A Continuous Local Motion Planning Framework for Unmanned Vehicles in Complex Environments

As the complexity of an unmanned vehicle’s operational environment increases so does the need to consider the obstacle space continually, and this is aided by splitting the motion planning functionality into distinct global and local layers. This paper presents a new continuous local motion planning framework, where the output and control space elements of the traditional receding horizon control problem are separated into distinct layers. This separation reduces the complexity of the local motion trajectory optimisation, enabling faster design and increased horizon length. The focus of this paper is on the output space component of this framework. Bezier polynomial functions are used to describe local motion trajectories which are constrained to vehicle performance limits and optimised to track a global trajectory. Development and testing is in simulation, targeted at a nonlinear model of a quadrotor unmanned air vehicle. The defined framework is used to provide situation-aware tracking of a global trajectory in the presence of static and dynamic obstacles, as well as realistic turbulence and gusts. Also demonstrated is the immediate-term decentralised deconfliction of multiple unmanned vehicles, and multiple formations of unmanned vehicles.     

Crack Characterization Method with Invariance to Noise Features for Eddy Current Inspection of Fasterner Sites

There is a need for research in eddy current (EC) nondestructive evaluation (NDE) to improve the reliability to detect, locate and size cracks around fastener sites in multi-layer structures while minimizing the overall cost of inspection. The objective of this work is to develop feature extraction and classification algorithms for crack characterization with invariance to noise features for eddy current inspection of fastener sites. Model-based parametric studies were first performed to explore potential features under a wide array of crack, noise and material conditions. Through these studies, several features were identified to have some invariance to the characteristic asymmetric response due to gaps between the fastener and hole, probe liftoff variation, and probe skew. In particular, a promising feature with noise invariance to all non-flaw conditions considered in this study was found through investigating changes in the eddy current response along a circumferential direction in an annulus region away from the hole center. To obtain a measure of this localized crack feature, an approach was developed using a fit of a characteristic function to the data through nonlinear least squares estimation. A model-based optimization approach was also implemented to evaluate the best signal processing algorithm design to distinguish between several classes of crack size. Using this approach, an optimized measure was found to be well correlated with subsurface crack size and insensitive to noise conditions included in this study.     

A formulation for near-wall RANS/LES coupling

A near-wall eddy-viscosity formulation for LES is presented. A RANS-like eddy-viscosity corrected with the resolved turbulent stress is imposed in the near-wall region. The RANS eddy-viscosity is obtained from a resolved LES of channel flow at Re_τ = 395 and stored in a look-up table. When used with a wall stress model, this technique enables LES to be performed on coarse grids. Results are presented for channel flow at several Reynolds numbers up to Re_τ = 10,000. Various issues concerning the numerical behavior of the method are discussed.     

Low velocity impact of combination Kevlar/carbon fiber sandwich composites

Impact, compression after impact, and tensile stiffness properties of carbon fiber and Kevlar combination sandwich composites were investigated in this study. The different samples consisted of impact-side facesheets having different combinations of carbon fiber/Kevlar and carbon fiber/hybrid. The bottom facesheets remained entirely carbon fiber to maintain the high overall flexural stiffness of the sandwich composite. The focus of this research was to determine if any improvement in impact properties existed as a result of replacing the impact-side facesheet layers of carbon fiber with Kevlar or hybrid. Impact tests were conducted on different sample types to obtain information about absorbed energy and maximum impact force. Also, compression after impact tests were conducted to determine the reduction in compressive strength when comparing impacted to non-impacted samples. The elastic moduli of carbon fiber, Kevlar, and hybrid were determined from tensile testing. This data was used to characterize the reduction in stiffness from replacing carbon fiber layers with the Kevlar or hybrid layers. The experimental data in its entirety helps define the benefits and disadvantages of replacing carbon fiber layers with Kevlar or hybrid.     

Port Placement Planning in Robot-Assisted Coronary Artery Bypass

Properly selected port sites for robot-assisted coronary artery bypass graft (CABG) improve the efficiency and quality of these procedures. In clinical practice, surgeons select port locations using external anatomic landmarks to estimate a patient's internal anatomy. This paper proposes an automated approach to port selection based on a preoperative image of the patient, thus avoiding the need to estimate internal anatomy. Using this image as input, port sites are chosen from a grid of surgeon-approved options by defining a performance measure for each possible port triad. This measure seeks to minimize the weighted squared deviation of the instrument and endoscope angles from their optimal orientations at each internal surgical site. This performance measure proves insensitive to perturbations in both its weighting factors and moderate intraoperative displacements of the patient's internal anatomy. A validation study of this port site selection was performed. cardiac algorithm also Six surgeons dissected model vessels using the port triad selected by this algorithm with performance compared to dissection using a surgeon-selected port triad and a port triad template described by Tabaie et al., 1999. With the algorithm-selected ports, dissection speed increased by up to 43% (p = 0.046) with less overall vessel trauma. Thus, this algorithmic approach to port site selection has important clinical implications for robot-assisted CABG which warrant further investigation.     

