The End-State Comfort Effect in the Overturned Glass Task: Does Height Change the Influence of Reach Extent and Balance?

2015 ◽  
Vol 3 (1) ◽  
pp. 23-38 ◽  
Author(s):  
Casey M. Breslin ◽  
Mark Fischman
Keyword(s):  
Motion Planning ◽  
Height Change ◽  
The Impact ◽  
Constraint Hierarchy

We tested the end-state comfort effect (ESCE) under varying reach extents (Experiment 1) and a balancing task (Experiment 2). We hypothesized that as reach extent increased, or when participants had to perform a simultaneous balancing task, sensitivity to end-state comfort would decrease. Participants were divided by height (taller or shorter than 160 cm) to understand the impact of reach extent. In Experiment 1, 86 participants grasped an overturned glass from a shelf, turned the glass upright, placed it on a counter, and then filled the glass with water. Shelf heights were 95, 145, and 168 cm above the floor. In Experiment 2, 82 participants climbed a stepstool, which posed a modest balance challenge, before grasping an overturned glass from a shelf 213.4 cm high. They then turned the glass upright and filled it with water. Three trials were performed. In each experiment, for individuals taller than 160 cm, a Cochran’s Q test revealed a majority used an awkward thumb-down grip to initially grasp the glass in all conditions. However, for participants shorter than 160 cm, sensitivity to end-state comfort decreased. This interaction suggests that the ESCE is influenced by both participant height and tasks requiring extreme reaches. Results are interpreted in context of a constraint hierarchy within a model of posture-based motion planning.

scholarly journals Motion Boundaries Formation For Autonomous Vehicles

2021 ◽  
Author(s):  
Joel Bannis
Keyword(s):  
Motion Planning ◽  
Predictive Control ◽  
Autonomous Vehicles ◽  
Motion Constraints ◽  
Prediction Horizon ◽  
Curvilinear Motion ◽  
Model Dynamics ◽  
Motion Boundaries ◽  
The Impact ◽  
The Ideal

<div>In this paper, the application of Model Predictive Control to perform curvilinear motion planning is explored. More specifically, nonlinear MPC will be focused on because of its proven efficiency in the modeling of uncertainties as well as in nonlinear model dynamics. The main objective of this report is to show that with proper modeling and formulation of motion constraints, curvilinear motion planning can be achieved with nonlinear MPC. The trajectory of the vehicle will be tracked with the least error while satisfying constraints such as speed and steering angles. Simulations are presented which demonstrate the ability of the suggested models to successfully perform curvilinear motion staying safely within the bounds, while simulations of several models validate its performance. A deterministic sensitivity analysis was conducted in order to determine the impact</div><div>of the prediction horizon time. Experimental results show that a critical prediction horizon time approximately 10 to 13 seconds was identified as the ideal range for optimal results of the model.</div>

scholarly journals Review of Learning-Based Longitudinal Motion Planning for Autonomous Vehicles: Research Gaps Between Self-Driving and Traffic Congestion

2021 ◽  
pp. 036119812110357
Author(s):  
Hao Zhou ◽  
Jorge Laval ◽  
Anye Zhou ◽  
Yu Wang ◽  
Wenchao Wu ◽  
...  
Keyword(s):  
Motion Planning ◽  
Traffic Congestion ◽  
Autonomous Vehicles ◽  
Domain Knowledge ◽  
Imitation Learning ◽  
Longitudinal Motion ◽  
Research Gaps ◽  
Learning Methods ◽  
Congestion Mitigation ◽  
The Impact

Self-driving technology companies and the research community are accelerating the pace of use of machine learning longitudinal motion planning (mMP) for autonomous vehicles (AVs). This paper reviews the current state of the art in mMP, with an exclusive focus on its impact on traffic congestion. The paper identifies the availability of congestion scenarios in current datasets, and summarizes the required features for training mMP. For learning methods, the major methods in both imitation learning and non-imitation learning are surveyed. The emerging technologies adopted by some leading AV companies, such as Tesla, Waymo, and Comma.ai, are also highlighted. It is found that: (i) the AV industry has been mostly focusing on the long tail problem related to safety and has overlooked the impact on traffic congestion, (ii) the current public self-driving datasets have not included enough congestion scenarios, and mostly lack the necessary input features/output labels to train mMP, and (iii) although the reinforcement learning approach can integrate congestion mitigation into the learning goal, the major mMP method adopted by industry is still behavior cloning, whose capability to learn a congestion-mitigating mMP remains to be seen. Based on the review, the study identifies the research gaps in current mMP development. Some suggestions for congestion mitigation for future mMP studies are proposed: (i) enrich data collection to facilitate the congestion learning, (ii) incorporate non-imitation learning methods to combine traffic efficiency into a safety-oriented technical route, and (iii) integrate domain knowledge from the traditional car-following theory to improve the string stability of mMP.

