Obstacle Crossing With Dual Tasking Is A Danger For Individuals With Alzheimer's Disease And For Healthy Older People.

The aim of this study was to analyze the effects of dual tasking on obstacle crossing during walking by individuals with Alzheimer's disease (AD) and by healthy older people. Thirty four elderly individuals (16 healthy subjects and 18 individuals with AD) were recruited to participate in this study. Three AD individuals and one control participant were excluded due to exclusion criteria. The participants were instructed to walk barefoot at their own speed along an 8 m long pathway. Each participant performed five trials for each condition (unobstructed walking, unobstructed walking with dual tasking, and obstacle crossing during walking with dual tasking). The trials were completely randomized for each participant. The mid-pathway stride was measured in the unobstructed walking trials and the stride that occurred during the obstacle avoidance was measured in the trials that involved obstacle crossing. The behavior of the healthy elderly subjects and individuals with AD was similar for obstacle crossing during walking with dual tasking. Both groups used the posture first strategy to prioritize stability and showed decreased attention to executive tasking while walking. Additionally, AD had a strong influence on the modifications that are made by the elderly while walking under different walking conditions.

Two-dimensional supersonic nonlinear Schrodinger flow past an extended obstacle

Supersonic flow of a superfluid past a slender impenetrable macroscopic obstacle is studied in the framework of the two-dimensional (2D) defocusing nonlinear Schroumldinger (NLS) equation. This problem is of fundamental importance as a dispersive analog of the corresponding classical gas-dynamics problem. Assuming the oncoming flow speed is sufficiently high, we asymptotically reduce the original boundary-value problem for a steady flow past a slender body to the one-dimensional dispersive piston problem described by the nonstationary NLS equation, in which the role of time is played by the stretched x coordinate and the piston motion curve is defined by the spatial body profile. Two steady oblique spatial dispersive shock waves (DSWs) spreading from the pointed ends of the body are generated in both half planes. These are described analytically by constructing appropriate exact solutions of the Whitham modulation equations for the front DSW and by using a generalized Bohr-Sommerfeld quantization rule for the oblique dark soliton fan in the rear DSW. We propose an extension of the traditional modulation description of DSWs to include the linear ""ship-wave"" pattern forming outside the nonlinear modulation region of the front DSW. Our analytic results are supported by direct 2D unsteady numerical simulations and are relevant to recent experiments on Bose-Einstein condensates freely expanding past obstacles.

The effect of obstacle position on reach-to-grasp movements

Numerous everyday tasks require the nervous system to program a prehensile movement towards a target object positioned in a cluttered environment. Adult humans are extremely proficient in avoiding contact with any non-target objects (obstacles) whilst carrying out such movements. A number of recent studies have highlighted the importance of considering the control of reach-to-grasp (prehension) movements in the presence of such obstacles. The current study was constructed with the aim of beginning the task of studying the relative impact on prehension as the position of obstacles is varied within the workspace. The experimental design ensured that the obstacles were positioned within the workspace in locations where they did not interfere physically with the path taken by the hand when no obstacle was present. In all positions, the presence of an obstacle caused the hand to slow down and the maximum grip aperture to decrease. Nonetheless, the effect of the obstacle varied according to its position within the workspace. In the situation where an obstacle was located a small distance to the right of a target object, the obstacle showed a large effect on maximum grip aperture but a relatively small effect on movement time. In contrast, an object positioned in front and to the right of a target object had a large effect on movement speed but a relatively small effect on maximum grip aperture. It was found that the presence of two obstacles caused the system to decrease further the movement speed and maximum grip aperture. The position of the two obstacles dictated the extent to which their presence affected the movement parameters. These results show that the antic ipated likelihood of a collision with potential obstacles affects the planning of movement duration and maximum grip aperture in prehension.

Vision based obstacle detection for all-terrain robots

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

LADAR based mapping and obstacle detection system for service robots

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

A volumetric hybrid representation for obstacle detection in all-terrain robots

This dissertation presents an approach aimed at three-dimensional perception’s obstacle detection on all-terrain robots. Given the huge amount of acquired information, the adversities such environments present to an autonomous system and the swiftness, thus required, from each of its navigation decisions, it becomes imperative that the 3-D perceptional system to be able to map obstacles and passageways in the most swift and detailed manner. In this document, a hybrid approach is presented bringing the best of several methods together, combining the lightness of lesser meticulous analyses with the detail brought by more thorough ones. Realizing the former, a terrain’s slope mapping system upon a low resolute volumetric representation of the surrounding occupancy. For the latter’s detailed evaluation, two novel metrics were conceived to discriminate the little depth discrepancies found in between range scanner’s beam distance measurements. The hybrid solution resulting from the conjunction of these two representations provides a reliable answer to traversability mapping and a robust discrimination of penetrable vegetation from that constituting real obstructions. Two distinct robotic platforms offered the possibility to test the hybrid approach on very different applications: a boat, under an European project, the ECHORD Riverwatch, and a terrestrial four-wheeled robot for a national project, the Introsys Robot.

