scholarly journals A Crowd Avoidance Method Using Circular Avoidance Path for Robust Person Following

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Kohei Morishita ◽  
Yutaka Hiroi ◽  
Akinori Ito
Keyword(s):  
Life Support ◽  
Target Position ◽  
Support Service ◽  
Target Person ◽  
Experimental Result ◽  
Service Robot ◽  
Person Following ◽  
Dynamic Obstacle ◽  
Pass Through ◽  
The One

A life-support service robot must avoid both static and dynamic obstacles for working in a real environment. Here, a static obstacle means an obstacle that does not move, and a dynamic obstacle is the one that moves. Assuming the robot is following a target person, we discuss how the robot avoids a crowd through which the target person passes and arrives at the target position. The purpose of this paper is to propose a crowd avoidance method that makes a robot to be able to avoid both static and dynamic obstacles. The method uses the surface points of the obstacles to form an avoidance region, and the robot moves along the edge of the region. We conducted experiments assuming various situations such that the robot was blocked, there was a wide gap in the crowd, or a person in the crowd yielded for the robot to pass through. As an experimental result, it was confirmed the robot could avoid the crowd even when the obstacles were aligned in an “inverted wedge” shape.

Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Moving Robot

2011 ◽  
Vol 23 (1) ◽  
pp. 163-172 ◽  
Author(s):  
Mehrez Kristou ◽  
◽  
Akihisa Ohya ◽  
Shin’ichi Yuta
Keyword(s):  
Target Person ◽  
Service Robot ◽  
Indoor Environments ◽  
Laser Range Finder ◽  
Panoramic Image ◽  
Range Finder ◽  
Person Identification ◽  
Laser Range ◽  
Omnidirectional Camera ◽  
Person Following

In this paper, we introduce an approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and omnidirectional camera. Our approach is based on multisensor fusion in which a person is identified using the panoramic image and tracked using the Laser Range Finder (LRF). A target person selection is implemented to improve the identification when multiple candidates are detected. Our approach is successfully implemented on a mobile robot. A simplified target person following behavior is implemented to focus on the proposed method’s efficiency. Several experiments are conducted and showed the effectiveness of our approach to identify and follow human in indoor environments.

scholarly journals Numerical Study of Pressure Attenuation Effect on Tunnel Structures Subjected to Blast Loads

2021 ◽  
Vol 11 (12) ◽  
pp. 5646
Author(s):  
Cheng-Wei Hung ◽  
Ying-Kuan Tsai ◽  
Tai-An Chen ◽  
Hsin-Hung Lai ◽  
Pin-Wen Wu
Keyword(s):  
Numerical Simulation ◽  
Orifice Plate ◽  
Experimental Result ◽  
Scale Model ◽  
Pressure Reduction ◽  
Expansion Chamber ◽  
Pressure Relief ◽  
Attenuation Effect ◽  
The One ◽  
Better Than

This study used experimental and numerical simulation methods to discuss the attenuation mechanism of a blast inside a tunnel for different forms of a tunnel pressure reduction module under the condition of a tunnel near-field explosion. In terms of the experiment, a small-scale model was used for the explosion experiments of a tunnel pressure reduction module (expansion chamber, one-pressure relief orifice plate, double-pressure relief orifice plate). In the numerical simulation, the pressure transfer effect was evaluated using the ALE fluid–solid coupling and mapping technique. The findings showed that the pressure attenuation model changed the tunnel section to diffuse, reduce, or detour the pressure transfer, indicating the blast attenuation effect. In terms of the effect of blast attenuation, the double-pressure relief orifice plate was better than the one-pressure relief orifice plate, and the single-pressure relief orifice plate was better than the expansion chamber. The expansion chamber attenuated the blast by 30%, the one-pressure relief orifice plate attenuated the blast by 51%, and the double-pressure relief orifice plate attenuated the blast by 82%. The blast attenuation trend of the numerical simulation result generally matched that of the experimental result. The results of this study can provide a reference for future protective designs and reinforce the U.S. Force regulations.

scholarly journals A Note on the Construction of a Set of Fundamental Circuits on a Surface of Genus p

1961 ◽  
Vol 4 (1) ◽  
pp. 13-21
Author(s):  
R. G. de Buda
Keyword(s):  
Single Point ◽  
Orientable Surface ◽  
Flat Region ◽  
Pass Through ◽  
The One

