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CACLA-Based Trajectory Tracking guidance for RLV in Terminal Area Energy Management Phase

SENSORS 2021年第15期21卷 5062页

作者： Lan, Xuejing Tan, Zhifeng Zou, Tao Xu, Wenbiao Guangzhou Univ Sch Mech & Elect Engn Guangzhou 510006 Peoples R China Guangdong Prov Inst Metrol Guangzhou 510450 Peoples R China

This paper focuses on the trajectory tracking guidance problem for the Terminal Area Energy Management (TAEM) phase of the Reusable Launch Vehicle (RLV). Considering the continuous state and action space of this guidance problem, the Continuous Actor-Critic Learning Automata (CACLA) is applied to construct the guidance strategy of RLV. Two three-layer neuron networks are used to model the critic and actor of CACLA, respectively. The weight vectors of the critic are updated by the model-free Temporal Difference (TD) learning algorithm, which is improved by eligibility trace and momentum factor. The weight vectors of the actor are updated based on the sign of TD error, and a Gauss exploration is carried out in the actor. Finally, a Monte Carlo simulation and a comparison simulation are performed to show the effectiveness of the CACLA-based guidance strategy.

关键词： RLV guidance TAEM CACLA TD learning

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Hallway exploration-inspired guidance: applications in autonomous material transportation in construction sites

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AUTOMATION IN CONSTRUCTION 2021年 128卷 103758-103758页

作者： Yang, Guang Wang, Shuoyu Okamura, Hajime Shen, Bo Ueda, Yasuhiro Yasui, Toshiaki Yamada, Tetsuya Miyazawa, Yuki Yoshida, Satomi Inada, Yuta Ino, Shingo Okuhata, Kazuo Mizobuchi, Yoshinobu Kochi Univ Technol Res Inst Kochi 7828502 Japan Kochi Univ Technol Dept Intelligent Mech Syst Engn Kochi 7828502 Japan Maeda Corp Tokyo 1028151 Japan Satt Syst Kochi 7800051 Japan

Continued attempts have been conducted to improve construction productivity with automatic material transportation robots, yet neither of them has been popularized. The reason is that navigating in highly unstructured and dynamic indoor environments remains a great challenge. Therefore, we present a hallway explorationinspired guidance approach (HEIGA), which guides an agent to its destination based on a series of directional guidance without the need for self-localization in a global frame. A series of experiments were conducted which prove that fully autonomous material transportation can be realized without being influenced by the complexity or dynamics of real construction sites. We expect this new approach to effectively: (i)free workers from heavy and repetitive material transportation tasks;and (ii) improve construction productivity. In the future, the presented approach will be applied in construction sites considering multi-robot collaboration, aiming at a higher material transportation efficiency.

关键词： guidance Construction site Material transportation

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Proof-of-concept for x-ray based real-time image guidance during cardiac radioablation

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PHYSICS IN MEDICINE AND BIOLOGY 2021年第17期66卷 175010-175010页

作者： Hindley, Nicholas Lydiard, Suzanne Shieh, Chun-Chien Keall, Paul Univ Sydney ACRF Image X Inst Sydney NSW Australia Ingham Inst Appl Med Res Liverpool Australia Univ Sydney Sydney Neuroimaging Anal Ctr Sydney NSW Australia

Cardiac radioablation offers non-invasive treatments for refractory arrhythmias. However, treatment delivery for this technique remains challenging. In this paper, we introduce the first method for real-time image guidance during cardiac radioablation for refractory atrial fibrillation on a standard linear accelerator. Our proposed method utilizes direct diaphragm tracking on intrafraction images to estimate the respiratory component of cardiac substructure motion. We compare this method to treatment scenarios without real-time image guidance using the 4D-XCAT digital phantom. Pre-treatment and intrafraction imaging was simulated for 8 phantoms with unique anatomies programmed using cardiorespiratory motion from healthy volunteers. As every voxel in the 4D-XCAT phantom is labelled precisely according to the corresponding anatomical structure, this provided ground-truth for quantitative evaluation. Tracking performance was compared to the ground-truth for simulations with and without real-time image guidance using the left atrium as an exemplar target. Differences in target volume size, mean volumetric coverage, minimum volumetric coverage and geometric error were recorded for each simulation. We observed that differences in target volume size were statistically significant (p < 0.001) across treatment scenarios and that real-time image guidance enabled reductions in target volume size ranging from 11% to 24%. Differences in mean and minimum volumetric coverage were statistically insignificant (both p = 0.35) while differences in geometric error were statistically significant (p = 0.039). The results of this study provide proof-of-concept for x-ray based real-time image guidance during cardiac radioablation.

