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Sample records for centre slam brc

  1. The South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLAM BRC case register: development and descriptive data

    Directory of Open Access Journals (Sweden)

    Denis Mike

    2009-08-01

    Full Text Available Abstract Background Case registers have been used extensively in mental health research. Recent developments in electronic medical records, and in computer software to search and analyse these in anonymised format, have the potential to revolutionise this research tool. Methods We describe the development of the South London and Maudsley NHS Foundation Trust (SLAM Biomedical Research Centre (BRC Case Register Interactive Search tool (CRIS which allows research-accessible datasets to be derived from SLAM, the largest provider of secondary mental healthcare in Europe. All clinical data, including free text, are available for analysis in the form of anonymised datasets. Development involved both the building of the system and setting in place the necessary security (with both functional and procedural elements. Results Descriptive data are presented for the Register database as of October 2008. The database at that point included 122,440 cases, 35,396 of whom were receiving active case management under the Care Programme Approach. In terms of gender and ethnicity, the database was reasonably representative of the source population. The most common assigned primary diagnoses were within the ICD mood disorders (n = 12,756 category followed by schizophrenia and related disorders (8158, substance misuse (7749, neuroses (7105 and organic disorders (6414. Conclusion The SLAM BRC Case Register represents a 'new generation' of this research design, built on a long-running system of fully electronic clinical records and allowing in-depth secondary analysis of both numerical, string and free text data, whilst preserving anonymity through technical and procedural safeguards.

  2. Investment into the future of microbial resources: culture collection funding models and BRC business plans for biological resource centres.

    Science.gov (United States)

    Smith, David; McCluskey, Kevin; Stackebrandt, Erko

    2014-01-01

    Through their long history of public service, diverse microbial Biological Resource Centres (mBRCs) have made myriad contributions to society and science. They have enabled the maintenance of specimens isolated before antibiotics, made available strains showing the development and change of pathogenicity toward animals, humans and plants, and have maintained and provided reference strains to ensure quality and reproducibility of science. However, this has not been achieved without considerable financial commitment. Different collections have unique histories and their support is often tied to their origins. However many collections have grown to serve large constituencies and need to develop novel funding mechanisms. Moreover, several international initiatives have described mBRCs as a factor in economic development and have led to the increased professionalism among mBRCs.

  3. Young Stellar Population of the Bright-Rimmed Clouds BRC 5, BRC 7 and BRC 39

    CERN Document Server

    Panwar, Neelam; Pandey, A K; Samal, M R; Ogura, K; Ojha, D K; Jose, J; Bhatt, B C

    2014-01-01

    Bright-rimmed clouds (BRCs), illuminated and shaped by nearby OB stars, are potential sites of recent/ongoing star formation. Here we present an optical and infrared photometric study of three BRCs: BRC 5, BRC 7 and BRC 39 to obtain a census of the young stellar population, thereby inferring the star formation scenario, in these regions. In each BRC, the Class I sources are found to be located mostly near the bright rim or inside the cloud, whereas the Class II sources are preferentially outside, with younger sources closer to the rim. This provides strong support to sequential star formation triggered by radiation driven implosion due to the UV radiation. Moreover, each BRC contains a small group of young stars being revealed at its head, as the next-generation stars. In particular, the young stars at the heads of BRC 5 and BRC 7 are found to be intermediate/high mass stars, which, under proper conditions, may themselves trigger further star birth, thereby propagating star formation out to long distances.

  4. Bearing-only slam methods

    OpenAIRE

    Munguía Alcalá, Rodrigo Francisco

    2009-01-01

    SLAM (Simulatenous Localization and Mapping) es quizá el problema más importante a solucionar en robótica para construir robots móviles verdaderamente autónomos. El SLAM es acerca de cómo un robot móvil opera en un entorno a priori desconocido, utilizando únicamente sus sensores de abordo, mientras construye un mapa de dicho entorno que al mismo tiempo utiliza para localizarse. Los sensores del robot tienen un gran impacto en los algoritmos usados en SLAM. Los primeros enfoques se centr...

  5. Slamming Arkansas Schools!

    Science.gov (United States)

    Scott, W. Clayton

    2010-01-01

    In this article, the author, a poet and teaching artist, shares how he successfully brought slam poetry to College Hill Middle School in Texarkana, Arkansas. In 2001 he discovered slam poetry--a poetry-reading format in which poets compete in dramatic readings of their works--and went to Slam Nationals in Seattle on the Arkansas slam team. He…

  6. Slamming Testing of Facetted Bottom

    Science.gov (United States)

    2013-11-26

    Technical Report DATES COVERED (From - To) 01 May 2010-31 Aug2013 4. TITLE AND SUBTITLE Slamming Testing of Facetted Bottom 5a. CONTRACT NUMBER...of fast craft are due to slamming , or hydrodynamic impact. A 9 meter long steel / composite hybrid slamming load test facility has been employed for...the purpose of furthering understanding of the slamming phenomenon. This craft is heavily instrumented with strain gages, accelerometers, cameras, an

  7. A Study of Star Formation in BRC18

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    Using the 13.7 m radio telescope at Delingha, the millimeter-wave radioobservatory of Purple Mountain Observatory, we made mapping observations in12CO J = 1 - 0 line towards IRAS 05417+0907, located in the bright-rimmed cloud(BRC) BRC18. We used a 7 × 7 grid with 1' spacing, a finer and larger grid thanthe one used by Myers et al. Our results show that there is a bipolar outflownear IRAS 05417+0907. Combining with the observations at other wave bands, wefind that the star formation process in this region is triggered by radiation-drivenimplosion. The significant difference between the masses of BRC18 and the coresand the relatively large ratio of associated source bolometric luminosity to the massshow that the star formation in BRC18 may be taking place in a sequence.

  8. The chicken SLAM family.

    Science.gov (United States)

    Straub, Christian; Viertlboeck, Birgit C; Göbel, Thomas W

    2013-01-01

    The signaling lymphocytic activation molecule (SLAM) family of receptors is critically involved in the immune regulation of lymphocytes but has only been detected in mammals, with one member being present in Xenopus. Here, we describe the identification, cloning, and analysis of the chicken homologues to the mammalian SLAMF1 (CD150), SLAMF2 (CD48), and SLAMF4 (CD244, 2B4). Two additional chicken SLAM genes were identified and designated SLAMF3like and SLAM5like in order to stress that those two receptors have no clear mammalian counterpart but share some features with mammalian SLAMF3 and SLAMF5, respectively. Three of the chicken SLAM genes are located on chromosome 25, whereas two are currently not yet assigned. The mammalian and chicken receptors share a common structure with a V-like domain that lacks conserved cysteine residues and a C2-type Ig domain with four cysteines forming two disulfide bonds. Chicken SLAMF2, like its mammalian counterpart, lacks a transmembrane and cytoplasmic domain and thus represents a glycosyl-phosphatidyl-inositol-anchored protein. The cytoplasmic tails of SLAMF1 and SLAMF4 display two and four conserved immunoreceptor tyrosine-based switch motifs (ITSMs), respectively, whereas both chicken SLAMF3like and SLAMF5like have only a single ITSM. We have also identified the chicken homologues of the SLAM-associated protein family of adaptors (SAP), SAP and EAT-2. Chicken SAP shares about 70 % identity with mammalian SAP, and chicken EAT-2 is homologous to mouse EAT-2, whereas human EAT-2 is much shorter. The characterization of the chicken SLAM family of receptors and the SAP adaptors demonstrates the phylogenetic conservation of this family, in particular, its signaling capacities.

  9. Collaborative Proposal to Extend ONR YIP Research with BRC Efforts

    Science.gov (United States)

    2013-09-30

    DISTRIBUTION STATEMENT: Approved for public release; distribution is unlimited. Collaborative Proposal to Extend ONR YIP research with BRC Efforts...SEP 2013 2. REPORT TYPE 3. DATES COVERED 00-00-2013 to 00-00-2013 4. TITLE AND SUBTITLE Collaborative Proposal to Extend ONR YIP research with

  10. Visual SLAM using straight lines

    OpenAIRE

    Mees Martínez, Oier

    2013-01-01

    The present thesis is focuses on the problem of Simultaneous Localisation and Mapping (SLAM) using only visual data (VSLAM). This means to concurrently estimate the position of a moving camera and to create a consistent map of the environment. Since implementing a whole VSLAM system is out of the scope of a degree thesis, the main aim is to improve an existing visual SLAM system by complementing the commonly used point features with straight line primitives. This enables more accurate...

  11. a Laser-Slam Algorithm for Indoor Mobile Mapping

    Science.gov (United States)

    Zhang, Wenjun; Zhang, Qiao; Sun, Kai; Guo, Sheng

    2016-06-01

    A novel Laser-SLAM algorithm is presented for real indoor environment mobile mapping. SLAM algorithm can be divided into two classes, Bayes filter-based and graph optimization-based. The former is often difficult to guarantee consistency and accuracy in largescale environment mapping because of the accumulative error during incremental mapping. Graph optimization-based SLAM method often assume predetermined landmarks, which is difficult to be got in unknown environment mapping. And there most likely has large difference between the optimize result and the real data, because the constraints are too few. This paper designed a kind of sub-map method, which could map more accurately without predetermined landmarks and avoid the already-drawn map impact on agent's location. The tree structure of sub-map can be indexed quickly and reduce the amount of memory consuming when mapping. The algorithm combined Bayes-based and graph optimization-based SLAM algorithm. It created virtual landmarks automatically by associating data of sub-maps for graph optimization. Then graph optimization guaranteed consistency and accuracy in large-scale environment mapping and improved the reasonability and reliability of the optimize results. Experimental results are presented with a laser sensor (UTM 30LX) in official buildings and shopping centres, which prove that the proposed algorithm can obtain 2D maps within 10cm precision in indoor environment range from several hundreds to 12000 square meter.

  12. Slam Poetry and Cultural Experience for Children

    Science.gov (United States)

    Boudreau, Kathryn E.

    2009-01-01

    Slam poetry, being not just recitation or memorization, affords children the opportunity to express their own personal cultural experiences and values. Slam is a spoken word performance; a competition among poets. Audience commentary is ongoing during the performance and vigorous audience participation is essential in a slam format. The founders…

  13. Grand slam on cancer.

    Science.gov (United States)

    Gartrell, Nanette

    2014-01-01

    A winner of 59 Grand Slam championships including a record 9 Wimbledon singles titles, Martina Navratilova is the most successful woman tennis player of the modern era. Martina was inducted into the International Tennis Hall of Fame, named "Tour Player of the Year" seven times by the Women's Tennis Association, declared "Female Athlete of the Year" by the Associated Press, and ranked one of the "Top Forty Athletes of All-Time" by Sports Illustrated. Equally accomplished off the court, Martina is an author, philanthropist, TV commentator, and activist who has dedicated her life to educating people about prejudice and stereotypes. After coming out as a lesbian in 1981, Martina became a tireless advocate of equal rights for lesbian, gay, bisexual, and transgender (LGBT) people, and she has contributed generously to the LGBT community. Martina is the author of seven books, including most recently Shape Your Self: My 6-Step Diet and Fitness Plan to Achieve the Best Shape of your Life, an inspiring guide to healthy living and personal fitness. Martina was diagnosed with breast cancer in 2010.

  14. Numerical prediction of slamming loads

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen J; Pedersen, Preben T

    2012-01-01

    . The pressure distribution as well as the total force is then determined by integration over a pseudo-three-dimensional presentation of the hull geometry.In this paper the evaluation of the slamming load is taken one step further by performing direct three-dimensional, fully non-linear numerical calculations...... in a realistic wave environment.Both the global and the local slamming loads are assessed numerically using a finite-volume formulation with the free surface captured by a volume-of-fluid technique. This numerical procedure is justified by comprehensive validation studies where numerically evaluated slamming...... pressures are compared with experimentally measured results.To obtain an insight into the three-dimensional flow effects the next step is to apply the validated numerical procedure to evaluate and compare the accuracy and performance of the traditionally used two-dimensional formulations by a comparison...

  15. Bioluminescence regenerative cycle (BRC) system for nucleic acid quantification assays

    Science.gov (United States)

    Hassibi, Arjang; Lee, Thomas H.; Davis, Ronald W.; Pourmand, Nader

    2003-07-01

    A new label-free methodology for nucleic acid quantification has been developed where the number of pyrophosphate molecules (PPi) released during polymerization of the target nucleic acid is counted and correlated to DNA copy number. The technique uses the enzymatic complex of ATP-sulfurylase and firefly luciferase to generate photons from PPi. An enzymatic unity gain positive feedback is also implemented to regenerate the photon generation process and compensate any decay in light intensity by self regulation. Due to this positive feedback, the total number of photons generated by the bioluminescence regenerative cycle (BRC) can potentially be orders of magnitude higher than typical chemiluminescent processes. A system level kinetic model that incorporates the effects of contaminations and detector noise was used to show that the photon generation process is in fact steady and also proportional to the nucleic acid quantity. Here we show that BRC is capable of detecting quantities of DNA as low as 1 amol (10-18 mole) in 40μlit aqueous solutions, and this enzymatic assay has a controllable dynamic range of 5 orders of magnitude. The sensitivity of this technology, due to the excess number of photons generated by the regenerative cycle, is not constrained by detector performance, but rather by possible PPi or ATP (adenosine triphosphate) contamination, or background bioluminescence of the enzymatic complex.

  16. BRC Hansapanga endiste töötajate kätte / Andres Põld

    Index Scriptorium Estoniae

    Põld, Andres, 1971-

    2004-01-01

    Hansapanga juhatus otsustas müüa Balti Realiseerimiskeskuse (BRC) panga ekstöötajate ja Silberauto osalusega konsortsiumile OÜ Baltic Business Associates. Diagramm: BRC tulemused käivad alla. Vt. samas lühiintervjuud Baltic Business Associates juhatuse liikme Tarmo Rootemaniga

  17. Reliability Of Inspection By SLAM

    Science.gov (United States)

    Roth, Don J.; Klima, Stanley J.; Kiser, James D.; Baaklini, George Y.

    1988-01-01

    Scanning laser acoustic microscopy finds flaws in ceramic specimens. Laser light used to detect distortions, on angstrom scale, produced on surface of specimen by ultrasonic waves transmitted through specimen. From distortion, SLAM creates picture on video monitor of such defects as voids, inclusions, and cracks.

  18. Isolation and Evolution of BRC1-like Genes in Asteraceae%菊科BRC1-like基因片段的克隆与进化分析

    Institute of Scientific and Technical Information of China (English)

    陈晓丽; 刘勇; 赵瑞艳; 郗琳; 李俊香; 刘凤栾; 赵梁军

    2013-01-01

    Diversity of branching types is produced during the evolution of Asteraceae,which is originated by the diversity of branching genes.BRC1 (BRANCHED1) genes,as the member of TCP family,are proved to play important roles in inhibition of lateral branches.BRC1-like genes were replicated during evolution,and different members were through different selective pressures,both of which may lead to the large family and diverse functions.Twenty-one BRC1-like gene fragments were isolated from 16 Asteraceae species,which contained the conserved TCP domain,R domain and ECE motif,and were in the CYCLOIDEA1 (CYC1)subclade of TCP family.With the sequences we cloned and sequences from gerbera (Gerbera hybrid) and sunflower (Helianthus annuus)(downloaded from NCBI),phylogenetic tree were constructed.All the BRC1-like genes from Asteraceae were clustered into two groups,BRC1a and BRC1b,which indicated that CYC1 subclade replicated and expanded during evolution.Maximum likelihood (ML) branch test was performed to detect the selective pressure,the results indicated that BRC1b group evoloved under a strong purifying selection,while the BRC1a group had experienced a decrease in evolutionary constrains.Results in the ML branch-site test showed that,relaxation of selective constrains rather than positive selection was the process associated with the evolution of BRC1a group.The amino acid residue targets of selection in all BRC1-like genes were identified with ML site test model.The results indicated that,residues evolved under strong purifying selections were located in the TCP domain,R domain and ECE motif,inferred that important domains were fixed during evolution.The evolution of BRC1-like gene in Asteraceae indicates that two groups were clustered through replication,then these two groups underwent different selective pressures,which may lead to different functions of genes.%菊科(Asteraceae)植物在进化中产生了丰富的分枝类型,而分枝类型的多样性源于分枝相关基因的多样性.BRC

  19. Validation of Data Association for Monocular SLAM

    Directory of Open Access Journals (Sweden)

    Edmundo Guerra

    2013-01-01

    Full Text Available Simultaneous Mapping and Localization (SLAM is a multidisciplinary problem with ramifications within several fields. One of the key aspects for its popularity and success is the data fusion produced by SLAM techniques, providing strong and robust sensory systems even with simple devices, such as webcams in Monocular SLAM. This work studies a novel batch validation algorithm, the highest order hypothesis compatibility test (HOHCT, against one of the most popular approaches, the JCCB. The HOHCT approach has been developed as a way to improve performance of the delayed inverse-depth initialization monocular SLAM, a previously developed monocular SLAM algorithm based on parallax estimation. Both HOHCT and JCCB are extensively tested and compared within a delayed inverse-depth initialization monocular SLAM framework, showing the strengths and costs of this proposal.

  20. Nuclear import of transcription factor BR-C is mediated by its interaction with RACK1.

    Directory of Open Access Journals (Sweden)

    Daojun Cheng

    Full Text Available The transcription factor Broad Complex (BR-C is an early ecdysone response gene in insects and contains two types of domains: two zinc finger domains for the activation of gene transcription and a Bric-a-brac/Tramtrack/Broad complex (BTB domain for protein-protein interaction. Although the mechanism of zinc finger-mediated gene transcription is well studied, the partners interacting with the BTB domain of BR-C has not been elucidated until now. Here, we performed a yeast two-hybrid screen using the BTB domain of silkworm BR-C as bait and identified the receptor for activated C-kinase 1 (RACK1, a scaffolding/anchoring protein, as the novel partner capable of interacting with BR-C. The interaction between BR-C and RACK1 was further confirmed by far-western blotting and pull-down assays. Importantly, the disruption of this interaction, via RNAi against the endogenous RACK1 gene or deletion of the BTB domain, abolished the nuclear import of BR-C in BmN4 cells. In addition, RNAi against the endogenous PKC gene as well as phosphorylation-deficient mutation of the predicted PKC phosphorylation sites at either Ser373 or Thr406 in BR-C phenocopied RACK1 RNAi and altered the nuclear localization of BR-C. However, when BTB domain was deleted, phosphorylation mimics of either Ser373 or Thr406 had no effect on the nuclear import of BR-C. Moreover, mutating the PKC phosphorylation sites at Ser373 and Thr406 or deleting the BTB domain significantly decreased the transcriptional activation of a BR-C target gene. Given that RACK1 is necessary for recruiting PKC to close and phosphorylate target proteins, we suggest that the PKC-mediated phosphorylation and nuclear import of BR-C is determined by its interaction with RACK1. This novel finding will be helpful for further deciphering the mechanism underlying the role of BR-C proteins during insect development.

  1. A SLAM Algorithm Based on Adaptive Cubature Kalman Filter

    Directory of Open Access Journals (Sweden)

    Fei Yu

    2014-01-01

    CKF-SLAM and the adaptive estimator, the new ACKF-SLAM algorithm can reduce the state estimated error significantly and improve the navigation accuracy of the SLAM system effectively. The performance of this new algorithm has been examined through numerical simulations in different scenarios. The results have shown that the position error can be effectively reduced with the new adaptive CKF-SLAM algorithm. Compared with other traditional SLAM methods, the accuracy of the nonlinear SLAM system is significantly improved. It verifies that the proposed ACKF-SLAM algorithm is valid and feasible.

  2. Numerical Simulation of Large Diameter Cylindrical Structure Slamming

    Institute of Scientific and Technical Information of China (English)

    XU Jing; WANG De-yu

    2008-01-01

    The water entry of large diameter cylindrical structure is studied by applying numerical simulation method. The processes of different diameter cylindrical structures impacting water with various constant velocities are calculated numerically. Thereafter, analyzed are the distribution of slamming pressure on structure during slamming course and the influence of slamming velocity and cylindrical diameter on slamming process. Furthermore, presented herein is an equation being used to forecast the peak slamming force on a large diameter cylindrical structure.

  3. Slamming Simulations in a Conditional Wave

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen Juncher

    2012-01-01

    A study of slamming events in conditional waves is presented in this paper. The ship is sailing in head sea and the motion is solved for under the assumption of rigid body motion constrained to two degree-of-freedom i.e. heave and pitch. Based on a time domain non-linear strip theory most probable...... surface NS/VOF CFD simulations under the same wave conditions. In moderate seas and no occurrence of slamming the structural responses predicted by the methods agree well. When slamming occurs the strip theory overpredicts VBM but the peak values of VBM occurs at approximately the same time as predicted...... by the CFD method implying the possibility to use the more accurate CFD results to improve the estimation of slamming loads in the strip theory through a rational correction coefficient....

  4. Concurrent initialization for Bearing-Only SLAM.

    Science.gov (United States)

    Munguía, Rodrigo; Grau, Antoni

    2010-01-01

    Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. Early SLAM approaches focused on the use of range sensors as sonar rings or lasers. However, cameras have become more and more used, because they yield a lot of information and are well adapted for embedded systems: they are light, cheap and power saving. Unlike range sensors which provide range and angular information, a camera is a projective sensor which measures the bearing of images features. Therefore depth information (range) cannot be obtained in a single step. This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable the use of bearing sensors (as cameras) in SLAM systems. In this work a novel and robust method, called Concurrent Initialization, is presented which is inspired by having the complementary advantages of the Undelayed and Delayed methods that represent the most common approaches for addressing the problem. The key is to use concurrently two kinds of feature representations for both undelayed and delayed stages of the estimation. The simulations results show that the proposed method surpasses the performance of previous schemes.

  5. Concurrent Initialization for Bearing-Only SLAM

    Directory of Open Access Journals (Sweden)

    Antoni Grau

    2010-03-01

    Full Text Available Simultaneous Localization and Mapping (SLAM is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. Early SLAM approaches focused on the use of range sensors as sonar rings or lasers. However, cameras have become more and more used, because they yield a lot of information and are well adapted for embedded systems: they are light, cheap and power saving. Unlike range sensors which provide range and angular information, a camera is a projective sensor which measures the bearing of images features. Therefore depth information (range cannot be obtained in a single step. This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable the use of bearing sensors (as cameras in SLAM systems. In this work a novel and robust method, called Concurrent Initialization, is presented which is inspired by having the complementary advantages of the Undelayed and Delayed methods that represent the most common approaches for addressing the problem. The key is to use concurrently two kinds of feature representations for both undelayed and delayed stages of the estimation. The simulations results show that the proposed method surpasses the performance of previous schemes.

  6. PENGARUH ANTI-SLAMMING BULBOUS BOW TERHADAP GERAKAN SLAMMING PADA KAPAL PERINTIS 200 DWT

    Directory of Open Access Journals (Sweden)

    Muhammad Iqbal

    2016-02-01

    Full Text Available Analisis seakeeping (kemampuan olah gerak kapal merupakan aspek penting dalam perancangan kapal. Berdasarkan analisis tersebut, dapat diketahui batas operasional dari sebuah kapal. Salah satunya adalah dapat mengetahui kemampuan kapal pada tinggi gelombang signifikan (Hs tertentu. Memodifikasi bentuk haluan kapal dengan membuat dasar dari haluan tersebut lebih rendah dibandingkan dengan dasar lambung kapal nya (dibawah garis baseline kapal dinamakan Anti-Slamming Bow. Pada penelitian ini, anti-slamming bow ditambahkan dengan ­bulbous bow yang dinamakan dengn Anti-Slamming Bulbous Bow (ASB. Panjang (lasb dan tinggi (hasb Anti-Slamming Bulbous Bow divariasikan untuk mendapatkan probabilitas dan intensitas slamming yang paling rendah. Metode untuk menghitung RAO menggunakan Metode Panel. Hasil penelitian menunjukkan bahwa nilai probabilitas pada kapal existing (model awal pada Hs = 4 m dan Tave = 5 s pada kecepatan 14 knot tidak memenuhi standar kriteria Nordforsk ’87 karena memiliki nilai probabilitas slamming sebesar 12,19%. Selain model awal, model 1, model 3 dan model 5 juga tidak memenuhi standar kriteria karena memiliki nilai probabilitas slamming sebesar 5,19%, 5,04% dan 5,10%. Parameter ukuran anti-slamming bulbous bow terbaik terdapat pada model 6 dimana rasio panjang ASB terhadap Lpp kapal sebesar 0,4 dan rasio tinggi ASB terhadap sarat kapal sebesar 0,4. Sedangkan bentuk Bulbous terbaik adalah Bulbous A yaitu bulbous tipe bentuk titik air tergantung. Model ini memiliki nilai  probabilas sebesar 1,95% dan memenuhi kriteria Nordforsk ’87.

  7. Slam!

    Science.gov (United States)

    2006-01-01

    2 August 2006 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows an impact crater on the martian northern plains. This crater is roughly the size of the famous Meteor Crater in Arizona on the North American continent. Location near: 43.0oN, 231.7oW Image width: 3 km (1.9 mi) Illumination from: lower left Season: Northern Spring

  8. A novel combined SLAM based on RBPF-SLAM and EIF-SLAM for mobile system sensing in a large scale environment.

    Science.gov (United States)

    He, Bo; Zhang, Shujing; Yan, Tianhong; Zhang, Tao; Liang, Yan; Zhang, Hongjin

    2011-01-01

    Mobile autonomous systems are very important for marine scientific investigation and military applications. Many algorithms have been studied to deal with the computational efficiency problem required for large scale simultaneous localization and mapping (SLAM) and its related accuracy and consistency. Among these methods, submap-based SLAM is a more effective one. By combining the strength of two popular mapping algorithms, the Rao-Blackwellised particle filter (RBPF) and extended information filter (EIF), this paper presents a combined SLAM-an efficient submap-based solution to the SLAM problem in a large scale environment. RBPF-SLAM is used to produce local maps, which are periodically fused into an EIF-SLAM algorithm. RBPF-SLAM can avoid linearization of the robot model during operating and provide a robust data association, while EIF-SLAM can improve the whole computational speed, and avoid the tendency of RBPF-SLAM to be over-confident. In order to further improve the computational speed in a real time environment, a binary-tree-based decision-making strategy is introduced. Simulation experiments show that the proposed combined SLAM algorithm significantly outperforms currently existing algorithms in terms of accuracy and consistency, as well as the computing efficiency. Finally, the combined SLAM algorithm is experimentally validated in a real environment by using the Victoria Park dataset.

  9. Inconsistency Correction and Re-localization for Robust Collaborative SLAM

    Science.gov (United States)

    2014-04-24

    for Robust Collaborative SLAM 5a. CONTRACT NUMBER FA2386-12-1-4093 5b. GRANT NUMBER Grant AOARD-124093 5c. PROGRAM ELEMENT NUMBER 61102F...CoSLAM system [1] – collaborative visual SLAM involving multiple cameras moving independently on different platforms. Firstly, we consider the...poses and a consistent 3D map. The other addressed issue is occasional failures of the SLAM system. Motion blur will be generated by fast motion of

  10. Visual SLAM Using Variance Grid Maps

    Science.gov (United States)

    Howard, Andrew B.; Marks, Tim K.

    2011-01-01

    An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance

  11. Bottom Slamming on Heaving Point Absorber Wave Energy Devices

    DEFF Research Database (Denmark)

    De Backer, Griet; Vantorre, Marc; Frigaard, Peter;

    2010-01-01

    Oscillating point absorber buoys may rise out of the water and be subjected to bottom slamming upon re-entering the water. Numerical simulations are performed to estimate the power absorption, the impact velocities and the corresponding slamming forces for various slamming constraints. Three buoy...

  12. A Novel Combined SLAM Based on RBPF-SLAM and EIF-SLAM for Mobile System Sensing in a Large Scale Environment

    Directory of Open Access Journals (Sweden)

    Hongjin Zhang

    2011-10-01

    Full Text Available Mobile autonomous systems are very important for marine scientific investigation and military applications. Many algorithms have been studied to deal with the computational efficiency problem required for large scale Simultaneous Localization and Mapping (SLAM and its related accuracy and consistency. Among these methods, submap-based SLAM is a more effective one. By combining the strength of two popular mapping algorithms, the Rao-Blackwellised particle filter (RBPF and extended information filter (EIF, this paper presents a Combined SLAM—an efficient submap-based solution to the SLAM problem in a large scale environment. RBPF-SLAM is used to produce local maps, which are periodically fused into an EIF-SLAM algorithm. RBPF-SLAM can avoid linearization of the robot model during operating and provide a robust data association, while EIF-SLAM can improve the whole computational speed, and avoid the tendency of RBPF-SLAM to be over-confident. In order to further improve the computational speed in a real time environment, a binary-tree-based decision-making strategy is introduced. Simulation experiments show that the proposed Combined SLAM algorithm significantly outperforms currently existing algorithms in terms of accuracy and consistency, as well as the computing efficiency. Finally, the Combined SLAM algorithm is experimentally validated in a real environment by using the Victoria Park dataset.

  13. SLAM family receptors in normal immunity and immune pathologies.

    Science.gov (United States)

    Wu, Ning; Veillette, André

    2016-02-01

    The signaling lymphocytic activation molecule (SLAM) family is a group of six receptors restricted to hematopoietic cells. Most of these receptors are self-ligands, and thus are triggered in the context of interactions between hematopoietic cells. By way of their cytoplasmic domain, SLAM-related receptors associate with the SLAM-associated protein (SAP) family of adaptors, which control the signals and functions of SLAM family receptors. Recent findings have provided new insights into the key roles of SLAM family receptors in normal immunity, their involvement in human diseases and their usefulness as drug targets to treat human malignancies. These data are reviewed herein.

  14. Comparison of the SLAM algorithms: Hangar experiments

    Directory of Open Access Journals (Sweden)

    Korkmaz Mehmet

    2016-01-01

    Full Text Available This study purposes to compare two known algorithms in an application scenario of simultaneous localization and mapping (SLAM and to present issues related with them as well. Mostly used SLAM algorithms Extended Kalman Filter (EKF and Unscented Kalman Filter (UKF are compared with respect to the point of accuracy of the robot states, localization and mapping. Because of considering the most implementations in the previous studies, the simulation environments are chosen as big as possible to provide reliable results. In this study, two different hangar regions are tried to be simulated. According to the outcomes of the applications, UKF-based SLAM algorithm has superior performance over the EKF-based one, apart from elapsed time.

  15. SLAM/SLAM interactions inhibit CD40-induced production of inflammatory cytokines in monocyte-derived dendritic cells.

    Science.gov (United States)

    Réthi, Bence; Gogolák, Péter; Szatmari, Istvan; Veres, Agota; Erdôs, Erika; Nagy, Laszlo; Rajnavölgyi, Eva; Terhorst, Cox; Lányi, Arpád

    2006-04-01

    Signaling lymphocyte activation molecule (SLAM, CD150, or SLAMF1) is a self-ligand receptor on the surface of activated T- and B-lymphocytes, macrophages, and dendritic cells (DCs). Here we examine the effect of SLAM/SLAM interactions on CD40L-induced CD40 signaling pathways in human DCs. CD40L-expressing L929 cells induced DCs to produce interleukin-6 (IL-6), tumor necrosis factor-alpha (TNF-alpha), and IL-12, which was strongly inhibited by coexpression of SLAM on the surface of the L929 cells. Similarly, transfection of DCs with SLAM strongly reduced CD40L-induced IL-12 production. Furthermore, the negative effect of SLAM/SLAM interactions on CD40L-induced DC activation was also detected in the presence of lipopolysaccharide (LPS). LPS-induced IL-12 secretion, however, was not inhibited by SLAM engagement. CD40L-activated DCs affected by exposure to SLAM/SLAM engagement were impaired in their ability to induce differentiation of naive T lymphocytes into interferon-gamma (IFN-gamma)-producing T-helper 1 (Th1) effector cells. These inhibitory effects were not the result of a general unresponsiveness of DCs to CD40L, as SLAM/SLAM interactions did not prevent CD40L-induced up-regulation of CD83, CD86, or human leukocyte antigen (HLA)-DQ on the surface of DCs. Taken together, the results indicate that SLAM/SLAM interactions inhibit CD40-induced signal transduction in monocyte-derived dendritic cells, an effect that was not detectable in earlier studies using anti-SLAM monoclonal antibodies.

  16. Visual EKF-SLAM from Heterogeneous Landmarks.

    Science.gov (United States)

    Esparza-Jiménez, Jorge Othón; Devy, Michel; Gordillo, José L

    2016-04-07

    Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from images, while the back-end interprets features as landmark observations and estimates both the landmarks and the robot positions with respect to a selected reference frame. This paper describes a complete visual SLAM solution, combining both point and line landmarks on a single map. The proposed method has an impact on both the back-end and the front-end. The contributions comprehend the use of heterogeneous landmark-based EKF-SLAM (the management of a map composed of both point and line landmarks); from this perspective, the comparison between landmark parametrizations and the evaluation of how the heterogeneity improves the accuracy on the camera localization, the development of a front-end active-search process for linear landmarks integrated into SLAM and the experimentation methodology.

  17. Audience and Revision: Middle Schoolers "Slam" Poetry.

    Science.gov (United States)

    Jester, Judith

    1997-01-01

    Describes organizing a poetry "slam" (a contest in which people read their original poems and listeners cast votes for their favorites) involving 200 eighth graders from two different schools. Discusses how this experience made vivid for students the need to write for an audience and to revise. (SR)

  18. Visual EKF-SLAM from Heterogeneous Landmarks

    Directory of Open Access Journals (Sweden)

    Jorge Othón Esparza-Jiménez

    2016-04-01

    Full Text Available Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from images, while the back-end interprets features as landmark observations and estimates both the landmarks and the robot positions with respect to a selected reference frame. This paper describes a complete visual SLAM solution, combining both point and line landmarks on a single map. The proposed method has an impact on both the back-end and the front-end. The contributions comprehend the use of heterogeneous landmark-based EKF-SLAM (the management of a map composed of both point and line landmarks; from this perspective, the comparison between landmark parametrizations and the evaluation of how the heterogeneity improves the accuracy on the camera localization, the development of a front-end active-search process for linear landmarks integrated into SLAM and the experimentation methodology.

  19. Current state of the art of vision based SLAM

    Science.gov (United States)

    Muhammad, Naveed; Fofi, David; Ainouz, Samia

    2009-02-01

    The ability of a robot to localise itself and simultaneously build a map of its environment (Simultaneous Localisation and Mapping or SLAM) is a fundamental characteristic required for autonomous operation of the robot. Vision Sensors are very attractive for application in SLAM because of their rich sensory output and cost effectiveness. Different issues are involved in the problem of vision based SLAM and many different approaches exist in order to solve these issues. This paper gives a classification of state-of-the-art vision based SLAM techniques in terms of (i) imaging systems used for performing SLAM which include single cameras, stereo pairs, multiple camera rigs and catadioptric sensors, (ii) features extracted from the environment in order to perform SLAM which include point features and line/edge features, (iii) initialisation of landmarks which can either be delayed or undelayed, (iv) SLAM techniques used which include Extended Kalman Filtering, Particle Filtering, biologically inspired techniques like RatSLAM, and other techniques like Local Bundle Adjustment, and (v) use of wheel odometry information. The paper also presents the implementation and analysis of stereo pair based EKF SLAM for synthetic data. Results prove the technique to work successfully in the presence of considerable amounts of sensor noise. We believe that state of the art presented in the paper can serve as a basis for future research in the area of vision based SLAM. It will permit further research in the area to be carried out in an efficient and application specific way.

  20. Implantación de un sistema de calidad y seguridad alimentaria BRC/IoP

    OpenAIRE

    Rodríguez de la Fuente, Ana

    2014-01-01

    El siguiente documento tiene por objeto la definición de un Sistema de Gestión BRC/IoP, o lo que es lo mismo, de calidad y seguridad alimentaria para envases y embalajes destinados a entrar en contacto con alimentos. Se plantea como un caso práctico real, específico de una industria fabricante de envases para contacto alimentario directo, con unas características determinadas.

  1. Feature Selection Criteria for Real Time EKF-SLAM Algorithm

    Directory of Open Access Journals (Sweden)

    Fernando Auat Cheein

    2010-02-01

    Full Text Available This paper presents a seletion procedure for environmet features for the correction stage of a SLAM (Simultaneous Localization and Mapping algorithm based on an Extended Kalman Filter (EKF. This approach decreases the computational time of the correction stage which allows for real and constant-time implementations of the SLAM. The selection procedure consists in chosing the features the SLAM system state covariance is more sensible to. The entire system is implemented on a mobile robot equipped with a range sensor laser. The features extracted from the environment correspond to lines and corners. Experimental results of the real time SLAM algorithm and an analysis of the processing-time consumed by the SLAM with the feature selection procedure proposed are shown. A comparison between the feature selection approach proposed and the classical sequential EKF-SLAM along with an entropy feature selection approach is also performed.

  2. Bearing-Only SLAM: Stochastic Triangulation Method

    Directory of Open Access Journals (Sweden)

    Grau-Saldes Antoni

    2013-04-01

    Full Text Available El SLAM (simultaneous localization and mapping es una técnica en la cual un robot o vehículo autónomo opera en un entorno a priori desconocido, utilizando únicamente sus sensores de abordo, mientras construye un mapa de su entorno, el cual utiliza al mismo tiempo para localizarse. Los sensores tienen un gran impacto en los algoritmos usados en SLAM. Enfoques recientes se están centrando en el uso de cámaras como sensor principal, ya que generan mucha información y están bien adaptadas para su aplicación en sistemas embebidos: son ligeras, baratas y ahorran energía. Sin embargo, a diferencia de los sensores de rango, los cuales proveen información angular y de rango, una cámara es un sensor proyectivo que mide el ángulo(bearing respecto a los elementos de la imagen, por lo que la profundidad o rango no puede ser obtenida mediante una sola medición. Lo anterior ha motivado la aparición de una nueva familia de métodos en SLAM: los métodos de SLAM basados en sensores angulares, los cuales están principalmente basados en técnicas especiales para la inicialización de características en el sistema, permitiendo el uso de sensores angulares (como cámaras en SLAM. Este artículo presenta un método práctico para la inicialización de nuevas características en sistemas de SLAM basados en sensores angulares. El método propuesto implementa mediante un retardo una técnica de triangulación estocástica para definir una hipótesis para la profundidad inicial de las características. Para mostrar el desempeño del método propuesto se presentan resultados experimentales con simulaciones y también se presentan dos casos de aplicación para escenarios con datos reales procedentes de distintos sensores angulares.

  3. Monocular Vision SLAM for Indoor Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Koray Çelik

    2013-01-01

    Full Text Available This paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines. We experimentally validate the proposed algorithms on a fully self-contained microaerial vehicle (MAV with sophisticated on-board image processing and SLAM capabilities. Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options. Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy.

  4. SLAM - Based Approach to Dynamic Ship Positioning

    Directory of Open Access Journals (Sweden)

    Krzysztof Wrobel

    2014-03-01

    Full Text Available Dynamically positioned vessels, used by offshore industry, use not only satellite navigation but also different positioning systems, often referred to as reference' systems. Most of them use multiple technical devices located outside the vessel which creates some problems with their accessibility and performance. In this paper, a basic concept of reference system independent from any external device is presented, basing on hydroacoustics and Simultaneous Localization and Mapping (SLAM method. Theoretical analysis of its operability is also performed.

