APPLICATION OF DSM IN OBSTACLE CLEARANCE SURVEYING OF AERODROME

Directory of Open Access Journals (Sweden)

X. Qiao

2016-06-01

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

Robot navigation in unknown terrains: Introductory survey of non-heuristic algorithms

Energy Technology Data Exchange (ETDEWEB)

Rao, N.S.V. [Oak Ridge National Lab., TN (US); Kareti, S.; Shi, Weimin [Old Dominion Univ., Norfolk, VA (US). Dept. of Computer Science; Iyengar, S.S. [Louisiana State Univ., Baton Rouge, LA (US). Dept. of Computer Science

1993-07-01

A formal framework for navigating a robot in a geometric terrain by an unknown set of obstacles is considered. Here the terrain model is not a priori known, but the robot is equipped with a sensor system (vision or touch) employed for the purpose of navigation. The focus is restricted to the non-heuristic algorithms which can be theoretically shown to be correct within a given framework of models for the robot, terrain and sensor system. These formulations, although abstract and simplified compared to real-life scenarios, provide foundations for practical systems by highlighting the underlying critical issues. First, the authors consider the algorithms that are shown to navigate correctly without much consideration given to the performance parameters such as distance traversed, etc. Second, they consider non-heuristic algorithms that guarantee bounds on the distance traversed or the ratio of the distance traversed to the shortest path length (computed if the terrain model is known). Then they consider the navigation of robots with very limited computational capabilities such as finite automata, etc.

A Method to Identify Flight Obstacles on Digital Surface Model

Institute of Scientific and Technical Information of China (English)

ZHAO Min; LIN Xinggang; SUN Shouyu; WANG Youzhi

2005-01-01

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

Terrain Mapping and Classification in Outdoor Environments Using Neural Networks

OpenAIRE

Alberto Yukinobu Hata; Denis Fernando Wolf; Gustavo Pessin; Fernando Osório

2009-01-01

This paper describes a three-dimensional terrain mapping and classification technique to allow the operation of mobile robots in outdoor environments using laser range finders. We propose the use of a multi-layer perceptron neural network to classify the terrain into navigable, partially navigable, and non-navigable. The maps generated by our approach can be used for path planning, navigation, and local obstacle avoidance. Experimental tests using an outdoor robot and a laser sensor demonstra...

The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots

Directory of Open Access Journals (Sweden)

Zareena Kausar

2012-11-01

Full Text Available Two-wheeled mobile robots (TWMRs have a capability of avoiding the tip-over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real-time implementation of position control, an estimation of the stability region of the TWMR is essential for safe operation. A numerical method to estimate the stability region is applied and the effects of inclined surfaces on the performance and stability region of the robot are investigated. The dynamics of a TWMR is modelled on a general uneven terrain and reduced for cases of inclined and horizontal flat terrain. A full state feedback (FSFB controller is designed based on optimal gains with speed tracking on a horizontal flat terrain. The performance and stability regions are simulated for the robot on a horizontal flat and inclined terrain with the same controller. The results endorse a variation in equilibrium points and a reduction in stability region for robot motion on inclined terrain.

77 FR 14584 - Eleventh Meeting: RTCA Special Committee 217, Joint With EUROCAE Working Group-44, Terrain and...

Science.gov (United States)

2012-03-12

... Modeling Effort for Terrain and Obstacles within the Committee [ssquf] Decided on a method for addressing the use of the term ``obstacle'' in DO-276 and ``vertical structure'' in DO-272. [ssquf] Determine if... Meeting Adjourn Attendance is open to the interested public but limited to space availability. With the...

Atmospheric stability and topography effects on wind turbine performance and wake properties in complex terrain

DEFF Research Database (Denmark)

Han, Xingxing; Liu, Deyou; Xu, Chang

2018-01-01

This paper evaluates the influence of atmospheric stability and topography on wind turbine performance and wake properties in complex terrain. To assess atmospheric stability effects on wind turbine performance, an equivalent wind speed calculated with the power output and the manufacture power...... and topography have significant influences on wind turbine performance and wake properties. Considering effects of atmospheric stability and topography will benefit the wind resource assessment in complex terrain....

Adaptive Pulsed Laser Line Extraction for Terrain Reconstruction using a Dynamic Vision Sensor

Directory of Open Access Journals (Sweden)

Christian eBrandli

2014-01-01

Full Text Available Mobile robots need to know the terrain in which they are moving for path planning and obstacle avoidance. This paper proposes the combination of a bio-inspired, redundancy-suppressing dynamic vision sensor with a pulsed line laser to allow fast terrain reconstruction. A stable laser stripe extraction is achieved by exploiting the sensor’s ability to capture the temporal dynamics in a scene. An adaptive temporal filter for the sensor output allows a reliable reconstruction of 3D terrain surfaces. Laser stripe extractions up to pulsing frequencies of 500Hz were achieved using a line laser of 3mW at a distance of 45cm using an event-based algorithm that exploits the sparseness of the sensor output. As a proof of concept, unstructured rapid prototype terrain samples have been successfully reconstructed with an accuracy of 2mm.

Walking Robots Dynamic Control Systems on an Uneven Terrain

Directory of Open Access Journals (Sweden)

MUNTEANU, M. S.

2010-05-01

Full Text Available The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles.

Induced vibrations facilitate traversal of cluttered obstacles

Science.gov (United States)

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

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

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

Science.gov (United States)

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

2009-01-01

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

On the Motion of Agents across Terrain with Obstacles

Science.gov (United States)

Kuznetsov, A. V.

2018-01-01

The paper is devoted to finding the time optimal route of an agent travelling across a region from a given source point to a given target point. At each point of this region, a maximum allowed speed is specified. This speed limit may vary in time. The continuous statement of this problem and the case when the agent travels on a grid with square cells are considered. In the latter case, the time is also discrete, and the number of admissible directions of motion at each point in time is eight. The existence of an optimal solution of this problem is proved, and estimates of the approximate solution obtained on the grid are obtained. It is found that decreasing the size of cells below a certain limit does not further improve the approximation. These results can be used to estimate the quasi-optimal trajectory of the agent motion across the rugged terrain produced by an algorithm based on a cellular automaton that was earlier developed by the author.

Rates and causes of accidents for general aviation aircraft operating in a mountainous and high elevation terrain environment.

Science.gov (United States)

Aguiar, Marisa; Stolzer, Alan; Boyd, Douglas D

2017-10-01

Flying over mountainous and/or high elevation terrain is challenging due to rapidly changeable visibility, gusty/rotor winds and downdrafts and the necessity of terrain avoidance. Herein, general aviation accident rates and mishap cause/factors were determined (2001-2014) for a geographical region characterized by such terrain. Accidents in single piston engine-powered aircraft for states west of the US continental divide characterized by mountainous terrain and/or high elevation (MEHET) were identified from the NTSB database. MEHET-related-mishaps were defined as satisfying any one, or more, criteria (controlled flight into terrain/obstacles (CFIT), downdrafts, mountain obscuration, wind-shear, gusting winds, whiteout, instrument meteorological conditions; density altitude, dust-devil) cited as factors/causal in the NTSB report. Statistics employed Poisson distribution and contingency tables. Although the MEHET-related accident rate declined (pairplanes and flying under IFR to assure terrain clearance. Copyright © 2017 Elsevier Ltd. All rights reserved.

Obstacles to performance in the South African autocomponents industry

DEFF Research Database (Denmark)

Granerud, Lise

2003-01-01

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

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

DEFF Research Database (Denmark)

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

2016-01-01

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

Geological terrain models

Science.gov (United States)

Kaupp, V. H.; Macdonald, H. C.; Waite, W. P.

1981-01-01

The initial phase of a program to determine the best interpretation strategy and sensor configuration for a radar remote sensing system for geologic applications is discussed. In this phase, terrain modeling and radar image simulation were used to perform parametric sensitivity studies. A relatively simple computer-generated terrain model is presented, and the data base, backscatter file, and transfer function for digital image simulation are described. Sets of images are presented that simulate the results obtained with an X-band radar from an altitude of 800 km and at three different terrain-illumination angles. The simulations include power maps, slant-range images, ground-range images, and ground-range images with statistical noise incorporated. It is concluded that digital image simulation and computer modeling provide cost-effective methods for evaluating terrain variations and sensor parameter changes, for predicting results, and for defining optimum sensor parameters.

Selection method of terrain matching area for TERCOM algorithm

Science.gov (United States)

Zhang, Qieqie; Zhao, Long

2017-10-01

The performance of terrain aided navigation is closely related to the selection of terrain matching area. The different matching algorithms have different adaptability to terrain. This paper mainly studies the adaptability to terrain of TERCOM algorithm, analyze the relation between terrain feature and terrain characteristic parameters by qualitative and quantitative methods, and then research the relation between matching probability and terrain characteristic parameters by the Monte Carlo method. After that, we propose a selection method of terrain matching area for TERCOM algorithm, and verify the method correctness with real terrain data by simulation experiment. Experimental results show that the matching area obtained by the method in this paper has the good navigation performance and the matching probability of TERCOM algorithm is great than 90%

Complex terrain and wind lidars

Energy Technology Data Exchange (ETDEWEB)

Bingoel, F.

2009-08-15

This thesis includes the results of a PhD study about complex terrain and wind lidars. The study mostly focuses on hilly and forested areas. Lidars have been used in combination with cups, sonics and vanes, to reach the desired vertical measurement heights. Several experiments are performed in complex terrain sites and the measurements are compared with two different flow models; a linearised flow model LINCOM and specialised forest model SCADIS. In respect to the lidar performance in complex terrain, the results showed that horizontal wind speed errors measured by a conically scanning lidar can be of the order of 3-4% in moderately-complex terrain and up to 10% in complex terrain. The findings were based on experiments involving collocated lidars and meteorological masts, together with flow calculations over the same terrains. The lidar performance was also simulated with the commercial software WAsP Engineering 2.0 and was well predicted except for some sectors where the terrain is particularly steep. Subsequently, two experiments were performed in forested areas; where the measurements are recorded at a location deep-in forest and at the forest edge. Both sites were modelled with flow models and the comparison of the measurement data with the flow model outputs showed that the mean wind speed calculated by LINCOM model was only reliable between 1 and 2 tree height (h) above canopy. The SCADIS model reported better correlation with the measurements in forest up to approx6h. At the forest edge, LINCOM model was used by allocating a slope half-in half out of the forest based on the suggestions of previous studies. The optimum slope angle was reported as 17 deg.. Thus, a suggestion was made to use WAsP Engineering 2.0 for forest edge modelling with known limitations and the applied method. The SCADIS model worked better than the LINCOM model at the forest edge but the model reported closer results to the measurements at upwind than the downwind and this should be

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

Science.gov (United States)

De Asha, Alan R; Buckley, John G

2015-05-01

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

Prediction of wind power potential by wind speed probability distribution in a hilly terrain near Bh

Energy Technology Data Exchange (ETDEWEB)

Ahmed, Siraj; Diwakar, Nilesh

2010-09-15

Daily wind speed data in metre per second and its direction of flow in degree were recorded from of the India Meteorological Department for a site near the Bhopal Airport for the period of eleven years. The influence of roughness of the terrain, obstacles and topography in terms of contour for the area were also taken into consideration. These data were analysed using WAsP programme and regional wind climate of the area was determined. It is seen from the analysis of the wind speed data and keeping the topographical variation of terrain, exploitable wind speed is experienced at 50 m.

Terrain-Toolkit

DEFF Research Database (Denmark)

Wang, Qi; Kaul, Manohar; Long, Cheng

2014-01-01

, as will be shown, is used heavily for query processing in spatial databases; and (3) they do not provide the surface distance operator which is fundamental for many applications based on terrain data. Motivated by this, we developed a tool called Terrain-Toolkit for terrain data which accepts a comprehensive set......Terrain data is becoming increasingly popular both in industry and in academia. Many tools have been developed for visualizing terrain data. However, we find that (1) they usually accept very few data formats of terrain data only; (2) they do not support terrain simplification well which...

76 FR 70531 - Tenth Meeting: RTCA Special Committee 217/EUROCAE WG-44: Terrain and Airport Mapping Databases

Science.gov (United States)

2011-11-14

.... Discussion the differences between AIXM and the Modeling Effort for Terrain and Obstacles within the... structure'' in DO-272. Determine if and how to re-write Appendix E. Review work on Temporality. ASRN V&V... to space availability. With the approval of the chairman, members of the public may present oral...

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

A Tire Model for Off-Highway Vehicle Simulation on Short Wave Irregular Terrain

DEFF Research Database (Denmark)

Langer, Thomas Heegaard; Kristensen, Lars B; Mouritsen, Ole Ø.

2010-01-01

Manufacturers of construction machinery are challenged in several ways concerning dynamic loads. Considering off-highway dump trucks that travel through high amplitude short wave irregular terrain with considerable speed two aspects concerning dynamics are important. The first is the legal...... between simulated data and experimental data obtained from full vehicle testing. The experimental work is carried out by letting a dump truck pass a set of well defined obstacles. Based on the obtained agreement between simulated and measured results the tire model is considered suitable for describing...... joints, spring-damper elements and the welded structures it is crucial to have information on the time history of the loads. For trucks carrying payloads the most important load contribution is undoubtedly the reaction forces between terrain and tires. By use of virtual prototypes it is possible...

A stereo vision-based obstacle detection system in vehicles

Science.gov (United States)

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

2008-02-01

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

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

Directory of Open Access Journals (Sweden)

Adisu Bekele

2011-01-01

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

Wind turbine power performance verification in complex terrain and wind farms

DEFF Research Database (Denmark)

Friis Pedersen, Troels; Gjerding, S.; Enevoldsen, P.

2002-01-01

is a power performance verification procedure for individual wind turbines. The third is a power performance measurement procedure of whole wind farms, and the fourth is a power performance measurement procedurefor non-grid (small) wind turbines. This report presents work that was made to support the basis......The IEC/EN 61400-12 Ed 1 standard for wind turbine power performance testing is being revised. The standard will be divided into four documents. The first one of these is more or less a revision of the existing document on power performance measurementson individual wind turbines. The second one...... then been investigated in more detail. The work has given rise to a range of conclusionsand recommendations regarding: guaranties on power curves in complex terrain; investors and bankers experience with verification of power curves; power performance in relation to regional correction curves for Denmark...

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

Science.gov (United States)

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

2016-09-01

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

Performance of a Battery Electric Vehicle in the Cold Climate and Hilly Terrain of Vermont

Science.gov (United States)

2008-12-23

The goal of this research project was to determine the performance of a battery electric vehicle (BEV) in the cold climate and hilly terrain of Vermont. For this study, a 2005 Toyota Echo was converted from an internal combustion engine (ICE) vehicle...

New high-fidelity terrain modeling method constrained by terrain semanteme.

Directory of Open Access Journals (Sweden)

Bo Zhou

Full Text Available Production of higher-fidelity digital elevation models is important; as such models are indispensable components of space data infrastructure. However, loss of terrain features is a constant problem for grid digital elevation models, although these models have already been defined in such a way that their distinct usage as data sources in terrain modeling processing is prohibited. Therefore, in this study, the novel concept-terrain semanteme is proposed to define local space terrain features, and a new process for generating grid digital elevation models based on this new concept is designed. A prototype system is programmed to test the proposed approach; the results indicate that terrain semanteme can be applied in the process of grid digital elevation model generation, and that usage of this new concept improves the digital elevation model fidelity. Moreover, the terrain semanteme technique can be applied for recovery of distorted digital elevation model regions containing terrain semantemes, with good recovery efficiency indicated by experiments.

A Hybrid Architecture for Vision-Based Obstacle Avoidance

Directory of Open Access Journals (Sweden)

Mehmet Serdar Güzel

2013-01-01

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

Terrain aided navigation for autonomous underwater vehicles with coarse maps

International Nuclear Information System (INIS)

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian

2016-01-01

Terrain aided navigation (TAN) is a form of geophysical localization technique for autonomous underwater vehicles (AUVs) operating in GPS-denied environments. TAN performance on sensor-rich AUVs has been evaluated in sea trials. However, many challenges remain before TAN can be successfully implemented on sensor-limited AUVs, especially with coarse maps. To improve TAN performance over coarse maps, a Gaussian process (GP) is proposed for the modeling of bathymetric terrain and integrated into the particle filter (GP-PF). GP is applied to provide not only the bathymetric value prediction through learning a set of bathymetric data from coarse maps but also the variance of the prediction. As a measurement update, calculated on bathymetric deviation is performed through the PF to obtain absolute and bounded positioning accuracy. Through the analysis of TAN performance on experimental data for two different terrains with map resolutions of 10–50 m, both the ability of the proposed model to represent the actual bathymetric terrain with accuracy and the effect of the GP-PF for TAN on sensor-limited systems in suited terrain are demonstrated. The experiment results further verify that there is an inverse relationship between the coarseness of the map and the overall TAN accuracy in rough terrains, but there is hardly any relationship between them in relatively flat terrains. (paper)

Don't break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain.

Science.gov (United States)

Birn-Jeffery, Aleksandra V; Hubicki, Christian M; Blum, Yvonne; Renjewski, Daniel; Hurst, Jonathan W; Daley, Monica A

2014-11-01

Cursorial ground birds are paragons of bipedal running that span a 500-fold mass range from quail to ostrich. Here we investigate the task-level control priorities of cursorial birds by analysing how they negotiate single-step obstacles that create a conflict between body stability (attenuating deviations in body motion) and consistent leg force-length dynamics (for economy and leg safety). We also test the hypothesis that control priorities shift between body stability and leg safety with increasing body size, reflecting use of active control to overcome size-related challenges. Weight-support demands lead to a shift towards straighter legs and stiffer steady gait with increasing body size, but it remains unknown whether non-steady locomotor priorities diverge with size. We found that all measured species used a consistent obstacle negotiation strategy, involving unsteady body dynamics to minimise fluctuations in leg posture and loading across multiple steps, not directly prioritising body stability. Peak leg forces remained remarkably consistent across obstacle terrain, within 0.35 body weights of level running for obstacle heights from 0.1 to 0.5 times leg length. All species used similar stance leg actuation patterns, involving asymmetric force-length trajectories and posture-dependent actuation to add or remove energy depending on landing conditions. We present a simple stance leg model that explains key features of avian bipedal locomotion, and suggests economy as a key priority on both level and uneven terrain. We suggest that running ground birds target the closely coupled priorities of economy and leg safety as the direct imperatives of control, with adequate stability achieved through appropriately tuned intrinsic dynamics. © 2014. Published by The Company of Biologists Ltd.

Parallel Implementation of the Terrain Masking Algorithm

Science.gov (United States)

1994-03-01

contains behavior rules which can define a computation or an algorithm. It can communicate with other process nodes, it can contain local data, and it can...terrain maskirg calculation is being performed. It is this algorithm that comsumes about seventy percent of the total terrain masking calculation time

A GPS inspired Terrain Referenced Navigation algorithm

NARCIS (Netherlands)

Vaman, D.

2014-01-01

Terrain Referenced Navigation (TRN) refers to a form of localization in which measurements of distances to the terrain surface are matched with a digital elevation map allowing a vehicle to estimate its own position within the map. The main goal of this dissertation is to improve TRN performance

Terrain Perception in a Shape Shifting Rolling-Crawling Robot

Directory of Open Access Journals (Sweden)

Fuchida Masataka

2016-09-01

Full Text Available Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait patterns according to nature of terrain. In this paper, we present a novel terrain perception system for our bioinspired robot, Scorpio, to classify the terrain based on visual features and autonomously choose appropriate locomotion mode. Our Scorpio robot is capable of crawling and rolling locomotion modes, mimicking Cebrenus Rechenburgi, a member of the huntsman spider family. Our terrain perception system uses Speeded Up Robust Feature (SURF description method along with color information. Feature extraction is followed by Bag of Word method (BoW and Support Vector Machine (SVM for terrain classification. Experiments were conducted with our Scorpio robot to establish the efficacy and validity of the proposed approach. In our experiments, we achieved a recognition accuracy of over 90% across four terrain types namely grass, gravel, wooden deck, and concrete.

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

Science.gov (United States)

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

2017-10-01

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

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

Directory of Open Access Journals (Sweden)

Ivana Stiperski

2017-01-01

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

Mathematical Models of Smart Obstacles

Science.gov (United States)

2006-10-01

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

Body shape helps legged robots climb and turn in complex 3-D terrains

Science.gov (United States)

Han, Yuanfeng; Wang, Zheliang; Li, Chen

Analogous to streamlined shapes that reduce drag in fluids, insects' ellipsoid-like rounded body shapes were recently discovered to be ``terradynamically streamlined'' and enhance locomotion in cluttered terrain by facilitating body rolling. Here, we hypothesize that there exist more terradynamic shapes that facilitate other modes of locomotion like climbing and turning in complex 3-D terrains by facilitating body pitching and yawing. To test our hypothesis, we modified the body shape of a legged robot by adding an elliptical and a rectangular shell and tested how it negotiated with circular and square vertical pillars. With a rectangular shell the robot always pitched against square pillars in an attempt to climb, whereas with an elliptical shell it always yawed and turned away from circular pillars given a small initial lateral displacement. Square / circular pillars facilitated pitching / yawing, respectively. To begin to reveal the contact physics, we developed a locomotion energy landscape model. Our model revealed that potential energy barriers to transition from pitching to yawing are high for angular locomotor and obstacle shapes (rectangular / square) but vanish for rounded shapes (elliptical / circular). Our study supports the plausibility of locomotion energy landscapes for understanding the rich locomotor transitions in complex 3-D terrains.