关键词： cardiac real-time guidance radioablation

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guidance laws for attacking defended target

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Chinese Journal of Aeronautics 2019年第10期32卷 2337-2353页

作者： Qilong SUN Chenfeng ZHANG Ning LIU Weixue ZHOU Naiming QI Beijing Institute of Space Long March Vehicle Beijing 100076China Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China

In this paper,two new guidance laws based on differential game theory are proposed and investigated for the attacker in an attacker-defender-target *** conditions for the attacker winning the game are analyzed when the target and defender using the differential game guidance law based on the linear *** core ideas underlying the two guidance laws are the attacker evading to a critical safe boundary from the defender,and then maintaining a critical miss *** guidance law more appropriate for the attacker to win the game differs according to the initial *** other guidance laws,when using the derived guidance laws there is no need to know the target and the defender’s control *** results of numerical simulations show that the attacker can evade the defender and hit the target successfully by using the proposed derived guidance laws.

关键词： Attacking Control effort Differential game theory guidance law Miss distance

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Practical guidance for Outpatient Spasticity Management During the Coronavirus (COVID-19) Pandemic: Canadian Spasticity COVID-19 Task Force

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CANADIAN JOURNAL OF NEUROLOGICAL SCIENCES 2020年第5期47卷 589-593页

作者： Reebye, Rajiv Finlayson, Heather May, Curtis Satkunam, Lalith Wein, Theodore Miller, Thomas Boulias, Chris O'Connell, Colleen Bohorquez, Anibal Dukelow, Sean Ethans, Karen Ismail, Farooq Khalil, Waill Khan, Omar Lagnau, Philippe McNeil, Stephen Mills, Patricia Sirois, Genevieve Winston, Paul GF Strong Rehabil Ctr Vancouver BC Canada Univ British Columbia Div Phys Med & Rehabil Vancouver BC Canada Univ British Columbia Fac Med Vancouver BC Canada Univ Alberta Glenrose Rehabil Hosp Edmonton AB Canada Univ Alberta Div Phys Med & Rehabil Edmonton AB Canada Montreal Gen Hosp Stroke Prevent Clin Montreal PQ Canada McGill Univ Ctr Hlth Montreal PQ Canada Western Univ St Josephs Hlth Care London London ON Canada West Pk Healthcare Ctr Toronto ON Canada Univ Toronto Phys Med & Rehabil Toronto ON Canada Stan Cassidy Ctr Fredericton NB Canada Dalhousie Univ Div Phys Med & Rehabil Halifax NS Canada Univ Calgary Dept Clin Neurosci Calgary AB Canada Univ Manitoba Dept Internal Med Sect Phys Med & Rehabil Winnipeg MB Canada Univ Saskatchewan Dept Phys Med & Rehabil Saskatoon City Hosp Saskatoon SK Canada Reg Rehabil Ctr Hamilton ON Canada Hotel Dieu Shaver Hlth & Rehabil Ctr St Catharines ON Canada Foothills Med Ctr Calgary AB Canada Dept Clin Neurosci Calgary AB Canada Univ Calgary Calgary AB Canada Inst Rehabil & Phys Impairment Quebec City Quebec City PQ Canada Laval Univ Quebec City PQ Canada

