WorldWideScience

Sample records for rca collision avoidance

  1. Reactive Collision Avoidance Algorithm

    Science.gov (United States)

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

    2010-01-01

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

  2. Neuromorphic UAS Collision Avoidance

    Data.gov (United States)

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

  3. Collision avoidance in robotic environments

    International Nuclear Information System (INIS)

    Kreifeldt, J.G.

    1984-01-01

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

  4. Directional Collision Avoidance in Ad Hoc Networks

    National Research Council Canada - National Science Library

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

    2004-01-01

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

  5. Wireless vehicular networks for car collision avoidance

    CERN Document Server

    2013-01-01

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

  6. Guide to the collision avoidance rules

    CERN Document Server

    Cockcroft, A N

    2004-01-01

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

  7. Research on embedded automobile collision avoidance system

    Directory of Open Access Journals (Sweden)

    TAO Feng

    2016-08-01

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

  8. Granting silence to avoid wireless collisions

    KAUST Repository

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

    2010-01-01

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

  9. Granting silence to avoid wireless collisions

    KAUST Repository

    Choi, Jung Il

    2010-10-01

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

  10. Collision detection and avoidance during treatment planning

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  11. Collision Avoidance for Airport Traffic Concept Evaluation

    Science.gov (United States)

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

    2009-01-01

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

  12. Automatic lateral emergency collision avoidance for a passenger car

    OpenAIRE

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

    2007-01-01

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

  13. Aerial vehicles collision avoidance using monocular vision

    Science.gov (United States)

    Balashov, Oleg; Muraviev, Vadim; Strotov, Valery

    2016-10-01

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

  14. Design study of general aviation collision avoidance system

    Science.gov (United States)

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

    1972-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Lorenzo Sabattini

    2017-01-01

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

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

    Science.gov (United States)

    Sahawneh, Laith Rasmi

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

  17. Fighter/Attack Automatic Collision Avoidance Systems Business Case

    National Research Council Canada - National Science Library

    Mapes, Peter B

    2006-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Serkan ÖZDEMİR

    2016-11-01

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

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

    Science.gov (United States)

    2006-01-01

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

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

    OpenAIRE

    Guosheng Wu; Luning Wang; Changyuan Fan; Xi Zhu

    2008-01-01

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

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

    Science.gov (United States)

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

    2018-04-01

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

  2. Two-Dimensional Distributed Velocity Collision Avoidance

    Science.gov (United States)

    2014-02-11

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

  3. Rear end collision: Causes and avoidance techniques

    NARCIS (Netherlands)

    Nekovee, Maziar; Bie, Jing; Naja, Rola

    2013-01-01

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

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

    Data.gov (United States)

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

  5. Radar-based collision avoidance for unmanned surface vehicles

    Science.gov (United States)

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

    2016-12-01

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

  6. PREDICTIVE POTENTIAL FIELD-BASED COLLISION AVOIDANCE FOR MULTICOPTERS

    Directory of Open Access Journals (Sweden)

    M. Nieuwenhuisen

    2013-08-01

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

  7. Scheduled Collision Avoidance in wireless sensor network using Zigbee

    DEFF Research Database (Denmark)

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

    2014-01-01

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

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

    African Journals Online (AJOL)

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

  9. Integrated trajectory control and collision avoidance for automated driving

    NARCIS (Netherlands)

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

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Andrei C. NAE

    2015-12-01

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

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

    CSIR Research Space (South Africa)

    Dube, C

    2013-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Khalil Muhammad Zuhaib

    2017-09-01

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

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

    Science.gov (United States)

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

    2017-06-01

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

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

    Science.gov (United States)

    Carpenter, J. Russell; Markley, F. Landis

    2013-01-01

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

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

    Science.gov (United States)

    2014-12-26

    collocation method to solve this problem and then analyzes these results for di↵erent collision avoidance scenarios. iv To my beautiful “ Proverbs 31” wife... le ( d e g ) Optimal Control JOCA Baseline 0 10 20 30 40 50 60 0.8 1 1.2 1.4 N z Control time (sec) N z Optimal Control JOCA Baseline (b...Optimal Control JOCA Baseline (a) Trajectory Deviation 0 10 20 30 40 50 60 70 −20 −10 0 10 20 µ Control time (sec) a n g le ( d e g

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

    Science.gov (United States)

    2015-12-01

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

  17. 35-GHz radar sensor for automotive collision avoidance

    Science.gov (United States)

    Zhang, Jun

    1999-07-01

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

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

    NARCIS (Netherlands)

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

    2009-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Mazen Ghandour

    2017-06-01

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

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

    Science.gov (United States)

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

    2017-08-01

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

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

    Directory of Open Access Journals (Sweden)

    C.-W. Chen

    2017-08-01

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

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

    Directory of Open Access Journals (Sweden)

    Sin-Li Chen

    2016-11-01

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

  3. Uav Positioning and Collision Avoidance Based on RSS Measurements

    Science.gov (United States)

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

    2015-08-01

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

  4. Stereo-based Collision Avoidance System for Urban Traffic

    Science.gov (United States)

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

    2002-11-01

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

  5. RCA annual report 1988

    International Nuclear Information System (INIS)

    1989-09-01

    The report covers the calendar year 1988. It contains an extended preface on Asian regional co-operation in the application of nuclear techniques, a summary of major RCA meetings, administrative questions, a summary of technical aspects of the programme and an analysis of the resources including a prediction of project activities for 1989-1991. 4 figs, 3 tabs

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

    Science.gov (United States)

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

    1991-01-01

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

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

    Science.gov (United States)

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

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

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

    OpenAIRE

    Ahn, Heejin; Del Vecchio, Domitilla

    2016-01-01

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

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

    Data.gov (United States)

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

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

    National Research Council Canada - National Science Library

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

    2002-01-01

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

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

    National Research Council Canada - National Science Library

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

    2004-01-01

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

  12. RCA's regional industrial project

    International Nuclear Information System (INIS)

    Ali, A.T.

    1988-01-01

    The Regional Cooperation Agreement (RCA) for Research Development and Training Related to Nuclear Science and Technology, formulated under the auspices of the International Atomic Energy Agency (IAEA), came into force in June 1972. The overall objective of RCA is to promote technical cooperation among the developing and developed countries in the Asia Pacific region in the peaceful uses of nuclear energy and related technology. Currently, the biggest project under RCA is the Regional Project on the Industrial Applications of Isotopes and Radiation Technology for Asia and the Pacific. The project was established in 1982 for a period of five years and was completed in December 1986. The first phase of the project has generated a high degree of awareness on the industrial potential of isotopes and radiation technology throughout the region; produced a cadre of trained manpower in all areas covered by the project; identified the expertise available in the region; and developed in the region, a unique network of people and institutions involved with the utilization of isotope and radiation technology. A Phase II of the project, which cover all but one of the sub-projects under Phase I, was approved in early 1987 for another five years until 1991. (Nogami, K.)

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

    Science.gov (United States)

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

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-06-15

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

  15. Artificial potential functions for highway driving with collision avoidance

    OpenAIRE

    Wolf , Michael T.; Burdick, Joel W.

    2008-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hongtao Zhou

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Yu-xin Zhao

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Zhilu Yuan

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jelenko Švetak

    2005-11-01

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

  2. RCA : resource consumptions accounting

    OpenAIRE

    Valeska Rodriguez Lucas de Freitas

    2013-01-01

    Devido à grande concorrência do mercado o controle de custos passa a ser peça fundamental no auxílio à tomada de decisão quanto à redução dos custos, visando uma lucratividade maior por parte das empresas. Essa dissertação trata sobre um novo modelo de custos, o RCA – Resource Consumption Accounting, que ainda não foi adotado por nenhuma empresa. Esse novo método de custeio foi aplicado como modelo piloto em uma empresa Americana onde os resultados foram favoráveis a ele em relação aos modelo...

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

    Science.gov (United States)

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

    2015-08-01

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

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

    Science.gov (United States)

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

    2012-11-29

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

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

    Directory of Open Access Journals (Sweden)

    Óscar Gómez

    2012-11-01

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

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

    Science.gov (United States)

    Cicchino, Jessica B; McCartt, Anne T

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Gregor eHardiess

    2013-06-01

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

  8. Biologically inspired collision avoidance system for unmanned vehicles

    Science.gov (United States)

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

    2009-05-01

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

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

    DEFF Research Database (Denmark)

    Fafoutis, Xenofon; Orfanidis, Charalampos; Dragoni, Nicola

    2014-01-01

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

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

    Science.gov (United States)

    Riaz, Faisal; Niazi, Muaz A

    2017-01-01

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

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

    Science.gov (United States)

    Niazi, Muaz A.

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Podryhalo, M.

    2013-06-01

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

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

    Science.gov (United States)

    1981-09-01

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

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

    Science.gov (United States)

    2001-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Faisal Riaz

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2003-04-01

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

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

    Science.gov (United States)

    Itoh, Makoto; Fujiwara, Yusuke; Inagaki, Toshiyuki

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

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

    OpenAIRE

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2017-08-01

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

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

    Science.gov (United States)

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

    2018-06-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    tanja brcko

    2013-12-01

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

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

    OpenAIRE

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

    2014-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-06-15

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

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    A. Raimundo

    2017-08-01

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

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

    Science.gov (United States)

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

    2018-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Parman Setyamartana

    2014-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Hong Cho

    2014-01-01

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

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

    Science.gov (United States)

    McGillivary, P. A.; Tougher, B.

    2010-12-01

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

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

    Science.gov (United States)

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

    2016-12-01

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

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

    DEFF Research Database (Denmark)

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

    1997-01-01

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

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

    Science.gov (United States)

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

    1978-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hans-Christoph Burmeister

    2015-03-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Tasneem Sanjana

    2018-01-01

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

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

    Science.gov (United States)

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

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

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

    Science.gov (United States)

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

    2005-12-01

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

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

    Science.gov (United States)

    De, Debajit; Sahu, Prasanna Kumar

    2017-10-01

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

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

    Directory of Open Access Journals (Sweden)

    TengFei Wang

    2017-03-01

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

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

    Science.gov (United States)

    Dallal, Ahmed H.

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

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

    Science.gov (United States)

    Begault, Durand R.

    1993-01-01

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

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

    Science.gov (United States)

    Schmalz, Tyler; Ryan, Jack

    2011-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jiannong Wang

    2014-07-01

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

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

    Science.gov (United States)

    Suplisson, Angela W.

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

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

    Directory of Open Access Journals (Sweden)

    Shanjin Wang

    2016-01-01

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

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

    Science.gov (United States)

    Latimer, Bridgette A.

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

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

    Science.gov (United States)

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

    2016-09-01

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

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

    Science.gov (United States)

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

    2013-01-01

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

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

    Science.gov (United States)

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

    2017-05-29

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

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

    Science.gov (United States)

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

    2016-10-01

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

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

    International Nuclear Information System (INIS)

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

    1993-01-01

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

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

    Science.gov (United States)

    Baldwin, Carryl L

    2011-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Guo Lie

    2014-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Rulin Huang

    2017-04-01

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

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  18. RCA - a regional approach to radiation protection

    International Nuclear Information System (INIS)

    Griffith, R.; Easey, J.

    1996-01-01

    The Regional Cooperative Agreement (RCA) for Asia and Oceania is the oldest of four International Atomic Energy Agency Member State regional programs. Organized in 1972, 17 countries are now members of RCA - Australia, Bangladesh, Peoples Republic of China, India, Indonesia, Japan, Republic of Korea, Malaysia, Mongolia, Myanmar, New Zealand, Pakistan, Philippines, Singapore, Sri Lanka, Thailand, and Viet Nam. A number of projects related to the application of a wide range of nuclear technologies are conducted through RCA. The program is established by national coordinators for each project area, in consultation with IAEA technical officers. Most of the funding comes directly from RCA regional donor countries, with about one third supplied through the IAEA Technical Cooperation program. In 1986, following the Chernobyl accident, national coordinators and the IAEA staff recognized the value of establishing an RCA project aimed at strengthening regional radiation protection programs. The potential importance of RCA involvement in radiation protection is underscored by the fact that its member states comprise more than half of the world's population. The regional approach to addressing radiation protection issues allows member states to take advantage of regional resources to solve common regional problems. RCA provides the opportunity for specialists who may have few professional colleagues in their country to develop valuable contacts with regional radiation protection experts. In a very real way, specialists can network with their neighbours, often establishing bilateral programs outside of the RCA auspices. The current five year RCA Project to strengthen radiation protection infrastructure, with the IAEA designation - RAS/9/006, will be completed at the end of 1997. The project was developed to address five mayor areas of activity: Off-site emergency response; individual monitoring, internal and external; characterization of the physical, anatomical, physiological

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

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

    Science.gov (United States)

    Narkawicz, Anthony; Hagen, George

    2016-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Yang Yu

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Chen Chen

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    B. MANUP

    2016-01-01

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

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

    Science.gov (United States)

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

    2015-06-01

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

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

    Science.gov (United States)

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

    2017-08-01

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

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

    Directory of Open Access Journals (Sweden)

    Shinya Kaido

    2017-12-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    В.П. Харченко

    2004-01-01

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

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

    Directory of Open Access Journals (Sweden)

    P. Poddar

    2012-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Qin Li

    2016-04-01

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

  13. Current status of RCA projects and strategies for future implementation

    International Nuclear Information System (INIS)

    Kim, Kyoung Pyo; Lee, Jeong Kong

    1998-12-01

    This report is intended to provide basic overall information about ways to promote technical cooperation within the framework of RCA to accelerate and coordinate cooperative activities in nuclear science and technology in Asia and the Pacific region through a thorough review on the current status and through suggesting future implementation strategies. The contents of this report include an overall introduction of RCA, guidelines and operating rules for RCA programmes, current status and future plans for RCA projects as well as the RCA vision for the next 25 years. By reviewing the current status and future implementation strategies for RCA projects, it will help to set up a national nuclear policy aimed at seeking maximum benefits from participation in RCA projects and to implement programmes for nuclear cooperation with Asian-Pacific countries. It is expected that as a lead country for the energy sector, which is one of five thematic areas for the year 1999 - 2000 cycle programmes, Korea will continue to make significant contributions towards the implementation of RCA programmes in the future. With this report, we plan to keep up with future developments as well as implement an effective cooperation with the countries in the region so that the opinion of Korea, one of the nuclear advanced countries in the region, can be fully reflected in the establishment of future plans for RCA programmes. (author). 3 refs., 5 tabs., 1 fig

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

    Science.gov (United States)

    Esposito, Julien F.

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

  15. Twenty-sixth general conference meeting of representatives of RCA member states. Report

    International Nuclear Information System (INIS)

    1997-10-01

    The meeting discussed the following issues: RCA Annual Report 1996; Report of the 19th RCA Working Group Meeting, Yangon Myanmar, 10-14 March 1997; RCA in the next 25 years; Development finance and the RCA; locating a senior RCA representative in the region; RCA guidelines and operating rules; TCDC activities; terminal tripartite review meeting on UNDP/RCA/IAEA project; status of new joint UNDP/RCA/IAEA project; options for the new joint project; RCA activities and budget in 1997 and 1998; reformulation and health care project; RCA proposed programme for 1999-2000; country statements; extension of RCA agreement; RCA 25th anniversary; venue and date of the 20th regular meeting of national RCA representatives

  16. Twenty-sixth general conference meeting of representatives of RCA member states. Report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-10-01

    The meeting discussed the following issues: RCA Annual Report 1996; Report of the 19th RCA Working Group Meeting, Yangon Myanmar, 10-14 March 1997; RCA in the next 25 years; Development finance and the RCA; locating a senior RCA representative in the region; RCA guidelines and operating rules; TCDC activities; terminal tripartite review meeting on UNDP/RCA/IAEA project; status of new joint UNDP/RCA/IAEA project; options for the new joint project; RCA activities and budget in 1997 and 1998; reformulation and health care project; RCA proposed programme for 1999-2000; country statements; extension of RCA agreement; RCA 25th anniversary; venue and date of the 20th regular meeting of national RCA representatives.

  17. Rapid Cycle Amine (RCA) 3.0 System Development

    Science.gov (United States)

    Chullen, Cinda; Campbell, Colin; Papale, William; Hawes, Kevin; Wichowski, Robert

    2015-01-01

    The Rapid Cycle Amine (RCA) 3.0 system is currently under development by NASA, the Lyndon B. Johnson Space Center (JSC) in conjunction with United Technologies Corporation Aerospace Systems (UTAS). The RCA technology is a new carbon dioxide (CO2) and humidity removal system that has been baselined for the Advanced Extravehicular Mobility Unit (AEMU) Portable Life Support System. The evolution of the RCA development has progressed through several iterations of technology readiness levels including RCA 1.0, RCA 2.0, and RCA 3.0 test articles. The RCA is an advancement over currently technologies due to its unique regeneration capability. The RCA is capable of simultaneously removing CO2 and humidity from an influent air steam and subsequent regeneration when exposed to a vacuum source. The RCA technology uses two solid amine sorbent beds in an alternating fashion to adsorb CO2 and water (uptake mode) and desorb CO2 and water (regeneration mode) at the same time. The two beds operate in an efficient manner so that while one bed is in the uptake mode, the other is in the regeneration mode, thus continuously providing an on-service sorbent bed by which CO2 and humidity may be removed. The RCA 2.0 and 3.0 test articles were designed with a novel valve assembly which allows for switching between uptake and regeneration modes with only one moving part while minimizing gas volume losses to the vacuum source by means of an internal pressure equalization step during actuation. The RCA technology also is low power, small, and has performed extremely well in all development testing thus far. A final design was selected for the RCA 3.0, fabricated, assembled, and performance tested in 2014 with delivery to NASAJSC in January 2015. This paper will provide an overview on the RCA 3.0 system design and results of pre-delivery testing with references to the development of RCA 1.0 and RCA 2.0.