Obstacle detection by stereo vision of fast correlation matching

International Nuclear Information System (INIS)

Jeon, Seung Hoon; Kim, Byung Kook

1997-01-01

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

Performance of a TV white space database with different terrain resolutions and propagation models

Directory of Open Access Journals (Sweden)

A. M. Fanan

2017-11-01

Full Text Available Cognitive Radio has now become a realistic option for the solution of the spectrum scarcity problem in wireless communication. TV channels (the primary user can be protected from secondary-user interference by accurate prediction of TV White Spaces (TVWS by using appropriate propagation modelling. In this paper we address two related aspects of channel occupancy prediction for cognitive radio. Firstly we investigate the best combination of empirical propagation model and spatial resolution of terrain data for predicting TVWS by examining the performance of three propagation models (Extended-Hata, Davidson-Hata and Egli in the TV band 470 to 790 MHz along with terrain data resolutions of 1000, 100 and 30 m, when compared with a comprehensive set of propagation measurements taken in randomly-selected locations around Hull, UK. Secondly we describe how such models can be integrated into a database-driven tool for cognitive radio channel selection within the TVWS environment.

Cross-Coupled Control for All-Terrain Rovers

Directory of Open Access Journals (Sweden)

Giulio Reina

2013-01-01

Full Text Available Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors’ control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

On cylindrically converging shock waves shaped by obstacles

Energy Technology Data Exchange (ETDEWEB)

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

2007-07-16

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

Wind turbine power performance verification in complex terrain and wind farms

Energy Technology Data Exchange (ETDEWEB)

Friis Pedersen, T.; Gjerding, S.; Ingham, P.; Enevoldsen, P.; Kjaer Hansen, J.; Kanstrup Joergensen, H.

2002-04-01

The IEC/EN 61400-12 Ed 1 standard for wind turbine power performance testing is being revised. The standard will be divided into four documents. The first one of these is more or less a revision of the existing document on power performance measurements on individual wind turbines. The second one is a power performance verification procedure for individual wind turbines. The third is a power performance measurement procedure of whole wind farms, and the fourth is a power performance measurement procedure for non-grid (small) wind turbines. This report presents work that was made to support the basis for this standardisation work. The work addressed experience from several national and international research projects and contractual and field experience gained within the wind energy community on this matter. The work was wide ranging and addressed 'grey' areas of knowledge regarding existing methodologies, which has then been investigated in more detail. The work has given rise to a range of conclusions and recommendations regarding: guaranties on power curves in complex terrain; investors and bankers experience with verification of power curves; power performance in relation to regional correction curves for Denmark; anemometry and the influence of inclined flow. (au)

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

DEFF Research Database (Denmark)

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

2015-01-01

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

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

Directory of Open Access Journals (Sweden)

Duysens Jacques

2011-01-01

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

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.

Local curvature entropy-based 3D terrain representation using a comprehensive Quadtree

Science.gov (United States)

Chen, Qiyu; Liu, Gang; Ma, Xiaogang; Mariethoz, Gregoire; He, Zhenwen; Tian, Yiping; Weng, Zhengping

2018-05-01

Large scale 3D digital terrain modeling is a crucial part of many real-time applications in geoinformatics. In recent years, the improved speed and precision in spatial data collection make the original terrain data more complex and bigger, which poses challenges for data management, visualization and analysis. In this work, we presented an effective and comprehensive 3D terrain representation based on local curvature entropy and a dynamic Quadtree. The Level-of-detail (LOD) models of significant terrain features were employed to generate hierarchical terrain surfaces. In order to reduce the radical changes of grid density between adjacent LODs, local entropy of terrain curvature was regarded as a measure of subdividing terrain grid cells. Then, an efficient approach was presented to eliminate the cracks among the different LODs by directly updating the Quadtree due to an edge-based structure proposed in this work. Furthermore, we utilized a threshold of local entropy stored in each parent node of this Quadtree to flexibly control the depth of the Quadtree and dynamically schedule large-scale LOD terrain. Several experiments were implemented to test the performance of the proposed method. The results demonstrate that our method can be applied to construct LOD 3D terrain models with good performance in terms of computational cost and the maintenance of terrain features. Our method has already been deployed in a geographic information system (GIS) for practical uses, and it is able to support the real-time dynamic scheduling of large scale terrain models more easily and efficiently.

An Optimized Method for Terrain Reconstruction Based on Descent Images

Directory of Open Access Journals (Sweden)

Xu Xinchao

2016-02-01

Full Text Available An optimization method is proposed to perform high-accuracy terrain reconstruction of the landing area of Chang’e III. First, feature matching is conducted using geometric model constraints. Then, the initial terrain is obtained and the initial normal vector of each point is solved on the basis of the initial terrain. By changing the vector around the initial normal vector in small steps a set of new vectors is obtained. By combining these vectors with the direction of light and camera, the functions are set up on the basis of a surface reflection model. Then, a series of gray values is derived by solving the equations. The new optimized vector is recorded when the obtained gray value is closest to the corresponding pixel. Finally, the optimized terrain is obtained after iteration of the vector field. Experiments were conducted using the laboratory images and descent images of Chang’e III. The results showed that the performance of the proposed method was better than that of the classical feature matching method. It can provide a reference for terrain reconstruction of the landing area in subsequent moon exploration missions.

Information measures for terrain visualization

Science.gov (United States)

Bonaventura, Xavier; Sima, Aleksandra A.; Feixas, Miquel; Buckley, Simon J.; Sbert, Mateu; Howell, John A.

2017-02-01

Many quantitative and qualitative studies in geoscience research are based on digital elevation models (DEMs) and 3D surfaces to aid understanding of natural and anthropogenically-influenced topography. As well as their quantitative uses, the visual representation of DEMs can add valuable information for identifying and interpreting topographic features. However, choice of viewpoints and rendering styles may not always be intuitive, especially when terrain data are augmented with digital image texture. In this paper, an information-theoretic framework for object understanding is applied to terrain visualization and terrain view selection. From a visibility channel between a set of viewpoints and the component polygons of a 3D terrain model, we obtain three polygonal information measures. These measures are used to visualize the information associated with each polygon of the terrain model. In order to enhance the perception of the terrain's shape, we explore the effect of combining the calculated information measures with the supplementary digital image texture. From polygonal information, we also introduce a method to select a set of representative views of the terrain model. Finally, we evaluate the behaviour of the proposed techniques using example datasets. A publicly available framework for both the visualization and the view selection of a terrain has been created in order to provide the possibility to analyse any terrain model.

Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

Science.gov (United States)

Polanowski, Piotr; Sikorski, Andrzej

2016-08-04

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

On characterizing terrain visibility graphs

Directory of Open Access Journals (Sweden)

William Evans

2015-06-01

Full Text Available A terrain is an $x$-monotone polygonal line in the $xy$-plane. Two vertices of a terrain are mutually visible if and only if there is no terrain vertex on or above the open line segment connecting them. A graph whose vertices represent terrain vertices and whose edges represent mutually visible pairs of terrain vertices is called a terrain visibility graph. We would like to find properties that are both necessary and sufficient for a graph to be a terrain visibility graph; that is, we would like to characterize terrain visibility graphs.Abello et al. [Discrete and Computational Geometry, 14(3:331--358, 1995] showed that all terrain visibility graphs are “persistent”. They showed that the visibility information of a terrain point set implies some ordering requirements on the slopes of the lines connecting pairs of points in any realization, and as a step towards showing sufficiency, they proved that for any persistent graph $M$ there is a total order on the slopes of the (pseudo lines in a generalized configuration of points whose visibility graph is $M$.We give a much simpler proof of this result by establishing an orientation to every triple of vertices, reflecting some slope ordering requirements that are consistent with $M$ being the visibility graph, and prove that these requirements form a partial order. We give a faster algorithm to construct a total order on the slopes. Our approach attempts to clarify the implications of the graph theoretic properties on the ordering of the slopes, and may be interpreted as defining properties on an underlying oriented matroid that we show is a restricted type of $3$-signotope.

Evaluation of terrain geomorphometric characteristics for ground clearance charts production

Directory of Open Access Journals (Sweden)

Mirko A. Borisov

2011-01-01

Full Text Available Geomorphometric exploration applied in the military terrain analysis is based on the GIS methodology of spatial analyses and is related primarily to military terrain analyses. It includes relief assessment aiming at producing ground clearance charts for the analysis of terrain maneuverability and its deployment, cover and concealment possibilities. An evaluation analysis of geomorphological parameters was performed for the Avala test area using a few terrain parameters (visibility, terrain aspect and slope as well as some terrain qualitative categories (e.g. vegetation density. Terrain slope Slope and aspect are morphometric terrain parameters that can be derived directly from the DTM using some GIS operations. Slope is the first derivative of a surface and has both magnitude and direction. Slope is perhaps the most important aspect of the surface form, since surfaces are formed completely of slopes, and slope angles control the gravitational force available for geomorphic work. Mathematically, the tangent of the slope angle is the first derivative of altitude, and it is a tangent or percent slope as this surface parameter is generally referred to. Slope is defined at each point as the slope of a plane tangent to the surface at that point. In practice, however, slope is generally measured over a finite distance, especially when data are obtained from a contour map. Terrain aspect Aspect is also the first derivative of a surface and has both magnitude and direction. The term aspect is defined as the direction of the biggest slope vector on the tangent plane projected onto the horizontal plane. Aspect is the bearing (or azimuth of the slope direction, and its angle ranges from 0 to 360°. Analyses of terrain slope and ground clearance for military forces The analysis of land assessment of the Avala test area included the definition of relief categories in relation to cover and concealment purposes with the aim to include the geomorphological basis

Terrain Simplification Research in Augmented Scene Modeling

Institute of Scientific and Technical Information of China (English)

无

2001-01-01

environment. As one of the most important tasks in augmented scene modeling, terrain simplification research has gained more and more attention. In this paper, we mainly focus on point selection problem in terrain simplification using triangulated irregular network. Based on the analysis and comparison of traditional importance measures for each input point, we put forward a new importance measure based on local entropy. The results demonstrate that the local entropy criterion has a better performance than any traditional methods. In addition, it can effectively conquer the "short-sight" problem associated with the traditional methods.

Foot strike patterns after obstacle clearance during running.

Science.gov (United States)

Scholten, Shane D; Stergiou, Nicholas; Hreljac, Alan; Houser, Jeremy; Blanke, Daniel; Alberts, L Russell

2002-01-01

Running over obstacles of sufficient height requires heel strike (HS) runners to make a transition in landing strategy to a forefoot (FF) strike, resulting in similar ground reaction force patterns to those observed while landing from a jump. Identification of the biomechanical variables that distinguish between the landing strategies may offer some insight into the reasons that the transition occurs. The purpose of this study was to investigate the difference in foot strike patterns and kinetic parameters of heel strike runners between level running and running over obstacles of various heights. Ten heel strike subjects ran at their self-selected pace under seven different conditions: unperturbed running (no obstacle) and over obstacles of six different heights (10%, 12.5%, 15%, 17.5%, 20%, and 22.5% of their standing height). The obstacle was placed directly before a Kistler force platform. Repeated measures ANOVAs were performed on the subject means of selected kinetic parameters. The statistical analysis revealed significant differences (P strike patterns were affected by the increased obstacle height. Between the 12.5% and 15% obstacle conditions, the group response changed from a heel strike to a forefoot strike pattern. At height > 15%, the pattern was more closely related to the foot strike patterns found in jumping activities. This strategy change may represent a gait transition effected as a mechanism to protect against increased impact forces. Greater involvement of the ankle and the calf muscles could have assisted in attenuating the increased impact forces while maintaining speed after clearing the obstacle.

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.

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

Science.gov (United States)

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-03-25

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

Obstacle evasion in free-space optical communications utilizing Airy beams

Science.gov (United States)

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

2018-03-01

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

Submarine Salt Karst Terrains

Directory of Open Access Journals (Sweden)

Nico Augustin

2016-06-01

Full Text Available Karst terrains that develop in bodies of rock salt (taken as mainly of halite, NaCl are special not only for developing in one of the most soluble of all rocks, but also for developing in one of the weakest rocks. Salt is so weak that many surface-piercing salt diapirs extrude slow fountains of salt that that gravity spread downslope over deserts on land and over sea floors. Salt fountains in the deserts of Iran are usually so dry that they flow at only a few cm/yr but the few rain storms a decade so soak and weaken them that they surge at dm/day for a few days. We illustrate the only case where the rates at which different parts of one of the many tens of subaerial salt karst terrains in Iran flows downslope constrains the rates at which its subaerial salt karst terrains form. Normal seawater is only 10% saturated in NaCl. It should therefore be sufficiently aggressive to erode karst terrains into exposures of salt on the thousands of known submarine salt extrusions that have flowed or are still flowing over the floors of hundreds of submarine basins worldwide. However, we know of no attempt to constrain the processes that form submarine salt karst terrains on any of these of submarine salt extrusions. As on land, many potential submarine karst terrains are cloaked by clastic and pelagic sediments that are often hundreds of m thick. Nevertheless, detailed geophysical and bathymetric surveys have already mapped likely submarine salt karst terrains in at least the Gulf of Mexico, and the Red Sea. New images of these two areas are offered as clear evidence of submarine salt dissolution due to sinking or rising aggressive fluids. We suggest that repeated 3D surveys of distinctive features (± fixed seismic reflectors of such terrains could measure any downslope salt flow and thus offer an exceptional opportunity to constrain the rates at which submarine salt karst terrains develop. Such rates are of interest to all salt tectonicians and the many

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

Science.gov (United States)

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

2016-06-01

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

Probing the Terrain

DEFF Research Database (Denmark)

Johannessen, Runa

2016-01-01

Whether manifest in built structures or invisible infrastructures, architectures of control in the occupied Palestinian West Bank is structurally defined by endemic uncertainty. Shifting lines and frontiers are recorded on the terrain, creating elastic zones of uncertainty necessitating navigatio...... to the territory through its lines and laws, and how the very structure of the occupation has changed over the years, I seek to make visible the ways in which architectures of uncertainty compensate for the fleeting terrain that HH is probing.......Whether manifest in built structures or invisible infrastructures, architectures of control in the occupied Palestinian West Bank is structurally defined by endemic uncertainty. Shifting lines and frontiers are recorded on the terrain, creating elastic zones of uncertainty necessitating...

A Framework for Obstacles Avoidance of Humanoid Robot Using Stereo Vision

Directory of Open Access Journals (Sweden)

Widodo Budiharto

2013-04-01

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

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

International Nuclear Information System (INIS)

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

1997-01-01

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

Declarative Terrain Modeling for Military Training Games

Directory of Open Access Journals (Sweden)

Ruben M. Smelik

2010-01-01

Full Text Available Military training instructors increasingly often employ computer games to train soldiers in all sorts of skills and tactics. One of the difficulties instructors face when using games as a training tool is the creation of suitable content, including scenarios, entities, and corresponding terrain models. Terrain plays a key role in many military training games, as for example, in our case game Tactical Air Defense. However, current manual terrain editors are both too complex and too time-consuming to be useful for instructors; automatic terrain generation methods show a lot of potential, but still lack user control and intuitive editing capabilities. We present a novel way for instructors to model terrain for their training games: instead of constructing a terrain model using complex modeling tools, instructors can declare the required properties of their terrain using an advanced sketching interface. Our framework integrates terrain generation methods and manages dependencies between terrain features in order to automatically create a complete 3D terrain model that matches the sketch. With our framework, instructors can easily design a large variety of terrain models that meet their training requirements.

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.

Treinta y Tres stratigraphic terrain: ex Cuchilla Dionisio terrain. Uruguay

International Nuclear Information System (INIS)

Bossi, J.

2010-01-01

From 1998 we are discussing if the eastern area of ZCSB is an allochtonous block named TCD or if it belongs to Dom Feliciano belt with an age of 500 - 700 Ma. This crustal block is difficult to study because Laguna Merin Graben cut it in two around 4000 k m2 crustal fragments distant s more de 100 km between them. Southern block which was named T PE by Masquelín (2006) was demonstrated as allochtonous by Bossi and Gaucher (2004) destroying the Cdf model but seriously complicating the stratigraphic terminology. It is proposed to do some changes in order to profit the general agreement about allochtomy. The CDT with change by Treinta y Tres terrane; T PE become sub - terrain Punta del Este; sub - terrain Cuchilla Dionisio for the septetrional block. From 1998 we are discussing if the eastern area of ZCSB is an allochtonous block named TCD or if it belongs to Dom Feliciano belt with an age of 500 - 700 Ma. This crustal block is difficult to study because Laguna Merín Graben cut it in two around 4000 k m2 crustal fragments distant s more de 100 km between them. Southern block which was named T PE by Masquelín (2006) was demonstrated as allochtonous by Bossi and Gaucher (2004) destroying the CDF model but seriously complicating the stratigraphic terminology. It is proposed to do some changes in order to profit the general agreement about allochtomy. The CDT with change by Treinta y Tres terrain; TPE become sub - terrain Punta del Este; sub - terrain Cuchilla Dionisio for the septetrional block

Terrain assessment guidelines : CAGC best practice. Version 3

Energy Technology Data Exchange (ETDEWEB)

NONE

2009-07-01

This terrain classification assessment guideline discussed the steps required for personnel to understand terrain hazards present during seismic operations. Maps and other sources must be used to classify terrain steepness and surface conditions using geographical information systems (GIS), LIDAR, or satellite photographs. The impact of managing steep terrain within projects must also be considered when class 3, 4, 5, or 6 terrain has been identified. Terrains must also be classified according to colours. Secondary terrain assessments must be conducted when class 3, 4, 5, or 6 terrain has been identified. Terrain management plans should included methods of keeping untrained workers out of areas with classes greater than 3. Methods of entering and exiting steep terrain must be identified. Workers must be trained to work in areas with steep terrains. Methods of rescue and evacuation must also be established. Procedures were outlined for all terrain classes. Footwear, head protection and general safety requirements were outlined. 14 figs.

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

Science.gov (United States)

Han, Zhi-Gang; Cui, Cai-Hui

2009-10-01

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

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

Science.gov (United States)

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

2015-08-01

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

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

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

Improvement of a three-dimensional atmospheric dynamic model and examination of its performance over complex terrain

International Nuclear Information System (INIS)

Nagai, Haruyasu; Yamazawa, Hiromi

1994-11-01

A three-dimensional atmospheric dynamic model (PHYSIC) was improved and its performance was examined using the meteorological data observed at a coastal area with a complex terrain. To introduce synoptic meteorological conditions into the model, the initial and boundary conditions were improved. By this improvement, the model can predict the temporal change of wind field for more than 24 hours. Moreover, the model successfully simulates the land and sea breeze observed at Shimokita area in the summer of 1992. (author)

NPSNET: Dynamic Terrain and Cultured Feature Depiction

Science.gov (United States)

1992-09-01

defaults. bridge(terrain *ptr, vertex pos, bridge mattype bmat ); This constructor takes only the pointer to the underlying terrain, a placement, and a...material to use for construction. bridge(terrain *ptr, vertex pos, bridge-mattype bmat , float dir); This constructor takes a terrain pointer, a...placement position, a material to use, and a direction to run. bridge(terrain *ptr, vertex pos, bridge-mattype bmat , float dir, float width, float height

Topographic Correction of Landsat TM-5 and Landsat OLI-8 Imagery to Improve the Performance of Forest Classification in the Mountainous Terrain of Northeast Thailand

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Uday Pimple

2017-02-01

Full Text Available The accurate mapping and monitoring of forests is essential for the sustainable management of forest ecosystems. Advancements in the Landsat satellite series have been very useful for various forest mapping applications. However, the topographic shadows of irregular mountains are major obstacles to accurate forest classification. In this paper, we test five topographic correction methods: improved cosine correction, Minnaert, C-correction, Statistical Empirical Correction (SEC and Variable Empirical Coefficient Algorithm (VECA, with multisource digital elevation models (DEM to reduce the topographic relief effect in mountainous terrain produced by the Landsat Thematic Mapper (TM-5 and Operational Land Imager (OLI-8 sensors. The effectiveness of the topographic correction methods are assessed by visual interpretation and the reduction in standard deviation (SD, by means of the coefficient of variation (CV. Results show that the SEC performs best with the Shuttle Radar Topographic Mission (SRTM 30 m × 30 m DEM. The random forest (RF classifier is used for forest classification, and the overall accuracy of forest classification is evaluated to compare the performances of the topographic corrections. Our results show that the C-correction, SEC and VECA corrected imagery were able to improve the forest classification accuracy of Landsat TM-5 from 78.41% to 81.50%, 82.38%, and 81.50%, respectively, and OLI-8 from 81.06% to 81.50%, 82.38%, and 81.94%, respectively. The highest accuracy of forest type classification is obtained with the newly available high-resolution SRTM DEM and SEC method.

Reciprocally-Rotating Velocity Obstacles

KAUST Repository

Giese, Andrew

2014-05-01

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

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

Science.gov (United States)

Darekar, Anuja; Lamontagne, Anouk; Fung, Joyce

2017-06-15

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

Local-scale stratigraphy of grooved terrain on Ganymede

Science.gov (United States)

Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

1987-01-01

The surface of the Jovian satellite, Ganymede, is divided into two main units, dark terrain cut by arcuate and subradial furrows, and light terrain consisting largely of areas with pervasive U-shaped grooves. The grooved terrain may be subdivided on the basis of pervasive morphology of groove domains into four terrain types: (1) elongate bands of parallel grooves (groove lanes); (2) polygonal domains of parallel grooves (grooved polygons); (3) polygonal domains of two orthogonal groove sets (reticulate terrain); and (4) polygons having two to several complexly cross-cutting groove sets (complex grooved terrain). Reticulate terrain is frequently dark and not extensively resurfaced, and grades to a more hummocky terrain type. The other three grooved terrain types have almost universally been resurfaced by light material during their emplacement. The sequence of events during grooved terrain emplacement has been investigated. An attempt is made to integrate observed geologic and tectonic patterns to better constrain the relative ages and styles of emplacement of grooved terrain types. A revised model of grooved terrain emplacement is proposed and is tested using detailed geologic mapping and measurement of crater density.

