A model-based approximate λ-policy iteration approach to online evasive path planning and the video game Ms. Pac-Man

This paper presents a model-based approximate λ-policy iteration approach using temporal differences for optimizing paths online for a pursuit-evasion problem, where an agent must visit several target positions within a region of interest while simultaneously avoiding one or more actively pursuing adversaries. This method is relevant to applications, such as robotic path planning, mobile-sensor applications, and path exposure. The methodology described utilizes cell decomposition to construct a decision tree and implements a temporal difference-based approximate λ-policy iteration to combine online learning with prior knowledge through modeling to achieve the objectives of minimizing the risk of being caught by an adversary and maximizing a reward associated with visiting target locations. Online learning and frequent decision tree updates allow the algorithm to quickly adapt to unexpected movements by the adversaries or dynamic environments. The approach is illustrated through a modified version of the video game Ms. Pac-Man, which is shown to be a benchmark example of the pursuit-evasion problem. The results show that the approach presented in this paper outperforms several other methods as well as most human players.     

Simulation based alternatives for overall process improvement at the cardiac catheterization lab

Cardiac catheterization is one of the critical procedures in patient care. It is pertinent for all process related issues in this department to be handled with due priority. This research is a cross-functional effort with a leading hospital that was in its planning stage to implement an overall process improvement at its cardiac catheterization lab department. It has been determined that significant process delays exist in this department. One of the identified key factors to process improvement was to reduce patient turnaround time. Process mapping was used to study the system and identify potential sources of delays in the system. A set of qualitative recommendations were put forward. These recommendations, include the reduction of wait time of outpatients and inpatients and the reduction of non-value-added times such as transfer time of patients, were evaluated using a discrete event simulation approach. The simulation study shows that the daily operating hours at the catheterization lab could be reduced, aiding to reallocate staff for discharging other duties, as the hospital may require.     

SVM based robust watermarking for enhanced medical image security

Medical images are more typical than any other ordinary images, since it stores patient’s information for diagnosis purpose. Such images need more security and confidentiality as total diagnosis depends on it. In telemedicine applications, transmission of medical image via open channel, demands strong security and copyright protection. In our proposed robust watermarking model, a double layer security is introduced to ensure the robustness of embedded data. The embedded data is scrambled using a unique key and then a transform domain based hybrid watermarking technique is used to embed the scrambled data into the transform coefficients of the host image. The data embedding in medical images involves more attention, so that the diagnosis part must not be affected by any modification. Therefore, Support Vector Machine (SVM) is used as a classifier, which classify a medical image into two regions i.e. Non Region of Interest (NROI) and Region of Interest (ROI) to embed watermark data into the NROI part of the medical image, using the proposed embedding algorithm. The objective of the proposed model is to avoid any quality degradation to the medical image. The simulation is performed to measure the Peak Signal to Noise Ratio (PSNR) for imperceptibility and Structural Similarity Index (SSIM) to test the robustness. The experimented result shows, robustness and imperceptibility with SSIM of more than 0.50 and PSNR of more than 35 dB for proposed watermarking model.

     

Optical merger of direct vision with virtual images for scaled teleoperation

Scaled teleoperation is increasingly prevalent in medicine, as well as in other applications of robotics. Visual feedback in such systems is essential and should make maximal use of natural hand-eye coordination. This paper describes a new method of visual feedback for scaled teleoperation in which the operator manipulates the handle of a remote tool in the presence of a registered virtual image of the target in real time. The method adapts a concept already used successfully in a new medical device called the sonic flashlight, which permits direct in situ visualization of ultrasound during invasive procedures. The sonic flashlight uses a flat-panel monitor and a half-silvered mirror to merge the visual outer surface of a patient with a simultaneous ultrasound scan of the patient's interior. Adapting the concept to scaled teleoperation involves removing the imaging device and the target to a remote location and adding a master-slave control device. This permits the operator to see his hands, along with what appears to be the tool, and the target, merged in a workspace that preserves natural hand-eye coordination. Three functioning prototypes are described, one based on ultrasound and two on light microscopy. The limitations and potential of the new approach are discussed.     

Simplifying Control Flow in Compiler-Generated Parallel Code

Optimizing compilers for data-parallel languages such as High Performance Fortran perform a complex sequence of transformations. However, the effects of many transformations are not independent, which makes it challenging to generate high quality code. In particular, some transformations introduce conditional control flow, while others make some conditionals unnecessary by refining program context. Eliminating unnecessary conditional control flow during compilation can reduce code size and remove a source of overhead in the generated code. This paper describes algorithms to compute symbolic constraints on the values of expressions used in control predicates and to use these constraints to identify and remove unnecessary conditional control flow. These algorithms have been implemented in the Rice dHPF compiler and we show that these algorithms are effective in reducing the number of conditionals and the overall size of generated code. Finally, we describe a synergy between control flow simplification and data-parallel code generation based on loop splitting which achieves the effects of more narrow data-parallel compiler optimizations such as vector message pipelining and the use of overlap areas.     

Effect of Duplex Ageing on the Properties of A356 Alloy Containing Rare Earth Elements

Reduced weight of automobiles for the purpose of fuel economy has encouraged the use of light metals especially aluminium alloys. A356 Al alloy containing 7% Si and 0.3% Mg is widely used in automobile and aircraft industries due to excellent castability, good corrosion resistance and good pressure tightness. A356 is age hardenable alloy and there is appreciable improvement in strength and hardness achievable due to precipitation of intermetallic compound Mg₂Si. In the present investigation, aluminium alloy A356 with and without rare earth (RE) addition (0.5 wt%) was subjected to single ageing as well as double aging treatment. The results were compared for mechanical properties like hardness and ultimate tensile strength with the material not containing RE additions.     

Effect of Humidity on Wear of TiN Coatings: Role of Capillary Condensation

Metallurgical and Materials Transactions A - Coated ball-on-disk wear configuration was used to study the effect of relative humidity, water vapor pressure, and water on wear of TiN coatings in the...     

RETRACTED ARTICLE: Towards understanding polyhydroxyalkanoates and their use

It is fact that Polymers and their products have changed the face of the world in all the field of the technology. They are the future of the coming up generation of the research of the world. But this is also fact that these synthetic non biodegradable polymers have created a tough situation for the living being for a healthy life. Polyhydroxyalkanoates are polyesters produced by bacteria as intracellular storage materials in response to a variety of nutritional and environmental conditions, such as nitrogen limitation Polyhydroxyalkanoates (PHAs) are gaining increasing attention in the biodegradable polymer market due to their promising properties such as high biodegradability in different environments, not just in composting plants, and processing versatility. Indeed among biopolymers, these biogenic polyesters represent a potential sustainable replacement for fossil fuel-based thermoplastics. Most commercially available PHAs are obtained with pure microbial cultures grown on renewable feedstocks (i.e.glucose) under sterile conditions but recent research studies focus on the use of wastes as growth media.PHA can be extracted from the bacteria cell and then formulated and processed by extrusion for production of rigid and flexible plastic suitable not just for the most assessed medical applications but also considered for applications including packaging, moulded goods, paper coatings, non-oven fabrics, adhesives, films and performance additives. The present paper reviews the PHAs, their main properties, processing aspects, commercially available ones, as well as limitations and related improvements being researched,with specific focus on potential applications of PHAs in packaging.