  18. Avoidance of collision risk

    OpenAIRE

    Dumitrache Ramona; Dumitrache Cosmin; Popescu Corina; Varsami Anastasia

    2011-01-01

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

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

    International Nuclear Information System (INIS)

    Yamanouchi, M; Arimura, H; Yuda, I

    2014-01-01

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

  20. A study on strategies for effective participation in the IAEA/RCA projects

    International Nuclear Information System (INIS)

    Chung, Joon Keuk; Jun, Byung Jin; Lee, Man Ki; Jin, Joon Ha; Choi, Pyung Hoon; Kim, Myung Ro; Min, Do Young

    2002-07-01

    In an effort to achieve the objectives, the following provisions were made. First of all, how this project supported RCA events that were held in Korea during the project period was described. Also, participation in RCA major policy level meetings, RCA-30 Scientific Forum, RCA Regional Office Opening were briefly reviewed. Secondly, RCA's general features including history and objective of its establishment, basic policy, administrative structure, major meetings was also reviewed. Thirdly, Overview of RCA projects, project implementation mechanism, on-going and planned project, review of technology utilization so fat and success stories were described. Fourthly, the issues related to the effective RCA management such as lead countries, Regional Resources Units (RRUs), RCA future vision and outsourcing of technical cooperation projects were reviewed. Finally, proper strategies and recommendations for active implementation of RCA projects were presented. This study can be utilized as basic reference material in the efficient implementation of RCA programmes in the future and for the personnel involved in the RCA projects as the fundamental elements for implementing the RCA cooperation are presented. The effective implementation direction for RCA programmes and strategies for strengthening Korea's participation in RCA projects can be utilized as basic reference material for the effective planning and implementation of RCA projects. It is hoped that this study will be widely utilized for expanding Korea's participation in the RCA project and for establishing a future direction for RCA projects by the governments, industries, academic circles and research institutions

  1. In retrospect. 7th workshop RCA

    International Nuclear Information System (INIS)

    Knappik, Reinhard

    2013-01-01

    The 7th Workshop RCA with 27 lectures and 12 poster presentation took place on 10 and 11 June 2013 in Dresden-Rossendorf. The traditional German event brought over 90 participants together from Germany, Austria, France, Switzerland and the Netherlands. This time the workshop put forward a special subject for the first time ('Obstacles and pitfalls when characterising waste packages'). A remarkable range of contributions was presented, which demonstrated the diversity and the problems of this subject matter. Medium to low radioactive waste and their final disposal was discussed. Other topics were the upcoming approval of recycling materials according to paragraph 29 StrlSchV as well as those from NORM (Naturally Occurring Radioactive Materials) regarding radionuclide analytics, the range of matrices to be processed and the practical problems this causes. Although the radiological feature was the central focus, other material aspects were dealt with, above all the approval of recycling materials when nuclear power plants are dismantled, but also in research institutes, which is demanding more and more attention. The lectures by Jessica Riemer (GSI Darmstadt) on the topic 'Waste material management of a research centre with heavy ion accelerators' and Elvira Mesalic (TU Munich) on 'Determining the activity inventory of bituminized old wastes' as well as the poster by Sina Brockmann on the 'Locally resolved analysis or uranium species using a couple systems of CLSM and LIFS' were awarded prizes for being outstanding presentations. (orig.)

  2. Thirteenth meeting of representatives of RCA Member States

    International Nuclear Information System (INIS)

    1986-07-01

    The 13th Meeting of Member States of RCA (Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology) was held on 26 September 1984 in Vienna. This document constitutes the report of that meeting. It includes the list of participants, agenda, summary of discussions, and 1984 costing table. The Report of Recommendations for the meeting consisted of the Summary Report of the Sixth RCA Working Group Meeting held in Kalpakkam, India, 20-23 March 1984. This Summary Report dealt with such topics as RCA research projects (including nuclear techniques to improve legume and buffalo production, radiosterilization of medical supplies, maintenance of nuclear instruments, isotope applications in hydrology and sedimentology), progress of the RCA/UNDP Industrial Project, and future programmes and budget

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

    Science.gov (United States)

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

    2011-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

  6. Strategy for effective participation in the RCA projects

    International Nuclear Information System (INIS)

    Kim, Kyoung Pyo; Lee, Jeong Kong

    1998-12-01

    This report attempts briefly to bring to light the current RCA programmes and to suggest ways of implementing future RCA programmes effectively. It is based principally upon the discussions and proposals made by the Member States of the RCA at the 20th Regular Meeting of Representative of RCA Member States at Taupo, New Zealand in April 1998 and at the 27th General Conference Meeting at Vienna, Austria in September 1998. The Asia-Pacific region is slowly but steadily growing in importance. With its vast human and natural resources, strategic geographical location and its scientific and technological backing, the countries in the region have tremendous potential to become the most dynamic, even leading nations of the world in the 21st century. During the past years, RCA has experienced great changes in its policies, strategies. These changes have also affected in the role of the Member States and the relation between the Agency and Member States. (author). 3 refs., 2 tabs., 1 fig

  7. LFI Radiometric Chain Assembly (RCA) data handling ``Rachel''

    Science.gov (United States)

    Malaspina, M.; Franceschi, E.; Battaglia, P.; Binko, P.; Butler, R. C.; D'Arcangelo, O.; Fogliani, S.; Frailis, M.; Franceschet, C.; Galeotta, S.; Gasparo, F.; Gregorio, A.; Lapolla, M.; Leonardi, R.; Maggio, G.; Mandolesi, N.; Manzato, P.; Maris, M.; Meharga, M.; Meinhold, P.; Morisset, N.; Pasian, F.; Perrotta, F.; Rohlfs, R.; Sandri, M.; Tomasi, M.; Türler, M.; Zacchei, A.; Zonca, A.

    2009-12-01

    Planck's Low Frequency Instrument is an array of 22 pseudo-correlation radiometers at 30, 44, and 70 GHz. Before integrating the overall array assembly, a first set of tests has been performed for each radiometer chain assembly (RCA), consisting of two radiometers. In this paper, we describe Rachel, a software application which has been purposely developed and used during the RCA test campaign to carry out both near-realtime on-line data analysis and data storage (in FITS format) of the raw output from the radiometric chains.

  8. LFI Radiometric Chain Assembly (RCA) data handling 'Rachel'

    International Nuclear Information System (INIS)

    Malaspina, M; Franceschi, E; Butler, R C; Mandolesi, N; Battaglia, P; Franceschet, C; Lapolla, M; Binko, P; Meharga, M; D'Arcangelo, O; Fogliani, S; Frailis, M; Galeotta, S; Gasparo, F; Maggio, G; Manzato, P; Maris, M; Gregorio, A; Leonardi, R; Meinhold, P

    2009-01-01

    Planck's Low Frequency Instrument is an array of 22 pseudo-correlation radiometers at 30, 44, and 70 GHz. Before integrating the overall array assembly, a first set of tests has been performed for each radiometer chain assembly (RCA), consisting of two radiometers. In this paper, we describe Rachel, a software application which has been purposely developed and used during the RCA test campaign to carry out both near-realtime on-line data analysis and data storage (in FITS format) of the raw output from the radiometric chains.

  9. Recognition factors of Ricinus communis agglutinin 1 (RCA(1)).

    Science.gov (United States)

    Wu, Albert M; Wu, June H; Singh, Tanuja; Lai, Li-Ju; Yang, Zhangung; Herp, Anthony

    2006-04-01

    Ricinus communis agglutinin (RCA1) is one of the most important applied lectins that has been widely used as a tool to study cell surfaces and to purify glycans. Although the carbohydrate specificity of RCA1 has been described, the information obtained was mainly focused on inhibition of simple Galbeta1-related oligosaccharides and simple clusters. Here, all possible recognition factors of RCA1 of glycan binding were examined by enzyme-linked lectinosorbent (ELLSA) and inhibition assays, using known mammalian Gal/GalNAc carbohydrate structural units and natural polyvalent glycans. Among the glycoproteins (gps) tested and expressed as 50% nanogram inhibition, the high-density polyvalent Galbeta1-4GlcNAc (II) glycotopes occurring in natural gps, such as Pneumococcus type 14 capsular polysaccharide which is composed of repeating poly II residues, resulted in 9.0 x 10(4), 1.5 x 10(5), 2.3 x 10(4) and 2.1 x 10(4)-fold higher affinities to RCA1 than the monomeric Gal, linear I/II and Tri-antennary-II (Tri-II). Of the ligands tested and expressed as nanomoles of 50% inhibition, Tri-II was the best, being about 2, 4, 25.6 and 33.3 times better inhibitor than Di-II, II, I (Galbeta1-3GlcNAc) and Gal, respectively. From the results of this study, it is concluded that: (a) Galbeta1-4GlcNAc and other Galbeta1-related oligosaccharides are essential for lectin binding and their polyvalent form in macromolecules should be the most important recognition factor for RCA1; (b) the combining site of RCA1 may be a groove type, recognizing Galbeta1-4GlcNAc (II) as the major binding site; (c) its combining size may be large enough to accommodate a tetrasaccharide of beta-anomeric Gal at the non-reducing end and most complementary to human blood group I Ma active trisaccharide (Galbeta1-4GlcNAcbeta1-6Gal) and lacto-N-neotetraose (Galbeta1-4GlcNAcbeta1-3Galbeta1-4Glc); (d) RCA1 has a preference for the beta-anomer of Gal oligosaccharides with a Galbeta1-4 linkage > Galbeta1-6 > or = Galbeta

  10. RCA activities in the Asian and Pacific Region

    International Nuclear Information System (INIS)

    Kobayashi, M.

    1984-01-01

    So-called ''RCA'' activities - practical work undertaken within the framework of a Regional Co-operative Agreement for Research, Development and Training related to Nuclear Science and Technology for the Asian and Pacific region - are widely regarded as an example of successful co-operative effort in the application of nuclear techniques at a regional level. Activities undertaken to promote the transfer of nuclear technology within the framework of the RCA cover a large spectrum of nuclear applications in agriculture and food production, medicine, study of the environment, industry, and physics. Fourteen projects are operational this year (1984)

  11. In retrospect. 7th workshop RCA; Nachlese. 7. Workshop RCA. Conference report

    Energy Technology Data Exchange (ETDEWEB)

    Knappik, Reinhard [Verein fuer Kernverfahrenstechnik und Analytik Rossendorf e.V. (VKTA), Dresden-Rossendorf (Germany). Programmausschuss Workshop RCA

    2013-08-15

    The 7th Workshop RCA with 27 lectures and 12 poster presentation took place on 10 and 11 June 2013 in Dresden-Rossendorf. The traditional German event brought over 90 participants together from Germany, Austria, France, Switzerland and the Netherlands. This time the workshop put forward a special subject for the first time ('Obstacles and pitfalls when characterising waste packages'). A remarkable range of contributions was presented, which demonstrated the diversity and the problems of this subject matter. Medium to low radioactive waste and their final disposal was discussed. Other topics were the upcoming approval of recycling materials according to paragraph 29 StrlSchV as well as those from NORM (Naturally Occurring Radioactive Materials) regarding radionuclide analytics, the range of matrices to be processed and the practical problems this causes. Although the radiological feature was the central focus, other material aspects were dealt with, above all the approval of recycling materials when nuclear power plants are dismantled, but also in research institutes, which is demanding more and more attention. The lectures by Jessica Riemer (GSI Darmstadt) on the topic 'Waste material management of a research centre with heavy ion accelerators' and Elvira Mesalic (TU Munich) on 'Determining the activity inventory of bituminized old wastes' as well as the poster by Sina Brockmann on the 'Locally resolved analysis or uranium species using a couple systems of CLSM and LIFS' were awarded prizes for being outstanding presentations. (orig.)

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

    International Nuclear Information System (INIS)

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

    1996-01-01

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

  13. Analyse der F-box Funktion von Rca1 in Drosophila melanogaster

    OpenAIRE

    Frank, Martina

    2015-01-01

    Rca1 ist ein wichtiger Inhibitor für die Ubiqutin-E3-Ligase APC/C mit dem Aktivatorproteine Fzr (Fizzy-related, ortholog zu Cdh1), vor allem in der G2-Phase des Zellzyklus, und ermöglicht die Akkumulati-on von Cyclinen für die darauffolgende Mitose. Embryonen, die die rca1-Allele rca1[2] und rca1[C1474] tragen, arretieren deshalb im Zellzyklus 16 und können nicht in die Mitose 16 eintreten. Durch Überexpression von Rca1 und Rca1 mit deletierter F-box (Rca1ΔF-box) konnte dieser Phänotyp komple...

  14. RCA/IAEA third external dosimetry intercomparison in East Asia

    International Nuclear Information System (INIS)

    Momose, T.; Yamamoto, H.; Cruz Suarez, R.

    2005-01-01

    Full text: Several intercomparison exercises were organized by the International Atomic Energy Agency (IAEA) on the determination of operational quantities at the regional or interregional basis. These exercises revealed significant differences in the approach, methods and assumptions, and consequently in the measurement results obtained by participating laboratories. In the East Asia region, the third phase of the Hp(10) intercomparison, organized within the frame of the Regional Cooperation Agreement (RCA) as a follow-up to previous exercises during 1990-92 and 1995-96, was completed mid-2004. The first phase grouped 25 laboratories from 16 member states, and 4 Secondary Standards Dosimetry Laboratories irradiated dosimeters in 6 different qualities for photon and beta radiations. In the second phase, 23 laboratories from 16 member states participated, and 3 Secondary Standards Dosimetry Laboratories provided irradiation in 5 different radiation qualities simulating workplace fields. The results of the second phase for the determination of operational quantities Hp(d) were satisfactory for all participating Member States, with marked improvement from the first phase; the laboratories demonstrated good performance in both quantities tested. These results underline the importance of such an intercomparison programme as a key element towards the harmonization of quantities and units on an international level. This paper presents the results of this RCA/IAEA intercomparison, and also the forthcoming RCA activities supporting intercomparison runs for the assessment of occupational exposure. Member states strongly recommend that the IAEA continue acting as a focal point for, inter alia, training in all forms, particularly in measurements and dosimetry techniques. This exercise also stressed the importance for the IAEA to take an active role in establishing a network of monitoring laboratories for radiation protection purposes, as it would provide for better information

  15. Results of the IAEA/RCA personal dosemeter intercomparison

    Energy Technology Data Exchange (ETDEWEB)

    Tsujimura, Norio; Momose, Takumaro; Hayashi, Naomi [Environment and Safety Division, Tokai Works, Japan Nuclear Cycle Development Inst., Tokai, Ibaraki (Japan)

    2000-06-01

    The intercomparison of personal dosemeters for photon was carried out between 1990 and 1996 as part of the IAEA/RCA 'strengthening of radiation protection infrastructure' project. Japan Nuclear Cycle Development Institute participated in the intercomparison as one of the in-house personal dosimetry service organizations in Japan and also served the host irradiating laboratory. This report summarizes the dose evaluation results obtained from the JNC-TLD badges in the past four intercomparison programs. In the latest intercomparison the evaluated doses agreed to the reference doses with an accuracy of 10%. (author)

  16. Collision avoidance using neural networks

    Science.gov (United States)

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

    2017-11-01

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

  17. Tenth working group meeting of representatives of RCA Member States. Report

    International Nuclear Information System (INIS)

    1989-04-01

    The Tenth RCA (Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology) Working Group meeting of representatives of RCA Member States was held at the Chinese Academy of Agricultural Sciences, Beijing, between 11-14 April 1988. The report on the meeting consists of a presentation of the seven technical sessions which dealt with topics such as nuclear techniques in industry, agriculture and medicine, nuclear power and of the project reports under RCA

  18. Functional analysis of the cell cycle regulator Rca1 in Drosophila melanogaster

    OpenAIRE

    Zielke, Norman

    2007-01-01

    Tight regulation of APC/C activity is essential for cell cycle progression. An important class of negative APC/C regulators are the Rca1/Emi1 family proteins. All members of the Rca1/Emi1 family share a conserved zinc binding region (ZBR) which is essential for their inhibitory activity. The Rca1/Emi1 proteins belong to the class of F-box proteins that are known to act as substrate recognition subunits in SCF-E3-ligase complexes. Emi1 and Rca1 interact in vitro with members of the Skp family ...

  19. Report of the IAEA/RCA-NDT education project

    Energy Technology Data Exchange (ETDEWEB)

    Ooka, Kiichi; Terada, Kunio; Ohtani, Kiyoshi; Niwa, Noboru

    1988-11-01

    The Japan Non-Destructive Test (NDT) Association has been carried out an NDT technical education project with support from IAEA. Phase I of the project was successfully completed last year. The present report briefly outlines the second five-year plan (Phase II) to be carried out under the project. The project was first established in 1981 after receiving a request from IAEA to provide NDT education for participants from the RCA countries (13 countries in Asian and Pacific area). Phase I was mainly designed to provide lectures on NDT techniques. Prior to the start of Phase II, the International Education Subcommittee was established in December 1986 to take the leadership in carrying out Phase II of the project. In addition, the NDT Expert Working Group (formally called Advisory Group) has been installed which consists of representative from Japan. Australia India and Singapore. The Group held nine meetings during Phase I. Three lecture meetings at Singapore and another three at Tokyo were held to provide education according to a plan developed by the Group. It has been decided that Japan be support the lecture meetings to be held during Phase II. To conduct such meetings, a group comprising all of the National Coordinators from the RCA countries was set up to replace the Working Group. The National Coordinator Conference was held four times since its establishment. (N.K.).

  20. Report of the IAEA/RCA-NDT education project

    International Nuclear Information System (INIS)

    Ooka, Kiichi; Terada, Kunio; Ohtani, Kiyoshi; Niwa, Noboru.

    1988-01-01

    The Japan Non-Destructive Test (NDT) Association has been carried out an NDT technical education project with support from IAEA. Phase I of the project was successfully completed last year. The present report briefly outlines the second five-year plan (Phase II) to be carried out under the project. The project was first established in 1981 after receiving a request from IAEA to provide NDT education for participants from the RCA countries (13 countries in Asian and Pacific area). Phase I was mainly designed to provide lectures on NDT techniques. Prior to the start of Phase II, the International Education Subcommittee was established in December 1986 to take the leadership in carrying out Phase II of the project. In addition, the NDT Expert Working Group (formally called Advisory Group) has been installed which consists of representative from Japan. Australia India and Singapore. The Group held nine meetings during Phase I. Three lecture meetings at Singapore and another three at Tokyo were held to provide education according to a plan developed by the Group. It has been decided that Japan be support the lecture meetings to be held during Phase II. To conduct such meetings, a group comprising all of the National Coordinators from the RCA countries was set up to replace the Working Group. The National Coordinator Conference was held four times since its establishment. (N.K.)

  1. Predicting of the compressive strength of RCA concrete

    Directory of Open Access Journals (Sweden)

    Jaskulski Roman

    2017-01-01

    Full Text Available The paper presents the results of predicting the strength of 61 concretes made with the use of recycled concrete aggregate (RCA. Five models in the form of first-order polynomials containing two to six variables characterizing the composition of the mixture were formulated for this purpose. Factors for unknowns were selected using linear regression in two variants: with and without additional coefficient. For each model, the average absolute error of the concrete strength estimation was determined. Because of the various consequences of underestimation and overestimation of the results, the analysis of models quality was carried out with the distinction of the two cases. The results indicate that the key to improving the quality of models is to take into account the quality of the aggregate expressed by the ACV parameter. Better match results were also obtained for models with more variables and the additional coefficient.

