Dependent Path Research Articles

Obstacle encounter probability dependent local path planner for UAV operation in urban environments

Unmanned aerial vehicles (UAVs) are well-suited for various short-distance missions in urban environments. However, the path planner of such UAV is constantly challenged with the choice between avoiding obstacles horizontally or vertically. If the path planner relies on sensor information only, i.e. the path planner is a local planner, usually predefined manoeuvres or preferences are used to find a possible way. However, this method is stiff and inflexible. This work proposes a probabilistic decision-maker to set the control parameters of a classic local path planner during a flight mission. The decision-maker defines whether performing horizontal or vertical avoidance is preferable based on the probability of encountering a given number of obstacles. Here, the decision-maker considers predictions of possible future avoidance manoeuvres. It also defines an ideal flight altitude based on the probability of encountering obstacles. This work analyses the building height of all European capital cities and the probability of encountering obstacles at different altitudes to feed the decision-maker. We tested the feasibility of the proposed decision-maker with the 3DVFH*, a commonly used local path planner, in multiple simulations. The proposed probabilistic decision-maker allows the local path planner to reach the goal point significantly more often than the standard version of the 3DVFH*.

Age dependent path integration deficit in 5xFAD mice

Alzheimer's disease (AD) is a severe neurodegenerative disorder and the most common form of dementia in elderly individuals, characterized by memory deficits, cognitive decline, and neuropathology. The identification of preclinical markers for AD remains elusive. We employed an ultrasound-evoked spatial memory assay to investigate path integration (PI) in wild type C57BL/6 J and 5xFAD mice. We observed significant recruitment of the mammillary bodies (MB) and subiculum (Sub) – core regions of the Papez circuit during PI, as indicated by increased expression of the immediate early gene c-Fos in C57BL/6 J mice. In 5xFAD mice, amyloid-beta (Aβ) vulnerability in the MB and Sub was evident at 3-months of age, preceding widespread pathology at 5-months of age. In parallel, we detected significant behavioral deficits in PI in the 5XFAD mice at 5- but not 3-months of age. Sex based analysis revealed a more profound deficit in males compared to females at 5-months of age. Our data suggest PI may be as an early indicator of AD, potentially associated with dysfunction within the Papez circuit.

Mechanistic Study of Reaction between 5-Sulfosalicylic Acid and Colloidal MnO2

The reaction between 5-sulfosalicylic acid (5-SSA) and colloidal MnO2 has been studied kinetically in acidic medium. During the reaction the concentration of 5-SSA was kept highly excess than the concentration of colloidal MnO2 to maintain the pseudo-first-order condition. The reaction was studied by following decrease in absorbance of colloidal MnO2 at 390 nm and the first order rate constants were determined from linear log (Abs.) against time plots. The linearity of the first-order plots did not involve any autocatalytic part. The oxidation of 5-sulfosalicylic acid (5-SSA) by colloidal MnO2 involves intervention of free radicals and Mn(III). The product of reaction in colloidal MnO2 was p-hydroxy benzene sulfonate ion as confirmed by LCMS-MS analysis. The oxidation by colloidal MnO2 consists of acid dependent and independent mechanisms. The results of added Mn(II), Na4P2O7 and acrylonitrile indicate involvement of Mn(III) and free radical during oxidation by colloidal MnO2. The probable mechanisms for acid dependent and independent paths were predicted and the rate expressions were also obtained. The activation parameters also support the proposed mechanisms.

Zn_{1-x}Ni_xTe semiconductor nanocrystals in transparent glass for optoelectronic device applications