Planning Routes Across Economic Terrains: Maximizing Utility, Following Heuristics

Science.gov (United States)

Zhang, Hang; Maddula, Soumya V.; Maloney, Laurence T.

2010-01-01

We designed an economic task to investigate human planning of routes in landscapes where travel in different kinds of terrain incurs different costs. Participants moved their finger across a touch screen from a starting point to a destination. The screen was divided into distinct kinds of terrain and travel within each kind of terrain imposed a cost proportional to distance traveled. We varied costs and spatial configurations of terrains and participants received fixed bonuses minus the total cost of the routes they chose. We first compared performance to a model maximizing gain. All but one of 12 participants failed to adopt least-cost routes and their failure to do so reduced their winnings by about 30% (median value). We tested in detail whether participants’ choices of routes satisfied three necessary conditions (heuristics) for a route to maximize gain. We report failures of one heuristic for 7 out of 12 participants. Last of all, we modeled human performance with the assumption that participants assign subjective utilities to costs and maximize utility. For 7 out 12 participants, the fitted utility function was an accelerating power function of actual cost and for the remaining 5, a decelerating power function. We discuss connections between utility aggregation in route planning and decision under risk. Our task could be adapted to investigate human strategy and optimality of route planning in full-scale landscapes. PMID:21833269

PLANNING ROUTES ACROSS ECONOMIC TERRAINS: MAXIMIZING UTILITY, FOLLOWING HEURISTICS

Directory of Open Access Journals (Sweden)

Hang eZhang

2010-12-01

Full Text Available We designed an economic task to investigate human planning of routes in landscapes where travel in different kinds of terrain incurs different costs. Participants moved their finger across a touch screen from a starting point to a destination. The screen was divided into distinct kinds of terrain and travel within each kind of terrain imposed a cost proportional to distance traveled. We varied costs and spatial configurations of terrains and participants received fixed bonuses minus the total cost of the routes they chose. We first compared performance to a model maximizing gain. All but one of 12 participants failed to adopt least-cost routes and their failure to do so reduced their winnings by about 30% (median value. We tested in detail whether participants’ choices of routes satisfied three necessary conditions (heuristics for a route to maximize gain. We report failures of one heuristic for 7 out of 12 participants. Last of all, we modeled human performance with the assumption that participants assign subjective utilities to costs and maximize utility. For 7 out 12 participants, the fitted utility function was an accelerating power function of actual cost and for the remaining 5, a decelerating power function. We discuss connections between utility aggregation in route planning and decision under risk. Our task could be adapted to investigate human strategy and optimality of route planning in full-scale landscapes.

A Realistic Framework for Delay-Tolerant Network Routing in Open Terrains with Continuous Churn

Science.gov (United States)

Mahendran, Veeramani; Anirudh, Sivaraman K.; Murthy, C. Siva Ram

The conventional analysis of Delay-Tolerant Network (DTN) routing assumes that the terrain over which nodes move is closed implying that when the nodes hit a boundary, they either wrap around or get reflected. In this work, we study the effect of relaxing this closed terrain assumption on the routing performance, where a continuous stream of nodes enter the terrain and get absorbed upon hitting the boundary.

Robust obstacle detection for unmanned surface vehicles

Science.gov (United States)

Qin, Yueming; Zhang, Xiuzhi

2018-03-01

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

Processing Terrain Point Cloud Data

KAUST Repository

DeVore, Ronald

2013-01-10

Terrain point cloud data are typically acquired through some form of Light Detection And Ranging sensing. They form a rich resource that is important in a variety of applications including navigation, line of sight, and terrain visualization. Processing terrain data has not received the attention of other forms of surface reconstruction or of image processing. The goal of terrain data processing is to convert the point cloud into a succinct representation system that is amenable to the various application demands. The present paper presents a platform for terrain processing built on the following principles: (i) measuring distortion in the Hausdorff metric, which we argue is a good match for the application demands, (ii) a multiscale representation based on tree approximation using local polynomial fitting. The basic elements held in the nodes of the tree can be efficiently encoded, transmitted, visualized, and utilized for the various target applications. Several challenges emerge because of the variable resolution of the data, missing data, occlusions, and noise. Techniques for identifying and handling these challenges are developed. © 2013 Society for Industrial and Applied Mathematics.

Obstacle avoidance handling and mixed integer predictive control for space robots

Science.gov (United States)

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

2018-04-01

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

A New Terrain Classification Framework Using Proprioceptive Sensors for Mobile Robots

Directory of Open Access Journals (Sweden)

Kai Zhao

2017-01-01

Full Text Available Mobile robots that operate in real-world environments interact with the surroundings to generate complex acoustics and vibration signals, which carry rich information about the terrain. This paper presents a new terrain classification framework that utilizes both acoustics and vibration signals resulting from the robot-terrain interaction. As an alternative to handcrafted domain-specific feature extraction, a two-stage feature selection method combining ReliefF and mRMR algorithms was developed to select optimal feature subsets that carry more discriminative information. As different data sources can provide complementary information, a multiclassifier combination method was proposed by considering a priori knowledge and fusing predictions from five data sources: one acoustic data source and four vibration data sources. In this study, four conceptually different classifiers were employed to perform the classification, each with a different number of optimal features. Signals were collected using a tracked robot moving at three different speeds on six different terrains. The new framework successfully improved classification performance of different classifiers using the newly developed optimal feature subsets. The greater improvement was observed for robot traversing at lower speeds.

Processing Terrain Point Cloud Data

KAUST Repository

DeVore, Ronald; Petrova, Guergana; Hielsberg, Matthew; Owens, Luke; Clack, Billy; Sood, Alok

2013-01-01

Terrain point cloud data are typically acquired through some form of Light Detection And Ranging sensing. They form a rich resource that is important in a variety of applications including navigation, line of sight, and terrain visualization

Do characteristics of a stationary obstacle lead to adjustments in obstacle stepping strategies?

Science.gov (United States)

Worden, Timothy A; De Jong, Audrey F; Vallis, Lori Ann

2016-01-01

Navigating cluttered and complex environments increases the risk of falling. To decrease this risk, it is important to understand the influence of obstacle visual cues on stepping parameters, however the specific obstacle characteristics that have the greatest influence on avoidance strategies is still under debate. The purpose of the current work is to provide further insight on the relationship between obstacle appearance in the environment and modulation of stepping parameters. Healthy young adults (N=8) first stepped over an obstacle with one visible top edge ("floating"; 8 trials) followed by trials where experimenters randomly altered the location of a ground reference object to one of 7 different positions (8 trials per location), which ranged from 6cm in front of, directly under, or up to 6cm behind the floating obstacle (at 2cm intervals). Mean take-off and landing distance as well as minimum foot clearance values were unchanged across different positions of the ground reference object; a consistent stepping trajectory was observed for all experimental conditions. Contrary to our hypotheses, results of this study indicate that ground based visual cues are not essential for the planning of stepping and clearance strategies. The simultaneous presentation of both floating and ground based objects may have provided critical information that lead to the adoption of a consistent strategy for clearing the top edge of the obstacle. The invariant foot placement observed here may be an appropriate stepping strategy for young adults, however this may not be the case across the lifespan or in special populations. Copyright © 2015 Elsevier B.V. All rights reserved.

Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.

Science.gov (United States)

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

2016-01-01

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

Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.

Directory of Open Access Journals (Sweden)

Andrew J Kolarik

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

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

Science.gov (United States)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Andrew J Kolarik

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

VISION BASED OBSTACLE DETECTION IN UAV IMAGING

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S. Badrloo

2017-08-01

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

Women's orgasm obstacles: A qualitative study.

Science.gov (United States)

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

2017-08-01

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

Survivor shielding. Part C. Improvements in terrain shielding

International Nuclear Information System (INIS)

Egbert, Stephen D.; Kaul, Dean C.; Roberts, James A.; Kerr, George D.

2005-01-01

A number of atomic-bomb survivors were affected by shielding provided by terrain features. These terrain features can be a small hill, affecting one or two houses, or a high mountain that shields large neighborhoods. In the survivor dosimetry system, terrain shielding can be described by a transmission factor (TF), which is the ratio between the dose with and without the terrain present. The terrain TF typically ranges between 0.1 and 1.0. After DS86 was implemented at RERF, the terrain shielding categories were examined and found to either have a bias or an excessive uncertainty that could readily be removed. In 1989, an improvement in the terrain model was implemented at RERF in the revised DS86 code, but the documentation was not published. It is now presented in this section. The solution to the terrain shielding in front of a house is described in this section. The problem of terrain shielding of survivors behind Hijiyama mountain at Hiroshima and Konpirasan mountain at Nagasaki has also been recognized, and a solution to this problem has been included in DS02. (author)

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

Directory of Open Access Journals (Sweden)

Shujun Bi

2011-09-01

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

Spectra of Velocity components over Complex Terrain

DEFF Research Database (Denmark)

Panofsky, H. A.; Larko, D.; Lipschut, R.

1982-01-01

: When air moves over terrain with changed characteristics, then (1) for wavelengths very short relative to the fetch over the new terrain, the spectral densities are in equilibrium with the new terrain. (1) for wavelengths long compared to this fetch, spectral densities remain unchanged if the ground...

An open source high-performance solution to extract surface water drainage networks from diverse terrain conditions

Science.gov (United States)

Stanislawski, Larry V.; Survila, Kornelijus; Wendel, Jeffrey; Liu, Yan; Buttenfield, Barbara P.

2018-01-01

This paper describes a workflow for automating the extraction of elevation-derived stream lines using open source tools with parallel computing support and testing the effectiveness of procedures in various terrain conditions within the conterminous United States. Drainage networks are extracted from the US Geological Survey 1/3 arc-second 3D Elevation Program elevation data having a nominal cell size of 10 m. This research demonstrates the utility of open source tools with parallel computing support for extracting connected drainage network patterns and handling depressions in 30 subbasins distributed across humid, dry, and transitional climate regions and in terrain conditions exhibiting a range of slopes. Special attention is given to low-slope terrain, where network connectivity is preserved by generating synthetic stream channels through lake and waterbody polygons. Conflation analysis compares the extracted streams with a 1:24,000-scale National Hydrography Dataset flowline network and shows that similarities are greatest for second- and higher-order tributaries.

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

Science.gov (United States)

Mou, Xiaozheng; Wang, Han

2018-01-01

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

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

Science.gov (United States)

Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

2012-01-01

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

Cellular neural networks for motion estimation and obstacle detection

Directory of Open Access Journals (Sweden)

D. Feiden

2003-01-01

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

Analysis of the existing Standard on Power performance measurement and its application in complex terrain

International Nuclear Information System (INIS)

Cuerva, A.

1997-01-01

There are some groups working on the improvement of the existing Standard and recommendation on WECS power performance measurement and analysis. One of them, besides the one working in this project, is the MEASNET expert group. This one is trying to adequate the main reference, the IEC1400-12 Ref. [9]. to the current requirements on technical quality and trueness. Within this group and the MEASNET one, many deficiencies have been detected in the procedure followed up to now. Several of them belong to general aspects of the method (calculations, assumptions, etc. ) but the most critical fact regards to the inherent characteristics of complex terrain and to the issue of site calibration and uncertainties due to it, specifically. (Author)

Analysis of the existing Standard on Power performance measurement and its application in complex terrain

Energy Technology Data Exchange (ETDEWEB)

Cuerva, A.

1997-10-01

There are some groups working on the improvement of the existing Standard and recommendation on WECS power performance measurement and analysis. One of them, besides the one working in this project, is the MEASNET expert group. This one is trying to adequate the main reference, the IEC 1400-12 Re.[9]. to the current requirements on technical quality and trueness. Within this group and the MEASNET one, many deficiencies have been detected in the procedure followed up to now. Several of them belong to general aspects of the method (calculations, assumptions, etc.) but the most critical fact regards to the inherent characteristics of complex terrain and to the issue of site calibration and uncertainties due to it, specifically. (Author)

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

Science.gov (United States)

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

2018-03-21

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

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

Science.gov (United States)

Owlia, Shahboddin

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

ISOSTATICALLY DISTURBED TERRAIN OF NORTHWESTERN ANDES MOUNTAINS FROM SPECTRALLY CORRELATED FREE-AIR AND GRAVITY TERRAIN DATA

Directory of Open Access Journals (Sweden)

Hernández P Orlando

2006-12-01

Full Text Available Recently revised models on global tectonics describe the convergence of the North Andes, Nazca, Caribbean and South American Plates and their seismicity, volcanism, active faulting and extreme
topography. The current plate boundaries of the area are mainly interpreted from volcanic and seismic datasets with variable confidence levels. New insights on the isostatic state and plate boundaries of
the northwestern Andes Mountains can be obtained from the spectral analysis of recently available gravity and topography data.
Isostatically disturbed terrain produces free-air anomalies that are highly correlated with the gravity effects of the terrain. The terrain gravity effects (TGE and free air gravity anomalies (FAGA of the
Andes mountains spectral correlation data confirms that these mountains are isostatically disturbed. Strong negative terrain-correlated FAGA along western South America and the Greater and Lesser Antilles are consistent with anomalously deepened mantle displaced by subducting oceanic plates.

Inversion of the compensated terrain gravity effects (CTGE reveals plate subduction systems with alternating shallower and steeper subduction angles. The gravity modeling highlights crustal
deformation from plate collision and subduction and other constraints on the tectonism of the plate boundary zones for the region.

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

Science.gov (United States)

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

2013-01-01

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

GIS-based terrain analysis of linear infrastructure corridors in the Mackenzie River Valley, NWT

International Nuclear Information System (INIS)

Ednie, M.; Wright, J.F.; Duchesne, C.

2007-01-01

The impact of global warming on permafrost terrain was discussed with particular reference to the structural stability and performance reliability of the proposed pipelines and roads in the Mackenzie River Valley in the Northwest Territories. Engineers, regulators and decision makers responsible for the development of these networks must have access to information about current and future terrain conditions, both local and regional. The Geological Survey of Canada is developing an ArcGIS resident, multi-component terrain analysis methodology for evaluating permafrost terrain in terms of the probable geothermal and geomorphological responses to climate warming. A GIS-integrated finite-element transient ground thermal model (T-ONE) can predict local-regional permafrost conditions and future responses of permafrost to climate warming. The influences of surface and channel hydrology on local erosion potentials can be determined by analyzing the topographic and topologic characteristics of the terrain. A weights of evidence-based landscape-process model, currently under development, will consider multiple terrain factors for mapping terrain that is susceptible to slope failure, subsidence or erosion. This terrain analysis methodology is currently being applied to a 2 km buffer spanning the proposed Mackenzie Gas Pipeline right-of-way, and along winter and all-weather road networks in the Mackenzie River Valley. Initial ground thermal modeling has identified thermally sensitive terrain for which permafrost will either completely disappear or warm significantly to near isothermal conditions within the next 25 to 55 years

Digital terrain data base - new possibilities of 3D terrain modeling

Directory of Open Access Journals (Sweden)

Mateja Rihtaršič

1992-12-01

Full Text Available GISs has brought new dimensions in the field of digital terrain modelling, too. Modem DTMs must be real (relational databases with high degree of "intelligence". This paper presents some of the demands, ivhich have to be solved in modern digital terrain databases, together with main steps of their's generation. Problems, connected to regional level, multi-pur pose use, new possibilities and direct integration into GIS are presented. The practical model was created across smaller test area, so few lines with practical experiences can be droped, too.

CONTEXT-BASED URBAN TERRAIN RECONSTRUCTION FROM UAV-VIDEOS FOR GEOINFORMATION APPLICATIONS

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D. Bulatov

2012-09-01

Full Text Available Urban terrain reconstruction has many applications in areas of civil engineering, urban planning, surveillance and defense research. Therefore the needs of covering ad-hoc demand and performing a close-range urban terrain reconstruction with miniaturized and relatively inexpensive sensor platforms are constantly growing. Using (miniaturized unmanned aerial vehicles, (MUAVs, represents one of the most attractive alternatives to conventional large-scale aerial imagery. We cover in this paper a four-step procedure of obtaining georeferenced 3D urban models from video sequences. The four steps of the procedure – orientation, dense reconstruction, urban terrain modeling and geo-referencing – are robust, straight-forward, and nearly fully-automatic. The two last steps – namely, urban terrain modeling from almost-nadir videos and co-registration of models 6ndash; represent the main contribution of this work and will therefore be covered with more detail. The essential substeps of the third step include digital terrain model (DTM extraction, segregation of buildings from vegetation, as well as instantiation of building and tree models. The last step is subdivided into quasi- intrasensorial registration of Euclidean reconstructions and intersensorial registration with a geo-referenced orthophoto. Finally, we present reconstruction results from a real data-set and outline ideas for future work.

Improved progressive morphological filter for digital terrain model generation from airborne lidar data.

Science.gov (United States)

Hui, Zhenyang; Wu, Beiping; Hu, Youjian; Ziggah, Yao Yevenyo

2017-12-01

Obtaining high-precision filtering results from airborne lidar point clouds in complex environments has always been a hot topic. Mathematical morphology was widely used for filtering, owing to its simplicity and high efficiency. However, the morphology-based algorithms are deficient in preserving terrain details. In order to obtain a better filtering effect, this paper proposed an improved progressive morphological filter based on hierarchical radial basis function interpolation (PMHR) to refine the classical progressive morphological filter. PMHR involved two main improvements, namely, automatic setting of self-adaptive thresholds and terrain details preservation, respectively. The performance of PMHR was evaluated using datasets provided by the International Society for Photogrammetry and Remote Sensing. Experimental results show that PMHR achieved good performance under variant terrain features with an average total error of 4.27% and average Kappa coefficient of 84.57%.

Scalable Algorithms for Large High-Resolution Terrain Data

DEFF Research Database (Denmark)

Mølhave, Thomas; Agarwal, Pankaj K.; Arge, Lars Allan

2010-01-01

In this paper we demonstrate that the technology required to perform typical GIS computations on very large high-resolution terrain models has matured enough to be ready for use by practitioners. We also demonstrate the impact that high-resolution data has on common problems. To our knowledge, so...

Path Generation by Avoiding Obstacles using the Intersection of Bodies

Directory of Open Access Journals (Sweden)

Komák Martin

2018-02-01

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

ARAC terrain data base

International Nuclear Information System (INIS)

Walker, H.

1982-11-01

A terrain data base covering the continental United States at 500-meter resolution has been generated. Its function is to provide terrain data for input to mesoscale atmospheric models that are used as part of the Atmospheric Release Advisory Capability at Lawrence Livermore Laboratory (LLNL). The structure of the data base as it exists on the LLNL computer system is described. The data base has been written to tapes for transfer to other systems and the format of these tapes is also described

Surface obstacles in pulsatile flow

Science.gov (United States)

Carr, Ian A.; Plesniak, Michael W.

2017-11-01

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

Resonances for Obstacles in Hyperbolic Space

Science.gov (United States)

Hintz, Peter; Zworski, Maciej

2017-12-01

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

Directed cell migration in the presence of obstacles

Directory of Open Access Journals (Sweden)

Grima Ramon

2007-01-01

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

Obstacle problems in mathematical physics

CERN Document Server

Rodrigues, J-F

1987-01-01

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

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

Directory of Open Access Journals (Sweden)

Jialiang Wang

2014-01-01

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

A method for separation of the terrain and non-terrain from Vehicle-borne Laser Scanning Data

International Nuclear Information System (INIS)

Wei, Jiangxia; Zhong, Ruofei

2014-01-01

Half the points from vehicle-borne laser scanning data are terrain data. If you want to extract features such as trees, street lights and buildings, terrain points must be removed. Nowadays, either airborne or vehicle-borne laser data, are mostly used to set an elevation threshold based on the scanning line or POS data to determine whether the point is a terrain point or not, but the disadvantage is part of low buildings or other feature objects will be lost. If the study area has high differences in the horizontal or the forward direction, this method is not applicable. This paper investigates a new methodology to extract the terrain points, which has great significance for data reduction and classification. The procedure includes the following steps: 1)Pre-processing: to remove discrete points and abnormal points. 2) Divided all the points into grid, calculating the average value of the XY and the minimum value of the Z of all the points in the same grid as the central point of the grid.3) Choose nearest six points which are close to the centre point to fitting the quadratic surface.4)Compare the normal vector of the fitting surface of the grid to the normal vector of the 8-neighborhood, if the difference is too big, it will be smoothed.5) Determine whether the point in the grid is on the surface, if the point belongs to the surface, it will be classified as terrain point. The results and evaluation have shown the effectiveness of the method and its potential in separation of the terrain of various areas

Performance and evaluation of a coupled prognostic model TAPM over a mountainous complex terrain industrial area

Science.gov (United States)

Matthaios, Vasileios N.; Triantafyllou, Athanasios G.; Albanis, Triantafyllos A.; Sakkas, Vasileios; Garas, Stelios

2018-05-01

Atmospheric modeling is considered an important tool with several applications such as prediction of air pollution levels, air quality management, and environmental impact assessment studies. Therefore, evaluation studies must be continuously made, in order to improve the accuracy and the approaches of the air quality models. In the present work, an attempt is made to examine the air pollution model (TAPM) efficiency in simulating the surface meteorology, as well as the SO2 concentrations in a mountainous complex terrain industrial area. Three configurations under different circumstances, firstly with default datasets, secondly with data assimilation, and thirdly with updated land use, ran in order to investigate the surface meteorology for a 3-year period (2009-2011) and one configuration applied to predict SO2 concentration levels for the year of 2011.The modeled hourly averaged meteorological and SO2 concentration values were statistically compared with those from five monitoring stations across the domain to evaluate the model's performance. Statistical measures showed that the surface temperature and relative humidity are predicted well in all three simulations, with index of agreement (IOA) higher than 0.94 and 0.70 correspondingly, in all monitoring sites, while an overprediction of extreme low temperature values is noted, with mountain altitudes to have an important role. However, the results also showed that the model's performance is related to the configuration regarding the wind. TAPM default dataset predicted better the wind variables in the center of the simulation than in the boundaries, while improvement in the boundary horizontal winds implied the performance of TAPM with updated land use. TAPM assimilation predicted the wind variables fairly good in the whole domain with IOA higher than 0.83 for the wind speed and higher than 0.85 for the horizontal wind components. Finally, the SO2 concentrations were assessed by the model with IOA varied from 0

The Efficacy of Using Synthetic Vision Terrain-Textured Images to Improve Pilot Situation Awareness

Science.gov (United States)

Uenking, Michael D.; Hughes, Monica F.