  2. The 2015 Resuscitation Council of Asia (RCA) guidelines on adult basic life support for lay rescuers.

    Science.gov (United States)

    Chung, Sung Phil; Sakamoto, Tetsuya; Lim, Swee Han; Ma, Mathew Huei-Ming; Wang, Tzong-Luen; Lavapie, Francis; Krisanarungson, Sopon; Nonogi, Hiroshi; Hwang, Sung Oh

    2016-08-01

    This paper introduces adult basic life support (BLS) guidelines for lay rescuers of the resuscitation council of Asia (RCA) developed for the first time. The RCA BLS guidelines for lay rescuers have been established by expert consensus among BLS Guidelines Taskforce of the RCA on the basis of the 2015 International Consensus on Cardiopulmonary Resuscitation (CPR) and Emergency Cardiovascular Care Science with Treatment Recommendations. The RCA recommends compression-only CPR for lay rescuers and emphasizes high-quality CPR with chest compression depth of approximately 5cm and chest compression rate of 100-120min(-1). Role of emergency medical dispatchers in helping lay rescuers recognize cardiac arrest and perform CPR is also emphasized. The RCA guidelines will contribute to help Asian countries establish and implement their own CPR guidelines in the context of their domestic circumstances. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    Kulbiej Eric

    2016-12-01

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

  4. 19. working group meeting of representatives of RCA member States. Report

    International Nuclear Information System (INIS)

    1997-03-01

    The 19. RCA Working Group Meeting was hosted by the Myanmar Atomic Energy Committee in Yangon from 10-14 March 1997. The meeting marked the 25. anniversary of the RCA which commenced in 1972. It was attended by 29 delegates from 15 visiting RCA Member States, 15 participants from Myanmar and 4 from the IAEA. The report contains the statements of the following countries: Australia, Bangladesh, China, India, Indonesia, Japan, Republic of Korea, Malaysia, Mongolia, Myanmar, New Zealand, Pakistan, Philippines, Singapore, Sri Lanka, Thailand, and Viet Nam. Tabs

  5. 19. working group meeting of representatives of RCA member States. Report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    The 19. RCA Working Group Meeting was hosted by the Myanmar Atomic Energy Committee in Yangon from 10-14 March 1997. The meeting marked the 25. anniversary of the RCA which commenced in 1972. It was attended by 29 delegates from 15 visiting RCA Member States, 15 participants from Myanmar and 4 from the IAEA. The report contains the statements of the following countries: Australia, Bangladesh, China, India, Indonesia, Japan, Republic of Korea, Malaysia, Mongolia, Myanmar, New Zealand, Pakistan, Philippines, Singapore, Sri Lanka, Thailand, and Viet Nam. Tabs.

  6. Analysis of Rca1 function at the G1-S transition in Drosophila melanogaster

    OpenAIRE

    Querings, Silvia

    2008-01-01

    Tight control of APC/C-Cdh1Fzr activity is essential for progression through mitosis and establishment of the G1 phase. Rca1 is a nuclear protein that inhibits the APC/C-Cdh1Fzr complex during G2 to allow cyclin accumulation and subsequent entry into mitosis. In this thesis, a localisation study of Rca1 was performed revealing that a nuclear localisation sequence (NLS) and other domains in the protein mediate efficient nuclear accumulation. Besides its function in G2, Rca1 expression can prom...

  7. The fourth UNDP/RCA/IAEA/meeting of national co-ordinators for radiation technology. Report

    International Nuclear Information System (INIS)

    1996-01-01

    The objectives of the Meeting were to provide information for the Terminal Report of the joint UNDP/RCA/IAEA project RAS/92/073 and to look into future activities under the Radiation Technology project. The main achievements of this Meeting are: The Meeting reviewed the implementation of all radiation technology sub-projects and agreed that all of them were successful but not yet equally developed among RCA Member States. The Meeting recommended to have three projects carried out in the form of Co-ordinated Research Programs and requested the IAEA to find new ways to implement the organized in RCA Member States to carry these CRPs out. Figs, tabs

  8. Rca1 inhibits APC-Cdh1(Fzr) and is required to prevent cyclin degradation in G2.

    Science.gov (United States)

    Grosskortenhaus, Ruth; Sprenger, Frank

    2002-01-01

    We demonstrate that Rca1 is an essential inhibitor of the anaphase-promoting complex/cyclosome (APC) in Drosophila. APC activity is restricted to mitotic stages and G1 by its activators Cdc20-Fizzy (Cdc20(Fzy)) and Cdh1-Fizzy-related (Cdh1(Fzr)), respectively. In rca1 mutants, cyclins are degraded prematurely in G2 by APC-Cdh1(Fzr)-dependent proteolysis, and cells fail to execute mitosis. Overexpression of Cdh1(Fzr) mimics the rca1 phenotype, and coexpression of Rca1 blocks this Cdh1(Fzr) function. We show that Rca1 and Cdh1(Fzr) are in a complex that also includes the APC component Cdc27. Previous studies have shown that phosphorylation of Cdh1 prevents its interaction with the APC. Our data reveal a different mode of APC regulation by Rca1 at the G2 stage, when low Cdk activity is unable to inhibit Cdh1(Fzr) interaction.

  9. Mutations in RCA1 and AFG3 inhibit F1-ATPase assembly in Saccharomyces cerevisiae.

    Science.gov (United States)

    Paul, M F; Tzagoloff, A

    1995-10-02

    The RCA1 (YTA12) and AFG3 (YTA10) genes of Saccharomyces cerevisiae code for homologous mitochondrial proteins that belong to the recently described AAA protein-family [Kunau et al. (1993) Biochimie 75,209-224]. Mutations in either gene have been shown to induce a respiratory defect. In the case of rca1 mutants this phenotype has been ascribed to defective assembly of cytochrome oxidase and ubiquinol-cytochrome c reductase. In the present study we show that the respiratory defect of afg3 mutants, like that of rca1 mutants, is also caused by an arrest in assembly of cytochrome oxidase and ubiquinol-cytochrome c reductase. In addition to the absence of the respiratory complexes, rca1 and afg3 mutants exhibit reduced mitochondrial ATPase activity. As a first step to an understanding of the biochemical basis for the ATPase defect we have examined the assembly of the F1 and F0 constituents of the ATPase complex. We present evidence that the ATPase lesion stems at least in part from the failure of rca1 and afg3 mutants to assemble F1. Although the mutants also display lower steady-state concentrations of some F0 subunits, this could be a secondary effect of defective F1 assembly.

  10. Sensitive magnetic biodetection using magnetic multi-core nanoparticles and RCA coils

    Energy Technology Data Exchange (ETDEWEB)

    Ahrentorp, Fredrik; Blomgren, Jakob; Jonasson, Christian; Sarwe, Anna [Acreo Swedish ICT AB, Arvid Hedvalls Backe 4, Göteborg (Sweden); Sepehri, Sobhan; Eriksson, Emil; Kalaboukhov, Alexei; Jesorka, Aldo; Winkler, Dag [Department of Microtechnology and Nanoscience – MC2, Chalmers University of Technology, Göteborg (Sweden); Schneiderman, Justin F. [Institute of Neuroscience and Physiology, University of Gothenburg and MedTech West, Göteborg (Sweden); Nilsson, Mats [Science for Life Laboratory, Department of Biochemistry and Biophysics, Stockholm University, Stockholm (Sweden); Albert, Jan [Department of Microbiology, Tumor and Cell Biology, Karolinska Institutet, Stockholm (Sweden); Department of Clinical Microbiology, Karolinska University Hospital, Stockholm (Sweden); Zardán Gómez de la Torre, Teresa; Strømme, Maria [Uppsala University, Uppsala (Sweden); Johansson, Christer, E-mail: christer.johansson@acreo.se [Acreo Swedish ICT AB, Arvid Hedvalls Backe 4, Göteborg (Sweden)

    2017-04-01

    We use functionalized iron oxide magnetic multi-core particles of 100 nm in size (hydrodynamic particle diameter) and AC susceptometry (ACS) methods to measure the binding reactions between the magnetic nanoparticles (MNPs) and bio-analyte products produced from DNA segments using the rolling circle amplification (RCA) method. We use sensitive induction detection techniques in order to measure the ACS response. The DNA is amplified via RCA to generate RCA coils with a specific size that is dependent on the amplification time. After about 75 min of amplification we obtain an average RCA coil diameter of about 1 µm. We determine a theoretical limit of detection (LOD) in the range of 11 attomole (corresponding to an analyte concentration of 55 fM for a sample volume of 200 µL) from the ACS dynamic response after the MNPs have bound to the RCA coils and the measured ACS readout noise. We also discuss further possible improvements of the LOD. - Highlights: • Biosensing using Brownian relaxation of functionalized magnetic nanoparticles. • Rolling circle amplification and magnetic nanoparticles enables biosensing. • Theoretical limit of detection estimated from the signal noise gives about 55 fM.

  11. Molecular dissection of the APC/C inhibitor Rca1 shows a novel F-box-dependent function

    OpenAIRE

    Zielke, Norman; Querings, Silvia; Grosskortenhaus, Ruth; Reis, Tânia; Sprenger, Frank

    2006-01-01

    Rca1 (regulator of Cyclin A)/Emi (early mitotic inhibitor) proteins are essential inhibitors of the anaphase-promoting complex/cyclosome (APC/C). In Drosophila, Rca1 is required during G2 to prevent premature cyclin degradation by the Fizzy-related (Fzr)-dependent APC/C activity. Here, we present a structure and function analysis of Rca1 showing that a carboxy-terminal fragment is sufficient for APC/C inhibition. Rca1/Emi proteins contain a conserved F-box and interact with components of the ...

  12. Molecular dissection of the APC/C inhibitor Rca1 shows a novel F-box-dependent function.

    Science.gov (United States)

    Zielke, Norman; Querings, Silvia; Grosskortenhaus, Ruth; Reis, Tânia; Sprenger, Frank

    2006-12-01

    Rca1 (regulator of Cyclin A)/Emi (early mitotic inhibitor) proteins are essential inhibitors of the anaphase-promoting complex/cyclosome (APC/C). In Drosophila, Rca1 is required during G2 to prevent premature cyclin degradation by the Fizzy-related (Fzr)-dependent APC/C activity. Here, we present a structure and function analysis of Rca1 showing that a carboxy-terminal fragment is sufficient for APC/C inhibition. Rca1/Emi proteins contain a conserved F-box and interact with components of the Skp-Cullin-F-box (SCF) complex. So far, no function has been ascribed to this domain. We find that the F-box of Rca1 is dispensable for APC/C-Fzr inhibition during G2. Nevertheless, we show that Rca1 has an additional function at the G1-S transition, which requires the F-box. Overexpression of Rca1 accelerates the G1-S transition in an F-box-dependent manner. Conversely, S-phase entry is delayed in cells in which endogenous Rca1 is replaced by a transgene lacking the F-box. We propose that Rca1 acts as an F-box protein in an as yet uncharacterized SCF complex, which promotes S-phase entry.

  13. RCA/IAEA third external dosimetry intercomparisons in East Asia region

    International Nuclear Information System (INIS)

    Yamamoto, H.; Yoshizawa, M.; Murakami, H.; Momose, T.; Tsujimura, N.; Kanai, K.; Cruz-Suarez, R.

    2007-01-01

    Several intercomparison exercises were organised by the International Atomic Energy Agency (IAEA) on the determination of operational quantities at the regional or inter-regional basis. In East Asia region, a third phase of the intercomparison finished in mid 2004. It was organised within the frame of the Regional Cooperation Agreement (RCA) as a follow-up to previous exercises carried out during 1990-1992 and 1995-1996. The results of this intercomparison for the determination of operational quantities were satisfactory for all Member States. The laboratories demonstrated a good performance in quantities tested. The purpose of this paper is to present the results of the RCA/IAEA intercomparison and the future of RCA activities in support of assessment of occupational exposure by organising intercomparison runs. (authors)

  14. Dynamic range studies of the RCA streak tube in the LLL streak camera

    International Nuclear Information System (INIS)

    Thomas, S.W.; Phillips, G.E.

    1979-01-01

    As indicated by tests on several cameras, the dynamic range of the Lawrence Livermore Laboratory streak-camera system appears to be about two orders of magnitude greater than those reported for other systems for 10- to 200-ps pulses. The lack of a fine mesh grid in the RCA streak tube used in these cameras probably contributes to a lower system dynamic noise and therefore raises the dynamic range. A developmental tube with a mesh grid was tested and supports this conjecture. Order-of-magnitude variations in input slit width do not affect the spot size on the phosphor or the dynamic range of the RCA tube. (author)

  15. The economic and social significance of RCA regional co-operative projects

    International Nuclear Information System (INIS)

    Fowler, E.E.

    1979-01-01

    The regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology (RCA) is an established and valuable instrument between the International Atomic Energy Agency (IAEA) and Member States in South Asia, Southeast Asia and the Pacific or Far East for assisting in the transfer of modern technology to areas having economic and social importance to the region. The purpose of this review is to identify on-going or planned work which is designed to help achieve this goal. Currently approved RCA Regional Co-operative Research Projects are listed

  16. The effect of recycled concrete aggregate properties on the bond strength between RCA concrete and steel reinforcement

    International Nuclear Information System (INIS)

    Butler, L.; West, J.S.; Tighe, S.L.

    2011-01-01

    The purpose of this study was to investigate the influence that replacing natural coarse aggregate with recycled concrete aggregate (RCA) has on concrete bond strength with reinforcing steel. Two sources of RCA were used along with one natural aggregate source. Numerous aggregate properties were measured for all aggregate sources. Two types of concrete mixture proportions were developed replacing 100% of the natural aggregate with RCA. The first type maintained the same water-cement ratios while the second type was designed to achieve the same compressive strengths. Beam-end specimens were tested to determine the relative bond strength of RCA and natural aggregate concrete. On average, natural aggregate concrete specimens had bond strengths that were 9 to 19% higher than the equivalent RCA specimens. Bond strength and the aggregate crushing value seemed to correlate well for all concrete types.

  17. 45 CFR 400.66 - Eligibility and payment levels in a publicly-administered RCA program.

    Science.gov (United States)

    2010-10-01

    ... 45 Public Welfare 2 2010-10-01 2010-10-01 false Eligibility and payment levels in a publicly... REFUGEE RESETTLEMENT PROGRAM Refugee Cash Assistance § 400.66 Eligibility and payment levels in a publicly-administered RCA program. (a) In administering a publicly-administered refugee cash assistance program, the...

  18. Design rules for RCA self-aligned silicon-gate CMOS/SOS process

    Science.gov (United States)

    1977-01-01

    The CMOS/SOS design rules prepared by the RCA Solid State Technology Center (SSTC) are described. These rules specify the spacing and width requirements for each of the six design levels, the seventh level being used to define openings in the passivation level. An associated report, entitled Silicon-Gate CMOS/SOS Processing, provides further insight into the usage of these rules.

  19. Operation EUFOR TCHAD/RCA and the European Union’s Common Security and Defense Policy

    Science.gov (United States)

    2010-10-01

    Lessons from EUFOR Tchad/RCA, March 2010. 152. For a more detailed description of the EU Battlegroups, see Gustav Lindstrom , “Enter the EU Battlegroups...Major General Gregg F. Martin Commandant ***** STRATEGIC STUDIES INSTITUTE Director Professor Douglas C. Lovelace, Jr. Director of Research Dr. Antulio J

  20. Immunomodulatory response of mice splenocytes induced by RcaL, a lectin isolated from cobia fish (Rachycentron canadum) serum.

    Science.gov (United States)

    Coriolano, Marília Cavalcanti; Silva, Cynarha Daysy Cardoso da; Melo, Cristiane Moutinho Lagos de; Bezerra, Ranilson de Souza; Santos, Athiê Jorge Guerra; Pereira, Valéria Rêgo Alves; Coelho, Luana Cassandra Breitenbach Barroso

    2012-11-01

    This work reports the isolation of a serum lectin from cobia fish (Rachycentron canadum) named RcaL. Immunomodulatory activity on mice splenocyte experimental cultures through cytotoxic assays and cytokine production were also performed. RcaL was obtained through precipitation with ammonium sulphate and affinity chromatography on a Concanavalin A-Sepharose 4B column. The ammonium sulphate fraction F3 showed the highest specific hemagglutinating activity and was applied to affinity chromatography. The lectin was eluted with methyl-α-D-mannopyranoside. RcaL showed highest affinity for methyl-α-D-mannopyranoside and D-mannose; eluted fractions of RcaL agglutinated rabbit erythrocytes (titre, 128(-1)) retained 66 % of chromatographed lectin activity, and the obtained purification factor was 1.14. Under reducing conditions, a polypeptide band of 19.2 kDa was revealed in sodium dodecyl sulphate polyacrylamide gel electrophoresis (PAGE). PAGE confirmed RcaL as an acidic protein revealed in a single band. Cytotoxic and immunomodulatory assays with RcaL in mice splenocyte cultures showed that the lectin was not cytotoxic and induced higher interferon gamma and nitric oxide production in splenocyte cultures. Purified RcaL induced preferential Th1 response, suggesting that it acts as an immunomodulatory compound.

  1. RCA and its regional office for cooperative activities in the applications of nuclear techniques in Asia and the Pacific

    International Nuclear Information System (INIS)

    Lee, Jae-Sol

    2008-01-01

    The Regional Cooperative Agreement for Research, Development and Training Related to Nuclear Science and Technology (RCA) is an intergovernmental agreement among 17 Member States of the International Atomic Energy Agency (IAEA), in South Asia, South East Asia, Far East and the Pacific, established for promoting regional cooperation in the peaceful uses of nuclear science and technology. Established in 1972, the RCA is a unique development within the technical cooperation framework coordinated by IAEA is support of the regional cooperation in the applications of nuclear technology to the benefit of its Member States. It has a well established network of scientists trained in the use of nuclear technologies in the agricultural, medical, industrial, and environmental sectors, with a good potentiality to use its regional technical and scientific resources to contribute to the solution of some of the significant problems in the region. The achievements recorded in the several decades of RCA history cover a wide spectrum of areas and these achievements have been published a Success Stories. Having recognized a need to enhance ownership of the region, the RCA Member States had wished to establish its Regional Office (RCARO). The Regional Office which is hosted by the Government of Republic of Korea was established in 2002. Located in Daejeon, the RCARO has been active in its endeavors toward increasing visibility of the RCA and establishing cooperative partnership between RCA and other international organizations. The RCARO has also played a key role in successfully implementing an RCA Project on Post-Tsunami Environment Impact Assessment in partnership with UNDP (Republic of Korea) with the participation of 14 RCA Member States. A number of projects for capacity building in the region are also being implemented by RCARO, mostly by providing training opportunities for young professionals in the region. The RCA community welcomes any contacts from potential end-users or

  2. Mechanical properties of concrete containing recycled concrete aggregate (RCA) and ceramic waste as coarse aggregate replacement

    Science.gov (United States)

    Khalid, Faisal Sheikh; Azmi, Nurul Bazilah; Sumandi, Khairul Azwa Syafiq Mohd; Mazenan, Puteri Natasya

    2017-10-01

    Many construction and development activities today consume large amounts of concrete. The amount of construction waste is also increasing because of the demolition process. Much of this waste can be recycled to produce new products and increase the sustainability of construction projects. As recyclable construction wastes, concrete and ceramic can replace the natural aggregate in concrete because of their hard and strong physical properties. This research used 25%, 35%, and 45% recycled concrete aggregate (RCA) and ceramic waste as coarse aggregate in producing concrete. Several tests, such as concrete cube compression and splitting tensile tests, were also performed to determine and compare the mechanical properties of the recycled concrete with those of the normal concrete that contains 100% natural aggregate. The concrete containing 35% RCA and 35% ceramic waste showed the best properties compared with the normal concrete.