  5. Real-time RGBD SLAM system

    Science.gov (United States)

    Czupryński, BłaŻej; Strupczewski, Adam

    2015-09-01

    A real-time tracking and mapping SLAM system is presented. The developed system uses input from an RGBD sensor and tracks the camera pose from frame to frame. The tracking is based on matched feature points and is performed with respect to selected keyframes. The system is robust and scalable, as an arbitrary number of keyframes can be chosen for visualization and tracking depending on the desired accuracy and speed. The presented system is also a good platform for further research.

  6. Verification of Slam Methods on Ros Platform

    OpenAIRE

    Radovan Sivý; Daniela Perudková

    2016-01-01

    The paper deals with the problem of experimental vehicle concept for 3D SLAM method based on data from Kinect device. One part of the paper describes the design, implementation and description of the physical model of the experimental vehicle. The second describes an odometry representation with a mathematical model of the Ackerman steering as well. Next describes the ROS platform, which was determined to solve complex robotic tasks. Last part of the paper contains to the evaluation of the re...

  7. Visual SLAM for Handheld Monocular Endoscope.

    Science.gov (United States)

    Grasa, Óscar G; Bernal, Ernesto; Casado, Santiago; Gil, Ismael; Montiel, J M M

    2014-01-01

    Simultaneous localization and mapping (SLAM) methods provide real-time estimation of 3-D models from the sole input of a handheld camera, routinely in mobile robotics scenarios. Medical endoscopic sequences mimic a robotic scenario in which a handheld camera (monocular endoscope) moves along an unknown trajectory while observing an unknown cavity. However, the feasibility and accuracy of SLAM methods have not been extensively validated with human in vivo image sequences. In this work, we propose a monocular visual SLAM algorithm tailored to deal with medical image sequences in order to provide an up-to-scale 3-D map of the observed cavity and the endoscope trajectory at frame rate. The algorithm is validated over synthetic data and human in vivo sequences corresponding to 15 laparoscopic hernioplasties where accurate ground-truth distances are available. It can be concluded that the proposed procedure is: 1) noninvasive, because only a standard monocular endoscope and a surgical tool are used; 2) convenient, because only a hand-controlled exploratory motion is needed; 3) fast, because the algorithm provides the 3-D map and the trajectory in real time; 4) accurate, because it has been validated with respect to ground-truth; and 5) robust to inter-patient variability, because it has performed successfully over the validation sequences.

  8. RT-SLAM: A Generic and Real-Time Visual SLAM Implementation

    CERN Document Server

    Roussillon, Cyril; Solà, Joan; Codol, Jean-Marie; Mansard, Nicolas; Lacroix, Simon; Devy, Michel; 10.1007/978-3-642-23968-7_4

    2012-01-01

    This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.

  9. Using Symmetrical Regions of Interest to Improve Visual SLAM

    NARCIS (Netherlands)

    Kootstra, Geert; Schomaker, Lambertus

    2009-01-01

    Simultaneous Localization and Mapping (SLAM) based on visual information is a challenging problem. One of the main problems with visual SLAM is to find good quality landmarks, that can be detected despite noise and small changes in viewpoint. Many approaches use SIFT interest points as visual landma

  10. SLAM: A Connectionist Model for Attention in Visual Selection Tasks.

    Science.gov (United States)

    Phaf, R. Hans; And Others

    1990-01-01

    The SeLective Attention Model (SLAM) performs visual selective attention tasks and demonstrates that object selection and attribute selection are both necessary and sufficient for visual selection. The SLAM is described, particularly with regard to its ability to represent an individual subject performing filtering tasks. (TJH)

  11. 47 CFR 64.1140 - Carrier liability for slamming.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 3 2010-10-01 2010-10-01 false Carrier liability for slamming. 64.1140 Section 64.1140 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) COMMON CARRIER SERVICES... Providers § 64.1140 Carrier liability for slamming. (a) Carrier Liability for Charges. Any...

  12. Signaling lymphocyte activating molecule (SLAM) expression in subacute sclerosing panencephalitis.

    Science.gov (United States)

    Piskin, A Kevser; Akpinar, Pinar; Muftuoglu, Sevda; Anlar, Banu

    2007-08-01

    Signaling lymphocyte activating molecule (SLAM) is a receptor for measles virus which also has immunomodulatory activity. We analyzed SLAM expression in mononuclear cells (MNC) of patients with SSPE (n=7) and control subjects (n=7) from the same population. Native 10% PAGE analysis in cell and brain tissue extracts followed by Western blotting using monoclonal anti-human SLAM showed four types of bands. Differences in the type and amount of SLAM expression were observed between SSPE and control cases. Lymphocytes of SSPE patients showed two types of SLAM bands in comparison to only one in control lymphocytes. Stimulation of cells with lipopolysaccharide (80 u/ml) and concanavalin A (1 microg/ml) in vitro led to the appearance of a second isoform in both groups. Brain homogenates of SSPE patients (n=2) displayed all four types of SLAM isoforms at significantly higher levels than those of control brains (n=2). Our results show native PAGE enables the detection of all SLAM isotypes. The expression of SLAM is increased in lymphocytes, monocytes, and brain tissues of SSPE patients.

  13. Experimental Investigation of Catamaran Cross-Structure Slamming

    Science.gov (United States)

    1975-09-01

    to Investigate the Three-Dimensional Effects of Slamming," NSRDC Report 3543 (Apr 1971). 8 i Carnahan, B. et al., " Applied Numerical Methods ," Chapter...Tests of Cones to Investigate the Three-Dimensional Effects of Slamming," NSRDC Report 3543 (Apr 1971) 8. Carnahan, B. et al., " Applied Numerical Methods ," Chapter

  14. Lenvik prawns safety feed the European gourmet ...thanks to the British Retail Consortium (BRC) certification

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-07-01

    Health scares caused by recent outbreaks of BSE and Foot-and-Mouth disease among livestock in Europe - and the accompanying media publicity - have served to sharpen focus on quality control in all links of the food chain. Strict regulation and monitoring of food production, from sourcing of the raw materials through processing, production and final distribution to the consumer, are now considered a prerequisite by an increasingly discerning public. Implementation of quality standards can mean the difference between success and failure for foodstuff producers in today's highly health-conscious retail market. Lenvik Fiskeindustri, which produces peeled and cooked prawns primarily for the European market from its factory in remote Kaarvikhamn in northern Norway, has recognised that third party certification of its processes represents not only a vital safeguard but also a significant competitive advantage. As discussed in this article, Lenvik recently earned Det Norske Veritas (DNV) certification to the BRC Technical Standard 2000, a relatively new quality standard established by the British Retail Consortium (BRC) to ensure food products conform to stringent health demands.

  15. New BRC neutron evaluations of actinides with the TALYS code: Modelization and first validation tests

    Directory of Open Access Journals (Sweden)

    Romain P.

    2010-10-01

    Full Text Available The reader may have a look on references [1–3,5] for more details. Over the last five years, new evaluations of plutonium and uranium have been performed at Bruyèeres-le-Châtel (BRC from the resolved resonance region up to 30MeV. Only nuclear reactions models have been used to build these evaluations. Total, shape elastic and direct inelastic cross sections are obtained from a coupled channel model using a dispersive optical potential (BRC, [13] devoted to actinides. All the other cross sections are calculated owing to the Hauser-Fesbach theory (TALYS code [4].We take particular care over the fission channel. For uranium isotopes, a triple-humped barrier [3] is required in order to reproduce accurately the variations of the experimental fission cross sections. As not commonly expected, we show [5] that the effect of the class II or class III states located in the wells of the aforementioned fission barrier provide sometimes an anti-resonant transmission rather than a resonant. With increasing neutron incident energy, a lot of residual nuclei produced by nucleon emission lead to fission also. All available experimental data assigned to the various fission mechanisms of the same nucleus are used to define its fission barrier parameters. As a result of this approach, we are now able to provide consistent evaluations for a large series of isotopes. Of course, our new evaluations have been tested against integral data.

  16. Stereo Visual SLAM for Mobile Robots Navigation

    OpenAIRE

    Moreno Dueñas, Francisco Ángel

    2015-01-01

    Esta tesis está enfocada a la combinación de los campos de la robótica móvil y la visión por computador, con el objetivo de desarrollar métodos que permitan a un robot móvil localizarse dentro de su entorno mientras construye un mapa del mismo, utilizando como única entrada un conjunto de imágenes. Este problema se denomina SLAM visual (por las siglas en inglés de "Simultaneous Localization And Mapping") y es un tema que aún continúa abierto a pesar del gran esfuerzo investigador realizado en...

  17. Verification of Slam Methods on Ros Platform

    Directory of Open Access Journals (Sweden)

    Radovan Sivý

    2016-09-01

    Full Text Available The paper deals with the problem of experimental vehicle concept for 3D SLAM method based on data from Kinect device. One part of the paper describes the design, implementation and description of the physical model of the experimental vehicle. The second describes an odometry representation with a mathematical model of the Ackerman steering as well. Next describes the ROS platform, which was determined to solve complex robotic tasks. Last part of the paper contains to the evaluation of the results of 3D mapping and localization in unknown space.

  18. A novel robust approach for SLAM of mobile robot

    Institute of Scientific and Technical Information of China (English)

    马家辰; 张琦; 马立勇

    2014-01-01

    The task of simultaneous localization and mapping (SLAM) is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. However, there are two obvious limitations in FastSLAM 2.0, one is the linear approximations of nonlinear functions which would cause the filter inconsistent and the other is the “particle depletion” phenomenon. A kind of PSO &H∞-based FastSLAM 2.0 algorithm is proposed. For maintaining the estimation accuracy,H∞ filter is used instead of EKF for overcoming the inaccuracy caused by the linear approximations of nonlinear functions. The unreasonable proposal distribution of particle greatly influences the pose state estimation of robot. A new sampling strategy based on PSO (particle swarm optimization) is presented to solve the “particle depletion” phenomenon and improve the accuracy of pose state estimation. The proposed approach overcomes the obvious drawbacks of standard FastSLAM 2.0 algorithm and enhances the robustness and efficiency in the parts of consistency of filter and accuracy of state estimation in SLAM. Simulation results demonstrate the superiority of the proposed approach.

  19. Short Large-Amplitude Magnetic Structures (SLAMS) at Venus

    Science.gov (United States)

    Collinson, G. A.; Wilson, L. B.; Sibeck, D. G.; Shane, N.; Zhang, T. L.; Moore, T. E.; Coates, A. J.; Barabash, S.

    2012-01-01

    We present the first observation of magnetic fluctuations consistent with Short Large-Amplitude Magnetic Structures (SLAMS) in the foreshock of the planet Venus. Three monolithic magnetic field spikes were observed by the Venus Express on the 11th of April 2009. The structures were approx.1.5->11s in duration, had magnetic compression ratios between approx.3->6, and exhibited elliptical polarization. These characteristics are consistent with the SLAMS observed at Earth, Jupiter, and Comet Giacobini-Zinner, and thus we hypothesize that it is possible SLAMS may be found at any celestial body with a foreshock.

  20. A Hybrid Data Association Approach for SLAM in Dynamic Environments

    Directory of Open Access Journals (Sweden)

    Baifan Chen

    2013-02-01

    Full Text Available Data association is critical for Simultaneous Localization and Mapping (SLAM. In a real environment, dynamic obstacles will lead to false data associations which compromise SLAM results. This paper presents a simple and effective data association method for SLAM in dynamic environments. A hybrid approach of data association based on local maps by combining ICNN and JCBB algorithms is used initially. Secondly, we set a judging condition of outlier features in association assumptions and then the static and dynamic features are detected according to spatial and temporal difference. Finally, association assumptions are updated by filtering out the dynamic features. Simulations and experimental results show that this method is feasible.

  1. PENGARUH ANTI-SLAMMING BULBOUS BOW TERHADAP GERAKAN SLAMMING PADA KAPAL PERINTIS 200 DWT

    OpenAIRE

    Muhammad Iqbal; Good Rindo

    2016-01-01

    Analisis seakeeping (kemampuan olah gerak kapal) merupakan aspek penting dalam perancangan kapal. Berdasarkan analisis tersebut, dapat diketahui batas operasional dari sebuah kapal. Salah satunya adalah dapat mengetahui kemampuan kapal pada tinggi gelombang signifikan (Hs) tertentu. Memodifikasi bentuk haluan kapal dengan membuat dasar dari haluan tersebut lebih rendah dibandingkan dengan dasar lambung kapal nya (dibawah garis baseline kapal) dinamakan Anti-Slamming Bow. Pada penelitian ini, ...

  2. SLAM family receptors and the SLAM-associated protein (SAP) modulate T cell functions.

    Science.gov (United States)

    Detre, Cynthia; Keszei, Marton; Romero, Xavier; Tsokos, George C; Terhorst, Cox

    2010-06-01

    One or more of the signaling lymphocytic activation molecule (SLAM) family (SLAMF) of cell surface receptors, which consists of nine transmembrane proteins, i.e., SLAMF1-9, are expressed on most hematopoietic cells. While most SLAMF receptors serve as self-ligands, SLAMF2 and SLAMF4 use each other as counter structures. Six of the receptors carry one or more copies of a unique intracellular tyrosine-based switch motif, which has high affinity for the single SH2-domain signaling molecules SLAM-associated protein and EAT-2. Whereas SLAMF receptors are costimulatory molecules on the surface of CD4+, CD8+, and natural killer (NK) T cells, they also involved in early phases of lineage commitment during hematopoiesis. SLAMF receptors regulate T lymphocyte development and function and modulate lytic activity, cytokine production, and major histocompatibility complex-independent cell inhibition of NK cells. Furthermore, they modulate B cell activation and memory generation, neutrophil, dendritic cell, macrophage and eosinophil function, and platelet aggregation. In this review, we will discuss the role of SLAM receptors and their adapters in T cell function, and we will examine the role of these receptors and their adapters in X-linked lymphoproliferative disease and their contribution to disease susceptibility in systemic lupus erythematosus.

  3. SLAM family receptors and SAP adaptors in immunity.

    Science.gov (United States)

    Cannons, Jennifer L; Tangye, Stuart G; Schwartzberg, Pamela L

    2011-01-01

    The signaling lymphocyte activation molecule (SLAM)-associated protein, SAP, was first identified as the protein affected in most cases of X-linked lymphoproliferative (XLP) syndrome, a rare genetic disorder characterized by abnormal responses to Epstein-Barr virus infection, lymphoproliferative syndromes, and dysgammaglobulinemia. SAP consists almost entirely of a single SH2 protein domain that interacts with the cytoplasmic tail of SLAM and related receptors, including 2B4, Ly108, CD84, Ly9, and potentially CRACC. SLAM family members are now recognized as important immunomodulatory receptors with roles in cytotoxicity, humoral immunity, autoimmunity, cell survival, lymphocyte development, and cell adhesion. In this review, we cover recent findings on the roles of SLAM family receptors and the SAP family of adaptors, with a focus on their regulation of the pathways involved in the pathogenesis of XLP and other immune disorders.

  4. Two Measures for Enhancing Data Association Performance in SLAM

    Directory of Open Access Journals (Sweden)

    Wu Zhou

    2014-01-01

    Full Text Available Data association is one of the key problems in the SLAM community. Several data association failures may cause the SLAM results to be divergent. Data association performance in SLAM is affected by both data association methods and sensor information. Two measures of handling sensor information are introduced herein to enhance data association performance in SLAM. For the first measure, truncating strategy of limited features, instead of all matched features, is used for observation update. These features are selected according to an information variable. This truncating strategy is used to lower the effect of false matched features. For the other measure, a special rejecting mechanism is designed to reject suspected observations. When the predicted robot pose is obviously different from the updated robot pose, all observed sensor information at this moment is discarded. The rejecting mechanism aims at eliminating accidental sensor information. Experimental results indicate that the introduced measures perform well in improving the stability of data association in SLAM. These measures are of extraordinary value for real SLAM applications.

  5. A Highest Order Hypothesis Compatibility Test for Monocular SLAM

    Directory of Open Access Journals (Sweden)

    Edmundo Guerra

    2013-08-01

    Full Text Available Simultaneous Location and Mapping (SLAM is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The Delayed Inverse-Depth technique is used to initialize new features in the system and defines a single hypothesis for the initial depth of features with the use of a stochastic technique of triangulation. The introduced HOHCT method is based on the evaluation of statistically compatible hypotheses and a search algorithm designed to exploit the strengths of the Delayed Inverse- Depth technique to achieve good performance results. This work presents the HOHCT with a detailed formulation of the monocular DI-D SLAM problem. The performance of the proposed HOHCT is validated with experimental results, in both indoor and outdoor environments, while its costs are compared with other popular approaches.

  6. An Adaptive UKF Based SLAM Method for Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Hongjian Wang

    2013-01-01

    Full Text Available This work proposes an improved unscented Kalman filter (UKF-based simultaneous localization and mapping (SLAM algorithm based on an adaptive unscented Kalman filter (AUKF with a noise statistic estimator. The algorithm solves the issue that conventional UKF-SLAM algorithms have declining accuracy, with divergence occurring when the prior noise statistic is unknown and time-varying. The new SLAM algorithm performs an online estimation of the statistical parameters of unknown system noise by introducing a modified Sage-Husa noise statistic estimator. The algorithm also judges whether the filter is divergent and restrains potential filtering divergence using a covariance matching method. This approach reduces state estimation error, effectively improving navigation accuracy of the SLAM system. A line feature extraction is implemented through a Hough transform based on the ranging sonar model. Test results based on unmanned underwater vehicle (UUV sea trial data indicate that the proposed AUKF-SLAM algorithm is valid and feasible and provides better accuracy than the standard UKF-SLAM system.

  7. Interrogation of the protein-protein interactions between human BRCA2 BRC repeats and RAD51 reveals atomistic determinants of affinity.

    Directory of Open Access Journals (Sweden)

    Daniel J Cole

    2011-07-01

    Full Text Available The breast cancer suppressor BRCA2 controls the recombinase RAD51 in the reactions that mediate homologous DNA recombination, an essential cellular process required for the error-free repair of DNA double-stranded breaks. The primary mode of interaction between BRCA2 and RAD51 is through the BRC repeats, which are ∼35 residue peptide motifs that interact directly with RAD51 in vitro. Human BRCA2, like its mammalian orthologues, contains 8 BRC repeats whose sequence and spacing are evolutionarily conserved. Despite their sequence conservation, there is evidence that the different human BRC repeats have distinct capacities to bind RAD51. A previously published crystal structure reports the structural basis of the interaction between human BRC4 and the catalytic core domain of RAD51. However, no structural information is available regarding the binding of the remaining seven BRC repeats to RAD51, nor is it known why the BRC repeats show marked variation in binding affinity to RAD51 despite only subtle sequence variation. To address these issues, we have performed fluorescence polarisation assays to indirectly measure relative binding affinity, and applied computational simulations to interrogate the behaviour of the eight human BRC-RAD51 complexes, as well as a suite of BRC cancer-associated mutations. Our computational approaches encompass a range of techniques designed to link sequence variation with binding free energy. They include MM-PBSA and thermodynamic integration, which are based on classical force fields, and a recently developed approach to computing binding free energies from large-scale quantum mechanical first principles calculations with the linear-scaling density functional code onetep. Our findings not only reveal how sequence variation in the BRC repeats directly affects affinity with RAD51 and provide significant new insights into the control of RAD51 by human BRCA2, but also exemplify a palette of computational and

  8. Slam: Hip-Hop Meets Poetry--A Strategy for Violence Intervention.

    Science.gov (United States)

    Bruce, Heather E.; Davis, Bryan Dexter

    2000-01-01

    Describes one strategy used in high school English classrooms to teach for peace and dislodge violence: the poetry slam, a burgeoning pop culture phenomenon that combines poetry and performance art. Describes poetry slams that incorporate hip-hop culture. Discusses promoting slams in English classrooms to show students the power of words and…

  9. Isolation and characterization of a novel native Bacillus thuringiensis strain BRC-HZM2 capable of degrading chlorpyrifos.

    Science.gov (United States)

    Wu, Songqing; Peng, Yan; Huang, Zhangmin; Huang, Zhipeng; Xu, Lei; Ivan, Gelbič; Guan, Xiong; Zhang, Lingling; Zou, Shuangquan

    2015-03-01

    Studies were carried out to isolate chlorpyrifos degrading Bacillus thuringiensis (Bt) strains from chlorpyrifos-contaminated samples. Six Bt strains (isolation rate 2.7%) were isolated by modified sodium acetate antibiotic heat treatment, and one novel strain (BRC-HZM2) was selected for further analysis. Phenotype and phylogeny analysis of this strain was conducted on the basis of biochemical reactions, antibiotic sensitivity, 16s rRNA genes, plasmid profile, insecticidal crystal protein profiles, and PCR-RFLP for cry and cyt genes. The degradation rate of chlorpyrifos in liquid culture was estimated during 48 h of incubation for the isolate BRC-HZM2. More than 50% of the initial chlorpyrifos concentration degraded within 12 h, 88.9% after 48 h. These results highlight the potential of the Bt strain for biological control and the bioremediation of environments contaminated with chlorpyrifos.

  10. Sequential star formation in a cometary globule (BRC37) of IC1396

    CERN Document Server

    Ikeda, Hisashi; Watanabe, Makoto; Fukuda, Naoya; Tamura, Motohide; Nakajima, Yasushi; Pickles, Andrew J; Nagashima, Chie; Nagayama, Takahiro; Nakaya, Hidehiko; Nakano, Makoto; Nagata, Tetsuya

    2008-01-01

    We have carried out near-IR/optical observations to examine star formation toward a bright-rimmed cometary globule (BRC37) facing the exciting star(s) of an HII region (IC1396) containing an IRAS source, which is considered to be an intermediate-mass protostar. With slit-less spectroscopy we detected ten H_alpha emission stars around the globule, six of which are near the tip of the globule and are aligned along the direction to the exciting stars. There is evidence that this alignment was originally towards an O9.5 star, but has evolved to align towards a younger O6 star when that formed. Near-IR and optical photometry suggests that four of these six stars are low-mass young stellar objects (YSOs) with masses of ~0.4 M_sun. Their estimated ages of ~1 Myr indicate that they were formed at the tip in advance of the formation of the IRAS source. Therefore, it is likely that sequential star formation has been taking place along the direction from the exciting stars towards the IRAS source, due to the UV impact o...

  11. Design of potent inhibitors of human RAD51 recombinase based on BRC motifs of BRCA2 protein: modeling and experimental validation of a chimera peptide.

    KAUST Repository

    Nomme, Julian

    2010-08-01

    We have previously shown that a 28-amino acid peptide derived from the BRC4 motif of BRCA2 tumor suppressor inhibits selectively human RAD51 recombinase (HsRad51). With the aim of designing better inhibitors for cancer treatment, we combined an in silico docking approach with in vitro biochemical testing to construct a highly efficient chimera peptide from eight existing human BRC motifs. We built a molecular model of all BRC motifs complexed with HsRad51 based on the crystal structure of the BRC4 motif-HsRad51 complex, computed the interaction energy of each residue in each BRC motif, and selected the best amino acid residue at each binding position. This analysis enabled us to propose four amino acid substitutions in the BRC4 motif. Three of these increased the inhibitory effect in vitro, and this effect was found to be additive. We thus obtained a peptide that is about 10 times more efficient in inhibiting HsRad51-ssDNA complex formation than the original peptide.

  12. Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

    Directory of Open Access Journals (Sweden)

    Shi-Ming Chen

    2014-01-01

    Full Text Available Considering the influence of uncertain map information on multirobot SLAM problem, a multirobot FastSLAM algorithm based on landmark consistency correction is proposed. Firstly, electromagnetism-like mechanism is introduced to the resampling procedure in single-robot FastSLAM, where we assume that each sampling particle is looked at as a charged electron and attraction-repulsion mechanism in electromagnetism field is used to simulate interactive force between the particles to improve the distribution of particles. Secondly, when multiple robots observe the same landmarks, every robot is regarded as one node and Kalman-Consensus Filter is proposed to update landmark information, which further improves the accuracy of localization and mapping. Finally, the simulation results show that the algorithm is suitable and effective.

  13. Rotational and frictional dynamics of the slamming of a door

    Science.gov (United States)

    Klein, Pascal; Müller, Andreas; Gröber, Sebastian; Molz, Alexander; Kuhn, Jochen

    2017-01-01

    A theoretical and experimental investigation of the rotational dynamics, including friction, of a slamming door is presented. Based on existing work regarding different damping models for rotational and oscillatory motions, we examine different forms for the (angular) velocity dependence (ωn, n = 0, 1, 2) of the frictional force. An analytic solution is given when all three friction terms are present and several solutions for specific cases known from the literature are reproduced. The motion of a door is investigated experimentally using a smartphone, and the data are compared with the theoretical results. A laboratory experiment under more controlled conditions is conducted to gain a deeper understanding of the movement of a slammed door. Our findings provide quantitative evidence that damping models involving quadratic air drag are most appropriate for the slamming of a door. Examining this everyday example of a physical phenomenon increases student motivation, because they can relate it to their own personal experience.

  14. SLAM : Solutions lexicales automatique pour m\\'etaphores

    CERN Document Server

    Desalle, Yann; Duvignau, Karine

    2010-01-01

    This article presents SLAM, an Automatic Solver for Lexical Metaphors like ?d\\'eshabiller* une pomme? (to undress* an apple). SLAM calculates a conventional solution for these productions. To carry on it, SLAM has to intersect the paradigmatic axis of the metaphorical verb ?d\\'eshabiller*?, where ?peler? (?to peel?) comes closer, with a syntagmatic axis that comes from a corpus where ?peler une pomme? (to peel an apple) is semantically and syntactically regular. We test this model on DicoSyn, which is a ?small world? network of synonyms, to compute the paradigmatic axis and on Frantext.20, a French corpus, to compute the syntagmatic axis. Further, we evaluate the model with a sample of an experimental corpus of the database of Flexsem

  15. New validation algorithm for data association in SLAM.

    Science.gov (United States)

    Guerra, Edmundo; Munguia, Rodrigo; Bolea, Yolanda; Grau, Antoni

    2013-09-01

    In this work, a novel data validation algorithm for a single-camera SLAM system is introduced. A 6-degree-of-freedom monocular SLAM method based on the delayed inverse-depth (DI-D) feature initialization is used as a benchmark. This SLAM methodology has been improved with the introduction of the proposed data association batch validation technique, the highest order hypothesis compatibility test, HOHCT. This new algorithm is based on the evaluation of statistically compatible hypotheses, and a search algorithm designed to exploit the characteristics of delayed inverse-depth technique. In order to show the capabilities of the proposed technique, experimental tests have been compared with classical methods. The results of the proposed technique outperformed the results of the classical approaches.

  16. Function and dynamics of slam in furrow formation in early Drosophila embryo.

    Science.gov (United States)

    Acharya, Sreemukta; Laupsien, Philip; Wenzl, Christian; Yan, Shuling; Großhans, Jörg

    2014-02-15

    The Drosophila embryo undergoes a developmental transition in the blastoderm stage switching from syncytial to cellular development. The cleavage furrow, which encloses nuclei into cells, is a prominent morphological feature of this transition. It is not clear how the pattern of the furrow array is defined and how zygotic genes trigger the formation and invagination of interphase furrows. A key to these questions is provided by the gene slam, which has been previously implicated in controlling furrow invagination. Here we investigate the null phenotype of slam, the dynamics of Slam protein, and its control by the recycling endosome. We find that slam is essential for furrow invagination during cellularisation and together with nullo, for specification of the furrow. During cellularisation, Slam marks first the furrow, which is derived from the metaphase furrow of the previous mitosis. Slightly later, Slam accumulates at new furrows between daughter cells early in interphase. Slam is stably associated with the furrow canal except for the onset of cellularisation as revealed by FRAP experiments. Restriction of Slam to the furrow canal and Slam mobility during cellularisation is controlled by the recycling endosome and centrosomes. We propose a three step model. The retracting metaphase furrow leaves an initial mark. This mark and the border between corresponding daughter nuclei are refined by vesicular transport away from pericentrosomal recycling endosome towards the margins of the somatic buds. Following the onset of zygotic gene expression, Slam and Nullo together stabilise this mark and Slam triggers invagination of the cleavage furrow.

  17. Analysis of different feature selection criteria based on a covariance convergence perspective for a SLAM algorithm.

    Science.gov (United States)

    Auat Cheein, Fernando A; Carelli, Ricardo

    2011-01-01

    This paper introduces several non-arbitrary feature selection techniques for a Simultaneous Localization and Mapping (SLAM) algorithm. The feature selection criteria are based on the determination of the most significant features from a SLAM convergence perspective. The SLAM algorithm implemented in this work is a sequential EKF (Extended Kalman filter) SLAM. The feature selection criteria are applied on the correction stage of the SLAM algorithm, restricting it to correct the SLAM algorithm with the most significant features. This restriction also causes a decrement in the processing time of the SLAM. Several experiments with a mobile robot are shown in this work. The experiments concern the map reconstruction and a comparison between the different proposed techniques performance. The experiments were carried out at an outdoor environment composed by trees, although the results shown herein are not restricted to a special type of features.

  18. Analysis of Different Feature Selection Criteria Based on a Covariance Convergence Perspective for a SLAM Algorithm

    Directory of Open Access Journals (Sweden)

    Fernando A. Auat Cheein

    2010-12-01

    Full Text Available This paper introduces several non-arbitrary feature selection techniques for a Simultaneous Localization and Mapping (SLAM algorithm. The feature selection criteria are based on the determination of the most significant features from a SLAM convergence perspective. The SLAM algorithm implemented in this work is a sequential EKF (Extended Kalman filter SLAM. The feature selection criteria are applied on the correction stage of the SLAM algorithm, restricting it to correct the SLAM algorithm with the most significant features. This restriction also causes a decrement in the processing time of the SLAM. Several experiments with a mobile robot are shown in this work. The experiments concern the map reconstruction and a comparison between the different proposed techniques performance. The experiments were carried out at an outdoor environment  composed by trees, although the results shown herein are not restricted to a special type of features.

  19. Wave slamming forces on truss support structures for wind turbines

    OpenAIRE

    Aashamar, Miriam Zakri

    2012-01-01

    This thesis is a study of the slamming forces from plunging breaking waves on truss support structures in shallow water. The main parts have been model testing and analysis on an existing 1:50 scale model of a truss support structure for wind turbines at NTNU.An expanding building of offshore structures has led to increased focus on wave forces. Large slamming forces from breaking waves can occur in shallow water. These forces will impact the structure in a much bigger way than non-breaking w...

  20. 苏云金芽胞杆菌BRC-HZP7杀虫晶体蛋白多样性分析%ICPs polymorphism of Bacillus thuringiensis BRC-HZP7

    Institute of Scientific and Technical Information of China (English)

    沙莉; 章淘; 黄张敏; 黄志鹏; 关雄

    2011-01-01

    Bacillus thuringiensis strain BRC-HZP7 was isolated from the soil of Wuyi mountain, which exhibited the high activity a-gainst Plutella xylostella larvae and Spodoptera exigua larvae. Biochemical reactions were tested for its biological characters. The cry gene types and their encoded proteins of BRC-HZP7 were identified by the methods of PCR-RFLP, SDS-PAGE and PMF. The results showed that cry1Aa, crylBa, cry1Ia, cry2Ab, cry2Ac and cry2Ae existed in BRC-HZP7. Eight interesting protein bands were picked out to analyze further by MALDI-TOF/MS. PMF matching analysis results showed that band 3,6,7,8 were ICPs. The band 6,7,8 were identified as Cry2Aa, Cry1Aa, Cry1Ba, respectively. The band 3 was possible partial fragment of Cry1Ba. The strain with abundant ICPs would be a good resource in pest biocontrol.%分离自武夷山土壤的苏云金芽胞杆菌BRC-HZP7菌株对小菜蛾和甜菜夜蛾幼虫有较好的毒杀作用.对该菌株进行了生理生化测定、cry基因的PCR-RFLP检测,以及通过SDS-PAGE检测晶体蛋白,并对蛋白点进行肽段指纹图谱鉴定.结果表明该菌株含有cry1Aa、cry1 Ba、cry1 Ia、cry2Ab、cry2Ac、cry2Ae等6种cry基因.从选取的8个蛋白条带肽段指纹图谱可以看出:标记3、6、7、8的4个蛋白点都是杀虫晶体蛋白,蛋白点6、7、8分别鉴定为Cry2Aa、Cry1 Aa、Cry1 Ba,蛋白点3可能是Cry1Ba的部分片段.表明该菌株有丰富的ICP资源,可作为杀虫应用的候选菌株.

  1. Monocular SLAM for Autonomous Robots with Enhanced Features Initialization

    Directory of Open Access Journals (Sweden)

    Edmundo Guerra

    2014-04-01

    Full Text Available This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D SLAM, a known monocular technique, several but crucial modifications are introduced taking advantage of data from a secondary monocular sensor, assuming that this second camera is worn by a human. The human explores an unknown environment with the robot, and when their fields of view coincide, the cameras are considered a pseudo-calibrated stereo rig to produce estimations for depth through parallax. These depth estimations are used to solve a related problem with DI-D monocular SLAM, namely, the requirement of a metric scale initialization through known artificial landmarks. The same process is used to improve the performance of the technique when introducing new landmarks into the map. The convenience of the approach taken to the stereo estimation, based on SURF features matching, is discussed. Experimental validation is provided through results from real data with results showing the improvements in terms of more features correctly initialized, with reduced uncertainty, thus reducing scale and orientation drift. Additional discussion in terms of how a real-time implementation could take advantage of this approach is provided.

  2. Distributed SLAM using improved particle filter for mobile robot localization.

    Science.gov (United States)

    Pei, Fujun; Wu, Mei; Zhang, Simin

    2014-01-01

    The distributed SLAM system has a similar estimation performance and requires only one-fifth of the computation time compared with centralized particle filter. However, particle impoverishment is inevitably because of the random particles prediction and resampling applied in generic particle filter, especially in SLAM problem that involves a large number of dimensions. In this paper, particle filter use in distributed SLAM was improved in two aspects. First, we improved the important function of the local filters in particle filter. The adaptive values were used to replace a set of constants in the computational process of importance function, which improved the robustness of the particle filter. Second, an information fusion method was proposed by mixing the innovation method and the number of effective particles method, which combined the advantages of these two methods. And this paper extends the previously known convergence results for particle filter to prove that improved particle filter converges to the optimal filter in mean square as the number of particles goes to infinity. The experiment results show that the proposed algorithm improved the virtue of the DPF-SLAM system in isolate faults and enabled the system to have a better tolerance and robustness.

  3. Monocular SLAM for autonomous robots with enhanced features initialization.

    Science.gov (United States)

    Guerra, Edmundo; Munguia, Rodrigo; Grau, Antoni

    2014-04-02

    This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI) framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D SLAM), a known monocular technique, several but crucial modifications are introduced taking advantage of data from a secondary monocular sensor, assuming that this second camera is worn by a human. The human explores an unknown environment with the robot, and when their fields of view coincide, the cameras are considered a pseudo-calibrated stereo rig to produce estimations for depth through parallax. These depth estimations are used to solve a related problem with DI-D monocular SLAM, namely, the requirement of a metric scale initialization through known artificial landmarks. The same process is used to improve the performance of the technique when introducing new landmarks into the map. The convenience of the approach taken to the stereo estimation, based on SURF features matching, is discussed. Experimental validation is provided through results from real data with results showing the improvements in terms of more features correctly initialized, with reduced uncertainty, thus reducing scale and orientation drift. Additional discussion in terms of how a real-time implementation could take advantage of this approach is provided.

  4. Distributed SLAM Using Improved Particle Filter for Mobile Robot Localization

    Directory of Open Access Journals (Sweden)

    Fujun Pei

    2014-01-01

    Full Text Available The distributed SLAM system has a similar estimation performance and requires only one-fifth of the computation time compared with centralized particle filter. However, particle impoverishment is inevitably because of the random particles prediction and resampling applied in generic particle filter, especially in SLAM problem that involves a large number of dimensions. In this paper, particle filter use in distributed SLAM was improved in two aspects. First, we improved the important function of the local filters in particle filter. The adaptive values were used to replace a set of constants in the computational process of importance function, which improved the robustness of the particle filter. Second, an information fusion method was proposed by mixing the innovation method and the number of effective particles method, which combined the advantages of these two methods. And this paper extends the previously known convergence results for particle filter to prove that improved particle filter converges to the optimal filter in mean square as the number of particles goes to infinity. The experiment results show that the proposed algorithm improved the virtue of the DPF-SLAM system in isolate faults and enabled the system to have a better tolerance and robustness.

  5. A Novel Metric Online Monocular SLAM Approach for Indoor Applications

    Directory of Open Access Journals (Sweden)

    Yongfei Li

    2016-01-01

    Full Text Available Monocular SLAM has attracted more attention recently due to its flexibility and being economic. In this paper, a novel metric online direct monocular SLAM approach is proposed, which can obtain the metric reconstruction of the scene. In the proposed approach, a chessboard is utilized to provide initial depth map and scale correction information during the SLAM process. The involved chessboard provides the absolute scale of scene, and it is seen as a bridge between the camera visual coordinate and the world coordinate. The scene is reconstructed as a series of key frames with their poses and correlative semidense depth maps, using a highly accurate pose estimation achieved by direct grid point-based alignment. The estimated pose is coupled with depth map estimation calculated by filtering over a large number of pixelwise small-baseline stereo comparisons. In addition, this paper formulates the scale-drift model among key frames and the calibration chessboard is used to correct the accumulated pose error. At the end of this paper, several indoor experiments are conducted. The results suggest that the proposed approach is able to achieve higher reconstruction accuracy when compared with the traditional LSD-SLAM approach. And the approach can also run in real time on a commonly used computer.

  6. Chinese Enterprises Slams the Brakes on Acquisition of Overseas Mines

    Institute of Scientific and Technical Information of China (English)

    2012-01-01

    <正>On June 25,China Mining Association revealed that,as of the middle of June,Chinese enterprises slammed the brakes on acquisition of overseas mines.There are only 53 overseas mine acquisition cases so far this year,

  7. Stereo vision based SLAM using Rao-Blackwellised particle filter

    Institute of Scientific and Technical Information of China (English)

    Er-yong WU; Gong-yan LI; Zhi-yu XIANG; Ji-lin LIU

    2008-01-01

    We present an algorithm which can realize 3D stereo vision simultaneous localization and mapping (SLAM) for mobile robot in unknown outdoor environments, which means the 6-DOF motion and a sparse but persistent map of natural landmarks be constructed online only with a stereo camera. In mobile robotics research, we extend FastSLAM 2.0 like stereo vision SLAM with "pure vision" domain to outdoor environments. Unlike popular stochastic motion model used in conventional monocular vision SLAM, we utilize the ideas of structure from motion (SFM) for initial motion estimation, which is more suitable for the robot moving in large-scale outdoor, and textured environments. SIFT features are used as natural landmarks, and its 3D positions are constructed directly through triangulation. Considering the computational complexity and memory consumption,Bkd-tree and Best-Bin-First (BBF) search strategy are utilized for SIFT feature descriptor matching. Results show high accuracy of our algorithm, even in the circumstance of large translation and large rotation movements.

