Journal articles on the topic 'Obstacle Aided Navigation'
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Qian, Feifei, and Daniel E. Koditschek. "An obstacle disturbance selection framework: emergent robot steady states under repeated collisions." International Journal of Robotics Research 39, no. 13 (July 20, 2020): 1549–66. http://dx.doi.org/10.1177/0278364920935514.
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Natural environments are often filled with obstacles and disturbances. Traditional navigation and planning approaches normally depend on finding a traversable “free space” for robots to avoid unexpected contact or collision. We hypothesize that with a better understanding of the robot–obstacle interactions, these collisions and disturbances can be exploited as opportunities to improve robot locomotion in complex environments. In this article, we propose a novel obstacle disturbance selection (ODS) framework with the aim of allowing robots to actively select disturbances to achieve environment-aided locomotion. Using an empirically characterized relationship between leg–obstacle contact position and robot trajectory deviation, we simplify the representation of the obstacle-filled physical environment to a horizontal-plane disturbance force field. We then treat each robot leg as a “disturbance force selector” for prediction of obstacle-modulated robot dynamics. Combining the two representations provides analytical insights into the effects of gaits on legged traversal in cluttered environments. We illustrate the predictive power of the ODS framework by studying the horizontal-plane dynamics of a quadrupedal robot traversing an array of evenly-spaced cylindrical obstacles with both bounding and trotting gaits. Experiments corroborate numerical simulations that reveal the emergence of a stable equilibrium orientation in the face of repeated obstacle disturbances. The ODS reduction yields closed-form analytical predictions of the equilibrium position for different robot body aspect ratios, gait patterns, and obstacle spacings. We conclude with speculative remarks bearing on the prospects for novel ODS-based gait control schemes for shaping robot navigation in perturbation-rich environments.
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Urban, David, and Alice Caplier. "Time- and Resource-Efficient Time-to-Collision Forecasting for Indoor Pedestrian Obstacles Avoidance." Journal of Imaging 7, no. 4 (March 25, 2021): 61. http://dx.doi.org/10.3390/jimaging7040061.
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As difficult vision-based tasks like object detection and monocular depth estimation are making their way in real-time applications and as more light weighted solutions for autonomous vehicles navigation systems are emerging, obstacle detection and collision prediction are two very challenging tasks for small embedded devices like drones. We propose a novel light weighted and time-efficient vision-based solution to predict Time-to-Collision from a monocular video camera embedded in a smartglasses device as a module of a navigation system for visually impaired pedestrians. It consists of two modules: a static data extractor made of a convolutional neural network to predict the obstacle position and distance and a dynamic data extractor that stacks the obstacle data from multiple frames and predicts the Time-to-Collision with a simple fully connected neural network. This paper focuses on the Time-to-Collision network’s ability to adapt to new sceneries with different types of obstacles with supervised learning.
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Yuyukin, I. V. "OPTIMAL SPLINE TRAJECTORY OF THE SHIP INFORMATIVE ROUTE IN THE MAP-AIDED NAVIGATION." Vestnik Gosudarstvennogo universiteta morskogo i rechnogo flota imeni admirala S. O. Makarova 14, no. 2 (June 28, 2022): 230–47. http://dx.doi.org/10.21821/2309-5180-2022-14-2-230-247.
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The task of organizing an informative route as an optimal spline trajectory of a moving object with an assessment of the informativeness of the map-aided navigation standard is completed. From the perspective of the planning approach, an optimal geometric path, passing through pre-determined iconic intermediate points, taking into account the avoidance of navigational hazards as “obstacle spots” has been formed. Within the framework of the strategy of informative planning of the spline path, the actuality of solving the problem of synthesizing the optimal trajectory in two variants is noted: by the methods of B-splines and classical polynomial interpolations as the implementation of the tactics of a mobile object movement in a conflict environment. A comparative characteristic of two alternative algorithms for solving the problem, specifying the advantages and disadvantages of each option, is given. As a demonstration of the practical applicability of the interpolation approach, the spline trajectory of an illustrative example in route of map-aided navigation is designed against the background of a contour map of isolines. Emphasis is placed on the possibility of forming the shape of the navigation isosurface due to the effective use of the curvature of the spline trajectory as a reproductive template for constructing an axonometric projection. A forecast about the trends of the possible use of a separate optimal trajectory of the object movement directly for the construction of the informative field profile of any degree of complexity is made. A hypothesis about the feasibility of practical use of chaotic architecture of spline gradients for effective planning of the optimal trajectory is put forward. The fan of spline gradient vectors with a personal orientation in the direction of the maximum change in the navigation function on each segment of the piecewise polyline of the path in the vessel routing procedure is considered. The issue of ensuring the possibility of making a coordinated decision on the vessel management by personnel due to the automated formation of spline trajectories in real time with synchronous representation of geometric computer support to the watch assistant, which allows us to offer integration of the tasks under consideration into the cloud-based intelligent technology of “augmented reality” is formulated.
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Giménez, Cristian Vilar, Silvia Krug, Faisal Z. Qureshi, and Mattias O’Nils. "Evaluation of 2D-/3D-Feet-Detection Methods for Semi-Autonomous Powered Wheelchair Navigation." Journal of Imaging 7, no. 12 (November 30, 2021): 255. http://dx.doi.org/10.3390/jimaging7120255.
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Powered wheelchairs have enhanced the mobility and quality of life of people with special needs. The next step in the development of powered wheelchairs is to incorporate sensors and electronic systems for new control applications and capabilities to improve their usability and the safety of their operation, such as obstacle avoidance or autonomous driving. However, autonomous powered wheelchairs require safe navigation in different environments and scenarios, making their development complex. In our research, we propose, instead, to develop contactless control for powered wheelchairs where the position of the caregiver is used as a control reference. Hence, we used a depth camera to recognize the caregiver and measure at the same time their relative distance from the powered wheelchair. In this paper, we compared two different approaches for real-time object recognition using a 3DHOG hand-crafted object descriptor based on a 3D extension of the histogram of oriented gradients (HOG) and a convolutional neural network based on YOLOv4-Tiny. To evaluate both approaches, we constructed Miun-Feet—a custom dataset of images of labeled caregiver’s feet in different scenarios, with backgrounds, objects, and lighting conditions. The experimental results showed that the YOLOv4-Tiny approach outperformed 3DHOG in all the analyzed cases. In addition, the results showed that the recognition accuracy was not improved using the depth channel, enabling the use of a monocular RGB camera only instead of a depth camera and reducing the computational cost and heat dissipation limitations. Hence, the paper proposes an additional method to compute the caregiver’s distance and angle from the Powered Wheelchair (PW) using only the RGB data. This work shows that it is feasible to use the location of the caregiver’s feet as a control signal for the control of a powered wheelchair and that it is possible to use a monocular RGB camera to compute their relative positions.
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Neugebauer, Alexander, Katarina Stingl, Iliya Ivanov, and Siegfried Wahl. "Influence of Systematic Gaze Patterns in Navigation and Search Tasks with Simulated Retinitis Pigmentosa." Brain Sciences 11, no. 2 (February 12, 2021): 223. http://dx.doi.org/10.3390/brainsci11020223.
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People living with a degenerative retinal disease such as retinitis pigmentosa are oftentimes faced with difficulties navigating in crowded places and avoiding obstacles due to their severely limited field of view. The study aimed to assess the potential of different patterns of eye movement (scanning patterns) to (i) increase the effective area of perception of participants with simulated retinitis pigmentosa scotoma and (ii) maintain or improve performance in visual tasks. Using a virtual reality headset with eye tracking, we simulated tunnel vision of 20° in diameter in visually healthy participants (n = 9). Employing this setup, we investigated how different scanning patterns influence the dynamic field of view—the average area over time covered by the field of view—of the participants in an obstacle avoidance task and in a search task. One of the two tested scanning patterns showed a significant improvement in both dynamic field of view (navigation 11%, search 7%) and collision avoidance (33%) when compared to trials without the suggested scanning pattern. However, participants took significantly longer (31%) to finish the navigation task when applying this scanning pattern. No significant improvements in search task performance were found when applying scanning patterns.
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Zhang, Xiao Hui, Liu Qing, and Mu Li. "Aided Navigation System Research Based on Multi-Information Fusion." Advanced Materials Research 479-481 (February 2012): 207–12. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.207.
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This paper designed a multi-information fusion algorithm after analysis information from vision sensors and radar sensors. This algorithm used D-S evidence theory to fuse the information of vision sensors and radar sensors to judge the front obstacles, and a final decision is made by the distance information provided by radar to decide whether give the driver corresponding warning. It also designed a critical vehicle distance, which can change according to relative distance and relative velocity. The test results show that this algorithm can give warning information correctly and greatly decrease the uncertainty, thus satisfying the requirement of car aided navigation system. At a resolution of 320×480, the identifying speed of this algorithm can reach 62.5ms/F which satisfied the requirement of real-time of car navigation.