  3. Control of G1 in the developing Drosophila eye: rca1 regulates Cyclin A.

    Science.gov (United States)

    Dong, X; Zavitz, K H; Thomas, B J; Lin, M; Campbell, S; Zipursky, S L

    1997-01-01

    In the developing eye of Drosophila melanogaster, cells become synchronized in the G1 phase of the cell cycle just prior to the onset of cellular differentiation and morphogenesis. In roughex (rux) mutants, cells enter S phase precociously because of ectopic activation of a Cyclin A/Cdk complex in early G1. This leads to defects in cell fate and pattern formation, and results in abnormalities in the morphology of the adult eye. A screen for dominant suppressors of the rux eye phenotype led to the identification of mutations in cyclin A, string (cdc25), and new cell cycle genes. One of these genes, regulator of cyclin A (rca1), encodes a novel protein required for both mitotic and meiotic cell cycle progression. rca1 mutants arrest in G2 of embryonic cell cycle 16 with a phenotype very similar to cyclin A loss of function mutants. Expression of rca1 transgenes in G1 or in postmitotic neurons promotes Cyclin A protein accumulation and drives cells into S phase in a Cyclin A-dependent fashion.

  4. Optically Guided Photoactivity: Coordinating Tautomerization, Photoisomerization, Inhomogeneity, and Reactive Intermediates within the RcaE Cyanobacteriochrome.

    Science.gov (United States)

    Gottlieb, Sean M; Chang, Che-Wei; Martin, Shelley S; Rockwell, Nathan C; Lagarias, J Clark; Larsen, Delmar S

    2014-05-01

    The RcaE cyanobacteriochrome uses a linear tetrapyrrole chromophore to sense the ratio of green and red light to enable the Fremyella diplosiphon cyanobacterium to control the expression of the photosynthetic infrastructure for efficient utilization of incident light. The femtosecond photodynamics of the embedded phycocyanobilin chromophore within RcaE were characterized with dispersed femtosecond pump-dump-probe spectroscopy, which resolved a complex interplay of excited-state proton transfer, photoisomerization, multilayered inhomogeneity, and reactive intermediates. These reactions were integrated within a central model that incorporated a rapid (200 fs) excited-state Le Châtelier redistribution between parallel evolving populations ascribed to different tautomers. Three photoproducts were resolved and originates from four independent subpopulations, each with different dump-induced behavior: Lumi-Go was depleted, Lumi-Gr was unaffected, and Lumi-Gf was enhanced. This suggests that RcaE may be engineered to act either as an in vivo fluorescent probe (after single-pump excitation) or as an in vivo optogenetic sample (after pump and dump excitation).

  5. Active Collision Avoidance for Planetary Landers

    Data.gov (United States)

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

  6. Passive Collision Avoidance System for UAS

    Science.gov (United States)

    2008-09-01

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

  7. Trajectory Optimization for Spacecraft Collision Avoidance

    Science.gov (United States)

    2013-09-01

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

  8. Der Zellzyklusregulator Rca1 - Inhibitor und Substrat des Anaphase-Promoting-Komplexes in Drosophila melanogaster

    OpenAIRE

    Morgenthaler, Christoph

    2014-01-01

    Ein wichtiger Kontrollmechanismus des Zellzyklus ist die irreversible Proteolyse von Zellzyklus-Regulatoren. Dabei markieren E3-Ligasen Zielproteine durch Ubiquitinmoleküle. Für den Abbau in der Mitose und der G1-Phase reguliert der APC/C-Komplex (Anaphase-Promoting-Complex/Cyclosome) als E3-Ligase den zeitlichen Verlauf des Zellzyklus. Die Aktivität des APC/C wiederum wird in den übrigen Zellzyklusstadien durch Phosphorylierung und durch Proteine der Rca1/Emi1-Proteinfamilie inaktiv gehalten...

  9. Results of the IAEA/RCA personal dosemeter intercomparison in the Asian and Pacific region

    International Nuclear Information System (INIS)

    Murakami, H.; Minami, K.; Griffith, R.V.

    1994-01-01

    In 1988, the International Atomic Energy Agency started the Regional Co-operative Agreement project for strengthening the radiation protection infrastructure in the Asian and Pacific region. One component of the initial programme was a regional personal dosimetry intercomparison, which was subsequently conducted in three phases over three years during the period 1990 to 1992. Seventeen organisations of all 14 member states participated in the programmes. Irradiations and data compilation were conducted by the Japan Atomic Energy Research Institute. This paper describes the results of the intercomparison programmes and discusses some features and personal dosimetry problems in the RCA member states. (author)

  10. Bulk magnetic characterization of RCaCrO4 (Rrl02=Y, Pr, Sm ) oxides

    International Nuclear Information System (INIS)

    Martinez, J.L.; Fernandez-Diaz, M.T.; Chen, Q.; Prieto, C.; Andres, A. de; Saez-Puche, R.; Romero, J.

    1995-01-01

    The system RCaCrO 4 (R=Y, Sm, Pr) presents an orthorhombic structure (space group Bmab) at room temperature (RT), similar to that observed in La 2 MO 4 (M=Cu, Ni, Co). The magnetic susceptibility for RCaCrO 4 shows a weak temperature dependence down to 250 K, probably due to the antiferromagnetic ordering of the Cr sublattice above RT. Below RT there is a strong upturn anomaly at 210, 190 and 130 K for Pr, Sm and Y, respectively. This anomaly is associated with the appearance of a weak ferromagnetic component, and could be related to a low temperature structural phase transition, similar to that observed in the related compounds R 2 NiO 4 or La 1.88 Ba 0.12 CuO 4 . In the case of YCaCrO 4 this ferromagnetic component produces a hysteresis curve at 4.5 K with a coercive field of 0.7 T. For PrCaCrO 4 the coercive field is very small ( 4 shows a more complicated behavior with a low temperature magnetic transition (T N2 ∼40 K), which could be associated with either the antiferromagnetic ordering of the Sm sublattice or a spin reorientation in the Cr sublattice. ((orig.))

  11. Regional Cooperation Agreement for Asia and the Pacific (RCA). A mechanism for nuclear technology transfer

    International Nuclear Information System (INIS)

    Bin Muslim, N.

    1993-01-01

    The paper presents the regional cooperation programs of the IAEA which have as purpose to promote the applications of peaceful uses of atomic energy and to transfer technology to the developing countries. The paper focusses on the (RCA) program for Asia and the Pacific, it is considered the most important mechanism for genuine technology transfer. The annex no 1 lists the full text of the Regional Cooperative Agreement for Research, Development and Training Related to Nuclear Science and Technology, 1987 (13 articles). The annex no.3 lists also the full text of the African Regional Cooperative Agreement for Research, Development and training Related to Nuclear Science and Technology (14 articles). 11 refs., 17 tabs

  12. Characterization of harpy/Rca1/emi1 mutants: patterning in the absence of cell division.

    Science.gov (United States)

    Riley, Bruce B; Sweet, Elly M; Heck, Rebecca; Evans, Adrienne; McFarland, Karen N; Warga, Rachel M; Kane, Donald A

    2010-03-01

    We have characterized mutations in the early arrest gene, harpy (hrp), and show that they introduce premature stops in the coding region of early mitotic inhibitor1 (Rca1/emi1). In harpy mutants, cells stop dividing during early gastrulation. Lineage analysis confirms that there is little change in cell number after approximately cycle-14. Gross patterning occurs relatively normally, and many organ primordia are produced on time but with smaller numbers of cells. Despite the lack of cell division, some organ systems continue to increase in cell number, suggesting recruitment from surrounding areas. Analysis of bromodeoxyuridine incorporation shows that endoreduplication continues in many cells well past the first day of development, but cells cease endoreduplication once they begin to differentiate and express cell-type markers. Despite relatively normal gross patterning, harpy mutants show several defects in morphogenesis, cell migration and differentiation resulting directly or indirectly from the arrest of cell division. Copyright (c) 2010 Wiley-Liss, Inc.

  13. Automatd assessment of the state of central hemodynamics using a radiocardioanalyser RCA 3-01

    International Nuclear Information System (INIS)

    Sivachenko, T.P.; Zozulya, A.A.; Sribnaya, A.F.; Ratmanskij, A.Yu.; Tishchenko, F.M.; Kurenya, A.G.; Krupka, I.N.; Kulagin, S.N.; Protsenko, A.S.

    1987-01-01

    The authors presented the results of a clinical use of a new radiocardioanalyzer RCA 3-01 (manufactured in the USSR) providing for automated measurements and computations of indices of the central hemodynamics during studies using a method of dilution of radioactive nuclides. The main technical potentialities of the device designed on the basis of microprocessor technology, were described. The authors also provided the results of automated computation of the circulating blood volume and the main hemodynamic indices in a group of patients. Values of the hemodynamic indices were shown to correspond to actual ones and comparable to control ones and clinical evidence. The comparison of automated processing with a manual method of calculation indicated a significant coincidence of index values. The clinical use of the radiocardioanalyzer RGA 3-01 for automated assessment of the indices of the cardiovascular system was shown to hold promise among various groups of patients

  14. Role of nuclear energy in Bangladesh: experience with IAEA and RCA

    International Nuclear Information System (INIS)

    Quaiyum, M.A.

    1998-01-01

    Electricity is one of the most convenient forms of energy for sustaining and accelerating industrial growth and thus augmenting the poverty alleviation. All conventional modes of generation of electricity have adverse effects on environment. The nature, quantities and extents of such effects are, however, specific to the type of generations. Taking Bangladesh as a representative developing country the role of nuclear energy is presented. Demand projections for electricity, energy resources and energy development are discussed. It is highlighted that the lack of suitably qualified and experienced manpower has to be addressed properly. Hence training in selected areas is being arranged at home and abroad with own resources and also under different IAEA, RCA and bilateral assistance programmes. The paper also discusses the safety and environmental aspects of nuclear energy and highlights the contribution of IAEA and RCA in establishing global safety culture and pollution free environment. It is concluded that Bangladesh has to depend heavily on imported fuel. Among the important fuels, nuclear is a viable proposition and hence needs careful consideration. This is of course true for all other developing countries like Bangladesh. It is hoped that in order to dispel the apprehension of nuclear proliferation, the concept of regional reprocessing centre may be thought of. This centre may be planned and implemented by pulling resources and expertise of developing countries, specially the neighbouring ones, so as to recover the fissile materials from the spent fuel and use them in the fast breeder reactor which may be considered as the energy source of the future, and thus sustainable development can be ensured. (author)

  15. IAEA-RCA Co-ordinated Research Program on Reference Asian Man

    International Nuclear Information System (INIS)

    Koyanagi, Taku

    1990-01-01

    The Research Coordination Meeting was held in Mito City, Japan on October 17-21, 1988, inviting the chief investigating scientists from 11 RCA member countries to discuss practical plans for the Coordinated Research Program (CRP) on 'Compilation of Anatomical, Physiological and Metabolic Characteristics for a Reference Asian Man' based on the decision taken at the Project Formulation Meeting for the RCA Project 'Strengthening Radiation Protection' Tokyo, November 1987. Significance of the setting 'Reference Man' for Asian peoples to estimate more realistic radiation doses by applying the real typical physical, physiological and metabolic parameters for them instead of those recommended by ICRP based on the data for 'Caucasian Man' has been indicated by whole member countries and recognized again at the Meeting. The present status of 'Reference Man-oriented Studies' in each countries was presented by the participants and certain difference or difficulties were pointed out among the countries depending on the geographical, social, or economical conditions as well as the ethnic circumstances. After the mutual discussions and exchange of up-to-date information, the general conclusions were drawn as follows: acknowledging the importance of the CRP, research works should be carried out in each country with the expected supports from IAEA and other member countries. The first priority is given on the measurements of human physique (and internal organs) followed by the food consumption survey. Trace element analysis would be done by the countries where possible. The standard manual for data collection might be necessary. The establishments of Co-ordination Center or central body with data base and also subgroup systems are desirable to promote the CRP. (author)

  16. Contributions of Pakistan in the IAEA/RCA/UNDP regional project on management of marine coastal environment and its pollution

    International Nuclear Information System (INIS)

    Qureshi, R.M.; Mashiatullah, A.; Fazil, M.; Ahmad, E.; Tasneem, M.A.; Khan, H.A.; Sajjad, M.I.

    2002-01-01

    The International Atomic Energy Agency (IAEA), Vienna, launched a five years (duration: 1998 - 2002) Joint Project on 'Better Management of the Environment and Industrial Growth Through Isotope and Radiation Technology (RAS/97/030)' in co-operation with the RCA (Regional Co-operative Agreement) office, Vienna, and United Nations Development Programme (UNDP). The Marine Sub-project entitled 'Management of Marine Coastal Environment and its Pollution (RAS/8/083)' is 'Output 1.2' of this joint project. Pakistan is very actively participating in activities of the IAEA/RCA/UNDP Marine Sub-Project that were planned in two Project Formulation Meetings (PFMs) held at Manila, Philippines, during 1998. In Pakistan, various activities of the national marine pollution project are being administered by the nuclear institute namely, Pakistan Institute of Nuclear Science and Technology (PINSTECH), in collaboration with national end user institutions. To-date, Pakistan has significantly contributed in this project, both at national level and at RCA regional level. This paper highlights the progress and some accomplishments of Pakistan, up to the year 2001, for marine pollution studies related to the IAEA/RCA regional marine sub project. (author)

  17. The Neurospora rca-1 gene complements an Aspergillus flbD sporulation mutant but has no identifiable role in Neurospora sporulation.

    OpenAIRE

    Shen, W C; Wieser, J; Adams, T H; Ebbole, D J

    1998-01-01

    The Aspergillus nidulans flbD gene encodes a protein with a Myb-like DNA-binding domain that is proposed to act in concert with other developmental regulators to control initiation of conidiophore development. We have identified a Neurospora crassa gene called rca-1 (regulator of conidiation in Aspergillus) based on its sequence similarity to flbD. We found that N. crassa rca-1 can complement the conidiation defect of an A. nidulans flbD mutant and that induced expression of rca-1 caused coni...

  18. Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

    NARCIS (Netherlands)

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

    2007-01-01

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

  19. Rapid Identification of Seven Waterborne Exophiala Species by RCA DNA Padlock Probes.

    Science.gov (United States)

    Najafzadeh, M J; Vicente, V A; Feng, Peiying; Naseri, A; Sun, Jiufeng; Rezaei-Matehkolaei, A; de Hoog, G S

    2018-03-05

    The black yeast genus Exophiala includes numerous potential opportunistic species that potentially cause systematic and disseminated infections in immunocompetent individuals. Species causing systemic disease have ability to grow at 37-40 °C, while others consistently lack thermotolerance and are involved in diseases of cold-blooded, waterborne vertebrates and occasionally invertebrates. We explain a fast and sensitive assay for recognition and identification of waterborne Exophiala species without sequencing. The ITS rDNA region of seven Exophiala species (E. equina, E. salmonis, E. opportunistica, E. pisciphila, E. aquamarina, E. angulospora and E. castellanii) along with the close relative Veronaea botryosa was sequenced and aligned for the design of specific padlock probes for the detection of characteristic single-nucleotide polymorphisms. The assay demonstrated to successfully amplify DNA of target fungi, allowing detection at the species level. Amplification products were visualized on 1% agarose gels to confirm specificity of probe-template binding. Amounts of reagents were reduced to prevent the generation of false positive results. The simplicity, tenderness, robustness and low expenses provide padlock probe assay (RCA) a definite place as a very practical method among isothermal approaches for DNA diagnostics.

  20. Impacts of using spectral nudging on regional climate model RCA4 simulations of the Arctic

    Directory of Open Access Journals (Sweden)

    P. Berg

    2013-06-01

    Full Text Available The performance of the Rossby Centre regional climate model RCA4 is investigated for the Arctic CORDEX (COordinated Regional climate Downscaling EXperiment region, with an emphasis on its suitability to be coupled to a regional ocean and sea ice model. Large biases in mean sea level pressure (MSLP are identified, with pronounced too-high pressure centred over the North Pole in summer of over 5 hPa, and too-low pressure in winter of a similar magnitude. These lead to biases in the surface winds, which will potentially lead to strong sea ice biases in a future coupled system. The large-scale circulation is believed to be the major reason for the biases, and an implementation of spectral nudging is applied to remedy the problems by constraining the large-scale components of the driving fields within the interior domain. It is found that the spectral nudging generally corrects for the MSLP and wind biases, while not significantly affecting other variables, such as surface radiative components, two-metre temperature and precipitation.

  1. Three genes for mitochondrial proteins suppress null-mutations in both Afg3 and Rca1 when over-expressed.

    Science.gov (United States)

    Rep, M; Nooy, J; Guélin, E; Grivell, L A

    1996-08-01

    The AFG3 gene of Saccharomyces cerevisiae encodes a mitochondrial inner membrane protein with ATP-dependent protease activity. To gain more insight into the function of this protein, multi-copy suppressors of an afg3-null mutation were isolated. Three genes were found that restored partial growth on non-fermentable carbon sources, all of which affect the biogenesis of respiratory competent mitochondria: PIM1(LON) encodes a matrix-localized ATP-dependent protease involved in the turnover of matrix proteins; OXA1(PET1402) encodes a putative mitochondrial inner membrane protein involved in the biogenesis of the respiratory chain; and MBA1 encodes a mitochondrial protein required for optimal respiratory growth. All three genes also suppressed a null mutation in a related gene, RCA1, as well as in the combination of afg3- and rca1-null.

  2. Recombination reduction at the c-Si/RCA oxide interface through Ar-H2 plasma treatment

    Science.gov (United States)

    Landheer, Kees; Bronsveld, Paula C. P.; Poulios, Ioannis; Tichelaar, Frans D.; Kaiser, Monja; Schropp, Ruud E. I.; Rath, Jatin K.