  8. Structure of the measles virus hemagglutinin bound to its cellular receptor SLAM.

    Science.gov (United States)

    Hashiguchi, Takao; Ose, Toyoyuki; Kubota, Marie; Maita, Nobuo; Kamishikiryo, Jun; Maenaka, Katsumi; Yanagi, Yusuke

    2011-02-01

    Measles virus, a major cause of childhood morbidity and mortality worldwide, predominantly infects immune cells using signaling lymphocyte activation molecule (SLAM) as a cellular receptor. Here we present crystal structures of measles virus hemagglutinin (MV-H), the receptor-binding glycoprotein, in complex with SLAM. The MV-H head domain binds to a β-sheet of the membrane-distal ectodomain of SLAM using the side of its β-propeller fold. This is distinct from attachment proteins of other paramyxoviruses that bind receptors using the top of their β-propeller. The structure provides templates for antiviral drug design, an explanation for the effectiveness of the measles virus vaccine, and a model of the homophilic SLAM-SLAM interaction involved in immune modulations. Notably, the crystal structures obtained show two forms of the MV-H-SLAM tetrameric assembly (dimer of dimers), which may have implications for the mechanism of fusion triggering.

  9. SLAM-family receptors: immune regulators with or without SAP-family adaptors.

    Science.gov (United States)

    Veillette, André

    2010-03-01

    The signaling lymphocytic activation molecule (SLAM) family of receptors and the SLAM-associated protein (SAP) family of intracellular adaptors are expressed in immune cells. By way of their cytoplasmic domain, SLAM-related receptors physically associate with SAP-related adaptors. Evidence is accumulating that the SLAM and SAP families play crucial roles in multiple immune cell types. Moreover, the prototype of the SAP family, that is SAP, is mutated in a human immunodeficiency, X-linked lymphoproliferative (XLP) disease. In the presence of SAP-family adaptors, the SLAM family usually mediates stimulatory signals that promote immune cell activation or differentiation. In the absence of SAP-family adaptors, though, the SLAM family undergoes a "switch-of-function," thereby mediating inhibitory signals that suppress immune cell functions. The molecular basis and significance of this mechanism are discussed herein.

  10. Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot

    Directory of Open Access Journals (Sweden)

    Xiaorui Zhu

    2015-01-01

    Full Text Available This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM algorithm for mobile service robot combining the semantic relationship and the Unscented FastSLAM. The landmark positions and the semantic relationships among landmarks are detected by a binocular vision. Then the semantic observation model can be created by transforming the semantic relationships into the semantic metric map. Semantic Unscented FastSLAM can be used to update the locations of the landmarks and robot pose even when the encoder inherits large cumulative errors that may not be corrected by the loop closure detection of the vision system. Experiments have been carried out to demonstrate that the Semantic Unscented FastSLAM algorithm can achieve much better performance in indoor autonomous surveillance than Unscented FastSLAM.

  11. Performance Analysis of the Microsoft Kinect Sensor for 2D Simultaneous Localization and Mapping (SLAM) Techniques

    OpenAIRE

    Kamarulzaman Kamarudin; Syed Muhammad Mamduh; Ali Yeon Md. Shakaff; Ammar Zakaria

    2014-01-01

    This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor wi...

  12. Adaptive Iterated Square-Root Cubature Kalman Filter and Its Application to SLAM of a Mobile Robot

    Directory of Open Access Journals (Sweden)

    Zuguo Chen

    2013-07-01

    Full Text Available For the mobile robot Simultaneous Localization and Mapping(SLAM,a new algorithm is proposed, and named Adaptive Iterated Square-Root Cubature Kalman Filter based SLAM algorithm(AISRCKF-SLAM. The main contribution of the algorithm is that the numerical integration method based on cubature rule is directly used to calculate the SLAM posterior probability density. To improve innovation covariance and cross-covariance, the latest measurements are iteratively used in the measurement updating. The algorithm can reduce linearization error and improve the accuracy of the SLAM algorithm. The algorithm also used adaptive iterating estimation restricted by the iterative sentencing guideline to adjust the proportion of the observation and dynamic model, to make the estimated square root of the error covariance more accurate and reasonable. In experiments, the proposed algorithm is compared with Extended Kalman Filter based SLAM algorithm (EKF-SLAM, Unscented Kalman Filter based SLAM algorithm (UKF-SLAM and Square-Root Cubature Kalman Filter based SLAM algorithm (SRCKF-SLAM. The results indicate that the proposed algorithm having with the higher accuracy of the state estimation is obtained to compare with the EKF-SLAM algorithm, the UKF-SLAM algorithm and the SRCKF-SLAM algorithm.

  13. Evaluating quantitative and conceptual models of speech production: how does SLAM fare?

    Science.gov (United States)

    Walker, Grant M; Hickok, Gregory

    2016-04-01

    In a previous publication, we presented a new computational model called SLAM (Walker & Hickok, Psychonomic Bulletin & Review doi: 10.3758/s13423-015-0903 ), based on the hierarchical state feedback control (HSFC) theory (Hickok Nature Reviews Neuroscience, 13(2), 135-145, 2012). In his commentary, Goldrick (Psychonomic Bulletin & Review doi: 10.3758/s13423-015-0946-9 ) claims that SLAM does not represent a theoretical advancement, because it cannot be distinguished from an alternative lexical + postlexical (LPL) theory proposed by Goldrick and Rapp (Cognition, 102(2), 219-260, 2007). First, we point out that SLAM implements a portion of a conceptual model (HSFC) that encompasses LPL. Second, we show that SLAM accounts for a lexical bias present in sound-related errors that LPL does not explain. Third, we show that SLAM's explanatory advantage is not a result of approximating the architectural or computational assumptions of LPL, since an implemented version of LPL fails to provide the same fit improvements as SLAM. Finally, we show that incorporating a mechanism that violates some core theoretical assumptions of LPL-making it more like SLAM in terms of interactivity-allows the model to capture some of the same effects as SLAM. SLAM therefore provides new modeling constraints regarding interactions among processing levels, while also elaborating on the structure of the phonological level. We view this as evidence that an integration of psycholinguistic, neuroscience, and motor control approaches to speech production is feasible and may lead to substantial new insights.

  14. Measles virus infection of SLAM (CD150) knockin mice reproduces tropism and immunosuppression in human infection.

    Science.gov (United States)

    Ohno, Shinji; Ono, Nobuyuki; Seki, Fumio; Takeda, Makoto; Kura, Shinobu; Tsuzuki, Teruhisa; Yanagi, Yusuke

    2007-02-01

    The human signaling lymphocyte activation molecule (SLAM, also called CD150), a regulator of antigen-driven T-cell responses and macrophage functions, acts as a cellular receptor for measles virus (MV), and its V domain is necessary and sufficient for receptor function. We report here the generation of SLAM knockin mice in which the V domain of mouse SLAM was replaced by that of human SLAM. The chimeric SLAM had an expected distribution and normal function in the knockin mice. Splenocytes from the SLAM knockin mice permitted the in vitro growth of a virulent MV strain but not that of the Edmonston vaccine strain. Unlike in vitro infection, MV could grow only in SLAM knockin mice that also lacked the type I interferon receptor (IFNAR). After intraperitoneal or intranasal inoculation, MV was detected in the spleen and lymph nodes throughout the body but not in the thymus. Notably, the virus appeared first in the mediastinal lymph node after intranasal inoculation. Splenocytes from MV-infected IFNAR(-/-) SLAM knockin mice showed suppression of proliferative responses to concanavalin A. Thus, MV infection of SLAM knockin mice reproduces lymphotropism and immunosuppression in human infection, serving as a useful small animal model for measles.

  15. A ROS Implementation of the Mono-Slam Algorithm

    OpenAIRE

    Ludovico Russo; Stefano Rosa; Basilio Bona; Matteo Matteucci

    2014-01-01

    Computer vision approaches are increasingly used in mobile robotic systems, since they allow to obtain a very good representation of the environment by using low-power and cheap sensors. In particular it has been shown that they can compete with standard solutions based on laser range scanners when dealing with the problem of simultaneous localization and mapping (SLAM), where the robot has to explore an unknown environment while building a map of it and localizing in the same ...

  16. Temporally Scalable Visual SLAM using a Reduced Pose Graph

    Science.gov (United States)

    2012-05-25

    generated from Kinect data for illustration purposes. II. RELATED WORK The pose graph optimization approach to SLAM was first introduced by Lu and Milios [19...such as the Microsoft Kinect ) and results for both camera types are presented in Section V. Additionally, our approach can incorporate IMU (roll and...camera, a Kinect sensor and a Microstrain IMU among other sensors. The data was collected in a large building over a period of six months. There were

  17. An evaluation of attention models for use in SLAM

    Science.gov (United States)

    Dodge, Samuel; Karam, Lina

    2013-12-01

    In this paper we study the application of visual saliency models for the simultaneous localization and mapping (SLAM) problem. We consider visual SLAM, where the location of the camera and a map of the environment can be generated using images from a single moving camera. In visual SLAM, the interest point detector is of key importance. This detector must be invariant to certain image transformations so that features can be matched across di erent frames. Recent work has used a model of human visual attention to detect interest points, however it is unclear as to what is the best attention model for this purpose. To this aim, we compare the performance of interest points from four saliency models (Itti, GBVS, RARE, and AWS) with the performance of four traditional interest point detectors (Harris, Shi-Tomasi, SIFT, and FAST). We evaluate these detectors under several di erent types of image transformation and nd that the Itti saliency model, in general, achieves the best performance in terms of keypoint repeatability.

  18. Global localization from monocular SLAM on a mobile phone.

    Science.gov (United States)

    Ventura, Jonathan; Arth, Clemens; Reitmayr, Gerhard; Schmalstieg, Dieter

    2014-04-01

    We propose the combination of a keyframe-based monocular SLAM system and a global localization method. The SLAM system runs locally on a camera-equipped mobile client and provides continuous, relative 6DoF pose estimation as well as keyframe images with computed camera locations. As the local map expands, a server process localizes the keyframes with a pre-made, globally-registered map and returns the global registration correction to the mobile client. The localization result is updated each time a keyframe is added, and observations of global anchor points are added to the client-side bundle adjustment process to further refine the SLAM map registration and limit drift. The end result is a 6DoF tracking and mapping system which provides globally registered tracking in real-time on a mobile device, overcomes the difficulties of localization with a narrow field-of-view mobile phone camera, and is not limited to tracking only in areas covered by the offline reconstruction.

  19. [Food Security in Europe: comparison between the "Hygiene Package" and the British Retail Consortium (BRC) & International Food Standard (IFS) protocols].

    Science.gov (United States)

    Stilo, A; Parisi, S; Delia, S; Anastasi, F; Bruno, G; Laganà, P

    2009-01-01

    The birth of Hygiene Package and of the Reg. CE no 2073/2005 in the food production field signalled a change in Italy. This process started in Italy in 1997 with the legislative decree no 155 on Self-control but in reality, it was implemented in the UK in 1990 with the promulgation of the Food Safety Act. This legal act was influenced by some basic rules corresponding to the application of HACCP standards. Since 1990 the British chains of distribution (Retailers) have involved all aspects of the food line in this type of responsibility. Due to this growing awareness for a need for greater regulation, a protocol, edited by British Retail Consortium was created in 1998. This protocol acted as a "stamp" of approval for food products and it is now known as the BRC Global Food Standard. In July 2008, this protocol became effective in its fifth version. After the birth of BRC, also French and German Retailers have established a standard practically equivalent and perhaps more pertinent to safety food, that is International Food Standard (IFS). The new approach is specific to the food field and strictly applies criteria which will ensure "safety, quality and legality" of food products, similarly to ISO 22000:2005 (mainly based on BRC & IFS past experiences). New standards aim to create a sort of green list with fully "proper and fit" Suppliers only, because of comprehensible exigencies of Retailers. It is expected, as we have shown, that Auditor authorities who are responsible for ensuring that inspections are now carried out like the Hygiene Package, will find these new standards useful. The advantages of streamlining this system is that it will allow enterprises to diligently enforce food safety practices without fear of upset or legal consequence, to improve the quality (HACCP) of management & traceability system; to restrict wastes, reprocessing and withdrawal of products. However some discordances about the interpretation of certain sub-field norms (e.g., water

  20. A Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM

    Directory of Open Access Journals (Sweden)

    Jianjun Ni

    2014-01-01

    Full Text Available Robot simultaneous localization and mapping (SLAM problem is a very important and challenging issue in the robotic field. The main tasks of SLAM include how to reduce the localization error and the estimated error of the landmarks and improve the robustness and accuracy of the algorithms. The extended Kalman filter (EKF based method is one of the most popular methods for SLAM. However, the accuracy of the EKF based SLAM algorithm will be reduced when the noise model is inaccurate. To solve this problem, a novel bioinspired neural model based SLAM approach is proposed in this paper. In the proposed approach, an adaptive EKF based SLAM structure is proposed, and a bioinspired neural model is used to adjust the weights of system noise and observation noise adaptively, which can guarantee the stability of the filter and the accuracy of the SLAM algorithm. The proposed approach can deal with the SLAM problem in various situations, for example, the noise is in abnormal conditions. Finally, some simulation experiments are carried out to validate and demonstrate the efficiency of the proposed approach.

  1. Indoor radar SLAM A radar application for vision and GPS denied environments

    NARCIS (Netherlands)

    Marck, J.W.; Mohamoud, A.A.; Houwen, E.H. van de; Heijster, R.M.E.M. van

    2013-01-01

    Indoor navigation especially in unknown areas is a real challenge. Simultaneous Localization and Mapping (SLAM) technology provides a solution. However SLAM as currently based on optical sensors, is unsuitable in vision denied areas, which are for example encountered by first responders. Radar can b

  2. A scalable hybrid multi-robot SLAM method for highly detailed maps

    NARCIS (Netherlands)

    Pfingsthorn, M.; Slamet, B.; Visser, A.

    2008-01-01

    Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by Howar

  3. A scalable hybrid multi-robot SLAM method for highly detailed maps

    NARCIS (Netherlands)

    M. Pfingsthorn; B. Slamet; A. Visser

    2007-01-01

    Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by Howar

  4. Magnetic resonance Spectroscopy with Linear Algebraic Modeling (SLAM) for higher speed and sensitivity.

    Science.gov (United States)

    Zhang, Yi; Gabr, Refaat E; Schär, Michael; Weiss, Robert G; Bottomley, Paul A

    2012-05-01

    Speed and signal-to-noise ratio (SNR) are critical for localized magnetic resonance spectroscopy (MRS) of low-concentration metabolites. Matching voxels to anatomical compartments a priori yields better SNR than the spectra created by summing signals from constituent chemical-shift-imaging (CSI) voxels post-acquisition. Here, a new method of localized Spectroscopy using Linear Algebraic Modeling (SLAM) is presented, that can realize this additional SNR gain. Unlike prior methods, SLAM generates spectra from C signal-generating anatomic compartments utilizing a CSI sequence wherein essentially only the C central k-space phase-encoding gradient steps with highest SNR are retained. After MRI-based compartment segmentation, the spectra are reconstructed by solving a sub-set of linear simultaneous equations from the standard CSI algorithm. SLAM is demonstrated with one-dimensional CSI surface coil phosphorus MRS in phantoms, the human leg and the heart on a 3T clinical scanner. Its SNR performance, accuracy, sensitivity to registration errors and inhomogeneity, are evaluated. Compared to one-dimensional CSI, SLAM yielded quantitatively the same results 4-times faster in 24 cardiac patients and healthy subjects. SLAM is further extended with fractional phase-encoding gradients that optimize SNR and/or minimize both inter- and intra-compartmental contamination. In proactive cardiac phosphorus MRS of six healthy subjects, both SLAM and fractional-SLAM (fSLAM) produced results indistinguishable from CSI while preserving SNR gains of 36-45% in the same scan-time. Both SLAM and fSLAM are simple to implement and reduce the minimum scan-time for CSI, which otherwise limits the translation of higher SNR achievable at higher field strengths to faster scanning.

  5. Magnetic resonance Spectroscopy with Linear Algebraic Modeling (SLAM) for higher speed and sensitivity

    Science.gov (United States)

    Zhang, Yi; Gabr, Refaat E.; Schär, Michael; Weiss, Robert G.; Bottomley, Paul A.

    2012-05-01

    Speed and signal-to-noise ratio (SNR) are critical for localized magnetic resonance spectroscopy (MRS) of low-concentration metabolites. Matching voxels to anatomical compartments a priori yields better SNR than the spectra created by summing signals from constituent chemical-shift-imaging (CSI) voxels post-acquisition. Here, a new method of localized Spectroscopy using Linear Algebraic Modeling (SLAM) is presented, that can realize this additional SNR gain. Unlike prior methods, SLAM generates spectra from C signal-generating anatomic compartments utilizing a CSI sequence wherein essentially only the C central k-space phase-encoding gradient steps with highest SNR are retained. After MRI-based compartment segmentation, the spectra are reconstructed by solving a sub-set of linear simultaneous equations from the standard CSI algorithm. SLAM is demonstrated with one-dimensional CSI surface coil phosphorus MRS in phantoms, the human leg and the heart on a 3T clinical scanner. Its SNR performance, accuracy, sensitivity to registration errors and inhomogeneity, are evaluated. Compared to one-dimensional CSI, SLAM yielded quantitatively the same results 4-times faster in 24 cardiac patients and healthy subjects. SLAM is further extended with fractional phase-encoding gradients that optimize SNR and/or minimize both inter- and intra-compartmental contamination. In proactive cardiac phosphorus MRS of six healthy subjects, both SLAM and fractional-SLAM (fSLAM) produced results indistinguishable from CSI while preserving SNR gains of 36-45% in the same scan-time. Both SLAM and fSLAM are simple to implement and reduce the minimum scan-time for CSI, which otherwise limits the translation of higher SNR achievable at higher field strengths to faster scanning.

  6. Deletion of Slam locus in mice reveals inhibitory role of SLAM family in NK cell responses regulated by cytokines and LFA-1.

    Science.gov (United States)

    Guo, Huaijian; Cranert, Stacey A; Lu, Yan; Zhong, Ming-Chao; Zhang, Shaohua; Chen, Jun; Li, Rui; Mahl, Sarah E; Wu, Ning; Davidson, Dominique; Waggoner, Stephen N; Veillette, André

    2016-09-19

    Signaling lymphocytic activation molecule (SLAM) family receptors (SFRs) can mediate either activating or inhibitory effects during natural killer cell (NK cell) activation. In this study, we addressed the global role, regulation, and mechanism of action of the SLAM family in NK cells by analyzing a mouse lacking the entire ∼400-kilobase Slam locus, which encodes all six SFRs and CD48, the ligand of SFR 2B4. This mouse displayed enhanced NK cell activation responses toward hematopoietic target cells. Analyses of mice lacking individual SFRs showed that the inhibitory function of the Slam locus was due solely to 2B4 and was not influenced positively or negatively by other SFRs. Differences in NK cell responses between recognition of targets expressing or lacking ligands for SFRs were enhanced by IL-12 but suppressed by type I interferon. Cytokines also changed the levels of SLAM-associated protein adaptors, which prevent the inhibitory function of SFRs. The enhanced activation responses of SFR-deficient NK cells were dependent on integrin LFA-1 but not on DNAM-1 or NKG2D. SFR-mediated inhibition prevented the generation of activated forms of LFA-1. Hence, the Slam locus has an overall inhibitory role during NK cell activation that is solely dependent on 2B4. This effect is influenced by cytokines and leads to suppression of LFA-1 activity.

  7. Martian Swarm Exploration and Mapping Using Laser Slam

    Science.gov (United States)

    Nowak, S.; Krüger, T.; Matthaei, J.; Bestmann, U.

    2013-08-01

    In order to explore planet Mars in detail and search for extra-terrestrial life the observation from orbit is not sufficient. To realize complex exploration tasks the use of automatic operating robots with a robust fault-tolerant method of navigation, independent of any infrastructure is a possibility. This work includes a concept of rotary-wing Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) for Martian exploration in a swarm. Besides the scenario of Martian surrounding, with a small number of distinctive landmarks, the challenge consists of a Simultaneous Localization and Mapping (SLAM) concept using laser data of all swarm members.

  8. SLAM – Map Building and Navigation via ROS

    OpenAIRE

    Pajaziti, Arbnor

    2014-01-01

    The presented work describes a ROS based control system of a Turtlebot robot for mapping and navigation in indoor environments. It presents the navigation of Turtlebot in self-created environment. The mapping process is done by using the GMapping algorithm, which is an open source algorithm and the localization process is done by using the AMCL pack. There are ROS built functions used in order to perform navigation of Turtlebot. The SLAM method implemented in ROS has proven a way for robots t...

  9. Human and rhesus macaque hematopoietic stem cells cannot be purified based only on SLAM family markers.

    Science.gov (United States)

    Larochelle, Andre; Savona, Michael; Wiggins, Michael; Anderson, Stephanie; Ichwan, Brian; Keyvanfar, Keyvan; Morrison, Sean J; Dunbar, Cynthia E

    2011-02-03

    Various combinations of antibodies directed to cell surface markers have been used to isolate human and rhesus macaque hematopoietic stem cells (HSCs). These protocols result in poor enrichment or require multiple complex steps. Recently, a simple phenotype for HSCs based on cell surface markers from the signaling lymphocyte activation molecule (SLAM) family of receptors has been reported in the mouse. We examined the possibility of using the SLAM markers to facilitate the isolation of highly enriched populations of HSCs in humans and rhesus macaques. We isolated SLAM (CD150(+)CD48(-)) and non-SLAM (not CD150(+)CD48(-)) cells from human umbilical cord blood CD34(+) cells as well as from human and rhesus macaque mobilized peripheral blood CD34(+) cells and compared their ability to form colonies in vitro and reconstitute immune-deficient (nonobese diabetic/severe combined immunodeficiency/interleukin-2 γc receptor(null), NSG) mice. We found that the CD34(+) SLAM population contributed equally or less to colony formation in vitro and to long-term reconstitution in NSG mice compared with the CD34(+) non-SLAM population. Thus, SLAM family markers do not permit the same degree of HSC enrichment in humans and rhesus macaques as in mice.

  10. Integrating SLAM with existing evidence: Comment on Walker and Hickok (2015).

    Science.gov (United States)

    Goldrick, Matthew

    2016-04-01

    Walker and Hickok (Psychonomic Bulletin & Review doi:10.3758/s13423-015-0903-7, 2015) used simulations to compare a novel proposal, the semantic-lexical-auditory-motor model (SLAM), to an existing account of speech production, the two-step interactive account (TSIA; Foygel & Dell, Journal of Memory and Language, 43:182-216, doi:10.1006/jmla.2000.2716, 2000). This commentary critically examines their assessment of SLAM. The cases in which SLAM outperforms TSIA largely reflect SLAM's ability to (poorly) approximate an existing theory of speech production incorporating two stages of phonological processing (the lexical + postlexical account). The fact that SLAM and TSIA can exhibit equivalent fits to the overall response distribution of a set of aphasic patients is unsurprising, since previous work has shown that overall response distributions do not reliably discriminate theoretical alternatives. Finally, SLAM inherits issues associated with TSIA's assumption of strong feedback between levels of representation. This suggests that SLAM does not represent an advance over existing theories of speech production.

  11. Performance analysis of the Microsoft Kinect sensor for 2D Simultaneous Localization and Mapping (SLAM) techniques.

    Science.gov (United States)

    Kamarudin, Kamarulzaman; Mamduh, Syed Muhammad; Shakaff, Ali Yeon Md; Zakaria, Ammar

    2014-12-05

    This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS). The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect's depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks.

  12. Performance Analysis of the Microsoft Kinect Sensor for 2D Simultaneous Localization and Mapping (SLAM Techniques

    Directory of Open Access Journals (Sweden)

    Kamarulzaman Kamarudin

    2014-12-01

    Full Text Available This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM techniques (i.e., Gmapping and Hector SLAM using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS. The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect’s depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks.

  13. Impaired SLAM-SLAM homotypic interaction between invariant NKT cells and dendritic cells affects differentiation of IL-4/IL-10-secreting NKT2 cells in nonobese diabetic mice.

    Science.gov (United States)

    Baev, Denis V; Caielli, Simone; Ronchi, Francesca; Coccia, Margherita; Facciotti, Federica; Nichols, Kim E; Falcone, Marika

    2008-07-15

    The regulatory function of invariant NKT (iNKT) cells for tolerance induction and prevention of autoimmunity is linked to a specific cytokine profile that comprises the secretion of type 2 cytokines like IL-4 and IL-10 (NKT2 cytokine profile). The mechanism responsible for iNKT cell differentiation toward a type 2 phenotype is unknown. Herein we show that costimulatory signals provided by the surface receptor signaling lymphocytic activation molecule (SLAM) on myeloid dendritic cells (mDC) to iNKT cells is crucial for NKT2 orientation. Additionally, we demonstrate that the impaired acquisition of an NKT2 cytokine phenotype in nonobese diabetic (NOD) mice that spontaneously develop autoimmune diabetes is due to defective SLAM-induced signals generated by NOD mDC. Mature mDC of C57BL/6 mice express SLAM and induce C57BL/6 or NOD iNKT cells to acquire a predominant NKT2 cytokine phenotype in response to antigenic stimulation with the iNKT cell-specific Ag, the alpha-galactosylceramide. In contrast, mature NOD mDC express significantly lower levels of SLAM and are unable to promote GATA-3 (the SLAM-induced intracellular signal) up-regulation and IL-4/IL-10 production in iNKT cells from NOD or C57BL/6 mice. NOD mice carry a genetic defect of the Slamf1 gene that is associated with reduced SLAM expression on double-positive thymocytes and altered iNKT cell development in the thymus. Our data suggest that the genetic Slamf1 defect in NOD mice also affects SLAM expression on other immune cells such as the mDC, thus critically impairing the peripheral differentiation of iNKT cells toward a regulatory NKT2 type.

  14. (Representing Ourselves: Art, Identity, and Status in U. K. Poetry Slam

    Directory of Open Access Journals (Sweden)

    Helen Gregory

    2008-10-01

    Full Text Available The introduction of poetry slam into the U. K. in the mid-1990’s offers an intriguing window into the development of the art worlds and identities of slam participants, as these poets strive to reconcile the introduction of this new, potentially lucrative, foreign art with their own identities as authentic British artists. This paper explores how slam prompts participants in the U. K. performance poetry scene to reassess definitions of performance art, as well as their own identities as artists.

  15. Multibeam 3D Underwater SLAM with Probabilistic Registration.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Ribas, David

    2016-04-20

    This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds). An Iterative Closest Point (ICP) with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1) point-to-point association for coarse registration and (2) point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O(n2) to O(n) . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

  16. Validation of Underwater Sensor Package Using Feature Based SLAM.

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-03-17

    Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.

  17. Validation of Underwater Sensor Package Using Feature Based SLAM

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-03-01

    Full Text Available Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.

  18. Multibeam 3D Underwater SLAM with Probabilistic Registration

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2016-04-01

    Full Text Available This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds. An Iterative Closest Point (ICP with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1 point-to-point association for coarse registration and (2 point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O ( n 2 to O ( n . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

  19. The role of the SLAM-SAP signaling pathway in the modulation of CD4+ T cell responses.

    Science.gov (United States)

    Vilar, M L L V; Frutuoso, M S; Arruda, S M; Lima, D M; Bezerra, C S; Pompeu, M M L

    2011-04-01

    The signaling lymphocytic activation molecule (SLAM), present on the surface of hematopoietic cells, can regulate some events of the immune responses. This modulatory action is associated with the capacity of SLAM to interact with an intracytoplasmic adapter, such as SLAM-associated protein (SAP). SLAM is constitutively expressed in most of these cells, is rapidly induced after antigenic or inflammatory stimuli, and participates in the immunological synapse. Defects in the function of the SLAM-SAP pathway contribute to immunological abnormalities, resulting in autoimmune diseases, tumors of the lymphoid tissues and inadequate responses to infectious agents. Initially, the role of SLAM was investigated using an anti-SLAM monoclonal antibody (α-SLAM mAb) identified as an agonist of the SLAM-SAP pathway, which could induce the production of interferon-γ and could redirect the immune response to a T helper 1 (Th1) cell profile. However, in this review we postulate that the SLAM-SAP pathway primarily induces a Th2 response and secondarily suppresses the Th1 response.

  20. Large-scale monocular FastSLAM2.0 acceleration on an embedded heterogeneous architecture

    Science.gov (United States)

    Abouzahir, Mohamed; Elouardi, Abdelhafid; Bouaziz, Samir; Latif, Rachid; Tajer, Abdelouahed

    2016-12-01

    Simultaneous localization and mapping (SLAM) is widely used in many robotic applications and autonomous navigation. This paper presents a study of FastSLAM2.0 computational complexity based on a monocular vision system. The algorithm is intended to operate with many particles in a large-scale environment. FastSLAM2.0 was partitioned into functional blocks allowing a hardware software matching on a CPU-GPGPU-based SoC architecture. Performances in terms of processing time and localization accuracy were evaluated using a real indoor dataset. Results demonstrate that an optimized and efficient CPU-GPGPU partitioning allows performing accurate localization results and high-speed execution of a monocular FastSLAM2.0-based embedded system operating under real-time constraints.

  1. Instant outdoor localization and SLAM initialization from 2.5D maps.

    Science.gov (United States)

    Arth, Clemens; Pirchheim, Christian; Ventura, Jonathan; Schmalstieg, Dieter; Lepetit, Vincent

    2015-11-01

    We present a method for large-scale geo-localization and global tracking of mobile devices in urban outdoor environments. In contrast to existing methods, we instantaneously initialize and globally register a SLAM map by localizing the first keyframe with respect to widely available untextured 2.5D maps. Given a single image frame and a coarse sensor pose prior, our localization method estimates the absolute camera orientation from straight line segments and the translation by aligning the city map model with a semantic segmentation of the image. We use the resulting 6DOF pose, together with information inferred from the city map model, to reliably initialize and extend a 3D SLAM map in a global coordinate system, applying a model-supported SLAM mapping approach. We show the robustness and accuracy of our localization approach on a challenging dataset, and demonstrate unconstrained global SLAM mapping and tracking of arbitrary camera motion on several sequences.

  2. SLAM is a microbial sensor that regulates bacterial phagosome functions in macrophages.

    Science.gov (United States)

    Berger, Scott B; Romero, Xavier; Ma, Chunyan; Wang, Guoxing; Faubion, William A; Liao, Gongxian; Compeer, Ewoud; Keszei, Marton; Rameh, Lucia; Wang, Ninghai; Boes, Marianne; Regueiro, Jose R; Reinecker, Hans-Christian; Terhorst, Cox

    2010-10-01

    Phagocytosis is a pivotal process by which macrophages eliminate microorganisms after recognition by pathogen sensors. Here we unexpectedly found that the self ligand and cell surface receptor SLAM functioned not only as a costimulatory molecule but also as a microbial sensor that controlled the killing of gram-negative bacteria by macrophages. SLAM regulated activity of the NADPH oxidase NOX2 complex and phagolysosomal maturation after entering the phagosome, following interaction with the bacterial outer membrane proteins OmpC and OmpF. SLAM recruited a complex containing the intracellular class III phosphatidylinositol kinase Vps34, its regulatory protein kinase Vps15 and the autophagy-associated molecule beclin-1 to the phagosome, which was responsible for inducing the accumulation of phosphatidylinositol-3-phosphate, a regulator of both NOX2 function and phagosomal or endosomal fusion. Thus, SLAM connects the gram-negative bacterial phagosome to ubiquitous cellular machinery responsible for the control of bacterial killing.

  3. Full-observability analysis and implementation of the general SLAM model

    Science.gov (United States)

    Souici, Ae.; Courdesses, M.; Ouldali, A.; Chatila, R.

    2013-03-01

    Simultaneous localisation and mapping (SLAM) problem is a non-linear system with dynamic state and measurement dimensions. The full observability of such system was ignored, in spite of the fact that system observability is a fundamental aspect in any state estimation problem. In this article, we present a full observability analysis of the general SLAM model. We show that known landmarks (anchor) solution does not guarantee full observability. Furthermore, we prove that to make the general SLAM model fully observable, a combination of known landmarks and invariant metrics are needed. Moreover, we propose a solution to implement a fully observable SLAM model based on mature landmark and virtual observation concepts. Simulations and experimental results are presented demonstrating the validity of the solutions in real world.

  4. Joint Solution for the Online 3D Photorealistic Mapping Using SfM and SLAM

    Directory of Open Access Journals (Sweden)

    Hyunga Choi

    2013-01-01

    Full Text Available This paper proposes a novel hybrid solution of SfM (Structure from Motion and SLAM (Simultaneous Localization And Mapping for the online generation of a 3D photorealistic map. As it is well known, the SfM can generate a 3D photo map, but it is difficult to get the real‐scale as well as to build an online map (i.e., the map cannot be generated on the fly. In contrast, while SLAM frameworks are suitable for online real‐scale mapping, they are not adequate for 3D photo map generation. To create a synergy effect, the proposed method combines SfM and SLAM. The way of combination is to use SfM for the generation of local maps and to utilize SLAM for a fusion of local maps in a globally consistent manner. Experimental results show that the proposed hybrid approach enables online 3D photorealistic mapping.

  5. Fine specificity and molecular competition in SLAM family receptor signalling.

    Science.gov (United States)

    Wilson, Timothy J; Garner, Lee I; Metcalfe, Clive; King, Elliott; Margraf, Stefanie; Brown, Marion H

    2014-01-01

    SLAM family receptors regulate activation and inhibition in immunity through recruitment of activating and inhibitory SH2 domain containing proteins to immunoreceptor tyrosine based switch motifs (ITSMs). Binding of the adaptors, SAP and EAT-2 to ITSMs in the cytoplasmic regions of SLAM family receptors is important for activation. We analysed the fine specificity of SLAM family receptor phosphorylated ITSMs and the conserved tyrosine motif in EAT-2 for SH2 domain containing signalling proteins. Consistent with the literature describing dependence of CRACC (SLAMF7) on EAT-2, CRACC bound EAT-2 (KD = 0.003 μM) with approximately 2 orders of magnitude greater affinity than SAP (KD = 0.44 μM). RNA interference in cytotoxicity assays in NK92 cells showed dependence of CRACC on SAP in addition to EAT-2, indicating selectivity of SAP and EAT-2 may depend on the relative concentrations of the two adaptors. The concentration of SAP was four fold higher than EAT-2 in NK92 cells. Compared with SAP, the significance of EAT-2 recruitment and its downstream effectors are not well characterised. We identified PLCγ1 and PLCγ2 as principal binding partners for the EAT-2 tail. Both PLCγ1 and PLCγ2 are functionally important for cytotoxicity in NK92 cells through CD244 (SLAMF4), NTB-A (SLAMF6) and CRACC. Comparison of the specificity of SH2 domains from activating and inhibitory signalling mediators revealed a hierarchy of affinities for CD244 (SLAMF4) ITSMs. While binding of phosphatase SH2 domains to individual ITSMs of CD244 was weak compared with SAP or EAT-2, binding of tandem SH2 domains of SHP-2 to longer peptides containing tandem phosphorylated ITSMs in human CD244 increased the affinity ten fold. The concentration of the tyrosine phosphatase, SHP-2 was in the order of a magnitude higher than the adaptors, SAP and EAT-2. These data demonstrate a mechanism for direct recruitment of phosphatases in inhibitory signalling by ITSMs, while explaining competitive

  6. AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar

    OpenAIRE

    Bo He; Yan Liang; Xiao Feng; Rui Nian; Tianhong Yan; Minghui Li; Shujing Zhang

    2012-01-01

    Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger

  7. A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system.

    Science.gov (United States)

    Munguía, Rodrigo; Castillo-Toledo, Bernardino; Grau, Antoni

    2013-07-03

    Simultaneous localization and mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on a single camera sensor. The SLAM with a single camera, or monocular SLAM, is probably one of the most complex SLAM variants. In this case, a single camera, which is freely moving through its environment, represents the sole sensor input to the system. The sensors have a large impact on the algorithm used for SLAM. Cameras are used more frequently, because they provide a lot of information and are well adapted for embedded systems: they are light, cheap and power-saving. Nevertheless, and unlike range sensors, which provide range and angular information, a camera is a projective sensor providing only angular measurements of image features. Therefore, depth information (range) cannot be obtained in a single step. In this case, special techniques for feature system-initialization are needed in order to enable the use of angular sensors (as cameras) in SLAM systems. The main contribution of this work is to present a novel and robust scheme for incorporating and measuring visual features in filtering-based monocular SLAM systems. The proposed method is based in a two-step technique, which is intended to exploit all the information available in angular measurements. Unlike previous schemes, the values of parameters used by the initialization technique are derived directly from the sensor characteristics, thus simplifying the tuning of the system. The experimental results show that the proposed method surpasses the performance of previous schemes.

  8. Symmetries in observer design: review of some recent results and applications to EKF-based SLAM

    CERN Document Server

    Bonnabel, Silvere

    2011-01-01

    In this paper, we first review the theory of symmetry-preserving observers and we mention some recent results. Then, we apply the theory to Extended Kalman Filter-based Simultaneous Localization and Mapping (EKF SLAM). It allows to derive a new (symmetry-preserving) Extended Kalman Filter for the non-linear SLAM problem that possesses convergence properties. We also prove a special choice of the gains ensures global exponential convergence.

  9. Stacking sequence optimisation of composite panels subjected to slamming impact loads using a genetic algorithm

    OpenAIRE

    Khedmati,Mohammad Reza; Sangtabi,Mohammad Rezai; Fakoori,Mehdi

    2013-01-01

    Optimisation of stacking sequence for composite panels under slamming impact loads using a genetic algorithm method is studied in this paper. For this purpose, slamming load is assumed to have a uniform distribution with a triangular-pulse type of intensity function. In order to perform optimisation based on a genetic algorithm, a special code is written in MATLAB software environment. The optimiser is coupled with the commercial software ANSYS in order to analyse the composite panel under st...

  10. A Robust Approach for a Filter-Based Monocular Simultaneous Localization and Mapping (SLAM System

    Directory of Open Access Journals (Sweden)

    Antoni Grau

    2013-07-01

    Full Text Available Simultaneous localization and mapping (SLAM is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on a single camera sensor. The SLAM with a single camera, or monocular SLAM, is probably one of the most complex SLAM variants. In this case, a single camera, which is freely moving through its environment, represents the sole sensor input to the system. The sensors have a large impact on the algorithm used for SLAM. Cameras are used more frequently, because they provide a lot of information and are well adapted for embedded systems: they are light, cheap and power-saving. Nevertheless, and unlike range sensors, which provide range and angular information, a camera is a projective sensor providing only angular measurements of image features. Therefore, depth information (range cannot be obtained in a single step. In this case, special techniques for feature system-initialization are needed in order to enable the use of angular sensors (as cameras in SLAM systems. The main contribution of this work is to present a novel and robust scheme for incorporating and measuring visual features in filtering-based monocular SLAM systems. The proposed method is based in a two-step technique, which is intended to exploit all the information available in angular measurements. Unlike previous schemes, the values of parameters used by the initialization technique are derived directly from the sensor characteristics, thus simplifying the tuning of the system. The experimental results show that the proposed method surpasses the performance of previous schemes.

