Massless spin 3/2 field, spherical solutions, eliminating of the gauge degrees of freedom

Relativistic system for a vector-bispinior describing a massless spin 3/2 field is studied in the spherical coordinates of Minkowski space. Presentation of the equation with the use of the covariant Levi-Civita tensor exhibits existence of the gauge solutions in the form of the covariant 4-gradient of an arbitrary bispinor. Substitution for 16-component field function is based on the use of Wigner functions, it assumes diagonalization of the operators of energy, square and third projection of the total angular momentum, and space reflection. We derive radial system for eight independent functions. General structure of the spherical gauge solutions is specified, and it is demonstrated that the gauge radial functions satisfy the derived system. It is proved that the general system reduces to two couples of independent 2-nd order and nonhomogeneous differential equations, their particular solutions may be found with the use of the gauge solutions. The corresponding homogeneous equations have one the same form, they have three regular singularities and one irregular of the rank 2. Frobenius types solutions for this equation have been constructed, and the structure of the involved power series with 4-term recurrent relations sre studied. Six remaining radial functions may be straightforwardly found by means of the simple algebraic relations. Thus, we have constructed two types of solutions with opposite parities which do not contain gauge constituents.

An Improved Weighted Gradient Projection Method for Inverse Kinematics of Redundant Surgical Manipulators

Different from traditional redundant manipulators, the redundant manipulators used in the surgical environment require the end effector (EE) to have high pose (position and orientation) accuracy to ensure the smooth progress of the operation. When analyzing the inverse kinematics (IK) of traditional redundant manipulators, gradient-projection method (GPM) and weighted least-norm (WLN) method are commonly used methods to avoid joint position limits. However, for the traditional GPM and WLN method, when joints are close to their limits, they stop moving, which greatly reduces the accuracy of the IK solution. When robotic manipulators enter a singular region, although traditional damped least-squares (DLS) algorithms are used to handle singularities effectively, motion errors of the EE will be introduced. Furthermore, selecting singular region through trial and error may cause some joint velocities exceed their corresponding limits. More importantly, traditional DLS algorithms cannot guide robotic manipulators away from singular regions. Inspired by the merits of GPM, WLN, and DLS methods, an improved weighted gradient projection method (IWGPM) is proposed to solve the IK problem of redundant manipulators used in the surgical environment with avoiding joint position limits and singularities. The weighted matrix of the WLN method and the damping factor of the DLS algorithm have been improved, and a joint limit repulsive potential field function and singular repulsive potential field function belong to the null space are introduced to completely keep joints away from the damping interval and redundant manipulators away from the unsafe region. To verify the validity of the proposed IWGPM, simulations on a 7 degree of freedom (DOF) redundant manipulator used in laparoscopic surgery indicate that the proposed method can not only achieve higher accuracy IK solution but also avoid joint position limits and singularities effectively by comparing them with the results of the traditional GPM and WLN method, respectively. Furthermore, based on the proposed IWGPM, simulation tests in two cases show that joint position limits have a great impact on the orientation accuracy, and singular potential energy function has a great impact on the position accuracy.

A Hybrid Reproducing Kernel Particle Method for Three-Dimensional Advection-Diffusion Problems

In this paper, a hybrid reproducing kernel particle method (HRKPM) for three-dimensional (3D) advection-diffusion problems is presented. The governing equation of the advection-diffusion problem includes the second derivative of the field function to space coordinates, the first derivative of the field function to space coordinates and time, so it is necessary to discretize the time domain after discretizing the space domain. By introducing the idea of dimension splitting, a 3D advection-diffusion problem can be transformed into a series of related two-dimensional (2D) ones in the dimension splitting direction. Then, the discrete equations of these 2D problems are established by using the RKPM, and these discrete equations are coupled by using the difference method. Finally, by using the difference method to discretize the time domain, the formula of the HRKPM for solving 3D advection-diffusion problem is obtained. Numerical results show that the HRKPM has higher computational efficiency than the RKPM when solving 3D advection-diffusion problems.