On an orientable surface of genus p, a set of 2p fundamental circuits can be selected which all pass through a single point A. After cutting along the 2p circuits, the surface can be unfolded into a flat region bounded by a 4p-gon so that: the set of vertices corresponds to the one point A; and the 2p pairs of edges to the 2p fundamental circuits; and the interior of the polygon to the remainder of the surface. If the edges of the polygon are directed, the 2 edges which correspond to one fundamental circuit will be directed in opposite sense, since the surface is orientable [1]. The sequence and direction of the edges is the same as the sequence of the fundamental circuits.

scholarly journals Health care logistics: mapping and optimization of patients logistics

2021 ◽  
Vol 12 (8) ◽  
pp. 2161-2179
Author(s):  
Daiane Maria de Genaro Chiroli ◽  
Raíza Conde Coradazi ◽  
Fabio Jose Ceron Branco ◽  
Yslene Rocha Kachba ◽  
Franciely Velozo Aragão ◽  
...  
Keyword(s):  
Linear Programming ◽  
Computational Simulation ◽  
Transportation Of Patients ◽  
Patient Transport ◽  
Specific Approach ◽  
Health Region ◽  
The Third ◽  
City Hall ◽  
Pass Through ◽  
The One

Healthcare logistics play an important role in management, being attributed the activities of acquisition, distribution and movement of materials, professionals and patients. This work aims to develop a study, using the healthcare logistics in the movement of patients in the third health region of Paraná, proposing a linear programming problem that will pass through a computational simulation, considering the existing demands and constraints in the system, aiming to optimize the flow of patients from this region. The present study developed four mathematical models, based on demands and constraints followed by linear programming in order to find the best possible solution for the flow of patients from the third health region of the state of Paraná. The study developed reached its goal of optimization, generating an economy in the transportation of patients. Through the analysis of the results, it is concluded that the model that best suits the presented problem is the one of costs minimization, since the one of vehicles presented higher costs. Possibly the model that minimizes the vehicles would bring better results if the vehicles were not outsourced, but of the Ponta Grossa City Hall (PMPG). Was possible to verify the importance of the theme, especially when referring to the flow of patients in the health services due to the lack of studies with this specific approach. Even with the scarcity of data, it is possible to notice the potential for improvements on this patient transport system.

scholarly journals Kaji Eksperimental Rasio Metanol-Bensin Terhadap Konsumsi Bahan Bakar, Emisi Gas Buang, Torsi Dan Daya

2018 ◽  
Vol 1 (1) ◽  
pp. 47
Author(s):  
Mohamad Rifal ◽  
Nazarudin Sinaga
Keyword(s):  
Fuel Consumption ◽  
Alternative Fuel ◽  
Experimental Result ◽  
Injection System ◽  
Exhaust Emission ◽  
Emission Power ◽  
Si Engine ◽  
Fuel Blend ◽  
The One

Methanol (CH3OH) is the one of an alternative fuel for SI engine. Methanol has a similiar charakteristic and fisik properties to gasoline. This study using methanol-gasoline fuel blend (M10, M20 and M40). The aim of this study was to determine the effect of using methanol-gasoline fuel blend of  fuel consumption, exhaust emission, power and torque. In the experiment,  an engine three-cylidre 12 valve with tecnology DOHC Mivec and ECI MPI injection System 1193 cc was used. With a little modification that is using methanol controler to maximize the result of research. The experimental result showed that the fuel consumption decrease with the use of methanol-gasoline ful blend. Each of these reductions in fuel consumption for the M10, M20 and M40 are 1 %, 3% dan 3%. The Power and Torque is increas while using fuel blend than gasoline and it also decrease exhaust emission

Reviewing ocean governance in Asia

2019 ◽  
Vol 5 (4) ◽  
pp. 437-448
Author(s):  
Nalanda Roy
Keyword(s):  
Life Support ◽  
Holistic Approach ◽  
Life Support System ◽  
Health It ◽  
Global Trends ◽  
Global Commons ◽  
Ocean Governance ◽  
Power Game ◽  
Asean Countries ◽  
The One