Background Spasticity is a common sequela of upper motor neuron conditions that can reduce quality of life, impair function, and heighten economic burden.1 Identification and treatment of problematic spasticity is key in order to decrease impairments including contracture formation, pain, skin breakdown, and functional decline and to limit disability.2 The COVID-19 pandemic has affected health-care systems worldwide including physical medicine and rehabilitation (PMR) and neurology practices in Canada.3-5 Inpatient hospital care for the management of patients with COVID-19 has been prioritized, while elective surgeries and outpatient clinics have been limited or canceled as part of resource allocation management and mitigation of risks during the pandemic. Telemedicine is obviously limited due to the inability to perform a full physical examination to adequately assess spasticity, tone, and contracture, and in certain clinical scenarios, in-person assessment becomes essential to ensure appropriate treatment. The SEMI-URGENT GROUP classified as a need for in-person assessment between 48 hours and 4 weeks and includes clinical scenarios where spasticity is worsening over the last 4 weeks and is associated with deteriorating functions such as mobility (including falls and difficulty with transfers), perineal care/hygiene with increased caregiver needs, and/or inability to function independently; increasing severe pain that is uncontrolled with other measures and has previously responded to chemodenervation; increased risk of joint dislocation; development of new or worsening pressure ulcer or wound; inability to don and doff orthoses required for function; impaired seating with increased pain and/or high risk of skin breakdown; loss of joint range of motion affecting function, skin breakdown, and/or contracture development. Given the current outbreaks in long-term care (LTC) facilities, we recommend not to transfer patients from LTC or other assisted living and grou

关键词： Spasticity Physical medicine and rehabilitation COVID-19 pandemic guidance

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The impact of the COVID-19 pandemic on clinical guidance and risk assessments, and the importance of effective leadership to support UK obstetric sonographers

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JOURNAL OF MEDICAL IMAGING AND RADIATION SCIENCES 2022年第4期53卷 S107-S115页

作者： Skelton, Emily Malamateniou, Christina Harrison, Gill City Univ London Sch Hlth & Psychol Sci Div Radiog & Midwifery London EC1V 0HB England Kings Coll London Perinatal Imaging & Hlth London SE1 7EH England Haute Ecole Sante Vaud Lausanne Switzerland Soc & Coll Radiographers 207 Providence Sq London SE1 2EW England

Introduction: The COVID-19 pandemic had a profound impact on the provision of obstetric ultrasound services, leading to the publication of new guidance and requirement for individual departmental risk assessments in the UK. The impact of these changes on clinical practice for UK obstetric sonographers is not currently well reported in published literature. Methods: Obstetric sonographers working in the UK (n = 138) used the Qualtrics XM (TM) platform to complete an anonymous, online questionnaire about their experiences during the pandemic. Participants responded to closed-type questions about national guidance, risk assessment and their perception of support, and provided additional detail about their experiences in these areas through free-text response options. Results: Over 90% of respondents were aware of or had read guidance issued by professional organisations, although challenges for its implementation in departments were identified. These were commonly related to the clinical working environment and included limitations on physical space (76.3%), time constraints (67.5%) and ventilation (61.3%). Sonographers felt most supported by their ultrasound colleagues (83.5%) and line managers (41.2%). They felt least supported by senior management and leadership personnel (60.8%), other antenatal colleagues (51.5%) and professional organisations (41.2%). Conclusion: Obstetric sonographers will need support from the wider service team and professional organisations to facilitate post-pandemic recovery of the workforce. Formal clinical supervision programmes may be beneficial in facilitating a more holistic approach to peer-support, although there is currently limited evidence of their use in sonographic practice.

关键词： COVID-19 guidance Obstetrics Risk assessment Sonographers Ultrasound

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Agency, guidance and gender - interrelated aspects of early childhood education settings

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EDUCATION 3-13 2020年第4期48卷 483-493页

作者： Rantala, Anna Heikkila, Mia Umea Univ Fac Appl Educ Sci Umea Sweden Abo Akad Univ Fac Educ & Welf Studies Vaasa Finland

Social interaction is one of the many things what preschool life is about, and how social life is constituted is of importance to understand. In early childhood education settings, children are guided and fostered by teachers and by each other in different directions. The overall aim of the article is to make a contribution to a deeper understanding of how children's agency is performed as a constantly gendered social activity and how this is affected by the guidance they receive from teachers. The relationship between agency, gender and guidance is scrutinised. By using Foucault's concepts discipline and power in combination with understandings of childhood and gender order this is explored. The empirical material consists of ethnographic observations in two preschools, and the results show how agency, gender and guidance need to be understood as relational processes when highlighting aspects of children's social life in ECE.

