into the next phase of space exploration, the need to ensure the capture, analysis, and application of its research and medical data is of greater urgency than at any other previous time. In this era of limited resources and challenging schedules, the Human Research Program (HRP) based at NASA s Johnson Space Center (JSC) recognizes the need to extract the greatest possible amount of information from the data already captured, as well as focus current and future research funding on addressing the HRP goal to provide human health and performance countermeasures, knowledge, technologies, and tools to enable safe, reliable, and productive human space exploration. To this end, the Science Management Office and the Medical Informatics and Health Care Systems Branch within the HRP and the Space Medicine Division have been working to make both research data and clinical data more accessible to the user community. The Life Sciences Data Archive (LSDA), the research repository housing data and information regarding the physiologic effects of microgravity, and the Lifetime Surveillance of Astronaut Health (LSAH-R), the clinical repository housing astronaut data, have joined forces to achieve this goal. The task of both repositories is to acquire, preserve, and distribute data and information both within the NASA community and to the science community at large. This is accomplished via the LSDA s public website (http://lsda.jsc.nasa.gov), which allows access to experiment descriptions including hardware, datasets, key personnel, mission descriptions and a mechanism for researchers to request additional data, research and clinical, that is not accessible from the public website. This will result in making the work of NASA and its partners available to the wider sciences community, both domestic and international. The desired outcome is the use of these data for knowledge discovery, retrospective analysis, and planning of future

  12. Assessing Flood Risks and Planning for Resiliency in New Jersey: A Case Study on the Use of Online Flood Mapping and Resilience Planning Tools

    Science.gov (United States)

    Auermuller, L. M.; Gatto, J.; Huch, C.

    2015-12-01

    The highly developed nature of New Jersey's coastline, barrier island and lagoon communities make them particularly vulnerable to storm surge, sea level rise and flooding. The impacts of Hurricane Sandy have enlightened coastal communities to these realities. Recognizing these vulnerabilities, the Jacques Cousteau National Research Reserve (JC NERR), Rutgers Center for Remote Sensing and Spatial Analysis (CRSSA), Rutgers Bloustein School and the Barnegat Bay Partnership (BBP) have developed web-based tools to assist NJ's coastal communities in visualizing and planning for future local impacts. NJFloodMapper and NJAdapt are two complementary interactive mapping websites that visualize different current and future flood hazards. These hazard layers can be combined with additional data including critical facilities, evacuation routes, socioeconomic and environmental data. Getting to Resilience is an online self-assessment tool developed to assist communities reduce vulnerability and increase preparedness by linking planning, mitigation, and adaptation. Through this interactive process communities will learn how their preparedness can yield valuable points through voluntary programs like FEMA's Community Rating System and Sustainable Jersey. The assessment process can also increase the community's understanding of where future vulnerabilities should be addressed through hazard mitigation planning. Since Superstorm Sandy, more than thirty communities in New Jersey have been provided technical assistance in assessing their risks and vulnerabilities to coastal hazards, and have begun to understand how to better plan and prepare for short and long-term changes along their shorelines.

  13. Spreading paths in partially observed social networks

    Science.gov (United States)

    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.

  14. Spreading paths in partially observed social networks.

    Science.gov (United States)

    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.

  15. A GIS-based tool for an integrated assessment of spatial planning trade-offs with aquaculture.

    Science.gov (United States)

    Gimpel, Antje; Stelzenmüller, Vanessa; Töpsch, Sandra; Galparsoro, Ibon; Gubbins, Matthew; Miller, David; Murillas, Arantza; Murray, Alexander G; Pınarbaşı, Kemal; Roca, Guillem; Watret, Robert

    2018-06-15

    The increasing demand for protein from aquaculture will trigger a global expansion of the sector in coastal and offshore waters. While contributing to food security, potential conflicts with other traditional activities such as fisheries or tourism are inevitable, thus calling for decision-support tools to assess aquaculture planning scenarios in a multi-use context. Here we introduce the AquaSpace tool, one of the first Geographic Information System (GIS)-based planning tools empowering an integrated assessment and mapping of 30 indicators reflecting economic, environmental, inter-sectorial and socio-cultural risks and opportunities for proposed aquaculture systems in a marine environment. A bottom-up process consulting more than 350 stakeholders from 10 countries across southern and northern Europe enabled the direct consideration of stakeholder needs when developing the GIS AddIn. The AquaSpace tool is an open source product and builds in the prospective use of open source datasets at a European scale, hence aiming to improve reproducibility and collaboration in aquaculture science and research. Tool outputs comprise detailed reports and graphics allowing key stakeholders such as planners or licensing authorities to evaluate and communicate alternative planning scenarios and to take more informed decisions. With the help of the German North Sea case study we demonstrate here the tool application at multiple spatial scales with different aquaculture systems and under a range of space-related development constraints. The computation of these aquaculture planning scenarios and the assessment of their trade-offs showed that it is entirely possible to identify aquaculture sites, that correspondent to multifarious potential challenges, for instance by a low conflict potential, a low risk of disease spread, a comparable high economic profit and a low impact on touristic attractions. We believe that a transparent visualisation of risks and opportunities of aquaculture

