RESUMEN
A bounded cost path planning method is developed for underwater vehicles assisted by a data-driven flow modeling method. The modeled flow field is partitioned as a set of cells of piece-wise constant flow speed. A flow partition algorithm and a parameter estimation algorithm are proposed to learn the flow field structure and parameters with justified convergence. A bounded cost path planning algorithm is developed taking advantage of the partitioned flow model. An extended potential search method is proposed to determine the sequence of partitions that the optimal path crosses. The optimal path within each partition is then determined by solving a constrained optimization problem. Theoretical justification is provided for the proposed extended potential search method generating the optimal solution. The path planned has the highest probability to satisfy the bounded cost constraint. The performance of the algorithms is demonstrated with experimental and simulation results, which show that the proposed method is more computationally efficient than some of the existing methods.
RESUMEN
The processes through which people learn to live with CFS/ME are poorly understood and have not been rigorously explored within the literature. Semi-structured interviews were conducted with eight women and analysed using interpretative phenomenological analysis. Participants initially described being 'overwhelmed' by CFS/ME. Attempts at seeking help were unsatisfactory and participants described feeling let down and disbelieved. Participants reacted to this by identifying types of 'self-help' and assertively taking more responsibility for their illness and its treatment. Acquiring social support and greater knowledge were key mediating factors in the emergence of control and acceptance. The relevance of the themes to existing research and the implications for clinical practice are considered.