Doping glass with semiconductors, particularly with nanostructured semiconductors, has attracted attention due to the large optical absorption cross-sections of the latter. Based on this property, Ni^{2+} (5 wt%) doped phosphate glass and Zn_{1-x}Ni_xTe (x = 0.5, 1.0, 5.0 and 10.0 wt% of Ni^{2+}) nanocrystals (NCs) doped phosphate glasses (GCs) were prepared by fusion method and subsequent heat treatment. Influence of Ni^{2+} on structural, thermo-optical and third-order nonlinear optical properties have been analysed through various spectroscopic characterizations. The XRD pattern of the glass (G) exhibits the amorphous nature of the host material while GCs exhibit not only amorphous halo but also the presence of quantum dots (QDs) or nanocrystals (NCs) phases. TEM analysis of the studied GCs samples confirm the presence of quantum dots (QDs) and bulk NCs with an average diameter of approximately 4.2 {pm } 0.3 nm and 13.4 {pm } 0.2 nm, respectively. Several phosphate groups were observed and reported from Raman and FTIR-ATR spectra. The absorption band positions confirmed that Ni^{2+} ions resemble to the octahedral symmetry. The intensity of absorption band around 1352 nm (^3T{_1}(F) rightarrow^3A{_2}(F)) increased with the increase of Ni^{2+} in GCs which is an indicative of the ^{[6]}Ni^{2+} coordination. The emission properties such as emission cross-sections ({sigma }_{emi}) full width at half maxima (FWHM) for the ^1T{_2}(D) rightarrow^3T{_2}(F) (visible) and ^3A{_2}(F) rightarrow^3T{_1}(F) (near-infrared) emission transitions were reported. Among the glass-containing semiconductor nanocrystals (GCs), the emission cross-sections in GC4 sample (x = 10% of Ni^{2+}) are the largest for both the visible (11.88 times 10^{-18} cm^2) and infrared (0.98 times 10^{-20} cm^2) transitions. Thermal diffusivity (D), thermal conductivity (K) and temperature dependent optical path length change (ds/dT) were obtained through time-resolved thermal lens (TL) and thermal relaxation (TR) methods. The D and K parameters do not change significantly with increase of Ni^{2+} ions (0.5–5%) in GCs. Nonlinear-refractive index and nonlinear absorption of the studied samples were also obtained using femtosecond Z-scan technique. The increase of nonlinear absorption coefficient (beta) is observed from GC2 (2.53 {times } 10^{-10} cm/W) to GC4 (7.98 {times } 10^{-10} cm/W). The GC4, sample with 10 wt% of Ni^{2+}, showed the lowest ds/dT (1.22 times 10^{-6} K^{-1}) with good lasing (FOM and emission cross-sections) and nonlinear absorption properties suggesting that it can be a good candidate for visible-red emission light conversion in LED technology.

A Computationally Efficient Compact Model for Ferroelectric Switching With Asymmetric Nonperiodic Input Signals

In this paper, we develop a Verilog-A implementable compact model for the dynamic switching of ferroelectric FinFETs (Fe-FinFETs) for asymmetric non-periodic input signals. We use the multi-domain Preisach Model to capture the saturated P-E loop of the ferroelectric capacitors. In addition to the saturation loop, we model the history dependent minor loop paths in the P-E by tracing input signals’ turning points. To capture the input signals’ turning points, we propose an RC circuit based approach in this work. We calibrate our proposed model with the experimental data, and it accurately captures the history effect and minor loop paths of the ferroelectric capacitor. Furthermore, the elimination of storage of each turning point makes the proposed model computationally efficient compared with the previous implementations. We also demonstrate the unique electrical characteristics of Fe-FinFETs by integrating the developed compact model of Fe-Cap with the BSIM-CMG model of the 7nm FinFET.

Estudio del patrón queiloscópico en alumnos de la Universidad Alfonso X El Sabio para la determinación de su sexo. estudio observacional transversal

