Identifying Trippers and Non-Trippers Based on Knee Kinematics During Obstacle-Free Walking

Trips are a major cause of falls. Sagittal-plane kinematics affect clearance between the foot and obstacles, however, it is unclear which kinematic measures during obstacle-free walking are associated with avoiding a trip when encountering an obstacle. The purpose of this study was to determine kinematic factors during obstacle-free walking that are related to obstacle avoidance ability. It was expected that successful obstacle avoidance would be associated with greater peak flexion/dorsiflexion and range of motion (ROM), and differences in timing of peak flexion/dorsiflexion during swing of obstacle-free walking for the hip, knee and ankle. Three-dimensional kinematics were recorded as 35 participants (young adults age 18–45 (N = 10), older adults age 65+ without a history of falls (N = 10), older adults age 65+ who had fallen in the last six months (N = 10), and individuals who had experienced a stroke more than six months earlier (N = 5)) walked on a treadmill, under obstacle-free walking conditions with kinematic features calculated for each stride. A separate obstacle avoidance task identified trippers (multiple obstacle contact) and non-trippers. Linear discriminant analysis with sequential feature selection classified trippers and non-trippers based on kinematics during obstacle-free walking. Differences in classification performance and selected features (knee ROM and timing of peak knee flexion during swing) were evaluated between trippers and non-trippers. Non-trippers had greater knee ROM (P = .001). There was no significant difference in classification performance (P = .193). Individuals with reduced knee ROM during obstacle-free walking may have greater difficulty avoiding obstacles

An obstacle problem for Tug-of-War games

We consider the obstacle problem for the infinity Laplace equation. Given a Lipschitz boundary function and a Lipschitz obstacle we prove the existence and uniqueness of a super infinity-harmonic function constrained to lie above the obstacle which is infinity harmonic where it lies strictly above the obstacle. Moreover, we show that this function is the limit of value functions of a game we call obstacle tug-of-war

Unsteady Aerodynamic Interaction Between Rotor and Ground Obstacle

The mutual aerodynamic interaction between rotor wake and surrounding obstacles is complex, and generates high compensatory workload for pilots, degradation of the handling qualities and performance, and unsteady force on the structure of the obstacles. The interaction also affects the minimum distance between rotorcrafts and obstacles to operate safely. A vortex-based approach is then employed to investigate the complex aerodynamic interaction between rotors and ground obstacle, and identify the distance where the interaction ends, and this is also the objective of the GARTEUR AG22 working group activities. In this approach, the aerodynamic loads of the rotor blades are described through a panel method, and the unsteady behaviour of the rotor wake is modelled using a vortex particle method. The effects of the ground plane and obstacle are accounted for via a viscous boundary model. The method is then applied to a “Large” and a “Wee” rotor near the ground and obstacle, and compared with the earlier experiments carried out at the University of Glasgow. The results show that the predicted rotor induced inflow and flow field compare reasonably well with the experiments. Furthermore, at certain conditions the tip vortices are pushed up and re-injected into the rotor wake due to the effect of the obstacle resulting in a recirculation. Moreover, contrary to without the obstacle case, the peak and thickness of the radial outwash near the obstacle is smaller due to the barrier effect of the obstacle, and an up-wash is observed. Additionally, as the rotor closes to the obstacle, the rotor slipstreams impinge directly on the obstacle, and the up-wash near the obstacle is faster, indicating a stronger interaction between the rotor wake and the obstacle. Also, contrary to the case without the obstacle, the fluctuations of the rotor thrust, rolling and pitching moments are obviously strengthened. When the distance between the rotor and the obstacle is larger than 3R, the effect of the obstacle is small

Flocking with Obstacle Avoidance

In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs. We provide models of nets and flocks and discuss the realization/embedding issues related to structural nets and flocks. This allows task representation and execution for a network of agents called alpha-agents. We also consider flocking in the presence of multiple obstacles. This task is achieved by introducing two other types of agents called beta-agents and gamma-agents. This framework enables us to address split/rejoin and squeezing maneuvers for nets/flocks of dynamic agents that communicate with each other. The problems arising from switching topology of these networks of mobile agents make the analysis and design of the decision-making protocols for such networks rather challenging. We provide simulation results that demonstrate the effectiveness of our theoretical and computational tools