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ARSHAD, MUHAMMAD SUFYAN, Ijlal Hussain, Abdur Rahman Maud, and Moazam Maqsood. "IMU Aided GPS Based Navigation of Ackermann Steered Rover." Vol 4 Issue 5 4, no. 5 (June 28, 2022): 24–38. http://dx.doi.org/10.33411/ijist/2022040503.
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GPS signal loss is a major issue when the navigation system of rovers is based solely on GPS for outdoor navigation rendering the rover stuck in the mid of the road in case of signal loss. In this study, a low-cost IMU aided GPS-based navigation system for Ackermann Steered mobile robots is presented and tested to cater to the issue of GPS signal loss along. GPS path is selected and fed using the android application which provides real-time location tracking of the rover on the map embedded into the application. System utilizes Arduino along with the node MCU, compass, IMU, Rotary encoders, and an Ackermann steered rover. Controller processes the path file, compares its current position with the path coordinates and navigates using inertial sensor aided navigation algorithm, avoiding obstacles to reach its destination. IMU measures the distance traveled from each path point, and in case of signal loss, it makes the rover move for the remaining distance in the direction of destination point. Rover faced a sinusoidal motion due to the steering, so PID was implemented. The system was successfully tested on the IST premises and finds its application in the delivery trolley, institutional delivery carts, and related applications.
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Wang, Shun-Min, Ming-Chung Fang, and Cheng-Neng Hwang. "Vertical Obstacle Avoidance and Navigation of Autonomous Underwater Vehicles with H∞ Controller and the Artificial Potential Field Method." Journal of Navigation 72, no. 1 (August 20, 2018): 207–28. http://dx.doi.org/10.1017/s0373463318000589.
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An H∞ controller combined with an Artificial Potential Field Method (APFM) was applied to seabed navigation for Autonomous Underwater Vehicles (AUVs), aimed particularly at obstacle avoidance and bottom-following operations in the vertical plane. Depth control and altitude control prevented the AUV from colliding with the sea bottom or with obstacles and prevented the AUV from diving beyond its maximum depth limit when bottom following. Simulation and laboratory trials with various seabed contours indicated that with the H∞ controller, the AUV was able to safely reach appointed destinations without collisions. Tests also showed that the H∞ controller was robust and suppressed interference, hence ensuring the precision of its navigation control. The proposed H∞ controller combined with the APFM has thus been proved to be both feasible and effective.
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Felix, Faith, Rodrick S. Swai, Dr Mussa Ally Dida, and Dr Ramadhani Sinde. "Development of Navigation System for Blind People based on Light Detection and Ranging Technology(LiDAR)." International Journal of Advances in Scientific Research and Engineering 08, no. 08 (2022): 47–55. http://dx.doi.org/10.31695/ijasre.2022.8.8.6.
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The use of blind-aided navigating systems has become very essential in the 4th industrial revolution. The essence of this is to improve navigating autonomy for the blind. Although, navigation challenges are not of serious concern to people with eye defects. However, this is a major concern for blind people due to the time-consuming navigation process. These limitations necessitate the use of walking sticks, dogs, or people to navigate their path. This project provides a blind navigation system based on Light Detection and Ranging Based Navigation System for Blind People (LiDAR). The components of this fabricated device involve a charging system, a LiDAR sensor, a microcontroller, a calling stick, two buzzers, a switch vibration motor with an RF transmitter, and a receiver to give object detection and real-time assistance to the blind. The mode of its operation is by detecting obstacles along the route of a blind person and giving a notification via the buzzer and the vibration motor. Also, during emergencies, the buzzer rings and informs the visually impaired person using the device. On the other hand, the microcontroller and other modules in the device have a continuous ongoing relationship which is beneficial to the user. Another appreciable benefit of this device is the ability to recharge the battery component, the device is of low-cost, quick, simple-to-use, and novel solution for the blind.
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Specht, Mariusz, Andrzej Stateczny, Cezary Specht, Szymon Widźgowski, Oktawia Lewicka, and Marta Wiśniewska. "Concept of an Innovative Autonomous Unmanned System for Bathymetric Monitoring of Shallow Waterbodies (INNOBAT System)." Energies 14, no. 17 (August 29, 2021): 5370. http://dx.doi.org/10.3390/en14175370.
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Bathymetry is a subset of hydrography, aimed at measuring the depth of waterbodies and waterways. Measurements are taken inter alia to detect natural obstacles or other navigational obstacles that endanger the safety of navigation, to examine the navigability conditions, anchorages, waterways and other commercial waterbodies, and to determine the parameters of the safe depth of waterbodies in the vicinity of ports, etc. Therefore, it is necessary to produce precise and reliable seabed maps, so that any hazards that may occur, particularly in shallow waterbodies, can be prevented, including the high dynamics of hydromorphological changes. This publication is aimed at developing a concept of an innovative autonomous unmanned system for bathymetric monitoring of shallow waterbodies. A bathymetric and topographic system will use autonomous unmanned aerial and surface vehicles to study the seabed relief in the littoral zone (even at depths of less than 1 m), in line with the requirements set out for the most stringent International Hydrographic Organization (IHO) order—exclusive. Unlike other existing solutions, the INNOBAT system will enable the coverage of the entire surveyed area with measurements, which will allow a comprehensive assessment of the hydrographic and navigation situation in the waterbody to be conducted.
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Rioux, Antoine, Claudia Esteves, Jean-Bernard Hayet, and Wael Suleiman. "Cooperative Vision-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment." International Journal of Humanoid Robotics 14, no. 03 (August 25, 2017): 1750018. http://dx.doi.org/10.1142/s0219843617500189.
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Although in recent years, there have been quite a few studies aimed at the navigation of robots in cluttered environments, few of these have addressed the problem of robots navigating while moving a large or heavy object. Such a functionality is especially useful when transporting objects of different shapes and weights without having to modify the robot hardware. In this work, we tackle the problem of making two humanoid robots navigate in a cluttered environment while transporting a very large object that simply could not be moved by a single robot. We present a complete navigation scheme, from the incremental construction of a map of the environment and the computation of collision-free trajectories to the design of the control to execute those trajectories. We present experiments made on real NAO robots, equipped with RGB-D sensors mounted on their heads, moving an object around obstacles. Our experiments show that a significantly large object can be transported without modifying the robot main hardware, and therefore that our scheme enhances the humanoid robots capacities in real-life situations. Our contributions are: (1) a low-dimension multi-robot motion planning algorithm that finds an obstacle-free trajectory, by using the constructed map of the environment as an input, (2) a framework that produces continuous and consistent odometry data, by fusing the visual and the robot odometry information, (3) a synchronization system that uses the projection of the robots based on their hands positions coupled with the visual feedback error computed from a frontal camera, (4) an efficient real-time whole-body control scheme that controls the motions of the closed-loop robot–object–robot system.
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Fang, Chen, Jiang, Wang, Liu, Liu, and He. "Research on Method of Farmland Obstacle Boundary Extraction in UAV Remote Sensing Images." Sensors 19, no. 20 (October 12, 2019): 4431. http://dx.doi.org/10.3390/s19204431.
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Aimed at the problem of obstacle detection in farmland, the research proposed to adopt the method of farmland information acquisition based on unmanned aerial vehicle landmark image, and improved the method of extracting obstacle boundary based on standard correlation coefficient template matching and assessed the influence of different image resolutions on the precision of obstacle extraction. Analyzing the RGB image of farmland acquired by unmanned aerial vehicle remote sensing technology, this research got the following results. Firstly, we applied a method automatically registering coordinates, and the average deviations on the X and Y direction were 4.6 cm and 12.0 cm respectively, while the average deviations manually by ArcGIS were 4.6 cm and 5.7 cm. Secondly, with an improvement on the step of the traditional correlation coefficient template matching, we reduced the time of template matching from 12.2 s to 4.6 s. The average deviation between edge length of obstacles calculated by corner points extracted by the algorithm and that by actual measurement was 4.0 cm. Lastly, by compressing the original image on a different ratio, when the pixel reached 735 × 2174 (the image resolution reached 6 cm), the obstacle boundary was extracted based on correlation coefficient template matching, the average deviations of boundary points I of six obstacles on the X and Y were respectively 0.87 and 0.95 cm, and the whole process of detection took about 3.1 s. To sum up, it can be concluded that the algorithm of automatically registered coordinates and of automatically extracted obstacle boundary, which were designed in this research, can be applied to the establishment of a basic information collection system for navigation in future study. The best image pixel of obstacle boundary detection proposed after integrating the detection precision and detection time can be the theoretical basis for deciding the unmanned aerial vehicle remote sensing image resolution.
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Liu, Xuan, Kashif Nazar Khan, Qamar Farooq, Yunhong Hao, and Muhammad Shoaib Arshad. "Obstacle Avoidance through Gesture Recognition: Business Advancement Potential in Robot Navigation Socio-Technology." Robotica 37, no. 10 (March 20, 2019): 1663–76. http://dx.doi.org/10.1017/s0263574719000183.