2002-01-01

The General Aviation Element of the Aviation Safety Program's Synthetic Vision Systems (SVS) Project is developing technology to eliminate low visibility induced General Aviation (GA) accidents. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain on the Primary Flight Display (PFD) to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain, as well as Low-Visibility Loss of Control accidents. SVS-conducted research is facilitating development of display concepts that provide the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. An experimental study is being conducted at NASA Langley Research Center (LaRC) to explore and quantify the relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and performance. Composed of complementary simulation and flight test efforts, Terrain Portrayal for Head-Down Displays (TP-HDD) experiments will help researchers evaluate critical terrain portrayal concepts. The experimental effort is to provide data to enable design trades that optimize SVS applications, as well as develop requirements and recommendations to facilitate the certification process. In this part of the experiment a fixed based flight simulator was equipped with various types of Head Down flight displays, ranging from conventional round dials (typical of most GA aircraft) to glass cockpit style PFD's. The variations of the PFD included an assortment of texturing and Digital Elevation Model (DEM) resolution combinations. A test matrix of 10 terrain display configurations (in addition to the baseline displays) were evaluated by 27 pilots of various backgrounds and experience levels. Qualitative (questionnaires) and quantitative (pilot performance and physiological) data were collected during

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.

Dynamics of cylindrical converging shock waves interacting with aerodynamic obstacle arrays

Energy Technology Data Exchange (ETDEWEB)

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

2015-06-15

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

Dynamics of cylindrical converging shock waves interacting with aerodynamic obstacle arrays

International Nuclear Information System (INIS)

Vignati, F.; Guardone, A.

2015-01-01

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

Method for Measuring the Information Content of Terrain from Digital Elevation Models

Directory of Open Access Journals (Sweden)

Lujin Hu

2015-10-01

Full Text Available As digital terrain models are indispensable for visualizing and modeling geographic processes, terrain information content is useful for terrain generalization and representation. For terrain generalization, if the terrain information is considered, the generalized terrain may be of higher fidelity. In other words, the richer the terrain information at the terrain surface, the smaller the degree of terrain simplification. Terrain information content is also important for evaluating the quality of the rendered terrain, e.g., the rendered web terrain tile service in Google Maps (Google Inc., Mountain View, CA, USA. However, a unified definition and measures for terrain information content have not been established. Therefore, in this paper, a definition and measures for terrain information content from Digital Elevation Model (DEM, i.e., a digital model or 3D representation of a terrain’s surface data are proposed and are based on the theory of map information content, remote sensing image information content and other geospatial information content. The information entropy was taken as the information measuring method for the terrain information content. Two experiments were carried out to verify the measurement methods of the terrain information content. One is the analysis of terrain information content in different geomorphic types, and the results showed that the more complex the geomorphic type, the richer the terrain information content. The other is the analysis of terrain information content with different resolutions, and the results showed that the finer the resolution, the richer the terrain information. Both experiments verified the reliability of the measurements of the terrain information content proposed in this paper.

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Science.gov (United States)

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

2016-01-01

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

Obstacles to and motivation for successful breast-feeding

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A-M Bergh

1993-03-01

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

Kinect-Based Moving Human Tracking System with Obstacle Avoidance

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Abdel Mehsen Ahmad

2017-04-01

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

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

Science.gov (United States)

Zhang, Qi; Wang, Yaxing; Lian, Zhen

2017-07-15

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

A new method for determination of most likely landslide initiation points and the evaluation of digital terrain model scale in terrain stability mapping

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P. Tarolli

2006-01-01

Full Text Available This paper introduces a new approach for determining the most likely initiation points for landslides from potential instability mapped using a terrain stability model. This approach identifies the location with critical stability index from a terrain stability model on each downslope path from ridge to valley. Any measure of terrain stability may be used with this approach, which here is illustrated using results from SINMAP, and from simply taking slope as an index of potential instability. The relative density of most likely landslide initiation points within and outside mapped landslide scars provides a way to evaluate the effectiveness of a terrain stability measure, even when mapped landslide scars include run out zones, rather than just initiation locations. This relative density was used to evaluate the utility of high resolution terrain data derived from airborne laser altimetry (LIDAR for a small basin located in the Northeastern Region of Italy. Digital Terrain Models were derived from the LIDAR data for a range of grid cell sizes (from 2 to 50 m. We found appreciable differences between the density of most likely landslide initiation points within and outside mapped landslides with ratios as large as three or more with the highest ratios for a digital terrain model grid cell size of 10 m. This leads to two conclusions: (1 The relative density from a most likely landslide initiation point approach is useful for quantifying the effectiveness of a terrain stability map when mapped landslides do not or can not differentiate between initiation, runout, and depositional areas; and (2 in this study area, where landslides occurred in complexes that were sometimes more than 100 m wide, a digital terrain model scale of 10 m is optimal. Digital terrain model scales larger than 10 m result in loss of resolution that degrades the results, while for digital terrain model scales smaller than 10 m the physical processes responsible for triggering

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

Wind farm design in complex terrain: the FarmOpt methodology

DEFF Research Database (Denmark)

Feng, Ju

Designing wind farms in complex terrain is becoming more and more important, especially for countries like China, where a large portion of the territory is featured as complex terrain. Although potential richer wind resources could be expected at complex terrain sites (thanks to the terrain effec...

Construction Method of the Topographical Features Model for Underwater Terrain Navigation

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Wang Lihui

2015-09-01

Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

GIS TECHNOLOGY AND TERRAIN ORTHOPHOTOMAP MAKING FOR MILITARY APPLICATION

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Elshan Hashimov

2017-11-01

Full Text Available In this paper, it is shown that GIS and photogrammetry technologiyes, determination of searching target coordinates for the operational desicion making are very important for the military application, for the combat control. With aim of orthophotomap making of the terrain and identification of terrain supervision there has been constructed 3D model for choosen mountainous terrain of Azerbaijan Republic using GIS technology. Based on this model there has been obtained a terrain profile and carried out mapping. Using ArcGis software there has been investigated possibility remain control on obserbvable and unobservable parties of terrain on supervision line from supervision point to target point.

Complex terrain experiments in the New European Wind Atlas

DEFF Research Database (Denmark)

Mann, Jakob; Angelou, Nikolas; Arnqvist, Johan

2017-01-01

The New European Wind Atlas project will create a freely accessible wind atlas covering Europe and Turkey, develop the model chain to create the atlas and perform a series of experiments on flow in many different kinds of complex terrain to validate the models. This paper describes the experiment...

Automatic terrain modeling using transfinite element analysis

KAUST Repository

Collier, Nathan; Calo, Victor M.

2010-01-01

An automatic procedure for modeling terrain is developed based on L2 projection-based interpolation of discrete terrain data onto transfinite function spaces. The function space is refined automatically by the use of image processing techniques

UOBPRM: A uniformly distributed obstacle-based PRM

KAUST Repository

Yeh, Hsin-Yi

2012-10-01

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

Obstacle detection system for underground mining vehicles

Energy Technology Data Exchange (ETDEWEB)

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

1998-01-01

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

77 FR 5616 - Proposed Technical Standard Order (TSO)-C151c, Terrain Awareness and Warning System (TAWS)

Science.gov (United States)

2012-02-03

... (TSO)-C151c, Terrain Awareness and Warning System (TAWS) ACTION: Notice of availability and request for... second draft of Technical Standard Order (TSO)- C151c, Terrain Awareness and Warning System. Comments.... b. Addition of Localizer Performance with Vertical guidance (LPV) and Global Navigation Satellite...

Method of determination of the critical obstacles height that can be overcome by a car at a given rate of rectilinear motion without losing lateral stability

Directory of Open Access Journals (Sweden)

Bashynskyj A.L.

2016-08-01

Full Text Available The mobility of combat vehicle is the key to its survival. The movement of military wheeled vehicles over rough terrain is tightly linked to the risk of tipping while overcoming obstacles that require modeling the stability of rectilinear cross-country motion of the sample to determine priority samples for acquisition units or advice on the parameters of the suspension for vehicles that still are in the design stage. The author proposes an analytical method for determining geometric parameters of the obstacles that can be overcome by the sample at a given speed of its movement, while taking into consideration the mutual movement of spring and non-spring mass of the vehicle relative to the center of rotation. Also it is found that while transition from the horizontal plane of movement on an inclined the most dangerous moment is the moment of excitation of vibrstions. It is shown that rapid movement of spring mass in regard to the center of rotation can lead to a significant reduction of the roll bar coefficient. The dependencies to describe the mutual movement of spring and non-spring mass of the vehicle, influence of geometrical parameters of obstacles on lateral stability of the vehicle are received.

Obstacles to nutrition labeling in restaurants.

Science.gov (United States)

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

1997-02-01

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

Stratigraphy of the layered terrain in Valles Marineris, Mars

Science.gov (United States)

Komatsu, G.; Strom, Roger G.

1991-01-01

The layered terrain in Valles Marineris provides information about its origin and the geologic history of this canyon system. Whether the terrain is sedimentary material deposited in a dry or lacustrine environment, or volcanic material related to the tectonics of the canyon is still controversial. However, recent studies of Gangis Layered Terrain suggests a cyclic sequence of deposition and erosion under episodic lacustrine conditions. The stratigraphic studies are extended to four other occurrences of layered terrains in Valles Marineris in an attempt to correlate and distinguish between depositional environments. The Juvantae Chasma, Hebes Chasma, Ophir and Candor Chasmata, Melas Chasma, and Gangis Layered Terrain were examined. Although there are broad similarities among the layered terrains, no two deposits are exactly alike. This suggests that there was no synchronized regional depositional processes to form all the layered deposits. However, the similar erosional style of the lower massive weakly bedded unit in Hebes, Gangis, and Ophir-Candor suggests it may have been deposited under similar circumstances.

Flow through a very porous obstacle in a shallow channel.

Science.gov (United States)

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

2017-04-01

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

Statistics of dislocation pinning at localized obstacles

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-14

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

Women’s orgasm obstacles: A qualitative study

Science.gov (United States)

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

2017-01-01

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

Women’s orgasm obstacles: A qualitative study

Directory of Open Access Journals (Sweden)

Maryam Nekoolaltak

2017-09-01

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

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

Science.gov (United States)

Bajracharya, Max; Howard, Andrew B.; Matthies, Larry H.

2009-01-01

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

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

International Nuclear Information System (INIS)

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

1994-01-01

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

Electromagnetic obstacle detection in close distance

Science.gov (United States)

Kurzela, Michał; Burd, Aleksander

2016-09-01

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

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

Science.gov (United States)

Aoki, Sho; Sato, Yamato; Yanagihara, Dai

2012-10-01

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

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

Science.gov (United States)

Mohd Zin, Zalhan; Ibrahim, Ratnawati

2011-06-01

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

Obstacles: their impact on thinking and beyond thinking

NARCIS (Netherlands)

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

2010-01-01

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

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

Science.gov (United States)

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

2012-11-01

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

Photometric diversity of terrains on Triton

Science.gov (United States)

Hillier, J.; Veverka, J.; Helfenstein, P.; Lee, P.

1994-01-01

Voyager disk-resolved images of Triton in the violet (0.41 micrometers) and green (0.56 micrometer wavelengths have been analyzed to derive the photometric characteristics of terrains on Triton. Similar conclusions are found using two distinct but related definitions of photometric units, one based on color ratio and albedo properties (A. S. McEwen, 1990), the other on albedo and brightness ratios at different phase angles (P. Lee et al., 1992). A significant diversity of photometric behavior, much broader than that discovered so far on any other icy satellite, occurs among Triton's terrains. Remarkably, differences in photometric behavior do not correlate well with geologic terrain boundaries defined on the basis of surface morphology. This suggests that in most cases photometric properties on Triton are controlled by thin deposits superposed on underlying geologic units. Single scattering albedos are 0.98 or higher and asymmetry factors range from -0.35 to -0.45 for most units. The most distinct scattering behavior is exhibited by the reddish northern units already identified as the Anomalously Scattering Region (ASR), which scatters light almost isotropically with g = -0.04. In part due to the effects of Triton's clouds and haze, it is difficult to constrain the value of bar-theta, Hapke's macroscopic roughness parameter, precisely for Triton or to map differences in bar-theta among the different photometric terrains. However, our study shows that Triton must be relatively smooth, with bar-theta less than 15-20 degs and suggests that a value of 14 degs is appropriate. The differences in photometric characteristics lead to significantly different phase angle behavior for the various terrains. For example, a terrain (e.g., the ASR) that appears dark relative to another at low phase angles will reverse its contrast (become relatively brighter) at larger phase angles. The photometric parameters have been used to calculate hemispherical albedos for the units and to

Parallel algorithms for interactive manipulation of digital terrain models

Science.gov (United States)

Davis, E. W.; Mcallister, D. F.; Nagaraj, V.

1988-01-01

Interactive three-dimensional graphics applications, such as terrain data representation and manipulation, require extensive arithmetic processing. Massively parallel machines are attractive for this application since they offer high computational rates, and grid connected architectures provide a natural mapping for grid based terrain models. Presented here are algorithms for data movement on the massive parallel processor (MPP) in support of pan and zoom functions over large data grids. It is an extension of earlier work that demonstrated real-time performance of graphics functions on grids that were equal in size to the physical dimensions of the MPP. When the dimensions of a data grid exceed the processing array size, data is packed in the array memory. Windows of the total data grid are interactively selected for processing. Movement of packed data is needed to distribute items across the array for efficient parallel processing. Execution time for data movement was found to exceed that for arithmetic aspects of graphics functions. Performance figures are given for routines written in MPP Pascal.

Environmental impacts of forest road construction on mountainous terrain.

Science.gov (United States)

Caliskan, Erhan

2013-03-15

Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2) and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient) and very steep terrain (51-80% gradient). Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas.As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities.

Environmental Impacts of Forest Road Construction on Mountainous Terrain

Directory of Open Access Journals (Sweden)

Erhan Caliskan

2013-03-01

Full Text Available Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2 and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient and very steep terrain (51-80% gradient. Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas.As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities.

An evaluation of WRF's ability to reproduce the surface wind over complex terrain based on typical circulation patterns.

NARCIS (Netherlands)

Jiménez, P.A.; Dudhia, J.; González-Rouco, J.F.; Montávez, J.P.; Garcia-Bustamante, E.; Navarro, J.; Vilà-Guerau de Arellano, J.; Munoz-Roldán, A.

2013-01-01

[1] The performance of the Weather Research and Forecasting (WRF) model to reproduce the surface wind circulations over complex terrain is examined. The atmospheric evolution is simulated using two versions of the WRF model during an over 13¿year period (1992 to 2005) over a complex terrain region

Computing visibility on terrains in external memory

NARCIS (Netherlands)

Haverkort, H.J.; Toma, L.; Zhuang, Yi

2007-01-01

We describe a novel application of the distribution sweeping technique to computing visibility on terrains. Given an arbitrary viewpoint v, the basic problem we address is computing the visibility map or viewshed of v, which is the set of points in the terrain that are visible from v. We give the

47 CFR 80.759 - Average terrain elevation.

Science.gov (United States)

2010-10-01

... 47 Telecommunication 5 2010-10-01 2010-10-01 false Average terrain elevation. 80.759 Section 80.759 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) SAFETY AND SPECIAL RADIO SERVICES STATIONS IN THE MARITIME SERVICES Standards for Computing Public Coast Station VHF Coverage § 80.759 Average terrain elevation. (a)(1) Draw radials...

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

Directory of Open Access Journals (Sweden)

Rui Wang

2015-01-01

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

Complex Terrain and Wind Lidars

DEFF Research Database (Denmark)

Bingöl, Ferhat

software WAsP Engineering 2.0 and was well predicted except for some sectors where the terrain is particularly steep. Subsequently, two experiments were performed in forested areas; where the measurements are recorded at a location deep-in forest and at the forest edge. Both sites were modelled with flow...... edge, LINCOM model was used by allocating a slope half-in half out of the forest based on the suggestions of previous studies. The optimum slope angle was reported as 17º. Thus, a suggestion was made to use WAsP Engineering 2.0 for forest edge modelling with known limitations and the applied method...

Automatic Computer Mapping of Terrain

Science.gov (United States)

Smedes, H. W.

1971-01-01

Computer processing of 17 wavelength bands of visible, reflective infrared, and thermal infrared scanner spectrometer data, and of three wavelength bands derived from color aerial film has resulted in successful automatic computer mapping of eight or more terrain classes in a Yellowstone National Park test site. The tests involved: (1) supervised and non-supervised computer programs; (2) special preprocessing of the scanner data to reduce computer processing time and cost, and improve the accuracy; and (3) studies of the effectiveness of the proposed Earth Resources Technology Satellite (ERTS) data channels in the automatic mapping of the same terrain, based on simulations, using the same set of scanner data. The following terrain classes have been mapped with greater than 80 percent accuracy in a 12-square-mile area with 1,800 feet of relief; (1) bedrock exposures, (2) vegetated rock rubble, (3) talus, (4) glacial kame meadow, (5) glacial till meadow, (6) forest, (7) bog, and (8) water. In addition, shadows of clouds and cliffs are depicted, but were greatly reduced by using preprocessing techniques.

Improved visibility computation on massive grid terrains

NARCIS (Netherlands)

Fishman, J.; Haverkort, H.J.; Toma, L.; Wolfson, O.; Agrawal, D.; Lu, C.-T.

2009-01-01

This paper describes the design and engineering of algorithms for computing visibility maps on massive grid terrains. Given a terrain T, specified by the elevations of points in a regular grid, and given a viewpoint v, the visibility map or viewshed of v is the set of grid points of T that are

Terrain Classification of Norwegian Slab Avalanche Accidents

Science.gov (United States)

Hallandvik, Linda; Aadland, Eivind; Vikene, Odd Lennart

2016-01-01

It is difficult to rely on snow conditions, weather, and human factors when making judgments about avalanche risk because these variables are dynamic and complex; terrain, however, is more easily observed and interpreted. Therefore, this study aimed to investigate (1) the type of terrain in which historical fatal snow avalanche accidents in Norway…

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

Science.gov (United States)

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

2006-01-01

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

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

International Nuclear Information System (INIS)

Eter, Ahmad; Groeneveld, Dé; Tavoularis, Stavros

2017-01-01

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

Virtual terrain: a security-based representation of a computer network

Science.gov (United States)

Holsopple, Jared; Yang, Shanchieh; Argauer, Brian

2008-03-01

Much research has been put forth towards detection, correlating, and prediction of cyber attacks in recent years. As this set of research progresses, there is an increasing need for contextual information of a computer network to provide an accurate situational assessment. Typical approaches adopt contextual information as needed; yet such ad hoc effort may lead to unnecessary or even conflicting features. The concept of virtual terrain is, therefore, developed and investigated in this work. Virtual terrain is a common representation of crucial information about network vulnerabilities, accessibilities, and criticalities. A virtual terrain model encompasses operating systems, firewall rules, running services, missions, user accounts, and network connectivity. It is defined as connected graphs with arc attributes defining dynamic relationships among vertices modeling network entities, such as services, users, and machines. The virtual terrain representation is designed to allow feasible development and maintenance of the model, as well as efficacy in terms of the use of the model. This paper will describe the considerations in developing the virtual terrain schema, exemplary virtual terrain models, and algorithms utilizing the virtual terrain model for situation and threat assessment.

Thermally activated plastic flow in the presence of multiple obstacle types

International Nuclear Information System (INIS)

Dong, Y; Curtin, W A

2012-01-01

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

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

Science.gov (United States)

Paquette, Maxime R; Vallis, Lori Ann

2010-06-01

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

LOD-based clustering techniques for efficient large-scale terrain storage and visualization

Science.gov (United States)

Bao, Xiaohong; Pajarola, Renato

2003-05-01

Large multi-resolution terrain data sets are usually stored out-of-core. To visualize terrain data at interactive frame rates, the data needs to be organized on disk, loaded into main memory part by part, then rendered efficiently. Many main-memory algorithms have been proposed for efficient vertex selection and mesh construction. Organization of terrain data on disk is quite difficult because the error, the triangulation dependency and the spatial location of each vertex all need to be considered. Previous terrain clustering algorithms did not consider the per-vertex approximation error of individual terrain data sets. Therefore, the vertex sequences on disk are exactly the same for any terrain. In this paper, we propose a novel clustering algorithm which introduces the level-of-detail (LOD) information to terrain data organization to map multi-resolution terrain data to external memory. In our approach the LOD parameters of the terrain elevation points are reflected during clustering. The experiments show that dynamic loading and paging of terrain data at varying LOD is very efficient and minimizes page faults. Additionally, the preprocessing of this algorithm is very fast and works from out-of-core.

