Unreachable Research Articles

Path planning for unmanned automaton based on improved artificial potential field method

The artificial potential field method (APF), a highly effective navigation technique, is currently utilized extensively in this area due to the rapid development of unmanned automatons. Traditional APF, however, have several shortcomings, including the issue of unreachable object points and the propensity to sink into local minima that prohibit the automaton from moving on. In this paper, a two-part improved APF model is created to address these issues. First, by including additional constraints, the repulsive field model at the stumbling block is enhanced to address the issue that the object point is impassable when too close a distance between the two stumbling blocks. Secondly, a new potential field is introduced to help the automaton walk out of the local minima. Analogue simulation show that the methods mentioned above can solve these problems better and make the route planning of unmanned automatons come true.

Asserting oneself. On aggression and suicide. A metapsychological (economical/quantitative) approach

ABSTRACT Aggression is an integral part of all conceptualizations of suicide. Using Freud’s economical (quantitative) point of view of metapsychology and her revised drive theory, the author offers a conception of aggression that integrates the assumptions of different psychoanalytic schools. Aggression is understood as the forceful way of asserting one’s needs and desires whenever they are or seem to be thwarted. In economic terms, aggression is conceptualized as the intensified effort (increased energy quantities) of the preservative and/or sexual drives to reach their goals. This view sheds new light on the presuicidal state of mind when an important object (or its substitute) is lost. The extraordinary rise of drive energies, activated in a desperate and unrelenting effort to reach the unreachable object – sometimes in addition to the power of Nachträglichkeit – overwhelms and breaks the containing function of the psychic structures. Such breach causes the unbearable pain the suicidal person wants to escape from. Some clinical suggestions derive from this conception.

Characterizing Patent Assignees by Their Structural Positions Relative to a Field’s Evolutionary Trajectory

This study characterizes and classifies the assignees of a technology field’s patents through quantitatively determining their structural positions against a trajectory epitomizing the field’s knowledge evolution. By considering that these patents’ citation network embodies a knowledge structure for the technology field, and assuming that a series of mainstream (MS) patents constitute the evolutionary trajectory, each non-MS patent is identified to be at one of the following positions: forward and backward reachable (FBR), backward reachable only (BRO), forward reachable only (FRO), and unreachable (UR), based on their reachability with the MS patents. The assignees are then associated with five positioning attributes, which are the shares of their patents at respective positions. With precise definitions using these quantitative attributes, assignees of the technology field are classified into exactly one of the distinctly positioned categories, namely trendsetters, contributors, absorbers, bystanders , and reinforcers , or one of the multiply positioned categories of mixed characteristics. These categories can be geometrically interpreted and the assignees’ positions can be visualized in a three-dimensional positioning space . This study then uses U.S. biochip patents and evolutionary trajectory derived by main path analysis (MPA) to observe how the proposed method work.

Head orientation control of projection area for projected virtual hand interface on wheelchair

A projected virtual hand interface, which visually extends the arms of users using projection images, enables wheelchair users to reach unreachable objects; however, its projection area is usually ...

Industrial Robot Control with Object Recognition based on Deep Learning

Although existing industrial robots are able to work in challenging environments, accomplish high-precision assignments, as well as help to enhance and increase productivity, most of this are still operated with prebuilt commandos and robot programs. Given the pressure of labor costs and fierce competition, there is a tremendous shortage of autonomous and intelligent robots and cyber-physical systems with the ability of perception and decision in coming Industry 4.0 application. These intelligent robots are able to analyze their tasks by selecting appropriate tools, planning their movements and executing suitable operations, in the same way as a trained human worker would do.In this paper, an industrial robot UR5 is allowed to perceive, locate and interact with different objects such as tools and office supplies. Using a stereo vision camera, it is possible to obtain both RGB- and Depth-data of the robots surrounding and workspace. This data is fed into a Deep Learning Faster-RCNN Network to realize the recognition and localization of present objects out of 50 different classes. With the derived information, proper operations can be planed and executed.The experimental results prove a successful recognition and gripping of reachable objects in the robot’s workspace or suitable feedback for unreachable objects. This work confirms the possibility of using current Deep Learning algorithms in combination with industrial robots to build intelligent systems. The configuration will become increasingly useful for automation and assembly technologies in upcoming Industry 4.0 applications with further developed hardware and software algorithms. Thus representing a significant milestone in the construction of intelligent robots and laying the foundation for future work.

