Cultural diversity : obstacle or help in building european unity?. 'La diversidad cultural : ¿obstáculo o ayuda para la construcción de la unidad europea?'.

Resumen tomado del autor

Visual strategies used during the performance of an obstacle course

Vision is the sense that provides precise information about one’s position in the environment in relation to objects. The visual system is essential to guide people safely when moving around in the environment. The perception that an individual gets from a particular scene of her/his surroundings is accomplished by eye movements. The current study aims to identify differences in visual strategies between 15 women and 15 men within the age range of 18-24 years, who have been given a task to walk through an obstacle course drawn on the laboratory´s floor. They should start and finish at a predefined location. Twelve pylons were used as obstacles to be avoided during the walking.The participants' eye movements were recorded using the Mobile Eye model 1.35. The Wilcoxon-Mann-Whitney Test was used for the statistical analysis. Significant differences occurred between men and women, in the duration of fixations: the men spend more time observing the finishing area than women (z=-1.929, p=.054); and in the number of fixations: before starting the task, the men fixate more often the middle phase of the obstacle course (z=-2.085, p=.037). Once they commence, the women fixate more the points outside the obstacle course than the men (z=-2.093, p=.036).

A multiwave range test for obstacle reconstructions with unknown physical properties

We develop a new multiwave version of the range test for shape reconstruction in inverse scattering theory. The range test [R. Potthast, et al., A ‘range test’ for determining scatterers with unknown physical properties, Inverse Problems 19(3) (2003) 533–547] has originally been proposed to obtain knowledge about an unknown scatterer when the far field pattern for only one plane wave is given. Here, we extend the method to the case of multiple waves and show that the full shape of the unknown scatterer can be reconstructed. We further will clarify the relation between the range test methods, the potential method [A. Kirsch, R. Kress, On an integral equation of the first kind in inverse acoustic scattering, in: Inverse Problems (Oberwolfach, 1986), Internationale Schriftenreihe zur Numerischen Mathematik, vol. 77, Birkhäuser, Basel, 1986, pp. 93–102] and the singular sources method [R. Potthast, Point sources and multipoles in inverse scattering theory, Habilitation Thesis, Göttingen, 1999]. In particular, we propose a new version of the Kirsch–Kress method using the range test and a new approach to the singular sources method based on the range test and potential method. Numerical examples of reconstructions for all four methods are provided.

Joint modelling of obstacle induced and mesoscale changes: current limits and challenges

Obstacles considerably influence boundary layer processes. Their influences have been included in mesoscale models (MeM) for a long time. Methods used to parameterise obstacle effects in a MeM are summarised in this paper using results of the mesoscale model METRAS as examples. Besides the parameterisation of obstacle influences it is also possible to use a joint modelling approach to describe obstacle induced and mesoscale changes. Three different methods may be used for joint modelling approaches: The first method is a time-slice approach, where steady basic state profiles are used in an obstacle resolving microscale model (MiM, example model MITRAS) and diurnal cycles are derived by joining steady-state MITRAS results. The second joint modelling approach is one-way nesting, where the MeM results are used to initialise the MiM and to drive the boundary values of the MiM dependent on time. The third joint modelling approach is to apply multi-scale models or two-way nesting approaches, which include feedbacks from the MiM to the MeM. The advantages and disadvantages of the different approaches and remaining problems with joint Reynolds-averaged Navier–Stokes modelling approaches are summarised in the paper.

Virtual reshaping and invisibility in obstacle scattering

We consider reshaping an obstacle virtually by using transformation optics in acoustic and electromagnetic scattering. Among the general virtual reshaping results, the virtual minification and virtual magnification in particular are studied. Stability estimates are derived for scattering amplitude in terms of the diameter of a small obstacle, which implies that the limiting case for minification corresponds to a perfect cloaking, i.e., the obstacle is invisible to detection.

Obstacle avoidance routing scheme through optimal sink movement for home monitoring and mobile robotic consumer devices

In recent years, ZigBee has been proven to be an excellent solution to create scalable and flexible home automation networks. In a home automation network, consumer devices typically collect data from a home monitoring environment and then transmit the data to an end user through multi-hop communication without the need for any human intervention. However, due to the presence of typical obstacles in a home environment, error-free reception may not be possible, particularly for power constrained devices. A mobile sink based data transmission scheme can be one solution but obstacles create significant complexities for the sink movement path determination process. Therefore, an obstacle avoidance data routing scheme is of vital importance to the design of an efficient home automation system. This paper presents a mobile sink based obstacle avoidance routing scheme for a home monitoring system. The mobile sink collects data by traversing through the obstacle avoidance path. Through ZigBee based hardware implementation and verification, the proposed scheme successfully transmits data through the obstacle avoidance path to improve network performance in terms of life span, energy consumption and reliability. The application of this work can be applied to a wide range of intelligent pervasive consumer products and services including robotic vacuum cleaners and personal security robots1.