Terrain reconstruction based on descent images for the Chang’e III landing area

Directory of Open Access Journals (Sweden)

Xu Xinchao

2015-10-01

Full Text Available A new method that combined image matching and shape from shading for terrain reconstruction was proposed to solve the lack of terrain in the landing area of Chang'e III. First, the reflection equation was established based on the Lommel– Seeliger reflection model. After edge extraction, the gradients of points on the edge were solved. The normal vectors of adjacent points were obtained using the smoothness constraint. Furthermore, the gradients of residual points in the image were determined through evolution. The inadequacy of the reflection equation was eliminated by considering the gradient as the constraint of the reflection equation. The normal vector of each point could be obtained by solving the reflection equation. The terrain without coordinate information was reconstructed by iterating the vector field. After using scaleinvariant feature transform to extract matching points in the descent images, the terrain was converted to a lander centroid coordinate system. Experiments were carried out with MATLAB-simulated images, laboratory images, and descent images of Chang'e III. Results show that the proposed method performs better than the classical SFS algorithm. The new method can provide reference for other deep space exploration activities.

Optimization of Wind Farm Layout in Complex Terrain

DEFF Research Database (Denmark)

Xu, Chang; Yang, Jianchuan; Li, Chenqi

2013-01-01

Microscopic site selection for wind farms in complex terrain is a technological difficulty in the development of onshore wind farms. This paper presented a method for optimizing wind farm layout in complex terrain. This method employed Lissaman and Jensen wake models, took wind velocity distribut......Microscopic site selection for wind farms in complex terrain is a technological difficulty in the development of onshore wind farms. This paper presented a method for optimizing wind farm layout in complex terrain. This method employed Lissaman and Jensen wake models, took wind velocity...... are subject to boundary conditions and minimum distance conditions. The improved genetic algorithm (GA) for real number coding was used to search the optimal result. Then the optimized result was compared to the result from the experienced layout method. Results show the advantages of the present method...

Obstacle-avoiding robot with IR and PIR motion sensors

Science.gov (United States)

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

2016-10-01

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

Biologically-Inspired Adaptive Obstacle Negotiation Behavior of Hexapod Robots

Directory of Open Access Journals (Sweden)

Dennis eGoldschmidt

2014-01-01

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

Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance

Directory of Open Access Journals (Sweden)

Nabil M. Hewahi

2017-07-01

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

Ep for efficient stochastic control with obstacles

NARCIS (Netherlands)

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

2010-01-01

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

Generating color terrain images in an emergency response system

International Nuclear Information System (INIS)

Belles, R.D.

1985-08-01

The Atmospheric Release Advisory Capability (ARAC) provides real-time assessments of the consequences resulting from an atmospheric release of radioactive material. In support of this operation, a system has been created which integrates numerical models, data acquisition systems, data analysis techniques, and professional staff. Of particular importance is the rapid generation of graphical images of the terrain surface in the vicinity of the accident site. A terrain data base and an associated acquisition system have been developed that provide the required terrain data. This data is then used as input to a collection of graphics programs which create and display realistic color images of the terrain. The graphics system currently has the capability of generating color shaded relief images from both overhead and perspective viewpoints within minutes. These images serve to quickly familiarize ARAC assessors with the terrain near the release location, and thus permit them to make better informed decisions in modeling the behavior of the released material. 7 refs., 8 figs

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

Science.gov (United States)

Shim, Youngbo; Kim, Gon-Woo

2018-03-29

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

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

Directory of Open Access Journals (Sweden)

Youngbo Shim

2018-03-01

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

Productive uncertainty. Notes on Terrain Vague

Directory of Open Access Journals (Sweden)

Francesco Marullo

2014-12-01

Full Text Available Terrain vague is usually synonym for a place exceeding the traditional categories of the city. Juxtaposing entropy to definite zones of containment, abandonment and emptiness to consolidated urban fabric, ceaseless transformation to historical stratification, informality and illegal activities to controlled jurisdictions, the terrain vague acts a sort of ruin, where the city is at the point of both being forgotten and disclosing its imminent future, eluding any of its regular uses and functioning mechanisms.

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

OpenAIRE

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

2003-01-01

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

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

OpenAIRE

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

2005-01-01

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

TERRAIN, BERKS COUNTY, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, PIERCE, COUNTY, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, DARKE COUNTY, OH

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, RICE COUNTY, MN

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, JONES COUNTY, IA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Norfolk County, Massachusetts

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, JEFFERSON COUNTY, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WRIGHT COUNTY, IA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, RANKIN COUNTY, MS

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Pierce County, WA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MITCHELL COUNTY, IA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, DAWSON COUNTY, NE

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, BARNSTABLE COUNTY, MASSACHUSETTS

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, FRANKLIN COUNTY, IA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CLALLAM COUNTY, WASHINGTON

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, HOWARD COUNTY, IA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, NEWTON COUNTY, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographical data that were used to create...

TERRAIN, PIKE COUNTY, MS

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Lincoln County, AR

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, KENDALL COUNTY, TEXAS

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LEON COUNTY, TEXAS

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SNOHOMISH COUNTY, WASHINGTON

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, TRAVIS COUNTY, TEXAS

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Bennington County, Vermont

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Northampton COUNTY, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

TERRAIN, POTTER COUNTY, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

TERRAIN, UNION PARISH, LOUSIANA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, KITSAP COUNTY, WASHINGTON

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WAYNE COUNTY, TENNESSEE

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, TROUSDALE COUNTY, TENNESSEE

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

Classification of obstacle shape for generating walking path of humanoid robot

International Nuclear Information System (INIS)

Park, Chan Soo; Kim, Do Ik

2013-01-01

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

Classification of obstacle shape for generating walking path of humanoid robot

Energy Technology Data Exchange (ETDEWEB)

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

2013-02-15

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

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

International Nuclear Information System (INIS)

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

2001-01-01

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

A web-mapping system for real-time visualization of the global terrain

Science.gov (United States)

Zhang, Liqiang; Yang, Chongjun; Liu, Donglin; Ren, Yingchao; Rui, Xiaoping

2005-04-01

In this paper, we mainly present a web-based 3D global terrain visualization application that provides more powerful transmission and visualization of global multiresolution data sets across networks. A client/server architecture is put forward. The paper also reports various relevant research work, such as efficient data compression methods to reduce the physical size of these data sets and accelerate network delivery, streaming transmission for progressively downloading data, and real-time multiresolution terrain surface visualization with a high visual quality by M-band wavelet transforms and a hierarchical triangulation technique. Finally, an experiment is performed using different levels of detailed data to verify that the system works appropriately.

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

Science.gov (United States)

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

2018-04-01

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

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

Science.gov (United States)

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

2018-07-02

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

A Robust Obstacle Avoidance for Service Robot Using Bayesian Approach

Directory of Open Access Journals (Sweden)

Widodo Budiharto

2011-03-01

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

Slip estimation methods for proprioceptive terrain classification using tracked mobile robots

CSIR Research Space (South Africa)

Masha, Ditebogo F

2017-11-01

Full Text Available Recent work has shown that proprioceptive measurements such as terrain slip can be used for terrain classification. This paper investigates the suitability of four simple slip estimation methods for differentiating between indoor and outdoor terrain...

Scout Rover Applications for Forward Acquisition of Soil and Terrain Data

Science.gov (United States)

Sonsalla, R.; Ahmed, M.; Fritsche, M.; Akpo, J.; Voegele, T.

2014-04-01

As opposed to the present mars exploration missions future mission concepts ask for a fast and safe traverse through vast and varied expanses of terrain. As seen during the Mars Exploration Rover (MER) mission the rovers suffered a lack of detailed soil and terrain information which caused Spirit to get permanently stuck in soft soil. The goal of the FASTER1 EU-FP7 project is to improve the mission safety and the effective traverse speed for planetary rover exploration by determining the traversability of the terrain and lowering the risk to enter hazardous areas. To achieve these goals, a scout rover will be used for soil and terrain sensing ahead of the main rover. This paper describes a highly mobile, and versatile micro scout rover that is used for soil and terrain sensing and is able to co-operate with a primary rover as part of the FASTER approach. The general reference mission idea and concept is addressed within this paper along with top-level requirements derived from the proposed ESA/NASA Mars Sample Return mission (MSR) [4]. Following the mission concept and requirements [3], a concept study for scout rover design and operations has been performed [5]. Based on this study the baseline for the Coyote II rover was designed and built as shown in Figure 1. Coyote II is equipped with a novel locomotion concept, providing high all terrain mobility and allowing to perform side-to-side steering maneuvers which reduce the soil disturbance as compared to common skid steering [6]. The rover serves as test platform for various scout rover application tests ranging from locomotion testing to dual rover operations. From the lessons learned from Coyote II and for an enhanced design, a second generation rover (namely Coyote III) as shown in Figure 2 is being built. This rover serves as scout rover platform for the envisaged FASTER proof of concept field trials. The rover design is based on the test results gained by the Coyote II trials. Coyote III is equipped with two

Multi-Modal Detection and Mapping of Static and Dynamic Obstacles in Agriculture for Process Evaluation

Directory of Open Access Journals (Sweden)

Timo Korthals

2018-03-01

Full Text Available Today, agricultural vehicles are available that can automatically perform tasks such as weed detection and spraying, mowing, and sowing while being steered automatically. However, for such systems to be fully autonomous and self-driven, not only their specific agricultural tasks must be automated. An accurate and robust perception system automatically detecting and avoiding all obstacles must also be realized to ensure safety of humans, animals, and other surroundings. In this paper, we present a multi-modal obstacle and environment detection and recognition approach for process evaluation in agricultural fields. The proposed pipeline detects and maps static and dynamic obstacles globally, while providing process-relevant information along the traversed trajectory. Detection algorithms are introduced for a variety of sensor technologies, including range sensors (lidar and radar and cameras (stereo and thermal. Detection information is mapped globally into semantical occupancy grid maps and fused across all sensors with late fusion, resulting in accurate traversability assessment and semantical mapping of process-relevant categories (e.g., crop, ground, and obstacles. Finally, a decoding step uses a Hidden Markov model to extract relevant process-specific parameters along the trajectory of the vehicle, thus informing a potential control system of unexpected structures in the planned path. The method is evaluated on a public dataset for multi-modal obstacle detection in agricultural fields. Results show that a combination of multiple sensor modalities increases detection performance and that different fusion strategies must be applied between algorithms detecting similar and dissimilar classes.

Path planning for first responders in the presence of moving obstacles

Directory of Open Access Journals (Sweden)

Zhiyong Wang

2015-06-01

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

Interactive Editing of GigaSample Terrain Fields

KAUST Repository

Treib, Marc

2012-05-01

Previous terrain rendering approaches have addressed the aspect of data compression and fast decoding for rendering, but applications where the terrain is repeatedly modified and needs to be buffered on disk have not been considered so far. Such applications require both decoding and encoding to be faster than disk transfer. We present a novel approach for editing gigasample terrain fields at interactive rates and high quality. To achieve high decoding and encoding throughput, we employ a compression scheme for height and pixel maps based on a sparse wavelet representation. On recent GPUs it can encode and decode up to 270 and 730 MPix/s of color data, respectively, at compression rates and quality superior to JPEG, and it achieves more than twice these rates for lossless height field compression. The construction and rendering of a height field triangulation is avoided by using GPU ray-casting directly on the regular grid underlying the compression scheme. We show the efficiency of our method for interactive editing and continuous level-of-detail rendering of terrain fields comprised of several hundreds of gigasamples. © 2012 The Author(s).

Gravity Terrain Effect of the Seafloor Topography in Taiwan

Directory of Open Access Journals (Sweden)

Lun-Tao Tong Tai-Rong Guo

2007-01-01

Full Text Available Gravity terrain correction is used to compensate for the gravitational effects of the topography residual to the Bouguer plate. The seafloor topography off the eastern offshore of Taiwan is extremely rugged, and the depth of the sea bottom could be greater than 5000 m. In order to evaluate the terrain effect caused by the seafloor topography, a modern computer algorithm is used to calculate the terrain correction based on the digital elevation model (DEM.

Estimating Slopes In Images Of Terrain By Use Of BRDF

Science.gov (United States)

Scholl, Marija S.

1995-01-01

Proposed method of estimating slopes of terrain features based on use of bidirectional reflectivity distribution function (BRDF) in analyzing aerial photographs, satellite video images, or other images produced by remote sensors. Estimated slopes integrated along horizontal coordinates to obtain estimated heights; generating three-dimensional terrain maps. Method does not require coregistration of terrain features in pairs of images acquired from slightly different perspectives nor requires Sun or other source of illumination to be low in sky over terrain of interest. On contrary, best when Sun is high. Works at almost all combinations of illumination and viewing angles.

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

Energy Technology Data Exchange (ETDEWEB)

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

2017-03-15

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

Improved Path Loss Simulation Incorporating Three-Dimensional Terrain Model Using Parallel Coprocessors

Directory of Open Access Journals (Sweden)

Zhang Bin Loo

2017-01-01

Full Text Available Current network simulators abstract out wireless propagation models due to the high computation requirements for realistic modeling. As such, there is still a large gap between the results obtained from simulators and real world scenario. In this paper, we present a framework for improved path loss simulation built on top of an existing network simulation software, NS-3. Different from the conventional disk model, the proposed simulation also considers the diffraction loss computed using Epstein and Peterson’s model through the use of actual terrain elevation data to give an accurate estimate of path loss between a transmitter and a receiver. The drawback of high computation requirements is relaxed by offloading the computationally intensive components onto an inexpensive off-the-shelf parallel coprocessor, which is a NVIDIA GPU. Experiments are performed using actual terrain elevation data provided from United States Geological Survey. As compared to the conventional CPU architecture, the experimental result shows that a speedup of 20x to 42x is achieved by exploiting the parallel processing of GPU to compute the path loss between two nodes using terrain elevation data. The result shows that the path losses between two nodes are greatly affected by the terrain profile between these two nodes. Besides this, the result also suggests that the common strategy to place the transmitter in the highest position may not always work.

Validation of the simpleFoam (RANS solver for the atmospheric boundary layer in complex terrain

Directory of Open Access Journals (Sweden)

Peralta C.

2014-01-01

Full Text Available We validate the simpleFoam (RANS solver in OpenFOAM (version 2.1.1 for simulating neutral atmospheric boundary layer flows in complex terrain. Initial and boundary conditions are given using Richards and Hoxey proposal [1]. In order to obtain stable simulation of the ABL, modified wall functions are used to set the near-wall boundary conditions, following Blocken et al remedial measures [2]. A structured grid is generated with the new library terrainBlockMesher [3,4], based on OpenFOAM's blockMesh native mesher. The new tool is capable of adding orographic features and the forest canopy. Additionally, the mesh can be refined in regions with complex orography. We study both the classical benchmark case of Askervein hill [5] and the more recent Bolund island data set [6]. Our purpose is two-folded: to validate the performance of OpenFOAM steady state solvers, and the suitability of the new meshing tool to generate high quality structured meshes, which will be used in the future for performing more computationally intensive LES simulations in complex terrain.

Evaluating terrain based criteria for snow avalanche exposure ratings using GIS

Science.gov (United States)

Delparte, Donna; Jamieson, Bruce; Waters, Nigel

2010-05-01

Snow avalanche terrain in backcountry regions of Canada is increasingly being assessed based upon the Avalanche Terrain Exposure Scale (ATES). ATES is a terrain based classification introduced in 2004 by Parks Canada to identify "simple", "challenging" and "complex" backcountry areas. The ATES rating system has been applied to well over 200 backcountry routes, has been used in guidebooks, trailhead signs and maps and is part of the trip planning component of the AVALUATOR™, a simple decision-support tool for backcountry users. Geographic Information Systems (GIS) offers a means to model and visualize terrain based criteria through the use of digital elevation model (DEM) and land cover data. Primary topographic variables such as slope, aspect and curvature are easily derived from a DEM and are compatible with the equivalent evaluation criteria in ATES. Other components of the ATES classification are difficult to extract from a DEM as they are not strictly terrain based. An overview is provided of the terrain variables that can be generated from DEM and land cover data; criteria from ATES which are not clearly terrain based are identified for further study or revision. The second component of this investigation was the development of an algorithm for inputting suitable ATES criteria into a GIS, thereby mimicking the process avalanche experts use when applying the ATES classification to snow avalanche terrain. GIS based classifications were compared to existing expert assessments for validity. The advantage of automating the ATES classification process through GIS is to assist avalanche experts with categorizing and mapping remote backcountry terrain.

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

Science.gov (United States)

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

2018-01-01

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

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

Science.gov (United States)

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

2017-07-01

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

Automatic terrain modeling using transfinite element analysis

KAUST Repository

Collier, Nathan

2010-05-31

An automatic procedure for modeling terrain is developed based on L2 projection-based interpolation of discrete terrain data onto transfinite function spaces. The function space is refined automatically by the use of image processing techniques to detect regions of high error and the flexibility of the transfinite interpolation to add degrees of freedom to these areas. Examples are shown of a section of the Palo Duro Canyon in northern Texas.

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.

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

Directory of Open Access Journals (Sweden)

Shiva Khaleghparast

2016-07-01

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

A Research on Wind Farm Micro-sitting Optimization in Complex Terrain

DEFF Research Database (Denmark)

Xu, Chang; Yang, Jianchuan; Li, Chenqi

2013-01-01

Wind farm layout optimization in complex terrain is a pretty difficult issue for onshore wind farm. In this article, a novel optimization method is proposed to optimize the layout for wind farms in complex terrain. This method utilized Lissaman and Jensen wake models for taking the terrain height...... that the CPSO method has a higher optimal value, and could be used to optimize the actual wind farm micro-sitting engineering projects.......Wind farm layout optimization in complex terrain is a pretty difficult issue for onshore wind farm. In this article, a novel optimization method is proposed to optimize the layout for wind farms in complex terrain. This method utilized Lissaman and Jensen wake models for taking the terrain height...... turbines’ park coordinates which subject to the boundary and minimum distance conditions between two wind turbines. A Cross Particle Swarm Optimization (CPSO) method is developed and applied to optimize the layout for a certain wind farm case. Compared with the uniform and experience method, results show...

DEVELOPMENT OF FRANCHISING IN CROATIA OBSTACLES AND POLICY RECOMMENDATIONS

Directory of Open Access Journals (Sweden)

Mirela Alpeza

2015-11-01

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

Algorithm for Spatial Clustering with Obstacles

OpenAIRE

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

2009-01-01

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

Irregular Morphing for Real-Time Rendering of Large Terrain

Directory of Open Access Journals (Sweden)

S. Kalem

2016-06-01

Full Text Available The following paper proposes an alternative approach to the real-time adaptive triangulation problem. A new region-based multi-resolution approach for terrain rendering is described which improves on-the-fly the distribution of the density of triangles inside the tile after selecting appropriate Level-Of-Detail by an adaptive sampling. This proposed approach organizes the heightmap into a QuadTree of tiles that are processed independently. This technique combines the benefits of both Triangular Irregular Network approach and region-based multi-resolution approach by improving the distribution of the density of triangles inside the tile. Our technique morphs the initial regular grid of the tile to deformed grid in order to minimize approximation error. The proposed technique strives to combine large tile size and real-time processing while guaranteeing an upper bound on the screen space error. Thus, this approach adapts terrain rendering process to local surface characteristics and enables on-the-fly handling of large amount of terrain data. Morphing is based-on the multi-resolution wavelet analysis. The use of the D2WT multi-resolution analysis of the terrain height-map speeds up processing and permits to satisfy an interactive terrain rendering. Tests and experiments demonstrate that Haar B-Spline wavelet, well known for its properties of localization and its compact support, is suitable for fast and accurate redistribution. Such technique could be exploited in client-server architecture for supporting interactive high-quality remote visualization of very large terrain.

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

Science.gov (United States)

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

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

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

National Research Council Canada - National Science Library

Hurezeanu, Vlad

2000-01-01

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

Trajectory optimization for lunar rover performing vertical takeoff vertical landing maneuvers in the presence of terrain

Science.gov (United States)

Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.

2018-05-01

This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.

Reciprocally-Rotating Velocity Obstacles

KAUST Repository

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

2014-01-01

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

Obstacle mean-field game problem

KAUST Repository

Gomes, Diogo A.; Patrizi, Stefania

2015-01-01

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

The influence of roughness and obstacle on wind power map

International Nuclear Information System (INIS)

Abas Ab Wahab; Mohd Fadhil Abas; Mohd Hafiz Ismail

2006-01-01

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

Terrain Adaptive Reconfiguration of Mobility

Data.gov (United States)

National Aeronautics and Space Administration — Develop an algorithm (and software) to automatically adapt a reconfigurable robot to different types of terrains for improved mobility, that compared to SOA:...

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

Science.gov (United States)

Singh, Harkirat; Wahi, Pankaj

2017-08-01

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

Convective boundary layer heights over mountainous terrain - A review of concepts -

Science.gov (United States)

De Wekker, Stephan; Kossmann, Meinolf

2015-12-01

Mountainous terrain exerts an important influence on the Earth's atmosphere and affects atmospheric transport and mixing at a wide range of temporal and spatial scales. The vertical scale of this transport and mixing is determined by the height of the atmospheric boundary layer, which is therefore an important parameter in air pollution studies, weather forecasting, climate modeling, and many other applications. It is recognized that the spatio-temporal structure of the daytime convective boundary layer (CBL) height is strongly modified and more complex in hilly and mountainous terrain compared to flat terrain. While the CBL over flat terrain is mostly dominated by turbulent convection, advection from multi-scale thermally driven flows plays an important role for the CBL evolution over mountainous terrain. However, detailed observations of the CBL structure and understanding of the underlying processes are still limited. Characteristics of CBL heights in mountainous terrain are reviewed for dry, convective conditions. CBLs in valleys and basins, where hazardous accumulation of pollutants is of particular concern, are relatively well-understood compared to CBLs over slopes, ridges, or mountain peaks. Interests in the initiation of shallow and deep convection, and of budgets and long-range transport of air pollutants and trace gases, have triggered some recent studies on terrain induced exchange processes between the CBL and the overlying atmosphere. These studies have helped to gain more insight into CBL structure over complex mountainous terrain, but also show that the universal definition of CBL height over mountains remains an unresolved issue. The review summarizes the progress that has been made in documenting and understanding spatio-temporal behavior of CBL heights in mountainous terrain and concludes with a discussion of open research questions and opportunities for future research.