  16. Effective strategy making: Co-designing scenarios as a tool for effective strategic planning

    Directory of Open Access Journals (Sweden)

    Jan Vogelij

    2015-08-01

    to the agreed vision. Here the specific attitude is not meant of some, who concentrate on conditions and on mapping the limitations set by what important actors see as possible or feasible as a starting point. That approach tends to design in the limited space left over by other sector’s claims. Designing as meant in the current study regards the open “what if, then that” iterations during which designers focus on exploring new possibilities, not respecting conditions and limitations in advance. Preparing a spatial development strategy as a societal decision-making process by applying an open design attitude implies generating ideas, assessing, correcting, improving and refining solutions. The study confirmed the importance of visualizations as tools for enhancing the effectiveness of communication during the collaborative process. In order to open up minds for different ways of viewing during the process and to do justice and pay respect to ideas of the participants, decision-making is preferably organized as scenario planning, considering simultaneously several options and in which every tabled idea is considered and assessed according to its potentials, (impossibilities and consequences. Discovering new possibilities together and co-designing a desired future entails co-authorship, which goes beyond and enhances co-ownership. This also applies for the administrative embedding: in two of the three successful cases the higher level authority acted as co-authoring partner of the development vision. Important for such vertical commitment is that the number of administrative layers with which the strategy making process must relate, should be small: preferably only one higher authority. In such cases, the strategy making process will not become an arena in which several higher authorities conduct their institutional policies for fighting their struggles for hierarchy. The only (approving authority can support the process according to its commitment and act as a

  17. A study on human performance enhancement plan in maintenance field by survey on actual condition of human performance tools - 15035

    International Nuclear Information System (INIS)

    Park, J.; Jeong, H.; Kim, Y.

    2015-01-01

    Human errors in nuclear power plant are one of the important factors that may cause reactor trip. Most operating companies of nuclear power plants manage human factor systematically through tools like HPES (Human Performance Enhancement), PSR (Periodic Safety Review), OE (Operating Experience), human performance tools, safety culture assessment and CAP (Corrective Action Program). But human factors are managed passively in maintenance field, because maintenance works are carrying out by partner companies. KHNP also contracts the maintenance work to the partner companies, and advise them to use human performance tools. But the actual condition on partner companies has not been surveyed. This paper suggests some plans that can improve human performance by analyzing the opinion of partner company employees about the causes and solutions of human errors, by analyzing utilization of human performance tools and by comparing the results of the partner companies survey with the results of the operating company survey. The survey is conducted to 3 partner companies by similar contents and categories in order to compare partner company with operating company, and the main analysis fields are the following: -1) Level of understanding and utilization of the human performance tools, -2) Difficulties of applying the human performance tools, -3) Level of employee's training (or education) in the use of the human performance tools, and -4) Root causes of human errors and countermeasures. (authors)

  18. Tales of the City. Storytelling as a contemporary tool of urban planning and design

    OpenAIRE

    Mager, Christophe; Matthey, Laurent

    2015-01-01

    Almost thirty years ago, as the social sciences underwent their ‘discursive turn’, Bernardo Secchi (1984) drew, in what he called the ‘urban planning narrative’, the attention of planners to the production of myths, turning an activity often seen as primarily technical into one centred around the production of images and ideas. This conception of planning practice gave rise to a powerful current of research in English-speaking countries. Efforts were made to both combine the urban planning na...

  19. Geospatial Analysis Platform and tools: supporting planning and decision making across scales, borders, sectors and disciplines

    CSIR Research Space (South Africa)

    Naude, AH

    2008-04-01

    Full Text Available observation and geospatial analysis technologies, as well as the associated need for spatially explicit and sectorally integrated growth and development plans (including plans that deal with multi-scale or cross-border issues), the required statistical... planning. This requires planning and analysis that can (1) facilitate the sharing of spatial and other data, (2) deal with multi-scale or cross-border issues, as well as can (3) support the understanding of patterns and inter-regional dynamics at regional...

  20. Path Planning for Unmanned Underwater Vehicle in 3D Space with Obstacles Using Spline-Imperialist Competitive Algorithm and Optimal Interval Type-2 Fuzzy Logic Controller

    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