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SummaryIn the present modern age, a robot works like human and is controlled in such a manner that its movements should not create hindrance in human activities. This characteristic involves gesture feat and gesture recognition. This article is aimed to describe the developments in algorithms devised for obstacle avoidance in robot navigation which can open a new horizon for advancement in businesses. For this purpose, our study is focused on gesture recognition to mean socio-technological implication. Literature review on this issue reveals that movement of robots can be made efficient by introducing gesture-based collision avoidance techniques. Experimental results illustrated a high level of robustness and usability of the Gesture recognition (GR) system. The overall error rate is almost 10%. In our subjective judgment, we assume that GR system is very well-suited to instruct a mobile service robot to change its path on the instruction of human.
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Karima, REBAI, and BOUCHAMA Samira. "EKF-DWA for car-like robot navigation in presence of moving obstacles." International Journal of Computing and Digital Systems 12, no. 1 (July 1, 2022): 205–14. http://dx.doi.org/10.12785/ijcds/1201018.
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Krasuski, Adam, and Michał Meina. "Correcting Inertial Dead Reckoning Location Using Collision Avoidance Velocity-Based Map Matching." Applied Sciences 8, no. 10 (October 6, 2018): 1830. http://dx.doi.org/10.3390/app8101830.
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We propose an algorithm for map-aided inertial dead reckoning (DR) for indoor navigation. The technique is based on a concept of collision avoidance velocity. New positions estimated by DR are checked for collision detection with walls and if such a situation is detected, the collision avoidance velocity is calculated to avert the obstacles. The differences between an individual’s indicated velocity and collision avoidance velocity are then used to correct errors for further path development. The best performance of the proposed technique is achieved when the individual moves along building obstacles. This type of movement is typical for firefighters, during search and rescue operations in thick smoke. Such conditions provided the environment for testing our algorithm.
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Zhang, Yu, Yuxiang Li, Hefei Zhang, Yu Wang, Zhihao Wang, Yinong Ye, Yongming Yue, et al. "Earthshaker: A Mobile Rescue Robot for Emergencies and Disasters through Teleoperation and Autonomous Navigation." JUSTC 52 (2022): 1. http://dx.doi.org/10.52396/justc-2022-0066.
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To deal with emergencies and disasters without rescue workers being exposed to dangerous environments, this paper presents a mobile rescue robot, Earthshaker. As a combination of a tracked chassis and a six-degree-of-freedom robotic arm, as well as miscellaneous sensors and controllers, Earthshaker is capable of traversing diverse terrains and fulfilling dexterous manipulation. Specifically, Earthshaker has a unique swing arm – dozer blade structure that can help clear up cumbersome obstacles and stabilize the robot on stairs, a multimodal teleoperation system that can adapt to different transmission conditions, a depth camera aided robotic arm and gripper that can realize semi-autonomous manipulation, a LiDAR aided base that can achieve autonomous navigation in unknown areas. It was these special systems that supported Earthshaker to win the first Advanced Technology & Engineering Challenge (A-TEC) championships, standing out of 40 robots from the world and showing the efficacy of system integration and the advanced control philosophy behind it.
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Wrock, M. R., and S. B. Nokleby. "An automatic switching approach to teleoperation of mobile-manipulator systems using virtual fixtures." Robotica 35, no. 8 (August 8, 2016): 1773–92. http://dx.doi.org/10.1017/s0263574716000515.
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SUMMARYThis work presents a novel command strategy developed to improve operator performance and minimize difficulties in teleoperation tasks for mobile-manipulator systems with a holonomic base. Aimed specifically at novice operators, virtual fixtures are introduced as a means to minimize collisions and assist in navigation. Using the 6-degree-of-freedom (DOF) Omnibot mobile-manipulator system (MMS), a command strategy is implemented such that the operator need only control a 3-DOF haptic joystick to achieve full control of the Omnibot MMS. The command strategy is used to coordinate control between the arm and the base of the system, prevent collisions with known obstacles, and alert the operator of proximity to those obstacles with haptic forces. Through experimental testing it is shown that operator performance improved with the use of virtual fixtures.
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Madridano, Ángel, Abdulla Al-Kaff, Pablo Flores, David Martín, and Arturo de la Escalera. "Software Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefighting." Applied Sciences 11, no. 3 (January 29, 2021): 1258. http://dx.doi.org/10.3390/app11031258.
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Advances in the field of unmanned aerial vehicles (UAVs) have led to an exponential increase in their market, thanks to the development of innovative technological solutions aimed at a wide range of applications and services, such as emergencies and those related to fires. In addition, the expansion of this market has been accompanied by the birth and growth of the so-called UAV swarms. Currently, the expansion of these systems is due to their properties in terms of robustness, versatility, and efficiency. Along with these properties there is an aspect, which is still a field of study, such as autonomous and cooperative navigation of these swarms. In this paper we present an architecture that includes a set of complementary methods that allow the establishment of different control layers to enable the autonomous and cooperative navigation of a swarm of UAVs. Among the different layers, there are a global trajectory planner based on sampling, algorithms for obstacle detection and avoidance, and methods for autonomous decision making based on deep reinforcement learning. The paper shows satisfactory results for a line-of-sight based algorithm for global path planner trajectory smoothing in 2D and 3D. In addition, a novel method for autonomous navigation of UAVs based on deep reinforcement learning is shown, which has been tested in 2 different simulation environments with promising results about the use of these techniques to achieve autonomous navigation of UAVs.
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Al-Salah, Abdalla, and Saleh Zein-Sabatto. "Development a Real Time Stationary Obstacles Avoidance Scheme for Autonomous Vehicle Navigation System." International Journal of Industrial Control Systems Security 3, no. 1 (June 30, 2020): 83–89. http://dx.doi.org/10.20533/ijicss.9781.9083.20346.2020.0009.
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Story, Matthew, Cyril Jaksic, Sarah R. Fletcher, Philip Webb, Gilbert Tang, and Jonathan Carberry. "Evaluating the use of human aware navigation in industrial robot arms." Paladyn, Journal of Behavioral Robotics 12, no. 1 (January 1, 2021): 379–91. http://dx.doi.org/10.1515/pjbr-2021-0024.
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Abstract Although the principles followed by modern standards for interaction between humans and robots follow the First Law of Robotics popularized in science fiction in the 1960s, the current standards regulating the interaction between humans and robots emphasize the importance of physical safety. However, they are less developed in another key dimension: psychological safety. As sales of industrial robots have been increasing over recent years, so has the frequency of human–robot interaction (HRI). The present article looks at the current safety guidelines for HRI in an industrial setting and assesses their suitability. This article then presents a means to improve current standards utilizing lessons learned from studies into human aware navigation (HAN), which has seen increasing use in mobile robotics. This article highlights limitations in current research, where the relationships established in mobile robotics have not been carried over to industrial robot arms. To understand this, it is necessary to focus less on how a robot arm avoids humans and more on how humans react when a robot is within the same space. Currently, the safety guidelines are behind the technological advance, however, with further studies aimed at understanding HRI and applying it to newly developed path finding and obstacle avoidance methods, science fiction can become science fact.
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Ivey, Christina Lynne. "Glossary (Not) for Non-ADHD Partners." Departures in Critical Qualitative Research 4, no. 4 (2015): 99–116. http://dx.doi.org/10.1525/dcqr.2015.4.4.99.
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This piece explores my experience navigating the new communicative obstacles emerging after the Attention Deficit Hyperactivity Disorder (ADHD) diagnosis of my partner. Struggling to find research that aided my understanding, I created a glossary of terms meant to clarify what words were currently working/not working in my relationship. Each term entry is coupled with autoethnographic accounts with/about my partner. This essay means to extend the work of Eve Tuck and Christine Ree, demonstrating how creating glossaries can be used as a critical qualitative method to explore negotiations of discourses that occur within marginalized identities.
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Djebrani, Salima, Abderraouf Benali, and Foudil Abdessemed. "Modelling and control of an omnidirectional mobile manipulator." International Journal of Applied Mathematics and Computer Science 22, no. 3 (September 1, 2012): 601–16. http://dx.doi.org/10.2478/v10006-012-0046-1.
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AbstractA new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach.
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OWOJORI, ADEDOTUN O., KAYODE F. AKINGBADE, WALIU O. APENA, and ERASTUS O. OGUNTI. "STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT." Journal of Engineering Studies and Research 27, no. 3 (January 10, 2022): 64–73. http://dx.doi.org/10.29081/jesr.v27i3.289.