Instilling QoS in Wireless Sensor Networks

Wireless Sensor Networks (WSNs) have been a desired choice for monitoring and automatic control of remote and unreachable objects and environments due to their low cost. However, such deployment requires quality-of service (QoS) techniques to assure reliable performance. Furthermore, provision of QoS in WSNs is a challenging task due to hardware limitations. A cross-layer approach is a promising option where information from different layers can be used to make QoS decisions. In this paper, we present a routing protocol where information from the application layer is used to make differentiated routing decisions based on data packets classifications. In our case, data packets are classified into: normal, urgent, and critical. Based on this classification each data packet class is treated differently by storing each data packet class in a designated buffer. Different buffers will have different routing priority decided by the protocol designer.

A Story of Parametric Trace Slicing, Garbage and Static Analysis

This paper presents a proposal (story) of how statically detecting unreachable objects (in Java) could be used to improve a particular runtime verification approach (for Java), namely parametric trace slicing. Monitoring algorithms for parametric trace slicing depend on garbage collection to (i) cleanup data-structures storing monitored objects, ensuring they do not become unmanageably large, and (ii) anticipate the violation of (non-safety) properties that cannot be satisfied as a monitored object can no longer appear later in the trace. The proposal is that both usages can be improved by making the unreachability of monitored objects explicit in the parametric property and statically introducing additional instrumentation points generating related events. The ideas presented in this paper are still exploratory and the intention is to integrate the described techniques into the MarQ monitoring tool for quantified event automata.

Antik Hellen Tapınağı ve Kutsal Alanlarında Düzenlemeler ve İlgili İşlevler

In addition to cult identity, the Greek sanctu­ary could be defined as an institution, sculptores were rep­resented by their works there and these hon­ored them, increasing the social prestige of donors and intro­ducing the social sections of life through objects, It was possible to see unreachable objects there and be able to approach them The concept of a common cul­ture. When we in­terpret the Greek sanctuary through the functions associ­ated with its internal arrangements, It is to be seen in its representative, instructive and, me­mo­rialising aspects. In order to see objects more ef­fec­tive­ly different ar­rangements were made, such as the use of benches, of niches in the wall and in the rock, ob­jects hug on the walls, the use of the columns and pedes­tals for statues and statuettes obtained in all periods.

Clinical application of digital PCR for accurate detection of gene mutation in cancer patients

The efficient characterization of genetic and epigenetic alterations in oncology requires highly sensitive and specific high throughput procedures. However, the necessary level of sensitivity and specificity were previously unreachable using conventional testing procedures. By partitioning individual target molecules within separated compartments, digital PCR (dPCR) could allow to overcome such limitations and detect with unprecedented accuracy very rare sequences. In such procedure, the sample is diluted such that each individual compartment will contain no more than one target sequences.The assay provides an absolute value and quantitative data. The recent coupling of dPCR procedure with microfluidic systems in commercial platforms should make droplet based digital PCR an essential tool for the management of patients with cancer. Applications range from the analysis of tumor heterogeneity to the analysis of body effluents. Droplet based digital PCR is also particularly suited for the increasing field of liquid biopsy analysis.(Chin J Lab Med, 2016, 39: 150-153) Key words: Polymerase chain reacion; Microfluidic analytical techniques; Neoplasms; DNA mutational analysis; Biopsy

Endoscopic ultrasound making resonance in cancer research

Endoscopic ultrasound (EUS) is a novel technology that is being increasingly used for the diagnosis and management of cancers involving various organ systems. The technology was introduced three decades ago and its use has expanded exponentially in the past two decades. EUS-guided fine needle aspiration (FNA) is the best modality for tumor detection and tissue diagnosis even if the mass is weakly identified by other imaging modalities (1). EUS-FNA is capable of taking samples from masses that are not imaged by computed tomography or magnetic resonance imaging and lesions too deeply encased by adjacent vascular structures to allow percutaneous biopsy (2). EUS-guided FNA as well as EUS guided Trucut biopsy (TCB) has proven to be beneficial for benign and malignant diseases as well as staging of malignant tumors of the GI tract and adjacent structures (3). The application of EUS-guided therapy is especially appealing for malignancies because it provides accurate and effective palliative treatment. This is possible primarily due to two EUS characteristics: (I) its ability to deliver direct treatment to lesions unreachable by other means; and (II) the minimal invasiveness of EUS, which provides superior results with a low complication rate (4). EUS is being used to locally stage esophageal tumors (T staging), and it can be used for the assessment of esophageal submucosal tumors as well. Based on the EUS characteristics, we can positively identify the lesions that arise from exterior layers. This approach is particularly useful for evaluating invasion of local disease (especially esophageal cancer), tumor depth, nodal involvement, and detection of distant metastases (5). CT and magnetic resonance imaging lack the ability to differentiate the layers of the esophageal mucosa. Thus, these modalities cannot accurately discern the T stage of esophageal cancer (6). Therefore, EUS is a prerequisite before performing esophageal endoscopic mucosal resection (EMR) or endoscopic submucosal dissection (ESD). Esophageal leiomyomas, esophageal cancers, cystic lesions, lipomas, vascular lesions, and esophageal extraluminal compressions are some of the lesions that are commonly identified using EUS. EUS can be used to obtain cytology specimens from mediastinal nodal enlargement for the diagnosis and staging of bronchogenic carcinoma (7). EUS has a definitive role for evaluation of early gastric cancers and gastric submucosal lesions. Early gastric cancers can be staged using EUS and the feasibility of EMR or ESD can be determined. Gastrointestinal stromal tumors (GISTs) and other submucosal lesions can be diagnosed as well using EUS and their potential for ESD can be determined using EUS.