  11. Multiple Integrated Navigation Sensors for Improved Occupancy Grid FastSLAM

    Science.gov (United States)

    2011-03-01

    Robotics and Automation, 17(3):229–241, 2001. [17] Doucet, Arnaud, Nando de Freitas, Kevin Murphy, and Stuart Russell . “Rao- Blackwellised Particle...Austin and Ronald Parr . “DP-SLAM: Fast, Robust Simultaneous Local- ization and Mapping without Predetermined Landmarks”. International Joint Conference...on Artificial Intelligence, 1135–1142. 2003. [21] Eliazar, Austin and Ronald Parr . “Hierarchical Linear/Constant Time SLAM Using Particle Filters for

  12. 基于平方根UKF的SLAM算法%Square root Unscented Kalman Filter based SLAM

    Institute of Scientific and Technical Information of China (English)

    李树荣; 倪朋飞

    2011-01-01

    Simultaneous Localization and Mapping (SLAM) is concerned to be the key point to realize the real autonomy of mobile robot.Unscented Kalman Filter(UKP) is widely applied in SLAM problem because of its directly using of nonlinear modcl.Conceming that square root filter can ensure non-negative definite of the covariance matrix.This article introduces square root unscented Kalman filter into SLAM problem and ensures its stability.This algorithm also gains a more accurate estimation compared to UICF based SLAM.Simulation results show that this algorithm is effective.%同步定位与地图构建( SLAM)是移动机器人实现真正自主的关键,无迹卡尔曼滤波(UKF)由于直接利用系统非线性模型而在SLAM问题中得到广泛的应用.基于平方根滤波可以确保协方差矩阵的非负定的思想,将平方根UKF应用到SLAM问题中,确保了SLAM算法的稳定性,并得到了较高的估计精度.仿真结果表明,该算法是有效的.

  13. A ROS Implementation of the Mono-Slam Algorithm

    Directory of Open Access Journals (Sweden)

    Ludovico Russo

    2014-01-01

    Full Text Available Computer vision approaches are increasingly used in mobile robotic systems, since they allow to obtain a very good representation of the environment by using low-power and cheap sensors. In particular it has been shown that they can compete with standard solutions based on laser range scanners when dealing with the problem of simultaneous localization and mapping (SLAM, where the robot has to explore an unknown environment while building a map of it and localizing in the same map. We present a package for simultaneous localization and mapping in ROS (Robot Operating System using a monocular camera sensor only. Experimental results in real scenarios as well as on standard datasets show that the algorithm is able to track the trajectory of the robot and build a consistent map of small environments, while running in near real-time on a standard PC.

  14. Flat plate approximation in the three-dimensional slamming; Heiban kinji ni yoru sanjigen suimen shogeki keisanho ni tsuite

    Energy Technology Data Exchange (ETDEWEB)

    Toyama, Y. [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

    1996-12-31

    A slamming load generated by interactive motions between a ship body and water face is an important load in ensuring safety of the ship. A flat plate approximation developed by Wagner is used as a two-dimensional slamming theory, but it has a drawback in handling edges of a flat plate. Therefore, an attempt was made to expand the two-dimensional Wagner`s theory to three dimensions. This paper first shows a method to calculate water face slamming of an arbitrary axisymmetric body by using circular plate approximation. The paper then proposes a method to calculate slamming pressure distribution and slamming force for the case when shape of the water contacting surface may be approximated by an elliptic shape. Expansion to the three dimensions made clear to some extent the characteristics of the three-dimensional slamming. In the case of two dimensions or a circular column for example, the water contacting area increases rapidly in the initial stage generating large slamming force. However, in the case of three dimensions, since the water contacting area expands longitudinally and laterally, the slamming force tends to increase gradually. Maximum slamming pressure was found proportional to square of moving velocity in a water contacting boundary in the case of three dimensions, and similar to stagnation pressure on a gliding plate. 12 refs., 17 figs., 1 tab.

  15. La proteína asociada a SLAM (SAP regula la expresión de IFN-g en lepra The SLAM-associated protein (SAP regulates IFN-g expression in leprosy

    Directory of Open Access Journals (Sweden)

    María F. Quiroga

    2004-10-01

    Full Text Available La inmunidad protectora contra Mycobacterium leprae requiere IFN-g. Los pacientes con lepra tuberculoide producen localmente citoquinas Th1, mientras que los pacientes lepromatosos producen citoquinas Th2. La molécula linfocitaria activadora de señales (SLAM y la proteína asociada a SLAM (SAP participan en la diferenciación celular que conduce a producción de patrones específicos de citoquinas. A fin de investigar la vía SLAM/SAP en la infección por M. leprae, determinamos expresión de ARN mensajero (ARNm de SAP, IFN-g y SLAM en pacientes con lepra. Observamos que la expresión de SLAM correlacionó en forma directa con la expresión de IFN-g, mientras que la expresión de SAP correlacionó inversamente con la expresión de ambas proteínas. Así, nuestros resultados indican que SAP interferiría con las respuestas de citoquinas Th1 mientras que SLAM contribuiría con la respuesta Th1 en lepra, señalando a la vía SLAM/SAP como potencial blanco modulador de citoquinas en enfermedades con respuestas Th2 disfuncionales.Tuberculoid leprosy patients locally produce Th1 cytokines, while lepromatous patients produce Th2 cytokines. Signaling lymphocytic activation molecule (SLAM and the SLAM-associated protein (SAP participate in the differentiation process that leads to the production of specific patterns of cytokines by activated T cells. To investigate the SLAM/SAP pathway in M. leprae infection, we determined the expression of SAP, IFN-g and SLAM RNA messenger in leprosy patients. We found a direct correlation of SLAM expression with IFN-g expression, whereas the expression of SAP was inversely correlated with the expression of both SLAM and IFN-g. Therefore, our data indicate that SAP might interfere with Th1 cytokine responses while SLAM expression may contribute to Th1 responses in leprosy. This study further suggests that the SLAM/SAP pathway might be a focal point for therapeutic modulation of T cell cytokine responses in diseases

  16. Sensor fusion of monocular cameras and laser rangefinders for line-based Simultaneous Localization and Mapping (SLAM) tasks in autonomous mobile robots.

    Science.gov (United States)

    Zhang, Xinzheng; Rad, Ahmad B; Wong, Yiu-Kwong

    2012-01-01

    This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extracted from monocular camera. This policy eliminates any pseudo segments that appear from any momentary pause of dynamic objects in laser data. (ii) The second characteristic is a modified multi-sensor point estimation fusion SLAM (MPEF-SLAM) that incorporates two individual Extended Kalman Filter (EKF) based SLAM algorithms: monocular and laser SLAM. The error of the localization in fused SLAM is reduced compared with those of individual SLAM. Additionally, a new data association technique based on the homography transformation matrix is developed for monocular SLAM. This data association method relaxes the pleonastic computation. The experimental results validate the performance of the proposed sensor fusion and data association method.

  17. Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM Tasks in Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Xinzheng Zhang

    2012-01-01

    Full Text Available This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM in dynamic environments. The designed approach consists of two features: (i the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extracted from monocular camera. This policy eliminates any pseudo segments that appear from any momentary pause of dynamic objects in laser data. (ii The second characteristic is a modified multi-sensor point estimation fusion SLAM (MPEF-SLAM that incorporates two individual Extended Kalman Filter (EKF based SLAM algorithms: monocular and laser SLAM. The error of the localization in fused SLAM is reduced compared with those of individual SLAM. Additionally, a new data association technique based on the homography transformation matrix is developed for monocular SLAM. This data association method relaxes the pleonastic computation. The experimental results validate the performance of the proposed sensor fusion and data association method.

  18. Role of SLAM in NKT cell development revealed by transgenic complementation in NOD mice.

    Science.gov (United States)

    Jordan, Margaret A; Fletcher, Julie M; Jose, Roby; Chowdhury, Shahead; Gerlach, Nicole; Allison, Janette; Baxter, Alan G

    2011-04-01

    Allelic variation of SLAM expression on CD4(+)CD8(+) thymocytes has been proposed to play a major role in NKT cell development. In this article, this hypothesis is tested by the production of subcongenic mouse strains and Slamf1 transgenic lines. The long isoform of the C57BL/6 allele of Slamf1 was transgenically expressed on CD4(+)CD8(+) thymocytes under control of an hCD2 minigene. NOD.Nkrp1b.Tg(Slamf1)1 mice, which had a 2-fold increase in SLAM protein expression on CD4(+)CD8(+) thymocytes, had a 2-fold increase in numbers of thymic NKT cells. The additional thymic NKT cells in NOD.Nkrp1b.Tg(Slamf1)1 mice were relatively immature, with a similar subset distribution to those of congenic NOD.Nkrp1b.Nkt1 and NOD.Nkrp1b.Slamf1 mice, which also express increased levels of SLAM on CD4(+)CD8(+) thymocytes and produce larger numbers of NKT cells. Transgenic enhancement of SLAM expression also increased IL-4 and IL-17 production in response to TCR-mediated stimulation. Paradoxically, NOD.Nkrp1b.Tg(Slamf1)2 mice, which had a 7-fold increase in SLAM expression, showed no significant increase in NKT cells numbers; on the contrary, at high transgene copy number, SLAM expression levels correlated inversely with NKT cell numbers, consistent with a contribution to negative selection. These data confirm a role for SLAM in controlling NKT cell development and are consistent with a role in both positive and negative thymic selection of NKT cells.

  19. The Quiet Revolution of Poetry Slam: The Sustainability of Cultural Capital in the Light of Changing Artistic Conventions

    Science.gov (United States)

    Gregory, Helen

    2008-01-01

    This paper considers the educational and theoretical implications of an analysis into the artistic movement of poetry slam. Slam is a successful and growing global phenomenon, which both directly and indirectly sets itself against the dominant literary world. As such, it could be viewed as presenting a challenge to dominant literary conventions…

  20. 40 CFR Appendix A to Part 58 - Quality Assurance Requirements for SLAMS, SPMs and PSD Air Monitoring

    Science.gov (United States)

    2010-07-01

    ... Appendix A to Part 58—Quality Assurance Requirements for SLAMS, SPMs and PSD Air Monitoring 1. General... specifies the minimum quality system requirements applicable to SLAMS air monitoring data and PSD data for... of the air being measured. Monitoring organizations must develop quality assurance project...

  1. Accurate Mobile Urban Mapping via Digital Map-Based SLAM

    Directory of Open Access Journals (Sweden)

    Hyunchul Roh

    2016-08-01

    Full Text Available This paper presents accurate urban map generation using digital map-based Simultaneous Localization and Mapping (SLAM. Throughout this work, our main objective is generating a 3D and lane map aiming for sub-meter accuracy. In conventional mapping approaches, achieving extremely high accuracy was performed by either (i exploiting costly airborne sensors or (ii surveying with a static mapping system in a stationary platform. Mobile scanning systems recently have gathered popularity but are mostly limited by the availability of the Global Positioning System (GPS. We focus on the fact that the availability of GPS and urban structures are both sporadic but complementary. By modeling both GPS and digital map data as measurements and integrating them with other sensor measurements, we leverage SLAM for an accurate mobile mapping system. Our proposed algorithm generates an efficient graph SLAM and achieves a framework running in real-time and targeting sub-meter accuracy with a mobile platform. Integrated with the SLAM framework, we implement a motion-adaptive model for the Inverse Perspective Mapping (IPM. Using motion estimation derived from SLAM, the experimental results show that the proposed approaches provide stable bird’s-eye view images, even with significant motion during the drive. Our real-time map generation framework is validated via a long-distance urban test and evaluated at randomly sampled points using Real-Time Kinematic (RTK-GPS.

  2. Accurate Mobile Urban Mapping via Digital Map-Based SLAM †.

    Science.gov (United States)

    Roh, Hyunchul; Jeong, Jinyong; Cho, Younggun; Kim, Ayoung

    2016-08-18

    This paper presents accurate urban map generation using digital map-based Simultaneous Localization and Mapping (SLAM). Throughout this work, our main objective is generating a 3D and lane map aiming for sub-meter accuracy. In conventional mapping approaches, achieving extremely high accuracy was performed by either (i) exploiting costly airborne sensors or (ii) surveying with a static mapping system in a stationary platform. Mobile scanning systems recently have gathered popularity but are mostly limited by the availability of the Global Positioning System (GPS). We focus on the fact that the availability of GPS and urban structures are both sporadic but complementary. By modeling both GPS and digital map data as measurements and integrating them with other sensor measurements, we leverage SLAM for an accurate mobile mapping system. Our proposed algorithm generates an efficient graph SLAM and achieves a framework running in real-time and targeting sub-meter accuracy with a mobile platform. Integrated with the SLAM framework, we implement a motion-adaptive model for the Inverse Perspective Mapping (IPM). Using motion estimation derived from SLAM, the experimental results show that the proposed approaches provide stable bird's-eye view images, even with significant motion during the drive. Our real-time map generation framework is validated via a long-distance urban test and evaluated at randomly sampled points using Real-Time Kinematic (RTK)-GPS.

  3. Localization of RhoGEF2 during Drosophila cellularization is developmentally controlled by Slam.

    Science.gov (United States)

    Wenzl, Christian; Yan, Shuling; Laupsien, Philip; Grosshans, Jörg

    2010-01-01

    Essential for proper function of small GTPases of the Rho family, which control many aspects of cytoskeletal and membrane dynamics, is their temporal and spatial control by activating GDP exchange factors (GEFs) and deactivating GTPase-activating-proteins (GAPs). The regulatory mechanisms controlling these factors are not well understood, especially during development, when the organization and behaviour of cells change in a stage dependent manner. During Drosophila cellularization Rho signalling and RhoGEF2 are involved in furrow canal formation and the organization of actin and myosin. Here we analyze, how RhoGEF2 is localized at the sites of membrane invagination. We show that the PDZ domain is necessary for localization and function of RhoGEF2 and identify Slam as a factor that is necessary for RhoGEF2 localization. We also demonstrate that Slam can recruit RhoGEF2 to ectopic sites. Furthermore we find that the PDZ domain of RhoGEF2 can form a complex with Slam invivo and that Slam transcripts and protein colocalize at the furrow canal and in basal particles. Based on these findings, we propose that accumulation of slam mRNA and protein at the presumptive invagination site provides a spatial and temporal trigger for RhoGEF2-Rho1 signalling.

  4. Simple but novel test method for quantitatively comparing robot mapping algorithms using SLAM and dead reckoning

    Science.gov (United States)

    Davey, Neil S.; Godil, Haris

    2013-05-01

    This article presents a comparative study between a well-known SLAM (Simultaneous Localization and Mapping) algorithm, called Gmapping, and a standard Dead-Reckoning algorithm; the study is based on experimental results of both approaches by using a commercial skid-based turning robot, P3DX. Five main base-case scenarios are conducted to evaluate and test the effectiveness of both algorithms. The results show that SLAM outperformed the Dead Reckoning in terms of map-making accuracy in all scenarios but one, since SLAM did not work well in a rapidly changing environment. Although the main conclusion about the excellence of SLAM is not surprising, the presented test method is valuable to professionals working in this area of mobile robots, as it is highly practical, and provides solid and valuable results. The novelty of this study lies in its simplicity. The simple but novel test method for quantitatively comparing robot mapping algorithms using SLAM and Dead Reckoning and some applications using autonomous robots are being patented by the authors in U.S. Patent Application Nos. 13/400,726 and 13/584,862.

  5. Shocklets, SLAMS, and Field-Aligned Ion Beams in the Terrestrial Foreshock

    Science.gov (United States)

    Wilson, L. B.; Koval, A.; Sibeck, D. G.; Szabo, A.; Cattell, C. A.; Kasper, J. C.; Maruca, B. A.; Pulupa, M.; Salem, C. S.; Wilber, M.

    2012-01-01

    We present Wind spacecraft observations of ion distributions showing field- aligned beams (FABs) and large-amplitude magnetic fluctuations composed of a series of shocklets and short large-amplitude magnetic structures (SLAMS). The FABs are found to have T(sub k) approx 80-850 eV, V(sub b)/V(sub sw) approx 1.3-2.4, T(sub perpendicular,b)/T(sub paralell,b) approx 1-8, and n(sub b)/n(sub o) approx 0.2-11%. Saturation amplitudes for ion/ion resonant and non-resonant instabilities are too small to explain the observed SLAMS amplitudes. We show two examples where groups of SLAMS can act like a local quasi-perpendicular shock reflecting ions to produce the FABs, a scenario distinct from the more-common production at the quasi-perpendicular bow shock. The SLAMS exhibit a foot-like magnetic enhancement with a leading magnetosonic whistler train, consistent with previous observations. Strong ion and electron heating are observed within the series of shocklets and SLAMS with temperatures increasing by factors approx > 5 and approx >3, respectively. Both the core and halo electron components show strong perpendicular heating inside the feature.

  6. Heparin-like glycosaminoglycans prevent the infection of measles virus in SLAM-negative cell lines.

    Science.gov (United States)

    Terao-Muto, Yuri; Yoneda, Misako; Seki, Takahiro; Watanabe, Akira; Tsukiyama-Kohara, Kyoko; Fujita, Kentaro; Kai, Chieko

    2008-12-01

    The wide tissue tropism of the measles virus (MV) suggests that it involves ubiquitously expressed molecules. We have constructed a recombinant MV expressing the enhanced green fluorescent protein (EGFP) (rMV-EGFP) and demonstrated that the rMV-EGFP infected several cell types (HEK-293, HepG2, Hep3B, Huh7, and WRL68 cells) that do not express the human signalling lymphocyte activation molecule (SLAM), which is known as a cellular receptor for morbilliviruses. MV infection of HEK-293 and HepG2 cells was not inhibited in an infectivity-inhibition assay using an anti-SLAM monoclonal antibody, indicating that MV could infect cells without using SLAM. Soluble heparin (HP) inhibited the rMV-EGFP infectivity in SLAM-negative cell lines in a dose-dependent manner. Direct interaction between purified virions and HP was detected in a surface plasmon resonance assay. We also demonstrated that the hemagglutinin (H) protein, but not the fusion (F) protein is responsible for the interaction between the virions and HP. Taken together, our results suggest that HP-like glycosaminoglycans bind to the H protein of MV and play a key role in the infection of SLAM-negative cells.

  7. A SLAM based on auxiliary marginalised particle filter and differential evolution

    Science.gov (United States)

    Havangi, R.; Nekoui, M. A.; Teshnehlab, M.; Taghirad, H. D.

    2014-09-01

    FastSLAM is a framework for simultaneous localisation and mapping (SLAM) using a Rao-Blackwellised particle filter. In FastSLAM, particle filter is used for the robot pose (position and orientation) estimation, and parametric filter (i.e. EKF and UKF) is used for the feature location's estimation. However, in the long term, FastSLAM is an inconsistent algorithm. In this paper, a new approach to SLAM based on hybrid auxiliary marginalised particle filter and differential evolution (DE) is proposed. In the proposed algorithm, the robot pose is estimated based on auxiliary marginal particle filter that operates directly on the marginal distribution, and hence avoids performing importance sampling on a space of growing dimension. In addition, static map is considered as a set of parameters that are learned using DE. Compared to other algorithms, the proposed algorithm can improve consistency for longer time periods and also, improve the estimation accuracy. Simulations and experimental results indicate that the proposed algorithm is effective.

  8. Indoor Slope and Edge Detection by using Two-Dimensional EKF-SLAM with Orthogonal Assumption

    Directory of Open Access Journals (Sweden)

    Jixin Lv

    2015-04-01

    Full Text Available In an indoor environment, slope and edge detection is an important problem in simultaneous localization and mapping (SLAM, which is a basic requirement for mobile robot autonomous navigation. Slope detection allows the robot to find areas that are more traversable while the edge detection can prevent robot from falling. Three-dimensional (3D solutions usually require a large memory and high computational costs. This study proposes an efficient two-dimensional (2D solution to combine slope and edge detection with a line-segment-based extended Kalman filter SLAM (EKF-SLAM in a structured indoor area. The robot is designed to use two fixed 2D laser range finders (LRFs to perform horizontal and vertical scans. With local area orthogonal assumption, the slope and edge are modelled into line segments swiftly from each vertical scan, and then are merged into the EKF-SLAM framework. The EKF-SLAM framework features an optional prediction model that can automatically decide whether the application of iterative closest point (ICP is necessary to compensate for the dead reckoning error. The experimental results demonstrate that the proposed algorithm is capable of building an accurate 2D map swiftly, which contains crucial information of the edge and slope.

  9. An Improved FastSLAM System Based on Distributed Structure for Autonomous Robot Navigation

    Directory of Open Access Journals (Sweden)

    Fu-jun Pei

    2014-01-01

    Full Text Available Fast simultaneous localization and mapping (FastSLAM is an efficient algorithm for autonomous navigation of mobile vehicle. However, FastSLAM must reconfigure the entire vehicle state equation when the feature points change, which causes an exponential growth in quantities of computation and difficulties in isolating potential faults. In order to overcome these limitations, an improved FastSLAM, based on the distributed structure, is developed in this paper. There are two state estimation parts designed in this improved FastSLAM. Firstly, a distributed unscented particle filter is used to avoid reconfiguring the entire system equation in the vehicle state estimation part. Secondly, in the landmarks estimation part, the observation model is designed as a linear one to update the landmarks states by using the linear observation errors. Then, the convergence of the proposed and improved FastSLAM algorithm is given in the sense of mean square. Finally, the simulation results show that the proposed distributed algorithm could reduce the computational complexity with high accuracy and high fault-tolerance performance.

  10. IFN-gamma production during active tuberculosis is regulated by mechanisms that involve IL-17, SLAM, and CREB.

    Science.gov (United States)

    Pasquinelli, Virginia; Townsend, James C; Jurado, Javier O; Alvarez, Ivana B; Quiroga, María F; Barnes, Peter F; Samten, Buka; García, Verónica E

    2009-03-01

    Interferon-gamma (IFN-gamma) is crucial for protection against Mycobacterium tuberculosis, and the transcription factor cAMP response element binding protein (CREB) increases IFN-gamma transcription. We determined whether the transmembrane receptor signaling lymphocyte activation molecule (SLAM) and interleukin-17 (IL-17) affect CREB phosphorylation and IFN-gamma production in persons with tuberculosis. When T cells from patients with tuberculosis were activated with M. tuberculosis, 80% of SLAM(+) T cells expressed phosphorylated CREB, and SLAM activation increased CREB phosphorylation and IFN-gamma production. In contrast, IL-17 down-regulated SLAM expression, CREB phosphorylation, and IFN-gamma production. Therefore, IL-17 and SLAM have opposing effects on IFN-gamma production through CREB activation in persons with tuberculosis.

  11. Waves of 3D marine structures slamming at different initial poses in complex wind-wave-flow environments

    Science.gov (United States)

    Zhu, Liang-sheng; Yu, Long-fei

    2016-10-01

    Aimed at the hydrodynamic response for marine structures slamming into water, based on the mechanism analysis to the slamming process, and by combining 3D N-S equation and k- ɛ turbulent kinetic equation with structure fully 6DOF motion equation, a mathematical model for the wind-fluid-solid interaction is established in 3D marine structure slamming wave at free poses and wind-wave-flow complex environments. Compared with the results of physical model test, the numerical results from the slamming wave well correspond with the experimental results. Through the mathematical model, the wave-making issue of 3D marine structure at initial pose falls into water in different complex wind, wave and flow environments is investigated. The research results show that various kinds of natural factors and structure initial poses have different influence on the slamming wave, and there is an obvious rule in this process.

  12. Large-scale experimental design for decentralized SLAM

    Science.gov (United States)

    Cunningham, Alex; Dellaert, Frank

    2012-06-01

    This paper presents an analysis of large scale decentralized SLAM under a variety of experimental conditions to illustrate design trade-offs relevant to multi-robot mapping in challenging environments. As a part of work through the MAST CTA, the focus of these robot teams is on the use of small-scale robots with limited sensing, communication and computational resources. To evaluate mapping algorithms with large numbers (50+) of robots, we developed a simulation incorporating sensing of unlabeled landmarks, line-of-sight blocking obstacles, and communication modeling. Scenarios are randomly generated with variable models for sensing, communication, and robot behavior. The underlying Decentralized Data Fusion (DDF) algorithm in these experiments enables robots to construct a map of their surroundings by fusing local sensor measurements with condensed map information from neighboring robots. Each robot maintains a cache of previously collected condensed maps from neighboring robots, and actively distributes these maps throughout the network to ensure resilience to communication and node failures. We bound the size of the robot neighborhoods to control the growth of the size of neighborhood maps. We present the results of experiments conducted in these simulated scenarios under varying measurement models and conditions while measuring mapping performance. We discuss the trade-offs between mapping performance and scenario design, including robot teams separating and joining, multi-robot data association, exploration bounding, and neighborhood sizes.

  13. BatSLAM: Simultaneous localization and mapping using biomimetic sonar.

    Science.gov (United States)

    Steckel, Jan; Peremans, Herbert

    2013-01-01

    We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building.

  14. BatSLAM: Simultaneous localization and mapping using biomimetic sonar.

    Directory of Open Access Journals (Sweden)

    Jan Steckel

    Full Text Available We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building.

  15. Assessment of DNA binding to human Rad51 protein by using quartz crystal microbalance and atomic force microscopy: effects of ADP and BRC4-28 peptide inhibitor.

    Science.gov (United States)

    Esnault, Charles; Renodon-Cornière, Axelle; Takahashi, Masayuki; Casse, Nathalie; Delorme, Nicolas; Louarn, Guy; Fleury, Fabrice; Pilard, Jean-François; Chénais, Benoît

    2014-12-01

    The interaction of human Rad51 protein (HsRad51) with single-stranded deoxyribonucleic acid (ssDNA) was investigated by using quartz crystal microbalance (QCM) monitoring and atomic force microscopy (AFM) visualization. Gold surfaces for QCM and AFM were modified by electrografting of the in situ generated aryldiazonium salt from the sulfanilic acid to obtain the organic layer Au-ArSO3 H. The Au-ArSO3 H layer was activated by using a solution of PCl5 in CH2 Cl2 to give a Au-ArSO2 Cl layer. The modified surface was then used to immobilize long ssDNA molecules. The results obtained showed that the presence of adenosine diphosphate promotes the protein autoassociation rather than nucleation around DNA. In addition, when the BRC4-28 peptide inhibitor was used, both QCM and AFM confirmed the inhibitory effect of BRC4-28 toward HsRad51 autoassociation. Altogether these results show the suitability of this modified surface to investigate the kinetics and structure of DNA-protein interactions and for the screening of inhibitors.

  16. SLAM-ER导弹命中移动地面目标

    Institute of Scientific and Technical Information of China (English)

    阿雯; 邢娅

    2009-01-01

    2009年1月15日,在位于中国湖的美国海军空战中心进行的一次飞行试验中,波音公司的防区外对陆攻击导弹增强型(SLAM-ER)直接命中一遥控的地面移动目标。SLAM-ER是一种具有高适应性的全天候、超视距精确打击导弹。波音公司SLAM-ER项目经理称,在以前的试验中,SLAM—ER已验证了其对静止目标和海上移动目标的攻击能力,这次试验验证了对移动地面目标的打击能力。

  17. On the consistency analysis of A-SLAM for UAV navigation

    Science.gov (United States)

    Oguz, A. E.; Temeltas, Hakan

    2014-06-01

    Simultaneous Localization and Mapping (SLAM) is a good choice for UAV navigation when both UAV's position and region map are not known. Due to nonlinearity of kinematic equations of a UAV, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are employed. In this study, EKF and UKF based A-SLAM concepts are discussed in details by presenting the formulations and simulation results. The UAV kinematic model and the state-observation models for EKF and UKF based A-SLAM methods are developed to analyze the filters' consistencies. Analysis during landmark observation exhibits an inconsistency in the form of a jagged UAV trajectory. It has been found that unobservable subspaces and the Jacobien matrices used for linearization are two major sources of the inconsistencies observed. UKF performs better in terms of filter consistency since it does not require the Jacobien matrix linearization.

  18. A fast map merging algorithm in the field of multirobot SLAM.

    Science.gov (United States)

    Liu, Yanli; Fan, Xiaoping; Zhang, Heng

    2013-01-01

    In recent years, the research on single-robot simultaneous localization and mapping (SLAM) has made a great success. However, multirobot SLAM faces many challenging problems, including unknown robot poses, unshared map, and unstable communication. In this paper, a map merging algorithm based on virtual robot motion is proposed for multi-robot SLAM. The thinning algorithm is used to construct the skeleton of the grid map's empty area, and a mobile robot is simulated in one map. The simulated data is used as information sources in the other map to do partial map Monte Carlo localization; if localization succeeds, the relative pose hypotheses between the two maps can be computed easily. We verify these hypotheses using the rendezvous technique and use them as initial values to optimize the estimation by a heuristic random search algorithm.

  19. A Fast Map Merging Algorithm in the Field of Multirobot SLAM

    Directory of Open Access Journals (Sweden)

    Yanli Liu

    2013-01-01

    Full Text Available In recent years, the research on single-robot simultaneous localization and mapping (SLAM has made a great success. However, multirobot SLAM faces many challenging problems, including unknown robot poses, unshared map, and unstable communication. In this paper, a map merging algorithm based on virtual robot motion is proposed for multi-robot SLAM. The thinning algorithm is used to construct the skeleton of the grid map’s empty area, and a mobile robot is simulated in one map. The simulated data is used as information sources in the other map to do partial map Monte Carlo localization; if localization succeeds, the relative pose hypotheses between the two maps can be computed easily. We verify these hypotheses using the rendezvous technique and use them as initial values to optimize the estimation by a heuristic random search algorithm.

  20. Ultra wide-band localization and SLAM: a comparative study for mobile robot navigation.

    Science.gov (United States)

    Segura, Marcelo J; Auat Cheein, Fernando A; Toibero, Juan M; Mut, Vicente; Carelli, Ricardo

    2011-01-01

    In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.

  1. THREE-DIMENSIONAL NUMERICAL SIMULATION OF WAVE SLAMMING ON AN OPEN STRUCTURE

    Institute of Scientific and Technical Information of China (English)

    DING Zhao-qiang; WANG Guo-yu; REN Bing

    2012-01-01

    The three-dimensional numerical simulation of wave slamming on an open structure in the splash zone is carried out based upon the Volume Of Fluid (VOF) method.A wave basin is established by solving the continuity equation and the Navier-Stoke equations.The linear wave-maker is placed on the left side of the basin,and the numerical sponge layer and the SRC are placed on the right side of the basin to damp the incident waves.The three-dimensional wave slamming boundary condition is adopted to model waves in contact with and separated from the underside of the structure.The numerical results of wave slamming on a foursquare structure for various parametric cases are verified by the experimental results.Meanwhile,the characteristics of the wave impact forces on the undersides of the rectangular structures with various length-breadth ratios are discussed.

  2. Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey

    Indian Academy of Sciences (India)

    Nitin Kumar Dhiman; Dipti Deodhare; Deepak Khemani

    2015-08-01

    This paper presents a survey of Simultaneous Localization And Mapping (SLAM) algorithms for unmanned ground robots. SLAM is the process of creating a map of the environment, sometimes unknown a priori, while at the same time localizing the robot in the same map. The map could be one of different types i.e. metrical, topological, hybrid or semantic. In this paper, the classification of algorithms is done in three classes: (i) Metric map generating approaches, (ii) Qualitative map generating approaches, and (iii) Hybrid map generating approaches. SLAM algorithms for both static and dynamic environments have been surveyed. The algorithms in each class are further divided based on the techniques used. The survey in this paper presents the current state-of-the-art methods, including important landmark works reported in the literature.

  3. Ultra Wide-Band Localization and SLAM: A Comparative Study for Mobile Robot Navigation

    Directory of Open Access Journals (Sweden)

    Ricardo Carelli

    2011-02-01

    Full Text Available In this work, a comparative study between an Ultra Wide-Band (UWB localization system and a Simultaneous Localization and Mapping (SLAM algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.

  4. Semantic data association for planar features in outdoor 6D-SLAM using lidar

    Science.gov (United States)

    Ulas, C.; Temeltas, H.

    2013-05-01

    Simultaneous Localization and Mapping (SLAM) is a fundamental problem of the autonomous systems in GPS (Global Navigation System) denied environments. The traditional probabilistic SLAM methods uses point features as landmarks and hold all the feature positions in their state vector in addition to the robot pose. The bottleneck of the point-feature based SLAM methods is the data association problem, which are mostly based on a statistical measure. The data association performance is very critical for a robust SLAM method since all the filtering strategies are applied after a known correspondence. For point-features, two different but very close landmarks in the same scene might be confused while giving the correspondence decision when their positions and error covariance matrix are solely taking into account. Instead of using the point features, planar features can be considered as an alternative landmark model in the SLAM problem to be able to provide a more consistent data association. Planes contain rich information for the solution of the data association problem and can be distinguished easily with respect to point features. In addition, planar maps are very compact since an environment has only very limited number of planar structures. The planar features does not have to be large structures like building wall or roofs; the small plane segments can also be used as landmarks like billboards, traffic posts and some part of the bridges in urban areas. In this paper, a probabilistic plane-feature extraction method from 3DLiDAR data and the data association based on the extracted semantic information of the planar features is introduced. The experimental results show that the semantic data association provides very satisfactory result in outdoor 6D-SLAM.

  5. 基于自适应渐消 EKF 的 FastSLAM 算法%FastSLAM algorithm based on adaptive fading extended Kalman filter

    Institute of Scientific and Technical Information of China (English)

    刘丹; 段建民; 于宏啸

    2016-01-01

    快速同时定位与建图(fast simultaneous localization and mapping,FastSLAM)算法的采样过程会带来粒子退化问题,为了改进算法的性能,提高估计精度,从研究粒子滤波的建议分布函数出发,提出基于自适应渐消扩展卡尔曼滤波(adaptive fading extended Kalman filter,AFEKF)的 FastSLAM 算法。该算法基于 FastSLAM的基本框架,利用 AFEKF 产生一种参数可自适应调节的建议分布函数,使其更接近移动机器人的后验位姿概率分布,减缓粒子集的退化。因此在同等粒子数的情况下,该算法有效提高了 SLAM 精度,以此减少所使用的粒子数,降低算法的复杂度。基于模拟器和标准数据集的实验仿真结果验证了该算法的有效性。%Sampling process often causes particle degradation in fast simultaneous localization and mapping (FastSLAM).From the point view of the proposal distribution function,a method named the FastSLAM based on adaptive fading extended Kalman filter is proposed to improve the performance of the algorithm and increase estimation accuracy.It uses the adaptive fading extended Kalman filter (AFEKF)to compute proposal distribu-tion based on the basic framework of FastSLAM,then this proposal distribution is more close to the posterior position of the mobile robot and the degree of particle degradation is reduced.In the case of the same number of particles,the algorithm can effectively improve the accuracy of SLAM.Hence it can reduce the number of parti-cles used in the algorithm and the complexity of the algorithm.The validity of the proposed algorithm is verified by the experimental simulation results based on the simulator and the standard data set.

  6. Identification of amino acid residues involved in the interaction between measles virus Haemagglutin (MVH) and its human cell receptor (signaling lymphocyte activation molecule, SLAM).

    Science.gov (United States)

    Xu, Qin; Zhang, Peng; Hu, Chunling; Liu, Xin; Qi, Yipeng; Liu, Yingle

    2006-07-31

    Signaling lymphocyte activation molecule (SLAM; also known as CD150) is a newly identified cellular receptor for measles virus (MV). The interaction between MV Haemagglutin (MVH) and SLAM is an initial step for MV entry. We have identified several novel SLAM binding sites at residues S429, T436 and H437 of MVH protein and MVH mutants in these residues dramatically decrease the ability to interaction with the cell surface SLAM and fail to coprecipitation with SLAM in vivo as well as malfunction in syncytium formation. At the same time, K58, S59 and H61 of SLAM was also identified to be critical for MVH and SLAM binding. Further, these residues may be useful targets for the development of measles therapy.

  7. Indoor SLAM Using Laser and Camera with Closed-Loop Controller for NAO Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2014-01-01

    Full Text Available We present a SLAM with closed-loop controller method for navigation of NAO humanoid robot from Aldebaran. The method is based on the integration of laser and vision system. The camera is used to recognize the landmarks whereas the laser provides the information for simultaneous localization and mapping (SLAM . K-means clustering method is implemented to extract data from different objects. In addition, the robot avoids the obstacles by the avoidance function. The closed-loop controller reduces the error between the real position and estimated position. Finally, simulation and experiments show that the proposed method is efficient and reliable for navigation in indoor environments.

  8. Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Yin-Tien Wang

    2010-09-01

    Full Text Available In the paper, a novel moving object detection (MOD algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM. The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.

  9. 波音公司为韩国生产出首枚SLAM-ER导弹

    Institute of Scientific and Technical Information of China (English)

    曹一波

    2005-01-01

    韩国是SLAM-ER导弹的第一个国外客户,韩国将在其空军F-15K多用途战斗机上装备这种导弹,F-15K也由波音公司提供,将于今年秋天抵达韩国。SLAM-ER导弹为全天候超能距精确打击导弹,战斗部重500磅,该导弹被认为是美国海军精确性最高的武器。

  10. SLAM examination of solar cells and solar cell welds. [Scanning Laser Acoustic Microscope

    Science.gov (United States)

    Stella, P. M.; Vorres, C. L.; Yuhas, D. E.

    1981-01-01

    The scanning laser acoustic microscope (SLAM) has been evaluated for non-destructive examination of solar cells and interconnector bonds. Using this technique, it is possible to view through materials in order to reveal regions of discontinuity such as microcracks and voids. Of particular interest is the ability to evaluate, in a unique manner, the bonds produced by parallel gap welding. It is possible to not only determine the area and geometry of the bond between the tab and cell, but also to reveal any microcracks incurred during the welding. By correlating the SLAM results with conventional techniques of weld evaluation a more confident weld parameter optimization can be obtained.

  11. A new design for SLAM front-end based on recursive SOM

    Science.gov (United States)

    Yang, Xuesi; Xia, Shengping

    2015-12-01

    Aiming at the graph optimization-based monocular SLAM, a novel design for the front-end in single camera SLAM is proposed, based on the recursive SOM. Pixel intensities are directly used to achieve image registration and motion estimation, which can save time compared with the current appearance-based frameworks, usually including feature extraction and matching. Once a key-frame is identified, a recursive SOM is used to actualize loop-closure detecting, resulting a more precise location. The experiment on a public dataset validates our method on a computer with a quicker and effective result.

  12. Experimental Investigation of Instantaneous Properties of Wave Slamming on the Plate

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The purpose of this paper is to investigate the instantaneous properties of wave slamming on the plate structure of an open structure. The advanced instantaneous measuring technique-Particle Image Velocimetry (PIV) is applied to acquire the instantaneous velocity field of wave slamming. From the cross-correlation analysis results of the images captured by the CCD camera, the flow fields of wave impacting on the structure are displayed visually, and the instantaneous whole-field fluid velocity vectors are obtained. The relation between the instantaneous peak impacting pressures and the instantaneous velocities of water particles is studied by probability analysis.