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Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the parameters obtained from a computer-aided design tool (Solid works) to model the system for complete stability control and dynamic motion of the system within a planned trajectory. A linearized dynamic equation is obtained for the overall system design of a mobile robot, and the linear quadratic regulator concept is adopted to obtain an optimum state feedback gain. The simulation results are obtained on MATLAB software interfaced with an Arduino board with deployable sensor technologies. Scenarios of disturbance would be simulated to ascertain the stability conditions of the system at static position or dynamic position. Signal analysis and computer vision techniques serve as leverage to make the design achievable. Localization and navigation referred to as tracking a planned trajectory or moving through paths filled with obstacles in a given space are also included.
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Jang, Junwon, Soohee Han, Hanjun Kim, Choon Ki Ahn, and Wook Hyun Kwon. "Rapid control prototyping for robot soccer." Robotica 27, no. 7 (March 17, 2009): 1091–102. http://dx.doi.org/10.1017/s0263574709005505.
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SUMMARYIn this paper, we propose rapid-control prototyping (RCP) for a robot soccer using the SIMTool that has been developed in Seoul National University, Korea, for the control-aided control system design (CACSD). The proposed RCP enables us to carry out the rapid design and the verification of controls for two-wheeled mobile robots (TWMRs), players in the robot soccer, without writing C codes directly and requiring a special H/W. On the basis of the proposed RCP, a blockset for the robot soccer is developed for easy design of a variety of mathematical and logical algorithms. All blocks in the blockset are made up of basic blocks offered by the SIMTool. Applied algorithms for specific purposes can be easily and efficiently constructed with just a combination of the blocks in the blockset. As one of the algorithms implemented with the developed blockset, a novel navigation algorithm, called a reactive navigation algorithm using the direction and the avoidance vectors based scheme (RNDAVS), is proposed. It is shown through simulations and experiments that the RNDAVS designed with the proposed RCP can avoid a local minima and the goal non-reachable with obstacles nearby (GNRON) arising from the existing methods. Furthermore, in order to validate the proposed RCP in a real game, we employ an official simulation game for the robot soccer, the SimuroSot. Block diagrams are constructed for strategy, path calculation, and the interface to the SIMTool. We show that the algorithms implemented with the proposed RCP work well in the simulation game.
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Ivanov, Vladimir M., Anton M. Krivtsov, Sergey V. Strelkov, Anton Yu Smirnov, Roman Yu Shipov, Vladimir G. Grebenkov, Valery N. Rumyantsev, et al. "Practical Application of Augmented/Mixed Reality Technologies in Surgery of Abdominal Cancer Patients." Journal of Imaging 8, no. 7 (June 30, 2022): 183. http://dx.doi.org/10.3390/jimaging8070183.
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The technology of augmented and mixed reality (AR/MR) is useful in various areas of modern surgery. We considered the use of augmented and mixed reality technologies as a method of preoperative planning and intraoperative navigation in abdominal cancer patients. Practical use of AM/MR raises a range questions, which demand suitable solutions. The difficulties and obstacles we encountered in the practical use of AR/MR are presented, along with the ways we chose to overcome them. The most demonstrative case is covered in detail. The three-dimensional anatomical model obtained from the CT scan needed to be rigidly attached to the patient’s body, and therefore an invasive approach was developed, using an orthopedic pin fixed to the pelvic bones. The pin is used both similarly to an X-ray contrast marker and as a marker for augmented reality. This solution made it possible, not only to visualize the anatomical structures of the patient and the border zone of the tumor, but also to change the position of the patient during the operation. In addition, a noninvasive (skin-based) marking method was developed that allows the application of mixed and augmented reality during operation. Both techniques were used (8 clinical cases) for preoperative planning and intraoperative navigation, which allowed surgeons to verify the radicality of the operation, to have visual control of all anatomical structures near the zone of interest, and to reduce the time of surgical intervention, thereby reducing the complication rate and improving the rehabilitation period.
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Chodnicki, Marcin, Barbara Siemiatkowska, Wojciech Stecz, and Sławomir Stępień. "Energy Efficient UAV Flight Control Method in an Environment with Obstacles and Gusts of Wind." Energies 15, no. 10 (May 19, 2022): 3730. http://dx.doi.org/10.3390/en15103730.
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This article presents an energy-efficient method of controlling unmanned aircraft (fixed-wing UAVs), which consists of three groups of algorithms: aerial vehicle route planning, in-flight control, and algorithms to correct the preplanned flight trajectory. All algorithms shall take into account the existence of obstacles that the UAV must avoid and wind gusts in the UAV’s area of operation. Tests were carried out on the basis of the UAV mathematical model, stabilization and navigation algorithms, and Dryden turbulence model, considering the parameters of the UAV’s propulsion system. The work includes a detailed description of constructing a network of connection that is used to plan a UAV mission. It presents the algorithm for determining the actual distances between the different points in the field of action, which takes into account the existence of obstacles. The algorithm shall be based on methods for determining the flight trajectory on a hexagonal grid. It presents the developed proprietary UAV path planning algorithm based on a model from a group of algorithms of mixed integer linear problem (MILP) optimization. It presents the manner in which the pre-prepared flight path was used by UAV controllers that supervised the flight along the preset path. It details the architecture of contemporary unmanned aerial vehicles, which have embedded capability to realize autonomous missions, which require the integration of UAV systems into the route planning algorithms set out in the article. Particular attention has been paid to the planning and implementation methods of UAV missions under conditions where wind gusts are present, which support the determination of UAV flight routes to minimize the vehicle’s energy consumption. The models developed were tested within a computer architecture based on ARM processors using the hardware-in-the-loop (HIL) technique, which is commonly used to control unmanned vehicles. The presented solution makes use of two computers: FCC (flight control computer) based on a real-time operating system (RTOS) and MC (mission computer) based on Linux and integrated with the Robot Operating System (ROS). A new contribution of this work is the integration of planning and monitoring methods for the implementation of missions aimed at minimizing energy consumption of the vehicle, taking into account wind conditions.
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Sayed, Mohamed, Robert Cinca, Enrico Costanza, and Gabriel Brostow. "LookOut! Interactive Camera Gimbal Controller for Filming Long Takes." ACM Transactions on Graphics 41, no. 3 (June 30, 2022): 1–16. http://dx.doi.org/10.1145/3506693.
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The job of a camera operator is challenging, and potentially dangerous, when filming long moving camera shots. Broadly, the operator must keep the actors in frame while safely navigating around obstacles and while fulfilling an artistic vision. We propose a unified hardware and software system that distributes some of the camera operator’s burden, freeing the operator up to focus on safety and aesthetics during a take. Our real-time system provides solo operators with end-to-end control so that they can balance on-set responsiveness to action against planned storyboards and framing while looking where they are going. By default, we film without a field monitor. Our LookOut system is built around a lightweight commodity camera gimbal mechanism, with heavy modifications to the controller, which would normally just provide active stabilization. Our control algorithm reacts to speech commands, video, and a premade script. Specifically, our automatic monitoring of the live video feed saves the operator from distractions. In preproduction, an artist uses our graphical user interface (GUI) to design a sequence of high-level camera “behaviors.” Those can be specific, based on a storyboard, or looser objectives, such as “frame both actors.” Then, during filming, a machine-readable script, exported from the GUI, ties together with the sensor readings to drive the gimbal. To validate our algorithm, we compared tracking strategies, interfaces, and hardware protocols and collected impressions from (a) filmmakers who used all aspects of our system and (b) filmmakers who watched footage filmed using LookOut.
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Lee, Naomi, Alfreda Nelson, and Vanessa Svihla. "Refining a Summer Biomedical Research Training Program for American Indian and Alaska Native (AIAN) Students." International Journal of Designs for Learning 9, no. 1 (May 9, 2018): 88–97. http://dx.doi.org/10.14434/ijdl.v9i1.23049.
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Literature shows that students who enter the science, technology, engineering, mathematics, and medical-related (STEMM) pipeline at earlier stages of their career are more likely to be successful. This is especially true for under-represented and economically disadvantaged students. Despite the increasing number of students entering the pipeline, American Indian and Alaska Native (AIAN) students still have a higher attrition rate compared to other ethnic groups. Educators and government agencies have worked to improve the success rate for AIAN students across all levels and fields by developing various programs aimed at training and mentorship. In 2007, the National Institute of Neurological Disorders and Stroke (NINDS) of the National Institutes of Health (NIH) in Bethesda, MD, increased their outreach efforts for recruiting AIAN students for the summer internship program. Our goal was to develop a culturally tailored research-training program that could recruit and retain AIAN students into STEMM degrees and careers. We adapted an existing program that provides training in biomedical science and mentorship at an NINDS research laboratory. From 2007 to 2016, of the 41 AIAN interns who participated, 35 (85%) remained in STEMM fields. Five interns obtained post baccalaureate positions at NIH and four entered graduate or medical school. These successful outcomes were brought about only after navigating myriad obstacles. We identified obstacles for AIAN student participation, and made adaptations to the summer internship. We made design decisions regarding recruitment, feasibility, lab placement and mentorship, supporting research and social networking, and sustaining AIAN culture. This design case highlights the obstacles and strategies for success that we developed.