    2017-02-01

    An Ar-H2 plasma treatment was applied on an ultrathin RCA oxide to create well-passivated silicon wafers with symmetric c-Si/SiOx:H/a-Si:H passivation layer stacks. The effective lifetime of these samples increased from 10 μs to 4 ms after annealing at 200 °C through Ar-H2 plasma treatment of the oxide. The results indicate that the plasma treatment can modify the RCA oxide and this enables atomic hydrogen diffusion at low annealing temperature, leading to a well passivated c-Si/SiOx:H interface. This might provide new possibilities to use wet chemical oxides in c-Si solar cells, for example as tunnel contacts.

  3. The contribution of the UNDP/RCA/IAEA programmes to the development of nuclear technology in the Asia Pacific Region

    International Nuclear Information System (INIS)

    Easey, J.F.

    1994-01-01

    The UNDP/RCA/IAEA Programmes are involving Member States in the Asia Pacific Region in projects to develop and increase the use of nuclear technologies. These efforts have already increased the level of awareness amongst the Region's scientists, engineers, technologists, and decision makers and has provided significant training to the scientists and engineers to enable them to play a role in technical back stopping at a national level. A new project has been started in 1993 and this will seek to expand the contribution of the nuclear technologies into further industrial and environmental fields. Much of the success of the programmes is credited to the high level of Regional Co-operative Agreement (RCA) for research, development and training related to nuclear science and technology in Asia and the Pacific

  4. Current status of food irradiation in overseas (2013). From the meeting report of RCA food irradiation project

    International Nuclear Information System (INIS)

    Todoriki, Setsuko

    2013-01-01

    The report introduces the activity of RCA (Regional Cooperative Agreement for Research Development and Training Related to Nuclear Science and Technology for Asia and Pacific) food irradiation project (RAS/5/057) and information obtained at the two workshops on current status of Asia and Pacific areas together with EU, USA and Japan. Also current trends of RAS/5/057 Implementing Best Practices for food irradiation for plant sanitary and phytosanitary purposes are described. Amount of food irradiation products of RCA member countries, minimum adopted doses for quarantine harmful insects (70 to 232 Gy) and import amount of fruits of USA (79 to 5500 tons) are tabulated. Finally current status of Japan is explained. (S. Ohno)

  5. Collision Mechanics

    DEFF Research Database (Denmark)

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

    1999-01-01

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

  6. Recombination reduction at the c-Si/RCA oxide interface through Ar-H2 plasma treatment

    NARCIS (Netherlands)

    Landheer, K.; Bronsveld, P.C.P.; Poulios, I.; Tichelaar, F.D.; Kaiser, M.; Schropp, R.E.I.; Rath, J.K.

    2017-01-01

    An Ar‑H2 plasma treatment was applied on an ultrathin RCA oxide to create well-passivated silicon wafers with symmetric c‑Si/SiOx:H/a‑Si:H passivation layer stacks. The effective lifetime of these samples increased from 10 μs to 4 ms after annealing at 200 °C through Ar‑H2 plasma treatment of the

  7. Analyzing the international competitiveness of the industry in Portugal, Ireland, Greece and Spain using revealed comparative advantages (RCA) indicators

    OpenAIRE

    Oelgemöller, Jens

    2012-01-01

    This paper sheds light on the export structure of the four European countries Portugal, Ireland, Greece and Spain, the so called PIGS countries. These countries were all hit by the economic downturn in the course of the financial crisis and have been struggling with the national debt crisis and recession. One way to identify sectoral international competitiveness is provided by the revealed comparative advantage index developed by Balassa (RCA 1). This indicator evolved through several studie...

  8. Optical Flow based Robot Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Kahlouche Souhila

    2008-11-01

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

  9. Identification and functional characterization of Rca1, a transcription factor involved in both antifungal susceptibility and host response in Candida albicans.

    Science.gov (United States)

    Vandeputte, Patrick; Pradervand, Sylvain; Ischer, Françoise; Coste, Alix T; Ferrari, Sélène; Harshman, Keith; Sanglard, Dominique

    2012-07-01

    The identification of novel transcription factors associated with antifungal response may allow the discovery of fungus-specific targets for new therapeutic strategies. A collection of 241 Candida albicans transcriptional regulator mutants was screened for altered susceptibility to fluconazole, caspofungin, amphotericin B, and 5-fluorocytosine. Thirteen of these mutants not yet identified in terms of their role in antifungal response were further investigated, and the function of one of them, a mutant of orf19.6102 (RCA1), was characterized by transcriptome analysis. Strand-specific RNA sequencing and phenotypic tests assigned Rca1 as the regulator of hyphal formation through the cyclic AMP/protein kinase A (cAMP/PKA) signaling pathway and the transcription factor Efg1, but also probably through its interaction with a transcriptional repressor, most likely Tup1. The mechanisms responsible for the high level of resistance to caspofungin and fluconazole observed resulting from RCA1 deletion were investigated. From our observations, we propose that caspofungin resistance was the consequence of the deregulation of cell wall gene expression and that fluconazole resistance was linked to the modulation of the cAMP/PKA signaling pathway activity. In conclusion, our large-scale screening of a C. albicans transcription factor mutant collection allowed the identification of new effectors of the response to antifungals. The functional characterization of Rca1 assigned this transcription factor and its downstream targets as promising candidates for the development of new therapeutic strategies, as Rca1 influences host sensing, hyphal development, and antifungal response.

  10. A Report on IAEA/RCA C7-RAS 6/061-004 Training Course in Chiba, Japan in 2014

    International Nuclear Information System (INIS)

    Kosuda, Shigeru; Saga, Tsuneo; Paez, Diana

    2015-01-01

    The C7-RAS 6/061-004 training course by the International Atomic Energy Agency/Regional Cooperative Agreement (IAEA/RCA) was held in Chiba in 2014. The syllabus, pre- and post-course evaluations, and survey questionnaire results were assembled in this course. The post-course evaluation, including 32 questions similar to the pre-course evaluation, was performed right after the end of the final educational lecture. The mean score showed an improvement, with the score rising from 57.0 points at the beginning to 66.5 points at the end. Among 22 trainees, the greatest score was in a higher range, with an improvement from 82 points at the beginning to 88 points at the end. The grading distribution, with regard to the training course, was as follows: excellent (68.2%), good (31.8%), average (0%), fair (0%), and poor (0%). This report on the training course, held in Chiba in 2014, will contribute to the future global plans of IAEA/RCA. Continuous training courses in member states are required to decrease the present disparities in the knowledge level, instrumentation, and human resources

  11. An overview of the RCA/IAEA activities in the Australasian region using nuclear analysis techniques for monitoring air pollution

    International Nuclear Information System (INIS)

    Markwitz, Andreas

    2005-01-01

    The International Atomic Energy Agency (IAEA) via the Regional Co-operative Agreement (RCA) has identified air particulate matter pollution as a major transboundary environmental issue in the Australasian region. Sixteen countries in the region spanning from Pakistan to the Philippines and from China to New Zealand are participating in the regional programme RAS/7/013-Improved information of urban air quality management in the RCA region' that started in 1997. New Zealand is the lead-country for this programme in which nuclear analytical techniques, such as particle induced X-ray emission (PIXE), neutron activation analysis (NAA) and X-ray fluorescence spectrometry (XRF) are used to measure key elements in PM 2.5-0 and PM 10-2.5 filters from GENT stacked samplers collected twice weekly. Major sources of air particulate matter pollution are identified using statistical source apportionment techniques. To identify transboundary air particulate matter pollution events, the data is collated in a large database. Additionally, the data is used by end-users of the participating countries in the programme. An overview is presented. (author)

  12. Collision Risk and Damage after Collision

    DEFF Research Database (Denmark)

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

    1996-01-01

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

  13. Polarized Proton Collisions at RHIC

    CERN Document Server

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

    2005-01-01

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

  14. Galaxy collisions

    International Nuclear Information System (INIS)

    Combes, F.

    1987-01-01

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

  15. Special report for UNDP on regional RCA project for Asia and the Pacific on industrial applications of isotopes and radiation technology. Technical, economic and commercial analyses

    International Nuclear Information System (INIS)

    1980-01-01

    The report contains seven sub-projects for RCA countries on the following problems: tracer technology in industry; non-destructive testing practice; radiation processing; nucleonic control systems for paper manufacture and steel manufacture; mineral exploration, mining and process control; nuclear instruments maintenance practices

  16. Detection of denitrification genes by in situ rolling circle amplification - fluorescence in situ hybridization (in situ RCA-FISH) to link metabolic potential with identity inside bacterial cells

    DEFF Research Database (Denmark)

    Hoshino, Tatsuhiko; Schramm, Andreas

    2010-01-01

    target site. Finally, the RCA product inside the cells was detected by standard fluorescence in situ hybridization (FISH). The optimized protocol showed high specificity and signal-to-noise ratio but low detection frequency (up to 15% for single-copy genes and up to 43% for the multi-copy 16S rRNA gene...... as Candidatus Accumulibacter phosphatis by combining in situ RCA-FISH with 16S rRNA-targeted FISH. While not suitable for quantification because of its low detection frequency, in situ RCA-FISH will allow to link metabolic potential with 16S rRNA (gene)-based identification of single microbial cells.......). Nevertheless, multiple genes (nirS and nosZ; nirS and the 16S rRNA gene) could be detected simultaneously in P. stutzeri. Environmental application of in situ RCA-FISH was demonstrated on activated sludge by the differential detection of two types of nirS-defined denitrifiers; one of them was identified...

  17. The IAEA regional cooperative agreement programme (RCA) on enhancement and harmonization of radiation protection in the Asia-Pacific Region (1998-2002)

    International Nuclear Information System (INIS)

    Cameron, R.F.; Oresegun, M.O.

    2000-01-01

    The IAEA Regional Cooperative Agreement (RCA) was initiated in 1972, and currently consists of 17 Member States from East Asia and Oceania. These countries are Australia, Bangladesh, China, India, Indonesia, Japan, Korea, Malaysia, Myanmar, Mongolia, New Zealand, Pakistan, Philippines, Singapore, Sri Lanka, Thailand and Vietnam. The RCA is one of three cooperative agreements under the aegis of the IAEA, the other two being for Africa (AFRA) and Latin America (ARCAL). The RCA agreement has been extended five times, as it meets particular needs of the participating countries. The region covered by the RCA comprises nearly half of the world's population and is undergoing a rapid expansion in nuclear power development and in the uses of radiation sources (radioactive materials and irradiating equipment). A number of activities in a wide range of areas of Agency interest are carried out under RCA. The Project to Strengthen Radiation Protection Infrastructures was initiated in 1988, as a five year programme, to offer a regional response to some of the radiation protection issues that were raised following the Chernobyl accident. It was extended into Phase 2 from 1993 to 1998 and has now reached a new phase. The IAEA has a dual role to establish standards in radiation protection and safety and to provide for their application. Since the status of the implementation of radiation safety laws and regulations is variable within the RCA countries, the primary focus has been on providing assistance to member states in the drafting of laws and regulations to ensure that sources are authorized and are properly controlled. A number of accidents worldwide have resulted from inappropriate or a complete lack of regulations on the control of sources. However as countries develop, their needs change and it is important that the RCA project in radiation protection changes with them. Hence the new Phase 3 programme in radiation protection has a mixture of events to strengthen radiation

  18. Verified Interval Orbit Propagation in Satellite Collision Avoidance

    NARCIS (Netherlands)

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

    2011-01-01

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

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

    Science.gov (United States)

    1981-07-22

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

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

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  2. Traffic jam driving with NMV avoidance

    Science.gov (United States)

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

    2012-08-01

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

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

    Directory of Open Access Journals (Sweden)

    Wei Zhang

    2017-11-01

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

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

    Data.gov (United States)

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

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

    Science.gov (United States)

    1975-05-01

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

  6. Experience with WASP and MAED among IAEA Member States participating in the Regional Co-operative Agreement (RCA) in Asia and the Pacific Region

    International Nuclear Information System (INIS)

    1989-10-01

    The report includes the proceedings and papers presented during the workshop on the experience with WASP/MAED computer programs among IAEA Member States participating in the regional co-operative agreement (RCA) in Asia and the Pacific Region, organized by the IAEA and held in Kuala Lumpur (Malaysia) between 5-9 December 1988. A separate abstract was prepared for each of the 14 papers presented. Refs, figs and tabs

  7. Avoiding the Flu

    Science.gov (United States)

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

  8. Helping Students Avoid Plagiarism.

    Science.gov (United States)

    Wilhoit, Stephen

    1994-01-01

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

  9. Human pathogen avoidance adaptations

    NARCIS (Netherlands)

    Tybur, J.M.; Lieberman, D.

    2016-01-01

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

  10. The Text of the Third Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training related to Nuclear Science and Technology (RCA). Latest Status. Extension of Agreement

    International Nuclear Information System (INIS)

    2002-01-01

    The text of the Third Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology, t he 1987 RCA , is reproduced herein for the information of all Members [es

  11. The Text of the Fifth Agreement to Extend the 1987 Regional Cooperative Agreement for Research, Development and Training Related to Nuclear Science and Technology (RCA). Extension of Agreement. Latest Status

    International Nuclear Information System (INIS)

    2012-01-01

    The Text of the Fifth Agreement to Extend the 1987 Regional Cooperative Agreement for Research, Development and Training Related to Nuclear Science and Technology (RCA). Extension of Agreement. Latest Status [es

  12. The Text of the Fourth Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training related to Nuclear Science and Technology (RCA). Extension of Agreement. Latest Status

    International Nuclear Information System (INIS)

    2007-01-01

    The text of the Fourth Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology, 'the 1987 RCA', is reproduced herein for the information of all Members [es

  13. The Text of the Fourth Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training related to Nuclear Science and Technology (RCA). Extension of Agreement. Latest Status

    International Nuclear Information System (INIS)

    2007-01-01

    The text of the Fourth Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology, 'the 1987 RCA', is reproduced herein for the information of all Members

  14. Collision Repair Campaign

    Science.gov (United States)

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

  15. Gamma-rays from deep inelastic collisions

    International Nuclear Information System (INIS)

    Stephens, F.S.

    1979-01-01

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

  16. Ion-ion collisions

    International Nuclear Information System (INIS)

    Salzborn, Erhard; Melchert, Frank

    2000-01-01

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

  17. Probability of satellite collision

    Science.gov (United States)

    Mccarter, J. W.

    1972-01-01

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

  18. Avoidable waste management costs

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-01-01

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

  19. Avoidable waste management costs

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  20. PENGURANGAN DEFECT PADA PRODUK SEPATU DENGAN MENGINTEGRASIKAN STATISTICAL PROCESS CONTROL (SPC DAN ROOT CAUSE ANALYSIS (RCA STUDI KASUS PT. XYZ

    Directory of Open Access Journals (Sweden)

    Moch. Teguh Fajrin

    2018-04-01

    Full Text Available PT. XYZ is a foreign capital investment companies are located in one area of town of Sidoarjo which has more than 7000 employees in it and of course want to have a high quality product . PT footwear products. XYZ is the world quality products that promote the quality and comfort of the wearer. Problems that occur in the production process of PT . XYZ of 7 -injection engine that has the most number of engine defect is 5.6 and 7. Quality products at heavily influence the shoe production to consumers. If damaged, then the product can not be distributed to consumers .Therefore , the quality of the shoes must be maintained for the successful marketing of the product. From our previous improvements made in reducing the defect in the production process , but the result is less than optimal , so do research that aims to make improvements again with another method . The method used in this research is to apply the methods of Statistical Processing Control (SPC and Root Cause Analysis (RCA. The results of the check sheet analysis and Pareto diagram can be seen the frequency of product defects (defects over roughing most occurred in March 2016 as many as 345 shoes (62% of the total production of 489 products. Then the second frequency in February 2016 as many as 214 shoes (38% of the total production of 357 products. And from the image Control Chart P can be concluded that the data are in a state of uncontrolled. Because of all these 50 data, there is one data point that is outside the control limits (out of control, on the 4th point the data has a value of the proportion of 1, beyond the limits Upper Control Limit (UCL is equal to 0.938. During the dots located within the boundaries of a controller, a process is under controlled conditions, and no action required. However, one point that lies outside the control limit is interpreted as the fact that the quality control in the production process (injection PT. XYZ uncontrolled or still experiencing

  1. L'amélioration des techniques de transformation du manioc en cossettes en RCA : rouissage en vase clos et séchage en encage thermique

    OpenAIRE

    Rasoanantoandro-Gothard , Marie Céline

    2003-01-01

    International audience; Le manioc constitue l'aliment de base en République centrafricaine (RCA). La population le consomme sous diverses formes: tubercule sans préparation (consommé cuit), chickouangue, bouillie, soupe, grillé ou braisé (roui ou non roui), sous forme de pâte cuite préparée à partir de la farine de cossettes. Plus de 80% de la population centrafricaine consomme le manioc sous forme de pâte cuite préparée à partir de la farine de cossette et plus de 50% des besoins énergétique...

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

    OpenAIRE

    Xiaoqin Xu; Xiaoqiao Geng; Yuanqiao Wen

    2016-01-01

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

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

    International Nuclear Information System (INIS)

    Vidovic, M.

    1991-09-01

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

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

    OpenAIRE

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

    2016-01-01

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

  5. Aplicación de la tribología y el análisis de la causa raíz (RCA en motores de combustión interna. // Application of tribology and root cause analysis (RCA on diesel engine.

    Directory of Open Access Journals (Sweden)

    F. Martínez Pérez

    2008-09-01

    Full Text Available En el trabajo, se hace empleo de la herramienta de trabajo Análisis de la Causa Raíz (RCA para llegar a unas primerasconclusiones acerca de fallos producidos en el nudo tribológico válvula – guía de válvula en un motor de combustióninterna, y así pasar a hallar la causa final y dar solución al problema. El método permite arribar a conclusiones en cuanto ala causa del problema.Palabras claves: Tribología, Análisis causa raíz, RCA, desgaste, motor de combustión interna.______________________________________________________________________________Abstract:It is used the process root cause in the analysis of a problem in the tribological pair valve- valve guide of an internalcombustion engine. Using this process was possible to have the first conclusions in the problem and finally to arriveto a final conclusion about the cause of the problem.Key words: Tribology, RCA, wear, engine.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-07-01

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

  7. Hadron-nucleus collisions

    International Nuclear Information System (INIS)

    Strugalski, Z.

    1981-01-01

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

  8. The pde2 gene of Saccharomyces cerevisiae is allelic to rca1 and encodes a phosphodiesterase which protects the cell from extracellular cAMP.