  13. SLAM, a Mathematica interface for SUSY spectrum generators

    Science.gov (United States)

    Marquard, Peter; Zerf, Nikolai

    2014-03-01

    We present and publish a Mathematica package, which can be used to automatically obtain any numerical MSSM input parameter from SUSY spectrum generators, which follow the SLHA standard, like SPheno, SOFTSUSY, SuSeFLAV or Suspect. The package enables a very comfortable way of numerical evaluations within the MSSM using Mathematica. It implements easy to use predefined high scale and low scale scenarios like mSUGRA or mhmax and if needed enables the user to directly specify the input required by the spectrum generators. In addition it supports an automatic saving and loading of SUSY spectra to and from a SQL data base, avoiding the rerun of a spectrum generator for a known spectrum. Catalogue identifier: AERX_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AERX_v1_0.html Program obtainable from: CPC Program Library, Queen’s University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 4387 No. of bytes in distributed program, including test data, etc.: 37748 Distribution format: tar.gz Programming language: Mathematica. Computer: Any computer where Mathematica version 6 or higher is running providing bash and sed. Operating system: Linux. Classification: 11.1. External routines: A SUSY spectrum generator such as SPheno, SOFTSUSY, SuSeFLAV or SUSPECT Nature of problem: Interfacing published spectrum generators for automated creation, saving and loading of SUSY particle spectra. Solution method: SLAM automatically writes/reads SLHA spectrum generator input/output and is able to save/load generated data in/from a data base. Restrictions: No general restrictions, specific restrictions are given in the manuscript. Running time: A single spectrum calculation takes much less than one second on a modern PC.

  14. Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles.

    Science.gov (United States)

    Munguia, Rodrigo; Urzua, Sarquis; Grau, Antoni

    2016-01-01

    In recent years, many researchers have addressed the issue of making Unmanned Aerial Vehicles (UAVs) more and more autonomous. In this context, the state estimation of the vehicle position is a fundamental necessity for any application involving autonomy. However, the problem of position estimation could not be solved in some scenarios, even when a GPS signal is available, for instance, an application requiring performing precision manoeuvres in a complex environment. Therefore, some additional sensory information should be integrated into the system in order to improve accuracy and robustness. In this work, a novel vision-based simultaneous localization and mapping (SLAM) method with application to unmanned aerial vehicles is proposed. One of the contributions of this work is to design and develop a novel technique for estimating features depth which is based on a stochastic technique of triangulation. In the proposed method the camera is mounted over a servo-controlled gimbal that counteracts the changes in attitude of the quadcopter. Due to the above assumption, the overall problem is simplified and it is focused on the position estimation of the aerial vehicle. Also, the tracking process of visual features is made easier due to the stabilized video. Another contribution of this work is to demonstrate that the integration of very noisy GPS measurements into the system for an initial short period of time is enough to initialize the metric scale. The performance of this proposed method is validated by means of experiments with real data carried out in unstructured outdoor environments. A comparative study shows that, when compared with related methods, the proposed approach performs better in terms of accuracy and computational time.

  15. Sequence analysis of morbillivirus CD150 receptor-Signaling Lymphocyte Activation Molecule (SLAM) of different animal species.

    Science.gov (United States)

    Sarkar, J; Balamurugan, V; Sen, A; Saravanan, P; Sahay, B; Rajak, K K; Rasool, T J; Bhanuprakash, V; Singh, R K

    2009-12-01

    Signaling Lymphocyte Activation Molecule-SLAM (CD150) molecule has been reported as a putative receptor for most morbilliviruses for their respective host species. In this study, we determined the complete nucleotide sequence of the gene coding for the morbillivirus receptor-SLAM from the four species, namely, goat (Capra hircus), sheep (Ovis aries), Indian cattle (Bos indicus), and buffalo (Bubalus bubalis). The nucleotide (nt) open reading frame sequence of SLAM gene in all the four species studied was 1017 nucleotides in length encoding a polypeptide of 339 amino acids (aa), similar to Bos taurus, but different from canine, human, marmoset, and mouse SLAM, which were 1029, 1008, 1011, and 1032 nts, respectively, in length, and coding for 343, 336, 337, and 344 aa, respectively. Sequence analysis revealed 96.3-98.5% and 92.9-96.8% identities among the four species at the nt and aa level, respectively. Sequence diversity at aa level between various species revealed that the critical functional region of SLAM protein among different species is relatively conserved, thereby facilitating this molecule to act as a receptor for morbillivirus. Phylogenetic relationship based on the aa sequences of SLAM protein revealed that caprine, ovine, cattle, and buffalo fall under a defined cluster but caprine SLAM is more closely related to ovine, followed by bovine.

  16. AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar

    Directory of Open Access Journals (Sweden)

    Bo He

    2012-07-01

    Full Text Available Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.

  17. Case note: CBB (SLAM!FM t. Minister van EZ en Radio 538)

    NARCIS (Netherlands)

    Hins, W.

    2008-01-01

    Bij de verdeling van FM-radiofrequenties in 1983 heeft SLAM!FM een frequentiepakket verworven voor recente bijzondere muziek. Haar toezegging om slechts een gering percentage hitmuziek uit te zenden was daarbij doorslaggevend. Later ontstaan problemen over de vraag wat ‘hitmuziek’ eigenlijk is. De r

  18. Implicit sampling for path integral control, Monte Carlo localization, and SLAM

    OpenAIRE

    Morzfeld, Matthias

    2013-01-01

    The applicability and usefulness of implicit sampling in stochastic optimal control, stochastic localization, and simultaneous localization and mapping (SLAM), is explored; implicit sampling is a recently-developed variationally-enhanced sampling method. The theory is illustrated with examples, and it is found that implicit sampling is significantly more efficient than current Monte Carlo methods in test problems for all three applications.

  19. The role of SLAM/CD2 polymorphisms in systemic autoimmunity.

    Science.gov (United States)

    Wang, Andrew; Batteux, Frederic; Wakeland, Edward K

    2010-12-01

    The SLAM/CD2 gene family encodes receptors that play important roles in regulating multiple cellular interactions in the adaptive and innate immune systems. Three members of this gene family, Ly108, Ly9, and CD84, exhibit polymorphisms that strongly influence susceptibility to systemic autoimmunity, notably in mice, but also in some human populations. Polymorphisms of Ly108 in mice strongly impact central tolerance in both B and T cell development, predominantly by modulating apoptosis, anergy, and cell-cycle progression. In addition, Ly108 and CD84, together with their downstream signaling adaptor SLAM-associated protein (SAP), have emerged as key players in B-T interactions during the formation of germinal centers. Interestingly, several independent lines of research have now associated variations in B-T interactions during germinal center formation with systemic autoimmunity, suggesting that susceptibility to systemic lupus erythematosus (SLE) may involve in part the impairment of this peripheral tolerance checkpoint. These new insights into the multiplicity of roles played by the SLAM/CD2 family and its potential importance in human autoimmunity positions the SLAM/CD2 family as an excellent target for immunotherapy.

  20. Bridging Philosophy of Technology and Neurobiological Research: Interpreting Images from the "Slam Freezer"

    Science.gov (United States)

    Rosenberger, Robert

    2005-01-01

    The swiftly growing field of neurobiological research utilizes highly advanced technologies (e.g., magnetic resonance imaging, electron microscopy) to mediate between investigators and the brains they investigate. Here, the author analyzes a device called the "slam freezer" that quick-freezes neurons to be studied under the microscope. Employing…

  1. A Sensor-based SLAM Algorithm for Camera Tracking vin Virtual Studio

    Institute of Scientific and Technical Information of China (English)

    Po Yang; Wenyan Wu; Mansour Moniri; Claude C. Chibelushi

    2008-01-01

    This paper addresses a sensor-based simultaneous localization and mapping (SLAM) algorithm for camera tracking in a virtual studio environment. The traditional camera tracking methods in virtual studios are vision-based or sensor-based. However, the chroma keying process in virtual studios requires color cues, such as blue background, to segment foreground objects to be inserted into images and videos. Chroma keying limits the application of vision-based tracking methods in virtual studios since the background cannot provide enough feature information. Furthermore, the conventional sensor-based tracking approaches suffer from the jitter, drift or expensive computation due to the characteristics of individual sensor system. Therefore, the SLAM techniques from the mobile robot area are first investigated and adapted to the camera tracking area. Then, a sensor-based SLAM extension algorithm for two dimensional (2D) camera tracking in virtual studio is described. Also, a technique called map adjustment is proposed to increase the accuracy and efficiency of the algorithm. The feasibility and robustness of the algorithm is shown by experiments. The simulation results demonstrate that the sensor-based SLAM algorithm can satisfy the fundamental 2D camera tracking requirement in virtual studio environment.

  2. RGB-D SLAM Combining Visual Odometry and Extended Information Filter.

    Science.gov (United States)

    Zhang, Heng; Liu, Yanli; Tan, Jindong; Xiong, Naixue

    2015-07-30

    In this paper, we present a novel RGB-D SLAM system based on visual odometry and an extended information filter, which does not require any other sensors or odometry. In contrast to the graph optimization approaches, this is more suitable for online applications. A visual dead reckoning algorithm based on visual residuals is devised, which is used to estimate motion control input. In addition, we use a novel descriptor called binary robust appearance and normals descriptor (BRAND) to extract features from the RGB-D frame and use them as landmarks. Furthermore, considering both the 3D positions and the BRAND descriptors of the landmarks, our observation model avoids explicit data association between the observations and the map by marginalizing the observation likelihood over all possible associations. Experimental validation is provided, which compares the proposed RGB-D SLAM algorithm with just RGB-D visual odometry and a graph-based RGB-D SLAM algorithm using the publicly-available RGB-D dataset. The results of the experiments demonstrate that our system is quicker than the graph-based RGB-D SLAM algorithm.

  3. Robust SLAM using square-root cubature Kalman filter and Huber’ s GM-estimator

    Institute of Scientific and Technical Information of China (English)

    徐巍军

    2016-01-01

    Mobile robot systems performing simultaneous localization and mapping ( SLAM) are generally plagued by non-Gaussian noise.To improve both accuracy and robustness under non-Gaussian meas-urement noise, a robust SLAM algorithm is proposed.It is based on the square-root cubature Kal-man filter equipped with a Huber’ s generalized maximum likelihood estimator ( GM-estimator) .In particular, the square-root cubature rule is applied to propagate the robot state vector and covariance matrix in the time update, the measurement update and the new landmark initialization stages of the SLAM.Moreover, gain weight matrices with respect to the measurement residuals are calculated by utilizing Huber’ s technique in the measurement update step.The measurement outliers are sup-pressed by lower Kalman gains as merging into the system.The proposed algorithm can achieve bet-ter performance under the condition of non-Gaussian measurement noise in comparison with benchmark algorithms.The simulation results demonstrate the advantages of the proposed SLAM algorithm.

  4. Development of an indoor positioning and navigation system using monocular SLAM and IMU

    Science.gov (United States)

    Mai, Yu-Ching; Lai, Ying-Chih

    2016-07-01

    The positioning and navigation systems based on Global Positioning System (GPS) have been developed over past decades and have been widely used for outdoor environment. However, high-rise buildings or indoor environments can block the satellite signal. Therefore, many indoor positioning methods have been developed to respond to this issue. In addition to the distance measurements using sonar and laser sensors, this study aims to develop a method by integrating a monocular simultaneous localization and mapping (MonoSLAM) algorithm with an inertial measurement unit (IMU) to build an indoor positioning system. The MonoSLAM algorithm measures the distance (depth) between the image features and the camera. With the help of Extend Kalman Filter (EKF), MonoSLAM can provide real-time position, velocity and camera attitude in world frame. Since the feature points will not always appear and can't be trusted at any time, a wrong estimation of the features will cause the estimated position diverge. To overcome this problem, a multisensor fusion algorithm was applied in this study by using the multi-rate Kalman Filter. Finally, from the experiment results, the proposed system was verified to be able to improve the reliability and accuracy of the MonoSLAM by integrating the IMU measurements.

  5. Shocklets, SLAMS, and field-aligned ion beams in the terrestrial foreshock

    CERN Document Server

    Wilson, L B; Sibeck, D G; Szabo, A; Cattell, C A; Kasper, J C; Maruca, B A; Pulupa, M; Salem, C S; Wilber, M

    2012-01-01

    We present Wind spacecraft observations of ion distributions showing field-aligned beams (FABs) and large-amplitude magnetic fluctuations composed of a series of shocklets and short large-amplitude magnetic structures (SLAMS). We show that the SLAMS are acting like a local quasi-perpendicular shock reflecting ions to produce the FABs. Previous FAB observations reported the source as the quasi-perpendicular bow shock. The SLAMS exhibit a foot-like magnetic enhancement with a leading magnetosonic whistler train, consistent with previous observations. The FABs are found to have T_b ~ 80-850 eV, V_b/V_sw ~ 1-2, T_{b,perp}/T{b,para} ~ 1-10, and n_b/n_i ~ 0.2-14%. Strong ion and electron heating are observed within the series of shocklets and SLAMS increasing by factors \\geq 5 and \\geq 3, respectively. Both the core and halo electron components show strong perpendicular heating inside the feature.

  6. Hydro-elastic response of ship structures to slamming induced whipping

    NARCIS (Netherlands)

    Tuitman, J.T.

    2010-01-01

    Slamming induced whipping can significantly increase the structural loading of ships. Although this is well-known, the whipping contribution to the structural loading is rarely taken into account when computing the structural loading. An exception are the "dynamic loading" factors found in Classific

  7. AUV SLAM and experiments using a mechanical scanning forward-looking sonar.

    Science.gov (United States)

    He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing

    2012-01-01

    Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.

  8. Efficient data association for view based SLAM using connected dominating sets

    NARCIS (Netherlands)

    O. Booij; Z. Zivkovic; B. Kröse

    2009-01-01

    Loop closing in vision based SLAM applications is a difficult task. Comparing new image data with all previously acquired image data is practically impossible because of the high computational costs. Most approaches therefore compare new data with only a subset of the old data, for example by sampli

  9. Mf 2008, , (SLAM!FM t. Minister van EZ en Radio 538)

    NARCIS (Netherlands)

    W. Hins

    2007-01-01

    Bij de verdeling van FM-radiofrequenties in 1983 heeft SLAM!FM een frequentiepakket verworven voor recente bijzondere muziek. Haar toezegging om slechts een gering percentage hitmuziek uit te zenden was daarbij doorslaggevend. Later ontstaan problemen over de vraag wat ‘hitmuziek’ eigenlijk is. De r

  10. A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map

    Directory of Open Access Journals (Sweden)

    Bor-Woei Kuo

    2011-01-01

    Full Text Available Simultaneous Localization and Mapping (SLAM is an important technique for robotic system navigation. Due to the high complexity of the algorithm, SLAM usually needs long computational time or large amount of memory to achieve accurate results. In this paper, we present a lightweight Rao-Blackwellized particle filter- (RBPF- based SLAM algorithm for indoor environments, which uses line segments extracted from the laser range finder as the fundamental map structure so as to reduce the memory usage. Since most major structures of indoor environments are usually orthogonal to each other, we can also efficiently increase the accuracy and reduce the complexity of our algorithm by exploiting this orthogonal property of line segments, that is, we treat line segments that are parallel or perpendicular to each other in a special way when calculating the importance weight of each particle. Experimental results shows that our work is capable of drawing maps in complex indoor environments, needing only very low amount of memory and much less computational time as compared to other grid map-based RBPF SLAM algorithms.

  11. Sufficient Condition for Estimation in Designing H∞ Filter-Based SLAM

    Directory of Open Access Journals (Sweden)

    Nur Aqilah Othman

    2015-01-01

    Full Text Available Extended Kalman filter (EKF is often employed in determining the position of mobile robot and landmarks in simultaneous localization and mapping (SLAM. Nonetheless, there are some disadvantages of using EKF, namely, the requirement of Gaussian distribution for the state and noises, as well as the fact that it requires the smallest possible initial state covariance. This has led researchers to find alternative ways to mitigate the aforementioned shortcomings. Therefore, this study is conducted to propose an alternative technique by implementing H∞ filter in SLAM instead of EKF. In implementing H∞ filter in SLAM, the parameters of the filter especially γ need to be properly defined to prevent finite escape time problem. Hence, this study proposes a sufficient condition for the estimation purposes. Two distinct cases of initial state covariance are analysed considering an indoor environment to ensure the best solution for SLAM problem exists along with considerations of process and measurement noises statistical behaviour. If the prescribed conditions are not satisfied, then the estimation would exhibit unbounded uncertainties and consequently results in erroneous inference about the robot and landmarks estimation. The simulation results have shown the reliability and consistency as suggested by the theoretical analysis and our previous findings.

  12. Response of air gap and slamming loadings on semi-submersible platform

    Institute of Scientific and Technical Information of China (English)

    Zhai Gangjun; Ma Zhe; Tang Dongyang

    2013-01-01

    The present research deals with the numerical prediction of the air gap within the 6th generation of deep-water drilling floating semi-submersible platform and the experimental studies on the slamming loadings onto the structure. The survivability of the floating model with a mooring system was tested under extreme wave of 10-year return period. In the numerical simulation of the Gaussian method,the narrow band model was applied to obtain the first-order wave surface equation and the modified second-order wave surface equation. The hydrodynamic re-sponses of the floating body,i.e. radiation damping,added mass,second-order wave excitation force and drifting force,were computed by using the potential flow theory based on higher order boundary element method in fre-quent domain. In the experimental analysis,high-frequency sensors were installed at the lower deck to measure the wave slamming loads. Equivalent truncated mooring system was applied to make sure position of the floating body in the wave tank. The comparison between the numerical and experimental results showed the numerical model un-derestimated the air gap of the floating body. Nevertheless,the predictions of the high risk spots underneath the floating deck that is prone to wave slamming obtained from both models were agreeable to each other. The experi-mental results also revealed that the wave slamming events often occurred at the connection point between the rear columns and the lower deck.

  13. Effect of the signaling lymphocytic activation molecule (SLAM in the modulation of T cells in immune response to Leishmania braziliensis in vitro

    Directory of Open Access Journals (Sweden)

    Zirlane Castelo Branco Coêlho

    2017-02-01

    Full Text Available Introduction: Signaling lymphocyte activation molecule (SLAM is a self-ligand receptor on the surface of activated T- and B-lymphocytes, macrophages, and DC. Studies have shown PBMC from healthy individuals exposed to Leishmania differ in IFN-γ production. Objective: We investigated the role of SLAM signaling pathway in PMBC from high (HP and low (LP IFN-γ producers exposed to L. braziliensis in vitro. Methods: PBMC from 43 healthy individuals were cultured with or without antigen, α-SLAM, rIL-12 and rIFN-γ. The cytokines production was evaluated by ELISA, and SLAM expression by flow cytometry. Results: L. braziliensis associated with rIFN-γ or rIL-12 reduced early SLAM but did not modify this response later in HP. α-SLAM did not alter CD3+SLAM+ expression, and not affected IFN-γ and IL-13 production, in both groups, but increased significantly IL-10 in HP. Leishmania associated with α-SLAM and rIL-12 increased IFN-γ in LP, as well as IL-13 in HP. LP group presented low IFN-γ and IL-13 production, and low SLAM expression. Conclusion: Collectively, these findings suggest that when PBMC from healthy individuals are sensitized with L. braziliensis in vitro, SLAM acts in modulating Th1 response in HP individuals and induces a condition of immunosuppression in LP individuals.

  14. 无人机视觉SLAM算法及仿真%UAV vision SLAM algorithm and simulation

    Institute of Scientific and Technical Information of China (English)

    王希彬; 赵国荣; 寇昆湖

    2012-01-01

    为将SLAM算法从地面机器人的两维空间扩展到无人机的三维环境,研究了SLAM的发展现状,指出无人机视觉SLAM面临的挑战,利用摄像机和惯导传感器的组合,建立了无人机视觉SLAM算法的数学模型;并提出了一种改进的延迟地标初始化的方法,为了便于理解和实施,简化了系统的状态和方差阵的结构,减少了存储和计算量.用EKF滤波对无人机视觉SLAM进行了仿真研究,得到了较好的估计效果,表明了SLAM在无人机上应用的可行性.%In order to expand SLAM algorithm from 2D space of ground robot to 3D environment of uninhabited aerial vehicle (UAV), the latest progress on simultaneous localization and mapping was researched, the challenge that UAV vision SLAM faces up with was pointed out, and the mathematic model of UAV vision SLAM algorithm was built with the integration of camera and IMU, Furthermore, an improved delayed landmark initialization method was proposed which was easily understood and implemented, thus the system structure of state and variance matrix was simplified, and the storage and computation quality were reduced. Simulation research was carried out by extended Kalman filter on UAV vision SLAM, and better estimation effect was gotten, demonstrating the feasibility of SLAM on UAV.

  15. Measles virus-induced immunosuppression in SLAM knock-in mice.

    Science.gov (United States)

    Koga, Ritsuko; Ohno, Shinji; Ikegame, Satoshi; Yanagi, Yusuke

    2010-05-01

    Measles virus (MV) causes transient severe immunosuppression in patients, which may lead to secondary viral and bacterial infections, largely accounting for measles-related morbidity and mortality. MV is known to infect immune cells by using the human signaling lymphocyte activation molecule (SLAM; also called CD150) as a cellular receptor, but the mechanism by which MV causes immunosuppression is not well understood. We show that MV infection of SLAM knock-in mice, in which the V domain of mouse SLAM was replaced by the V domain of human SLAM, crossed with alpha/beta-interferon receptor knockout mice, reproduced many immunological alterations observed in human patients. These included lymphopenia, inhibition of T-cell proliferation and antibody production, increased production of the Th2 cytokine interleukin-4 (IL-4) and the immunosuppressive cytokine IL-10, and suppression of contact hypersensitivity. Gross redistribution of lymphocytes among lymphoid tissues was not apparent in infected mice, nor was an increase of regulatory T cells. The numbers of lymphocytes in lymph nodes remained almost unchanged after MV infection, despite enhanced apoptosis, suggesting that lymph nodes were replenished with lymphocytes from the peripheral blood, which may have contributed to the observed lymphopenia in the spleen. Blocking of IL-10 by use of an anti-IL-10 receptor antibody ameliorated suppression of contact hypersensitivity in infected mice. These results indicate that SLAM knock-in mice lacking the expression of the alpha/beta-interferon receptor serve as a useful small animal model with which to elucidate MV-induced immunosuppression.

  16. Highly-accelerated quantitative 2D and 3D localized spectroscopy with linear algebraic modeling (SLAM) and sensitivity encoding

    Science.gov (United States)

    Zhang, Yi; Gabr, Refaat E.; Zhou, Jinyuan; Weiss, Robert G.; Bottomley, Paul A.

    2013-12-01

    Noninvasive magnetic resonance spectroscopy (MRS) with chemical shift imaging (CSI) provides valuable metabolic information for research and clinical studies, but is often limited by long scan times. Recently, spectroscopy with linear algebraic modeling (SLAM) was shown to provide compartment-averaged spectra resolved in one spatial dimension with many-fold reductions in scan-time. This was achieved using a small subset of the CSI phase-encoding steps from central image k-space that maximized the signal-to-noise ratio. Here, SLAM is extended to two- and three-dimensions (2D, 3D). In addition, SLAM is combined with sensitivity-encoded (SENSE) parallel imaging techniques, enabling the replacement of even more CSI phase-encoding steps to further accelerate scan-speed. A modified SLAM reconstruction algorithm is introduced that significantly reduces the effects of signal nonuniformity within compartments. Finally, main-field inhomogeneity corrections are provided, analogous to CSI. These methods are all tested on brain proton MRS data from a total of 24 patients with brain tumors, and in a human cardiac phosphorus 3D SLAM study at 3T. Acceleration factors of up to 120-fold versus CSI are demonstrated, including speed-up factors of 5-fold relative to already-accelerated SENSE CSI. Brain metabolites are quantified in SLAM and SENSE SLAM spectra and found to be indistinguishable from CSI measures from the same compartments. The modified reconstruction algorithm demonstrated immunity to maladjusted segmentation and errors from signal heterogeneity in brain data. In conclusion, SLAM demonstrates the potential to supplant CSI in studies requiring compartment-average spectra or large volume coverage, by dramatically reducing scan-time while providing essentially the same quantitative results.

  17. Line-feature-based SLAM Algorithm%一种基于线特征的SLAM算法研究

    Institute of Scientific and Technical Information of China (English)

    韩锐; 李文锋

    2006-01-01

    A line-feature based SLAM algorithm is presented in this paper to resolve the conflict between the requirements of computational complexity and information-richness within the pointfeature based SLAM algorithm, All operations required for building and maintaining the map, such as model-setting, data association, and state-updating, are described and formulated. This approach has been programmed and successfully tested in the simulation work, and results are shown at the end of this paper.

  18. Slam is an outer membrane protein that is required for the surface display of lipidated virulence factors in Neisseria.

    Science.gov (United States)

    Hooda, Yogesh; Lai, Christine Chieh-Lin; Judd, Andrew; Buckwalter, Carolyn M; Shin, Hyejin Esther; Gray-Owen, Scott D; Moraes, Trevor F

    2016-02-29

    Lipoproteins decorate the surface of many Gram-negative bacterial pathogens, playing essential roles in immune evasion and nutrient acquisition. In Neisseria spp., the causative agents of gonorrhoea and meningococcal meningitis, surface lipoproteins (SLPs) are required for virulence and have been extensively studied as prime candidates for vaccine development. However, the machinery and mechanism that allow for the surface display of SLPs are not known. Here, we describe a transposon (Tn5)-based search for the proteins required to deliver SLPs to the surface of Neisseria meningitidis, revealing a family of proteins that we have named the surface lipoprotein assembly modulator (Slam). N. meningitidis contains two Slam proteins, each exhibiting distinct substrate preferences. The Slam proteins are sufficient to reconstitute SLP transport in laboratory strains of Escherichia coli, which are otherwise unable to efficiently display these lipoproteins on their cell surface. Immunoprecipitation and domain probing experiments suggest that the SLP, TbpB, interacts with Slam during the transit process; furthermore, the membrane domain of Slam is sufficient for selectivity and proper surface display of SLPs. Rather than being a Neisseria-specific factor, our bioinformatic analysis shows that Slam can be found throughout proteobacterial genomes, indicating a conserved but until now unrecognized virulence mechanism.

  19. Comparison of real-time performance of Kalman filter-based slam methods for unmanned ground vehicle (UGV) navigation

    Science.gov (United States)

    Temeltaş, Hakan; Kavak, Deniz

    2009-05-01

    Simultaneous Localization and Mapping (SLAM) using for the mobile robot navigation has two main problems. First problem is the computational complexity due to the growing state vector with the added landmark in the environment. Second problem is data association which matches the observations and landmarks in the state vector. In this study, we compare Extended Kalman Filter (EKF) based SLAM which is well-developed and well-known algorithm, and Compressed Extended Kalman Filter (CEKF) based SLAM developed for decreasing of the computational complexity of the EKF based SLAM. We write two simulation program to investigate these techniques. Firts program is written for the comparison of EKF and CEKF based SLAM according to the computational complexity and covariance matrix error with the different numbers of landmarks. In the second program, EKF and CEKF based SLAM simulations are presented. For this simulation differential drive vehicle that moves in a 10m square trajectory and LMS 200 2-D laser range finder are modelled and landmarks are randomly scattered in that 10m square environment.

  20. CMS Centre at CERN

    CERN Multimedia

    2007-01-01

    A new "CMS Centre" is being established on the CERN Meyrin site by the CMS collaboration. It will be a focal point for communications, where physicists will work together on data quality monitoring, detector calibration, offline analysis of physics events, and CMS computing operations. Construction of the CMS Centre begins in the historic Proton Synchrotron (PS) control room. The historic Proton Synchrotron (PS) control room, Opened by Niels Bohr in 1960, will be reused by CMS to built its control centre. TThe LHC@FNAL Centre, in operation at Fermilab in the US, will work very closely with the CMS Centre, as well as the CERN Control Centre. (Photo Fermilab)The historic Proton Synchrotron (PS) control room is about to start a new life. Opened by Niels Bohr in 1960, the room will be reused by CMS to built its control centre. When finished, it will resemble the CERN Contro...

  1. Association between SAP and FynT: Inducible SH3 domain-mediated interaction controlled by engagement of the SLAM receptor.

    Science.gov (United States)

    Chen, Riyan; Latour, Sylvain; Shi, Xiaochu; Veillette, André

    2006-08-01

    SAP is an intracellular adaptor molecule composed almost exclusively of an SH2 domain. It is mutated in patients with X-linked lymphoproliferative disease, a human immunodeficiency. Several immune abnormalities were also identified in SAP-deficient mice. By way of its SH2 domain, SAP interacts with tyrosine-based motifs in the cytoplasmic domain of SLAM family receptors. SAP promotes SLAM family receptor-induced protein tyrosine phosphorylation, due to its capacity to recruit the Src-related kinase FynT. This unusual property relies on the existence of a second binding surface in the SAP SH2 domain, centered on arginine 78 of SAP, that binds directly to the FynT SH3 domain. Herein, we wanted to further understand the mechanisms controlling the interaction between SLAM-SAP and FynT. Our experiments showed that, unlike conventional associations mediated by SH3 domains, the interaction of the FynT SH3 domain with SLAM-SAP was strictly inducible. It was absolutely dependent on engagement of SLAM by extracellular ligands. We obtained evidence that this inducibility was not due to increased binding of SLAM to SAP following SLAM engagement. Furthermore, it could occur independently of any appreciable SLAM-dependent biochemical signal. In fact, our data indicated that the induced association of the FynT SH3 domain with SLAM-SAP was triggered by a change in the conformation of SLAM-associated SAP caused by SLAM engagement. Together, these data elucidate further the events initiating SLAM-SAP signaling in immune cells. Moreover, they identify a strictly inducible interaction mediated by an SH3 domain.

  2. SLAM algorithm applied to robotics assistance for navigation in unknown environments

    Directory of Open Access Journals (Sweden)

    Lobo Pereira Fernando

    2010-02-01

    Full Text Available Abstract Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous. The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI. Methods In this paper, a sequential Extended Kalman Filter (EKF feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how

  3. Measles virus selectively blind to signaling lymphocytic activation molecule (SLAM; CD150) is attenuated and induces strong adaptive immune responses in rhesus monkeys.

    Science.gov (United States)

    Leonard, Vincent H J; Hodge, Gregory; Reyes-Del Valle, Jorge; McChesney, Michael B; Cattaneo, Roberto

    2010-04-01

    The signaling lymphocytic activation molecule (SLAM; CD150) is the immune cell receptor for measles virus (MV). To assess the importance of the SLAM-MV interactions for virus spread and pathogenesis, we generated a wild-type IC-B MV selectively unable to recognize human SLAM (SLAM-blind). This virus differs from the fully virulent wild-type IC-B strain by a single arginine-to-alanine substitution at amino acid 533 of the attachment protein hemagglutinin and infects cells through SLAM about 40 times less efficiently than the isogenic wild-type strain. Ex vivo, this virus infects primary lymphocytes at low levels regardless of SLAM expression. When a group of six rhesus monkeys (Macaca mulatta) was inoculated intranasally with the SLAM-blind virus, no clinical symptoms were documented. Only one monkey had low-level viremia early after infection, whereas all the hosts in the control group had high viremia levels. Despite minimal, if any, viremia, all six hosts generated neutralizing antibody titers close to those of the control monkeys while MV-directed cellular immunity reached levels at least as high as in wild-type-infected monkeys. These findings prove formally that efficient SLAM recognition is necessary for MV virulence and pathogenesis. They also suggest that the selectively SLAM-blind wild-type MV can be developed into a vaccine vector.

  4. 基于组合EKF的自主水下航行器SLAM%SLAM of AUV Based on the Combined EKF

    Institute of Scientific and Technical Information of China (English)

    王宏健; 王晶; 边信黔; 傅桂霞

    2012-01-01

    A simultaneous localization and mapping (SLAM) algorithm based on the combined EKF (extended Kalman filter) of Sage-Husa adaptive EKF and strong tracking EKF is presented to solve the decrease of filtering accuracy of standard EKF when the statistical characteristics of noise are not accurate and the model builded can not match with the actual one completely. Firstly, the dynamic model, feature model and sensor measurement model of AUV (autonomous underwater vehicle) are set up. Then, feature extraction is implemented through Hough transform, and SLAM of AUV is realized with the combined EKF eventually. Simulation with trial data shows that the described method reduces the influence of both the time-variance of statistical characteristics of noise and the inaccuracy of model, and enhances the accuracy and robustness of SLAM system.%针对标准扩展卡尔曼滤波(EKF)在噪声统计特性不准确、系统模型与实际模型无法完全匹配情况下滤波精度严重下降的问题,提出了一种基于Sage-Husa自适应EKF和强跟踪EKF组合的SLAM(同步定位与地图构建)算法.首先建立了AUV(自主水下航行器)的动力学模型、特征模型以及传感器的测量模型,然后通过Hough变换进行特征提取,最终采用组合EKF实现了自主水下航行器的同步定位与地图构建.海试数据仿真试验表明本文所提方法降低了噪声统计特性时变以及模型不精确对系统的影响,提高了SLAM系统的精确性和鲁棒性.

  5. The Study of Fractional Order Controller with SLAM in the Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2014-01-01

    Full Text Available We present a fractional order PI controller (FOPI with SLAM method, and the proposed method is used in the simulation of navigation of NAO humanoid robot from Aldebaran. We can discretize the transfer function by the Al-Alaoui generating function and then get the FOPI controller by Power Series Expansion (PSE. FOPI can be used as a correction part to reduce the accumulated error of SLAM. In the FOPI controller, the parameters (Kp,Ki,  and  α need to be tuned to obtain the best performance. Finally, we compare the results of position without controller and with PI controller, FOPI controller. The simulations show that the FOPI controller can reduce the error between the real position and estimated position. The proposed method is efficient and reliable for NAO navigation.

  6. An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks

    Directory of Open Access Journals (Sweden)

    Hyukdoo Choi

    2014-01-01

    Full Text Available In this paper, we present a new indoor ‘simultaneous localization and mapping’ (SLAM technique based on an upward-looking ceiling camera. Adapted from our previous work [17], the proposed method employs sparsely-distributed line and point landmarks in an indoor environment to aid with data association and reduce extended Kalman filter computation as compared with earlier techniques. Further, the proposed method exploits geometric relationships between the two types of landmarks to provide added information about the environment. This geometric information is measured with an upward-looking ceiling camera and is used as a constraint in Kalman filtering. The performance of the proposed ceiling-view (CV SLAM is demonstrated through simulations and experiments. The proposed method performs localization and mapping more accurately than those methods that use the two types of landmarks without taking into account their relative geometries.

  7. Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints.

    Science.gov (United States)

    Zhang, Heng; Liu, Yanli; Tan, Jindong

    2015-06-19

    A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM). The visual feature is encoded with BRAND (binary robust appearance and normals descriptor), which efficiently combines appearance and geometric shape information from RGB-D images. Furthermore, the feature descriptors are stored using the Locality-Sensitive-Hashing (LSH) technique and hierarchical clustering trees are used to search for these binary features. Finally, the algorithm for matching of multi feature points using local geometric constraints is provided, which can effectively reject the possible false closure hypotheses. We demonstrate the efficiency of our algorithms by real-time RGB-D SLAM with loop closing detection in indoor image sequences taken with a handheld Kinect camera and comparative experiments using other algorithms in RTAB-Map dealing with a benchmark dataset.

  8. Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints

    Directory of Open Access Journals (Sweden)

    Heng Zhang

    2015-06-01

    Full Text Available A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM. The visual feature is encoded with BRAND (binary robust appearance and normals descriptor, which efficiently combines appearance and geometric shape information from RGB-D images. Furthermore, the feature descriptors are stored using the Locality-Sensitive-Hashing (LSH technique and hierarchical clustering trees are used to search for these binary features. Finally, the algorithm for matching of multi feature points using local geometric constraints is provided, which can effectively reject the possible false closure hypotheses. We demonstrate the efficiency of our algorithms by real-time RGB-D SLAM with loop closing detection in indoor image sequences taken with a handheld Kinect camera and comparative experiments using other algorithms in RTAB-Map dealing with a benchmark dataset.

  9. Mitigating check valve slamming and subsequentwater hammer events for PPFS using MOC

    Institute of Scientific and Technical Information of China (English)

    TIAN Wenxi; SU Guanghui; WANG Gaopeng; QIU Suizheng; XIAO Zejun

    2009-01-01

    The method of characteristic (MOC) was adopted to analyze the check valve-induced water hammer behaviors for a Parallel Pumps Feedwater System (PPFS) during the alternate startup process. The motion of check valve disc was simulated using inertial valve model. Transient parameters including the pressure oscillation, local flow velocity and slamming of the check valve disc etc. have been obtained. The results showed that severe slamming between the valve disc and valve seat occurred during the alternate startup of parallel pumps. The induced maximum pressure vibration amplitude is up to 5.0 MPa. The scheme of appending a damping torque to slow down the check valve closing speed was also performed to mitigate of water hammer. It has been numerically approved to be an effective approach.

  10. 韩国F-15K战斗机首次发射SLAM-ER导弹

    Institute of Scientific and Technical Information of China (English)

    闫璞

    2006-01-01

    波音公司2006年3月27日报道,由波音公司为韩国空军制造的F-15K多服务社作战斗机成为第一架发射“响应增强型防区外对陆攻击导弹”(SLAM-ER)的F-15战斗机。

  11. A SLAM II simulation model for analyzing space station mission processing requirements

    Science.gov (United States)

    Linton, D. G.

    1985-01-01

    Space station mission processing is modeled via the SLAM 2 simulation language on an IBM 4381 mainframe and an IBM PC microcomputer with 620K RAM, two double-sided disk drives and an 8087 coprocessor chip. Using a time phased mission (payload) schedule and parameters associated with the mission, orbiter (space shuttle) and ground facility databases, estimates for ground facility utilization are computed. Simulation output associated with the science and applications database is used to assess alternative mission schedules.

  12. An evaluation of 2D SLAM techniques available in Robot Operating System

    OpenAIRE

    Machado Santos, Joao; Portugal, David; Rocha, Rui P.

    2013-01-01

    n this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbours concept was applied. Moreover...

  13. EKF-SLAM Algorithm with Constraints%添加约束的EKF-SLAM算法

    Institute of Scientific and Technical Information of China (English)

    陈家乾; 何衍; 蒋静坪

    2009-01-01

    In order to achieve good result,muhi-loop closure is necessary with the extended kalman filter approach to simultaneous localization and mapping (EKF-SLAM). This will not only waste lots of time and energy but also increase the possibility of robot fault. This paper presents a novel method which applies constraints to EKF-SLAM to improve estimate accuracy. The method determines the pair of landmarks by analyzing the eovariance matrix and applies the constraints constructed with distance measurement and prior global heading information to improve the estimate result of EKF-SLAM. The experiment results and corresponding analysis demonstrate the approach could achieve good mapping efficiency and accuracy simultaneously.%为了得到较高的估计精度,基于扩展卡尔曼滤波的同时定位与地图生成算法(EKF-SLAM)需要完成多次路径闭合.这不仅消耗大量的时间与能量,而且增大了机器人发生故障的概率.本文提出一种添加约束的EKF-SLAM算法.该算法通过分析协方差矩阵确定目标路标对,用测量信息与全局先验方向对原估计结果进行约束,能够极大改善估计效果,兼顾高效率与高精度.实验结果及其分析充分表明了算法的有效性.