A note on the enclosure method for an inverse obstacle scattering problem with a single point source

This paper gives a note on an application of the enclosure method to an inverse obstacle scattering problem governed by the Helmholtz equation in two dimensions. It is shown that one can uniquely determine the convex hull of an unknown sound-hard polygonal obstacle from the trace of the total wave that was exerted by a single point source onto a known circle surrounding the obstacle provided the source is sufficiently far from the obstacle. The result contains a formula that extracts the value of the support function of the obstacle at a generic direction. Some other applications to thin obstacles, obstacles in a layered medium and the far-field equation in the linear sampling method are also included.Comment: 20 page

Investigation of the rotor–obstacle aerodynamic interaction in hovering flight

In this paper, a comprehensive experimental survey of the aerodynamic interaction of a hovering rotor in the proximity of a ground obstacle is described, taking advantage of multiple experimental techniques. Load measurements on the rotor were carried out to assess the change in the rotor performance for different positions with respect to the cubic obstacle, thus simulating a set of possible hovering flight conditions around the obstacle. Laser Doppler anemometry measurements of the rotor inflow were used to investigate how the aerodynamic interaction affected the rotor performance. Stereoscopic particle image velocimetry measurements in the region between the rotor and the obstacle were carried out to gain a better insight of the interacting flow field. The investigation showed two main regions of interest. The first region is the one above the edge of the obstacle, where the rotor experiences a gradual ground effect as it is positioned over the obstacle. The second region, probably of more interest, is the one just beside the obstacle where a recirculation region between the rotor and the obstacle develops, causing both a significant reduction in the thrust augmentation experienced in unobstructed hover in ground effect and significant pitching and rolling moments, due to the nonsymmetrical inflow pattern on the rotor

Stepping over obstacles: Attention demands and aging

Older adults have been shown to trip on obstacles despite taking precautions to step carefully. It has been demonstrated in dual-task walking that age-related decline in cognitive and attentional mechanisms can compromise postural management. This is yet to be substantiated during obstacle negotiation when walking. Forty-six healthy volunteers (aged 20-79 years) stepped over obstacles in their path whilst walking and performing a verbal fluency task. Using 3D kinematic analysis we compared obstacle crossing during single (obstacle crossing only) and dual-task (obstacle crossing with verbal task) conditions. We grouped the participants into three age groups and examined age-related changes to cognitive interference on obstacle crossing. During dual-task trials, the 20-29 and 60-69 groups stepped closer to the obstacles prior to crossing, increased vertical toe-obstacle clearance, and had reduced gait variability. In these two groups there was a small dual-task decrease in verbal output. The 70-79 group applied similar dual-task stepping strategies during pre-crossing. However, during crossing they showed reduced vertical toe-to-obstacle clearance and increased variability of obstacle-to-heel distance. Additionally, this group did not show any significant change to verbal output across trials. These results suggest that with advanced age, increased cognitive demands are more likely to have a detrimental impact on motor performance, leading to compromised safety margins and increased variability in foot placement. We conclude that younger adults utilise a posture-preserving strategy during complex tasks but the likelihood of this strategy being used decreases with advanced age

Periodic shedding of vortex dipoles from a moving penetrable obstacle in a Bose-Einstein condensate

We investigate vortex shedding from a moving penetrable obstacle in a highly oblate Bose-Einstein condensate. The penetrable obstacle is formed by a repulsive Gaussian laser beam that has the potential barrier height lower than the chemical potential of the condensate. The moving obstacle periodically generates vortex dipoles and the vortex shedding frequency $f_v$ linearly increases with the obstacle velocity $v$ as $f_v=a(v-v_c)$, where $v_c$ is a critical velocity. Based on periodic shedding behavior, we demonstrate deterministic generation of a single vortex dipole by applying a short linear sweep of a laser beam. This method will allow further controlled vortex experiments such as dipole-dipole collisions.Comment: 6 pages, 7 figure