    Science.gov (United States)

    Wilson, R B; Renault, G; Jacquet, M; Tatchell, K

    1993-07-05

    The high affinity cAMP phosphodiesterase, encoded by PDE2, is an important component of the cAMP-dependent protein kinase signaling system in Saccharomyces cerevisiae. An unexpected phenotype of pde2 mutants is sensitivity to external cAMP. This trait has been found independently for rca1 mutants and has been used to monitor the effects of cAMP on several biological processes. We demonstrate here that RCA1 is identical to PDE2. Further analysis of the phenotype of pde2 deletions reveal that exogenously added cAMP results in an increase in the internal level of cAMP. This increase slows down the rate of cell division by increasing the length of the G1 phase of the cell cycle and leads to increased cell volume. Also, cells with a disrupted PDE2 gene previously arrested by nutrient starvation rapidly lose thermotolerance when incubated with exogenous cAMP. From these observations we propose that a role of the PDE2-encoded phosphodiesterase may be to help insulate the internal cAMP pools from the external environment. This protective role might also be important in other eukaryotic organisms where cAMP is a key second messenger.

  9. Neural cell fate in rca1 and cycA mutants: the roles of intrinsic and extrinsic factors in asymmetric division in the Drosophila central nervous system.

    Science.gov (United States)

    Lear, B C; Skeath, J B; Patel, N H

    1999-11-01

    In the central nervous system (CNS) of Drosophila embryos lacking regulator of cyclin A (rca1) or cyclin A, we observe that several ganglion mother cells (GMCs) fail to divide. Whereas GMCs normally produce two sibling neurons that acquire different fates ('A/B'), non-dividing GMCs differentiate exclusively in the manner of one of their progeny ('B'). In zygotic numb mutants, sibling neuron fate alterations ('A/B' to 'A/A') occur infrequently or do not occur in some sibling pairs; we have determined that depletion of both maternal and zygotic numb causes sibling neurons to acquire equalized fates ('A/A') with near-complete expressivity. In rca1, numb mutant embryos, we observe binary cell fate changes ('B' to 'A') in several GMCs as well. Finally, we have demonstrated that expression of Delta in the mesoderm is sufficient to attain both sibling fates. Our results indicate that the intrinsic determinant Numb is absolutely required to attain differential sibling neuron fates. While the extrinsic factors Notch and Delta are also required to attain both fates, our results indicate that Delta signal can be received from outside the sibling pair.

  10. Estudo de Caso: Análise de um Relatório de Controle Ambiental (RCA Referente à Atividade de Levantamento Sísmico

    Directory of Open Access Journals (Sweden)

    Igor Leonardo Morais Nascimento

    2010-01-01

    Full Text Available Este trabalho aborda a análise de um Relatório de Controle Ambiental (RCA, da atividade de sísmica, submetido à obtenção de licenciamento ambiental junto ao Instituto de Defesa do Meio Ambiente – IDEMA. Realiza uma comparação dos itens exigidos no Termo de Referência (TR do IDEMA com o Estudo ambiental citado, a fim de identificar se todos os itens exigidos legalmente foram contemplados no RCA e se os mesmos estão em conformidade com o Termo. Utiliza a técnica de estudo de impacto ambiental baseado em um contexto legal que estabelece requisitos a serem observados e procedimentos a serem cumpridos, tal técnica é a análise formal da qualidade de um estudo ambiental. Verifica, também, a repetição ou não das principais deficiências apontadas no elemento Mitigação e compensação de impactos com base no estudo do Ministério Público Federal - MPF, a partir da técnica de análise de conteúdo de estudo ambiental.

  11. Direct detection of RNA in vitro and in situ by target-primed RCA: The impact of E. coli RNase III on the detection efficiency of RNA sequences distanced far from the 3'-end.

    Science.gov (United States)

    Merkiene, Egle; Gaidamaviciute, Edita; Riauba, Laurynas; Janulaitis, Arvydas; Lagunavicius, Arunas

    2010-08-01

    We improved the target RNA-primed RCA technique for direct detection and analysis of RNA in vitro and in situ. Previously we showed that the 3' --> 5' single-stranded RNA exonucleolytic activity of Phi29 DNA polymerase converts the target RNA into a primer and uses it for RCA initiation. However, in some cases, the single-stranded RNA exoribonucleolytic activity of the polymerase is hindered by strong double-stranded structures at the 3'-end of target RNAs. We demonstrate that in such hampered cases, the double-stranded RNA-specific Escherichia coli RNase III efficiently assists Phi29 DNA polymerase in converting the target RNA into a primer. These observations extend the target RNA-primed RCA possibilities to test RNA sequences distanced far from the 3'-end and customize this technique for the inner RNA sequence analysis.

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

    International Nuclear Information System (INIS)

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

    1992-01-01

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

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

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  14. Electron-molecule collisions

    International Nuclear Information System (INIS)

    Shimamura, I.; Takayanagi, K.

    1984-01-01

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

  15. Determinants of Aggressive Tax Avoidance

    OpenAIRE

    Herbert, Tanja

    2015-01-01

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

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

    Science.gov (United States)

    Kannan, Viji Diane; Veazie, Peter J

    2014-04-01

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

  17. Stimulus conflict triggers behavioral avoidance.

    Science.gov (United States)

    Dignath, David; Eder, Andreas B

    2015-12-01

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

  18. Healthcare avoidance: a critical review.

    Science.gov (United States)

    Byrne, Sharon K

    2008-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xuedong Yan

    2014-02-01

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

  20. Development of an in-vehicle intersection collision countermeasure

    Science.gov (United States)

    Pierowicz, John A.

    1997-02-01

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

  1. Conflict Avoidance and University Management.

    Science.gov (United States)

    Tagliacozzo, Daisy M.

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

  2. Cigarette tax avoidance and evasion.

    Science.gov (United States)

    Stehr, Mark

    2005-03-01

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

  3. Analysis of the N-glycosylation of the serum glycoproteins defined by Con A, PHA-E, RCA1 and WGA in Chinese patients with gastrointestinal diseases.

    Science.gov (United States)

    Zhang, J; Chen, Y; Dai, X; Wang, S

    1996-03-01

    Glycoproteins from tumor cells isolated by Con A, PHA-E and RCA1, were coupled to horse radish peroxidase and then used as reporters to evaluate the oligosaccharides change on serum glycoproteins in digestive tract diseases and individual healthy persons. A value 2 standard deviation above the mean of the healthy person group was considered positive. The results indicated that the positive rates of the oligosaccharides bound with Con A, PHA-E and RCA1 were 51% (61/119), 70.6% (84/119), and 76.4% (91/119) in patients with gastric cancer; 53.3% (16/30), 46.7% (14/30) and 66.7% (20/30) in esophageal cancers; 28.5% (15/49), 49.0% (24/49) and 46.9% (23/49) in colorectal cancer; 78.1% (25/32), 81.3% (26/32) and 31.3% (10/32) in gallbladder tumors; 60.4% (29/48), 54.1% (26/48) and 39.5% (19/48) in hepatocellular cancer. The positive rates among the patients with benign diseases were also found to be 12.7% (16/126), 15.5% (20/126) and 26.2% (33/126). However, the expression of the oligosaccharide moieties recognized by WGA on the glycoprotein bound with Con A, was significantly lower in the serum of patients with tumors than in those with benign disease and in healthy individuals (P < 0.01, P < 0.01).

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

    Science.gov (United States)

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

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

  5. From collisions to clusters

    DEFF Research Database (Denmark)

    Loukonen, Ville; Bork, Nicolai; Vehkamaki, Hanna

    2014-01-01

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

  6. Electron-molecule collisions

    CERN Document Server

    Takayanagi, Kazuo

    1984-01-01

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

  7. Mechanics of train collision

    Science.gov (United States)

    1976-04-30

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

  8. 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.

  9. Photon-photon collisions

    International Nuclear Information System (INIS)

    Burke, D.L.

    1982-10-01

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

  10. Photon-photon collisions

    International Nuclear Information System (INIS)

    Haissinski, J.

    1986-06-01

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

  11. Strangeness in nuclear collisions

    International Nuclear Information System (INIS)

    Gazdzicki, M.; Roehrich, D.

    1996-01-01

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

  12. Recommended Screening Practices for Launch Collision Aviodance

    Science.gov (United States)

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

    2015-01-01

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

  13. Avoided intersections of nodal lines

    International Nuclear Information System (INIS)

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

    2003-01-01

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

  14. Who participates in tax avoidance?

    OpenAIRE

    Alstadsæter, Annette; Jacob, Martin

    2013-01-01

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

  15. Predator avoidance in extremophile fish.

    Science.gov (United States)

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

    2013-02-06

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

  16. Predator Avoidance in Extremophile Fish

    Science.gov (United States)

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

    2013-01-01

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

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

    Science.gov (United States)

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

    2009-01-01

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

  18. Obstacle Avoidance of a Mobile Robot with Hierarchical Structure

    Energy Technology Data Exchange (ETDEWEB)

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

    2001-06-01

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

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

    Science.gov (United States)

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

    2018-01-01

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

  20. Java Architecture for Detect and Avoid Extensibility and Modeling

    Science.gov (United States)

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

    2015-01-01

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

  1. Section of Atomic Collisions

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  2. Approach/avoidance in dreams.

    Science.gov (United States)

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

    2012-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Pandu Sandi Pratama

    2012-12-01

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

  4. Composite quantum collision models

    Science.gov (United States)

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

    2017-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Jinhong Noh

    2016-04-01

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

  6. About the Collision Repair Campaign

    Science.gov (United States)

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

  7. Positron-atom collisions

    International Nuclear Information System (INIS)

    Drachman, R.J.

    1984-01-01

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

  8. Relativistic heavy ion collisions

    International Nuclear Information System (INIS)

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

    1984-12-01

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

  9. Atomic cluster collisions

    Science.gov (United States)

    Korol, Andrey V.; Solov'yov, Andrey

    2013-01-01

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

  10. How to avoid sedation complications

    African Journals Online (AJOL)

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

  11. Avoiding plagiarism in academic writing.

    Science.gov (United States)

    Anderson, Irene

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

  12. Whole-arm obstacle avoidance system conceptual design

    International Nuclear Information System (INIS)

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

    1993-04-01

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

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

    Science.gov (United States)

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

    2010-06-01

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

  14. The text of the third agreement to extend the 1987 Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology (RCA). Extension of agreement

    International Nuclear Information System (INIS)

    2002-01-01

    The text of the Third Agreement to Extend the 1987 Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology, 'the 1987 RCA', is reproduced herein for the information of all Members. Pursuant to Article 1 of the Third Agreement to Extend the 1987 Regional Co-operative Agreement, the 1987 RCA shall continue in force for a further period of five years with effect from 12 June 2002, i.e., through 11 June 2007. As of 15 May 2002, notifications of acceptance had been received by the Director General from the Governments of Bangladesh, China, India, Indonesia, Republic of Korea, Malaysia, Pakistan, Sri Lanka and Viet Nam. The latest status list is attached

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

    Science.gov (United States)

    Pundlik, Shrinivas; Tomasi, Matteo; Luo, Gang

    2015-04-01

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

  16. Deconfinement and nuclear collisions

    International Nuclear Information System (INIS)

    Sarma, Nataraja

    1992-01-01

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

  17. Vocal Fold Collision Modeling

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  18. Ultrarelativistic atomic collisions

    International Nuclear Information System (INIS)

    Bottcher, C.; Strayer, M.R.

    1991-01-01

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

  19. Consumers’ Collision Insurance Decisions

    DEFF Research Database (Denmark)

    Austin, Laurel; Fischhoff, Baruch

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

  20. Collisions in soccer kicking

    DEFF Research Database (Denmark)

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

    1999-01-01

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

  1. High energy nuclear collisions

    Indian Academy of Sciences (India)

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

  2. Droplet collisions in turbulence

    NARCIS (Netherlands)

    Oldenziel, G.

    2014-01-01

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

  3. CMS SEES FIRST COLLISIONS

    CERN Multimedia

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

  4. Ultrarelativistic oscillon collisions

    NARCIS (Netherlands)

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

    2014-01-01

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

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

    Science.gov (United States)

    Shim, Youngbo; Kim, Gon-Woo

    2018-03-29

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

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

    Directory of Open Access Journals (Sweden)

    Youngbo Shim

    2018-03-01

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

  7. Avoiding Complications with MPFL Reconstruction.

    Science.gov (United States)

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

    2018-05-12

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

  8. Avoidant personality disorder: current insights

    OpenAIRE

    Lampe,Lisa; Malhi,Gin

    2018-01-01

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

  9. Pathogen avoidance by insect predators

    OpenAIRE

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

    2008-01-01

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

  10. Avoidant personality disorder: current insights

    Directory of Open Access Journals (Sweden)

    Lampe L

    2018-03-01

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

  11. Avoiding congestion in recommender systems

    International Nuclear Information System (INIS)

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

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Giancarmine Fasano

    2013-01-01

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

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

    International Nuclear Information System (INIS)

    Lindstam, S.

    1975-06-01

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

  14. Collision physics going west

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

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

  15. Collision Probability Analysis

    DEFF Research Database (Denmark)

    Hansen, Peter Friis; Pedersen, Preben Terndrup

    1998-01-01

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

  16. Electron-ion collisions

    International Nuclear Information System (INIS)

    Crandall, D.H.

    1982-01-01

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

  17. Heavy ion collisions

    International Nuclear Information System (INIS)

    Siemens, P.J.

    1979-12-01

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

  18. Dissipative binary collisions

    International Nuclear Information System (INIS)

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

    1998-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xiaoqin Xu

    2016-07-01

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

  20. Collision-induced coherence

    International Nuclear Information System (INIS)

    Bloembergen, N.

    1985-01-01

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

  1. Collisions with nuclei

    International Nuclear Information System (INIS)

    Gulamov, K.G.

    1987-01-01

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

  2. Mechanism of avoiding little rip

    OpenAIRE

    ZHAI Xianghua; XI Ping

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Achmad Jazidie

    2011-12-01

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

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

    Science.gov (United States)

    Eichelberger, Angela H; McCartt, Anne T

    2014-01-01

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

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

    Science.gov (United States)

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Marwah Almasri

    2015-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Xiao-Yun Lu

    2014-01-01

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

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

    Science.gov (United States)

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

    2016-12-01

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

  9. Avoidant personality disorder: current insights.

    Science.gov (United States)

    Lampe, Lisa; Malhi, Gin S

    2018-01-01

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

  10. Avoidant personality disorder: current insights

    Science.gov (United States)

    Lampe, Lisa; Malhi, Gin S

    2018-01-01

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

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

    Science.gov (United States)

    Bell, Alan E.

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

  12. Bubble collisions in general relativity

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  13. Topics in atomic collision theory

    CERN Document Server

    Geltman, Sydney; Brueckner, Keith A

    1969-01-01

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

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

    Science.gov (United States)

    Davies, Jason T.; Wu, Minghong G.

    2018-01-01

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

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

    International Nuclear Information System (INIS)

    Wang, S.; Chu, S.Y.

    1993-01-01

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

  16. RCA annual report 1996. Draft

    International Nuclear Information System (INIS)

    1997-02-01

    In accordance with Article VII.4 of the Regional Co-operative Agreement for Research, Development and Training Related to Nuclear Science and Technology 1987 and extended in 1992, a draft report of activities for the calendar year 1996 is submitted

  17. Mechanism of ballistic collisions

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  18. Charm from hadron collisions

    Energy Technology Data Exchange (ETDEWEB)

    Anon.

    1979-04-15

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

  19. Collision of two hopfions

    International Nuclear Information System (INIS)

    Arrayás, M; Trueba, J L

    2017-01-01

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

  20. Electron collisions with biomolecules

    International Nuclear Information System (INIS)

    McKoy, V; Winstead, C

    2008-01-01

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

  1. Molecular collision theory

    CERN Document Server

    Child, M S

    2010-01-01

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

  2. Heavy ion collisions

    International Nuclear Information System (INIS)

    Jacak, B.V.

    1994-01-01

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

  3. Relativistic nuclear collisions: theory

    International Nuclear Information System (INIS)

    Gyulassy, M.

    1980-07-01

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

  4. Collision group and renormalization of the Boltzmann collision integral

    Science.gov (United States)

    Saveliev, V. L.; Nanbu, K.

    2002-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Alexandr M. Kuzminskiy

    2007-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Kuzminskiy Alexandr M

    2007-01-01

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

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

    Science.gov (United States)

    Zhang, Binbin; Wang, Zhaokui; Zhang, Yulin

    2017-04-01

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

  8. Bubble collisions and measures of the multiverse

    International Nuclear Information System (INIS)

    Salem, Michael P.

    2012-01-01

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

  9. Bubble collisions and measures of the multiverse

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-01-01

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

  10. Avoidant/Restrictive Food Intake Disorder

    Science.gov (United States)

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

  11. CONFERENCE: Photon-photon collisions

    International Nuclear Information System (INIS)

    Anon.

    1983-01-01

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

  12. Outer Dynamics of Ship Collisions

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup

    1996-01-01

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

  13. The Global Attack on Tax Avoidance

    OpenAIRE

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

    2015-01-01

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

  14. Tax Avoidance, Welfare Transfers, and Asset Prices

    OpenAIRE

    Denis Gorea

    2013-01-01

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

  15. Photon-photon collisions

    Energy Technology Data Exchange (ETDEWEB)

    Brodsky, S.J.

    1985-01-01

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

  16. Photon-photon collisions

    International Nuclear Information System (INIS)

    Brodsky, S.J.

    1985-01-01

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

  17. Photon-photon collisions

    International Nuclear Information System (INIS)

    Field, J.H.

    1984-01-01

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

  18. Conflict Avoidance in a University Context

    Science.gov (United States)

    Barsky, Allan E.; Wood, Lorinda

    2005-01-01

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

  19. Population avoidance in aimpoint selection

    International Nuclear Information System (INIS)

    Andre, C.G.

    1978-01-01

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

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

    International Nuclear Information System (INIS)

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

    1989-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1989-01-01

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

  2. Collision-free motion coordination of heterogeneous robots

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  3. Collision-free motion coordination of heterogeneous robots

    Energy Technology Data Exchange (ETDEWEB)

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

    2008-11-15

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

  4. Earthworm avoidance of silver nanomaterials over time

    DEFF Research Database (Denmark)

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

    2018-01-01

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

  5. Physics of Nuclear Collisions at High Energy

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-05-01

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

  6. On impact mechanics in ship collisions

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup; Zhang, Shengming

    1998-01-01

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

  7. On Impact Mechanics in Ship Collisions

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup; Zhang, Shengming

    1998-01-01

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

  8. Aplicación de la tribología y el análisis de la causa raíz (RCA en motores de combustión interna.

    Directory of Open Access Journals (Sweden)

    F. Martínez Pérez

    2008-09-01

    Full Text Available En el trabajo, se hace empleo de la herramienta de trabajo Análisis de la Causa Raíz (RCA para llegar a unas primeras conclusiones acerca de fallos producidos en el nudo tribológico válvula – guía de válvula en un motor de combustión interna, y así pasar a hallar la causa final y dar solución al problema. El método permite arribar a conclusiones en cuanto a la causa del problema.Application of tribology and root cause analysis (RCA on diesel engine.It is used the process root cause in the analysis of a problem in the tribological pair valve- valve guide of an internal combustion engine. Using this process was possible to have the first conclusions in the problem and finally to arrive to a final conclusion about the cause of the problem.