  14. Severe Psychosis, Drug Dependence, and Hepatitis C Related to Slamming Mephedrone

    Directory of Open Access Journals (Sweden)

    Helen Dolengevich-Segal

    2016-01-01

    Full Text Available Background. Synthetic cathinones (SCs, also known as “bath salts,” are β-ketone amphetamine compounds derived from cathinone, a psychoactive substance found in Catha edulis. Mephedrone is the most representative SC. Slamming is the term used for the intravenous injection of these substances in the context of chemsex parties, in order to enhance sex experiences. Using IV mephedrone may lead to diverse medical and psychiatric complications like psychosis, aggressive behavior, and suicide ideation. Case. We report the case of a 25-year-old man admitted into a psychiatric unit, presenting with psychotic symptoms after slamming mephedrone almost every weekend for the last 4 months. He presents paranoid delusions, intense anxiety, and visual and kinesthetic hallucinations. He also shows intense craving, compulsive drug use, general malaise, and weakness. After four weeks of admission and antipsychotic treatment, delusions completely disappear. The patient is reinfected with hepatitis C. Discussion. Psychiatric and medical conditions related to chemsex and slamming have been reported in several European cities, but not in Spain. Psychotic symptoms have been associated with mephedrone and other SCs’ consumption, with the IV route being prone to produce more severe symptomatology and addictive conducts. In the case we report, paranoid psychosis, addiction, and medical complications are described.

  15. Activation by SLAM Family Receptors Contributes to NK Cell Mediated "Missing-Self" Recognition.

    Science.gov (United States)

    Alari-Pahissa, Elisenda; Grandclément, Camille; Jeevan-Raj, Beena; Leclercq, Georges; Veillette, André; Held, Werner

    2016-01-01

    Natural Killer (NK) cells attack normal hematopoietic cells that do not express inhibitory MHC class I (MHC-I) molecules, but the ligands that activate NK cells remain incompletely defined. Here we show that the expression of the Signaling Lymphocyte Activation Molecule (SLAM) family members CD48 and Ly9 (CD229) by MHC-I-deficient tumor cells significantly contributes to NK cell activation. When NK cells develop in the presence of T cells or B cells that lack inhibitory MHC-I but express activating CD48 and Ly9 ligands, the NK cells' ability to respond to MHC-I-deficient tumor cells is severely compromised. In this situation, NK cells express normal levels of the corresponding activation receptors 2B4 (CD244) and Ly9 but these receptors are non-functional. This provides a partial explanation for the tolerance of NK cells to MHC-I-deficient cells in vivo. Activating signaling via 2B4 is restored when MHC-I-deficient T cells are removed, indicating that interactions with MHC-I-deficient T cells dominantly, but not permanently, impair the function of the 2B4 NK cell activation receptor. These data identify an important role of SLAM family receptors for NK cell mediated "missing-self" reactivity and suggest that NK cell tolerance in MHC-I mosaic mice is in part explained by an acquired dysfunction of SLAM family receptors.

  16. Positive and negative signaling through SLAM receptors regulate synapse organization and thresholds of cytolysis.

    Science.gov (United States)

    Zhao, Fang; Cannons, Jennifer L; Dutta, Mala; Griffiths, Gillian M; Schwartzberg, Pamela L

    2012-06-29

    X-linked lymphoproliferative syndrome, characterized by fatal responses to Epstein-Barr virus infection, is caused by mutations affecting the adaptor SAP, which links SLAM family receptors to downstream signaling. Although cytotoxic defects in SAP-deficient T cells are documented, the mechanism remains unclear. We show that SAP-deficient murine CD8(+) T cells exhibited normal cytotoxicity against fibrosarcoma targets, yet had impaired adhesion to and killing of B cell and low-avidity T cell targets. SAP-deficient cytotoxic lymphocytes showed specific defects in immunological synapse organization with these targets, resulting in inefficient actin clearance. In the absence of SAP, signaling through the SLAM family members Ly108 and 2B4 resulted in increased recruitment of the SHP-1 phosphatase, associated with altered SHP-1 localization and decreased activation of Src kinases at the synapse. Hence, SAP and SLAM receptors regulate positive and negative signals required for organizing the T cell:B cell synapse and setting thresholds for cytotoxicity against distinct cellular targets.

  17. Severe Psychosis, Drug Dependence, and Hepatitis C Related to Slamming Mephedrone.

    Science.gov (United States)

    Dolengevich-Segal, Helen; Rodríguez-Salgado, Beatriz; Gómez-Arnau, Jorge; Sánchez-Mateos, Daniel

    2016-01-01

    Background. Synthetic cathinones (SCs), also known as "bath salts," are β-ketone amphetamine compounds derived from cathinone, a psychoactive substance found in Catha edulis. Mephedrone is the most representative SC. Slamming is the term used for the intravenous injection of these substances in the context of chemsex parties, in order to enhance sex experiences. Using IV mephedrone may lead to diverse medical and psychiatric complications like psychosis, aggressive behavior, and suicide ideation. Case. We report the case of a 25-year-old man admitted into a psychiatric unit, presenting with psychotic symptoms after slamming mephedrone almost every weekend for the last 4 months. He presents paranoid delusions, intense anxiety, and visual and kinesthetic hallucinations. He also shows intense craving, compulsive drug use, general malaise, and weakness. After four weeks of admission and antipsychotic treatment, delusions completely disappear. The patient is reinfected with hepatitis C. Discussion. Psychiatric and medical conditions related to chemsex and slamming have been reported in several European cities, but not in Spain. Psychotic symptoms have been associated with mephedrone and other SCs' consumption, with the IV route being prone to produce more severe symptomatology and addictive conducts. In the case we report, paranoid psychosis, addiction, and medical complications are described.

  18. Purification of the insecticidal Cry2Ad protein from a Bt-isolated BRC-HZP10 strain and toxin assay to the diamondback moth, Plutella xylostella (L.).

    Science.gov (United States)

    Liao, J Y; Gao, Y Q; Wu, Q Y; Zhu, Y C; You, M S

    2015-07-13

    The present study aims to characterize the Cry2Ad toxin protein isolated from a Bacillus thuringiensis strain, BRC-HZP10, which have a potential insecticidal activity against larvae of the diamondback moth, Plutella xylostella (L.). The crude Bt toxin proteins were isolated and purified by cation exchange chromatography, then equilibrated with 0.2 M NaOH buffer, pH 4.0, followed by ultraviolet detection at 280 nm and sodium dodecyl sulfate-polyacrylamide gel electrophoresis. A refined Cry2Ad toxin protein with 88.34% purity was eventually obtained and used for a bioassay by feeding it to P. xylostella. The results showed conspicuous insecticidal activity towards P. xylostella with 50% lethal concentration of 6.84 μg/mL and 95% confidence interval of 5.77-7.91 mg/mL. At a concentration of 16.38 μg/mL, the intake of Cry2Ad protein significantly shortened the oviposition period and larval developmental duration, but significantly reduced the fecundity and egg hatchability of the population compared to those of control (without treatment with Cry2Ad protein) (P protein plays an effective role in controlling the population of P. xylostella.

  19. Client Centred Desing

    DEFF Research Database (Denmark)

    Ørngreen, Rikke; Nielsen, Janni; Levinsen, Karin

    2008-01-01

    In this paper we argue for the use of Client Centred preparation phases when designing complex systems. Through Client Centred Design human computer interaction can extend the focus on end-users to alse encompass the client's needs, context and resources....

  20. Seismo-Lineament Analysis Method (SLAM) Applied to the South Napa Earthquake

    Science.gov (United States)

    Worrell, V. E.; Cronin, V. S.

    2014-12-01

    We used the seismo-lineament analysis method (SLAM; http://bearspace.baylor.edu/Vince_Cronin/www/SLAM/) to "predict" the location of the fault that produced the M 6.0 South Napa earthquake of 24 August 2014, using hypocenter and focal mechanism data from NCEDC (http://www.ncedc.org/ncedc/catalog-search.html) and a digital elevation model from the USGS National Elevation Dataset (http://viewer.nationalmap.gov/viewer/). The ground-surface trace of the causative fault (i.e., the Browns Valley strand of the West Napa fault zone; Bryant, 2000, 1982) and virtually all of the ground-rupture sites reported by the USGS and California Geological Survey (http://www.eqclearinghouse.org/2014-08-24-south-napa/) were located within the north-striking seismo-lineament. We also used moment tensors published online by the USGS and GCMT (http://comcat.cr.usgs.gov/earthquakes/eventpage/nc72282711#scientific_moment-tensor) as inputs to SLAM and found that their northwest-striking seismo-lineaments correlated spatially with the causative fault. We concluded that SLAM could have been used as soon as these mechanism solutions were available to help direct the search for the trace of the causative fault and possible rupture-related damage. We then considered whether the seismogenic fault could have been identified using SLAM prior to the 24 August event, based on the focal mechanisms of smaller prior earthquakes reported by the NCEDC or ISC (http://www.isc.ac.uk). Seismo-lineaments from three M~3.5 events from 1990 and 2012, located in the Vallejo-Crockett area, correlate spatially with the Napa County Airport strand of the West Napa fault and extend along strike toward the Browns Valley strand (Bryant, 2000, 1982). Hence, we might have used focal mechanisms from smaller earthquakes to establish that the West Napa fault is likely seismogenic prior to the South Napa earthquake. Early recognition that a fault with a mapped ground-surface trace is seismogenic, based on smaller earthquakes

  1. 平方根容积卡尔曼滤波在移动机器人SLAM中的应用%Square-Root Cubature Kalman Filter and Its Application to SLAM of an Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    康轶非; 宋永端; 宋宇; 闫德立; 李丹勇

    2013-01-01

    For simultaneous localization and mapping (SLAM) of robots, a new solution is proposed, named square-root cubature Kalman filter based SLAM algorithm (SCKF-SLAM). The main contribution of the proposed algorithm is that the SLAM posterior probability density is calculated by using the square root cubature Kalman filter in order to reduce linearization error and improve SLAM accuracy. Instead of covariance matrixes, square-root factors are used in the proposed SLAM algorithm to avoid the time-consuming Cholesky decompositions and improve the calculation efficiency. In experiments, the proposed algorithm is compared with extended Kalman filter SLAM (EKF-SLAM) and unscented Kalman filter SLAM (UKF-SLAM). The results show that compared with EKF-SLAM, precision of SCKF-SLAM is doubled, and compared with UKF-SLAM, SCKF-SLAM saves a quarter of computation resources.%针对机器人同时定位与地图构建(SLAM)问题,提出基于平方根容积卡尔曼滤波的SLAM算法.该算法主要特点是使用平方根容积卡尔曼滤波计算SLAM后验概率密度,以减小线性化误差,达到提高SLAM定位精度的目的.提出的算法通过传递平方根因子代替系统协方差矩阵,因而在计算中避免了耗费时间的Cholesky分解,提高了算法效率.实验部分使用扩展型卡尔曼滤波SLAM (EKF-SLAM)、无迹卡尔曼滤波SLAM (UKF-SLAM)和所提出的算法进行了对比.实验结果表明:较之EKF-SLAM,容积卡尔曼滤波的精度提高了1倍;相比UKF-SLAM,SCKF-SLAM节省1/4计算资源.

  2. Isolation and Identification of Serratia sp.Strain BRC-CXG2 and Synergism of Its Crude Extraction to Bacillus thuringiensis%沙雷氏菌菌株BRC-CXG2的分离、鉴定及其粗提物对苏云金芽胞杆菌的增效作用

    Institute of Scientific and Technical Information of China (English)

    吴松青; 陈思琪; 陈小刚; 熊悦婷; 李苹; 伍忠玲; 郭雅洁; 胡霞; 梁光红

    2015-01-01

    沙雷氏菌属(Serratia sp.)中的许多菌株是一些昆虫的机会致病菌,具有一定的杀虫活性.本研究通过从患败血症的松墨天牛(Monochamus alternatus Hope)尸体中分离出一株BRC-CXG2菌株(KT366770),并对该菌株进行形态学鉴定、16S rDNA系统发育分析、生理生化反应、药敏分析以及生物测定.结果表明,分离的菌株BRC-CXG2属于沙雷氏菌属的一种新种,且对头孢哌酮、头孢噻肟、头孢他啶等常见药物具有不同程度的敏感性,其中提取的灵杆菌素对苏云金芽胞杆菌以色列亚种(Bacillus thuringiensis israelensis,Bti)LLP29胞晶混合液杀埃及伊蚊(Aedes aegypti)活性具有显著增效作用(共毒系数为128.06).本研究为开发Bt增效剂及构建新型工程菌提供了理论基础.

  3. SLAM, een transportmodel voor de korte termijn en de korte afstand met als toepassing de beschrijving van de verspreiding van ammoniak

    NARCIS (Netherlands)

    Boermans GMF; van Pul WAJ

    1993-01-01

    SLAM (Short-term Local scale Ammonia transport Model) has been developed to calculate the ammonia concentrations in a multiple source area on a short term (hour) and local scale (100 m up to 15 km). In SLAM the dispersion in the surface layer is modelled using a description given by Gryning et al.

  4. Increased expression of SLAM receptors SLAMF3 and SLAMF6 in systemic lupus erythematosus T lymphocytes promotes Th17 differentiation.

    Science.gov (United States)

    Chatterjee, Madhumouli; Rauen, Thomas; Kis-Toth, Katalin; Kyttaris, Vasileios C; Hedrich, Christian M; Terhorst, Cox; Tsokos, George C

    2012-02-01

    Altered T cell function in systemic lupus erythematosus (SLE) is determined by various molecular and cellular abnormalities, including increased IL-17 production. Recent evidence suggests a crucial role for signaling lymphocyte activation molecules (SLAMs) in the expression of autoimmunity. In this study, we demonstrate that SLAMF3 and SLAMF6 expression is increased on the surface of SLE T cells compared with normal cells. SLAM coengagement with CD3 under Th17 polarizing conditions results in increased IL-17 production. SLAMF3 and SLAMF6 T cell surface expression and IL-17 levels significantly correlate with disease activity in SLE patients. Both naive and memory CD4(+) T cells produce more IL-17 in response to SLAM costimulation as compared with CD28 costimulation. In naive CD4(+) cells, IL-17 production after CD28 costimulation peaks on day 3, whereas costimulation with anti-SLAMF3 and anti-SLAMF6 Abs results in a prolonged and yet increasing production during 6 d. Unlike costimulation with anti-CD28, SLAM costimulation requires the presence of the adaptor molecule SLAM-associated protein. Thus, engagement of SLAMF3 and SLAMF6 along with Ag-mediated CD3/TCR stimulation represents an important source of IL-17 production, and disruption of this interaction with decoy receptors or blocking Abs should mitigate disease expression in SLE and other autoimmune conditions.

  5. Monocular SLAM for Visual Odometry: A Full Approach to the Delayed Inverse-Depth Feature Initialization Method

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguía

    2012-01-01

    Full Text Available This paper describes in a detailed manner a method to implement a simultaneous localization and mapping (SLAM system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation of range-bearing measurements. SLAM techniques are required to operate mobile robots in a priori unknown environments using only on-board sensors to simultaneously build a map of their surroundings; this map will be needed for the robot to track its position. In this context, the 6-DOF (degree of freedom monocular camera case (monocular SLAM possibly represents the harder variant of SLAM. In monocular SLAM, a single camera, which is freely moving through its environment, represents the sole sensory input to the system. The method proposed in this paper is based on a technique called delayed inverse-depth feature initialization, which is intended to initialize new visual features on the system. In this work, detailed formulation, extended discussions, and experiments with real data are presented in order to validate and to show the performance of the proposal.

  6. 基于随机信标的水下 SLAM 导航方法%Underwater SLAM navigation algorithm based on random beacons

    Institute of Scientific and Technical Information of China (English)

    刘明雍; 董婷婷; 张立川

    2015-01-01

    研究了基于随机信标的水下同时制图定位(simultaneous localization and mapping,SLAM)导航定位方法。信标导航是目前导航领域的研究热点,但往往需要提前对信标位置进行标定。对此文中提出一种无需位置标定的随机信标导航方法,即在信标随机散布的情况下,通过量测信标和航行器间的距离和方位,用 SLAM 方法对随机信标位置进行估计,从而实现对航行器的导航,并在不同的信标密度和观测误差下分析了其导航精度。仿真结果表明,该导航方法具有良好的收敛性和定位精度。%An underwater simultaneous localization and mapping (SLAM)navigation algorithm based on random beacons is studied.At present,beacon navigation is extensively studied in the field of navigation,but it often needs to locate the beacon’s positon in advance.In this paper,we propose a navigation method based on random beacons that does not need position calibration,that is,when beacons are randomly dispersed,we use the SLAM method to estimate the position of the random beacons,thus to navigate the autonomous underwater vehicle (AUV)by observing the distance and orientation between the beacons and the AUV.We also analyze the navigation accuracy under different beacons density and different observation errors.Simulation results show that the algorithm performs well in both convergence and precision.

  7. The IGU Knowledge Centre

    NARCIS (Netherlands)

    Huizing, Bernardus

    2005-01-01

    This article describes an innovative service for members of the International Gas Union - IGU. The IGU Knowledge Centre provides members with relevant information and data. In this article is described why, how and where.

  8. Virtual particle therapy centre

    CERN Multimedia

    2015-01-01

    Particle therapy is an advanced technique of cancer radiation therapy, using protons or other ions to target the cancerous mass. This advanced technique requires a multi-disciplinary team working in a specialised centre. 3D animation: Nymus3D

  9. SLAM-enriched hematopoietic stem cells maintain long-term repopulating capacity after lentiviral transduction using an abbreviated protocol.

    Science.gov (United States)

    Laje, P; Zoltick, P W; Flake, A W

    2010-03-01

    Gene transfer to long-term repopulating hematopoietic stem cells (HSCs) using integrating viral vectors is an important goal in gene therapy. The SLAM (signaling lymphocyte activation molecule)-family receptors have recently been used for the isolation of highly enriched murine HSCs. This HSC enrichment protocol is relatively simple, and results in an HSC population with comparable repopulating capacity to c-kit(+)lin(-)Sca-1(+) (KSL) HSCs. The capacity to withstand genetic manipulation and, most importantly, to maintain long-term repopulating capacity of SLAM-enriched HSC populations has not been reported. In this study, SLAM-enriched HSCs were assessed for transduction efficiency and in vivo long-term repopulating capacity after lentiviral transduction using an abbreviated transduction protocol and KSL-enriched HSCs as a reference population. SLAM- and KSL-enriched HSCs were efficiently transduced by lentiviral vector using a simple protocol that involves minimal in vitro manipulation and no pre-stimulation. SLAM-HSCs are at least equal to KSL-HSCs with respect to efficiency of transduction and maintenance of long-term repopulating capacity. Although there was a reduction in repopulating capacity related to enrichment and culture manipulations relative to freshly isolated bone marrow (BM) cells, no detrimental effects were identified on long-term competitive capacity related to transduction, as transduced cells maintained stable levels of chimerism in competition with non-transduced cells and freshly isolated BM cells. These results support the SLAM-HSC enrichment protocol as a simple and efficient method for HSC enrichment for gene transfer studies.

  10. Slam haplotypes modulate the response to lipopolysaccharide in vivo through control of NKT cell number and function.

    Science.gov (United States)

    Aktan, Idil; Chant, Alan; Borg, Zachary D; Damby, David E; Leenstra, Paige C; Lilley, Graham W J; Lilley, Graham W G; Petty, Joseph; Suratt, Benjamin T; Teuscher, Cory; Wakeland, Edward K; Poynter, Matthew E; Boyson, Jonathan E

    2010-07-01

    CD1d-restricted NKT cells make up an innate-like T cell subset that plays a role in amplifying the response of innate immune leukocytes to TLR ligands. The Slam locus contains genes that have been implicated in innate and adaptive immune responses. In this study, we demonstrate that divergent Slam locus haplotypes modulate the response of macrophages to the TLR4 ligand LPS through their control of NKT cell number and function. In response to LPS challenge in vivo, macrophage TNF production in Slam haplotype-2(+) 129S1/SvImJ and 129X1/SvJ mice was significantly impaired in comparison with macrophage TNF production in Slam haplotype-1(+) C57BL/6J mice. Although no cell-intrinsic differences in macrophage responses to LPS were observed between strains, 129 mice were found to be deficient in liver NKT cell number, in NKT cell cytokine production in response to the CD1d ligand alpha-galactosylceramide, and in NKT cell IFN-gamma production after LPS challenge in vivo. Using B6.129c1 congenic mice and adoptive transfer, we found that divergent Slam haplotypes controlled the response to LPS in vivo, as well as the diminished NKT cell number and function, and that these phenotypes were associated with differential expression of signaling lymphocytic activation molecule family receptors on NKT cells. These data suggest that the polymorphisms that distinguish two Slam haplotypes significantly modulate the innate immune response in vivo through their effect on NKT cells.

  11. Unscented FastSLAM for UAV%无人机Unscented FastSLAM算法研究

    Institute of Scientific and Technical Information of China (English)

    潘爽; 吴雨强; 范作娥

    2014-01-01

    同时定位与作图(SLAM)成为使运动载体真正自主导航的必要前提,因此成为近来研究的热点问题。FastSLAM作为一种成功的SLAM研究方法吸引了许多学者的关注。FastSLAM把SLAM问题分解为一个定位问题和一个作图问题,地图由EKF滤波进行估计。提出了一种用于无人机(UAV)的改进的FastSLAM算法,使用UKF来代替EKF估计地标的位置,可以改善估计的精度,同时,避免线性化传感器的观测模型及计算雅可比矩阵。%Simultaneous localization and mapping(SLAM)is a necessary prerequisite to make mobile vehicle truly autonomous,which is a hot research topic today. FastSLAM as a successful SLAM method abstracts many researchers’attentions. FastSLAM factors the SLAM problem into a localization problem and a mapping problem in which the landmark position is estimated by EKF. A modified FastSLAM is presented for uninhabited aerial vehicle(UAV),using UKF to replace the EKF to estimate the landmark position. So we can improve the estimation precision,at the same time no need to linearize the sensor observation model and to compute its Jacobian matrix.

  12. LERC-SLAM - THE NASA LEWIS RESEARCH CENTER SATELLITE LINK ATTENUATION MODEL PROGRAM (IBM PC VERSION)

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

    The frequency and intensity of rain attenuation affecting the communication between a satellite and an earth terminal is an important consideration in planning satellite links. The NASA Lewis Research Center Satellite Link Attenuation Model Program (LeRC-SLAM) provides a static and dynamic statistical assessment of the impact of rain attenuation on a communications link established between an earth terminal and a geosynchronous satellite. The program is designed for use in the specification, design and assessment of satellite links for any terminal location in the continental United States. The basis for LeRC-SLAM is the ACTS Rain Attenuation Prediction Model, which uses a log-normal cumulative probability distribution to describe the random process of rain attenuation on satellite links. The derivation of the statistics for the rainrate process at the specified terminal location relies on long term rainfall records compiled by the U.S. Weather Service during time periods of up to 55 years in length. The theory of extreme value statistics is also utilized. The user provides 1) the longitudinal position of the satellite in geosynchronous orbit, 2) the geographical position of the earth terminal in terms of latitude and longitude, 3) the height above sea level of the terminal site, 4) the yearly average rainfall at the terminal site, and 5) the operating frequency of the communications link (within 1 to 1000 GHz, inclusive). Based on the yearly average rainfall at the terminal location, LeRC-SLAM calculates the relevant rain statistics for the site using an internal data base. The program then generates rain attenuation data for the satellite link. This data includes a description of the static (i.e., yearly) attenuation process, an evaluation of the cumulative probability distribution for attenuation effects, and an evaluation of the probability of fades below selected fade depths. In addition, LeRC-SLAM calculates the elevation and azimuth angles of the terminal

  13. LERC-SLAM - THE NASA LEWIS RESEARCH CENTER SATELLITE LINK ATTENUATION MODEL PROGRAM (MACINTOSH VERSION)

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

    The frequency and intensity of rain attenuation affecting the communication between a satellite and an earth terminal is an important consideration in planning satellite links. The NASA Lewis Research Center Satellite Link Attenuation Model Program (LeRC-SLAM) provides a static and dynamic statistical assessment of the impact of rain attenuation on a communications link established between an earth terminal and a geosynchronous satellite. The program is designed for use in the specification, design and assessment of satellite links for any terminal location in the continental United States. The basis for LeRC-SLAM is the ACTS Rain Attenuation Prediction Model, which uses a log-normal cumulative probability distribution to describe the random process of rain attenuation on satellite links. The derivation of the statistics for the rainrate process at the specified terminal location relies on long term rainfall records compiled by the U.S. Weather Service during time periods of up to 55 years in length. The theory of extreme value statistics is also utilized. The user provides 1) the longitudinal position of the satellite in geosynchronous orbit, 2) the geographical position of the earth terminal in terms of latitude and longitude, 3) the height above sea level of the terminal site, 4) the yearly average rainfall at the terminal site, and 5) the operating frequency of the communications link (within 1 to 1000 GHz, inclusive). Based on the yearly average rainfall at the terminal location, LeRC-SLAM calculates the relevant rain statistics for the site using an internal data base. The program then generates rain attenuation data for the satellite link. This data includes a description of the static (i.e., yearly) attenuation process, an evaluation of the cumulative probability distribution for attenuation effects, and an evaluation of the probability of fades below selected fade depths. In addition, LeRC-SLAM calculates the elevation and azimuth angles of the terminal

  14. SLAM family predicting the initiation potential of human acute lymphoblastic leukemia in NOD/SCID mice

    Institute of Scientific and Technical Information of China (English)

    WANG Na; ZHOU Jian-feng; HUANG Liang; XIAO Fei; LIU Jin-ping; WANG Di; GENG Zhe; WANG Jin; MA Shu-yan; SHU Li-li; CHEN Tai-ping

    2011-01-01

    Background The SLAM family recently has been reported to show an important biological role in lymphocyte development and immunological function, and it is efficient to highly purify hematopoietic stem cells using a simple combination of SLAM family members. To elucidate the presence of this family on acute lymphoblastic leukemia (ALL),as well as its relationship with the leukemia-initiating potential, we analyzed the expression pattern of this family members on human ALL progenitor cells, combined with serial xenotransplantation assay.Methods Expression analysis was carried out by flow cytometry. We combined the expression pattern of human CD150,CD244 and CD48 with serial xenotransplantation of B-ALL progenitor cells to indicate their relationship.Results CD48 and CD244 were expressed on most B-ALL progenitor cells, the percentage being (93.08±6.46)% and (63.37±29.31)%, respectively. Interestingly, the proportion of CD150+ cells declined obviously in engrafted cases ((24.94±7.32)%) compared with non-engrafted cases ((77.54±5.93)%, P <0.01), which indicated that only blast cells with low percentage of CD150+ population were able to reconstitute leukemia into primary, secondary and tertiary NOD/SCID mice.Conclusions SLAM family members are present on B-ALL progenitor cells and the leukemia-initiating potential of leukemic blasts is correlated negatively with the proportion of CD150+ cells, the percentage of which can serve as a useful predictor for engraftment success of B-ALL to immune deficient mice.

  15. The Rise of the New Oral Poetry. The Case of Poetry Slam

    Directory of Open Access Journals (Sweden)

    Clara Isabel Martínez Cantón

    2012-04-01

    Full Text Available Whereas in its origins and during a long time poetry was linked to oral and popular culture, nowadays poetry has become a written literary genre that generally is addressed to a minority and selected audience. Nevertheless, in the last years, a very striking phenomenon is happening: the emergence of new genres of oral poetry, addressed to a wider audience. In this paper, it is intended to introduce briefly these new literary expressions and explore one of the genres with more success within the new oral poetry: poetry slam.

  16. SLAM for drones : simultaneous localization and mapping for autonomous flying robots

    OpenAIRE

    González de Rueda Ramos, José Manuel

    2012-01-01

    The main objective of this thesis is to be a reference in SLAM for future work in robotics. It goes from almost a zero-point for a non-expert in the field until a revision of the SoA methods. It has been carefully divided into four parts: - The first one is a compilation of the basis in computer vision. If you are new into the field, it is recommended to read it carefully to really understand the most important concepts that will be applied in further sections. - The second part will be a ful...

  17. Network simulation using the simulation language for alternate modeling (SLAM 2)

    Science.gov (United States)

    Shen, S.; Morris, D. W.

    1983-01-01

    The simulation language for alternate modeling (SLAM 2) is a general purpose language that combines network, discrete event, and continuous modeling capabilities in a single language system. The efficacy of the system's network modeling is examined and discussed. Examples are given of the symbolism that is used, and an example problem and model are derived. The results are discussed in terms of the ease of programming, special features, and system limitations. The system offers many features which allow rapid model development and provides an informative standardized output. The system also has limitations which may cause undetected errors and misleading reports unless the user is aware of these programming characteristics.

  18. Untersuchung der kinect-Kamera auf Eignung in SLAM und 3D-Modellerstellung

    OpenAIRE

    Skarman, Tobias

    2011-01-01

    Im Rahmen dieser Studienarbeit soll die Kinect-Kamera in Bezug auf SLAM (Simultaneous localization and mapping) und andere Computer-Vision-Anwendungen untersucht werden. Die Kinect ist ein Gerät aus der Unterhaltungselektronik, das Sensorik für den Einsatz im Bildverstehen enthält. Das sind eine herkömmliche Farbkamera und ein Sensormodul, das Information über Distanz von Punkten im Bildbereich liefern kann. Damit macht das Gerät Funktionalität massenverfügbar, die eine wichtige Rolle im R...

  19. Desarrollo de un sistema de SLAM para el robot AR.Drone en entorno ROS

    OpenAIRE

    Saltos Vásquez, Álvaro Andrés

    2016-01-01

    En el presente documento se describe el proceso llevado a cabo para desarrollar un sistema de localización y mapeado simultáneo (SLAM) para el cuadricóptero AR Drone 2.0 de Parrot. Para ello, se abarcan diferentes objetivos a lo largo del proyecto tales como conocer el entorno de programación robótico en el que se trabajar a, en este caso ROS, desarrollar un simulador que permita realizar pruebas iniciales sobre un modelo del robot, implementar un sistema de mapeado 2D basado e...

  20. A novel algorithm for SLAM in dynamic environments using landscape theory of aggregation

    Institute of Scientific and Technical Information of China (English)

    华承昊; 窦丽华; 方浩; 付浩

    2016-01-01

    To tackle the problem of simultaneous localization and mapping (SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.

  1. Academic Drug Discovery Centres

    DEFF Research Database (Denmark)

    Kirkegaard, Henriette Schultz; Valentin, Finn

    2014-01-01

    Academic drug discovery centres (ADDCs) are seen as one of the solutions to fill the innovation gap in early drug discovery, which has proven challenging for previous organisational models. Prior studies of ADDCs have identified the need to analyse them from the angle of their economic and organi......Academic drug discovery centres (ADDCs) are seen as one of the solutions to fill the innovation gap in early drug discovery, which has proven challenging for previous organisational models. Prior studies of ADDCs have identified the need to analyse them from the angle of their economic...... their performance....

  2. Town Centre Redevelopment Strategies

    DEFF Research Database (Denmark)

    Vagnby, Bo Hellisen

    After many years of urban growth Danish downtowns are facing some important choices. Shall the stake one-sidedly be on the town centres as driving forces for growth and 'city marketing', or do they still have a role to play in a broader socio-economic context? In the paper we look back on eight...... during late years, where increased internationalisation is in focus and where it seems as if the social dimension of the town centre planning is slipping out of the hands of the urban planners....

  3. Pseudolinear Model Based Solution to the SLAM Problem of Nonholonomic Mobile Robots

    Science.gov (United States)

    Pathiranage, Chandima Dedduwa; Watanabe, Keigo; Izumi, Kiyotaka

    This paper describes an improved solution to the simultaneous localization and mapping (SLAM) problem based on pseudolinear models. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear model based Kalman filter (PLKF) state estimator is introduced. A less error prone vehicle process model is proposed to improve the accuracy and the faster convergence of state estimation. Evolution of vehicle motion is modeled using vehicle frame translation derived from successive dead reckoned poses as a control input. A measurement model with two sensor frames is proposed to improve the data association. The PLKF-based SLAM algorithm is simulated using Matlab for vehicle-landmarks system and results show that the proposed approach performs much accurately compared to the well known extended Kalman filter (EKF).

  4. RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information.

    Science.gov (United States)

    Di, Kaichang; Zhao, Qiang; Wan, Wenhui; Wang, Yexin; Gao, Yunjun

    2016-08-13

    In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy.

  5. Research on Active SLAM Technology For UAV%无人机主动SLAM技术研究

    Institute of Scientific and Technical Information of China (English)

    杨祥红; 王希彬

    2016-01-01

    To conquer the idle mapping problem of passive simultaneous localization and mapping for UAV,an active SLAM algorithm is proposed based on constrained local sub-map. First,local sub-map is built based on constrained local sub-map filtering,and then,the optimal solution is searched by the active SLAM objective function,and at last,the local sub-map and the global map are fused. Based on the simplified UAV plane motion model,this algorithm is simulated and tested. Simulation results show that this algorithm is effective and feasible.%针对传统被动SLAM算法存在盲目地图构建的问题,提出了基于约束局部子图的无人机主动SLAM算法。首先,在约束局部子图滤波方法的基础上创建局部地图,接着通过构建的主动SLAM的目标函数寻找局部地图的最优解,最后将局部地图和全局地图进行融合。针对无人机系统进行仿真,验证了基于局部子图的主动SLAM算法的有效可行性。

  6. Quantifying Substructure Measures In X-ray Images of Galaxy Cluster Mergers With SLAM

    Science.gov (United States)

    Chatzikos, Marios; Sarazin, C. L.; O'Shea, B. W.

    2014-01-01

    I use the Simulation Library of Astrophysical galaxy cluster Mergers (SLAM) database to quantify the effects of mergers on X-ray observables. SLAM consists of a set of 156 adiabatic simulations of binary galaxy cluster mergers, that covers 2 orders of magnitude in the mass of the primary cluster, four values for the mass contrast, and four values for the angular momentum of the collision. In this talk I describe results on substructure measures obtained for various viewing angles. I have quantified the substructure in X-ray images using both center shifts and power ratios. Mergers of intermediate mass contrasts produce substructure signals that can persist in X-ray images for at least 1-2 sound crossing times. The amplitude of both measures depends strongly on the initial mass contrast. The measures for major mergers (mass contrast less than 3) appear to depend on the system mass, while for minor mergers (mass contrast between 3 and 10) they are generally independent of the system mass. Neither measure reflects the true dynamical state of the system closely, although the center shifts appear to be a better proxy. Comparisons with the virial and hydrostatic disequilibrium parameters reveal that there is no value of either substructure measure that unambiguously distinguishes merging from relaxing systems. Implications for SZE observations will also be discussed.

  7. SLAM-Aided Stem Mapping for Forest Inventory with Small-Footprint Mobile LiDAR

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-12-01

    Full Text Available Accurately retrieving tree stem location distributions is a basic requirement for biomass estimation of forest inventory. Combining Inertial Measurement Units (IMU with Global Navigation Satellite Systems (GNSS is a commonly used positioning strategy in most Mobile Laser Scanning (MLS systems for accurate forest mapping. Coupled with a tactical or consumer grade IMU, GNSS offers a satisfactory solution in open forest environments, for which positioning accuracy better than one decimeter can be achieved. However, for such MLS systems, positioning in a mature and dense forest is still a challenging task because of the loss of GNSS signals attenuated by thick canopy. Most often laser scanning sensors in MLS systems are used for mapping and modelling rather than positioning. In this paper, we investigate a Simultaneous Localization and Mapping (SLAM-aided positioning solution with point clouds collected by a small-footprint LiDAR. Based on the field test data, we evaluate the potential of SLAM positioning and mapping in forest inventories. The results show that the positioning accuracy in the selected test field is improved by 38% compared to that of a traditional tactical grade IMU + GNSS positioning system in a mature forest environment and, as a result, we are able to produce a unambiguous tree distribution map.

  8. Makedon Soyadlarına Yansıyan İslam Medeniyetinin Etkileri

    OpenAIRE

    Leontik, Marija

    2010-01-01

    Özet: 15 ile 19 yüzyıllar arasında Makedonya Osmanlı İmparatorluğu’nun idaresi altında bulunduğundan dolayı İslam medeniyeti Makedon soyadlarına iz bırakmıştır (ör. Мехметова, Рахманов). Makedon ve Türk halkının aynı toprakta birlikte yaşamaları, İslam medeniyetinin unsurları o zaman gelişme döneminde olan ve hâlâ standartlaşmamış Makedon soyadlarına doğal olarak yansımaya yol açmıştır. Makedon soyadlarının kökleri geçmişteki özel adlarının tanımlayıcı unsurlarında bulunmaktadır (ör. Тодор...

  9. Application of real-time single camera SLAM technology for image-guided targeting in neurosurgery

    Science.gov (United States)

    Chang, Yau-Zen; Hou, Jung-Fu; Tsao, Yi Hsiang; Lee, Shih-Tseng

    2012-10-01

    In this paper, we propose an application of augmented reality technology for targeting tumors or anatomical structures inside the skull. The application is a combination of the technologies of MonoSLAM (Single Camera Simultaneous Localization and Mapping) and computer graphics. A stereo vision system is developed to construct geometric data of human face for registration with CT images. Reliability and accuracy of the application is enhanced by the use of fiduciary markers fixed to the skull. The MonoSLAM keeps track of the current location of the camera with respect to an augmented reality (AR) marker using the extended Kalman filter. The fiduciary markers provide reference when the AR marker is invisible to the camera. Relationship between the markers on the face and the augmented reality marker is obtained by a registration procedure by the stereo vision system and is updated on-line. A commercially available Android based tablet PC equipped with a 320×240 front-facing camera was used for implementation. The system is able to provide a live view of the patient overlaid by the solid models of tumors or anatomical structures, as well as the missing part of the tool inside the skull.

  10. Laser-Based Slam with Efficient Occupancy Likelihood Map Learning for Dynamic Indoor Scenes

    Science.gov (United States)

    Li, Li; Yao, Jian; Xie, Renping; Tu, Jinge; Feng, Chen

    2016-06-01

    Location-Based Services (LBS) have attracted growing attention in recent years, especially in indoor environments. The fundamental technique of LBS is the map building for unknown environments, this technique also named as simultaneous localization and mapping (SLAM) in robotic society. In this paper, we propose a novel approach for SLAMin dynamic indoor scenes based on a 2D laser scanner mounted on a mobile Unmanned Ground Vehicle (UGV) with the help of the grid-based occupancy likelihood map. Instead of applying scan matching in two adjacent scans, we propose to match current scan with the occupancy likelihood map learned from all previous scans in multiple scales to avoid the accumulation of matching errors. Due to that the acquisition of the points in a scan is sequential but not simultaneous, there unavoidably exists the scan distortion at different extents. To compensate the scan distortion caused by the motion of the UGV, we propose to integrate a velocity of a laser range finder (LRF) into the scan matching optimization framework. Besides, to reduce the effect of dynamic objects such as walking pedestrians often existed in indoor scenes as much as possible, we propose a new occupancy likelihood map learning strategy by increasing or decreasing the probability of each occupancy grid after each scan matching. Experimental results in several challenged indoor scenes demonstrate that our proposed approach is capable of providing high-precision SLAM results.

  11. Long-term RFID SLAM using Short-Range Sparse Tags

    Directory of Open Access Journals (Sweden)

    Jiun-Fu Chen

    2015-02-01

    Full Text Available While on the path forward to the long-term or lifelong robotics, one of the most important capabilities is to have a reliable localization and mapping module. Data association and loop detection play critical roles in the localization and mapping problem. By utilizing the radio frequency identification (RFID technology, these problems can be solved using the extended Kalman filter (EKF based simultaneous localization and mapping (SLAM with the tag information. But one of the critical barriers to the long-term SLAM is the overconfidence issue. In this paper, we focus on solving the overconfidence issue, which is introduced by the linearization errors. An Unit Circle Representation (UCR is proposed to diminish the error in the prediction stage and a Correlation Coefficient Preserved Inflation (CCPI is developed to recover the overconfidence issue in the update stage. Based on only odometry and sparse short-range RFID data, the proposed method is capable to compensate the linearization errors in both simulation and real experiments.