Dynamic Pathfinding for Non-Player Character Follower on Game

Artificial Intellegences in video game are important things that can challenge game player. One of them is creating character or NPC Follower (Non-player character Follower) inside the video game, such as real human/animal attitude. Artificial Intelligences have some techniques in which pathfinding is one of Artificial Intellegence techniques that is more popular in research than other techniques. The ability to do dynamic pathfinding is Dynamic Particle Chain (DPC) algorithm. This algorithm has the ability of flocking behavior called boid to explore the environment. But, the algoritm method moves from one boid’s point to another according to the nearest radius, then it will be able to increase computation time or needed time toward the target. To finish higher computation problem in dynamic pathfinding, the researcher suggests an algorithm that is able to handle dynamic pathfinding process through attractive potential field function of Artificial Potential Field to start pathfinding toward the target and flocking behavior technique to avoid the obstacle. Based on the test result by simulation of moving environment and complex, the computation time of algorithm is faster than comparison algorithms, DPC and Astar. It concludes that the suggested method can be used to decrease computation level in dynamic pathfinding.

Combined ab-interno trabeculectomy and cataract surgery induces comparable intraocular pressure reduction in supine and sitting positions

AIM: To analyze the therapeutic effect of combined ab-interno trabeculectomy and cataract surgery on intraocular pressure (IOP) levels in supine and sitting postures during a 24-hour IOP profile. METHODS: Twenty-six eyes of twenty-six patients receiving ab-interno trabeculectomy using electroablation of the trabecular meshwork combined with cataract surgery or stand-alone were included in this retrospective analysis. IOP change during 24-hour IOP profiles within two years postoperatively were analyzed for eyes receiving surgery (“study eyes”) and compared to fellow eyes, which had not received surgery. Clinical data including mean sitting IOP (siIOP), mean supine IOP (suIOP) and the number of topical antiglaucomatous medications (TAM) were extracted from patients’ files. RESULTS: Preoperatively, siIOP was 17.6±5.3 mm Hg in study and 17.1±4.7 mm Hg in fellow eyes (P=0.347). Patients were treated with an average of 2.8±1.0 TAM. Best corrected visual acuity (BCVA) was significantly worse in study eyes (P<0.001), visual field function was marginally not significantly different (P=0.057). After surgery 9.6±6.8mo, study eyes had a mean siIOP of 14.5±3.6 mm Hg (IOP reduction: -3.2 mm Hg, P=0.009), a mean suIOP of 18.0±3.5 mm Hg, and an average of 1.3±1.34 TAM (P<0.001), while in fellow eyes, mean siIOP was 16.2±3.4 mm Hg and mean suIOP was 20.5±5.1 mm Hg. Postoperatively, the relative IOP increase between sitting and supine postures was approximately 30% in both study and fellow eyes (P=0.99). CONCLUSION: IOP after ab-interno trabeculectomy shows a comparable relative reduction in both supine and sitting position. Classical trabeculectomy is known to lower suIOP overproportionally.

UAV Formation Obstacle Avoidance Control Algorithm Based on Improved Artificial Potential Field and Consensus

Aiming at the problem of UAV formation's obstacle avoidance and the consensus of position and velocity in a 3D obstacle environment, a novel distributed obstacle avoidance control algorithm for cooperative formation based on the improved artificial potential field (IAPF) and consensus theory is proposed in this paper. First, the particle model of the UAV and the dynamic model of the second-order system are established, and the topological structure of the communication network of the system is described with the knowledge of graph theory. Second, the attractive potential field function containing the coordination gains factor, the repulsive potential field function containing the influence factor of the repulsive force and the planning angle, and the potential field function between the UAVs containing the communication weight are defined. Then, the variables of position and velocity in the consensus protocol are improved by the reference vector of the formation center and the expected velocity, respectively, and a new formation obstacle avoidance control protocol is designed by combining the IAPF and the theory of consensus. Finally, the Lyapunov function is used to prove the stable convergence of the algorithm. The simulation results show that this method can not only prevent the UAV from colliding with each other while avoiding static and dynamic obstacles but also enable the UAV to quickly restore the expected formation and achieve the consensus of the relative distance, relative height, and velocity.