  9. Gyrokinetic linearized Landau collision operator

    DEFF Research Database (Denmark)

    Madsen, Jens

    2013-01-01

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

  10. Atomic collisions involving pulsed positrons

    DEFF Research Database (Denmark)

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

    2000-01-01

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

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

    International Nuclear Information System (INIS)

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

    1999-01-01

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

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

    NARCIS (Netherlands)

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

    2016-01-01

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

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

    Science.gov (United States)

    Kaplan, Sigal; Prato, Carlo Giacomo

    2012-01-01

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

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

    NARCIS (Netherlands)

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

    2016-01-01

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

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

    Science.gov (United States)

    2014-06-01

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

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

    OpenAIRE

    Jochim, Fritz; Fiedler, Hauke; Krieger, Gerhard

    2011-01-01

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

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

    CSIR Research Space (South Africa)

    Yinka-Banjo, CO

    2011-03-01

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

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

    Science.gov (United States)

    1981-01-01

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

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

    OpenAIRE

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

    2017-01-01

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

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

    Science.gov (United States)

    2015-03-01

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

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

    Science.gov (United States)

    1982-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Marcus Eichhorn

    2010-06-01

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

  3. Generalization of socially transmitted and instructed avoidance

    Directory of Open Access Journals (Sweden)

    Gemma eCameron

    2015-06-01

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

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Science.gov (United States)

    Chang, Kai; Xia, Yuanqing; Huang, Kaoli

    2016-01-01

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

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2005-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Bellalta Boris

    2011-01-01

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

  10. Integration of Weather Avoidance and Traffic Separation

    Science.gov (United States)

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

    2011-01-01

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

  11. Radiations from atomic collision processes

    International Nuclear Information System (INIS)

    Bernyi, D.

    1994-01-01

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

  12. Collision-produced atomic states

    International Nuclear Information System (INIS)

    Andersen, N.; Copenhagen Univ.

    1988-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hoyeon Kim

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

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

    Science.gov (United States)

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

    2017-01-01

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

  15. A Demonstration of Approach and Avoidance Conflicts

    Science.gov (United States)

    Terry, W. Scott

    2010-01-01

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

  16. Effects of IFRS adoption on tax avoidance

    Directory of Open Access Journals (Sweden)

    Renata Nogueira Braga

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

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

    Science.gov (United States)

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

    2017-09-01

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

  18. Physics in collision

    International Nuclear Information System (INIS)

    Anon.

    1982-01-01

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

  19. The collision that changed the world

    Directory of Open Access Journals (Sweden)

    Wally Broecker

    2015-07-01

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

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

    International Nuclear Information System (INIS)

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

    1991-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Tianjian Hu

    2016-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Motoyasu eHonma

    2015-07-01

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

  3. Ecology: avoidance of disease by social lobsters.

    Science.gov (United States)

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

    2006-05-25

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

  4. QCD in heavy ion collisions

    Energy Technology Data Exchange (ETDEWEB)

    Iancu, Edmond [IPhT, Saclay (France)

    2014-07-01

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

  5. QCD in heavy ion collisions

    International Nuclear Information System (INIS)

    Iancu, Edmond

    2014-01-01

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

  6. Semiholography for heavy ion collisions

    CERN Document Server

    Mukhopadhyay, Ayan

    2017-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-05-15

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

  8. Distraction-related road traffic collisions

    African Journals Online (AJOL)

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

  9. Outreach Materials for the Collision Repair Campaign

    Science.gov (United States)

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

  10. Interferometry of high energy nuclear collisions

    International Nuclear Information System (INIS)

    Padula, S.S.

    1990-01-01

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

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

    International Nuclear Information System (INIS)

    Xiao Di; Peng Wenbing; Liao Xiaofeng; Xiang Tao

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Yi-Chung Lai

    2012-10-01

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

  13. Multidimensional intermittency in hadronic collisions

    International Nuclear Information System (INIS)

    Pan, J.; Hwa, R.C.

    1992-06-01

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

  14. Dissipative heavy-ion collisions

    International Nuclear Information System (INIS)

    Feldmeier, H.T.

    1985-01-01

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

  15. Spectroscopic studies of hydrogen collisions

    International Nuclear Information System (INIS)

    Kielkopf, J.

    1991-01-01

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

  16. Toddlers at the Table: Avoiding Power Struggles

    Science.gov (United States)

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

  17. How to avoid overheating during exercise

    Science.gov (United States)

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

  18. Food Waste Avoidance Actions in Food Retailing

    DEFF Research Database (Denmark)

    Kulikovskaja, Viktorija; Aschemann-Witzel, Jessica

    2017-01-01

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

  19. Foods to Avoid or Limit during Pregnancy

    Science.gov (United States)

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

  20. The challenges for scientists in avoiding plagiarism.

    Science.gov (United States)

    Fisher, E R; Partin, K M

    2014-01-01

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

  1. Dual Eligibles and Potentially Avoidable Hospitalizations

    Data.gov (United States)

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

  2. Avoiding Anemia: Boost Your Red Blood Cells

    Science.gov (United States)

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

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

    Directory of Open Access Journals (Sweden)

    Fang Wu

    2017-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Li Wei

    2017-11-01

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

  5. ADVERTISING AVOIDANCE PADA IKLAN DI MEDIA TELEVISI

    OpenAIRE

    Indah Dwi Pratama; Ujang Sumarwan; Hari Wijayanto

    2016-01-01

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

  6. Banking deregulation and corporate tax avoidance

    Directory of Open Access Journals (Sweden)

    Bill B. Francis

    2017-06-01

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

  7. Sinkhole Avoidance Routing in Wireless Sensor Networks

    Science.gov (United States)

    2011-05-09

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

  8. Pathological demand avoidance: Exploring the behavioural profile.

    OpenAIRE

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

    2014-01-01

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

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

    International Nuclear Information System (INIS)

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

    1999-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Judy Shamoun-Baranes

    2008-12-01

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

  11. NA49: lead-lead collision

    CERN Multimedia

    1996-01-01

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

  12. Microscopic model of nucleus-nucleus collisions

    International Nuclear Information System (INIS)

    Harvey, B.G.

    1986-04-01

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

  13. NASA Lewis Launch Collision Probability Model Developed and Analyzed

    Science.gov (United States)

    Bollenbacher, Gary; Guptill, James D

    1999-01-01

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

  14. Ship Collision and Grounding Analysis

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup

    2010-01-01

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

  15. Outer Dynamics of Ship Collisions

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup

    1996-01-01

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

  16. Quarkonium production in hadronic collisions

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  17. Collision Risk Analysis for HSC

    DEFF Research Database (Denmark)

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

    1999-01-01

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

  18. Cern collisions light up Copenhagen

    CERN Multimedia

    Banks, Michael

    2010-01-01

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

  19. Feigenbaum constants in hadron collisions

    International Nuclear Information System (INIS)

    Batunin, A.V.

    1991-01-01

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

  20. ADVERTISING AVOIDANCE PADA IKLAN DI MEDIA TELEVISI

    Directory of Open Access Journals (Sweden)

    Indah Dwi Pratama

    2016-01-01

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

  1. Laser-assisted atom-atom collisions

    International Nuclear Information System (INIS)

    Roussel, F.

    1984-01-01

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

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

    Science.gov (United States)

    Mcfadyen, Aaron; Mejias, Luis

    2016-01-01

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

  3. Key conclusions from AVOID Work Stream One

    Science.gov (United States)

    Warren, Rachel

    2010-05-01

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

  4. Harm avoidance and disability in old age.

    Science.gov (United States)

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

    2006-01-01

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

  5. Rape avoidance behavior among Slovak women.

    Science.gov (United States)

    Prokop, Pavol

    2013-05-28

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

  6. DNA elasticity: topology of self-avoidance

    International Nuclear Information System (INIS)

    Samuel, Joseph; Sinha, Supurna; Ghosh, Abhijit

    2006-01-01

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

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

    Science.gov (United States)

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

    2001-02-01

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

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

    Science.gov (United States)

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

    2018-01-01

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

  9. An avoidance layer in hierarchical process control

    International Nuclear Information System (INIS)

    De Callatay, A.

    1994-01-01

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

  10. New apparatus for training the avoidance reaction.

    Science.gov (United States)

    Tikal, K

    1988-01-01

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

  11. Engaging Math-Avoidant College Students

    Directory of Open Access Journals (Sweden)

    M. Paul Latiolais

    2009-07-01

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

  12. 1-3 Nuclear In-medium Effects of Strange Particles in Proton-nucleus Collisions

    Institute of Scientific and Technical Information of China (English)

    Feng; Zhaoqing[1

    2014-01-01

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

  13. Information Dilemmas and Blame-Avoidance Strategies

    DEFF Research Database (Denmark)

    Erik, Baekkeskov; Rubin, Olivier

    2017-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    CERN Document Server

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

    2003-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Linus Hammar

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

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

    NARCIS (Netherlands)

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

    2011-01-01

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

  19. The Netherlands Bird Avoidance Model, Final Report

    NARCIS (Netherlands)

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

    2006-01-01

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

  20. Employer Attitudes towards Peak Hour Avoidance

    NARCIS (Netherlands)

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

    2012-01-01

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

  1. Employer attitudes towards peak hour avoidance

    NARCIS (Netherlands)

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

    2012-01-01

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

  2. Avoidance Motivation and Conservation of Energy

    NARCIS (Netherlands)

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

    Compared to approach motivation, avoidance motivation evokes vigilance, attention to detail, systematic information processing, and the recruitment of cognitive resources. From a conservation of energy perspective it follows that people would be reluctant to engage in the kind of effortful cognitive

  3. Avoidance motivation and conservation of energy

    NARCIS (Netherlands)

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

    Compared to approach motivation, avoidance motivation evokes vigilance, attention to detail, systematic information processing, and the recruitment of cognitive resources. From a conservation of energy perspective it follows that people would be reluctant to engage in the kind of effortful cognitive

  4. Pathological Demand Avoidance: Exploring the Behavioural Profile

    Science.gov (United States)

    O'Nions, Elizabeth; Viding, Essi; Greven, Corina U; Ronald, Angelica; Happé, Francesca

    2014-01-01

    "Pathological Demand Avoidance" is a term increasingly used by practitioners in the United Kingdom. It was coined to describe a profile of obsessive resistance to everyday demands and requests, with a tendency to resort to "socially manipulative" behaviour, including outrageous or embarrassing acts. Pathological demand…

  5. ALUMINUM AVOIDANCE BY MUCUNA-PRURIENS

    NARCIS (Netherlands)

    HAIRIAH, K; VANNOORDWIJK, M; STULEN, [No Value; KUIPER, PJC

    The hypothesis was tested that the avoidance of acid subsoil by the velvet bean Mucuna pruriens is based on a mechanism acting on the whole root system rather than on individual roots. In a split-root experiment with circulating nutrient solution the growth of plants with Al-containing (+/+) or

  6. Audit incorporating avoidability and appropriate intervention can ...

    African Journals Online (AJOL)

    Audit incorporating avoidability and appropriate intervention can significantly decrease perinatal mortality. H. R. G. Ward, G. R. Howarth, O. J. N. Jennings,. R. C. Pattinson .... 6 months) and seven interns. The study was .... maternity care notes study: a randomized control trial to assess the effects of giving expectant mothers ...

  7. Hydrofluoric acid on dentin should be avoided.

    NARCIS (Netherlands)

    Loomans, B.A.C.; Mine, A.; Roeters, F.J.M.; Opdam, N.J.M.; Munck, J. De; Huysmans, M.C.D.N.J.M.; Meerbeek, B. Van

    2010-01-01

    Hydrofluoric acid can be used for intra-oral repair of restorations. Contamination of tooth substrate with hydrofluoric acid cannot always be avoided. OBJECTIVES: To investigate the bonding effectiveness to hydrofluoric acid contaminated dentin by, micro-tensile bond strength testing, SEM and TEM.

  8. Women Coping with a Partner's Sexual Avoidance.

    Science.gov (United States)

    Renshaw, Domeena C.

    2001-01-01

    Discusses the complexities of sexual avoidance, or Hypoactive Sexual Desire (HSD), a previously neglected aspect of a couple's relationship. Suggests that learning from a therapist to accept and enjoy other forms of sexual exchange can open up new horizons of physical and emotional intimacy. (Contains 17 references.) (GCP)

  9. Obstacle detection and avoiding of quadcopter

    Science.gov (United States)

    Wang, Dizhong; Lin, Jiajian

    2017-10-01

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

  10. Traveler's guide to avoiding infectious diseases

    Science.gov (United States)

    ... to-date information, please visit the Centers for Disease Control and Prevention's (CDC) website -- www.cdc.gov/zika . To prevent getting the Zika virus, take steps to avoid mosquito bites. Sexual transmission of the virus can be prevented by using condoms ...

  11. An Examination of Avoided Costs in Utah

    Energy Technology Data Exchange (ETDEWEB)

    Bolinger, Mark; Wiser, Ryan

    2005-01-07

    The Utah Wind Working Group (UWWG) believes there are currently opportunities to encourage wind power development in the state by seeking changes to the avoided cost tariff paid to qualifying facilities (QFs). These opportunities have arisen as a result of a recent renegotiation of Pacificorp's Schedule 37 tariff for wind QFs under 3 MW, as well as an ongoing examination of Pacificorp's Schedule 38 tariff for wind QFs larger than 3 MW. It is expected that decisions made regarding Schedule 38 will also impact Schedule 37. Through the Laboratory Technical Assistance Program (Lab TAP), the UWWG has requested (through the Utah Energy Office) that LBNL provide technical assistance in determining whether an alternative method of calculating avoided costs that has been officially adopted in Idaho would lead to higher QF payments in Utah, and to discuss the pros and cons of this method relative to the methodology recently adopted under Schedule 37 in Utah. To accomplish this scope of work, I begin by summarizing the current method of calculating avoided costs in Utah (per Schedule 37) and Idaho (the ''surrogate avoided resource'' or SAR method). I then compare the two methods both qualitatively and quantitatively. Next I present Pacificorp's four main objections to the use of the SAR method, and discuss the reasonableness of each objection. Finally, I conclude with a few other potential considerations that might add value to wind QFs in Utah.

  12. Approach and avoidance in fear of spiders

    NARCIS (Netherlands)

    Rinck, M.; Becker, E.S.

    2007-01-01

    We examined attitudes towards spiders by employing an Approach-Avoidance Task, in which participants respond to pictures by pulling a joystick towards themselves or by pushing it away from themselves. For spider fearfuls, this stimulus–response assignment is either compatible (push spiders away) or

  13. FORUM Achieving weight loss and avoiding obesity

    African Journals Online (AJOL)

    The efficacy of diets advocating extreme macronutrient manipulation has been reviewed extensively. Studies involving participation for 12 months or longer revealed that diet adherence, length of intervention and level of calorie. ISSUES IN MEDICINE. Achieving weight loss and avoiding obesity. Maria Elizabeth Catsicas.

  14. Learn to Avoid or Overcome Leadership Obstacles

    Science.gov (United States)

    D'Auria, John

    2015-01-01

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

  15. PENGARUH CORPORATE GOVERNANCE TERHADAP TAX AVOIDANCE

    Directory of Open Access Journals (Sweden)

    Nuralifmida Ayu Annisa

    2012-05-01

    Full Text Available This study aims to find out how the influence of the corporate governance of tax avoidanceactivity in companies listed on Indonesia Stock Exchange in 2008. The samples are publiclytraded company listed on the Indonesia Stock Exchange in 2008 as many as 200 companies. Thisstudy uses data analysis and regression analysis of the elements of corporate governance and taxavoidance. The results of this study show that the elements of corporate governance that consist ofaudit quality and audit committee significantly influence the activity of tax avoidance as measuredusing proxy book tax gap. Other results show that the tax avoidance activity as measured withproxy book tax gap are not affected significantly by institutional ownership and board ofcommissioners. Limitation of this study is not to use each type of industries as control variable socan’t identify the direct effect from type of industry on tax avoidance. Another limitation of thisstudy is use corporate governance’s proxy separately, so it can’t capture the full effect ofcorporate governance. Keywords:corporate governance, ownership structure, board of commissioners, audit committee,tax avoidance, book tax gap.

  16. Avoidance: From threat encounter to action execution

    NARCIS (Netherlands)

    Arnaudova, I.

    2015-01-01

    Every day we encounter many threats to survival: a car speeding on a small street or an angry neighbor carrying an axe. Mostly, people go through their days not worrying that their chance of survival might be small. They avoid many dangers without even thinking about them (e.g., looking at both

  17. Wake Vortex Avoidance System and Method

    Science.gov (United States)

    Shams, Qamar A. (Inventor); Zuckerwar, Allan J. (Inventor); Knight, Howard K. (Inventor)

    2017-01-01

    A wake vortex avoidance system includes a microphone array configured to detect low frequency sounds. A signal processor determines a geometric mean coherence based on the detected low frequency sounds. A display displays wake vortices based on the determined geometric mean coherence.

  18. Reasonable Avoidability, Responsibility and Lifestyle Diseases

    DEFF Research Database (Denmark)

    Andersen, Martin Marchman

    2012-01-01

    In “Health, Luck and Justice” Shlomi Segall argues for a luck egalitarian approach to justice in health care. As the basis for a just distribution he suggests a principle of Reasonable Avoidability, which he takes to imply that we do not have justice-based reasons to treat diseases brought about...

  19. Avoidable cancers in the Nordic countries. Occupation

    DEFF Research Database (Denmark)

    Dreyer, L; Andersen, A; Pukkala, E

    1997-01-01

    around the year 2000, with 1,890 among men and fewer than 25 among women. The proportions that could be avoided if industrial carcinogens were eliminated would be 70% of mesotheliomas, 20% of cancers of the nasal cavity and sinuses, 12% of lung cancers, 5% of laryngeal cancers, 2% of urinary bladder...

  20. Collisions engineering. Theory and applications

    Energy Technology Data Exchange (ETDEWEB)

    Fremond, Michel [Rome ' ' Tor Vergata' ' Univ. (Italy). Dept. of Civil Engineering and Computer Science

    2017-02-01

    This book investigates collisions occurring in the motion of solids, in the motion of fluids but also in the motion of pedestrians in crowds. The duration of these presented collisions is short compared to the whole duration of the motion: they are assumed instantaneous. The innovative concept demonstrated in this book is that a system made of two solids, is deformable because their relative position changes. The definition of the velocities of deformation of the system introduced in the classical developments of mechanics, the principle of the virtual work and the laws of thermodynamics, allows a large range of applications such as crowd motions, debris flow motions, and shape memory alloys motions. The set of the applications is even larger: social sciences and mechanics are unified to predict the motion of crowds with application to transport management and to evacuation of theaters management.