  12. SLAM: a fast high volume additive manufacturing concept by impact welding; application to Ti6Al4V alloy

    NARCIS (Netherlands)

    Wentzel, C.M.; Carton, E.P.; Kloosterman, A.

    2006-01-01

    Against the manufacturing requirement for both lower lead time and reduced machining time for titanium components, a new concept was conceived assembling sheet material and other stock into semi finished parts by (explosive) impact welding. It is believed that this concept (which we named SLAM) coul

  13. Winning matches in Grand Slam men's singles: an analysis of player performance-related variables from 1991 to 2008.

    Science.gov (United States)

    Ma, Shang-Min; Liu, Chao-Chin; Tan, Yue; Ma, Shang-Chun

    2013-01-01

    This study examines factors that lead to winning matches in men's singles Grand Slam tennis, and proposes guidelines for coaches and professional tennis players both in training and preparation for Grand Slam competitions. Using longitudinal data between 1991 and 2008 retrieved from the official website of the Association of Tennis Professionals, we analysed player performance over 9,144 matches in men's singles Grand Slam tournaments. To predict match outcome, 16 variables were classified into one of three categories: player skills and performance, player characteristics and match characteristics. The three categories were entered sequentially into a logistic regression model to predict the dependent variable: the chance of winning a men's singles Grand Slam match. The final altered model explains 79.4% of the variance (Nagelkerke's pseudo R (2)) in match outcomes and correctly predicted 90.6% of cases. The importance of serving, receiving, and break points is further confirmed. The positive effect of stature diminishes when players are taller than 186 cm. We recommend more training in returning skills; to avoid overestimation of the positive impact of stature, left hand and professional experience; and that a male player begins his professional tennis career by participating in the US Open or Wimbledon.

  14. The GSO Data Centre

    CERN Document Server

    Paletou, F; Génot, V; Rouillard, A; Petit, P; Palacios, A; Caux, E; Wakelam, V

    2015-01-01

    Hereafter we describe the activities of the $Grand \\, Sud-Ouest$ Data Centre operated for INSU/CNRS by the OMP-IRAP and the Universit\\'e Paul Sabatier (Toulouse), in a collaboration with the OASU-LAB (Bordeaux) and OREME-LUPM (Montpellier).

  15. Implementing Responsibility Centre Budgeting

    Science.gov (United States)

    Vonasek, Joseph

    2011-01-01

    Recently, institutes of higher education (universities) have shown a renewed interest in organisational structures and operating methodologies that generate productivity and innovation; responsibility centre budgeting (RCB) is one such process. This paper describes the underlying principles constituting RCB, its origin and structural elements, and…

  16. ATLAS Visitors Centre

    CERN Multimedia

    claudia Marcelloni

    2009-01-01

    ATLAS Visitors Centre has opened its shiny new doors to the public. Officially launched on Monday February 23rd, 2009, the permanent exhibition at Point 1 was conceived as a tour resource for ATLAS guides, and as a way to preserve the public’s opportunity to get a close-up look at the experiment in action when the cavern is sealed.

  17. Autonomous Vehicle SLAM Algorithm Based on PMCMC-RFS%基于 PMCMC-RFS 的自主车 SLAM 算法

    Institute of Scientific and Technical Information of China (English)

    苏奎峰; 常天庆; 张雷; 杨国振

    2015-01-01

    针对无人自主车同时定位与地图构建(Simultaneous Localization And Mapping,SLAM)问题,采用随机有限集(Random Finite Set,RFS)方法对环境特征和车辆的位姿进行描述,将 SLAM算法涉及到的多路标特征检测、跟踪、识别及相关等问题在一个统一的贝叶斯状态估计框架内表述,从而可以有效地解决后验估计、信息融合等算法严重依赖数据关联结果的问题。同时,为了计算复杂的联合后验分布,解决粒子滤波算法中提议分布选择困难问题,采用序贯蒙特卡罗(Sequential Monte Carlo,SMC)算法为马尔科夫链蒙特卡罗(Markov Chain Monte Carlo,MCMC)采样构建高维提议分布策略,提出了基于 PMCMC-RFS(Particle MCMC based RFS)的 SLAM问题求解方法。试验结果表明:PMCMC-RFS 算法能动态估计感知范围内的特征数量,有效地避免了数据关联问题,从而提高了状态估计性能。%Aiming at the problem of Simultaneous Localization And mapping (SLAM)for autonomous ve-hicles,the environment feature as well as vehicle position and attitude are described by using Random Fi-nite Set (RFS),which integrates the aspects such as multi-feature detection,tracking,recognition and correlation related to SLAM algorithm into a single unified Bayesian framework so that the thorny problem that the algorithm of posterior estimation and information fusion relies on the result of association greatly can be effectively solved.Meanwhile,to calculate the complex joint posterior estimation distribution and resolve the proposal distribution selection difficulties in particle filtering algorithm,SLAM resolving meth-od based on Particle Markov Chain Monte Carlo (PMCMC)is proposed using Sequential Monte Carlo (SMC)and Markov Chain Monte Carlo (MCMC).The autonomous ground vehicle experimental results shows that the proposed method can estimate in dynamic manner the feature numbers of perspective scope and

  18. 无人机SLAM避障技术研究%Research on Obstacles Avoidance for UAV SLAM Technology

    Institute of Scientific and Technical Information of China (English)

    周源; 王希彬

    2015-01-01

    针对无人机没有考虑障碍规避而导致无人机的同时定位与地图构建(simultaneous localization and mapping, SLAM)任务无法完成的问题,提出一种改进的人工势场法。通过建立一个包含无人机到目标点的距离、无人机到障碍物的距离及障碍物方差的势场函数,制定避障策略,从而解决无人机 SLAM的障碍规避问题,并在构建的无人机运动模型基础上,对提出的算法进行仿真验证。仿真结果表明:该算法在完成 SLAM任务的同时,能够有效地避开障碍物的威胁。%When UAV is implementing the simultaneous localization and mapping (SLAM) problem, the environments UAV is flying exist obstacles to be avoided, which threatens the completeness of SLAM mission. To conquer this problem, an improved artificial potential field algorithm is proposed to simultaneously accomplish obstacle avoidance of UAV and SLAM mission by building a potential field function containing the distance from UAV to the goal and from UAV to the obstacles and the covariance of features and constituting avoidance strategy. This algorithm is simulated and tested based on the built UAV plane motion model. The result shows that the proposed algorithm is effective to avoid the obstacles while implementing SLAM for UAV.

  19. Multi-robot active SLAM under limited communication range%通讯范围受限条件下的多机器人主动SLAM

    Institute of Scientific and Technical Information of China (English)

    吴晓琳; 宋萌; 苑晶; 孙凤池; 陶通

    2012-01-01

    针对机器人通讯范围受限的问题,提出一种新的多机器人协作同时定位与建图(simultaneous localization and mapping,SLAM)方法.多个机器人采用基于最优控制的主动探索策略,创建自身周围区域的子地图,在每个建图周期内使用扩展的卡尔曼滤波器(extended Kalman filter,EKF)估计和维护子地图状态,并在一个周期结束后联络其通讯范围内的其他机器人,进行子地图的传递与融合.同时,为避免由通讯范围受限带来的地图过度融合问题,每个机器人保存每个建图周期内的局部子地图,待与其他机器人相遇时只传递并融合子地图的增量部分.仿真实验验证了该方法的有效性.%For the problem of communication constraint between robots caused by limited communication range, a new approach for cooperative multi-robot simultaneous localization and mapping (SLAM) is proposed. The robots adopt an active exploration strategy based on optimal control to build submaps around themselves, and use the extended Kalman filter(EKF) to estimate and maintain the states of submaps during every map-building cycle, and connect with other robots at the end of every cycle, sending and fusing submaps. At the same time, in order to avoid the over-fusion problem, which is introduced by limited communication range, it is suggested to save the submaps of every map-buildig cycle, sending and fusing the incremental parts when the robots meet each other. Simulation results validate the effectiveness of the presented approach.

  20. Using SLAM to Look For the Dog Valley Fault, Truckee Area, California

    Science.gov (United States)

    Cronin, V. S.; Ashburn, J. A.; Sverdrup, K. A.

    2014-12-01

    The Truckee earthquake (9/12/1966, ML6.0) was a left-lateral event on a previously unrecognized NW-trending fault. The Prosser Creek and Boca Dams sustained damage, and the trace of the suspected causative fault passes near or through the site of the then-incomplete Stampede Dam. Another M6 earthquake occurred along the same general trend in 1948 with an epicenter in Dog Valley ~14 km to the NW of the 1966 epicenter. This trend is called the Dog Valley Fault (DVF), and its location on the ground surface is suggested by a prominent but broad zone of geomorphic lineaments near the cloud of aftershock epicenters determined for the 1966 event. Various ground effects of the 1966 event described by Kachadoorian et al. (1967) were located within this broad zone. The upper shoreface of reservoirs in the Truckee-Prosser-Martis basin are now exposed due to persistent drought. We have examined fault strands in a roadcut and exposed upper shoreface adjacent to the NE abutment of Stampede Dam. These are interpreted to be small-displacement splays associated with the DVF -- perhaps elements of the DVF damage zone. We have used the Seismo-Lineament Analysis Method (SLAM) to help us constrain the location of the DVF, based on earthquake focal mechanisms. Seismo-lineaments were computed, using recent revisions in the SLAM code (bearspace.baylor.edu/Vince_Cronin/www/SLAM/), for the 1966 main earthquake and for the better-recorded earthquakes of 7/3/1983 (M4) and 8/30/1992 (M3.2) that are inferred to have occurred along the DVF. Associated geomorphic analysis and some field reconnaissance identified a trend that might be associated with a fault, extending from the NW end of Prosser Creek Reservoir ~32° toward the Stampede Dam area. Triangle-strain analysis using horizontal velocities of local Plate Boundary Observatory GPS sites P146, P149, P150 and SLID indicates that the area rotates clockwise ~1-2°/Myr relative to the stable craton, as might be expected because the study area is

  1. Elderly Care Centre

    Science.gov (United States)

    Wagiman, Aliani; Haja Bava Mohidin, Hazrina; Ismail, Alice Sabrina

    2016-02-01

    The demand for elderly centre has increased tremendously abreast with the world demographic change as the number of senior citizens rose in the 21st century. This has become one of the most crucial problems of today's era. As the world progress into modernity, more and more people are occupied with daily work causing the senior citizens to lose the care that they actually need. This paper seeks to elucidate the best possible design of an elderly care centre with new approach in order to provide the best service for them by analysing their needs and suitable activities that could elevate their quality of life. All these findings will then be incorporated into design solutions so as to enhance the living environment for the elderly especially in Malaysian context.

  2. Distinct and synergistic roles of FcγRIIB deficiency and 129 strain-derived SLAM family proteins in the development of spontaneous germinal centers and autoimmunity.

    Science.gov (United States)

    Soni, Chetna; Domeier, Phillip P; Wong, Eric B; Shwetank; Khan, Tahsin N; Elias, Melinda J; Schell, Stephanie L; Lukacher, Aron E; Cooper, Timothy K; Rahman, Ziaur S M

    2015-09-01

    The inhibitory IgG Fc receptor (FcγRIIB) deficiency and 129 strain-derived signaling lymphocyte activation molecules (129-SLAMs) are proposed to contribute to the lupus phenotype in FcγRIIB-deficient mice generated using 129 ES cells and backcrossed to C57BL/6 mice (B6.129.RIIBKO). In this study, we examine the individual contributions and the cellular mechanisms by which FcγRIIB deficiency and 129-derived SLAM family genes promote dysregulated spontaneous germinal center (Spt-GC) B cell and follicular helper T cell (Tfh) responses in B6.129.RIIBKO mice. We find that B6 mice congenic for the 129-derived SLAM locus (B6.129-SLAM) and B6 mice deficient in FcγRIIB (B6.RIIBKO) have increased Spt-GC B cell responses compared to B6 controls but significantly lower than B6.129.RIIBKO mice. These data indicate that both FcγRIIB deficiency and 129-SLAMs contribute to elevated Spt-GC B cell responses in B6.129.RIIBKO mice. However, only 129-SLAMs contribute significantly to augmented Tfh responses in B6.129.RIIBKO mice, and do so by a combination of T cell-dependent effects and enhanced B cell and DC-dependent antigen presentation to T cells. Elevated Spt-GC B cell responses in mice with FcγRIIB deficiency and polymorphic 129-SLAMs were associated with elevated metabolic activity, improved GC B cell survival and increased differentiation of naïve B cells into GC B cell phenotype. Our data suggest that the interplay between 129-SLAM expression on B cells, T cells and DCs is central to the alteration of the GC tolerance checkpoint, and that deficiency of FcγRIIB on B cells is necessary to augment Spt-GC responses, pathogenic autoantibodies, and lupus disease.

  3. Identifying nonlinear wave interactions in plasmas using two-point measurements a case study of Short Large Amplitude Magnetic Structures (SLAMS)

    CERN Document Server

    Dudok de Wit, T; Dunlop, M; Luehr, H

    1999-01-01

    A framework is described for estimating Linear growth rates and spectral energy transfers in turbulent wave-fields using two-point measurements. This approach, which is based on Volterra series, is applied to dual satellite data gathered in the vicinity of the Earth's bow shock, where Short Large Amplitude Magnetic Structures (SLAMS) supposedly play a leading role. The analysis attests the dynamic evolution of the SLAMS and reveals an energy cascade toward high-frequency waves.

  4. 基于路标观测的改进EKF-SLAM算法%Improved EKF-SLAM Algorithm Basedon Landmark Observation

    Institute of Scientific and Technical Information of China (English)

    曹军; 曾碧; 何元烈

    2014-01-01

    针对传统的基于扩展卡尔曼滤波的SLAM算法对环境干扰修复速度较慢的缺陷,提出一种EKF-SLAM的改进方法。通过比较 EKF-SLAM 算法的预测和观测两个过程所得数据,判断是否存在较大的环境干扰。若环境干扰较大,则加大先验估计误差协方差的调整,使状态在经过校正后更快速地接近真实值,提高算法的实时性和抗干扰性。最后使用Matlab对改进EKF-SLAM进行仿真实验,结果表明改进EKF-SLAM算法的有效性和估计精度都比传统EKF-SLAM高。%The traditional SLAM algorithm based on extended kalmanfilter has a problem with low speed of repairing environmentaldisturbance. To solve the problem, this paper proposes an improved method of EKF-SLAM. The simulation of the improved EKF-SLAM algorithm with using Matlab isconducted. The result shows that effectiveness andprecision of the improved EKF-SLAM algorithm is higher than the traditional EKF-SLAM.

  5. Tele-centres in Ghana

    DEFF Research Database (Denmark)

    Falch, Morten

    2004-01-01

    Tele-centres offer a low cost opportunity for the many who cannot afford their own phone or Internet connection. This paper presents a field study of tele-centres in Ghana and analyses how they contribute to universal access.......Tele-centres offer a low cost opportunity for the many who cannot afford their own phone or Internet connection. This paper presents a field study of tele-centres in Ghana and analyses how they contribute to universal access....

  6. Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

    Science.gov (United States)

    Park, Byeolteo; Myung, Hyun

    2014-12-01

    With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments.

  7. a Fast and Flexible Method for Meta-Map Building for Icp Based Slam

    Science.gov (United States)

    Kurian, A.; Morin, K. W.

    2016-06-01

    Recent developments in LiDAR sensors make mobile mapping fast and cost effective. These sensors generate a large amount of data which in turn improves the coverage and details of the map. Due to the limited range of the sensor, one has to collect a series of scans to build the entire map of the environment. If we have good GNSS coverage, building a map is a well addressed problem. But in an indoor environment, we have limited GNSS reception and an inertial solution, if available, can quickly diverge. In such situations, simultaneous localization and mapping (SLAM) is used to generate a navigation solution and map concurrently. SLAM using point clouds possesses a number of computational challenges even with modern hardware due to the shear amount of data. In this paper, we propose two strategies for minimizing the cost of computation and storage when a 3D point cloud is used for navigation and real-time map building. We have used the 3D point cloud generated by Leica Geosystems's Pegasus Backpack which is equipped with Velodyne VLP-16 LiDARs scanners. To improve the speed of the conventional iterative closest point (ICP) algorithm, we propose a point cloud sub-sampling strategy which does not throw away any key features and yet significantly reduces the number of points that needs to be processed and stored. In order to speed up the correspondence finding step, a dual kd-tree and circular buffer architecture is proposed. We have shown that the proposed method can run in real time and has excellent navigation accuracy characteristics.

  8. The particle filter algorithm of SLAM%粒子滤波的SLAM算法

    Institute of Scientific and Technical Information of China (English)

    唐羽; 马小平

    2011-01-01

    In this paper,the mobile robot and simultaneous localization and mapping problem is discussed first in this paper,then discussed the mobile robot in indoor unknown environment of SLAM problem, based on the analysis of the particle filter algorithm, Put forward the particle filter of mobile robot synchronous simultaneous localization and mapping (SLAM) method, And gives the corresponding matlab of particle filter.The particle filter is a kind of more mature filtering technology in foreign countries, and is currently also has a lot of colleges are studying in the home.This paper introduces the principle of the particle filter and research progress of the particle filter, Looking to the future development of particle filter.%本文首先对移动机器人的同时定位与地图创建问题进行了阐述,继而讨论了移动机器人在室内未知环境下的SLAM问题,在分析粒子滤波算法的基础上,提出了以下方法:基于粒子滤波的移动机器人同时定位与地图创建方法,并给出了粒子滤波的相应的matlab实现。粒子滤波在国外已经是一种较成熟的滤波技术,目前在国内也有很多高校正在研究,本文对粒子滤波的原理和研究进展进行了详细的介绍同时对粒子滤波的未来发展进行了展望。

  9. Slam Dunk

    Science.gov (United States)

    Herek, Matthew

    2011-01-01

    There's nothing like a worldwide financial meltdown to kick-start an alumni association's career networking offerings. In 2009, the Northwestern University alumni board provided clear direction to its regional affiliates and to the full-time staff working at the Evanston, Illinois, campus: Develop ways to purposefully connect alumni with each…

  10. CS1, a SLAM family receptor involved in immune regulation, is a therapeutic target in multiple myeloma.

    Science.gov (United States)

    Veillette, André; Guo, Huaijian

    2013-10-01

    Signaling lymphocytic activation molecule (SLAM) family receptors have been implicated in normal immunity, immunodeficiencies and autoimmunity. CS1 (also known as CRACC, CD319 and SLAMF7) is a member of the SLAM family expressed on several normal hematopoietic cell types. It is also highly and nearly universally expressed on multiple myeloma (MM) cells. This review focuses on the biology of CS1, both in normal hematopoietic cells and in MM cells. It also discusses the preclinical and clinical data on the use of a humanized anti-CS1 monoclonal antibody, elotuzumab, for the treatment of MM. Based on current knowledge, CS1 is a compelling new target for the treatment of MM.

  11. Localización y mapeo simultáneo (SLAM) utilizando un sensor de profundidad por infrarrojo

    OpenAIRE

    2015-01-01

    El propósito de este proyecto es diseñar y desarrollar un robot que implemente una solución al problema de SLAM (Simultaneous Localization And Mapping), utilizando una cámara y un sensor de profundidad por infrarrojo (Kinect). Para este fin se dividió el proyecto en tres etapas: a) robot: estructura con notebook y Kinect; b) software de procesamiento de imágenes; c) Mapeo y localización.

  12. SLAM algorithm based on random finite set%基于随机有限集的SLAM算法

    Institute of Scientific and Technical Information of China (English)

    杜航原; 赵玉新; 杨永鹏; 韩庆楠

    2012-01-01

    提出一种基于随机有限集的同步定位与地图创建算法,该算法利用随机有限集对环境地图和传感器观测信息建模,建立联合目标状态变量的随机有限集.依据Bayesian估计框架,利用概率假设密度滤波的粒子滤波实现对机器人位姿和环境地图进行同时估计.新算法避免了数据关联过程,并能更加自然有效地表达同步定位与地图创建(simultaneous localization and mapping,SLAM)问题中多特征-多观测特性及多种传感器信息.在仿真实验中,利用FastSLAM2.0算法和新算法进行对比,实验结果验证了新算法的优越性.%A novel simultaneous localization and mapping (SLAM) algorithm based on the random finite set (RFS) theory is proposed,it models environmental map and sensor observations with RFS,and establishes the RFS of joint target state variable.The algorithm framework is Based on Bayesian estimator,uses a probability hypothesis density filter which is realized by particle filter to estimate robot's poses and environmental map simultaneously.The new algorithm avoids the data association and describes the multifeature-multiobserve characteristics more accurately and naturally as well as multiple sensor information.Simulations are presented to compare the performance of the new algorithm with that of the FastSLAM 2.0,the simulation results verify the superiority of the new algorithm.

  13. Solution to the SLAM problem in low dynamic environments using a pose graph and an RGB-D sensor.

    Science.gov (United States)

    Lee, Donghwa; Myung, Hyun

    2014-07-11

    In this study, we propose a solution to the simultaneous localization and mapping (SLAM) problem in low dynamic environments by using a pose graph and an RGB-D (red-green-blue depth) sensor. The low dynamic environments refer to situations in which the positions of objects change over long intervals. Therefore, in the low dynamic environments, robots have difficulty recognizing the repositioning of objects unlike in highly dynamic environments in which relatively fast-moving objects can be detected using a variety of moving object detection algorithms. The changes in the environments then cause groups of false loop closing when the same moved objects are observed for a while, which means that conventional SLAM algorithms produce incorrect results. To address this problem, we propose a novel SLAM method that handles low dynamic environments. The proposed method uses a pose graph structure and an RGB-D sensor. First, to prune the falsely grouped constraints efficiently, nodes of the graph, that represent robot poses, are grouped according to the grouping rules with noise covariances. Next, false constraints of the pose graph are pruned according to an error metric based on the grouped nodes. The pose graph structure is reoptimized after eliminating the false information, and the corrected localization and mapping results are obtained. The performance of the method was validated in real experiments using a mobile robot system.

  14. GPS-supported visual SLAM with a rigorous sensor model for a panoramic camera in outdoor environments.

    Science.gov (United States)

    Shi, Yun; Ji, Shunping; Shi, Zhongchao; Duan, Yulin; Shibasaki, Ryosuke

    2012-12-21

    Accurate localization of moving sensors is essential for many fields, such as robot navigation and urban mapping. In this paper, we present a framework for GPS-supported visual Simultaneous Localization and Mapping with Bundle Adjustment (BA-SLAM) using a rigorous sensor model in a panoramic camera. The rigorous model does not cause system errors, thus representing an improvement over the widely used ideal sensor model. The proposed SLAM does not require additional restrictions, such as loop closing, or additional sensors, such as expensive inertial measurement units. In this paper, the problems of the ideal sensor model for a panoramic camera are analysed, and a rigorous sensor model is established. GPS data are then introduced for global optimization and georeferencing. Using the rigorous sensor model with the geometric observation equations of BA, a GPS-supported BA-SLAM approach that combines ray observations and GPS observations is then established. Finally, our method is applied to a set of vehicle-borne panoramic images captured from a campus environment, and several ground control points (GCP) are used to check the localization accuracy. The results demonstrated that our method can reach an accuracy of several centimetres.

  15. Solution to the SLAM Problem in Low Dynamic Environments Using a Pose Graph and an RGB-D Sensor

    Directory of Open Access Journals (Sweden)

    Donghwa Lee

    2014-07-01

    Full Text Available In this study, we propose a solution to the simultaneous localization and mapping (SLAM problem in low dynamic environments by using a pose graph and an RGB-D (red-green-blue depth sensor. The low dynamic environments refer to situations in which the positions of objects change over long intervals. Therefore, in the low dynamic environments, robots have difficulty recognizing the repositioning of objects unlike in highly dynamic environments in which relatively fast-moving objects can be detected using a variety of moving object detection algorithms. The changes in the environments then cause groups of false loop closing when the same moved objects are observed for a while, which means that conventional SLAM algorithms produce incorrect results. To address this problem, we propose a novel SLAM method that handles low dynamic environments. The proposed method uses a pose graph structure and an RGB-D sensor. First, to prune the falsely grouped constraints efficiently, nodes of the graph, that represent robot poses, are grouped according to the grouping rules with noise covariances. Next, false constraints of the pose graph are pruned according to an error metric based on the grouped nodes. The pose graph structure is reoptimized after eliminating the false information, and the corrected localization and mapping results are obtained. The performance of the method was validated in real experiments using a mobile robot system.

  16. 移动机器人SLAM的系统建模研究%Mobile robot SLAM System Modeling

    Institute of Scientific and Technical Information of China (English)

    郑丽楠

    2013-01-01

    Mobile robot simultaneous localization and mapping (SLAM) implementation process, requiring design-re-lated system model, the article describes the process of two-dimensional space SLAM system model, including the model coordinate system, the environment map model, robot position model, the robot motion model , and environmental char-acteristics of the sensor observation model augmented model for the implementation of SLAM process to provide reference.%移动机器人同时定位与地图构建(SLAM)实现的过程,需要设计相关的系统模型,文章描述了二维空间SLAM过程的系统模型,其中包括坐标系统模型、环境地图模型、机器人位置模型、机器人运动模型、传感器观测模型以及环境特征的增广模型,为SLAM过程的实现提供借鉴。

  17. GPS-Supported Visual SLAM with a Rigorous Sensor Model for a Panoramic Camera in Outdoor Environments

    Directory of Open Access Journals (Sweden)

    Ryosuke Shibasaki

    2012-12-01

    Full Text Available Accurate localization of moving sensors is essential for many fields, such as robot navigation and urban mapping. In this paper, we present a framework for GPS-supported visual Simultaneous Localization and Mapping with Bundle Adjustment (BA-SLAM using a rigorous sensor model in a panoramic camera. The rigorous model does not cause system errors, thus representing an improvement over the widely used ideal sensor model. The proposed SLAM does not require additional restrictions, such as loop closing, or additional sensors, such as expensive inertial measurement units. In this paper, the problems of the ideal sensor model for a panoramic camera are analysed, and a rigorous sensor model is established. GPS data are then introduced for global optimization and georeferencing. Using the rigorous sensor model with the geometric observation equations of BA, a GPS-supported BA-SLAM approach that combines ray observations and GPS observations is then established. Finally, our method is applied to a set of vehicle-borne panoramic images captured from a campus environment, and several ground control points (GCP are used to check the localization accuracy. The results demonstrated that our method can reach an accuracy of several centimetres.

  18. CEH∞F based SLAM algorithm for mobile robots%基于CEH∞F的移动机器人SLAM算法研究

    Institute of Scientific and Technical Information of China (English)

    朱奇光; 袁梅; 陈卫东; 陈颖

    2015-01-01

    针对移动机器人同时定位与地图创建(SLAM)面对噪声干扰时估计精度低、鲁棒性差的缺点,提出一种基于容积扩展Hβ滤波(CEH∞ F)的SLAM算法.首先,通过线性误差传播特性将容积变换嵌入到扩展H∞滤波框架中,利用得到的CEH∞ F计算SLAM条件转移概率密度,避免雅克比矩阵的计算和线性化误差积累的同时增强了算法的鲁棒性;另外,在每次迭代中更新调节因子y,将噪声干扰到估计误差最大能量增益控制在较小范围内,进一步增强算法鲁棒性.实验部分将所提算法与扩展卡尔曼滤波SLAM(EKF-SLAM)、无迹卡尔曼滤波SLAM(UKF-SLAM)、容积卡尔曼滤波SLAM(CKF-SLAM)在不同噪声环境下进行了对比.结果表明,CEH∞F-SLAM算法具有良好的稳定性与精度,是一种有效的SLAM算法.

  19. A cancer help centre.

    Science.gov (United States)

    Daniel, R

    1996-06-01

    The diagnosis of cancer can be shattering to all involved. The treatment of cancer is intense and often very challenging. Prevailing attitudes to cancer are sometimes fearful, negative and depressing. This combination may leave those affected by cancer shocked, disorientated and without hope. Even worse than this, on asking consultants 'What can I do to help myself?' patients are frequently told 'Absolutely nothing'--crushing in one fell swoop their remaining fighting spirit. Not so in the case of Penny Brohn, who, when faced with the diagnosis of breast cancer, travelled the world to find alternative cancer treatments, and having successfully brought her own cancer under control, dedicated her life to creating a Centre for others wishing to fight their disease.

  20. Stavanger Squash Centre, Norway

    Energy Technology Data Exchange (ETDEWEB)

    Rostvik, H. [Sunlab/ABB, Stavanger (Norway)

    1999-07-01

    Although Stavanger is the technological and financial oil-capital of Norway, the Stavanger Squash Centre was until recently the largest solar building in Norway, with 120 m{sup 2} of collectors. The active, building-integrated, solar air collector in the 45 {sup o} roof facing 15 {sup o} east of due south, has now been delivering solar-heated hot water for the showers for 15 years. The solar system consists of several standard products put together in a new way. Monitoring has shown that the system produced 18,000 kWh/m{sup 2} a (150 kWh/m{sub coll} {sup 2}a). If operated as planned, it could have had a solar contribution of 45,000 kWh/a) (375 kWh/m{sub coll} {sup 2}a), resulting in a 19% solar fraction of total demand. (author)

  1. Kitap Tanıtımı: İslam'a Göre Hıristiyanlık, Erken Dönem İslam Kaynaklarında Hıristiyanlık Üzerine Değerlendirmeler.

    OpenAIRE

    2009-01-01

    İslam'a Göre Hıristiyanlık, Erken Dönem İslam Kaynaklarında Hıristiyanlık Üzerine Değerlendirmeler. Dr. İbrahim KAPLAN IQ Kültür Sanat Yayıncılık, İstanbul- 2008, 304 sayfa. ISBN: 978-975-255-189-3

  2. Call Centre- Computer Telephone Integration

    Directory of Open Access Journals (Sweden)

    Dražen Kovačević

    2012-10-01

    Full Text Available Call centre largely came into being as a result of consumerneeds converging with enabling technology- and by the companiesrecognising the revenue opportunities generated by meetingthose needs thereby increasing customer satisfaction. Regardlessof the specific application or activity of a Call centre, customersatisfaction with the interaction is critical to the revenuegenerated or protected by the Call centre. Physical(v, Call centreset up is a place that includes computer, telephone and supervisorstation. Call centre can be available 24 hours a day - whenthe customer wants to make a purchase, needs information, orsimply wishes to register a complaint.

  3. Measles virus glycoprotein-pseudotyped lentiviral vector-mediated gene transfer into quiescent lymphocytes requires binding to both SLAM and CD46 entry receptors.

    Science.gov (United States)

    Frecha, Cecilia; Lévy, Camille; Costa, Caroline; Nègre, Didier; Amirache, Fouzia; Buckland, Robin; Russell, Steven J; Cosset, François-Loïc; Verhoeyen, Els

    2011-06-01

    Gene transfer into quiescent T and B cells is of importance for gene therapy and immunotherapy approaches to correct hematopoietic disorders. Previously, we generated lentiviral vectors (LVs) pseudotyped with the Edmonston measles virus (MV) hemagglutinin and fusion glycoproteins (Hgps and Fgps) (H/F-LVs), which, for the first time, allowed efficient transduction of quiescent human B and T cells. These target cells express both MV entry receptors used by the vaccinal Edmonston strain, CD46 and signaling lymphocyte activation molecule (SLAM). Interestingly, LVs pseudotyped with an MV Hgp, blind for the CD46 binding site, were completely inefficient for resting-lymphocyte transduction. Similarly, SLAM-blind H mutants that recognize only CD46 as the entry receptor did not allow stable LV transduction of resting T cells. The CD46-tropic LVs accomplished vector-cell binding, fusion, entry, and reverse transcription at levels similar to those achieved by the H/F-LVs, but efficient proviral integration did not occur. Our results indicate that both CD46 and SLAM binding sites need to be present in cis in the Hgp to allow successful stable transduction of quiescent lymphocytes. Moreover, the entry mechanism utilized appears to be crucial: efficient transduction was observed only when CD46 and SLAM were correctly engaged and an entry mechanism that strongly resembles macropinocytosis was triggered. Taken together, our results suggest that although vector entry can occur through the CD46 receptor, SLAM binding and subsequent signaling are also required for efficient LV transduction of quiescent lymphocytes to occur.

  4. An AUV-SLAM algorithm with multi-sensor update%一种多传感器更新的AUV—SLAM算法

    Institute of Scientific and Technical Information of China (English)

    李超; 徐东勋; 袁昌斌

    2012-01-01

    Aiming at the limitations of the information provided by single sensor which is easily affected by surroundings and its characteristics restrict in SLAM (Simultaneous Localization and Mapping), multi-sensor update SLAM algorithm based on only sonar update SLAM is proposed, which can improve the accuracy of SLAM for AUV (Autonomous Underwater Vehicle). Finally, experimental results indicate that the multi-sensor update SLAM algorithm is valid.%针对同步定位与地图、构建SLAM(Simultaneous Localization and Mapping)算法中,单个传感器提供的信息受到传感器本身特性和周围环境制约的局限性,提出了在仅声纳更新的SLAM算法同时,引入航向和速度的多传感器更新,使得自主式水下机器人AUV(Autonomous Underwater Vehicle)的定位和构图更精确。通过对实验结果的分析验证了多传感器更新的SLAM算法的有效性。

  5. Slam haplotype 2 promotes NKT but suppresses Vγ4+ T-cell activation in coxsackievirus B3 infection leading to increased liver damage but reduced myocarditis.

    Science.gov (United States)

    Huber, Sally Ann; Roberts, Brian; Moussawi, Mohamad; Boyson, Jonathan E

    2013-02-01

    There are two major haplotypes of signal lymphocytic activation molecule (Slam) in inbred mouse strains, with the Slam haplotype 1 expressed in C57Bl/6 mice and the Slam haplotype 2 expressed in most other commonly used inbred strains, including 129 mice. Because signaling through Slam family receptors can affect innate immunity [natural killer T cell (NKT) and γ-δ T-cell receptor], and innate immunity can determine susceptibility to coxsackievirus B3 (CVB3) infection, the present study evaluated the response of C57Bl/6 and congenic B6.129c1 mice (expressing the 129-derived Slam locus) to CVB3. CVB3-infected C57Bl/6 male mice developed increased myocarditis but reduced hepatic injury compared with infected B6.129c1 mice. C57Bl/6 mice also had increased γδ(+) and CD8(+)interferon-γ(+) cells but decreased numbers of NKT (T-cell receptor β chain + mCD1d tetramer(+)) and CD4(+)FoxP3(+) cells compared with B6.129c1 mice. C57Bl/6 mice were infected with CVB3 and treated with either α-galactosylceramide, an NKT cell-specific ligand, or vehicle (dimethyl sulfoxide/PBS). Mice treated with α-galactosylceramide showed significantly reduced myocarditis. Liver injuries, as determined by alanine aminotransferase levels in plasma, were increased significantly, confirming that NKT cells are protective for myocarditis but pathogenic in the liver.

  6. ICOS, SLAM and PD-1 expression and regulation on T lymphocytes reflect the immune dysregulation in patients with HIV-related illness with pulmonary tuberculosis

    Directory of Open Access Journals (Sweden)

    Horacio Salomón

    2012-06-01

    Full Text Available Background: Tuberculosis (TB continues to be the most frequent cause of illness and death from an infectious agent globally, and its interaction with HIV is having devastating effects. To investigate how HIV alters the immune response to Mycobacterium tuberculosis (Mtb, we assessed basal and Mtb-induced proliferation, cytokine production, and expression of signalling lymphocytic activation molecule (SLAM, inducible costimulator (ICOS and programmed death-1 (PD-1 on T lymphocytes from HIV-positive individuals coinfected with TB, HIV-positive subjects, TB patients and healthy donors (HD. Findings: HIV-TB patients showed increased ICOS, SLAM and PD-1 basal levels on T lymphocytes, whereas HIV-positive individuals displayed elevated levels of SLAM and PD-1, TB patients high levels of SLAM, and HD low levels of the three proteins. Mtb-stimulation enhanced ICOS expression in the four groups, but only TB and HD increased SLAM and PD-1 levels. Conclusions: These data show the immune deregulation that takes place during the immune response against TB in different study populations.

  7. ICOS, SLAM and PD-1 expression and regulation on T lymphocytes reflect the immune dysregulation in patients with HIV-related illness with pulmonary tuberculosis

    Science.gov (United States)

    Jurado, Javier Oscar; Pasquinelli, Virginia; Alvarez, Ivana Belén; Martínez, Gustavo Javier; Laufer, Natalia; Sued, Omar; Cahn, Pedro; Musella, Rosa María; Abbate, Eduardo; Salomón, Horacio; Quiroga, María Florencia

    2012-01-01

    Background Tuberculosis (TB) continues to be the most frequent cause of illness and death from an infectious agent globally, and its interaction with HIV is having devastating effects. To investigate how HIV alters the immune response to Mycobacterium tuberculosis (Mtb), we assessed basal and Mtb-induced proliferation, cytokine production, and expression of signalling lymphocytic activation molecule (SLAM), inducible costimulator (ICOS) and programmed death-1 (PD-1) on T lymphocytes from HIV-positive individuals coinfected with TB, HIV-positive subjects, TB patients and healthy donors (HD). Findings HIV-TB patients showed increased ICOS, SLAM and PD-1 basal levels on T lymphocytes, whereas HIV-positive individuals displayed elevated levels of SLAM and PD-1, TB patients high levels of SLAM, and HD low levels of the three proteins. Mtb-stimulation enhanced ICOS expression in the four groups, but only TB and HD increased SLAM and PD-1 levels. Conclusions These data show the immune deregulation that takes place during the immune response against TB in different study populations. PMID:22713261

  8. Council celebrates CERN Control Centre

    CERN Multimedia

    2006-01-01

    With the unveiling of its new sign, the CERN Control Centre was officially inaugurated on Thursday 16 March. To celebrate its startup, CERN Council members visited the sleek centre, a futuristic-looking room filled with a multitude of monitoring screens.

  9. Mice lacking the SLAM family member CD84 display unaltered platelet function in hemostasis and thrombosis.

    Directory of Open Access Journals (Sweden)

    Sebastian Hofmann

    Full Text Available BACKGROUND: Platelets are anuclear cell fragments derived from bone marrow megakaryocytes that safeguard vascular integrity by forming thrombi at sites of vascular injury. Although the early events of thrombus formation--platelet adhesion and aggregation--have been intensively studied, less is known about the mechanisms and receptors that stabilize platelet-platelet interactions once a thrombus has formed. One receptor that has been implicated in this process is the signaling lymphocyte activation molecule (SLAM family member CD84, which can undergo homophilic interactions and becomes phosphorylated upon platelet aggregation. OBJECTIVE: The role of CD84 in platelet physiology and thrombus formation was investigated in CD84-deficient mice. METHODS AND RESULTS: We generated CD84-deficient mice and analyzed their platelets in vitro and in vivo. Cd84(-/- platelets exhibited normal activation and aggregation responses to classical platelet agonists. Furthermore, CD84 deficiency did not affect integrin-mediated clot retraction and spreading of activated platelets on fibrinogen. Notably, also the formation of stable three-dimensional thrombi on collagen-coated surfaces under flow ex vivo was unaltered in the blood of Cd84(-/- mice. In vivo, Cd84(-/- mice exhibited unaltered hemostatic function and arterial thrombus formation. CONCLUSION: These results show that CD84 is dispensable for thrombus formation and stabilization, indicating that its deficiency may be functionally compensated by other receptors or that it may be important for platelet functions different from platelet-platelet interactions.