Plant root and shoot dynamics during subsurface obstacle interaction

Science.gov (United States)

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

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

Complex terrain influences ecosystem carbon responses to temperature and precipitation

Science.gov (United States)

Reyes, W. M.; Epstein, H. E.; Li, X.; McGlynn, B. L.; Riveros-Iregui, D. A.; Emanuel, R. E.

2017-08-01

Terrestrial ecosystem responses to temperature and precipitation have major implications for the global carbon cycle. Case studies demonstrate that complex terrain, which accounts for more than 50% of Earth's land surface, can affect ecological processes associated with land-atmosphere carbon fluxes. However, no studies have addressed the role of complex terrain in mediating ecophysiological responses of land-atmosphere carbon fluxes to climate variables. We synthesized data from AmeriFlux towers and found that for sites in complex terrain, responses of ecosystem CO2 fluxes to temperature and precipitation are organized according to terrain slope and drainage area, variables associated with water and energy availability. Specifically, we found that for tower sites in complex terrain, mean topographic slope and drainage area surrounding the tower explained between 51% and 78% of site-to-site variation in the response of CO2 fluxes to temperature and precipitation depending on the time scale. We found no such organization among sites in flat terrain, even though their flux responses exhibited similar ranges. These results challenge prevailing conceptual framework in terrestrial ecosystem modeling that assumes that CO2 fluxes derive from vertical soil-plant-climate interactions. We conclude that the terrain in which ecosystems are situated can also have important influences on CO2 responses to temperature and precipitation. This work has implications for about 14% of the total land area of the conterminous U.S. This area is considered topographically complex and contributes to approximately 15% of gross ecosystem carbon production in the conterminous U.S.

VTAC: virtual terrain assisted impact assessment for cyber attacks

Science.gov (United States)

Argauer, Brian J.; Yang, Shanchieh J.

2008-03-01

Overwhelming intrusion alerts have made timely response to network security breaches a difficult task. Correlating alerts to produce a higher level view of intrusion state of a network, thus, becomes an essential element in network defense. This work proposes to analyze correlated or grouped alerts and determine their 'impact' to services and users of the network. A network is modeled as 'virtual terrain' where cyber attacks maneuver. Overlaying correlated attack tracks on virtual terrain exhibits the vulnerabilities exploited by each track and the relationships between them and different network entities. The proposed impact assessment algorithm utilizes the graph-based virtual terrain model and combines assessments of damages caused by the attacks. The combined impact scores allow to identify severely damaged network services and affected users. Several scenarios are examined to demonstrate the uses of the proposed Virtual Terrain Assisted Impact Assessment for Cyber Attacks (VTAC).

Hybrid RANS/LES applied to complex terrain

DEFF Research Database (Denmark)

Bechmann, Andreas; Sørensen, Niels N.

2011-01-01

Large Eddy Simulation (LES) of the wind in complex terrain is limited by computational cost. The number of computational grid points required to resolve the near-ground turbulent structures (eddies) are very high. The traditional solution to the problem has been to apply a wall function...... aspect ratio in the RANS layer and thereby resolve the mean near-wall velocity profile. The method is applicable to complex terrain and the benefits of traditional LES are kept intact. Using the hybrid method, simulations of the wind over a natural complex terrain near Wellington in New Zealand...... that accounts for the whole near-wall region. Recently, a hybrid method was proposed in which the eddies close to the ground were modelled in a Reynolds-averaged sense (RANS) and the eddies above this region were simulated using LES. The advantage of the approach is the ability to use shallow cells of high...

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

Directory of Open Access Journals (Sweden)

William Benn

2012-01-01

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

DEVELOPMENT OF FRANCHISING IN CROATIA OBSTACLES AND POLICY RECOMMENDATIONS

OpenAIRE

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

2015-01-01

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

Stepping back to see the big picture: when obstacles elicit global processing.

Science.gov (United States)

Marguc, Janina; Förster, Jens; Van Kleef, Gerben A

2011-11-01

Can obstacles prompt people to look at the "big picture" and open up their minds? Do the cognitive effects of obstacles extend beyond the tasks with which they interfere? These questions were addressed in 6 studies involving both physical and nonphysical obstacles and different measures of global versus local processing styles. Perceptual scope increased after participants solved anagrams in the presence, rather than the absence, of an auditory obstacle (random words played in the background; Study 1), particularly among individuals low in volatility (i.e., those who are inclined to stay engaged and finish what they do; Study 4). It also increased immediately after participants encountered a physical obstacle while navigating a maze (Study 3A) and when compared with doing nothing (Study 3B). Conceptual scope increased after participants solved anagrams while hearing random numbers framed as an "obstacle to overcome" rather than a "distraction to ignore" (Study 2) and after participants navigated a maze with a physical obstacle, compared with a maze without a physical obstacle, but only when trait (Study 5) or state (Study 6) volatility was low. Results suggest that obstacles trigger an "if obstacle, then start global processing" response, primarily when people are inclined to stay engaged and finish ongoing activities. Implications for dealing with life's obstacles and related research are discussed.

ATRAN Terrain Sensing Guidance-The Grand-Daddy System

Science.gov (United States)

Koch, Richard F.; Evans, Donald C.

1980-12-01

ATRAN was the pioneer terrain sensing guidance system developed in the 1950 era and deployed in Europe on the Air Force's mobile, ground launched TM-76A MACE cruise missile in the late 1950's and early 1960's. The background, principles and technology are described for this system which was the forerunner of todays modern autonomous standoff terrain sensing guided weapons.

Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

Directory of Open Access Journals (Sweden)

Zheping Yan

2013-01-01

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

Wind flow simulation over flat terrain using CFD based software

International Nuclear Information System (INIS)

Petrov, Peter; Terziev, Angel; Genovski, Ivan

2009-01-01

Velocity distribution recognition over definite place (terrain) is very important because due to that the zones with high energy potential could be defined (the fields with high velocities). This is a precondition for optimal wind turbine generators micro-sitting. In current work a simulation of the open flow over the flat terrain using the CFD based software is reviewed. The simulations are made of a real fluid flow in order to be defined the velocity fields over the terrain

Minimum-link paths among obstacles in the plane

NARCIS (Netherlands)

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

1992-01-01

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

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

Directory of Open Access Journals (Sweden)

Zuo Chen

2014-01-01

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

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

Science.gov (United States)

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

2014-01-01

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

Overcoming Obstacles to Drug Repositioning in Japan

Directory of Open Access Journals (Sweden)

Yuhei Nishimura

2017-10-01

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

TERRAIN, ALLENDALE COUNTY, SOUTH CAROLINA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WAKULLA COUNTY, FL, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, BRADFORD COUNTY, FL, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, GADSDEN COUNTY, FL, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LEVY COUNTY, FL, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WOODFORD COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, TANEY COUNTY, Missouri USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, FRANKLIN PARISH, LA, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Catahoula PARISH, LA, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, RICHLAND PARISH, LA, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, OVERTON COUNTY, TN, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, STEWART COUNTY, TN, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, POWELL COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, HENRY COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, BARREN COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LOWNDES COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, FRANKLIN COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, HARRISON COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LOGAN COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WINNESHIEK COUNTY, IOWA, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CHEROKEE COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, JEFFERSON COUNTY, ALABAMA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, POWESHIEK COUNTY, IOWA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, RANDOLPH COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ELMORE COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ANNE ARUNDEL COUNTY, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WASHINGTON COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WASHINGTON COUNTY, Ohio USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LAWRENCE COUNTY, Ohio USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SEBASTIAN COUNTY, AR, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographical data that were used to create...

TERRAIN, BALLARD COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, NELSON COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, EVANGELINE PARISH, LA, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, HOUSTON COUNTY, TN, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, JESSAMINE COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN Submission for CHICKASAW, IA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, TALLAPOOSA COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MOREHOUSE PARISH, LA, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ALLEN COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LEWIS COUNTY, Missouri USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, BUFFALO COUNTY, WISCONSIN, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MARENGO COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CLARKE COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, HART COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MONROE COUNTY, Michigan USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WAYNE COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MCLEAN COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, WINSTON COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CHAMBERS COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, PERRY COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ESTILL COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, NATCHITOCHES PARISH, LA, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CLINTON COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CHILTON COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, GRAYSON COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, GARRARD COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Sedgwick COUNTY, Kansas USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MACOMB COUNTY, MI, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MARSHALL COUNTY, ALABAMA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

Terrain Data, Caroline COUNTY, USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SUWANNEE COUNTY, FLORIDA USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CHOCTAW COUNTY, ALABAMA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CARLISLE COUNTY, KENTUCKY USA

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Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SIMPSON COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, GRAVES COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MADISON COUNTY, ALABAMA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, LAWRENCE COUNTY, ALABAMA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MENIFEE COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SHELBY COUNTY, ALABAMA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Platte County, Missouri USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SCOTT COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, FAYETTE COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CARTER COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, SANTA CRUZ COUNTY, AZ

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, MUHLENBERG COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CAMPBELL COUNTY, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

For wind turbines in complex terrain, the devil is in the detail

Science.gov (United States)

Lange, Julia; Mann, Jakob; Berg, Jacob; Parvu, Dan; Kilpatrick, Ryan; Costache, Adrian; Chowdhury, Jubayer; Siddiqui, Kamran; Hangan, Horia

2017-09-01

The cost of energy produced by onshore wind turbines is among the lowest available; however, onshore wind turbines are often positioned in a complex terrain, where the wind resources and wind conditions are quite uncertain due to the surrounding topography and/or vegetation. In this study, we use a scale model in a three-dimensional wind-testing chamber to show how minor changes in the terrain can result in significant differences in the flow at turbine height. These differences affect not only the power performance but also the life-time and maintenance costs of wind turbines, and hence, the economy and feasibility of wind turbine projects. We find that the mean wind, wind shear and turbulence level are extremely sensitive to the exact details of the terrain: a small modification of the edge of our scale model, results in a reduction of the estimated annual energy production by at least 50% and an increase in the turbulence level by a factor of five in the worst-case scenario with the most unfavorable wind direction. Wind farm developers should be aware that near escarpments destructive flows can occur and their extent is uncertain thus warranting on-site field measurements.

Spatial and temporal variability of hyperspectral signatures of terrain

Science.gov (United States)

Jones, K. F.; Perovich, D. K.; Koenig, G. G.

2008-04-01

Electromagnetic signatures of terrain exhibit significant spatial heterogeneity on a range of scales as well as considerable temporal variability. A statistical characterization of the spatial heterogeneity and spatial scaling algorithms of terrain electromagnetic signatures are required to extrapolate measurements to larger scales. Basic terrain elements including bare soil, grass, deciduous, and coniferous trees were studied in a quasi-laboratory setting using instrumented test sites in Hanover, NH and Yuma, AZ. Observations were made using a visible and near infrared spectroradiometer (350 - 2500 nm) and hyperspectral camera (400 - 1100 nm). Results are reported illustrating: i) several difference scenes; ii) a terrain scene time series sampled over an annual cycle; and iii) the detection of artifacts in scenes. A principal component analysis indicated that the first three principal components typically explained between 90 and 99% of the variance of the 30 to 40-channel hyperspectral images. Higher order principal components of hyperspectral images are useful for detecting artifacts in scenes.

Research on UAV Intelligent Obstacle Avoidance Technology During Inspection of Transmission Line

Science.gov (United States)

Wei, Chuanhu; Zhang, Fei; Yin, Chaoyuan; Liu, Yue; Liu, Liang; Li, Zongyu; Wang, Wanguo

Autonomous obstacle avoidance of unmanned aerial vehicle (hereinafter referred to as UAV) in electric power line inspection process has important significance for operation safety and economy for UAV intelligent inspection system of transmission line as main content of UAV intelligent inspection system on transmission line. In the paper, principles of UAV inspection obstacle avoidance technology of transmission line are introduced. UAV inspection obstacle avoidance technology based on particle swarm global optimization algorithm is proposed after common obstacle avoidance technologies are studied. Stimulation comparison is implemented with traditional UAV inspection obstacle avoidance technology which adopts artificial potential field method. Results show that UAV inspection strategy of particle swarm optimization algorithm, adopted in the paper, is prominently better than UAV inspection strategy of artificial potential field method in the aspects of obstacle avoidance effect and the ability of returning to preset inspection track after passing through the obstacle. An effective method is provided for UAV inspection obstacle avoidance of transmission line.

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

Directory of Open Access Journals (Sweden)

Alberto Broggi

2007-07-01

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

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

Directory of Open Access Journals (Sweden)

Broggi Alberto

2007-01-01

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

Data Fusion of Gridded Snow Products Enhanced with Terrain Covariates and a Simple Snow Model

Science.gov (United States)

Snauffer, A. M.; Hsieh, W. W.; Cannon, A. J.

2017-12-01

Hydrologic planning requires accurate estimates of regional snow water equivalent (SWE), particularly areas with hydrologic regimes dominated by spring melt. While numerous gridded data products provide such estimates, accurate representations are particularly challenging under conditions of mountainous terrain, heavy forest cover and large snow accumulations, contexts which in many ways define the province of British Columbia (BC), Canada. One promising avenue of improving SWE estimates is a data fusion approach which combines field observations with gridded SWE products and relevant covariates. A base artificial neural network (ANN) was constructed using three of the best performing gridded SWE products over BC (ERA-Interim/Land, MERRA and GLDAS-2) and simple location and time covariates. This base ANN was then enhanced to include terrain covariates (slope, aspect and Terrain Roughness Index, TRI) as well as a simple 1-layer energy balance snow model driven by gridded bias-corrected ANUSPLIN temperature and precipitation values. The ANN enhanced with all aforementioned covariates performed better than the base ANN, but most of the skill improvement was attributable to the snow model with very little contribution from the terrain covariates. The enhanced ANN improved station mean absolute error (MAE) by an average of 53% relative to the composing gridded products over the province. Interannual peak SWE correlation coefficient was found to be 0.78, an improvement of 0.05 to 0.18 over the composing products. This nonlinear approach outperformed a comparable multiple linear regression (MLR) model by 22% in MAE and 0.04 in interannual correlation. The enhanced ANN has also been shown to estimate better than the Variable Infiltration Capacity (VIC) hydrologic model calibrated and run for four BC watersheds, improving MAE by 22% and correlation by 0.05. The performance improvements of the enhanced ANN are statistically significant at the 5% level across the province and

Are Titan's radial Labyrinth terrains surface expressions of large laccoliths?

Science.gov (United States)

Schurmeier, L.; Dombard, A. J.; Malaska, M.; Radebaugh, J.

2017-12-01

The Labyrinth terrain unit may be the one of the best examples of the surface expression of Titan's complicated history. They are characterized as highly eroded, dissected, and elevated plateaus and remnant ridges, with an assumed composition that is likely organic-rich based on radar emissivity. How these features accumulated organic-rich sediments and formed topographic highs by either locally uplifting or surviving pervasive regional deflation or erosion is an important question for understanding the history of Titan. There are several subsets of Labyrinth terrains, presumably with differing evolutionary histories and formation processes. We aim to explain the formation of a subset of Labyrinth terrain units informally referred to as "radial Labyrinth terrains." They are elevated and appear dome-like, circular in planform, have a strong radial dissection pattern, are bordered by Undifferentiated Plains units, and are found in the mid-latitudes. Based on their shape, clustering, and dimensions, we suggest that they may be the surface expression of large subsurface laccoliths. A recent study by Manga and Michaut (Icarus, 2017) explained Europa's lenticulae (pits, domes, spots) with the formation of saucer-shaped sills that form laccoliths around the brittle-ductile transition depth within the ice shell (1-5 km). Here, we apply the same scaling relationships and find that the larger size of radial labyrinth terrains with Titan's higher gravity implies deeper intrusion depths of around 20-40 km. This intrusion depth matches the expected brittle-ductile transition on Titan based on our finite element simulations and yield strength envelope analyses. We hypothesize that Titan's radial labyrinth terrains formed as cryovolcanic (water) intrusions that rose to the brittle-ductile transition within the ice shell where they spread horizontally, and uplifted the overlying ice. The organic-rich sedimentary cover also uplifted, becoming more susceptible to pluvial and fluvial

Effect of form of obstacle on speed of crowd evacuation

Science.gov (United States)

Yano, Ryosuke

2018-03-01

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

Comparing mixing-length models of the diabatic wind profile over homogeneous terrain

DEFF Research Database (Denmark)

Pena Diaz, Alfredo; Gryning, Sven-Erik; Hasager, Charlotte Bay

2010-01-01

Models of the diabatic wind profile over homogeneous terrain for the entire atmospheric boundary layer are developed using mixing-length theory and are compared to wind speed observations up to 300 m at the National Test Station for Wind Turbines at Høvsøre, Denmark. The measurements are performe...

47 CFR 1.959 - Computation of average terrain elevation.

Science.gov (United States)

2010-10-01

... 47 Telecommunication 1 2010-10-01 2010-10-01 false Computation of average terrain elevation. 1.959 Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Wireless Radio Services Applications and Proceedings Application Requirements and Procedures § 1.959 Computation of average terrain elevation. Except a...

Biologically-Inspired Adaptive Obstacle Negotiation Behavior of Hexapod Robots

DEFF Research Database (Denmark)

Goldschmidt, Dennis; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

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

Basic Approaches of Complex Interaction DrumTerrain for Vibratory Compaction

Directory of Open Access Journals (Sweden)

Gigel Florin Capatana

2013-09-01

Full Text Available In this paper the author tries to use a new method to evaluate and analyze the interaction between roller and terrain. The analysis is rheological approached, with a predominantly dynamic behaviour, so as to reveal the compatibility of the working body performances with the characteristics of the terrain. The basic idea shows that it must be assured the energy transfer maximization in the interaction between the two components of the system. The model must have permanent and continuous adjustments of the material characteristics so it can be evaluated the technological capability. The fulfilling of these objectives will be provided by using a complex model with both distributed and concentrated elements which can have rheology of elastic, dissipative and plastic types. The first conclusions of the presented study goes to the idea that the harmonization of the basic parameters of the model with the experimental values can lead to structural and functional optimizations of the entire technological system.

Some simple improvements to an emergency response model for use in complex coastal terrain

International Nuclear Information System (INIS)

Miller, N.L.

1992-06-01

The MACHWIND model (Meyers 1989) is one of a group of models used to compute regional wind fields from tower wind data and/or vertical wind profiles. The wind fields are in turn used to calculate atmospheric diffusion, to guide emergency responses. MACHWIND has performed acceptably in uniform terrain under steady, well mixed conditions. However, extension of the model to more complex situations is problematic. In coastal, hilly terrain like that near Vandenberg Air Force Base (VAFB) in southern California, calculations of the wind field can be enhanced significantly by several modifications to the original code. This report highlights the structure of MACHWIND and details the enhancements that were implemented

Effect of an isolated elliptical terrain (Jeju Island on rainfall enhancement in a moist environment

Directory of Open Access Journals (Sweden)

Keun-OK Lee

2014-03-01

Full Text Available A series of idealised experiments using a cloud-resolving storm simulator (CReSS was performed to investigate the effects of the isolated elliptically shaped terrain of Jeju Island (oriented east–west, southern Korea, on the enhancement of pre-existing rainfall systems under the influence of prevailing southwesterly moist flows. Control parameters were the low-altitude wind speed (Froude numbers: 0.2, 0.4, 0.55 and the initial location of the elongated (oriented north–east rainfall system (off the northwestern or western shores of the island. Simulations were conducted for all combinations of initial location and wind regime. Overall, results indicate that weak southwesterlies flowing around the steep mountain on the island (height, 2 km generate two local convergences, on the northern lateral side and on the lee side of the island, both in regions of moist environments, thus producing conditions favourable for enhanced rainfall. As an eastward-moving rainfall system approaches the northwestern shore of the island, the southwesterlies at low altitudes accelerate between the system and the terrain, generating a local updraft region that causes rainfall enhancement onshore in advance of the system's arrival over the terrain. Thus, the prevailing southwesterlies at low altitudes that are parallel to the terrain are a crucial element for the enhancement. Relatively weak southwesterlies at low altitudes allow system enhancement on the lee side by generating a convergence of relatively weak go-around northwesterlies from the northern island and relatively strong moist southwesterlies from the southern island, thus producing a relatively long-lived rainfall system. As the southwesterlies strengthen, a dry descending air mass intensifies on the northeastern downwind side of the terrain, rapidly dissipating rainfall and resulting in a relatively short-lived rainfall system. A coexisting terrain-generated local convergence, combined with the absence

Dirt bikes and all terrain vehicles: the real threat to pediatric kidneys.