关键词： Preschool guidance children's agency ethnography gender early childhood education

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Use of Poetry in Secular Mindfulness guidance

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MINDFULNESS 2020年第6期11卷 1546-1556页

作者： Kempton, Heather Mary Massey Univ Sch Psychol North Shore Mail Ctr Private Bag 102904 Auckland 0745 New Zealand

Objectives Despite mindfulness-based programs (MBPs) being presented and practiced in a secular context, the traditions they have drawn from are spiritually based (e.g., Buddhist). Starting with a critical discussion of the secular/spiritual nature of mindfulness practices, the objective was to show how the divide between the two might be bridged with the skillful use of poetry as an active form of meaning-making (spirituality). Methods The inspired poetry of meditation, contemplation, and introspection in Buddhist traditions was reviewed, indicating that spiritual aesthetics have an important place in encouraging mindful practices that might also be useful to secular MBPs. The type of poetry found in MBP handbooks/manuals, and the context in which they were used, was surveyed and then contrasted with these traditional forms. Results Poetry themes overlapped with contemplative poetry from Buddhist traditions, with nature and change (as paradox) being frequently employed. Where the poetry in secular mindfulness texts differed was (1) in a lack of differentiating stages or paths, (2) in being simple and direct rather than abstract, and (3) focusing on acceptance. Conclusions Suggestions are made as to how poetry may be applied in mindfulness practices, with potential benefits of using them to address spiritual issues, including mitigating adverse effects and supporting religious backgrounds, as well as offering an active, reflexive, meaning-making activity for practitioners, instructors, and researchers that in itself could be used as a research tool.

关键词： Poetry Spiritual guidance Buddhism Secular mindfulness

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The Unavoidable guidance in Language

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INTERNATIONAL JOURNAL OF PHILOSOPHICAL STUDIES 2020年第1期28卷 18-35页

作者： Smith, Steven G. Millsaps Coll Dept Philosophy Jackson MS 39210 USA

Considering the profoundly collaborative nature of human communication, the notion of guidance needs more careful consideration and foregrounding in the philosophy of language. The practically crucial ideal of a well-balanced, fruitful relationship with a human guide motivates a conception of language as guidance, more specifically as the unavoidably applicable guidance in a communicative situation that language users are always in. The situation has at least three dimensions, with three corresponding forms of the guidance: (1) the performed guidance of the interlocutor in actual speech (cueing the speaker when to stop or change wording, for example);(2) the usage guidance of an available language;and (3) the basic teleology of the collaborative project of building up and maintaining a useful and interesting shared model of life in the world and providing for acceptable relations among communicating subjects.

关键词： guidance language linguisticality pragmatics Wittgenstein Davidson

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Effect of Adaptive guidance and Visualization Literacy on Gaze Attentive Behaviors and Sequential Patterns on Magazine-Style Narrative Visualizations

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ACM TRANSACTIONS ON INTERACTIVE INTELLIGENT SYSTEMS 2021年第3-4期11卷 28-28页

作者： Barral, Oswald Lalle, Sebastien Iranpour, Alireza Conati, Cristina Univ British Columbia Dept Comp Sci Vancouver BC Canada

We study the effectiveness of adaptive interventions at helping users process textual documents with embedded visualizations, a form of multimodal documents known as Magazine-Style Narrative Visualizations (MSNVs). The interventions are meant to dynamically highlight in the visualization the datapoints that are described in the textual sentence currently being read by the user, as captured by eye-tracking. These interventions were previously evaluated in two user studies that involved 98 participants reading excerpts of real-world MSNVs during a 1-hour session. Participants' outcomes included their subjective feedback about the guidance, and well as their reading time and score on a set of comprehension questions. Results showed that the interventions can increase comprehension of the MSNV excerpts for users with lower levels of a cognitive skill known as visualization literacy. In this article, we aim to further investigate this result by leveraging eye-tracking to analyze in depth how the participants processed the interventions depending on their levels of visualization literacy. We first analyzed summative gaze metrics that capture how users process and integrate the key components of the narrative visualizations. Second, we mined the salient patterns in the users' scanpaths to contextualize how users sequentially process these components. Results indicate that the interventions succeed in guiding attention to salient components of the narrative visualizations, especially by generating more transitions between key components of the visualization (i.e., datapoints, labels, and legend), as well as between the two modalities (text and visualization). We also show that the interventions help users with lower levels of visualization literacy to better map datapoints to the legend, which likely contributed to their improved comprehension of the documents. These findings shed light on how adaptive interventions help users with different levels of visualization literacy

关键词： Narrative visualization adaptive visualization guidance visualization literacy eye-tracking gaze metrics scanpath pattern mining

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