Monitoring and analysis of geological hazards based on loading impact change

2020 ◽  
Author(s):  
Wei Wang ◽  
Chuanyin Zhang ◽  
Minzhang Hu ◽  
Qiang Yang
Keyword(s):  
High Tide ◽  
Dynamic Environment ◽  
Gravity Gradient ◽  
Geological Hazards ◽  
Total Load ◽  
Change Rate ◽  
Height Change ◽  
Induced Changes ◽  
And Control ◽  
The Impact

&lt;p&gt;Monitoring is essential to the prevention and control of geological hazards, yet conventional monitoring is often conducted for local geological hazards, and the relation between monitored results and geological hazards remains poorly understood. In this study, regional load deformation field model was constructed based on data from Continuously Operating Reference Stations (CORS). The relation between load-induced changes and geological hazards, as the Regular Characteristics (RCS), are obtained by comparing the geological hazards with the impact of the total load change in the whole region. Geological hazards are more prone to occurring when there are one or more RCS, especially abnormal dynamic environment appear at the same time, such as solid high tide, heavy rainfall, and so on. The RCS included the ground geodesy height change rate increasing, the ground gravity change rate decreasing, the ground vertical deviation diverging, the ground geodesy height gradient growing larger, and the ground gravity gradient growing larger. It was found that the comprehensive observations of CORS and gravity stations can effectively monitor the RCS of the load-induced changes. The results of this study provide more insights associated with the geological hazards monitoring and analysis methods as well as effective support for geological hazard forecasting.&lt;/p&gt;

Formation of Lunar Craters and Bright Rays as a Result of Meteorite Impacts

1962 ◽  
Vol 14 ◽  
pp. 415-418
Author(s):  
K. P. Stanyukovich ◽  
V. A. Bronshten
Keyword(s):  
Explosive Charge ◽  
The Moon ◽  
Meteorite Impacts ◽  
The Earth ◽  
Lunar Craters ◽  
The Impact

The phenomena accompanying the impact of large meteorites on the surface of the Moon or of the Earth can be examined on the basis of the theory of explosive phenomena if we assume that, instead of an exploding meteorite moving inside the rock, we have an explosive charge (equivalent in energy), situated at a certain distance under the surface.

The Geosciences Applied to Lunar Exploration

1962 ◽  
Vol 14 ◽  
pp. 169-257 ◽  
Author(s):  
J. Green
Keyword(s):  
Lunar Surface ◽  
Probable Mechanism ◽  
Point Of View ◽  
Lunar Exploration ◽  
Geological Model ◽  
Apply Geophysics ◽  
Surface Features ◽  
The Impact

The term geo-sciences has been used here to include the disciplines geology, geophysics and geochemistry. However, in order to apply geophysics and geochemistry effectively one must begin with a geological model. Therefore, the science of geology should be used as the basis for lunar exploration. From an astronomical point of view, a lunar terrain heavily impacted with meteors appears the more reasonable; although from a geological standpoint, volcanism seems the more probable mechanism. A surface liberally marked with volcanic features has been advocated by such geologists as Bülow, Dana, Suess, von Wolff, Shaler, Spurr, and Kuno. In this paper, both the impact and volcanic hypotheses are considered in the application of the geo-sciences to manned lunar exploration. However, more emphasis is placed on the volcanic, or more correctly the defluidization, hypothesis to account for lunar surface features.

Asteroid and Comet Impact Speeds upon Mars: Significance for Panspermia and the Supply of Organics

1997 ◽  
Vol 161 ◽  
pp. 197-201 ◽  
Author(s):  
Duncan Steel
Keyword(s):  
Probability Distributions ◽  
Regions Of Interest ◽  
Significant Fraction ◽  
Organic Chemicals ◽  
Impact Speed ◽  
The Mean ◽  
The Impact

AbstractWhilst lithopanspermia depends upon massive impacts occurring at a speed above some limit, the intact delivery of organic chemicals or other volatiles to a planet requires the impact speed to be below some other limit such that a significant fraction of that material escapes destruction. Thus the two opposite ends of the impact speed distributions are the regions of interest in the bioastronomical context, whereas much modelling work on impacts delivers, or makes use of, only the mean speed. Here the probability distributions of impact speeds upon Mars are calculated for (i) the orbital distribution of known asteroids; and (ii) the expected distribution of near-parabolic cometary orbits. It is found that cometary impacts are far more likely to eject rocks from Mars (over 99 percent of the cometary impacts are at speeds above 20 km/sec, but at most 5 percent of the asteroidal impacts); paradoxically, the objects impacting at speeds low enough to make organic/volatile survival possible (the asteroids) are those which are depleted in such species.