Influence of visual information on optimal obstacle crossing

Human motion seems to be guided by some optimal principles. In general, it is assumed that human walking is generated with minimal energy consumption. However, in the presence of disturbances during gait, there is a trade-off between stability (avoiding a fall) and energy-consumption. This work analyses the obstacle-crossing with the leading foot. It was hypothesized that energy-saving mechanisms during obstacle-crossing are modulated by the requirement to avoid a fall using the available sensory information, particularly, by vision. A total of fourteen subjects, seven with no visual impairment and seven blind, walked along a 5 meter flat pathway with an obstacle of 0.26 m height located at 3 m from the starting point. The seven subjects with normal vision crossed the obstacle successfully 30 times in two conditions: blindfolded and with normal vision. The seven blind subjects did the same 30 times. The motion of the leading limb was recorded by video at 60 Hz. There were markers placed on the subject's hip, knee, ankle, rear foot, and forefoot. The motion data were filtered with a fourth order Butterworth filter with a cut-off frequency of 4 Hz. The following variables were calculated: horizontal distance between the leading foot and the obstacle at toe-off prior to (DHPO) and after (DHOP) crossing, minimal vertical height from the foot to the obstacle (DVPO), average step velocity (VELOm). The segmental energies were also calculated and the work consumed by the leading limb during the crossing obstacle was computed for each trial. A statistical analysis repeated-measures ANOVA was conducted on these dependent variables revealing significant differences between the vision and non-vision conditions in healthy subjects. In addition, there were no significant differences between the blind and people with vision blindfolded. These results indicate that vision is crucial to determine the optimal trade-off between energy consumption and avoiding a trip during obstacle crossing.

OBSTACLE STEPPING and BODY SCALE MODULATING PARAMETERS

The purpose of this study was to investigate gait spatial parameters at the point of departure, with obstacle heights adjusted to individual body scale. Undergraduate student volunteers (M age=22.4 yr., SD=2.1; 6 women, 1 man) were asked to step once, then cross over an obstacle and stop. This behavior was video recorded to extract kinematic data. The obstacle heights corresponded to high (knee-height) and low obstacles (half the knee-height). Points of departure corresponded to far (length of the lower limb) and close (half the length of the lower limb). The close point of departure influenced the trailing foot's placement ahead of the obstacle as well as step length. The high obstacle influenced the trailing foot's toe clearance. An interaction between factors was observed for leading foot toe clearance. Results indicate that body scale affected the participants' locomotor behavior during the obstacle-avoidance task.

Effects of obstacle height on obstacle crossing in mild Parkinson's disease

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Adaptive Locomotion for Crossing a Moving Obstacle

Crossing moving obstacles requires different space-time adjustments compared with stationary obstacles. Our aim was to investigate gait spatial and temporal parameters in the approach and crossing phases of a moving obstacle. We hypothesized that obstacle speed affects gait parameters, which allow us to distinguish locomotor strategies. Ten young adults walked and stepped over an obstacle that crossed their way perpendicularly, under three obstacle conditions: control-stationary obstacle, slow (1.07 m/s) and fast speed (1.71 m/s) moving obstacles. Gait parameters were different between obstacle conditions, especially on the slow speed. In the fast condition, the participants adopted predictive strategies during the approach and crossing phases. In the slow condition, they used an anticipatory strategy in both phases. We conclude that obstacle speed affects the locomotor behavior and strategies were distinct in the obstacle avoidance phases.

Optic Flow Contribution to Locomotion Adjustments in Obstacle Avoidance

Locomotion generates a visual movement pattern characterized as optic flow. To explore how the locomotor adjustments are affected by this pattern, an experimental paradigm was developed to eliminate optic flow during obstacle avoidance. The aim was to investigate the contribution of optic flow in obstacle avoidance by using a stroboscopic lamp. Ten young adults walked on an 8m pathway and stepped over obstacles at two heights. Visual sampling was determined by a stroboscopic lamp (static and dynamic visual sampling). Three-dimensional kinematics data showed that the visual information about self-motion provided by the optic flow was crucial for estimating the distance from and the height of the obstacle. Participants presented conservative behavior for obstacle avoidance under experimental visual sampling conditions, which suggests that optic flow favors the coupling of vision to adaptive behavior for obstacle avoidance.