Costing governmental services in a reformed environment: Unreachable goal or unfinished business?

AbstractThis article assesses the impact of New Public Management (NPM) reforms in the public sector from a cost consciousness perspective. Using an action‐research methodology, we analyze the intensity of the external pressures that influence the institutional logic under which public sector organizations manage their costs. The field work shows that even after decentralization, public sector organizations appear unable to move their costing function from expense control to cost management unless external pressures motivate managers to complete the reform. We propose that the probability of success of reforms is increased when organizations are subject to strong pressures that could take the form of individual incentives or external threats.

A Novel Design of a Parallel Machine Learnt Generational Garbage Collector

The Generational Garbage collection involves organizing the heap into different divisions of memory space in-order to filter long-lived objects from short-lived objects through moving the surviving object of each generation’s GC cycle to another memory space, updating its age and reclaiming space from the dead ones. The problem in this method is that, the longer an object is alive during its initial generations, the longer the garbage collector will have to deal with it by checking for its reachability from the root and promoting it to other space divisions, where as the ultimate goal of the GC is to reclaim memory from unreachable objects at a minimal time possible. This paper is a proposal of a method where the lifetime of every object getting into the heap will be predicted and will be placed in heap accordingly for the garbage collector to deal more with reclaiming space from dead object and less in promoting the live ones to the higher level.

A simple distributed garbage collector for distributed real-time Java

The use of real-time distribution middleware programmed with high-level languages like Java is becoming of increasing interest in next generation applications. Technology like Java's Remote Method Invocation (RMI) paves the way towards these new distributed horizons. RMI offers many high-level abstractions useful for distributed application programmers to reduce their development times. One of these abstractions is a distributed garbage collector (DGC) that removes unreachable remote objects from the distributed ecosystem. However, in real-time Java, distributed garbage collection is underspecified and it introduces unbounded indeterminism on end-to-end real-time Java communications. This article analyzes this problem proposing a simple characterization for a predictable real-time distributed garbage collector (RT-DGC). The approach requires support from the middleware infrastructure that implements the abstraction but it also introduces bounded overhead. The article provides insight on the performance that RT-DGC offers to a distributed real-time Java application and the extra overheads due to the intrinsic cost of this abstraction.

Propose Approach for UDP Random and Sequential Scanning Detection Based on the Connection Failure Messages

Network scanning usually lunched by attackers for exploring and gathering information about the target network, this information may includes the network topology and services running on the network, based on the gathered information the attacker will put his attack plan to gain access to the target network. Attackers sometimes scan the target network with none previous knowledge concerning the active service or host in the target network which will generate a high ratio of connection failure message which come in form of ICMP type 3 code 3 packets (port unreachable) and ICMP type 3 code 1 packets (host unreachable). This paper will propose approach for random and sequential type of UDP scanning detection based on the connection failures messages.

Do referential problem spaces affect the frequency of imperative pointing by infants?

Abstract Before speaking language, infants produce pointing gestures. To elucidate the mechanism promoting imperative pointing by infants, we investigated whether referential problem spaces, which are eco-cultural contexts in which subjects are reliant on others to obtain desirable but unreachable objects, affect the parental awareness of the frequency of imperative pointing by infants. Through a survey questionnaire, we asked parents of infants aged 8-30 months about the kinds of objects they place away from their infants and the frequency of their infants’ imperative pointing. The results show that parents who mentioned placing tiny objects or objects mainly used by adults or older children away from their infants reported higher frequencies of imperative pointing by their infants than those who did not. This suggests that the frequency of infants’ imperative pointing is increased by referential problem spaces, which are constructed by placing tiny objects or objects mainly used by adults or older children away from the infants.

