ADD-RRV for motion planning in complex environments

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Peng Cai ◽  
Xiaokui Yue ◽  
Hongwen Zhang

Abstract In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.

2021 ◽  
Vol 19 ◽  
pp. 71-77
Author(s):  
Matthias G. Ehrnsperger ◽  
Maximilian Noll ◽  
Stefan Punzet ◽  
Uwe Siart ◽  
Thomas F. Eibert

Abstract. Background and clutter suppression techniques are important towards the successful application of radar in complex environments. We investigate eigenimage based methodologies such as principal component analysis (PCA) and apply it to frequency modulated continuous wave (FMCW) radar. The designed dynamic principal component analysis (dPCA) algorithm dynamically adjusts the number of eigenimages that are utilised for the processing of the signal. Furthermore, the algorithm adapts towards the number of objects in the field of view as well as the estimated distances. For the experimental evaluation, the dPCA algorithm is implemented in a multi-static FMCW radar prototype that operates in the K-band at 24 GHz. With this background and clutter removal method, it is possible to increase the signal-to-clutter-ratio (SCR) by 4.9 dB compared to standard PCA with mean removal (MR).


VASA ◽  
2012 ◽  
Vol 41 (5) ◽  
pp. 333-342 ◽  
Author(s):  
Kirchberger ◽  
Finger ◽  
Müller-Bühl

Background: The Intermittent Claudication Questionnaire (ICQ) is a short questionnaire for the assessment of health-related quality of life (HRQOL) in patients with intermittent claudication (IC). The objective of this study was to translate the ICQ into German and to investigate the psychometric properties of the German ICQ version in patients with IC. Patients and methods: The original English version was translated using a forward-backward method. The resulting German version was reviewed by the author of the original version and an experienced clinician. Finally, it was tested for clarity with 5 German patients with IC. A sample of 81 patients were administered the German ICQ. The sample consisted of 58.0 % male patients with a median age of 71 years and a median IC duration of 36 months. Test of feasibility included completeness of questionnaires, completion time, and ratings of clarity, length and relevance. Reliability was assessed through a retest in 13 patients at 14 days, and analysis of Cronbach’s alpha for internal consistency. Construct validity was investigated using principal component analysis. Concurrent validity was assessed by correlating the ICQ scores with the Short Form 36 Health Survey (SF-36) as well as clinical measures. Results: The ICQ was completely filled in by 73 subjects (90.1 %) with an average completion time of 6.3 minutes. Cronbach’s alpha coefficient reached 0.75. Intra-class correlation for test-retest reliability was r = 0.88. Principal component analysis resulted in a 3 factor solution. The first factor explained 51.5 of the total variation and all items had loadings of at least 0.65 on it. The ICQ was significantly associated with the SF-36 and treadmill-walking distances whereas no association was found for resting ABPI. Conclusions: The German version of the ICQ demonstrated good feasibility, satisfactory reliability and good validity. Responsiveness should be investigated in further validation studies.


2020 ◽  
Vol 4 (11) ◽  
pp. 676-681
Author(s):  
V.V. Sapozhnikova ◽  
◽  
A.L. Bondarenko ◽  

Aim: to determine the association between clinical laboratory parameters, the production of cytokines (IL-17A, -23, -33, -35), and specific IgM and IgG in the serum of patients with Lyme borreliosis without erythema migrans. Patients and Methods: complete blood count, the concentrations of IL-17A, -23, -33, -35, and the levels of specific IgM and IgG were measured during acute infection and convalescence (n=30). The control group included age- and sex-matched healthy individuals (n=30). Statistical analysis was performed using the StatSoft Statistica v 10.0 software (parametric and non-parametric methods and multifactorial analysis, i.e., principal component analysis). Results: most (80%) patients with Lyme borreliosis without erythema migrans are the people of working age. In most patients, the combination of the specific antibodies against Borrelia afzelii and Borrelia garinii (76.7%) and severe intoxication and inflammatory process (100%) were detected. Moderate and severe disease associated with meningism was diagnosed in 90% and 10%, respectively. The mean duration of hectic period was 8.3±1.27 days. Abnormal ECG was reported in 40% of patients, i.e., conduction abnormalities in 20%, sinus bradycardia in 16.7%,and sinus tachycardia in 3.3%. The clinical laboratory signs of hepatitis without jaundice were identified in 26.7%. During treatment, the significant reduction in band and segmented neutrophil counts as well as the significant increase in platelet count were revealed compared to these parameters at admission. Abnormal cytokine levels (i.e., the increase in IL-17A, -23, -33 and the deficiency of IL-35) were detected. Conclusions: multifactorial analysis has demonstrated that the severity of immunological abnormalities in patients with Lyme borreliosis without erythema migrans is associated with fever, cardiac and liver disorders, the high levels of IL-23 and IL-33, and the lack of IL-35 and specific IgM and IgG. KEYWORDS: tick-borne borreliosis, Lyme disease without erythema migrans, clinical laboratory signs, cytokines, specific antibodies, multifactorial analysis, principal component analysis. FOR CITATION: Sapozhnikova V.V., Bondarenko A.L. Multifactorial analysis of clinical laboratory signs, the levels of IL-17A, IL-23, IL-33, IL-35, and specific antibodies in the serum of patients with Lyme borreliosis without erythema migrans. Russian Medical Inquiry. 2020;4(11):676–681. DOI: 10.32364/2587-6821-2020-4-11-676-681.


2018 ◽  
Vol 6 (7) ◽  
pp. 715-723 ◽  
Author(s):  
Stephany C. de Rezende ◽  
Jo鉶 A. Pinto ◽  
Isabel P. Fernandes ◽  
Fernanda V. Leimann and Maria-Filomena Barreiro

Sign in / Sign up

Export Citation Format

Share Document