a real-time path planning approach without the computation of cspace obstacles

An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.

Study on peak overpressure and flame propagation speed of gas deflagration in the tube with obstacles

The on-way peak overpressure and flame propagation speed of gas deflagration in the tube with obstacles are important data for process safety. Based on carbon monoxide deflagration experiments, the paper presents a multi-zone integration model for calculation of on-way peak overpressure, in which the tube with obstacles is considered as a series of venting explosion enclosures which link each others. The analysis of experimental data indicates that the on-way peak overpressure of gas deflagration can be correlated as an empirical formula with equivalence ratio of carbon monoxide oxidation, expansion ratio, flame path length, etc., and that the on-way peak overpressure exhibits a linear relationship with turbulence factor and flame propagation speed. An empirical formula of flame propagation speed is given.

Scattering poles near the real axis for two strictly convex obstacles

Iantchenko, A., (2007) 'Scattering poles near the real axis for two strictly convex obstacles', Annales of the Institute Henri Poincar? 8 pp.513-568 RAE2008

Teaching neuraxial anesthesia techniques for obstetric care in a Ghanaian referral hospital: achievements and obstacles.

Anesthesia providers in low-income countries may infrequently provide regional anesthesia techniques for obstetrics due to insufficient training and supplies, limited manpower, and a lack of perceived need. In 2007, Kybele, Inc. began a 5-year collaboration in Ghana to improve obstetric anesthesia services. A program was designed to teach spinal anesthesia for cesarean delivery and spinal labor analgesia at Ridge Regional Hospital, Accra, the second largest obstetric unit in Ghana. The use of spinal anesthesia for cesarean delivery increased significantly from 6% in 2006 to 89% in 2009. By 2012, >90% of cesarean deliveries were conducted with spinal anesthesia, despite a doubling of the number performed. A trial of spinal labor analgesia was assessed in a small cohort of parturients with minimal complications; however, protocol deviations were observed. Although subsequent efforts to provide spinal analgesia in the labor ward were hampered by anesthesia provider shortages, spinal anesthesia for cesarean delivery proved to be practical and sustainable.

Developmental changes in the response to obstacles during prehension

Adults are proficient at reaching to grasp objects of interest in a cluttered workspace. The issue of concern, obstacle avoidance, was studied in 3 groups of young children aged 11-12, 9-10, and 7-8 years (n = 6 in each) and in 6 adults aged 18-24 years. Adults slowed their movements and decreased their maximum grip aperture when an obstacle was positioned close to a target object (the effect declined as the distance between target and obstacle increased). The children showed the same pattern, but the magnitude of the effect was quite different. In contrast to the adults, the obstacle continued to have a large effect when it was some distance from the target (and provided no physical obstruction to movement).

Localization in Sardinia and Its Obstacles: A Reply to Hospers’ “Localization in Europe’s Periphery: Tourism Development in Sardinia”

In this reply to Hospers' “Localization in Europe's Periphery: Tourism Development in Sardinia” by Gert-Jan Hospers (2003), we argue that the author's advocacy of localized economic policies as a viable means to the economic development of Sardinia does not take into account current institutional assets that prevent Sardinia from pursuing localized interests effectively. We first discuss the historical background of these institutional assets, highlighting that a top-down approach to decision-making has characterized relations between Sardinia and the central state for most of the modern era. We then discuss the institutional and economic impediments to Sardinian attempts to pursue localized policies in light of recent institutional conflicts between region and central state. Our conclusion is that the localization of economic strategies necessitates entwined localization of decision-making powers in order to be effective.

Analysing admittance of obstacles in evanescent waveguide using the Imaginary Smith Chart

We present a technique, using the Imaginary Smith Chart, for determining the admittance of obstacles introduced into evanescent waveguide. The admittance of an inductive iris, capacitive iris, capacitive post, variable width strip and length of evanescent waveuide are investigated. © 2012 IEEE.

A vision system for detecting paths and moving obstacles for the blind

In this paper we present a monocular vision system for a navigation aid. The system assists blind persons in following paths and sidewalks, and it alerts the user to moving obstacles which may be on collision course. Path borders and the vanishing point are de-tected by edges and an adapted Hough transform. Opti-cal flow is detected by using a hierarchical, multi-scale tree structure with annotated keypoints. The tree struc-ture also allows to segregate moving objects, indicating where on the path the objects are. Moreover, the centre of the object relative to the vanishing point indicates whether an object is approaching or not.