Introduction: Cheiloscopy is as effective as dactyloscopy in identification methods because each person has a lip pattern distinguishable from others (unique, invariable, permanent and classifiable). The aim of this study is to identify the most frequent lip patterns in men and women using the Suzuki and Tsuchihashi classification, thus establishing a guide to verify the usefulness of this area in identification. Method: cross-sectional observational study (n=121), analysis of the lip pattern in the lower middle third of the lower third of the labia of the Suzuki and Tsuchihashi classification (I, I’, II, III, IV and V) with print on A4 paper and photographs Canon EOS 1300D (W) digital SLR camera with CMOS sensor with 18.0 megapixels. Double-blind and Chi squared statistical analysis was performed, with independent variable sex and dependent variable cheiloscopy path. Results: Regarding the total sample: women (n= 61; 50.41%) of type I; men (n= 28; 23.14%). Type I’ men (n=5; 6.05%), women (n=14; 16.94%). In type II we find in Type II and III in males the same proportion (n=2; 2.42%) and females in type II (3.63%) and type III (1.21%), Type V females (n=5; 6.05%), Males n= 0; in type IV there are no individuals with this pattern. There are no statistically significant differences between sex differentiation and cheiloscopic pattern, with a P>0.05. Conclusions: There is weak evidence to be able to use cheiloscopy as a method of sex-cheiloscopic pattern differentiation. The predominant pattern in women is I, I’ and V, in men I and I’. There is no type IV and type V only occurs in women.

An approach for obtaining estimation of stability of large communication network taking into account its dependent paths

The physical data layer transmits bits over physical communication channels, such as coaxial cable or twisted pair. That is, it is this level that directly transmits data. At this level, the characteristics of electrical signals that transmit discrete information are determined. After that it is necessary to consider the control of the communication network, its various algorithms. When designing a communication network, a prerequisite is to calculate its stability, and in the case of large scale communication networks, this is a big problem. The most common deterministic, as well as fairly fast approximate method, which is often implemented at the present time, is the method by which the stability of the communication direction which is estimated by analyzing independent paths only. The main disadvantage of this method is obtaining an understated estimate of stability due to unaccountable dependent routes of communication directions. And this leads to inefficient use of resources. Our proposed methodology allows to take into not only independent paths, but also dependent ones, which is the basis for obtaining a significantly more correct estimate. It is based on an algorithm for checking the presence of a certain path and, based on it, an algorithm for obtaining an exact assessment of stability. The paper also provides analytical and statistical analysis of the considered algorithms. In particular, a special parameter was introduced that characterizes the probability of a failure event of communication lines, in which the number of failed communication lines lies in a certain specified range; after which a study of the function describing this parameter was carried out.

Range and Capacity Considerations for Terahertz-Systems for 6G Mobile and Wireless Communication

Discussions on research directions towards systems beyond 5G/6G have started. One of the potential elements of future mobile and wireless systems are new radio systems in the (sub)-Terahertz domain above 100 GHz for communication and sensing purposes. This paper is investigating potentially available frequency bands based on the ITU Radio Regulation, basic propagation conditions above 100 GHz including the different additional path loss contributions on top of distance dependent path loss such as atmospheric and rain attenuation, foliage and wall penetration loss. The impact on system performance like range and channel capacity is considered under idealized conditions at Shannon limit and demonstrated by indoor and outdoor, uplink and downlink scenarios. Radiation limits based on internationally accepted regulations are taken into account in scenarios, where humans are directly involved in the communication. In other scenarios less stringent requirements apply. The main purpose of this paper is to get an understanding from a system perspective of the relation between achievable data throughput versus range and system bandwidth for different propagation conditions and carrier frequency ranges and to investigate basic physical limits. This understanding helps in the identification of use cases, applications and economic considerations on system deployment.

Recognizing and Analyzing Private Car Commuters Using Big Data of Electronic Registration Identification of Vehicles

Private cars’ travel has been one of the main factors causing urban traffic congestion. Especially during morning and evening rush hours, private car commuters bring a significant burden to traffic. However, there is very little literature on them due to the lack of access to relevant data. A real-world dataset containing vehicle passing records of Electronic Registration Identification (ERI) of vehicles provides us with an opportunity to research private car commuters. We propose a regular behavior-based model to recognize private car commuters. In the model, a regular behavior-based definition of private car commuters is firstly proposed. Then, TDSP(Time dependent shortest path)-based distance measurement and a hierarchical clustering method are designed to extract regular behaviors. Furthermore, we utilize a regular threshold <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$p $ </tex-math></inline-formula> to help determine regular behaviors. The experiment, which is conducted on a real-world dataset containing one-week vehicle passing records in Chongqing of China, validates the effectiveness and accuracy of the proposed model. Moreover, we analyze the mobility pattern of private car commuters, and some typical mobility patterns of them are successfully found.