Science.gov (United States)

Wu, Hsi-Yang; Gaines, Barbara A

2007-10-01

Recent reviews show that bicycles are the major cause of significant renal injury with few injuries occurring during contact sports. All-terrain vehicles are also responsible for significant pediatric renal trauma. We determined whether dirt bikes and all-terrain vehicles cause more significant renal injuries than contact sports. A retrospective review of our pediatric trauma database revealed 115 consecutive patients treated for renal trauma from 2000 to 2005. A total of 20 bicycle injuries occurred, including 6 on dirt bikes. A total of 13 all-terrain vehicle injuries occurred, including 4 involving rollovers. A total of 12 contact sport injuries occurred, including 2 during pick-up games. The mean grade of renal injury was compared among the mechanisms, with grades III-V considered high grade. In descending order of renal injury the mechanisms were dirt bike (2.8), all-terrain vehicle rollover (2.8), bicycle (2.3), all-terrain vehicle (2.1), contact sports (1.8) and organized contact sports (1.4). Dirt bikes and all-terrain vehicle rollovers caused significantly greater renal trauma than organized contact sports (2.8 vs 1.4, p = 0.007 and 0.02, respectively), whereas overall bicycle and all-terrain vehicle accidents resulted in similar renal trauma grades compared to those of all contact sports. The 2 high grade renal injuries during contact sports occurred during pick-up football games without protective gear. Physician advice regarding children with a solitary kidney should include avoiding dirt bikes and all-terrain vehicles. Efforts to limit all-terrain vehicle use in children younger than 16 years would decrease the risk of significant renal injury in this population more effectively than limiting contact sports participation.

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

DEFF Research Database (Denmark)

Aggerholm, Kenneth; Jespersen, Ejgil

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

CONCERT MANAGEMENT IN CROATIA: OBSTACLES AND CHALLENGES

Directory of Open Access Journals (Sweden)

Irina Basara

2016-12-01

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

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

KAUST Repository

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

2017-01-01

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

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

KAUST Repository

Dairi, Abdelkader

2017-12-06

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

Lunar terrain mapping and relative-roughness analysis

Science.gov (United States)

Rowan, Lawrence C.; McCauley, John F.; Holm, Esther A.

1971-01-01

Terrain maps of the equatorial zone (long 70° E.-70° W. and lat 10° N-10° S.) were prepared at scales of 1:2,000,000 and 1:1,000,000 to classify lunar terrain with respect to roughness and to provide a basis for selecting sites for Surveyor and Apollo landings as well as for Ranger and Lunar Orbiter photographs. The techniques that were developed as a result of this effort can be applied to future planetary exploration. By using the best available earth-based observational data and photographs 1:1,000,000-scale and U.S. Geological Survey lunar geologic maps and U.S. Air Force Aeronautical Chart and Information Center LAC charts, lunar terrain was described by qualitative and quantitative methods and divided into four fundamental classes: maria, terrae, craters, and linear features. Some 35 subdivisions were defined and mapped throughout the equatorial zone, and, in addition, most of the map units were illustrated by photographs. The terrain types were analyzed quantitatively to characterize and order their relative-roughness characteristics. Approximately 150,000 east-west slope measurements made by a photometric technique (photoclinometry) in 51 sample areas indicate that algebraic slope-frequency distributions are Gaussian, and so arithmetic means and standard deviations accurately describe the distribution functions. The algebraic slope-component frequency distributions are particularly useful for rapidly determining relative roughness of terrain. The statistical parameters that best describe relative roughness are the absolute arithmetic mean, the algebraic standard deviation, and the percentage of slope reversal. Statistically derived relative-relief parameters are desirable supplementary measures of relative roughness in the terrae. Extrapolation of relative roughness for the maria was demonstrated using Ranger VII slope-component data and regional maria slope data, as well as the data reported here. It appears that, for some morphologically homogeneous

Sculpting Mountains: Interactive Terrain Modeling Based on Subsurface Geology.

Science.gov (United States)

Cordonnier, Guillaume; Cani, Marie-Paule; Benes, Bedrich; Braun, Jean; Galin, Eric

2018-05-01

Most mountain ranges are formed by the compression and folding of colliding tectonic plates. Subduction of one plate causes large-scale asymmetry while their layered composition (or stratigraphy) explains the multi-scale folded strata observed on real terrains. We introduce a novel interactive modeling technique to generate visually plausible, large scale terrains that capture these phenomena. Our method draws on both geological knowledge for consistency and on sculpting systems for user interaction. The user is provided hands-on control on the shape and motion of tectonic plates, represented using a new geologically-inspired model for the Earth crust. The model captures their volume preserving and complex folding behaviors under collision, causing mountains to grow. It generates a volumetric uplift map representing the growth rate of subsurface layers. Erosion and uplift movement are jointly simulated to generate the terrain. The stratigraphy allows us to render folded strata on eroded cliffs. We validated the usability of our sculpting interface through a user study, and compare the visual consistency of the earth crust model with geological simulation results and real terrains.

TB case detection in Tajikistan – analysis of existing obstacles

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Alexei Korobitsyn

2013-10-01

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

Energy and exergy analysis of a new flat-plate solar air heater having different obstacles on absorber plates

International Nuclear Information System (INIS)

Akpinar, Ebru Kavak; Kocyigit, Fatih

2010-01-01

This study experimentally investigates performance analysis of a new flat-plate solar air heater (SAH) with several obstacles (Type I, Type II, Type III) and without obstacles (Type IV). Experiments were performed for two air mass flow rates of 0.0074 and 0.0052 kg/s. The first and second laws of efficiencies were determined for SAHs and comparisons were made among them. The values of first law efficiency varied between 20% and 82%. The values of second law efficiency changed from 8.32% to 44.00%. The highest efficiency were determined for the SAH with Type II absorbent plate in flow channel duct for all operating conditions, whereas the lowest values were obtained for the SAH without obstacles (Type IV). The results showed that the efficiency of the solar air collectors depends significantly on the solar radiation, surface geometry of the collectors and extension of the air flow line. The largest irreversibility was occurring at the SAH without obstacles (Type IV) collector in which collector efficiency is smallest. At the end of this study, the energy and exergy relationships are delivered for different SAHs.

Advection endash diffusion around a curved obstacle

International Nuclear Information System (INIS)

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

1998-01-01

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

Localization of small obstacles in Stokes flow

International Nuclear Information System (INIS)

Caubet, Fabien; Dambrine, Marc

2012-01-01

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

Interaction of turbulent deflagrations with representative flow obstacles

International Nuclear Information System (INIS)

Durst, B.; Ardey, N.; Mayinger, F.

1997-01-01

In the case of a gradual release of hydrogen in the course of an assumed, severe accident in a light water reactor, the combustion will normally start out as a slow deflagration. Acceleration of an initially slow flame due to interactions of chemical kinetics and turbulent heat and mass transfer can result in very high flame speeds. Therefore, in order to assess hydrogen mitigation techniques, detailed knowledge about flame acceleration and interaction of flames with obstacles is required. The reported investigations are aimed at the investigation of the mechanisms responsible for turbulent flame acceleration and improving present correlations for estimates and models for numerical simulations of hydrogen combustion processes. A medium-scale square cross-section setup is employed, using flow obstacles with shapes representative for reactor containments. The global flame speed is deduced from measurements using thermocouples, pressure transducers and photodiodes. Measurements using a two-component LDA-system are being carried through in order to correlate global flame spread and local turbulence parameters. Results indicate that low blockage-ratio obstacles only marginally influence the flame, as disturbances which are induced remain local to the vicinity of the obstacle and die out very quickly downstream thereof. Flow visualizations by means of a Schlieren setup indicate very complex flow structures in the vicinity of obstacles. The results are being used to validate turbulent reaction models. A model based on probability density functions (pdf) of assumed shape has been developed and initial calculations are presented. (author)

What Influences Youth to Operate All-Terrain Vehicles Safely?

Science.gov (United States)

Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R., III

2014-01-01

The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain)…

[A large-scale accident in Alpine terrain].

Science.gov (United States)

Wildner, M; Paal, P

2015-02-01

Due to the geographical conditions, large-scale accidents amounting to mass casualty incidents (MCI) in Alpine terrain regularly present rescue teams with huge challenges. Using an example incident, specific conditions and typical problems associated with such a situation are presented. The first rescue team members to arrive have the elementary tasks of qualified triage and communication to the control room, which is required to dispatch the necessary additional support. Only with a clear "concept", to which all have to adhere, can the subsequent chaos phase be limited. In this respect, a time factor confounded by adverse weather conditions or darkness represents enormous pressure. Additional hazards are frostbite and hypothermia. If priorities can be established in terms of urgency, then treatment and procedure algorithms have proven successful. For evacuation of causalities, a helicopter should be strived for. Due to the low density of hospitals in Alpine regions, it is often necessary to distribute the patients over a wide area. Rescue operations in Alpine terrain have to be performed according to the particular conditions and require rescue teams to have specific knowledge and expertise. The possibility of a large-scale accident should be considered when planning events. With respect to optimization of rescue measures, regular training and exercises are rational, as is the analysis of previous large-scale Alpine accidents.

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

Directory of Open Access Journals (Sweden)

Peter Christiansen

2016-11-01

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

Homogenization of variational inequalities for obstacle problems

International Nuclear Information System (INIS)

Sandrakov, G V

2005-01-01

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

Obstacle detection and avoiding of quadcopter

Science.gov (United States)

Wang, Dizhong; Lin, Jiajian

2017-10-01

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

Global terrain classification using Multiple-Error-Removed Improved-Terrain (MERIT) to address susceptibility of landslides and other geohazards

Science.gov (United States)

Iwahashi, J.; Yamazaki, D.; Matsuoka, M.; Thamarux, P.; Herrick, J.; Yong, A.; Mital, U.

2017-12-01

A seamless model of landform classifications with regional accuracy will be a powerful platform for geophysical studies that forecast geologic hazards. Spatial variability as a function of landform on a global scale was captured in the automated classifications of Iwahashi and Pike (2007) and additional developments are presented here that incorporate more accurate depictions using higher-resolution elevation data than the original 1-km scale Shuttle Radar Topography Mission digital elevation model (DEM). We create polygon-based terrain classifications globally by using the 280-m DEM interpolated from the Multi-Error-Removed Improved-Terrain DEM (MERIT; Yamazaki et al., 2017). The multi-scale pixel-image analysis method, known as Multi-resolution Segmentation (Baatz and Schäpe, 2000), is first used to classify the terrains based on geometric signatures (slope and local convexity) calculated from the 280-m DEM. Next, we apply the machine learning method of "k-means clustering" to prepare the polygon-based classification at the globe-scale using slope, local convexity and surface texture. We then group the divisions with similar properties by hierarchical clustering and other statistical analyses using geological and geomorphological data of the area where landslides and earthquakes are frequent (e.g. Japan and California). We find the 280-m DEM resolution is only partially sufficient for classifying plains. We nevertheless observe that the categories correspond to reported landslide and liquefaction features at the global scale, suggesting that our model is an appropriate platform to forecast ground failure. To predict seismic amplification, we estimate site conditions using the time-averaged shear-wave velocity in the upper 30-m (VS30) measurements compiled by Yong et al. (2016) and the terrain model developed by Yong (2016; Y16). We plan to test our method on finer resolution DEMs and report our findings to obtain a more globally consistent terrain model as there

Using game engine for 3D terrain visualisation of GIS data: A review

Science.gov (United States)

Che Mat, Ruzinoor; Shariff, Abdul Rashid Mohammed; Nasir Zulkifli, Abdul; Shafry Mohd Rahim, Mohd; Hafiz Mahayudin, Mohd

2014-06-01

This paper reviews on the 3D terrain visualisation of GIS data using game engines that are available in the market as well as open source. 3D terrain visualisation is a technique used to visualise terrain information from GIS data such as a digital elevation model (DEM), triangular irregular network (TIN) and contour. Much research has been conducted to transform the 2D view of map to 3D. There are several terrain visualisation softwares that are available for free, which include Cesium, Hftool and Landserf. This review paper will help interested users to better understand the current state of art in 3D terrain visualisation of GIS data using game engines.

Using game engine for 3D terrain visualisation of GIS data: A review

International Nuclear Information System (INIS)

Mat, Ruzinoor Che; Zulkifli, Abdul Nasir; Mahayudin, Mohd Hafiz; Shariff, Abdul Rashid Mohammed; Rahim, Mohd Shafry Mohd

2014-01-01

This paper reviews on the 3D terrain visualisation of GIS data using game engines that are available in the market as well as open source. 3D terrain visualisation is a technique used to visualise terrain information from GIS data such as a digital elevation model (DEM), triangular irregular network (TIN) and contour. Much research has been conducted to transform the 2D view of map to 3D. There are several terrain visualisation softwares that are available for free, which include Cesium, Hftool and Landserf. This review paper will help interested users to better understand the current state of art in 3D terrain visualisation of GIS data using game engines

Jumping robots: a biomimetic solution to locomotion across rough terrain.

Science.gov (United States)

Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

2007-09-01

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Diffusion induced flow on a wedge-shaped obstacle

International Nuclear Information System (INIS)

Zagumennyi, Ia V; Dimitrieva, N F

2016-01-01

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

Plasma focus neutron anisotropy measurements and influence of a deuteron beam obstacle

Energy Technology Data Exchange (ETDEWEB)

Talebitaher, A. [Physics Department, University of Regina, Saskatchewan, Canada S4S 0A2 (Canada); Springham, S.V., E-mail: stuart.springham@nie.edu.sg [Natural Sciences and Science Education, National Institute of Education, 637616 (Singapore); Rawat, R.S.; Lee, P. [Natural Sciences and Science Education, National Institute of Education, 637616 (Singapore)

2017-03-11

The deuterium-deuterium (DD) fusion neutron yield and anisotropy were measured on a shot-to-shot basis for the NX2 plasma focus (PF) device using two beryllium fast-neutron activation detectors at 0° and 90° to the PF axis. Measurements were performed for deuterium gas pressures in the range 6–16 mbar, and positive correlations between neutron yield and anisotropy were observed at all pressures. Subsequently, at one deuterium gas pressure (13 mbar), the contribution to the fusion yield produced by the forwardly-directed D{sup +} ion beam, emitted from the plasma pinch, was investigated by using a circular Pyrex plate to obstruct the beam and suppress its fusion contribution. Neutron measurements were performed with the obstacle positioned at two distances from the anode tip, and also without the obstacle. It was found that ~ 80% of the neutron yield originates in the plasma pinch column and just above that. In addition, proton pinhole imaging was performed from the 0° and 90° directions to the pinch. The obtained proton images are consistent with the conclusion that DD fusion is concentrated (~ 80%) in the pinch column region.

Obstacles to the use of natural gas in electric markets

International Nuclear Information System (INIS)

Lynch, M.M.

1992-01-01

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

Landing Control of Foot with Springs for Walking Robots on Rough Terrain

Directory of Open Access Journals (Sweden)

Moyuru Yamada

2009-09-01

Full Text Available Landing control is one of the important issues for biped walking robot, because robots are expected to walk on not only known flat surfaces but also unknown and uneven terrain for working at various fields. This paper presents a new controller design for a robotic foot to land on unknown terrain. The robotic foot considered in this study equips springs to reduce the impact force at the foot landing. There are two objectives in the landing control; achieving the desired ground reaction force and positioning the foot on unknown terrain. To achieve these two objectives simultaneously by adjusting the foot position, we propose a PI force controller with a desired foot position, which guarantees the robust stability of control system with respect to terrain variance, and exact positioning of the foot to unknown terrain. Simulation results using the Open Dynamics Engine demonstrate the effectiveness of the proposed controller.

Development of an optimal velocity selection method with velocity obstacle

Energy Technology Data Exchange (ETDEWEB)

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

2015-08-15

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

Propagation of spiral waves pinned to circular and rectangular obstacles.

Science.gov (United States)

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

2015-05-01

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

Student Obstacles in Solving Algebraic Thinking Problems

Science.gov (United States)

Andini, W.; Suryadi, D.

2017-09-01

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

Bathymetric terrain model of the Atlantic margin for marine geological investigations

Science.gov (United States)

Andrews, Brian D.; Chaytor, Jason D.; ten Brink, Uri S.; Brothers, Daniel S.; Gardner, James V.; Lobecker, Elizabeth A.; Calder, Brian R.

2016-01-01

A bathymetric terrain model of the Atlantic margin covering almost 725,000 square kilometers of seafloor from the New England Seamounts in the north to the Blake Basin in the south is compiled from existing multibeam bathymetric data for marine geological investigations. Although other terrain models of the same area are extant, they are produced from either satellite-derived bathymetry at coarse resolution (ETOPO1), or use older bathymetric data collected by using a combination of single beam and multibeam sonars (Coastal Relief Model). The new multibeam data used to produce this terrain model have been edited by using hydrographic data processing software to maximize the quality, usability, and cartographic presentation of the combined 100-meter resolution grid. The final grid provides the largest high-resolution, seamless terrain model of the Atlantic margin..

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

Science.gov (United States)

Chen, Xueye; Zhao, Zhongyi

2017-04-29

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

Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

Directory of Open Access Journals (Sweden)

Jianfeng Wang

2015-01-01

Full Text Available The contact mechanics for a rigid wheel and deformable terrain are complicated owing to the rigid flexible coupling characteristics. Bekker’s equations are used as the basis to establish the equations of the sinking rolling wheel, to vertical load pressure relationship. Since vehicle movement on the Moon is a complex and on-going problem, the researcher is poised to simplify this problem of vertical loading of the wheel. In this paper, the quarter kinetic models of a manned lunar rover, which are both based on the rigid road and deformable lunar terrain, are used as the simulation models. With these kinetic models, the vibration simulations were conducted. The simulation results indicate that the quarter kinetic model based on the deformable lunar terrain accurately reflects the deformable terrain’s influence on the vibration characteristics of a manned lunar rover. Additionally, with the quarter kinetic model of the deformable terrain, the vibration simulations of a manned lunar rover were conducted, which include a parametric analysis of the wheel parameters, vehicle speed, and suspension parameters. The results show that a manned lunar rover requires a lower damping value and stiffness to achieve better vibration performance.

Object Georeferencing in UAV-Based SAR Terrain Images

Directory of Open Access Journals (Sweden)

Łabowski Michał

2016-12-01

Full Text Available Synthetic aperture radars (SAR allow to obtain high resolution terrain images comparable with the resolution of optical methods. Radar imaging is independent on the weather conditions and the daylight. The process of analysis of the SAR images consists primarily of identifying of interesting objects. The ability to determine their geographical coordinates can increase usability of the solution from a user point of view. The paper presents a georeferencing method of the radar terrain images. The presented images were obtained from the SAR system installed on board an Unmanned Aerial Vehicle (UAV. The system was developed within a project under acronym WATSAR realized by the Military University of Technology and WB Electronics S.A. The source of the navigation data was an INS/GNSS system integrated by the Kalman filter with a feed-backward correction loop. The paper presents the terrain images obtained during flight tests and results of selected objects georeferencing with an assessment of the accuracy of the method.

Surrounding Moving Obstacle Detection for Autonomous Driving Using Stereo Vision

Directory of Open Access Journals (Sweden)

Hao Sun

2013-06-01

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

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

Science.gov (United States)

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

2018-04-01

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

Explicit validation of a surface shortwave radiation balance model over snow-covered complex terrain

Science.gov (United States)

Helbig, N.; Löwe, H.; Mayer, B.; Lehning, M.

2010-09-01

A model that computes the surface radiation balance for all sky conditions in complex terrain is presented. The spatial distribution of direct and diffuse sky radiation is determined from observations of incident global radiation, air temperature, and relative humidity at a single measurement location. Incident radiation under cloudless sky is spatially derived from a parameterization of the atmospheric transmittance. Direct and diffuse sky radiation for all sky conditions are obtained by decomposing the measured global radiation value. Spatial incident radiation values under all atmospheric conditions are computed by adjusting the spatial radiation values obtained from the parametric model with the radiation components obtained from the decomposition model at the measurement site. Topographic influences such as shading are accounted for. The radiosity approach is used to compute anisotropic terrain reflected radiation. Validations of the shortwave radiation balance model are presented in detail for a day with cloudless sky. For a day with overcast sky a first validation is presented. Validation of a section of the horizon line as well as of individual radiation components is performed with high-quality measurements. A new measurement setup was designed to determine terrain reflected radiation. There is good agreement between the measurements and the modeled terrain reflected radiation values as well as with incident radiation values. A comparison of the model with a fully three-dimensional radiative transfer Monte Carlo model is presented. That validation reveals a good agreement between modeled radiation values.

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.

TERRAIN Submission for Waushara Countywide DFIRM

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Middlesex County, NJ

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

DCS Terrain Submission for Seminole, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Stephens, OK

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, Pointe Coupee PARISH, LA, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Carter, OK

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Mono, CA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

Terrain Sumbission for Howard County NE

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN Submission for Outagamie Countywide DFIRM

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ESSEX COUNTY, MASSACHUSETTS - Coastal PMR

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for HOUSTON COUNTY, ALABAMA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Clay County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, UPPER CUMBERLAND WATERSHED, KENTUCKY USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

Terrain, CEDAR RAPIDS, LINN COUNTY, IA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Irwin, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Brazos TX

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Harris County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN Submission for CHISAGO COUNTY, MN

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

DCS Terrain for Jasper County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Garvin, OK

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

Terrain Data, Queen Anne's COUNTY, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Gilmer County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Houston TX

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Marion County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Washington County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Sioux Falls

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Mohave, AZ

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Hancock County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ST. CLAIR COUNTY, ALABAMA USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Lincoln County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Greene County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, CERRO GORDO COUNTY, IOWA, USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Merced, CA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Ouachita, AR

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Pickens County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Williamson County, TX

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Clark, AR

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Drew AR

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain for Cobb County, GA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

TERRAIN, ST. LOUIS COUNTY, Missouri USA

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

DCS Terrain Submission for Logan, OK

Data.gov (United States)

Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

A terrain-based site characterization map of California with implications for the contiguous United States

Science.gov (United States)

Yong, Alan K.; Hough, Susan E.; Iwahashi, Junko; Braverman, Amy

2012-01-01

We present an approach based on geomorphometry to predict material properties and characterize site conditions using the VS30 parameter (time‐averaged shear‐wave velocity to a depth of 30 m). Our framework consists of an automated terrain classification scheme based on taxonomic criteria (slope gradient, local convexity, and surface texture) that systematically identifies 16 terrain types from 1‐km spatial resolution (30 arcsec) Shuttle Radar Topography Mission digital elevation models (SRTM DEMs). Using 853 VS30 values from California, we apply a simulation‐based statistical method to determine the mean VS30 for each terrain type in California. We then compare the VS30 values with models based on individual proxies, such as mapped surface geology and topographic slope, and show that our systematic terrain‐based approach consistently performs better than semiempirical estimates based on individual proxies. To further evaluate our model, we apply our California‐based estimates to terrains of the contiguous United States. Comparisons of our estimates with 325 VS30 measurements outside of California, as well as estimates based on the topographic slope model, indicate our method to be statistically robust and more accurate. Our approach thus provides an objective and robust method for extending estimates of VS30 for regions where in situ measurements are sparse or not readily available.

