A Robot Navigation Algorithm for Moving Obstacles

In recent years, considerable progress has been made towards the development of intelligent autonomous mobile robots which can perform a wide variety of tasks. Although the capabilities of these robots vary significantly, each must have the ability to navigate within its environment from a starting location to a goal without experiencing collisions with obstacles in the process - a capability commonly referred to as robot navigation . Numerous algorithms for robot navigation have been developed which allow the robot to operate in static environments. However, little work has been accomplished in the development of algorithms which allow the robot to navigate in a dynamic environment. This thesis presents a mathematically-based navigation algorithm for a robot operating in a continuous-time environment inhabited by moving obstacles whose trajectories and velocities can be detected. In this methodology, the obstacles are represented as sheared cylinders to depict the areas swept out by the obstacle disks of influence over time. The robot is represented by the cone of positions it can reach by traveling at a constant speed in any direction. The methodology utilizes a three-dimensional navigation planning approach in which the search points, or tangent points, are the points in time at which the robot tangentially meets the obstacles. These tangent points are determined by calculating the intersection curves between the robot and the obstacles, and then using the first derivative of the intersection curves to make the tangent selections. Paths are created as sequences of these tangent points leading from the robot starting location to the goal, and are searched using the A* strategy, with a heuristic of the Euclidean distance from the tangent point to the goal. The main contribution of this thesis is the development of a methodology which produces optimal tangent paths to the goal for a dynamic robot environment. This feature is significant, since no other algorithm located in the literature survey as background to this thesis has shown the ability to produce paths with optimal properties

Heterogeneous Multi-Robot Cooperation

This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control

Simplex-Based 3D Spatio-temporal Feature Description for Action Recognition

We present a novel feature description algorithm to de-scribe 3D local spatio-temporal features for human action recognition. Our descriptor avoids the singularity and lim-ited discrimination power issues of traditional 3D descrip-tors by quantizing and describing visual features in the sim-plex topological vector space. Specifically, given a feature’s support region containing a set of 3D visual cues, we de-compose the cues ’ orientation into three angles, transform the decomposed angles into the simplex space, and describe them in such a space. Then, quadrant decomposition is per-formed to improve discrimination, and a final feature vec-tor is composed from the resulting histograms. We develop intuitive visualization tools for analyzing feature character-istics in the simplex topological vector space. Experimental results demonstrate that our novel simplex-based orienta-tion decomposition (SOD) descriptor substantially outper-forms traditional 3D descriptors for the KTH, UCF Sport, and Hollywood-2 benchmark action datasets. In addition, the results show that our SOD descriptor is a superior indi-vidual descriptor for action recognition. 1

Ensemble Properties of Comets in the Sloan Digital Sky Survey

We present the ensemble properties of 31 comets (27 resolved and 4 unresolved) observed by the Sloan Digital Sky Survey (SDSS). This sample of comets represents about 1 comet per 10 million SDSS photometric objects. Five-band (u,g,r,i,z) photometry is used to determine the comets' colors, sizes, surface brightness profiles, and rates of dust production in terms of the Af{\rho} formalism. We find that the cumulative luminosity function for the Jupiter Family Comets in our sample is well fit by a power law of the form N(< H) \propto 10(0.49\pm0.05)H for H < 18, with evidence of a much shallower fit N(< H) \propto 10(0.19\pm0.03)H for the faint (14.5 < H < 18) comets. The resolved comets show an extremely narrow distribution of colors (0.57 \pm 0.05 in g - r for example), which are statistically indistinguishable from that of the Jupiter Trojans. Further, there is no evidence of correlation between color and physical, dynamical, or observational parameters for the observed comets.Comment: 19 pages, 8 tables, 11 figures, to appear in Icaru

Prevalence and predictors of HIV-related stigma among institutional- and community-based caregivers of orphans and vulnerable children living in five less-wealthy countries