Is There a Window of Heightened Suicide Risk If Patients Gain Energy in the Context of Continued Depressive Symptoms?

The authors' purpose is to provide some empirical perspective on the important but understudied possibility that when people become more energetic in the context of continued depressive symptoms, suicide risk escalates. The authors studied 109 suicidal young adults; among those who initially reported substantial depression, a subgroup was identified whose energy was increasing in context of continued depressive symptoms. They were compared with others with regard to suicidality 1 month later. Results suggested that those who have incomplete remissions (of any sort) may be more ill to begin with, and this may account for higher suicide risk. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A General Framework for Trajectory Triangulation

The multiple view geometry of static scenes is now well understood. Recently attention was turned to dynamic scenes where scene points may move while the cameras move. The triangulation of linear trajectories is now well handled. The case of quadratic trajectories also received some attention. We present a complete generalization and address the problem of general trajectory triangulation of moving points from non-synchronized cameras. Two cases are considered: (i) the motion is captured in the images by tracking the moving point itself, (ii) the tangents of the motion only are extracted from the images. The first case is based on a new representation (to computer vision) of curves (trajectories) where a curve is represented by a family of hypersurfaces in the projective space ?⁵. The second case is handled by considering the dual curve of the curve generated by the trajectory. In both cases these representations of curves allow: (i) the triangulation of the trajectory of a moving point from non-synchronized sequences, (ii) the recovery of more standard representation of the whole trajectory, (iii) the computations of the set of positions of the moving point at each time instant an image was made. Furthermore, theoretical considerations lead to a general theorem stipulating how many independent constraints a camera provides on the motion of the point. This number of constraint is a function of the camera motion. On the computation front, in both cases the triangulation leads to equations where the unknowns appear linearly. Therefore the problem reduces to estimate a high-dimensional parameter in presence of heteroscedastic noise. Several method are tested.     

Virtual Interpersonal Touch: Expressing and Recognizing Emotions Through Haptic Devices

ABSTRACT

This article examines the phenomenon of Virtual Interpersonal Touch (VIT), people touching one another via force-feedback haptic devices. As collaborative virtual environments become utilized more effectively, it is only natural that interactants will have the ability to touch one another. In the work presented here, we used relatively basic devices to begin to explore the expression of emotion through VIT. In Experiment 1, participants utilized a 2 DOF force-feedback joystick to express seven emotions. We examined various dimensions of the forces generated and subjective ratings of the difficulty of expressing those emotions. In Experiment 2, a separate group of participants attempted to recognize the recordings of emotions generated in Experiment 1. In Experiment 3, pairs of participants attempted to communicate the seven emotions using physical handshakes. Results indicated that humans were above chance when recognizing emotions via VIT but not as accurate as people expressing emotions through nonmediated handshakes. We discuss a theoretical framework for understanding emotions expressed through touch as well as the implications of the current findings for the utilization of VIT in human-computer interaction.     

Some natural flavonoids are competitive inhibitors of Caspase-1, -3 and -7 despite their cellular toxicity

A common feature of both apoptosis and inflammation is the activation of caspases. Caspases are aspartate-directed cysteine proteases that have numerous cellular targets. It has been discovered that several flavonoids are inhibitors of caspases. Flavonoids are members of a family of polyphenolic compounds from plants that have many biological properties, one of which is the ability to induce cell death. Some flavonoids are selective inhibitors of particular caspases. Since some of the inhibitory flavonoids are nevertheless cytotoxic, these results suggest that flavonoid-induced cell death may be occurring through a non-classical apoptosis pathway that is not dependent on caspase activity.     

Experimental Investigation of Wire Electrical Discharge Machining of NdFeB Permanent Magnets with an RC-Type Machine

This paper focuses on wire electrical discharge machining (WEDM) of devices made from commercially available sintered neodymium-iron-boron (NdFeB) rare-earth magnets that have been magnetized before machining. We conduct an experimental study to quantify the effects of the voltage and capacitance of an RC-type WEDM machine, as well as the magnet polarity, on slicing rate, mean kerf, and variation in kerf. We find that voltage and capacitance affect slicing rate, that voltage affects mean kerf, that no parameters tested affect the variation in kerf, and that the polarity of the magnet being machined does not affect the machining process. Linear regression is used to fit simple predictive models to the data with good agreement. Further analysis is performed to characterize the loss in permanent magnetization on the surface of the magnet due to heating during the machining process, and it is found that the outer layer of approximately 35 μm in depth is demagnetized when using the highest voltage and capacitance values tested.