Reliability-based design and robustness for blast-resistant design of RC buildings

Explosive blasts from accidental or malevolent sources constitute an extreme event resulting in abnormal loads on buildings and other structures. A reinforced concrete (RC) multistorey building is assumed to be attacked by a terrorist vehicle-borne improvised device. Structural reliabilities are calculated for each RC column in the multistorey building exposed directly to the blast event. The probability of progressive collapse for the building is then estimated using system reliability analysis comprising of ground floor columns exposed to the explosive blast. The RC columns are designed according to United States blast-resistant design standard based on (i) threat dependent and (ii) alternate path design methods. The effects of threat dependent and alternate path design methods on column sizing, column reliability, and building collapse probability are investigated by conservatively assuming that collapse occurs if one or more columns fail. The robustness is also dependent on the location of the explosive. It was also found that a threat-dependent design appears to be more effective than the alternate path method in reducing building collapse risks.

Proportional Fairness Based Energy Efficient Routing in Wireless Sensor Network

Wireless Sensor Network (WSN) is an independent device that comprises a discrete collection of Sensor Nodes (SN) to sense environmental positions, device monitoring, and collection of information. Due to limited energy resources available at SN, the primary issue is to present an energy-efficient framework and conserve the energy while constructing a route path along with each sensor node. However, many energy-efficient techniques focused drastically on energy harvesting and reduced energy consumption but failed to support energy-efficient routing with minimal energy consumption in WSN. This paper presents an energy-efficient routing system called Energy-aware Proportional Fairness Multi-user Routing (EPFMR) framework in WSN. EPFMR is deployed in the WSN environment using the instance time. The request time sent for the route discovery is the foremost step designed in the EPFMR framework to reduce the energy consumption rate. The proportional fairness routing in WSN selects the best route path for the packet flow based on the relationship between the periods of requests between different SN. Route path discovered for packet flow also measure energy on multi-user route path using the Greedy Instance Fair Method (GIFM). The GIFM in EPFMR develops node dependent energy-efficient localized route path, improving the throughput. The energy-aware framework maximizes the throughput rate and performs experimental evaluation on factors such as energy consumption rate during routing, Throughput, RST, node density and average energy per packet in WSN. The Route Searching Time (RST) is reduced using the Boltzmann Distribution (BD), and as a result, the energy is minimized on multi-user WSN. Finally, GIFM applies an instance time difference-based route searching on WSN to attain an optimal energy minimization system. Experimental analysis shows that the EPFMR framework can reduce the RST by 23.47% and improve the throughput by 6.79% compared with the state-of-the-art works.

Nursing Opportunities Unleashed - A View Point

The nursing profession has the widest range of opportunities, but the unawareness and ignorance of nurses are making them be at a dependent level only rather than independent. In most of the scenarios, administrative nurses, health care policymakers, and administrators of institutions and agencies, make and implement roles and activities for nurses to fulfill the aims of medicine and institutional bureaucracy. This problem 'forces' nursing to travel a dependent path. A view is set forth that the problem stems from the collective failure of nursing to articulate and implement a function and product distinct from that of medicine and other professions. Making this distinction is critical to the charting of an independent path. Nursing's past and present are examined in terms of the service nursing does provide for society. This paper deals with the various emerging job opportunities for nurses and ways to choose the best working environment for career advancement. Keywords: Teaching Role, Clinical Role, Research Role, Entrepreneur Role, Indian Nursing Council, Migration.

Time Dependent Scanning Path Optimization for the Powder Bed Fusion Additive Manufacturing Process

In this paper, scanning paths optimization for the powder bed fusion additive manufacturing process is investigated. The path design is a key factor of the manufacturing time and for the control of residual stresses arising during the building, since it directly impacts the temperature distribution. In the literature, the scanning paths proposed are mainly based on existing patterns, the relevance of which is not related to the part to build. In this work, we propose an optimization algorithm to determine the scanning path without a priori restrictions. Taking into account the time dependence of the source, the manufacturing time is minimized under two constraints: melting the required structure and avoiding any over-heating causing thermally induced residual stresses. The results illustrate how crucial the part’s shape and topology is in the path quality and point out promising leads to define path and part design constraints.