Minimum Wall Distance Computations With Time-Dependent Geometry for CFD

This paper presents an efficient and scalable method to calculate the minimum wall distance (MWD), which is necessary for the Reynolds-Averaged Navier-Stokes (RANS) turbulence models. The MWD is described by the distance field function which is essentially a partial differential equation (PDE). The PDE is a type of convection-diffusion equation and can be solved by existing computational fluid dynamics (CFD) codes with minor modifications. Parallel computations for the PDE are conducted to study its efficiency and scalability. Encouraging results are obtained and demonstrate the present method is more efficient than all the alternate methods.

Trajectory planning for vehicle collision avoidance imitating driver behavior

To ensure that autonomous vehicles satisfy the requirements of the traffic environment, vehicle driving ability, and desired driver experience during obstacle avoidance, this paper proposes a trajectory planner that considers three aspects: driving passability, regional safety, and driving acceptance. Multiresolution state lattices and Bézier curve fitters are applied to a state lattice framework to generate candidate obstacle avoidance trajectory clusters. Trajectory evaluation is then carried out in the above three aspects by using trajectory passability, safety and driver behavior proximity, and a trajectory evaluation function is designed to evaluate and screen trajectory clusters. The trajectory passability is checked by the vehicle motion capability set, which is established based on the vehicle dynamics model. The trajectory safety is evaluated by the potential field function between the fitted trajectory and the vehicle driving environment boundary with consideration of the inevitable collision state. The parameters of the vehicle motion state for the fitted trajectory are matched with the driving data of real drivers with different driving styles to evaluate the proximity between the trajectory and driver behavior. The rationality and effectiveness of different driving styles of trajectory planners are verified by vehicle tests under different vehicle velocities and different obstacle disturbances.

Stability-Considered Lane Keeping Control of Commercial Vehicles Based on Improved APF Algorithm

With regard to the lane keeping system, path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass, longer wheelbase and higher mass center. To improve the performance mentioned above comprehensively, the control strategy based on improved artificial potential field (APF) algorithm is proposed. In the paper, time to lane crossing (TLC) is introduced into the potential field function to enhance the accuracy of path tracking, meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source. The lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory. In addition, adaptive inertial weight particle swarm optimization algorithm (AIWPSO) is applied to optimize the gain of each potential field function. The co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced remarkably. Finally, the proposed control strategy is verified by the HiL test.

Mouth-nose masks impair the visual field of healthy eyes

Background Mouth-nose masks have been requested to prevent the transmission of severe acute respiratory syndrome coronavirus-2 (SARS-CoV-2). The aim of the present study was to investigate, if wearing a mouth-nose mask impairs the visual field function in normals. Methods Thirty eyes of 30 subjects were recruited for the present study. White-on-white perimetry (OCTOPUS 900; 90°) was done and sensitivity was analysed in 14 defined test points (P1-P14, inferior visual field) under 3 different test conditions while the subjects were wearing a mouth-nose mask: (I) 1.5 cm under the lower eyelid, nose clip not used (position1.5cm_no_clip); (II) 1.5 cm under the lower eyelid, nose clip correctly positioned (position1.5cm_with_clip); (III) 0.5 cm under the lower eyelid, nose clip correctly positioned (position0.5cm_with_clip). All data were compared to sensitivity without wearing a mouth-nose mask (reference). Mean Δ was calculated, being the difference between the results of each test condition and reference, respectively. Results Sensitivity was significantly different between position1.5cm_no_clip and reference at 10 test points (p<0.05). Sensitivity at test point P7 was significantly different between position1.5cm_with_clip and position0.5cm_with_clip compared to reference (p<0.001), respectively. Mean Δ increased while wearing a mask at P7: position1.5cm_with_clip (-8.3 dB ± 7.3 dB) < position0.5cm_with_clip (-11.3 dB ± 9.5 dB) < position1.5cm_no_clip (-20.1 dB ± 7.6 dB). Conclusion Visual field function was observed to be significantly impaired in the inferior-nasal sector while persons were wearing a mouth-nose mask, especially when the nose clip was not correctly used.