The Mutual Roles of Action Representations and Spatial Deictics in French Language

Many aspects of language associated with an object's noun inform about the location of the object the noun refers to, in relation to the action system. In the present study, we tested whether the determiners la (the) and cette (that) in French language carry embodied spatial information. In Experiment 1, participants performed a reachability judgement task after having evaluated the correct spelling of both a determiner (la or cette) and an object-noun (balle-ball, tasse-cup, or pomme-apple). We found that response time for judging reachability was shorter when the determiner la rather than cette was previously presented. The opposite pattern of results was observed with unreachable objects. Furthermore, the boundary of reachable space was perceived further away when the determiner la rather than cette was previously presented. In Experiment 2, we evaluated whether watching a reachable or unreachable object influenced the subsequent spelling judgement task of a determiner (la or cette) and a noun (balle, tasse, or pomme). Results showed that reachable space was wider, and reachability estimates were faster, when judging reachability than when judging unreachability. Moreover, spelling judgements were faster when the stimulus was the determiner la rather than cette, whatever the reachability of the object presented before. Considered together, these data stress the close connection between the spatial content of determiners and the representation of action possibilities, giving some evidence for embodied language processing. By contrast, presenting an object at a reachable or an unreachable location does not seem sufficient to activate the related linguistic descriptors.

Fully concurrent garbage collection of actors on many-core machines

Disposal of dead actors in actor-model languages is as important as disposal of unreachable objects in object-oriented languages. In current practice, programmers are required to either manually terminate actors, or they have to rely on garbage collection systems that monitor actor mutation through write barriers, thread coordination through locks etc. These techniques, however, prevent the collector from being fully concurrent. We developed a protocol that allows garbage collection to run fully concurrently with all actors. The main challenges in concurrent garbage collection is the detection of cycles of sleeping actors in the actors graph, in the presence of concurrent mutation of this graph. Our protocol is solely built on message passing: it uses deferred direct reference counting, a dedicated actor for the detection of (cyclic) garbage, and a confirmation protocol (to deal with the mutation of the actor graph). We present our ideas informally through an example, and then present a formal model, prove soundness and argue completeness. We have implemented the protocol as part of a runtime library. As a preliminary performance evaluation, we discuss the performance of our approach as currently used at a financial institution, and use four benchmarks from the literature to compare our approach with other actor-model systems. These preliminary results indicate that the overhead of our approach is small.

Towards hinted collection

Garbage collection is widely used and has largely been a boon for programmer productivity. However, traditional garbage collection is approaching both practical and theoretical performance limits. In practice, the maximum heap size and heap structure of large applications are influenced as much by garbage collector behavior as by resource availability. We present an alternate approach to garbage collection wherein the programmer provides untrusted deallocation hints. Usage of deallocation hints is similar to trusted manual deallocation, but the consequence of an inaccurate hint is lost performance not correctness. Our hinted collector algorithm uses these hints to identify a subset of unreachable objects with both better parallel asymptotic complexity and practical performance. On some benchmarks, our prototype collector implementation achieves 10-20% pause time reductions. We close with a discussion of the design trade-offs inherent in our approach and lessons to be learned from our collector.

Reaching for the Unreachable: Reorganization of Reaching with Walking.

Previous research suggests that reaching and walking behaviors may be linked developmentally as reaching changes at the onset of walking. Here we report new evidence on an apparent loss of the distinction between the reachable and nonreachable distances as children start walking. The experiment compared nonwalkers, walkers with help, and independent walkers in a reaching task to targets at varying distances. Reaching attempts, contact, leaning, and communication behaviors were recorded. Most of the children reached for the unreachable objects the first time it was presented. Nonwalkers, however, reached less on the subsequent trials showing clear adjustment of their reaching decisions with the failures. On the contrary, walkers consistently attempted reaches to targets at unreachable distances. We suggest that these reaching errors may result from inappropriate integration of reaching and locomotor actions, attention control and near/far visual space. We propose a reward-mediated model implemented on a NAO humanoid robot that replicates the main results from our study showing an increase in reaching attempts to nonreachable distances after the onset of walking.

Are the K/DOQI objectives for bone mineral alterations in stage 3-5 chronic kidney disease patients unreachable or inadequate?

Are the K/DOQI objectives for bone mineral alterations in stage 3-5 chronic kidney disease patients unreachable or inadequate?