Protein cofactors and substrate influence Mg2+-dependent structural changes in the catalytic RNA of archaeal RNase P.

The ribonucleoprotein (RNP) form of archaeal RNase P comprises one catalytic RNA and five protein cofactors. To catalyze Mg2+-dependent cleavage of the 5′ leader from pre-tRNAs, the catalytic (C) and specificity (S) domains of the RNase P RNA (RPR) cooperate to recognize different parts of the pre-tRNA. While ∼250–500 mM Mg2+ renders the archaeal RPR active without RNase P proteins (RPPs), addition of all RPPs lowers the Mg2+ requirement to ∼10–20 mM and improves the rate and fidelity of cleavage. To understand the Mg2+- and RPP-dependent structural changes that increase activity, we used pre-tRNA cleavage and ensemble FRET assays to characterize inter-domain interactions in Pyrococcus furiosus (Pfu) RPR, either alone or with RPPs ± pre-tRNA. Following splint ligation to doubly label the RPR (Cy3-RPRC domain and Cy5-RPRS domain), we used native mass spectrometry to verify the final product. We found that FRET correlates closely with activity, the Pfu RPR and RNase P holoenzyme (RPR + 5 RPPs) traverse different Mg2+-dependent paths to converge on similar functional states, and binding of the pre-tRNA by the holoenzyme influences Mg2+ cooperativity. Our findings highlight how Mg2+ and proteins in multi-subunit RNPs together favor RNA conformations in a dynamic ensemble for functional gains.

A Measurement-Based Message-Level Timing Prediction Approach for Data-Dependent SDFGs on Tile-Based Heterogeneous MPSoCs

Fast yet accurate performance and timing prediction of complex parallel data flow applications on multi-processor systems remains a very difficult discipline. The reason for it comes from the complexity of the data flow applications w.r.t. data dependent execution paths and the hardware platform with shared resources, like buses and memories. This combination may lead to complex timing interferences that are difficult to express in pure analytical or classical simulation-based approaches. In this work, we propose the combination of timing measurement and statistical simulation models for probabilistic timing and performance prediction of Synchronous Data Flow (SDF) applications on MPSoCs with shared memories. We exploit the separation of computation and communication in our SDF model of computation to set-up simulation-based performance prediction models following different abstraction approaches. We especially propose a message-level communication model driven by a data-dependent probabilistic execution phase timing model. We compare our work against measurement on two case-studies from the computer vision domain: a Sobel filter and a JPEG decoder. We show that the accuracy and execution time of our modeling and evaluation framework outperforms existing approaches and is suitable for a fast yet accurate design space exploration.

The Effect Of Distributive Perception Of Justice And Procedural Perception Of Justice On Employee Engagement On Health Employees Hospital Garut West Java

The Effect of Perceived Distributive Justice and Perceived Procedural Justice on Employee Engagement in Garut Hospital Employees, This research was conducted at Garut Hospital . The data collected and the results of preliminary studies show that the level of employee engagement at Garut Hospital Bandung is still low. The research method used is descriptive and verificative analysis method with the number of respondents 100 people from a population of 375 employees of Garut Hospital. The data analysis technique used is descriptive analysis technique, correlation analysis to determine the magnitude of the influence between the independent variables and the dependent variable and path analysis using the Causal Step technique to determine the direct and indirect effect and the mediation effect of the independent variables on the dependent variable. The results showed that perceived distributive justice The Effect of Perceived Distributive Justice and Perceived Procedural Justice support have a positive effect on on Employee Engagement at Garut Hospital West Java.

Algorithms for calculation of reliability of large-scale communication networks

The reliability of the communication network is one of its main technical characteristics. The definition of this characteristic provides for the solution of a cascade of subtasks, the choice of which depends on the operating conditions of the network, the possible requirements for the estimation error, and the available computational and time resources. Since obtaining an accurate estimate of it is NP a difficult task, and modern communication networks are becoming more ramified and large-scale, this stimulates the improvement of methods for its calculation. This article contains various algorithms for determining the reliability of a communication network with a description of the conditions for their effective use. In particular, it is considered which algorithms will be most expedient to use for channel and packet switching. In addition, in the development of the developed method for assessing reliability taking into account dependent paths, an adaptation of the method is proposed taking into account various indicators of reliability of communication network elements.