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Dalrymple, Ashley N., and Vivian K. Mushahwar. "Intelligent Control of a Spinal Prosthesis to Restore Walking After Neural Injury: Recent Work and Future Possibilities." Journal of Medical Robotics Research 05, no. 01n02 (March 2020): 2041003. http://dx.doi.org/10.1142/s2424905x20410032.
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This review focuses on the development of intelligent, intuitive control strategies for restoring walking using an innovative spinal neural prosthesis called intraspinal microstimulation (ISMS). These control strategies are inspired by the control of walking by the nervous system and are aimed at mimicking the natural functionality of locomotor-related sensorimotor systems. The work to date demonstrates how biologically inspired control strategies, some including machine learning methods, can be used to augment remaining function in models of complete and partial paralysis developed in anesthetized cats. This review highlights the advantages of learning predictions to produce automatically adaptive control of over-ground walking. This review also speculates on the possible future applications of similar machine learning algorithms for challenging walking tasks including navigating obstacles and traversing difficult terrain. Finally, this review explores the potential for plasticity and motor recovery with long-term use of such intelligent control systems and neural interfaces.
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Belova, Tatiana Ivanovna, Roman Vladimirovich Shkrabak, Vladimir Stepanovich Shkrabak, and Elena Vasilievna Starchenko. "Improving the efficiency of vehicles in the agro-industrial complex by improving control and management methods." Agrarian Scientific Journal, no. 3 (March 28, 2022): 86–90. http://dx.doi.org/10.28983/asj.y2022i3pp86-90.
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In the Russian Federation, 30 % of all road accidents (accidents) occur on non-paved roads, 90 % of which are intended for local use. In the Bryansk region, 35 % of accidents occur on non-paved roads, all of which are intended for local use, including on-farm highways (local highways located within the boundaries of a rural settlement, intended for transport services of facilities for the production, processing and marketing of agricultural and other products). The analysis of the above factors for improving the safety of drivers of agricultural vehicles (SATS) makes it possible to model various scenarios for the development of traumatic situations in conditions of agricultural production. To ensure the safety of SAT drivers, systems and means of passive, active and preventive protection are used. Passive systems and means of protection of the driver depend on the design and operational properties of the car, aimed at reducing the severity of the accident. Active systems and means of protection of the driver depend on the design and operational properties of the car, aimed at preventing and reducing the likelihood of a dangerous situation. Preventive systems and means of protection of the driver are designed to avoid a collision of cars, and if it occurred - to reduce the severity of the accident. The main ones include systems and devices based on ultrasonic radiation, designed to reduce the risk of injury to drivers by more accurately determining the length of the braking distance and preventing collisions of motor vehicles. The existing methods and devices for determining the braking distance and preventing collisions of SATS do not allow visual monitoring of signals in front (behind or next to) walking cars and an appropriate response to them in case of poor visibility or when driving a group of cars, generating control signals and issuing several recommendations to the driver at the same time, require additional installation of satellite navigation systems and a variety of integrated modules of the device, timely activation of the braking system is excluded due to the absence of an actuating mechanism for automatic activation of the braking system and a sensor for the force of pressing the brake pedal, as well as the psychophysiological characteristics of the driver of the vehicle, which reduces the responsiveness in the event of an obstacle.
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Belova, Tatiana Ivanovna, Roman Vladimirovich Shkrabak, Vladimir Stepanovich Shkrabak, and Elena Vasilievna Starchenko. "Improving the efficiency of vehicles in the agro-industrial complex by improving control and management methods." Agrarian Scientific Journal, no. 3 (March 28, 2022): 86–90. http://dx.doi.org/10.28983/asj.y2022i3pp86-90.
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In the Russian Federation, 30 % of all road accidents (accidents) occur on non-paved roads, 90 % of which are intended for local use. In the Bryansk region, 35 % of accidents occur on non-paved roads, all of which are intended for local use, including on-farm highways (local highways located within the boundaries of a rural settlement, intended for transport services of facilities for the production, processing and marketing of agricultural and other products). The analysis of the above factors for improving the safety of drivers of agricultural vehicles (SATS) makes it possible to model various scenarios for the development of traumatic situations in conditions of agricultural production. To ensure the safety of SAT drivers, systems and means of passive, active and preventive protection are used. Passive systems and means of protection of the driver depend on the design and operational properties of the car, aimed at reducing the severity of the accident. Active systems and means of protection of the driver depend on the design and operational properties of the car, aimed at preventing and reducing the likelihood of a dangerous situation. Preventive systems and means of protection of the driver are designed to avoid a collision of cars, and if it occurred - to reduce the severity of the accident. The main ones include systems and devices based on ultrasonic radiation, designed to reduce the risk of injury to drivers by more accurately determining the length of the braking distance and preventing collisions of motor vehicles. The existing methods and devices for determining the braking distance and preventing collisions of SATS do not allow visual monitoring of signals in front (behind or next to) walking cars and an appropriate response to them in case of poor visibility or when driving a group of cars, generating control signals and issuing several recommendations to the driver at the same time, require additional installation of satellite navigation systems and a variety of integrated modules of the device, timely activation of the braking system is excluded due to the absence of an actuating mechanism for automatic activation of the braking system and a sensor for the force of pressing the brake pedal, as well as the psychophysiological characteristics of the driver of the vehicle, which reduces the responsiveness in the event of an obstacle.
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Sobczyński, Eugeniusz, and Jerzy Pietruszka. "Military aeronautical charts in the past and today." Polish Cartographical Review 50, no. 1 (March 1, 2018): 5–30. http://dx.doi.org/10.2478/pcr-2018-0002.
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Abstract The history of the development of military aeronautical charts began immediately before the First World War. The first charts created at that time did not differ much from topographic maps. Air planes were fairly slow back then and had a small range of action, which meant that the charts were developed at the scale of 1:200,000. When speed of aircraft increased, it soon turned out that this scale was too large. Therefore, many countries began to create charts with smaller scales: 1:300,000 and 1:500,000. The International Map of the World 1:1,000,000 (IMW) was frequently used for continental flights prior to the outbreak of the Second World War, while 1:3,500,000 and 1:5,000,000 maps were commonly used for intercontinental flights. The Second World War brought a breakthrough in the field of aeronautical chart development, especially after 7 December 1941, when the USA entered into the war. The Americans created more than 6000 map sheets and published more than 100 million copies, which covered all continents. In their cartographic endeavours, they were aided foremost by the Brits. On the other hand, the Third Reich had more than 1,500 officers and about 15,000 soldiers and civil servants involved in the development of maps and other geographic publications during the Second World War. What is more, the Reich employed local cartographers and made use of local source materials in all the countries it occupied. The Germans introduced one new element to the aeronautical charts – the printed reference grid which made it easier to command its air force. The experience gained during the Second World War and local conflicts was for the United States an impulse to undertake work on the standardization of the development of aeronautical charts. Initially, standardization work concerned only aeronautical charts issued by the US, but after the establishment of NATO, standardization began to be applied to all countries entering the Alliance. The currently binding NATO STANAGs (Standardization Agreements) distinguish between operational charts and special low-flight charts. The charts are developed in the WGS-84 coordinate system, where the WGS-84 ellipsoid of rotation is the reference surface. The cylindrical transverse Mercator projection was used for the scale of 1:250,000, while the conformal conic projection was used for other scales. The first aeronautical charts issued at the beginning of the 20th century contained only a dozen or so special symbols concerning charts’ navigational content, whereas currently the number of symbols and abbreviations found on such charts exceeds one hundred. The updating documents are published every 28 days in order to ensure that aeronautical charts remain up-to-date between releases of their subsequent editions. It concerns foremost aerial obstacles and air traffic zones. The aeronautical charts published by NATO have scales between 1:50,000 and 1:500,000 and the printed Military Grid Reference System (MGRS), while the aeronautical charts at scales between 1:250,000 and 1:2,000,000 contain the World Geographic Reference System (GEOREF). Nowadays, modern military air planes are characterised by their exceptional combat capabilities in terms of speed, range and manoeuvrability. Aside from aircraft, contemporary armed forces make increasingly frequent use of aerial robots, drones and unmanned cruise missiles. This is why, there has been a noticeable increase, especially in NATO, in the amount of work devoted to the standardization and development of aeronautical charts, as well as deepening of knowledge of navigation and aeronautical information.
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Jacintho, João Luiz, Gabriel Araújo e. Silva Ferraz, Lucas Santos Santana, and Patrícia Ferreira Ponciano Ferraz. "RECEPTORES DE SINAIS DO SISTEMA GLOBAL DE NAVEGAÇÃO POR SATÉLITE SUBMETIDOS A INTERFERÊNCIAS FÍSICAS." ENERGIA NA AGRICULTURA 35, no. 1 (March 20, 2020): 115–25. http://dx.doi.org/10.17224/energagric.2020v35n1p115-125.