Terrain Extraction by Integrating Terrestrial Laser Scanner Data and Spectral Information

Science.gov (United States)

Lau, C. L.; Halim, S.; Zulkepli, M.; Azwan, A. M.; Tang, W. L.; Chong, A. K.

2015-10-01

The extraction of true terrain points from unstructured laser point cloud data is an important process in order to produce an accurate digital terrain model (DTM). However, most of these spatial filtering methods just utilizing the geometrical data to discriminate the terrain points from nonterrain points. The point cloud filtering method also can be improved by using the spectral information available with some scanners. Therefore, the objective of this study is to investigate the effectiveness of using the three-channel (red, green and blue) of the colour image captured from built-in digital camera which is available in some Terrestrial Laser Scanner (TLS) for terrain extraction. In this study, the data acquisition was conducted at a mini replica landscape in Universiti Teknologi Malaysia (UTM), Skudai campus using Leica ScanStation C10. The spectral information of the coloured point clouds from selected sample classes are extracted for spectral analysis. The coloured point clouds which within the corresponding preset spectral threshold are identified as that specific feature point from the dataset. This process of terrain extraction is done through using developed Matlab coding. Result demonstrates that a higher spectral resolution passive image is required in order to improve the output. This is because low quality of the colour images captured by the sensor contributes to the low separability in spectral reflectance. In conclusion, this study shows that, spectral information is capable to be used as a parameter for terrain extraction.

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

Science.gov (United States)

Lockerby, C. E.

1979-01-01

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

Rapid Optimal Generation Algorithm for Terrain Following Trajectory Based on Optimal Control

Institute of Scientific and Technical Information of China (English)

杨剑影; 张海; 谢邦荣; 尹健

2004-01-01

Based on the optimal control theory, a 3-dimensionnal direct generation algorithm is proposed for anti-ground low altitude penetration tasks under complex terrain. By optimizing the terrain following(TF) objective function,terrain coordinate system, missile dynamic model and control vector, the TF issue is turning into the improved optimal control problem whose mathmatical model is simple and need not solve the second order terrain derivative. Simulation results prove that this method is reasonable and feasible. The TF precision is in the scope from 0.3 m to 3.0 m,and the planning time is less than 30 min. This method have the strongpionts such as rapidness, precision and has great application value.

Stepping back to see the big picture: when obstacles elicit global processing

NARCIS (Netherlands)

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

2011-01-01

Can obstacles prompt people to look at the "big picture" and open up their minds? Do the cognitive effects of obstacles extend beyond the tasks with which they interfere? These questions were addressed in 6 studies involving both physical and nonphysical obstacles and different measures of global

Using the power balance model to simulate cross-country skiing on varying terrain.

Science.gov (United States)

Moxnes, John F; Sandbakk, Oyvind; Hausken, Kjell

2014-01-01

The current study adapts the power balance model to simulate cross-country skiing on varying terrain. We assumed that the skier's locomotive power at a self-chosen pace is a function of speed, which is impacted by friction, incline, air drag, and mass. An elite male skier's position along the track during ski skating was simulated and compared with his experimental data. As input values in the model, air drag and friction were estimated from the literature based on the skier's mass, snow conditions, and speed. We regard the fit as good, since the difference in racing time between simulations and measurements was 2 seconds of the 815 seconds racing time, with acceptable fit both in uphill and downhill terrain. Using this model, we estimated the influence of changes in various factors such as air drag, friction, and body mass on performance. In conclusion, the power balance model with locomotive power as a function of speed was found to be a valid tool for analyzing performance in cross-country skiing.

Towards Real-Time Detection of Gait Events on Different Terrains Using Time-Frequency Analysis and Peak Heuristics Algorithm.

Science.gov (United States)

Zhou, Hui; Ji, Ning; Samuel, Oluwarotimi Williams; Cao, Yafei; Zhao, Zheyi; Chen, Shixiong; Li, Guanglin

2016-10-01

Real-time detection of gait events can be applied as a reliable input to control drop foot correction devices and lower-limb prostheses. Among the different sensors used to acquire the signals associated with walking for gait event detection, the accelerometer is considered as a preferable sensor due to its convenience of use, small size, low cost, reliability, and low power consumption. Based on the acceleration signals, different algorithms have been proposed to detect toe off (TO) and heel strike (HS) gait events in previous studies. While these algorithms could achieve a relatively reasonable performance in gait event detection, they suffer from limitations such as poor real-time performance and are less reliable in the cases of up stair and down stair terrains. In this study, a new algorithm is proposed to detect the gait events on three walking terrains in real-time based on the analysis of acceleration jerk signals with a time-frequency method to obtain gait parameters, and then the determination of the peaks of jerk signals using peak heuristics. The performance of the newly proposed algorithm was evaluated with eight healthy subjects when they were walking on level ground, up stairs, and down stairs. Our experimental results showed that the mean F1 scores of the proposed algorithm were above 0.98 for HS event detection and 0.95 for TO event detection on the three terrains. This indicates that the current algorithm would be robust and accurate for gait event detection on different terrains. Findings from the current study suggest that the proposed method may be a preferable option in some applications such as drop foot correction devices and leg prostheses.

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

Directory of Open Access Journals (Sweden)

Javad Javan noughabi

2017-06-01

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

Gendered Obstacles Faced by Historical Women in Physics and Astronomy

Science.gov (United States)

Jones, Kristen M.

2007-12-01

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

Dans la cuisine du partenariat. Retour sur les obstacles interculturels et institutionnels dans un projet de coopération universitaire franco-algérienne  In the kitchen of the partnership. A reflexive look at intercultural and institutional obstacles in a Franco-Algerian project of academic co-operation

Directory of Open Access Journals (Sweden)

Maurice Blanc

2011-05-01

Full Text Available Cet article analyse de manière réflexive une expérience de coopération universitaire franco-algérienne et il examine l’impact sur le partenariat des tensions produites par la mise à l’épreuve du terrain. Emboîté dans de multiples dispositifs, l’objet de la coopération concentre un faisceau d’attentes, aussi diverses que contradictoires, susceptibles de créer des tensions dans des négociations qu’il faut en permanence reprendre. L’article montre que l’approche par la transaction sociale est pertinente pour analyser des processus partenariaux qui passent par de la coopération conflictuelle et des arrangements informels. Deux obstacles majeurs apparaissent : les cercles vicieux bureaucratiques et les malentendus interculturels. Des transactions implicites et tacites permettent de débloquer lentement la situation.This paper makes a reflexive assessment of an experiment in Franco-Algerian academic co-operation. It addresses the impact on the partnership of the tensions which emerge at field level practice. Embedded in various institutional patterns, the aim of co-operation is caught between diverging and contradictory expectations, creating tensions which fuel never-ending negotiations. The paper highlights the relevance of a social transaction approach for the understanding of partnership processes which necessarily involve conflictual co-operation and informal arrangements. Two major obstacles emerge: bureaucratic vicious circles and intercultural misunderstandings. Implicit and/or tacit transactions can allow for the slow unfolding of situations.

Comparison of MODIS and SWAT evapotranspiration over a complex terrain at different spatial scales

Science.gov (United States)

Abiodun, Olanrewaju O.; Guan, Huade; Post, Vincent E. A.; Batelaan, Okke

2018-05-01

In most hydrological systems, evapotranspiration (ET) and precipitation are the largest components of the water balance, which are difficult to estimate, particularly over complex terrain. In recent decades, the advent of remotely sensed data based ET algorithms and distributed hydrological models has provided improved spatially upscaled ET estimates. However, information on the performance of these methods at various spatial scales is limited. This study compares the ET from the MODIS remotely sensed ET dataset (MOD16) with the ET estimates from a SWAT hydrological model on graduated spatial scales for the complex terrain of the Sixth Creek Catchment of the Western Mount Lofty Ranges, South Australia. ET from both models was further compared with the coarser-resolution AWRA-L model at catchment scale. The SWAT model analyses are performed on daily timescales with a 6-year calibration period (2000-2005) and 7-year validation period (2007-2013). Differences in ET estimation between the SWAT and MOD16 methods of up to 31, 19, 15, 11 and 9 % were observed at respectively 1, 4, 9, 16 and 25 km2 spatial resolutions. Based on the results of the study, a spatial scale of confidence of 4 km2 for catchment-scale evapotranspiration is suggested in complex terrain. Land cover differences, HRU parameterisation in AWRA-L and catchment-scale averaging of input climate data in the SWAT semi-distributed model were identified as the principal sources of weaker correlations at higher spatial resolution.

Multigrid Computation of Stratified Flow over Two-Dimensional Obstacles

Science.gov (United States)

Paisley, M. F.

1997-09-01

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

Automatic Quadcopter Control Avoiding Obstacle Using Camera with Integrated Ultrasonic Sensor

Science.gov (United States)

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

2018-04-01

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

Realistic terrain visualization based on 3D virtual world technology

Science.gov (United States)

Huang, Fengru; Lin, Hui; Chen, Bin; Xiao, Cai

2010-11-01

The rapid advances in information technologies, e.g., network, graphics processing, and virtual world, have provided challenges and opportunities for new capabilities in information systems, Internet applications, and virtual geographic environments, especially geographic visualization and collaboration. In order to achieve meaningful geographic capabilities, we need to explore and understand how these technologies can be used to construct virtual geographic environments to help to engage geographic research. The generation of three-dimensional (3D) terrain plays an important part in geographical visualization, computer simulation, and virtual geographic environment applications. The paper introduces concepts and technologies of virtual worlds and virtual geographic environments, explores integration of realistic terrain and other geographic objects and phenomena of natural geographic environment based on SL/OpenSim virtual world technologies. Realistic 3D terrain visualization is a foundation of construction of a mirror world or a sand box model of the earth landscape and geographic environment. The capabilities of interaction and collaboration on geographic information are discussed as well. Further virtual geographic applications can be developed based on the foundation work of realistic terrain visualization in virtual environments.

Flight-appropriate 3D Terrain-rendering Toolkit for Synthetic Vision, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — The TerraBlocksTM 3D terrain data format and terrain-block-rendering methodology provides an enabling basis for successful commercial deployment of...

Terrain Commander: Unattended Ground-Based Surveillance System

National Research Council Canada - National Science Library

Steadman, Bob

2000-01-01

.... Terrain Commander OASIS provides next generation target detection, classification, and tracking through smart sensor fusion of beamforming acoustic, seismic, passive infrared, and magnetic sensors...

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

Science.gov (United States)

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

2018-03-01

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

Ambler: Performance of a six-legged planetary rover

Science.gov (United States)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1995-01-01

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

UAS applications in high alpine, snow-covered terrain

Science.gov (United States)

Bühler, Y.; Stoffel, A.; Ginzler, C.

2017-12-01

Access to snow-covered, alpine terrain is often difficult and dangerous. Hence parameters such as snow depth or snow avalanche release and deposition zones are hard to map in situ with adequate spatial and temporal resolution and with spatial continuous coverage. These parameters are currently operationally measured at automated weather stations and by observer networks. However such isolated point measurements are not able to capture the information spatial continuous and to describe the high spatial variability present in complex mountain topography. Unmanned Aerial Systems (UAS) have the potential to fill this gap by frequently covering selected high alpine areas with high spatial resolution down to ground resolutions of even few millimeters. At the WSL Institute for Snow and Avalanche Research SLF we test different photogrammetric UAS with visual and near infrared bands. During the last three years we were able to gather experience in more than 100 flight missions in extreme terrain. By processing the imagery applying state-of-the-art structure from motion (SfM) software, we were able to accurately document several avalanche events and to photogrammetrically map snow depth with accuracies from 1 to 20 cm (dependent on the flight height above ground) compare to manual snow probe measurements. This was even possible on homogenous snow surfaces with very little texture. A key issue in alpine terrain is flight planning. We need to cover regions at high elevations with large altitude differences (up to 1 km) with high wind speeds (up to 20 m/s) and cold temperatures (down to - 25°C). Only a few UAS are able to cope with these environmental conditions. We will give an overview on our applications of UAS in high alpine terrain that demonstrate the big potential of such systems to acquire frequent, accurate and high spatial resolution geodata in high alpine, snow covered terrain that could be essential to answer longstanding questions in avalanche and snow hydrology

Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation

Directory of Open Access Journals (Sweden)

Kailun Yang

2018-05-01

Full Text Available Navigational assistance aims to help visually-impaired people to ambulate the environment safely and independently. This topic becomes challenging as it requires detecting a wide variety of scenes to provide higher level assistive awareness. Vision-based technologies with monocular detectors or depth sensors have sprung up within several years of research. These separate approaches have achieved remarkable results with relatively low processing time and have improved the mobility of impaired people to a large extent. However, running all detectors jointly increases the latency and burdens the computational resources. In this paper, we put forward seizing pixel-wise semantic segmentation to cover navigation-related perception needs in a unified way. This is critical not only for the terrain awareness regarding traversable areas, sidewalks, stairs and water hazards, but also for the avoidance of short-range obstacles, fast-approaching pedestrians and vehicles. The core of our unification proposal is a deep architecture, aimed at attaining efficient semantic understanding. We have integrated the approach in a wearable navigation system by incorporating robust depth segmentation. A comprehensive set of experiments prove the qualified accuracy over state-of-the-art methods while maintaining real-time speed. We also present a closed-loop field test involving real visually-impaired users, demonstrating the effectivity and versatility of the assistive framework.

Dynamic Obstacle Clearing for Real-time Character Animation

OpenAIRE

Glardon, Pascal; Boulic, Ronan; Thalmann, Daniel

2006-01-01

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

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

Science.gov (United States)

Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng

2015-01-01

Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

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

Science.gov (United States)

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

2017-09-01

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

Wind farm layout optimization in complex terrain: A preliminary study on a Gaussian hill

DEFF Research Database (Denmark)

Feng, Ju; Shen, Wen Zhong

2014-01-01

this problem for WFs in flat terrain or offshore has been investigated in many studies, it is still a challenging problem for WFs in complex terrain. In this preliminary study, the wind flow conditions of complex terrain without WTs are first obtained from computational fluid dynamics (CFD) simulation...

A Multi-Scale Validation Strategy for Albedo Products over Rugged Terrain and Preliminary Application in Heihe River Basin, China

Directory of Open Access Journals (Sweden)

Xingwen Lin

2018-01-01

Full Text Available The issue for the validation of land surface remote sensing albedo products over rugged terrain is the scale effects between the reference albedo measurements and coarse scale albedo products, which is caused by the complex topography. This paper illustrates a multi-scale validation strategy specified for coarse scale albedo validation over rugged terrain. A Mountain-Radiation-Transfer-based (MRT-based albedo upscaling model was proposed in the process of multi-scale validation strategy for aggregating fine scale albedo to coarse scale. The simulated data of both the reference coarse scale albedo and fine scale albedo were used to assess the performance and uncertainties of the MRT-based albedo upscaling model. The results showed that the MRT-based model could reflect the albedo scale effects over rugged terrain and provided a robust solution for albedo upscaling from fine scale to coarse scale with different mean slopes and different solar zenith angles. The upscaled coarse scale albedos had the great agreements with the simulated coarse scale albedo with a Root-Mean-Square-Error (RMSE of 0.0029 and 0.0017 for black sky albedo (BSA and white sky albedo (WSA, respectively. Then the MRT-based model was preliminarily applied for the assessment of daily MODerate Resolution Imaging Spectroradiometer (MODIS Albedo Collection V006 products (MCD43A3 C6 over rugged terrain. Results showed that the MRT-based model was effective and suitable for conducting the validation of MODIS albedo products over rugged terrain. In this research area, it was shown that the MCD43A3 C6 products with full inversion algorithm, were generally in agreement with the aggregated coarse scale reference albedos over rugged terrain in the Heihe River Basin, with the BSA RMSE of 0.0305 and WSA RMSE of 0.0321, respectively, which were slightly higher than those over flat terrain.

Ambler - Performance of a six-legged planetary rover

Science.gov (United States)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-08-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Obstacle avoidance test using a sensor-based autonomous robotic system

International Nuclear Information System (INIS)

Fujii, Yoshio; Suzuki, Katsuo

1998-12-01

From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

I/O-Efficient Computation of Water Flow Across a Terrain

DEFF Research Database (Denmark)

Arge, Lars Allan; Revsbæk, Morten; Zeh, Norbert

2010-01-01

). We present an I/O-efficient algorithm that solves this problem using O(sort(X) log (X/M) + sort(N)) I/Os, where N is the number of terrain vertices, X is the number of pits of the terrain, sort(N) is the cost of sorting N data items, and M is the size of the computer's main memory. Our algorithm...

Terrain and building effects on the transport of radioactive material at a nuclear site

International Nuclear Information System (INIS)

Jeong, Hyojoon; Park, Misun; Jeong, Haesun; Hwang, Wontae; Kim, Eunhan; Han, Moonhee

2014-01-01

Highlights: • This study is to quantify the building and terrain effects on the atmospheric dispersion. • Statistical methods with AERMOD-PRIME and CFD were used. • To assess the risk in nuclear power plants, terrain and building effects have to be considered. - Abstract: This study identified the terrain and building effects on the atmospheric dispersion of radioactive materials at the Wolsong Nuclear Site. To analyze the atmospheric dispersion of radioactive materials, the AERMOD-PRIME model, CFD model and meteorological data from 2010 were used. The terrain and building effects on the atmospheric dispersion of radioactive materials within a 1 km radius of the site were statistically significant. The maximum concentration of the radioactive material increased by 7 times compared to the concentration when the terrain and building effects were not considered. It was found that the terrain and building influenced the decrease in the concentration of radioactive material in a concentric circle with a 914 m radius from the center of the site. The concentration of radioactive material in a concentric circle with a 350 m radius was two-times higher than the concentration estimated at the backside of the building, which is the downwind side, without any consideration of the terrain and building effects. In consideration of the Korean situation, in which multiple nuclear reactors are built on the same nuclear site, it is necessary to evaluate the risk that may affect workers and nearby residents by reflecting the terrain and building effects

New spatial clustering-based models for optimal urban facility location considering geographical obstacles

Science.gov (United States)

Javadi, Maryam; Shahrabi, Jamal

2014-03-01

The problems of facility location and the allocation of demand points to facilities are crucial research issues in spatial data analysis and urban planning. It is very important for an organization or governments to best locate its resources and facilities and efficiently manage resources to ensure that all demand points are covered and all the needs are met. Most of the recent studies, which focused on solving facility location problems by performing spatial clustering, have used the Euclidean distance between two points as the dissimilarity function. Natural obstacles, such as mountains and rivers, can have drastic impacts on the distance that needs to be traveled between two geographical locations. While calculating the distance between various supply chain entities (including facilities and demand points), it is necessary to take such obstacles into account to obtain better and more realistic results regarding location-allocation. In this article, new models were presented for location of urban facilities while considering geographical obstacles at the same time. In these models, three new distance functions were proposed. The first function was based on the analysis of shortest path in linear network, which was called SPD function. The other two functions, namely PD and P2D, were based on the algorithms that deal with robot geometry and route-based robot navigation in the presence of obstacles. The models were implemented in ArcGIS Desktop 9.2 software using the visual basic programming language. These models were evaluated using synthetic and real data sets. The overall performance was evaluated based on the sum of distance from demand points to their corresponding facilities. Because of the distance between the demand points and facilities becoming more realistic in the proposed functions, results indicated desired quality of the proposed models in terms of quality of allocating points to centers and logistic cost. Obtained results show promising

Getting to Darwin: Obstacles to Accepting Evolution by Natural Selection

Science.gov (United States)

Thagard, Paul; Findlay, Scott

2010-01-01

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

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.

What influences youth to operate all-terrain vehicles safely?

Science.gov (United States)

Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R.

2014-01-01

The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain) while operating an ATV. Youth (n = 248) aged 9–14 from central Ohio and one of their parents completed self-report measures of ATV safety behaviors, youth general propensity for risk taking, protection motivation and parental behaviors to facilitate youth safety. Data from two focus groups provided insight on quantitative results. Analyses revealed considerable variation in the frequency with which youth performed the safety behaviors, with 13- and 14-year-olds reporting less frequent safe behavior than 9- to 12-year-olds. Multiple regression analyses suggested that parental behaviors, such as providing reminders to wear a helmet, were associated with more frequent helmet use but were not associated with risky driving behaviors. Youth’s general propensity toward risk taking was not associated with helmet use and only associated with riskydriving behaviors among the 13- and 14-year-olds. Self-efficacy was an important predictor across both age groups and behaviors. Implications for injury prevention are discussed. PMID:24740837

Periodic spring–mass running over uneven terrain through feedforward control of landing conditions

International Nuclear Information System (INIS)

III, Luther R Palmer; Eaton, Caitrin E

2014-01-01

This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg. (paper)