Organic Syntheses During the Impact of a Comet with a Gaseous Planet

1997 ◽  
Vol 161 ◽  
pp. 189-195
Author(s):  
Cesare Guaita ◽  
Roberto Crippa ◽  
Federico Manzini
Keyword(s):  
Polymeric Material ◽  
Molecular Form ◽  
Parent Compound ◽  
Blue Filter ◽  
Organic Syntheses ◽  
The Impact

AbstractA large amount of CO has been detected above many SL9/Jupiter impacts. This gas was never detected before the collision. So, in our opinion, CO was released from a parent compound during the collision. We identify this compound as POM (polyoxymethylene), a formaldehyde (HCHO) polymer that, when suddenly heated, reformes monomeric HCHO. At temperatures higher than 1200°K HCHO cannot exist in molecular form and the most probable result of its decomposition is the formation of CO. At lower temperatures, HCHO can react with NH3 and/or HCN to form high UV-absorbing polymeric material. In our opinion, this kind of material has also to be taken in to account to explain the complex evolution of some SL9 impacts that we observed in CCD images taken with a blue filter.

Hydrogen Cyanide Polymers from the Impact of Comet P/Shoemaker-Levy 9 on Jupiter

1997 ◽  
Vol 161 ◽  
pp. 179-187
Author(s):  
Clifford N. Matthews ◽  
Rose A. Pesce-Rodriguez ◽  
Shirley A. Liebman
Keyword(s):  
Amino Acids ◽  
Solar System ◽  
Hydrogen Cyanide ◽  
Nitrogen Heterocycles ◽  
Laboratory Studies ◽  
Heterogeneous Solids ◽  
The Many ◽  
Comet Halley ◽  
The Impact ◽  
By Products

AbstractHydrogen cyanide polymers – heterogeneous solids ranging in color from yellow to orange to brown to black – may be among the organic macromolecules most readily formed within the Solar System. The non-volatile black crust of comet Halley, for example, as well as the extensive orangebrown streaks in the atmosphere of Jupiter, might consist largely of such polymers synthesized from HCN formed by photolysis of methane and ammonia, the color observed depending on the concentration of HCN involved. Laboratory studies of these ubiquitous compounds point to the presence of polyamidine structures synthesized directly from hydrogen cyanide. These would be converted by water to polypeptides which can be further hydrolyzed to α-amino acids. Black polymers and multimers with conjugated ladder structures derived from HCN could also be formed and might well be the source of the many nitrogen heterocycles, adenine included, observed after pyrolysis. The dark brown color arising from the impacts of comet P/Shoemaker-Levy 9 on Jupiter might therefore be mainly caused by the presence of HCN polymers, whether originally present, deposited by the impactor or synthesized directly from HCN. Spectroscopic detection of these predicted macromolecules and their hydrolytic and pyrolytic by-products would strengthen significantly the hypothesis that cyanide polymerization is a preferred pathway for prebiotic and extraterrestrial chemistry.

Unusual Microstructure in Shock-Compacted Graphite

1970 ◽  
Vol 28 ◽  
pp. 474-475
Author(s):  
Lucien F. Trueb
Keyword(s):  
Mechanical Characteristic ◽  
Compression Wave ◽  
Gray Zone ◽  
Flyer Plate ◽  
Compacted Graphite ◽  
The Impact

Crushed and statically compressed Madagascar graphite that was explosively shocked at 425 kb by means of a planar flyer-plate is characterized by a black zone extending for 2 to 3 nun below the impact plane of the driver. Beyond this point, the material assumes the normal gray color of graphite. The thickness of the black zone is identical with the distance taken by the relaxation wave to overtake the compression wave.The main mechanical characteristic of the black material is its great hardness; steel scalpels and razor blades are readily blunted during attempts to cut it. An average microhardness value of 95-3 DPHN was obtained with a 10 kg load. This figure is a minimum because the indentations were usually cracked; 14.8 DPHN was measured in the gray zone.

Drug Induced Changes in Cell Organelles

1968 ◽  
Vol 26 ◽  
pp. 110-111
Author(s):  
Sarah A. Luse
Keyword(s):  
Clinical Medicine ◽  
Cell Organelles ◽  
Riboflavin Deficiency ◽  
Drug Induced ◽  
New Era ◽  
Health And Disease ◽  
In The Beginning ◽  
Cellular Pathology ◽  
Induced Changes ◽  
The Impact

In the mid-nineteenth century Virchow revolutionized pathology by introduction of the concept of “cellular pathology”. Today, a century later, this term has increasing significance in health and disease. We now are in the beginning of a new era in pathology, one which might well be termed “organelle pathology” or “subcellular pathology”. The impact of lysosomal diseases on clinical medicine exemplifies this role of pathology of organelles in elucidation of disease today.Another aspect of cell organelles of prime importance is their pathologic alteration by drugs, toxins, hormones and malnutrition. The sensitivity of cell organelles to minute alterations in their environment offers an accurate evaluation of the site of action of drugs in the study of both function and toxicity. Examples of mitochondrial lesions include the effect of DDD on the adrenal cortex, riboflavin deficiency on liver cells, elevated blood ammonia on the neuron and some 8-aminoquinolines on myocardium.

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