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RECEPTORES DE SINAIS DO SISTEMA GLOBAL DE NAVEGAÇÃO POR SATÉLITE SUBMETIDOS A INTERFERÊNCIAS FÍSICAS
JOÃO LUIZ JACINTHO1, GABRIEL ARAÚJO E SILVA FERRAZ2, LUCAS SANTOS SANTANA3, PATRÍCIA FERREIRA PONCIANO FERRAZ4
1 Instituto Federal do Norte de Minas Gerais - IFNMG, Campus Araçuaí BR 367, km 278, s/n - Zona Rural, 39600-000, Araçuaí - MG, Brasil. joao.jacintho@ifnmg.edu.br.
2 Departamento de Engenharia Agrícola, Universidade Federal de Lavras – UFLA, Aquenta Sol, 3037, 37200900, Lavras - MG, Brasil. gabriel.ferraz@ufla.br.
3Departamento de Engenharia Agrícola, Universidade Federal de Lavras – UFLA, Aquenta Sol, 3037, 37200900, Lavras - MG, Brasil. lucas.santana1@estudante.ufla.br.
4 Departamento de Engenharia Agrícola, Universidade Federal de Lavras – UFLA, Aquenta Sol, 3037, 37200900, Lavras - MG, Brasil. patricia.ponciano@ufla.br.
RESUMO: Incertezas são encontradas em trabalhos com receptores do Sistemas Global de Navegação por Satélite GNSS. Diante disso, objetivou-se com este estudo investigar a influência de obstáculos físicos nos erros de acurácia e precisão em levantamentos com receptores GNSS e suas aplicações agrícolas. Foram implantados quatros pontos de controle rastreados no modo estático (base) e oito pontos de estudos rastreados no modo cinemático em tempo real (RTK) e Estático Rápido (ER), utilizando um par de receptores GNSS e um par de receptores GNSS-RTK. Os níveis de acurácia e precisão foram avaliados em oito pontos obtidos por rastreios do tipo ER e RTK. Combinados com quatro bases fixas, alocados de três formas: mínima, média e alta interferência física. Pontos provenientes do levantamento RTK, apresentaram diferenças na ordem de milímetros a centímetros, quando comparados às coordenadas obtidas do levantamento (ER). Para os níveis de obstrução, a mínima interferência apresentou erro dentro dos limites estipulados pelo equipamento, a máxima interferência apresentou menor acurácia. O efeito do multipercurso do sinal foi o fator mais determinante para a redução da acurácia das coordenadas dos pontos. Recomenda-se a aplicação do levantamento RTK para trabalhos onde a precisão das coordenadas seja mais relevante que a acurácia.
Palavras-chaves: Geodésia, levantamento planialtimétrico, acurácia, precisão.
GLOBAL SATELLITE NAVIGATION SYSTEM RECEIVERS SUBMITTED TO PHYSICAL INTERFERENCES
ABSTRACT: Uncertainties are found in works with Global Navigation Satellite System receivers (GNSS). Therefore, this study aimed to investigate influence physical obstacles on accuracy and precision errors in surveys with GNSS receivers and their agricultural applications. Four control points tracked in static (base) mode and eight study points tracked in a kinematic mode in real-time (RTK) and Fast Static (ER) were implemented, using a pair of GNSS receivers and pair of GNSS-RTK receivers. Accuracy levels and precision were evaluated at eight points obtained by ER and RTK, combined with four fixed bases, allocated in three ways: minimal, medium and high physical interference. RTK survey points showed differences order millimeters to centimeters when compared to the survey (ER) coordinates. The obstruction levels, interference minimum, had an error within limits stipulated by equipment, interference maximum showed low accuracy. RTK survey is recommended for jobs where the coordinate precision is more relevant than accuracy.
Keywords: Geodesy, planialtimetric survey, accuracy, precision.
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Fošumpaur, Pavel, Martin Horský, and Tomáš Kašpar. "Historical River Training Works on the Lower Elbe." IOP Conference Series: Materials Science and Engineering 1203, no. 2 (November 1, 2021): 022015. http://dx.doi.org/10.1088/1757-899x/1203/2/022015.
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Abstract The paper deals with river training works built on the reach of the Elbe River between the city of Ústí nad Labem (CZ) and the Czech/German border. Downstream of the Ústí nad Labem, the Elbe in the Czech Republic and in Germany has only been made navigable through river training measures without building weirs. The goal of river training for watercourse navigability is to attain the required waterway parameters through fairway adjustments. This is primarily achieved through channel dredging and the construction of training dams to concentrate the water flow into a narrower but deeper main channel. The paper describes the historical development of river training works during the period from the Middle Ages to the present day. Initially, such works were not meant as part of a unified conceptually designed system of measures. Instead, they were local initiatives aimed to remove natural obstacles from the river bed and to build facilities and structures to aid navigation. Systematic regulation works along the Czech and German sections of the Elbe only started in the early 19th century. The research was focused on studying the original project documents and documentation of the actual design of the training dams since 1894. This historical design documentation was digitised and projected into the maps in the Czech JTSK local coordinate system through the use of advanced geographic information system (GIS) methods. The final atlas of river training works on the Elbe-Vltava Waterway (EVW) along the lower Elbe in the Czech Republic is the first of its kind, utilising geographic information systems to document the locations of technical structures built since the early 19th century in the Elbe River bed in order to make the river navigable and maintain its navigability. The collection of maps also documents the development of the river training works in time based on map data obtained from digitised design documentation from the 19th and 20th centuries, historical aerial photographs dated 1930–1946 and 1950–1964, and present-day maps and orthophotomaps of the Elbe section in question. The atlas of the Elbe-Vltava Waterway river training works is publicly available via a web-based application. The maps are a result of original research and offer a synthesis of interactions between the existing technical structures, the sediment regime of the Elbe and sites that are subject to environmental protection. The research was conducted as part of project no. DG18P02OVV004 entitled “Documentation and presentation of technical cultural heritage along the Elbe-Vltava Waterway” within a support programme for applied research and experimental development of national and cultural identity, funded by the Ministry of Culture of the Czech Republic.
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Kashyap, Abhishek Kumar, Dayal R. Parhi, and Vikas Kumar. "Navigation for multi-humanoid using MFO-aided reinforcement learning approach." Robotica, September 30, 2022, 1–24. http://dx.doi.org/10.1017/s0263574722001357.
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Abstract The given article emphasizes the development and modeling of a hybrid navigational controller to optimize the path length and time taken. The proposed navigational controller is developed by hybridizing the metaheuristic moth–flame optimization (MFO) approach and the reinforcement learning (RL) approach. Input parameters like obstacle and target locations are fed to the MFO controller that implements a proper navigational direction selection. It forwards to the RL controller, which exercises further refinement of the output turning angle around obstacles. The collaboration of the global MFO approach with the local-based RL approach helps to optimize the path traversed by the humanoid robot in an unknown environment. The major breakthrough in this article is the utilization of humanoid robots for navigation purposes between various checkpoints. The humanoid robots are placed in a cluttered environment and assigned specific target positions to complete the assigned tasks. In the case of a multi-humanoid robot system, to avoid self-collision, it requires a Petri-Net controller to be configured in the navigation system to prevent deadlock situations and enhance the smooth completion of tasks without inter-collision among the humanoid robots. Simulations and real-time experiments are undertaken using different controllers involving single- and multi-humanoid robot systems. The robustness of the proposed controller is also validated in dynamic environment. Comparisons are carried with an established navigational controller in a similar environmental setup, which proves the proposed hybrid controller to be robust and efficient.
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Padhy, Ram Prasad, Pankaj Kumar Sa, Fabio Narducci, Carmen Bisogni, and Sambit Bakshi. "Monocular Vision Aided Depth Measurement from RGB Images for Autonomous UAV Navigation." ACM Transactions on Multimedia Computing, Communications, and Applications, July 29, 2022. http://dx.doi.org/10.1145/3550485.
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Monocular vision-based 3D scene understanding has been an integral part of many machine vision applications. Always, the objective is to measure the depth using a single RGB camera, which is at par with the depth cameras. In this regard, monocular vision-guided autonomous navigation of robots is rapidly gaining popularity among the research community. We propose an effective monocular vision assisted method to measure the depth of an Unmanned Aerial Vehicle (UAV) from an impending frontal obstacle. This is followed by collision-free navigation in unknown GPS-denied environments. Our approach deals upon the fundamental principle of perspective vision that the size of an object relative to its field of view (FoV) increases as the center of projection moves closer towards the object. Our contribution involves modeling the depth followed by its realization through scale-invariant SURF features. Noisy depth measurements arising due to external wind, or the turbulence in the UAV, are rectified by employing a constant velocity based Kalman filter model. Necessary control commands are then designed based on the rectified depth value to avoid the obstacle before collision. Rigorous experiments with SURF scale-invariant features reveal an overall accuracy of \(88.6\% \) with varying obstacles, in both indoor and outdoor environments.
