Development of a Multi-resolution Parallel Genetic Algorithm for Autonomous Robotic Path Planning

Drew Lucas,Carl Crane III 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Deterministic algorithms such as A<SUP>*</SUP> and D<SUP>*</SUP> have been applied with great success to autonomous robotic path planning. However, as search space size increases numerous problem domains will likely become intractable when reactive behavior is desired. This is extremely relevant when considering the exponential increase in search space sizes due to any linear addition of degrees of freedom. Over the last few decades, Evolutionary Algorithms (EA) have been shown to be particularly applicable to extremely large search spaces. However, it is often assumed that generational convergence is the only measure of quality for an EA. A novel combination of the Anytime Planning (AP) criteria with multi-resolution search spaces is explored for application to high-level semi-reactive path planning. Separate populations are evolved in parallel within different abstractions of the search space while low cost solutions from each population are exchanged among the populations. Generational evaluations in low-resolution search spaces can be evaluated quickly generating seed candidate solutions that are likely to speed convergence in the high-resolution search spaces. Convergence rates up to 4× were achieved along with modest decreases in path cost. Parallel GPU computation was then applied to allow reactive searching up to 40Hz in search grids up to 8192×8192 cells.

Does hyrax expansion therapy affect maxillary sinus volume? : A cone-beam computed tomography report

Drew M. Darsey,Jeryl D. English,Chung H. Kau,Randy K. Ellis,Sercan Akyalcin 대한구강악안면방사선학회 2012 Imaging Science in Dentistry Vol.42 No.2

Objectives: The aim of this study was to investigate the initial effects of maxillary expansion therapy with Hyrax appliance and to evaluate the related changes in maxillary sinus volume. Materials and Methods: Thirty patients (20 females, 10 males; 13.8 years) requiring maxillary expansion therapy, as part of their comprehensive orthodontic treatment, were examined. Each patient had cone-beam computed tomography (CBCT) images taken before (T1) and after (T2) maxillary expansion therapy with a banded Hyrax appliance. Multiplanar slices were used to measure linear dimensions and palatal vault angle. Volumetric analysis was used to measure maxillary sinus volumes. Student t tests were used to compare the pre- and post-treatment measurements. Additionally, differences between two age groups were compared with Mann-Whitney U test. The level of significance was set at p=0.05. Results: Comparison of pre-treatment to post-treatment variables revealed significant changes in the transverse dimension related to both maxillary skeletal and dental structures and palatal vault angle, resulting in a widened palatal vault (p<0.05). Hard palate showed no significant movement in the vertical and anteroposterior planes. Nasal cavity width increased on a mean value of 0.93 mm (SD=0.23, p<0.05). Maxillary sinus volume remained virtually stable. No significant age differences were observed in the sample. Conclusions: Hyrax expansion therapy did not have a significant impact on maxillary sinus volume.

The Environmental Impact of Tall vs Small: A Comparative Study

Drew, Christopher,Nova, Katrina Fernandez,Fanning, Keara Council on Tall Building and Urban Habitat Korea 2015 International journal of high-rise buildings Vol.4 No.2

The concept of vertical living has been hailed as a solution to control fast growth and urbanization of cities worldwide. As super tall residential projects become more common and sustainability considerations become more necessary, their efficiency has been called into question. How do vertical residential developments compare with suburban homes? What are the environmental advantages and disadvantages of vertical communities? Is there a middle ground? We present the results from an AS+GG study that compares the environmental performance of different housing typologies ranging from a 215 supertall building to single family residences, including several scales in between. Our samples comprise 2,000 residential units per type and include the infrastructure needed to support them. We analyzed land use, energy use, and lifecycle carbon emissions for each typology. The results show that different typologies perform better depending on the parameter being assessed. We discuss these findings; assess overall performance, and present conclusions.

Cloud-Based Synchronization for Interface Settings for Older Adults

Drew Williams,Sheikh Iqbal Ahamed,William Cheng-Chung Chu,Mong-Te Wang,Chih-Hung Chang 보안공학연구지원센터 2014 International Journal of Hybrid Information Techno Vol.7 No.4

Comparison of two techniques for transpharyngeal endoscopic auditory tube diverticulotomy in the horse

Drew W. Koch,Jeremiah T. Easley,Brad B. Nelson,Jeremy J. Delcambre,Erin G. McCready,Eileen S. Hackett 대한수의학회 2018 Journal of Veterinary Science Vol.19 No.6

Auditory tube diverticula, also known as guttural pouches, are naturally occurring dilations of the auditory tube in horses that communicate with the nasopharynx through a small ostium. Infection and select other conditions can result in inflammation and narrowing of the nasopharyngeal ostium, which prevents drainage of fluid or egress of air and can lead to persistent infection or guttural pouch tympany. Auditory tube diverticulotomy allows continuous egress from the auditory tube diverticula and is a feature of disease treatment in horses, in which medical treatment alone is not successful. Transpharyngeal endoscopic auditory tube diverticulotomy was performed using a diode laser either at a single dorsal pharyngeal recess location or bilaterally caudal to the nasopharyngeal ostium in 10 horse head specimens. Both methods resulted in clear communication between the nasopharynx and auditory tube diverticula. Diverticulotomy performed in the dorsal pharyngeal recess required less laser energy and activation time and had a shorter surgical duration than diverticulotomy performed caudal to the nasopharyngeal ostium. Further study related to the clinical application of both techniques is warranted.