Reversible Fluxon Logic With Optimized CNOT Gate Components

Reversible logic gates were previously implemented in superconducting circuits as adiabatic-reversible gates, which are powered with a sufficiently slow clock. In contrast, we are studying ballistic-reversible gates, where fluxons serve to both encode the information and power the gates. No power is applied to the gate apart from the energy of the input fluxons, and the two possible flux polarities represent the bit states. Undamped long Josephson junctions (LJJs), where fluxons move at practically constant speed from inertia, form the input and output channels of the gates. LJJs are connected in the gates by circuit interfaces, which are designed to allow the ballistic scattering from input to output fluxon states, using the temporary excitation of a localized mode. The duration of the resonant scattering determines the operation time of the gate, approximately a few Josephson plasma periods. Due to the coherent conversions between fluxon and localized modes the ballistic gates can be very efficient: in our simulations only a few percent of the fluxon's energy are dissipated in the gate operation. Ballistic-reversible gates can be combined with other, non-ballistic gate circuits to extend the range of gate functionalities. Here we describe how the CNOT can be built as a structure that includes the IDSN (Identity-else-Same-gives-NOT) and Store-and-Launch (SNL) gates. The IDSN is a 2-bit ballistic gate, which we describe and analyze in terms of equivalent 1-bit circuits. The SNL is a clocking gate, that allows the storage of a bit and the clocked launch of a fluxon on a bit-state dependent output path. In the CNOT the SNL gates provide the necessary routing and fluxon synchronization for the input to the IDSN gate.

Effects of Cognitive Over Postural Demands on Upright Standing Among Young Adults.

A growing body of research has shown that static stance control (e.g., body sway) is influenced by cognitive demands (CD), an effect that may be related to competition for limited central resources. Measures of stance control have also been impacted by postural demands (PD) (e.g., stable vs. unstable stances). However, less is known of any possible interactions between PD and CD on static stance control in populations with intact balance control and ample cognitive resources, like young healthy adults. In this study, among the same participants, we factorially compared the impact of PD with and without CD on static stance control. Thirty-four healthy young adults wore inertial measurement units (IMU) while completing static stance tasks for 30 seconds in three different PD positions: feet apart, feet together, and tandem feet. After completing these tasks alone, participants performed these tasks with CD by concurrently completing verbal serial seven subtractions from a randomly selected three-digit number. For two dependent measures, path length and jerk, there were main effects of CD and PD but no interaction effect between these factors. For all other stance control parameters, there was only a PD main effect. Thus, adding a cognitive demand to postural demands, while standing upright, may have an independent impact on stance control, but CD does not seem to interact with PD. These results suggest that young healthy adults may be less sensitive to simple PD and CD due to their greater inherent balance control and available cognitive resources. Future work might explore more complex PD and CD combinations to determine the boundaries under which young adults' resources are taxed.

Multi-channel swept source optical coherence tomography concept based on photonic integrated circuits.

In this paper, we present a novel concept for a multi-channel swept source optical coherence tomography (OCT) system based on photonic integrated circuits (PICs). At the core of this concept is a low-loss polarization dependent path routing approach allowing for lower excess loss compared to previously shown PIC-based OCT systems, facilitating a parallelization of measurement units. As a proof of concept for the low-loss path routing, a silicon nitride PIC-based single-channel swept source OCT system operating at 840 nm was implemented and used to acquire in-vivo tomograms of a human retina. The fabrication of the PIC was done via CMOS-compatible plasma-enhanced chemical vapor deposition to allow future monolithic co-integration with photodiodes and read-out electronics. A performance analysis using the results of the implemented photonic building blocks shows a potential tenfold increase of the acquisition speed for a multi-channel system compared to an ideal lossless single-channel system with the same signal-to-noise ratio.