Oceans are the life support system for our planet and are vital to human health. It is said that half of the oxygen we breathe is generated by our oceans. However, ocean space is becoming more globalized over time. Hence, it is essential for countries to take up a more holistic approach to ending ocean exploitation on the one hand, and also to ensuring a healthy ocean future on the other. Today, maritime cooperation is key to the management of the global commons, and ocean governance is important in establishing maritime connectivity. This article is a qualitative analysis of how the Association of Southeast Asian Nations (ASEAN) will undertake such an initiative to promote diverse and collaborative ocean governance in Asia. The article will analyze whether ASEAN countries are ready to take up the great power game challenge, and simultaneously motivate each other to promote sustainable development of common ocean governance structures and principles in the region. Last but not the least, we will see how ASEAN (Way) will connect with global trends in order to realize its a vision of building a community conscious of its historical ties and cultural heritage to improve the overall ocean health in Southeast Asia.

scholarly journals CPR Compression Rotation Every One Minute Versus Two Minutes: A Randomized Cross-Over Manikin Study

2020 ◽  
Vol 2020 ◽  
pp. 1-6
Author(s):  
Nutthapong Pechaksorn ◽  
Veerapong Vattanavanit
Keyword(s):  
Heart Rate ◽  
Respiratory Rate ◽  
Chest Compression ◽  
Life Support ◽  
Chest Compressions ◽  
Compression Depth ◽  
End Points ◽  
The One ◽  
Support Guidelines

Background. The current basic life support guidelines recommend two-minute shifts for providing chest compressions when two rescuers are performing cardiopulmonary resuscitation. However, various studies have found that rescuer fatigue can occur within one minute, coupled with a decay in the quality of chest compressions. Our aim was to compare chest compression quality metrics and rescuer fatigue between alternating rescuers in performing one- and two-minute chest compressions. Methods. This prospective randomized cross-over study was conducted at Songklanagarind Hospital, Hat Yai, Songkhla, Thailand. We enrolled sixth-year medical students and residents and randomly grouped them into pairs to perform 8 minutes of chest compression, utilizing both the one-minute and two-minute scenarios on a manikin. The primary end points were chest compression depth and rate. The secondary end points included rescuers’ fatigue, respiratory rate, and heart rate. Results. One hundred four participants were recruited. Compared with participants in the two-minute group, participants in the one-minute group had significantly higher mean (standard deviation, SD) compression depth (mm) (45.8 (7.2) vs. 44.5 (7.1), P=0.01) but there was no difference in the mean (SD) rate (compressions per min) (116.1 (12.5) vs. 117.8 (12.4), P=0.08), respectively. The rescuers in the one-minute group had significantly less fatigue (P<0.001) and change in respiratory rate (P<0.001), but there was no difference in the change of heart rate (P=0.59) between the two groups. Conclusion. There were a significantly higher compression depth and lower rescuer fatigue in the 1-minute chest compression group compared with the 2-minute group. This trial is registered with TCTR20170823001.

SOLITON INTERACTIONS FOR THE GENERALIZED (3+1)-DIMENSIONAL BOUSSINESQ EQUATION

2012 ◽  
Vol 26 (07) ◽  
pp. 1250062 ◽  
Author(s):  
XIAO-LING GAI ◽  
YI-TIAN GAO ◽  
XIN YU ◽  
ZHI-YUAN SUN
Keyword(s):  
Soliton Solution ◽  
Boussinesq Equation ◽  
Soliton Solutions ◽  
Analytic Solutions ◽  
Propagation Process ◽  
Soliton Propagation ◽  
Soliton Interactions ◽  
Pass Through ◽  
The Moment ◽  
The One

Generalized (3+1)-dimensional Boussinesq equation is investigated in this paper. Through the dependent variable transformation and symbolic computation, the one- and two-soliton solutions are obtained. With the one-soliton solution, the coefficient effects in the soliton propagation process are investigated. Through analyzing the two-soliton solution, two kinds of two-soliton interactions are presented: (i) Two solitons merge into a bigger one whose amplitude increases but does not exceed the sum of the two at the moment of the collision; (ii) Two solitons can pass through each other, and their shapes keep unchanged with a phase shift after the separation. In addition, two kinds of analytic solutions are discussed: (i) "Amplitudes" of the two analytic solutions immediately turn to negative (positive) infinity after the "collision"; (ii) Two analytic solutions are fused into a higher peak (valley) at the moment of "collision", whose "amplitudes" change to negative (positive) infinity after the separation.

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