  1. Jets in heavy ion collisions

    International Nuclear Information System (INIS)

    Nattrass, Christine

    2017-01-01

    High energy collisions of heavy nuclei permit the study of nuclear matter at temperatures and energy densities so high that the fundamental theory for strong interactions, QCD, predicts a phase transition to a plasma of quarks and gluons. This matter, called a Quark Gluon Plasma (QGP), has been studied experimentally for the last decade and has been observed to be a strongly interacting liquid with a low viscosity. High energy partons created early in the collision interact with the QGP and provide unique probes of its properties. Hard partons fragment into collimated sprays of particles called jets and have been studied through measurements of single particles, correlations between particles, and measurements of fully reconstructed jets. These measurements demonstrate partonic energy loss in the QGP and constrain the QGP’s properties. Measurements of the jet structure give insight into the mechanism of this energy loss. The information we have learned from studies of jets and challenges for the field will be reviewed. (paper)

  2. Phenomenological studies of hadronic collisions

    International Nuclear Information System (INIS)

    van Zijl, M.

    1987-04-01

    Several aspects of hadronic collisions are studied in a phenomenological framework. A Monte Carlo model for initial state parton showers, using a backwards evolution scheme, is presented. Comparisons with experimental data and analytical calculations are made. The consequence of using different fragmentation model on the determination of α s is also investigated. It is found that the different fragmentation models lead to the reconstruction of significantly α s values. Finally the possibility of having several independent parton-parton interactions in a hadron-hadron collision is studied. A model is developed, which takes into account the effects of variable impact parameters. This is implemented in a Monte Carlo computer program and extensive comparisons with experimental data are carried out. There is clear evidence in favour of multiple interactions with variable impact parameters. (author)

  3. Bubble Collision in Curved Spacetime

    International Nuclear Information System (INIS)

    Hwang, Dong-il; Lee, Bum-Hoon; Lee, Wonwoo; Yeom, Dong-han

    2014-01-01

    We study vacuum bubble collisions in curved spacetime, in which vacuum bubbles were nucleated in the initial metastable vacuum state by quantum tunneling. The bubbles materialize randomly at different times and then start to grow. It is known that the percolation by true vacuum bubbles is not possible due to the exponential expansion of the space among the bubbles. In this paper, we consider two bubbles of the same size with a preferred axis and assume that two bubbles form very near each other to collide. The two bubbles have the same field value. When the bubbles collide, the collided region oscillates back-and-forth and then the collided region eventually decays and disappears. We discuss radiation and gravitational wave resulting from the collision of two bubbles

  4. Chirality in molecular collision dynamics

    Science.gov (United States)

    Lombardi, Andrea; Palazzetti, Federico

    2018-02-01

    Chirality is a phenomenon that permeates the natural world, with implications for atomic and molecular physics, for fundamental forces and for the mechanisms at the origin of the early evolution of life and biomolecular homochirality. The manifestations of chirality in chemistry and biochemistry are numerous, the striking ones being chiral recognition and asymmetric synthesis with important applications in molecular sciences and in industrial and pharmaceutical chemistry. Chiral discrimination phenomena, due to the existence of two enantiomeric forms, very well known in the case of interaction with light, but still nearly disregarded in molecular collision studies. Here we review some ideas and recent advances about the role of chirality in molecular collisions, designing and illustrating molecular beam experiments for the demonstration of chiral effects and suggesting a scenario for a stereo-directional origin of chiral selection.

  5. Collisions engineering. Theory and applications

    International Nuclear Information System (INIS)

    Fremond, Michel

    2017-01-01

    This book investigates collisions occurring in the motion of solids, in the motion of fluids but also in the motion of pedestrians in crowds. The duration of these presented collisions is short compared to the whole duration of the motion: they are assumed instantaneous. The innovative concept demonstrated in this book is that a system made of two solids, is deformable because their relative position changes. The definition of the velocities of deformation of the system introduced in the classical developments of mechanics, the principle of the virtual work and the laws of thermodynamics, allows a large range of applications such as crowd motions, debris flow motions, and shape memory alloys motions. The set of the applications is even larger: social sciences and mechanics are unified to predict the motion of crowds with application to transport management and to evacuation of theaters management.

  6. Electron collisions in gas switches

    International Nuclear Information System (INIS)

    Christophorou, L.G.

    1989-01-01

    Many technologies rely on the conduction/insulation properties of gaseous matter for their successful operation. Many others (e.g., pulsed power technologies) rely on the rapid change (switching or modulation) of the properties of gaseous matter from an insulator to a conductor and vice versa. Studies of electron collision processes in gases aided the development of pulsed power gas switches, and in this paper we shall briefly illustrate the kind of knowledge on electron collision processes which is needed to optimize the performance of such switching devices. To this end, we shall refer to three types of gas switches: spark gap closing, self-sustained diffuse discharge closing, and externally-sustained diffuse discharge opening. 24 refs., 15 figs., 2 tabs

  7. Collisions engineering theory and applications

    CERN Document Server

    Frémond, Michel

    2017-01-01

    This book investigates collisions occurring in the motion of solids, in the motion of fluids but also in the motion of pedestrians in crowds. The duration of these presented collisions is short compared to the whole duration of the motion: they are assumed instantaneous. The innovative concept demonstrated in this book is that a system made of two solids, is deformable because their relative position changes. The definition of the velocities of deformation of the system introduced in the classical developments of mechanics, the principle of the virtual work and the laws of thermodynamics, allows a large range of applications such as crowd motions, debris flow motions, and shape memory alloys motions. The set of the applications is even larger: social sciences and mechanics are unified to predict the motion of crowds with application to transport management and to evacuation of theaters management.

  8. Gravitational waves from cosmic bubble collisions

    International Nuclear Information System (INIS)

    Kim, Dong-Hoon; Lee, Bum-Hoon; Lee, Wonwoo; Yang, Jongmann; Yeom, Dong-han

    2015-01-01

    Cosmic bubbles are nucleated through the quantum tunneling process. After nucleation they would expand and undergo collisions with each other. In this paper, we focus in particular on collisions of two equal-sized bubbles and compute gravitational waves emitted from the collisions. First, we study the mechanism of the collisions by means of a real scalar field and its quartic potential. Then, using this model, we compute gravitational waves from the collisions in a straightforward manner. In the quadrupole approximation, time-domain gravitational waveforms are directly obtained by integrating the energy-momentum tensors over the volume of the wave sources, where the energy-momentum tensors are expressed in terms of the scalar field, the local geometry and the potential. We present gravitational waveforms emitted during (i) the initial-to-intermediate stage of strong collisions and (ii) the final stage of weak collisions: the former is obtained numerically, in full General Relativity and the latter analytically, in the flat spacetime approximation. We gain qualitative insights into the time-domain gravitational waveforms from bubble collisions: during (i), the waveforms show the non-linearity of the collisions, characterized by a modulating frequency and cusp-like bumps, whereas during (ii), the waveforms exhibit the linearity of the collisions, featured by smooth monochromatic oscillations. (orig.)

  9. Myopic Regret Avoidance: Feedback Avoidance and Learning in Repeated Decision Making

    Science.gov (United States)

    Reb, Jochen; Connolly, Terry

    2009-01-01

    Decision makers can become trapped by "myopic regret avoidance" in which rejecting feedback to avoid short-term "outcome regret" (regret associated with counterfactual outcome comparisons) leads to reduced learning and greater long-term regret over continuing poor decisions. In a series of laboratory experiments involving repeated choices among…

  10. Atomic and molecular collision processes

    International Nuclear Information System (INIS)

    Norcross, D.W.

    1991-01-01

    530Accomplishments during the course of a 44-month program of code development and high precision calculations for electron collisions with atoms, atomic ions, and molecules are summarized. In electron-atom and -ion collisions, we were primarily concerned with the fundamental physics of the process that controls excitation in high temperature plasmas. In the molecular work, we pursued the development of techniques for accurate calculations of ro-vibrational excitation of polyatomic molecules, to the modeling of gas-phase laser systems. Highlights from the seven technical paper published as a result of this contract include: The resolution of a long history of unexplained anomalies and experimental/theoretical discrepancies by a demonstration that the Coulomb phase must be included in scattering amplitudes for electron-ion collisions. Definitive close-coupling calculations of cross sections for electron impact excitation of Be + , using a very elaborate expansion for the collision system and inclusion of both one- and two-body terms for the effect of core polarization. Detailed state-of-the-art calculations for electron-impact excitation of the sodium-like ion A ell 2+ that included core-polarization interactions, and which also produced new data on bound-state energy levels for the magnesium-like ion A ell + and oscillator strengths for A ell 2+ . Partial cross sections for excitation of the 3p level of sodium at energies just above threshold calculated using a four-state close-coupling approach, including both total cross sections and those for excitation as a function of the change in the spin and orbital angular momentum projection quantum numbers of the target electron. Generalization of our electron-molecule scattering code to carry out full vibrational close-coupling calculations with an exact treatment of exchange and with a parameter-free representation of correlation and polarization interactions, and application to HF and H 2

  11. Electron collisions in noble gases

    International Nuclear Information System (INIS)

    Barros, H.G. P.L. de.

    1973-12-01

    Calculations for excitation cross section for some states of He and Ne by electron impact have been carried out. A parametrization of total and differential cross section in the Born-Ochkur approximation has been proposed. Using this parametrization and appropriated wave functions for the states involved in the collisions processes, the possibility of inversion of population in the He-Ne laser has been studied

  12. Radiation from heavy ion collisions

    International Nuclear Information System (INIS)

    Kast, J.R.; Lee, Y.K.

    1975-01-01

    A study of x rays produced in heavy ion collisions has led to a search for molecular orbital x rays, concentrating on 35 Cl ions on Al, NaCl, and C targets. Preliminary analysis of the angular dependence of continuum x rays has tentatively identified quasi-molecular K x rays. Other work completed and in progress is discussed. (3 figures) (U.S.)

  13. A new theory of collisions

    International Nuclear Information System (INIS)

    Giraud, B.G.

    1989-01-01

    Instead of diagonalizing the many-body Hamiltonian H, we invert E-H, where E is a complex energy, eventually real. All the traditional approximations to diagonalization can be adjusted to inversion. We specially investigate mean-field methods. This lecture gives a scheme for the detailed proofs of our arguments, already published, and lists several numerically soluble cases where our new method has been successfully tested for the calculation of collision amplitudes

  14. Measuring Patients’ Attachment Avoidance in Psychotherapy: Development of the Attachment Avoidance in Therapy Scale (AATS

    Directory of Open Access Journals (Sweden)

    András Láng

    2012-11-01

    Full Text Available A new scale measuring patient-therapist attachment avoidance was developed. Attachment Avoidance in Therapy Scale is a new measure based on the Bartholomew model of adult attachment (Bartholomew & Horowitz, 1991 and the Experience in Close Relationships Scale (Brennan, Clark, & Shaver, 1998 to measure patients’ attachment avoidance towards therapists. With 112 patient-therapist dyads participating in the study, validation of a preliminary scale – measuring both attachment anxiety and attachment avoidance in therapy – took place using therapists’ evaluations of patients’ relational behavior and patients’ self-reports about their attitude toward psychotherapy. Analysis of the data revealed six underlying scales. Results showed all six scales to be reliable. Validation of scales measuring attachment anxiety failed. The importance of Attachment Avoidance in Therapy Scale and its subscales is discussed.

  15. Bursting neurons and ultrasound avoidance in crickets

    Directory of Open Access Journals (Sweden)

    Gary eMarsat

    2012-07-01

    Full Text Available Decision making in invertebrates often relies on simple neural circuits composed of only a few identified neurons. The relative simplicity of these circuits makes it possible to identify the key computation and neural properties underlying decisions. In this review, we summarize recent research on the neural basis of ultrasound avoidance in crickets, a response that allows escape from echolocating bats. The key neural property shaping behavioral output is high-frequency bursting of an identified interneuron, AN2, which carries information about ultrasound stimuli from receptor neurons to the brain. AN2's spike train consists of clusters of spikes –bursts– that may be interspersed with isolated, non-burst spikes. AN2 firing is necessary and sufficient to trigger avoidance steering but only high-rate firing, such as occurs in bursts, evokes this response. AN2 bursts are therefore at the core of the computation involved in deciding whether or not to steer away from ultrasound. Bursts in AN2 are triggered by synaptic input from nearly synchronous bursts in ultrasound receptors. Thus the population response at the very first stage of sensory processing –the auditory receptor- already differentiates the features of the stimulus that will trigger a behavioral response from those that will not. Adaptation, both intrinsic to AN2 and within ultrasound receptors, scales the burst-generating features according to the stimulus statistics, thus filtering out background noise and ensuring that bursts occur selectively in response to salient peaks in ultrasound intensity. Furthermore AN2’s sensitivity to ultrasound varies adaptively with predation pressure, through both developmental and evolutionary mechanisms. We discuss how this key relationship between bursting and the triggering of avoidance behavior is also observed in other invertebrate systems such as the avoidance of looming visual stimuli in locusts or heat avoidance in beetles.

  16. QCD studies in ep collisions

    International Nuclear Information System (INIS)

    Smith, W.H.

    1997-01-01

    These lectures describe QCD physics studies over the period 1992--1996 from data taken with collisions of 27 GeV electrons and positrons with 820 GeV protons at the HERA collider at DESY by the two general-purpose detectors H1 and ZEUS. The focus of these lectures is on structure functions and jet production in deep inelastic scattering, photoproduction, and diffraction. The topics covered start with a general introduction to HERA and ep scattering. Structure functions are discussed. This includes the parton model, scaling violation, and the extraction of F 2 , which is used to determine the gluon momentum distribution. Both low and high Q 2 regimes are discussed. The low Q 2 transition from perturbative QCD to soft hadronic physics is examined. Jet production in deep inelastic scattering to measure α s , and in photoproduction to study resolved and direct photoproduction, is also presented. This is followed by a discussion of diffraction that begins with a general introduction to diffraction in hadronic collisions and its relation to ep collisions, and moves on to deep inelastic scattering, where the structure of diffractive exchange is studied, and in photoproduction, where dijet production provides insights into the structure of the Pomeron. 95 refs., 39 figs

  17. Central Au on Au collisions

    Energy Technology Data Exchange (ETDEWEB)

    Alard, J.P.; Amouroux, V. [Labo de Phys. Corp., IN2P3-CRNS, Univ. Blaise Pascal, Clermont-Fd. (France); Basrak, Z. [Rudjer Boskovic Institute, Zagreb (Croatia)] [and others; FOPI-Collaboration

    1995-02-06

    In nucleus-nucleus collisions the initial relative kinetic energy of target and projectile is available for internal excitation of the interacting system; it is however still not well established to what extent local equilibrium and thermalisation occur. Local equilibrium is of interest to derive, within the formalism of transport equations and of the equation of state, (EOS), general properties of compressed and excited nuclear matter. Such approach describes in relatively simple terms the complex many body interactions occuring within extended baryonic and hadronic (or quark) matter. For a basic microscopic understanding it is highly desirable to investigate the elementary in-medium interactions in relation to the free elementary processes. Excitation function measurements of central collisions between the heaviest available nuclei (like Au on Au), supply the best ground for such studies: the highest degree of thermalisation and compression is expected for such reactions. The consideration presented here of energy thermalisation and of an expanding system clusterizing at freeze-out in a situation close to the liquid gas phase transition can be of interest to astrophysics as well as to the quark gluon plasma deconfinement studied in nucleus-nucleus collisions at the higher energy regime of CERN and Brookhaven. (orig.).

  18. QCD studies in ep collisions

    Energy Technology Data Exchange (ETDEWEB)

    Smith, W.H. [Univ. of Wisconsin, Madison, WI (United States). Physics Dept.

    1997-06-01

    These lectures describe QCD physics studies over the period 1992--1996 from data taken with collisions of 27 GeV electrons and positrons with 820 GeV protons at the HERA collider at DESY by the two general-purpose detectors H1 and ZEUS. The focus of these lectures is on structure functions and jet production in deep inelastic scattering, photoproduction, and diffraction. The topics covered start with a general introduction to HERA and ep scattering. Structure functions are discussed. This includes the parton model, scaling violation, and the extraction of F{sub 2}, which is used to determine the gluon momentum distribution. Both low and high Q{sup 2} regimes are discussed. The low Q{sup 2} transition from perturbative QCD to soft hadronic physics is examined. Jet production in deep inelastic scattering to measure {alpha}{sub s}, and in photoproduction to study resolved and direct photoproduction, is also presented. This is followed by a discussion of diffraction that begins with a general introduction to diffraction in hadronic collisions and its relation to ep collisions, and moves on to deep inelastic scattering, where the structure of diffractive exchange is studied, and in photoproduction, where dijet production provides insights into the structure of the Pomeron. 95 refs., 39 figs.

  19. Electron capture in ion-molecule collisions at intermediate energy

    International Nuclear Information System (INIS)

    Kumura, M.

    1986-01-01

    Recent progress of theoretical charge transfer study in ion-molecule collisions at the intermediate energy is reviewed. Concept of close and distant collisions obtained from extensive ion-atom collision studies is identified so that it can be utilized to model two distinct collision processes. For a close collision, explicit representation of the whole collision complex is necessary to describe collision dynamics correctly, while a model potential approach for molecule is appropriate for a distant collision. It is shown that these two distinct models are indeed capable of reproducing experimental charge transfer cross sections. Some remarks for further theoretical study of ion-molecule collisions are also given. 21 refs., 8 figs

  20. Development of the KARI Space Debris Collision Risk Management System (KARISMA)

    Science.gov (United States)

    Kim, Hae-Dong; Lee, Sang-Cherl; Cho, Dong-Hyun; Seong, Jae-Dong

    2018-05-01

    Korea has been operating multi-purpose low-earth orbit (LEO) satellites such as the Korea multi-purpose satellite (KOMPSAT) since 1999 and the Communication, Ocean, and Meteorological Satellite (COMS), which was launched into geostationary orbit in 2006. The Korea Aerospace Research Institute (KARI) consequently became concerned about the deteriorating space debris environment. This led to the instigation, in 2011, of a project to develop the KARI space debris collision risk management system (KARISMA). In 2014, KARISMA was adopted as an official tool at the KARI ground station and is operated to mitigate collision risks while being continuously upgraded with input from satellite operators. The characteristics and architecture of KARISMA are described with detailed operational views. The user-friendly user interfaces including 2D and 3D displays of the results, conjunction geometries, and so on, are described in detail. The results of our analysis of the space collision risk faced by the KOMPSAT satellites as determined using KARISMA are presented, as well as optimized collision avoidance maneuver planning with maneuvering strategies for several conjunction events. Consequently, the development of KARISMA to provide detailed descriptions is expected to contribute significantly to satellite operators and owners who require tools with many useful functions to mitigate collision risk.