Reflected Backward Stochastic Differential Equation with Jumps and RCLL Obstacle

In this paper we study one-dimensional reflected backward stochastic differential equation when the noise is driven by a Brownian motion and an independent Poisson point process when the solution is forced to stay above a right continuous left-hand limited obstacle. We prove existence and uniqueness of the solution by using a penalization method combined with a monotonic limit theorem.

Le filtre invisible : l'obstacle du Sujet (conflits implicites dans les transferts culturels de France en Russie en philosophie)

Cette thèse est un travail de comparaison qui essaie de s'affranchir des dogmes ambiants afin de trouver une nouvelle voie, une autre façon de comprendre la culture intellectuelle en Russie. La présente recherche s'inscrit dans le cadre de l'épistémologie comparée dont l'objectif principal est d'éviter un travail par oppositions et de mettre en évidence les différences et les ressemblances des systèmes de connaissances dans deux mondes intellectuels : la Russie et le monde francophone.La question posée dans ce travail concerne le Sujet en philosophie en Russie, plus précisément la façon dominante de le voir et de le théoriser, qui joue un rôle important dans la formation de l'horizon d'attente intellectuelle. On trouve l'impact de cette attente intellectuelle particulière lors des transferts « culturels » des théories et des idées quand certaines de ces dernières passent et d'autres provoquent des résistances. Qu'est-ce qui définit alors le seuil de passage et quel obstacle [invisible ?) est la cause des malentendus ?La réponse trouvée est simple dans sa complexité : le dispositif de la *personne intégrale. Il s'agit d'un ensemble de discours et de pratiques qui valorise et rend possible certains comportements mettant en avant les idées de fusion et de collectivisme à différents niveaux de la vie sociale, par rapport à l'homme et à ses relations dans la société, et décourageant les idées d'individualisme au sens large du terme.Le dispositif de la *personne intégrale nous a permis de constater et d'expliquer une certaine continuité des valeurs et de la doxa dans les théories du Sujet au XIXe siècle en Russie, à l'époque soviétique et après la dissolution de l'URSS, ce qui, à première vue, pouvait paraître paradoxal. Les ruptures idéologiques importantes qu'a connues la Russie auraient dû susciter des changements dans la vision du Sujet. Or, d'une façon étonnante, aussi bien les slavophiles, les anarchistes que les marxistes soviétiques cherchaient à construire une théorie du Sujet fondée sur les principes d'organicisme, d'intégralité et d'ontologisme. Autrement dit, la conception matérialiste du Sujet à l'époque soviétique n'était pas fondamentalement distincte de celle que le XIXe siècle lui avait léguée. C'est la raison pour laquelle la période postsoviétique manifeste autant d'intérêt pour les valeurs d'intégralité, d'organisme vivant et d'ontologisme, qui trouvent leur place dans une grande partie des critiques adressées aux idées « postmodernes » proclamant une tout autre façon de voir les choses : le décentrement, la déconstruction, le multiple et l'hétérogène, ce qui ne peut que provoquer un grave conflit de valeurs.Il y avait une énigme à résoudre : qu'est-ce qui fait obstacle à la réception des théories du Sujet divisé ? Cette énigme, nous avons essayé de l'élucider en rassemblant patiemment les bribes entrelacées d'un gigantesque tissu, en tentant d'en montrer la paradoxale cohérence. Un autre travail reste à faire, qui consisterait à construire une hypothèse autrement hardie, celle qui saurait expliquer pourquoi un tel dispositif s'est mis en place en Russie à cette époque et pas ailleurs.

Compétences en santé déficientes: obstacle à une prise en charge optimale [Low health literacy: barrier to optimal care].

Health literacy is defined as "the degree to which individuals have the capacity to obtain, process, and understand basic health information and services needed to make appropriate health decisions." Low health literacy mainly affects certain populations at risk limiting access to care, interaction with caregivers and self-management. If there are screening tests, their routine use is not advisable and recommended interventions in practice consist rather to reduce barriers to patient-caregiver communication. It is thus important to include not only population's health literacy but also communication skills of a health system wich tend to become more complex.

Compétences en santé déficientes: obstacle à une prise en charge optimale [Low health literacy: barrier to optimal care].

Les carences en compétences en santé touchent principalement certaines populations à risques en limitant l'accès aux soins, l'interaction avec les soignants et l'autoprise en charge. L'utilisation systématique d'instruments de dépistage n'est pas recommandée et les interventions préconisées en pratique consistent plutôt à diminuer les obstacles entravant la communication patient-soignant. Il s'agit d'intégrer non seulement les compétences de la population en matière de santé mais aussi les compétences communicationnelles d'un système de santé qui se complexifie. Health literacy is defined as "the degree to which individuals have the capacity to obtain, process, and understand basic health information and services needed to make appropriate health decisions." Low health literacy mainly affects certain populations at risk limiting access to care, interaction with caregivers and self-management. If there are screening tests, their routine use is not advisable and recommended interventions in practice consist rather to reduce barriers to patient-caregiver communication. It is thus important to include not only population's health literacy but also communication skills of a health system wich tend to become more complex.