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Kashyap, Abhishek Kumar, and Dayal R. Parhi. "Obstacle avoidance and path planning of humanoid robot using fuzzy logic controller aided owl search algorithm in complicated workspaces." Industrial Robot: the international journal of robotics research and application ahead-of-print, ahead-of-print (September 9, 2021). http://dx.doi.org/10.1108/ir-05-2021-0091.
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Purpose This paper aims to outline and implement a novel hybrid controller in humanoid robots to map an optimal path. The hybrid controller is designed using the Owl search algorithm (OSA) and Fuzzy logic. Design/methodology/approach The optimum steering angle (OS) is used to deal with the obstacle located in the workspace, which is the output of the hybrid OSA Fuzzy controller. It is obtained by feeding OSA's output, i.e. intermediate steering angle (IS), in fuzzy logic. It is obtained by supplying the distance of obstacles from all directions and target distance from the robot's present location. Findings The present research is based on the navigation of humanoid NAO in complicated workspaces. Therefore, various simulations are performed in a 3D simulator in different complicated workspaces. The validation of their outcomes is done using the various experiments in similar workspaces using the proposed controller. The comparison between their outcomes demonstrates an acceptable correlation. Ultimately, evaluating the proposed controller with another existing navigation approach indicates a significant improvement in performance. Originality/value A new framework is developed to guide humanoid NAO in complicated workspaces, which is hardly seen in the available literature. Inspection in simulation and experimental workspaces verifies the robustness of the designed navigational controller. Considering minimum error ranges and near collaboration, the findings from both frameworks are evaluated against each other in respect of specified navigational variables. Finally, concerning other present approaches, the designed controller is also examined, and major modifications in efficiency have been reported.
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Kashyap, Abhishek Kumar, Dayal R. Parhi, and Priyadarshi Biplab Kumar. "Route outlining of humanoid robot on flat surface using MFO aided artificial potential field approach." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, August 27, 2021, 095440542110410. http://dx.doi.org/10.1177/09544054211041068.
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Humanoid robots, with their overall resemblance to a human body, is modeled for flawless interaction with human-made tools or the environment. In this study, navigation of humanoid robot using hybrid Artificial potential field (APF) and Moth flame optimization (MFO) approach have been performed. The hybrid approach provides the final turning angle (FTA), which is optimum to avoid collision with the hindrances. APF utilizes a negative potential field and a positive potential field to find the location of obstacles and target, respectively. The navigation starts towards the target; when the robot interacts with the obstacle, APF provides an intermediate angle (IA). The IA, along with the position of the obstacle, is fed into MFO as an input. This technique provides the FTA (optimum) to avoid collisions and guide a robot to the target. It is implemented in a single humanoid system and a multi-humanoid system. The presence of multiple humanoids can create the chance of inter-collision. It is dismissed by employing a dining philosopher controller to the proposed technique. Simulations and experiments are accomplished on simulated and real humanoid NAO. The coherency in the behavior of the results evaluated by the simulations and real-time experiments demonstrates the efficiency of the proposed AI technique. Comparisons are performed with a previously used method to validate the robustness of the technique.
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Azeta, Joseph, Christian A. Bolu, and Festus A. Oyawale. "Design and simulation of a mobile robot platform for navigation and obstacle detection." Engineering review 42, no. 1 (2022). http://dx.doi.org/10.30765/er.1644.
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Mobile platforms are expected to gain access to risk zones and hazardous environment. A typical example is the infectious disease environment to deliver items to a sick patient. The robot is aimed to manoeuver round flat grounds in indoor environment. Computer aided design (CAD) models of the selected concepts were developed in Fusion360 and imported into SolidWorks to optimize and improve the design. The design is focused on the development of the wheelbase. Arduino Microcontroller was the system and codes control board and it was developed using the Arduino software. The motor driver was used to drive the DC motor for robot navigation with ultrasonic sensor for obstacle detection at a range of 20 cm. Result shows that the robot was able to navigate round flat ground while detecting obstacles within 20 cm.
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Chakraborty, Kaustav, Haodi Hu, Matthew D. Kvalheim, and Feifei Qian. "Planning of Obstacle-aided Navigation for Multi-legged Robots using a Sampling-based Method over Directed Graphs." IEEE Robotics and Automation Letters, 2022, 1–8. http://dx.doi.org/10.1109/lra.2022.3187271.
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"Dynamic Stabilization of Unmanned Vehicle Convoy in Road Climatic Environment of the Russian Federation." International Journal of Engineering and Advanced Technology 8, no. 6 (August 30, 2019): 5302–6. http://dx.doi.org/10.35940/ijitee.f9156.088619.
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This work analyzes experimental results of traffic control of unmanned vehicle convoy (UMV) with manned master vehicle in Russian road climatic environment. The problem of obstacle avoidance in driving lanes and position stabilization on preset motion path is reduced to the problem of dynamic stabilization of state variables. Its solution is aided by virtual data sensors requiring for minimum configuration of engineering tools. Relative positions of vehicles are determined by algorithms of combined data processing of navigation systems and machine vision which make it possible to solve this problem without visible road markings and radio vision for satellite navigation. Experimental results show that the developed control algorithms of UMV convoy are capable to solve the problem of its dynamic stabilization in actual traffic environment. The developed control algorithms of traction, braking, and path provide efficient operation on all types of surfaces including slippery roads. Scientific novelty of this work is comprised of experimental verification of efficiency of the developed solutions for advanced unmanned vehicles in Russia.
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Kadavasal, Muthukkumar S., and James H. Oliver. "Sensor Augmented Virtual Reality Based Teleoperation Using Mixed Autonomy." Journal of Computing and Information Science in Engineering 9, no. 1 (March 1, 2009). http://dx.doi.org/10.1115/1.3086030.
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A multimodal teleoperation interface is introduced, featuring an integrated virtual reality (VR) based simulation augmented by sensors and image processing capabilities onboard the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multimodal control interface. VR addresses the typical limitations of video based teleoperation caused by signal lag and limited field of view, allowing the operator to navigate in a continuous fashion. The vehicle incorporates an onboard computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and a real-state tracking system enable temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. The system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The VR based multimodal teleoperation interface is expected to be more adaptable and intuitive when compared with other interfaces.
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Utyamishev, Dmitry, and Inna Partin-Vaisband. "Multiterminal Pathfinding in Practical VLSI Systems with Deep Neural Networks." ACM Transactions on Design Automation of Electronic Systems, October 13, 2022. http://dx.doi.org/10.1145/3564930.
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A multiterminal obstacle-avoiding pathfinding approach is proposed. The approach is inspired by deep image learning. The key idea is based on training a conditional generative adversarial network (cGAN) to interpret a pathfinding task as a graphical bitmap and consequently map a pathfinding task onto a pathfinding solution represented by another bitmap. To enable the proposed cGAN pathfinding, a methodology for generating synthetic dataset is also proposed. The cGAN model is implemented in Python/Keras, trained on synthetically generated data, evaluated on practical VLSI benchmarks, and compared with state-of-the-art. Due to effective parallelization on GPU hardware, the proposed approach yields a state-of-the-art like wirelength and a better runtime and throughput for moderately complex pathfinding tasks. However, the runtime and throughput with the proposed approach remain constant with an increasing task complexity, promising orders of magnitude improvement over state-of-the-art in complex pathfinding tasks. The cGAN pathfinder can be exploited in numerous high throughput applications, such as, navigation, tracking, and routing in complex VLSI systems. The last is of particular interest to this work.
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Schneider, Andrea, Beat Vollenwyder, Eva Krueger, David B. Miller, Jasmin Thurau, and Achim Elfering. "Mobile eye tracking applied as a tool for customer experience research in a crowded train station." Journal of Eye Movement Research 16, no. 1 (January 16, 2023). http://dx.doi.org/10.16910/jemr.16.1.1.
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Train stations have increasingly become crowded, necessitating stringent requirements in the design of stations and commuter navigation through these stations. In this study, we explored the use of mobile eye tracking in combination with observation and a survey to gain knowledge on customer experience in a crowded train station. We investigated the utilization of mobile eye tracking in ascertaining customers’ perception of the train station environment and analyzed the effect of a signalization prototype (visual pedestrian flow cues), which was intended for regulating pedestrian flow in a crowded underground passage. Gaze behavior, estimated crowd density, and comfort levels (an individual’s comfort level in a certain situation), were measured before and after the implementation of the prototype. The results revealed that the prototype was visible in conditions of low crowd density. However, in conditions of high crowd density, the prototype was less visible, and the path choice was influenced by other commuters. Hence, herd behavior appeared to have a stronger effect than the implemented signalization prototype in conditions of high crowd density. Thus, mobile eye tracking in combination with observation and the survey successfully aided in understanding customers’ perception of the train station environment on a qualitative level and supported the evaluation of the signalization prototype the crowded underground passage. However, the analysis process was laborious, which could be an obstacle for its practical use in gaining customer insights.