<p>Abstract</p> <p>Background</p> <p>In the face of the HIV/AIDS epidemic that has contributed to the dramatic increase in orphans and abandoned children (OAC) worldwide, caregiver attitudes about HIV, and HIV-related stigma, are two attributes that may affect caregiving. Little research has considered the relationship between caregiver attributes and caregiver-reported HIV-related stigma. In light of the paucity of this literature, this paper will describe HIV-related stigma among caregivers of OAC in five less wealthy nations.</p> <p>Methods</p> <p>Baseline data were collected between May 2006 through February 2008. The sample included 1,480 community-based and 192 institution-based caregivers. Characteristics of the community-based and institution-based caregivers are described using means and standard deviations for continuous variables or counts and percentages for categorical variables. We fit logistic regression models, both for the full sample and separately for community-based and institution-based caregivers, to explore predictors of acceptance of HIV.</p> <p>Results</p> <p>Approximately 80% of both community-based and institution-based caregivers were female; and 84% of institution-based caregivers, compared to 66% of community-based caregivers, said that they would be willing to care for a relative with HIV. Similar proportions were reported when caregivers were asked if they were willing to let their child play with an HIV-infected child. In a multivariable model predicting willingness to care for an HIV-infected relative, adjusted for site fixed effects, being an institution-based caregiver was associated with greater willingness (less stigma) than community-based caregivers. Decreased willingness was reported by older respondents, while willingness increased with greater formal education. In the adjusted models predicting willingness to allow one's child to play with an HIV-infected child, female gender and older age was associated with less willingness. However, willingness was positively associated with years of formal education.</p> <p>Conclusions</p> <p>The caregiver-child relationship is central to a child's development. OAC already face stigma as a result of their orphaned or abandoned status; the addition of HIV-related stigma represents a double burden for these children. Further research on the prevalence of HIV-related acceptance and stigma among caregivers and implications of such stigma for child development will be critical as the policy community responds to the global HIV/AIDS orphan crisis.</p

How effective are programs at managing transition from hospital to home? A case study of the Australian transition care program

Extent: 5p.Background: An increasing demand for acute care services due in part to rising proportions of older people and increasing rates of chronic diseases has led to new models of post-acute care for older people that offer coordinated discharge, ongoing support and often a focus on functional restoration. Overall, review of the literature suggests there is considerable uncertainty around the effectiveness and resource implications of the various model configurations and delivery approaches. In this paper, we review the current evidence on the efficacy of such programs, using the Australian Transition Care Program as a case study. Discussion: The Australian Transition Care Program was established at the interface of the acute and aged care sectors with particular emphasis on transitions between acute and community care. The program is intended to enable a significant proportion of care recipients to return home, rather than prematurely enter residential aged care, optimize their functional capacity, and reduce inappropriate extended lengths of hospital stay for older people. Broadly, the model is configured and targeted in accordance with programs reported in the international literature to be effective. Early evaluations suggest good acceptance of the program by hospitals, patients and staff. Ultimately, however, the program's place in the array of post-acute services should be determined by its demonstrated efficacy relative to other services which cater for similar patient groups. Summary: Currently there is a lack of robust evaluation to provide convincing evidence of efficacy, either from a patient outcome or cost reduction perspective. As the program expands and matures, there will be opportunity to scrutinise the systematic effects, with lessons for both Australian and international policy makers and clinical leaders.Leonard C Gray, Nancye M Peel, Maria Crotty, Susan E Kurrle, Lynne C Giles, and Ian D Camero

OSSOS. IV. DISCOVERY OF A DWARF PLANET CANDIDATE IN THE 9 : 2 RESONANCE WITH NEPTUNE

We report the discovery and orbit of a new dwarf planet candidate, 2015 RR245, by the Outer Solar System Origins Survey (OSSOS). The orbit of 2015 RR245 is eccentric (e = 0.586), with a semimajor axis near 82 au, yielding a perihelion distance of 34 au. 2015 RR245 has g - r = 0.59 +/- 0.11 and absolute magnitude H-r = 3.6 +/- 0.1; for an assumed albedo of p(V) = 12%, the object has a diameter of similar to 670. km. Based on astrometric measurements from OSSOS and Pan-STARRS1, we find that 2015 RR245 is securely trapped on ten-megayear timescales in the 9: 2 mean-motion resonance with Neptune. It is the first trans-Neptunian object (TNO) identified in this resonance. On hundred-megayear. timescales, particles in 2015 RR245-like orbits depart and sometimes return to the resonance, indicating that 2015 RR245 likely forms part of the long-lived metastable population of distant TNOs that drift between resonance sticking and actively scattering via gravitational encounters with Neptune. The discovery of a 9: 2 TNO stresses the role of resonances in the long-term evolution of objects in the scattering disk. and reinforces the view that distant resonances are heavily populated in the current solar system. This object further motivates detailed modeling of the transient sticking population.Peer reviewe