Okay as a Multifunctional Resource for Giving Feedback in Classrooms

( Drew Fagan ) 서강대학교 언어정보연구소 2012 언어와 정보 사회 Vol.16 No.-

Drew Fagan(2012), "Okay as a Multifunctional Resource for Giving Feedback in Classrooms," Language & Information Society 16. While certain second language (L2) learning theories assert that teacher feedback is a key factor in the learning process, one issue has been how teachers mark the purpose of their feedback so that students recognize what they are receiving (Russell & Spada 2006); this is particularly problematic when teachers use the same lexicon or response techniques to signify different feedback functions (e.g., Walsh 2002). The purpose of this article is to investigate how teachers mark or distinguish their feedback in such a way that allows students to recognize the purposes of those turns. Specifically, I examine the teacher`s okay, an "interactionally rich item" (Waring 2008: 586) commonly found throughout classroom discourse but has to date not been examined exclusively and in-depth in teacher-student interactions. Utilizing the methodology of conversation analysis, okay was found to mark different forms of positive and negative feedback. For each type of feedback, the various sequential environments in which they occur are presented, along with the interactional resources used to construct them.

LOCA(Location Oriented Critical Arts)

Drew Hemment(드류해먼트) 아트센터나비미술관 2005 아트센터나비 국제학술강연회 Vol.2005 No.10

Association between ethnicity and hypertension in Northern Colombia in 2015

Drew H. Smith,Jaskaran Grewal,Saba Mehboob,Shiva Mohan,Luisa F. Pombo,Pura Rodriguez,Juan Carlos Gonzalez,Juan Zevallos,Noël C. Barengo 대한고혈압학회 2022 Clinical Hypertension Vol.28 No.-

Studies in the United States have shown a genetic predisposition to hypertension in individuals of African descent. However, studies on the associations between ethnic groups and hypertension in Latin America are lacking and the limited results have been inconsistent. The objective of this study is to determine whether Afro-Colombian ethnicity increases the risk of hypertension. This study is a secondary data analysis of a cross sectional study from five provinces in Northern Colombia. Randomly selected individuals ( N = 2613; age-range 18–74 years) enrolled in a health care insurance company underwent physical examinations and completed questionnaires regarding ethnicity, lifestyle, and other risk factors. Hypertension in these patients was determined. Unadjusted and adjusted logistic regression analysis were calculated to determine the association between ethnicity and hypertension. No association between Afro-Colombian ethnicity and hypertension was found (odds ratio [OR], 0.85; 95% confidence interval [CI], 0.66–1.09). As expected, people with a body mass index (BMI) of 30 or higher were at a greater risk of having hypertension (OR, 3.12; 95% CI, 2.35–4.16) compared with those with a normal BMI.Findings from this study suggest no independent association between Afro-Colombian ethnicity and hypertension. Further research should focus on genotyping or socioeconomic factors such as income level.

Effect of Composition on Magnetic Properties of CoNi Nanoparticles for Electromagnetic Waves Absorber in High-Frequencies

Drew Ahn,Su-Jeong Suh 한국자기학회 2021 한국자기학회 학술연구발표회 논문개요집 Vol.31 No.2

Due to the development of the 4th industry, the problem of electromagnetic noise caused by electromagnetic waves continues to occur. Therefore, the need for electromagnetic wave absorbers in the high frequency band is becoming more important. The purpose of this study is to prepare CoNi nanoparticles for EMWs absorbers in the high frequency regions and evaluate magnetic properties according to the synthesis conditions. In order to synthesize CoNi, a polyol process that allows easy controls of composition, particle size, and shape and has small aggregation was used. In addition, to make the particle size smaller, AgNO3 was added to proceed to heterogeneous nucleation. To investigate the characteristics, the morphology and composition of the materials are analyzed by SEM and EDS. XRD was performed to confirm the crystal structures of the prepared materials. TEM is used to determine the microstructures and sizes of the materials. Magnetic properties are confirmed using VSM. Electromagnetic properties (complex permeability, permittivity) are measured using VNA and reflection loss is calculated by transmission-line theory. CoNi nanoparticles with a different composition show feasibility for EMWs absorbers in high-frequency bands.

The Path to Life Cycle Carbon Neutrality in High Rise Buildings

Drew, Chris,Quintanilla, Natalia Council on Tall Building and Urban Habitat Korea 2017 International journal of high-rise buildings Vol.6 No.4

Across the world, building energy codes are becoming stricter, demanding higher levels of energy performance with each issuance. Some locations have taken initiatives to eliminate operational emissions altogether by requiring buildings to be carbon neutral. However, while the objectives of carbon neutrality are without doubt statement worthy, we believe that once operational performance has been tackled to a reasonable level of performance the sights should be trained on a different objective-life; cycle carbon. This paper defines what we mean by life cycle carbon neutrality and presents an approach toward reducing it.