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Hidayati, Qory, Fathur Zaini Rachman, and Nur Yanti. "Intelligent Control System of Fire-Extinguishing and Obstacle-Avoiding Hexapod Robot." Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, October 31, 2017, 1–10. http://dx.doi.org/10.22219/kinetik.v3i1.470.
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This hexapod fire extinguisher robot is constructed based on technological developments evolving very rapidly, especially in the field of robotics technology. The hexapod robot has become a big concern in the development of robotics technology with many existing contests of hexapod robot. This hexapod fire extinguisher robot is designed based on Fuzzy Mamdani Logic. The navigation of fire extinguisher hexapod robot is based on distance detection with ultrasonic sensor determining the movement of robot’s legs utilizing Fuzzy Logic. A fire extinguisher hexapod robot will explore a tunnel arena having several rooms created for the robot to explore. This hexapod robot uses Arduino as a microcontroller and uses 18 servo motors in which each foot requires 3 servo motors. Moreover, good navigation will be aimed by utilizing Fuzzy Logic in the hexapod robot design. The application of many rules on Fuzzy Logic makes the better navigation; furthermore, the results present the ultrasonic sensor having an average error of 1.256%, the Fuzzy Logic applied showing 0% error, and the overall success rate presenting approximately 80%.
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Galati, Giada, Stefano Primatesta, Sergio Grammatico, Simone Macrì, and Alessandro Rizzo. "Game theoretical trajectory planning enhances social acceptability of robots by humans." Scientific Reports 12, no. 1 (December 20, 2022). http://dx.doi.org/10.1038/s41598-022-25438-1.
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AbstractSince humans and robots are increasingly sharing portions of their operational spaces, experimental evidence is needed to ascertain the safety and social acceptability of robots in human-populated environments. Although several studies have aimed at devising strategies for robot trajectory planning to perform safe motion in populated environments, a few efforts have measured to what extent a robot trajectory is accepted by humans. Here, we present a navigation system for autonomous robots that ensures safety and social acceptability of robotic trajectories. We overcome the typical reactive nature of state-of-the-art trajectory planners by leveraging non-cooperative game theory to design a planner that encapsulates human-like features of preservation of a personal space, recognition of groups, sequential and strategized decision making, and smooth obstacle avoidance. Social acceptability is measured through a variation of the Turing test administered in the form of a survey questionnaire to a pool of 691 participants. Comparison terms for our tests are a state-of-the-art navigation algorithm (Enhanced Vector Field Histogram, VFH) and purely human trajectories. While all participants easily recognized the non-human nature of VFH-generated trajectories, the distinction between game-theoretical trajectories and human ones were hardly revealed. Our results mark a strong milestone toward the full integration of robots in social environments.
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Vanderley, Isabel Cristina Sibalde, Waldemar Brandão Neto, Ednaldo Cavalcante de Araújo, Helena Rafaela Vieira do Rosário, and Estela Maria Leite Meirelles Monteiro. "Resilience of School Adolescents in a Socially Vulnerable Situation in the Light of Tidal Model." Research and Theory for Nursing Practice, September 22, 2022, RTNP—2021–0019.R1. http://dx.doi.org/10.1891/rtnp-2021-0019.
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Background and PurposeAdolescents in contexts of social vulnerability experience obstacles in the development of their resilience, which compromises the development of coping/response strategies to daily adversities. This study aimed to understand the resilience process of school adolescents in situations of social vulnerability in the light of Barker’s and Buchanan-Barker’s Tidal Model.MethodsThis qualitative and exploratory study was carried out at a public school in the city of Recife, Pernambuco State, Brazil. The sample was composed of 17 adolescents. Data collection was carried out through in-depth narrative interviews. The material was analyzed with the aid of the software Interface de R pour les Analyses Multidimensionnelles de Textes et de Questionnaires, interpreted through the assumptions of Tidal Model.ResultsThe dendrogram demonstrated the corpus delimited in five classes named as “Navigation Plan,” “Storms,” “Ocean of Experiences,” “Rescue,” and “Safe Harbor.”Conclusions and Implications for PracticeThrough learning from narratives, nurses understand the important resources of a recovery journey and take care “with” adolescents, supporting the development of resilience to face storms by taking the helm of the vessel and resuming their travel.
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Göçmen, Elifcan. "Smart Airport: Evaluation of Performance Standards and Technologies for a Smart Logistics Zone." Transportation Research Record: Journal of the Transportation Research Board, July 16, 2021, 036119812110197. http://dx.doi.org/10.1177/03611981211019740.
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Owing to the current context of Industry 4.0, the importance of smart technologies in airport systems have increased substantially. State-of-art applications for transportation planning incorporating baggage services, routing, security, and safety are an evolving domain for both practitioners and researchers dealing with aviation applications. In this context, this paper seeks to answer these questions: Which standards are aimed at a smart airport to make the transportation planning sound? Which propositions are made based on the obtained prioritized standards? This study deals with standards including Environmental Effects, Docking & Navigation, Object Detection & Protection, Communications & Integration, and Terminology using a practical decision support system based on an analytical hierarchy process (AHP) and fuzzy inference system (FIS). Computational results reveal that the Object Detection & Protection standard has an effect on a safe and smart system. To give an overview of this standard for a smart logistics zone (SLZ), an architecture of autonomous robot units and a baggage handling system is proposed in this study. The suggested approach analyzes the obstacle photos obtained by cameras and allows the end-user to control the calculations visually. This research could provide advice to airport planners about smart policies and improving operations.
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Tucker, Basil P. "Jumping through hoops: publishing interview-based management accounting research." Accounting, Auditing & Accountability Journal ahead-of-print, ahead-of-print (September 15, 2020). http://dx.doi.org/10.1108/aaaj-08-2020-4737.
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PurposeThis reflection is aimed primarily at doctoral students, early career researchers and more experienced accounting researchers seeking to undertake interview-based academic accounting research. It is specifically designed to identify and confront some common obstacles to publishing interview-based management accounting research.Design/methodology/approachThis reflection is autoethnographic in the sense that it is based primarily on my publication experience, observations and reflections as an author/co-author and also as a reviewer and editor/editorial board member in submitting, reviewing and evaluating interview-based management accounting research. It therefore adopts a form of participant observation in approach in which the author seeks to provide to readers a sense of “being there” insofar as addressing the barriers to publishing interview-based management accounting research.FindingsWhilst the insights that interview-based accounting research can offer are well established, there remain practical obstacles in publishing this form of research. These obstacles – portrayed in this paper as “hoops” through which authors must jump – largely reduce to challenges in convincing the reader of the credibility and authenticity of their approach and demonstrating the trustworthiness and dependability of the findings and conclusions reached.Research limitations/implicationsThe academic and practical issues raised in this commentary will assist emerging scholars in anticipating and dealing with the challenges they face in submitting these types of studies to academic accounting journals.Originality/valueThis paper is a critical analysis and reflection of the process of publishing interview-based accounting research. Rather than attempting to replicate the many excellent commentaries on this topic, it is designed to be of practical use to emerging scholars in the design, delivery and presentation of qualitative interview-based accounting research with a particular aim of navigating the submission and review process.
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Greenberg, Anya L., Shareef M. Syed, Adnan A. Alseidi, Patricia S. O’Sullivan, and Hueylan Chern. "Communicating from a distance: medical student perspectives from a robotic bedside assist simulation." Global Surgical Education - Journal of the Association for Surgical Education 1, no. 1 (October 20, 2022). http://dx.doi.org/10.1007/s44186-022-00052-x.
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Abstract Background To safely engage medical students in robotic operations as bedside assists would require new curricula. We aimed to understand student perspectives on communication with a console surgeon during a bedside assist simulation as a step in the process of designing an effective bedside assist curriculum. Methods Senior medical students were offered an introductory robotic surgery course. An Intuitive Surgical trainer reviewed robotic features, functionalities, and roles. Then, students participated in a simulation where they introduced an instrument through a laparoscopic port and advanced it into the field of view navigating around obstacles. A non-surgeon researcher conducted post-course focus groups (FGs) to explore participants’ perceptions about communication with the console surgeon during the simulation. Using FG transcriptions, two researchers conducted an inductive thematic analysis. Results Thirteen students (46% female) participated in three FGs. The first theme, tension between hierarchy and patient safety, reflected students’ pressure to follow instructions quickly and obediently from their superior and trepidation about revealing knowledge gaps as barriers to communication. Students also recognized that patient safety as at risk with rote following of instructions in the face of their uncertainty. The second theme identified opportunities to enhance communication including shared vocabulary, effective team dynamics, and explicit expectations. Conclusion Barriers to effective communication between students and surgical faculty exist. Establishing a bedside assist curriculum that teaches relevant terminology, communicating specific expectations, and promoting a team culture that fosters open communication without judgment may safely expand the role for students in robotic cases.