  10. Matchplay characteristics of Grand Slam tennis: implications for training and conditioning.

    Science.gov (United States)

    Reid, Machar; Morgan, Stuart; Whiteside, David

    2016-10-01

    The purpose of this study was to probe the sex-based differences in the stroke and movement dynamics of Grand Slam hard-court tennis. Player and ball tracking data were collated for 102 male and 95 female players during the 2012-2014 Australian Open tournaments. Serve, serve return, groundstroke and movement data were compared between sexes. Serve statistics were the subject of the largest differences, with males achieving significantly faster speeds, aces and unreturned serves while also winning a greater percentage of service points. When returning serve, women contacted the ball closer to the net, lower to the ground and achieved flatter ball trajectories than males. Groundstroke frequencies were similar between sexes, although males hit with greater speed, flatter trajectories and impacted more shots inside the baseline. Distance covered per set or during points won or lost was not sex dependent, yet men exhibited faster average movement speeds. These findings highlight the need for sex-specific training and practice designs that cater to the different stroke dynamics, particularly in relation to the first serve and serve-return, as well as movement speeds.

  11. SLAM High Resolution Numerical Simulations of the SZ Signatures of Cluster Mergers

    Science.gov (United States)

    Sarazin, Craig L.; Chatzikos, M.; O'Shea, B. W.

    2012-05-01

    I present the results of high resolution simulations of the effects of cluster mergers on SZ observations. Most of the simulations are from the SLAM (Simulation Library of Astrophysical galaxy cluster Mergers) library of 156 binary cluster mergers. These simulations include cluster masses ranging from 1e13 to 2e15 Msun, and mass ratios for the mergers of 1:1 to 10:1. They include four values of the dimensionless angular momentum of the merger (lambda = 0.0, 0.025, 0.05, and 0.075), ranging from head-on mergers to high impact parameter collisions. Many of the SZ features correspond to shocks and/or adiabatic compression events. The effect of these transient SZ features on the use of clusters to measure cosmological parameters in surveys is assessed. Support for this work was provided by Chandra grants TM7-8010X, GO9-0135X, GO9-0148X, GO1-12159A, and GO1-12169X, through NASA Suzaku grants NNX09AH25G and NNX09AH74G, through NASA ADAP grant NNX11AD15G, through NASA ATFP grant #08-ATFP08-0028, through NSF AST grant #0908819, and Michigan State University’s Institute for Cyber-Enabled Research. Computer time was provided by NSF TeraGrid grants TG-AST080001N and TG-AST090040.

  12. A Precise and Real-time Loop-closure Detection for SLAM Using the RSOM Tree

    Directory of Open Access Journals (Sweden)

    Siyang Song

    2015-06-01

    Full Text Available In robotic applications of visual simultaneous localization and mapping (SLAM techniques, loop-closure detection detects whether or not a current location has previously been visited. We present an online and incremental approach to detect loops when images come from an already visited scene and learn new information from the environment. Instead of utilizing a bag-of-words model, the attributed graph model is applied to represent images and measure the similarity between pairs of images in our method. In order to position a camera in visual environments in real-time, the method demands retrieval of images from the database through a clustering tree that we call RSOM (recursive self-organizing feature map. As long as the match is found between the current graph and several graphs in the database, a threshold will be chosen to judge whether loop-closure is accepted or rejected. The results demonstrate the method’s accuracy and real-time performance by testing several videos collected from a digital camera fixed on vehicles in indoor and outdoor environments.

  13. Rao-Blackwellised粒子滤波SLAM的一致性研究%Consistency of Simultaneous Localization and Map Building (SLAM)with Rao-Blackwellised Particle Filter

    Institute of Scientific and Technical Information of China (English)

    郭剑辉; 赵春霞; 陆建峰; 康亮

    2008-01-01

    Rao-Blackwellised粒子滤波SLAM (RBPF SLAM)算法的复杂度与特征个数呈线性关系,对于大规模SLAM有明显的计算优势,但是该算法不能长时间满足一致性要求,必须进行改进.采用归一化估计方差NEES对算法的一致性进行了分析,得出粒子耗尽是造成算法不一致的原因,并分别采用辅助粒子滤波及正则粒子滤波对算法进行改进,以得到一致的RBPF SLAM.最后,通过大量的Monte-Carlo仿真实验,验证了方法的有效性.

  14. CMCC Data Distribution Centre

    Science.gov (United States)

    Aloisio, Giovanni; Fiore, Sandro; Negro, A.

    2010-05-01

    The CMCC Data Distribution Centre (DDC) is the primary entry point (web gateway) to the CMCC. It is a Data Grid Portal providing a ubiquitous and pervasive way to ease data publishing, climate metadata search, datasets discovery, metadata annotation, data access, data aggregation, sub-setting, etc. The grid portal security model includes the use of HTTPS protocol for secure communication with the client (based on X509v3 certificates that must be loaded into the browser) and secure cookies to establish and maintain user sessions. The CMCC DDC is now in a pre-production phase and it is currently used only by internal users (CMCC researchers and climate scientists). The most important component already available in the CMCC DDC is the Search Engine which allows users to perform, through web interfaces, distributed search and discovery activities by introducing one or more of the following search criteria: horizontal extent (which can be specified by interacting with a geographic map), vertical extent, temporal extent, keywords, topics, creation date, etc. By means of this page the user submits the first step of the query process on the metadata DB, then, she can choose one or more datasets retrieving and displaying the complete XML metadata description (from the browser). This way, the second step of the query process is carried out by accessing to a specific XML document of the metadata DB. Finally, through the web interface, the user can access to and download (partially or totally) the data stored on the storage device accessing to OPeNDAP servers and to other available grid storage interfaces. Requests concerning datasets stored in deep storage will be served asynchronously.

  15. 基于线段特征匹配的EKF-SLAM算法%EKF-SLAM Algorithm Based on Line Segment Matching

    Institute of Scientific and Technical Information of China (English)

    张国良; 汤文俊; 敬斌; 程展欣

    2012-01-01

    针对EKF-SLAM算法在机器人被“绑架”时失效的问题,提出一种新的基于线段特征匹配的EKF-SLAM算法——EKFLineSLAM算法.该算法在线段特征观测模型和改进的基于逐点搜索的线段提取算法的基础上,将线段特征匹配引入EKF-SLAM算法,并对线段长度和姿态角进行EKF更新,创建环境的线段特征地图.在未知室内结构化环境中,将该算法与弱匹配EKFLineSLAM算法进行比较,验证了EKFLineSLAM算法在结构化环境中克服机器人“绑架”问题的可行性和有效性.%For the problem of EKF-SLAM algorithm being invalid when robot is kidnapped, a new EKF-SLAM algorithm called "EKF-LineSLAM Algorithm" based on line segment matching is presented. This algorithm is based on the line segment observation model, and the improved line segment extraction algorithm based on point by point search. It introduces the line segment match in the EKF-SLAM algorithm, and renews the line segment's length and posture angle by EKF to find the line segment characteristic map. Finally, the presented algorithm and the weak matching EKFLineSLAM algorithm are compared in an unknown structured indoor environment. The comparison results confirm the feasibility and the effectiveness of the EKFLineSLAM algorithm for the kidnapped robot problem in structured environments.

  16. Expression of the SLAM family of receptors adapter EAT-2 as a novel strategy for enhancing beneficial immune responses to vaccine antigens.

    Science.gov (United States)

    Aldhamen, Yasser A; Appledorn, Daniel M; Seregin, Sergey S; Liu, Chyong-jy J; Schuldt, Nathaniel J; Godbehere, Sarah; Amalfitano, Andrea

    2011-01-15

    Recent studies have shown that activation of the signaling lymphocytic activation molecule (SLAM) family of receptors plays an important role in several aspects of immune regulation. However, translation of this knowledge into a useful clinical application has not been undertaken. One important area where SLAM-mediated immune regulation may have keen importance is in the field of vaccinology. Because SLAM signaling plays such a critical role in the innate and adaptive immunity, we endeavored to develop a strategy to improve the efficacy of vaccines by incorporation of proteins known to be important in SLAM-mediated signaling. In this study, we hypothesized that coexpression of the SLAM adapter EWS-FLI1-activated transcript 2 (EAT-2) along with a pathogen-derived Ag would facilitate induction of beneficial innate immune responses, resulting in improved induction of Ag-specific adaptive immune responses. To test this hypothesis, we used rAd5 vector-based vaccines expressing murine EAT-2, or the HIV-1-derived Ag Gag. Compared with appropriate controls, rAd5 vectors expressing EAT-2 facilitated bystander activation of NK, NKT, B, and T cells early after their administration into animals. EAT-2 overexpression also augments the expression of APC (macrophages and dendritic cells) surface markers. Indeed, this multitiered activation of the innate immune system by vaccine-mediated EAT-2 expression enhanced the induction of Ag-specific cellular immune responses. Because both mice and humans express highly conserved EAT-2 adapters, our results suggest that human vaccination strategies that specifically facilitate SLAM signaling may improve vaccine potency when targeting HIV Ags specifically, as well as numerous other vaccine targets in general.

  17. A Fast and Adaptive SLAM Algorithm for Mobile Robots in Three-dimensional Space%面向3维空间的移动机器人快速自适应 SLAM 算法

    Institute of Scientific and Technical Information of China (English)

    陈世明; 郑丽楠; 吴龙龙; 方华京

    2012-01-01

    For the simultaneous localization and mapping (SLAM) problem of mobile robots in the three-dimensional space, a fast and adaptive SLAM algorithm based on the improved strong tracking filter (STF) is proposed. Firstly, the noise covariance matrixes of STF are adaptively estimated on line to suppress the effects of noises on system state estimation, which makes the system state estimation converge to real values quickly. Secondly, singular value decomposition (SVD) is used to decompose the state covariance matrix which can help the algorithm get better numerical stability. This algorithm can improve the adaptive ability of time-varying systems and the state estimation precision, and the comparative simulation results with STF-SLAM algorithm illustrate the effectiveness and the superiority of the proposed algorithmon on the denoising performance and the estimation precise.%针对3维空间中移动机器人同时定位与地图构建(SLAM)问题,提出了一种基于改进强跟踪滤波(STF)的快速自适应SLAM算法.该算法首先对于强跟踪滤波器的噪声协方差阵进行在线自适应估计,用于抑制噪声对系统状态估计的影响,使系统状态估计迅速收敛到真实值附近;随后将状态协方差矩阵进行奇异值分解(SVD),提高算法的数值稳定性.该算法可提高对系统时变的自适应能力以及系统状态估计精度.与基于强跟踪滤波器的SLAM算法的仿真对比结果说明了该算法的有效性及其在抑噪性能和估计精度方面的优越性.

  18. 苏云金芽胞杆菌BRC-ZYR2一个假定的细菌素基因AOI-3的鉴定及异源表达%Identification and Heterologous Expression of A Putative Bacteriocin Gene AOI-3 from Bacillus thuringiensis BRC-ZYR2

    Institute of Scientific and Technical Information of China (English)

    苏小玉; 林丽鹏; 骆祥银; 李仪莹; 戴瑞卿; 潘洁茹; 黄天培

    2015-01-01

    细菌素(Bacteriocin)是由某些细菌通过核糖体途径产生的一类具有抗菌活性的多肽或蛋白质,因其无致畸变作用,也不易产生耐药性,在食品及卫生安全中备受关注.本研究以经过全基因组测序的苏云金芽胞杆菌(Bacillus thuringiensis,Bt) BRC-ZYR2为出发菌株,预测得到一个假定的细菌素基因AOI-3.PCR扩增获得231 bp目的基因片段,利用无缝克隆技术将目的基因片段连接到pET32a载体,转入大肠杆菌(Escherichia coli)JM 109,筛选克隆子进行酶切以及测序验证.基因序列比对结果显示,该基因与Bt HD-789全基因组中一段未被注释的核酸序列(GenBank登录号:CP003763.1)同源性达99%.氨基酸序列比对结果显示,与一个假定的Bt细菌素(Bt bacteriocin biosynthesis protein)(GenBank登录号:WP 033699510.1)的同源性达100%.此外,该细菌素的保守结构域属于未知功能域家族蛋白(domain of unknown function,DUF)亚族蛋白DUF2762,可能具有类似穿孔毒素Bh1A的作用.氨基酸组成分析表明,该基因序列编码76个氨基酸,分子量为8 813.62 Da,等电点为4.82,无信号肽,含有1个跨膜区,将重组表达载体转入大肠杆菌BL21(DE3),异丙基-β-D-硫代吡喃半乳糖苷(isopropyl-β-D-1-thiogalactopyranoside,IPTG)诱导表达.十二烷基硫酸钠聚丙烯酰胺凝胶电泳(sodium dodecyl sulfate polyacrylamide gel electrophoresis,SDS-PAGE)结果表明,在上清中检测到预期的8.8kD多肽表达.采用His-tag亲和层析技术纯化目的蛋白.本研究通过对假定的细菌素基因AOI-3克隆、表达和获得多肽纯品,为测定其抑菌谱并了解细菌素结构及作用机理奠定了基础.

  19. Simulation system implementation for intelligent wheelchair visual-based SLAM%智能轮椅视觉SLAM仿真系统实现

    Institute of Scientific and Technical Information of China (English)

    陈勇; 吕霞付; 李凤华

    2009-01-01

    运用了基于视觉的EKF同时定位与地图创建(SLAM)方法来实现智能轮椅在室内环境下的导航问题.通过对图像的特征提取及匹配、更新确定自身位姿并建立地图.有效准确的特征提取是SLAM实现的必要条件之一.仿真实验显示,所提出的算法可以实现移动机器人的视觉SLAM.

  20. Human cytomegalovirus UL7, a homologue of the SLAM-family receptor CD229, impairs cytokine production.

    Science.gov (United States)

    Engel, Pablo; Pérez-Carmona, Natàlia; Albà, M Mar; Robertson, Kevin; Ghazal, Peter; Angulo, Ana

    2011-10-01

    Human cytomegalovirus (HCMV), the β-herpesvirus prototype, has evolved a wide spectrum of mechanisms to counteract host immunity. Among them, HCMV uses cellular captured genes encoding molecules capable of interfering with the original host function or of fulfilling new immunomodulatory tasks. Here, we report on UL7, a novel HCMV heavily glycosylated transmembrane protein, containing an Ig-like domain that exhibits remarkable amino acid similarity to CD229, a cell-surface molecule of the signalling lymphocyte-activation molecule (SLAM) family involved in leukocyte activation. The UL7 Ig-like domain, which is well-preserved in all HCMV strains, structurally resembles the SLAM-family N-terminal Ig-variable domain responsible for the homophilic and heterophilic interactions that trigger signalling. UL7 is transcribed with early-late kinetics during the lytic infectious cycle. Using a mAb generated against the viral protein, we show that it is constitutively shed, through its mucine-like stalk, from the cell-surface. Production of soluble UL7 is enhanced by PMA and reduced by a broad-spectrum metalloproteinase inhibitor. Although UL7 does not hold the ability to interact with CD229 or other SLAM-family members, it shares with them the capacity to mediate adhesion to leukocytes, specifically to monocyte-derived DCs. Furthermore, we demonstrate that UL7 expression attenuates the production of proinflammatory cytokines TNF, IL-8 and IL-6 in DCs and myeloid cell lines. Thus, the ability of UL7 to interfere with cellular proinflammatory responses may contribute to viral persistence. These results enhance our understanding of those HCMV-encoded molecules involved in sustaining the balance between HCMV and the host immune system.

  1. 25 years Nuclear Research Centre

    Energy Technology Data Exchange (ETDEWEB)

    Harde, R.

    1981-07-01

    On June 12, the Karlsruhe Nuclear Research Centre celebrated its 25th anniversary. The Centre was founded on July 19, 1956. The importance of this institution became apparent by the large number of prominent guests, at the head, the Federal President, Karl Carstens. Minister President Spaeth and the Federal Minister for Research and Technology, von Buelow, appreciated the achievements obtained by this big science centre of nuclear technology. The ceremony held in the State theatre of Baden-Wuerttemberg gave testimony of an impressing confession in favour of nuclear energy. Excerpts from the speech of the Chairman of the Managing Board, Prof. Harde, are quoted.

  2. Minister unveils new nanotech centres

    Science.gov (United States)

    Dumé, Belle

    2009-06-01

    Three new nanotechnology research centres are to be set up in France as part of a €70m government plan to help French companies in the sector. Researchers at the new centres, which will be located in Grenoble, Saclay (near Paris) and Toulouse, will be encouraged to collaborate with industry to develop new nanotech-based products. Dubbed NANO-INNOV, the new plan includes €46m for two new buildings at Saclay, with the rest being used to buy new equipment at the three centres and to fund grant proposals from staff to the French National Research Agency (ANR).

  3. The World Heritage Centr

    Directory of Open Access Journals (Sweden)

    Ayman G. Abdel Tawab

    2014-09-01

    Full Text Available New Gourna Village, which is located inside one of the World Heritage Sites in Egypt, has never been recognized as an element contributing to the site’s Outstanding Universal Value. The recognition of the village as a contributing element is reliant on the successful assessment of its authenticity and integrity. Responding to the dramatically declining integrity of the village, the World Heritage Centre has carried out an architectural study to guide the potential conservation works in the property. The study has recommended that a group of objectives and two approaches to the conservation of the village should be adopted. One of these two approaches has been concerned with the conservation of the village according to the architect’s original intentions and principles. The previous approach can be called the principles-based approach. The main aim of this study was to examine the agreement of the World Heritage Centre’s objectives and their proposed principles-based approach to the conservation of the village with the aim to improve its chance in meeting the conditions of authenticity and integrity. The study approached the previous aim by assessing, by means of a proposed methodology; the level of significance, authenticity and integrity of the property. Based on the previous assessment, a list of conservation interventions was proposed to improve the property’s chance in meeting the conditions of authenticity and integrity. Finally, the World Heritage Centre’s recommended approaches and objectives were examined against the previous proposed conservation interventions. The findings indicated the possibility to adopt the principles-based approach to the conservation of New Gourna Village, as well as the other World Heritage Centre’s objectives, without limiting the property’s chance in meeting the conditions of authenticity and integrity. The study recommends to carry out further studies that are concerned with the identification

  4. TARİHSEL İSLAM MODERNİTEYİ AŞKIN MIDIR? / IS HISTORICAL ISLAM TRANDANCE OF MODERNITY?

    Directory of Open Access Journals (Sweden)

    Ernur GENÇ

    2012-07-01

    Full Text Available Modern dünyada fundemantalist-radikal İslami ideolojilerin ve siyasal İslamcılığın hakim söylemlerinin karakteristiğine bakıldığında, İslam’ın yalnızca tekil “Müslüman özne”yle sınırlı bir din olmadığı; aksine toplumsal alanın tüm vechelerine (politik, ekonomik, hukuki vd. yönelik total bir nitelik taşıdığı savı öne çıkmaktadır. İslam’ın modern dönemdeki yeniden anlamlandırılması ve inşası, ona bir “din” olmanın ötesinde, modern anlamda bir ideoloji karakteristiği katmaktadır. İslami ideolojinin entelektüel aktörleri de “siyasal İslam” olarak adlandırılan bu ideolojiyi bütüncül, evrensel, tarih-ötesi ve özsel/özcü bir sistem olarak ele almaktadırlar. Bu lineer (düzçizgisel, ilerlemeci ve seküler ya da yarı-seküler anlayış çerçevesinde İslam, gelecekte kendi asli kökeninden yeniden doğacak olan bir medeniyeti yaratacak olan bir din; aynı zamanda modernite ve kapitalizmden tamamen farklı ve onlara tek alternatif sistemdir. Karşıt savlar ise siyasal İslam gerçekliğinin, belirli tarihsel koşulların ve süreçlerin (Batılı moderniteyle karşılaşmadan doğan bir tarihselliğin ürünü olduğunu; dolayısıyla tüm diğer sistem-içi sosyal-politik hareketlerde olduğu gibi sistem-içi bir muhalefet ileri sürmektedir. Buna göre de, siyasal İslam’ın söylemi ve İslami hareketler kendi tarihsel, toplumsal ve konjonktürel koşullarına göreli olarak dönüşüme uğrarken; var olan sistemi içsel olarak yeniden üretmenin ve kendi içinde dönüştürmenin önemli enstrümanlarından birini oluşturmaktadır. Çalışmada, siyasal İslam’ın moderniteyle ilişkisi bağlamında söz konusu savlar irdelenmekte, siyasal İslam ve İslami hareketin modern dönemde ortaya çıkış koşulları ve dönüşüm süreci ele alınmaktadır.When we look at the prevailing retoric of fundamentalist islamic ideologies and political islam, the argument

  5. Incorporating the Uncertainties of Nodal-Plane Orientation in the Seismo-Lineament Analysis Method (SLAM)

    Science.gov (United States)

    Cronin, V.; Sverdrup, K. A.

    2013-05-01

    The process of delineating a seismo-lineament has evolved since the first description of the Seismo-Lineament Analysis Method (SLAM) by Cronin et al. (2008, Env & Eng Geol 14(3) 199-219). SLAM is a reconnaissance tool to find the trace of the fault that produced an shallow-focus earthquake by projecting the corresponding nodal planes (NP) upward to their intersections with the ground surface, as represented by a DEM or topographic map. A seismo-lineament is formed by the intersection of the uncertainty volume associated with a given NP and the ground surface. The ground-surface trace of the fault that produced the earthquake is likely to be within one of the two seismo-lineaments associated with the two NPs derived from the earthquake's focal mechanism solution. When no uncertainty estimate has been reported for the NP orientation, the uncertainty volume associated with a given NP is bounded by parallel planes that are [1] tangent to the ellipsoidal uncertainty volume around the focus and [2] parallel to the NP. If the ground surface is planar, the resulting seismo-lineament is bounded by parallel lines. When an uncertainty is reported for the NP orientation, the seismo-lineament resembles a bow tie, with the epicenter located adjacent to or within the "knot." Some published lists of focal mechanisms include only one NP with associated uncertainties. The NP orientation uncertainties in strike azimuth (+/- gamma), dip angle (+/- epsilon) and rake that are output from an FPFIT analysis (Reasenberg and Oppenheimer, 1985, USGS OFR 85-739) are taken to be the same for both NPs (Oppenheimer, 2013, pers com). The boundaries of the NP uncertainty volume are each comprised by planes that are tangent to the focal uncertainty ellipsoid. One boundary, whose nearest horizontal distance from the epicenter is greater than or equal to that of the other boundary, is formed by the set of all planes with strike azimuths equal to the reported NP strike azimuth +/- gamma, and dip angle

  6. The centre of the action

    CERN Document Server

    2008-01-01

    The CERN Control Centre (CCC) has all the ingredients of an action movie control room: hundreds of screens, technicians buzzing in and out, huge floor-to-ceiling windows revealing the looming vista of a mountain range, flashing lights, microphones… This is the place where not just the LHC, but the whole of CERN’s accelerator complex and technical support is based - truly the centre of the action at CERN.

  7. Portable 3D laser-camera calibration system with color fusion for SLAM

    Directory of Open Access Journals (Sweden)

    Javier Navarrete

    2013-03-01

    Full Text Available Nowadays, the use of RGB-D sensors have focused a lot of research in computer vision and robotics. These kinds of sensors, like Kinect, allow to obtain 3D data together with color information. However, their working range is limited to less than 10 meters, making them useless in some robotics applications, like outdoor mapping. In these environments, 3D lasers, working in ranges of 20-80 meters, are better. But 3D lasers do not usually provide color information. A simple 2D camera can be used to provide color information to the point cloud, but a calibration process between camera and laser must be done. In this paper we present a portable calibration system to calibrate any traditional camera with a 3D laser in order to assign color information to the 3D points obtained. Thus, we can use laser precision and simultaneously make use of color information. Unlike other techniques that make use of a three-dimensional body of known dimensions in the calibration process, this system is highly portable because it makes use of small catadioptrics that can be placed in a simple manner in the environment. We use our calibration system in a 3D mapping system, including Simultaneous Location and Mapping (SLAM, in order to get a 3D colored map which can be used in different tasks. We show that an additional problem arises: 2D cameras information is different when lighting conditions change. So when we merge 3D point clouds from two different views, several points in a given neighborhood could have different color information. A new method for color fusion is presented, obtaining correct colored maps. The system will be tested by applying it to 3D reconstruction.

  8. The Evaluation of Provided Methods in SLAM Problem and a Method Development in Order to Use in Multi Robot

    Directory of Open Access Journals (Sweden)

    Jenabzadeh MohammadReza

    2013-07-01

    Full Text Available Simultaneously Localization and Mapping (SLAM in mobile robots is an issue which is of utmost importance to Robotic Science researchers. The goal is to determine the position of intelligent mobile robots and their navigation to provide the overview map of the environment when no knowledge of it exists. So far, various methods have been presented in group robots to solve the SLAM problem. After about six years of research on mobile robots in Yazd Robotic Association and of applying available algorithms on rescue real robots, we will review major approaches on a robot and will introduce a new method that has been applied on two platforms of manual and autonomous robots in IranOpen 2011 competitions. We provide a method based on ROA-BlackWelized Particles filter (RBPF algorithm and Forgetting curve in Multi robots which, compared to the limitations of collecting environmental data in the past two years, has provided satisfactory results. In the end, we simulate the consequence method in order to provide the robot’s overview and local maps from the environment in PlayerStage software.

  9. Dissection of SAP-dependent and SAP-independent SLAM family signaling in NKT cell development and humoral immunity.

    Science.gov (United States)

    Chen, Shasha; Cai, Chenxu; Li, Zehua; Liu, Guangao; Wang, Yuande; Blonska, Marzenna; Li, Dan; Du, Juan; Lin, Xin; Yang, Meixiang; Dong, Zhongjun

    2017-02-01

    Signaling lymphocytic activation molecule (SLAM)-associated protein (SAP) mutations in X-linked lymphoproliferative disease (XLP) lead to defective NKT cell development and impaired humoral immunity. Because of the redundancy of SLAM family receptors (SFRs) and the complexity of SAP actions, how SFRs and SAP mediate these processes remains elusive. Here, we examined NKT cell development and humoral immunity in mice completely deficient in SFR. We found that SFR deficiency severely impaired NKT cell development. In contrast to SAP deficiency, SFR deficiency caused no apparent defect in follicular helper T (TFH) cell differentiation. Intriguingly, the deletion of SFRs completely rescued the severe defect in TFH cell generation caused by SAP deficiency, whereas SFR deletion had a minimal effect on the defective NKT cell development in SAP-deficient mice. These findings suggest that SAP-dependent activating SFR signaling is essential for NKT cell selection; however, SFR signaling is inhibitory in SAP-deficient TFH cells. Thus, our current study revises our understanding of the mechanisms underlying T cell defects in patients with XLP.

  10. Expression of SLAM (CD150) cell-surface receptors on human B-cell subsets: from pro-B to plasma cells.

    Science.gov (United States)

    De Salort, Jose; Sintes, Jordi; Llinàs, Laia; Matesanz-Isabel, Jessica; Engel, Pablo

    2011-01-30

    The SLAM (CD150) family receptors are leukocyte cell-surface glycoproteins involved in leukocyte activation. These molecules and their adaptor protein SAP contribute to the effective germinal center formation, generation of high-affinity antibody-secreting plasma cells, and memory B cells, thereby facilitating long-term humoral immune response. Multi-color flow cytometric analysis was performed to determine the expression of CD48 (SLAMF2), CD84 (SLAMF5), CD150 (SLAM or SLAMF1), CD229 (Ly9 or SLAMF3), CD244 (2B4 or SLAMF4), CD319 (CRACC, CS1, or SLAMF7), and CD352 (NTB-A or SLAMF6) on human cell lines and B-cell subsets. The following subsets were assessed: pro-B, pre-B, immature-B, and mature-B cells from bone marrow; transitional and B1/B2 subsets from peripheral blood; and naïve, pre-germinal center, germinal center, memory, plasmablasts, and plasma cells from tonsil and spleen. All receptors were expressed on B cells, with the exception of CD244. SLAM family molecules were widely distributed during B-cell development, maturation and terminal differentiation into plasmablasts and plasma cells, but their expression among various B-cell subsets differed significantly. Such heterogeneous expression patterns suggest that SLAM molecules play an essential and non-redundant role in the control of humoral immune responses.

  11. The ideal Atomic Centre; Le Centre Atomique ideal

    Energy Technology Data Exchange (ETDEWEB)

    Mas, R. [Commissariat a l' Energie Atomique, Saclay (France). Centre d' Etudes Nucleaires

    1965-07-01

    The author presents considerations which should prove to be of interest to all those who have to design, to construct and to operate a nuclear research centre. A large number of the ideas presented can also be applied to non-nuclear scientific research centres. In his report the author reviews: various problems with which the constructor is faced: ground-plan, infrastructure, buildings and the large units of scientific equipment in the centre, and those problems facing the director: maintenance, production, supplies, security. The author stresses the relationship which ought to exist between the research workers and the management. With this aim in view he proposes the creation of National School for Administration in Research which would train administrative executives for public or private organisations; they would be specialised in the fields of fundamental or applied research. (author) [French] L'auteur propose une base de reflexions a tous ceux qui doivent concevoir, realiser et faire vivre un Centre d'Etudes Nucleaires. Un grand nombre des idees exprimees peut d'ailleurs s'appliquer a un Centre d'Etudes Scientifiques non nucleaires. Dans son ouvrage, l'auteur passe en revue les differents problemes qui se posent au constructeur: plan, masse, infrastructure, batiments et grands appareils du Centre, et ceux qu'a a resoudre le directeur: entretien, fabrication, approvisionnements, securite. L'auteur insiste sur l'aspect des rapports qui doivent exister entre les chercheurs et ceux qui les administrent. Il propose a cette fin la creation d'une Ecole Nationale d'Administration de la Recherche qui formerait des cadres administratifs pour les organismes publics ou prives, specialises dans la Recherche fondamentale ou appliquee. (auteur)

  12. Identification of the SLAM Adapter Molecule EAT-2 as a Lupus-Susceptibility Gene That Acts through Impaired Negative Regulation of Dendritic Cell Signaling.

    Science.gov (United States)

    Talaei, Nafiseh; Yu, Tao; Manion, Kieran; Bremner, Rod; Wither, Joan E

    2015-11-15

    We showed previously that C57BL/6 congenic mice with an introgressed homozygous 70 cM (125.6 Mb) to 100 cM (179.8 Mb) interval on c1 from the lupus-prone New Zealand Black (NZB) mouse develop high titers of antinuclear Abs and severe glomerulonephritis. Using subcongenic mice, we found that a genetic locus in the 88-96 cM region was associated with altered dendritic cell (DC) function and synergized with T cell functional defects to promote expansion of pathogenic proinflammatory T cell subsets. In this article, we show that the promoter region of the NZB gene encoding the SLAM signaling pathway adapter molecule EWS-activated transcript 2 (EAT-2) is polymorphic, which results in an ∼ 70% reduction in EAT-2 in DC. Silencing of the EAT-2 gene in DC that lacked this polymorphism led to increased production of IL-12 and enhanced differentiation of T cells to a Th1 phenotype in T cell-DC cocultures, reproducing the phenotype observed for DC from congenic mice with the NZB c1 70-100 cM interval. SLAM signaling was shown to inhibit production of IL-12 by CD40L-activated DCs. Consistent with a role for EAT-2 in this inhibition, knockdown of EAT-2 resulted in increased production of IL-12 by CD40-stimulated DC. Assessment of downstream signaling following CD40 cross-linking in the presence or absence of SLAM cross-linking revealed that SLAM coengagement blocked activation of p38 MAPK and JNK signaling pathways in DC, which was reversed in DC with the NZB EAT-2 allele. We conclude that EAT-2 negatively regulates cytokine production in DC downstream of SLAM engagement and that a genetic polymorphism that disturbs this process promotes the development of lupus.

  13. HIV-1 infection ex vivo accelerates measles virus infection by upregulating signaling lymphocytic activation molecule (SLAM) in CD4+ T cells.

    Science.gov (United States)

    Mitsuki, Yu-ya; Terahara, Kazutaka; Shibusawa, Kentaro; Yamamoto, Takuya; Tsuchiya, Takatsugu; Mizukoshi, Fuminori; Ishige, Masayuki; Okada, Seiji; Kobayashi, Kazuo; Morikawa, Yuko; Nakayama, Tetsuo; Takeda, Makoto; Yanagi, Yusuke; Tsunetsugu-Yokota, Yasuko

    2012-07-01

    Measles virus (MV) infection in children harboring human immunodeficiency virus type 1 (HIV-1) is often fatal, even in the presence of neutralizing antibodies; however, the underlying mechanisms are unclear. Therefore, the aim of the present study was to examine the interaction between HIV-1 and wild-type MV (MVwt) or an MV vaccine strain (MVvac) during dual infection. The results showed that the frequencies of MVwt- and MVvac-infected CD4(+) T cells within the resting peripheral blood mononuclear cells (PBMCs) were increased 3- to 4-fold after HIV-1 infection, and this was associated with a marked upregulation of signaling lymphocytic activation molecule (SLAM) expression on CD4(+) T cells but not on CD8(+) T cells. SLAM upregulation was induced by infection with a replication-competent HIV-1 isolate comprising both the X4 and R5 types and to a lesser extent by a pseudotyped HIV-1 infection. Notably, SLAM upregulation was observed in HIV-infected as well as -uninfected CD4(+) T cells and was abrogated by the removal of HLA-DR(+) cells from the PBMC culture. Furthermore, SLAM upregulation did not occur in uninfected PBMCs cultured together with HIV-infected PBMCs in compartments separated by a permeable membrane, indicating that no soluble factors were involved. Rather, CD4(+) T cell activation mediated through direct contact with dendritic cells via leukocyte function-associated molecule 1 (LFA-1)/intercellular adhesion molecule 1 (ICAM-1) and LFA-3/CD2 was critical. Thus, HIV-1 infection induces a high level of SLAM expression on CD4(+) T cells, which may enhance their susceptibility to MV and exacerbate measles in coinfected individuals.

  14. Person-centred reflective practice.

    Science.gov (United States)

    Devenny, Bob; Duffy, Kathleen

    Person-centred health and person-centred care have gained prominence across the UK following the publication of reports on public inquiries exploring failings in care. Self-awareness and participation in reflective practice are recognised as vital to supporting the person-centred agenda. This article presents an education framework for reflective practice, developed and used in one NHS board in Scotland, and based on the tenets of the clinical pastoral education movement. Providing an insight into the usefulness of a spiritual component in the reflective process, the framework provides an opportunity for nurses and other healthcare professionals to examine the spiritual dimensions of patient encounters, their own values and beliefs, and the effect these may have on their practice.

  15. Construction of the Wigner Data Centre

    CERN Document Server

    2013-01-01

    A remote extension of the CERN data centre has recently been inaugurated. Hosted at the Wigner Research Centre for Physics in Hungary, it provides extra computing power required to cover CERN’s needs. This video presents the construction of the Wigner Data Centre from initial demolishing work through to its completion and details the major technical characteristics of the Data Centre.

  16. Construction and Identification of a Vero Cell Line Stably Expressing Canine SLAM Gene%稳定表达犬信号淋巴细胞激活因子基因细胞株的建立与鉴定

    Institute of Scientific and Technical Information of China (English)

    苏建青; 褚秀玲; 马秀亮; 江成; 张吉清

    2012-01-01

    [目的]构建稳定表达犬瘟热病毒细胞受体——犬信号淋巴细胞激活因子(SLAM)的非洲绿猴肾细胞株(Vero).[方法]采用RT-PCR方法从犬外周血淋巴细胞中扩增出SLAM基因,将其克隆到哺乳动物真核表达载体pcDNA3.1(+)中,构建重组质粒pcDNA3.1/SLAM.采用脂质体将peDNA3.1/SLAM转染到Vero细胞中,利用G418加压筛选和纯化培养获得稳定表达SLAM的重组Vero细胞株.应用RT-PCR和间接免疫荧光试验检测SLAM的表达.[结果]重组蛋白SLAM在Vero细胞中获得表达,并且在不同代次的阳性细胞株中均能稳定表达目的蛋白.[结论]该研究建立了稳定表达犬SLAM的细胞株Vero/SLAM,为犬瘟热病毒的分离和生物学特性研究提供了平台.%[Objective] The aim was to construction a Vero cell line stably expressing SLAM. [ Method]SLAM gene was amplified by RT-PCR from canine peripheral blood lymphocytes and inserted into the eukaryotic expression vector pcDNA3.1 { + ) to construct a recombinant plasmid pcDNA3.1( + )/SlAM. The pcI)NA3.1( + )/SLAM was then transfected into the Vero cells by Lipofectamine 2000. The Vero cell stably expressing the SLAM was screened and purified under the drug selection of G4I8. The expression of SLAM was confirmed by KT-PCR and indirect immunofluorescence assay. [ Result ] The recombinant SLAM was correctly and effectively expressed in Vero cells. [ Conclusion ] The study establishes SLAM-expressing cell line, which provides a platform for studying the isolation and biological functions of canine distemper virus.

  17. LDE centres: sprint or marathon?

    NARCIS (Netherlands)

    Bonger, S.; Van Rein, E.

    2015-01-01

    The aim of the Strategic Leiden-Delft-Erasmus Alliance, established by the three universities in 2012, was to improve research and education and competitiveness. Projects are intended to develop from the ground up, which led to the establishment of eight joint centres in 2013. A quick look around re

  18. 犬SLAM基因真核表达载体的构建及在MDCK细胞中的稳定表达%Construction of Eukaryotic Expressing Vector of SLAM Gene and Establishment of Its Stable Expressing MDCK Cell

    Institute of Scientific and Technical Information of China (English)

    褚秀玲; 苏建青; 江成; 张吉清; 马秀亮

    2012-01-01

    To construction a MDCK cell line stably expressing signalling lymphocyte activation molecules (SLAM). The SLAM gene of cellular receptor of CDV was amplified by RT-PCR from canine peripheral blood lymphocytes. The correctly identified SLAM gene was inserted into the eukaryotic expression vector pcDNA3.1(+) to construct the recombinant plasmid pcDNA3.1/ SLAM. The pcDNA3.1/SLAM was transfected into MDCK cells by Lipofectamine. The stably expressing MDCK cell was screened with DMEM medium under the drug selection of G418. The single clone strain was purified by limiting dilution. The results indicated that the eukaryotic expression vector pcDNA3,l/SLAM was successfully constructed, then the stable expressing MDCK cell line was obtained.%为了构建稳定表达犬信号淋巴细胞激活因子(SLAM)的MDCK细胞系,该研究从犬外周血淋巴细胞中克隆了犬瘟热病毒(Canine distemper virus,CDV)细胞受体SLAM基因,将鉴定正确的SLAM基因插入到高效真核表达载体pcDNA3.1(+)中.采用脂质体转染的方式将重组质粒pcDNA3.1/SLAM转染到MDCK细胞中,采用G418加压筛选及有限稀释法克隆,获取稳定表达SLAM的MDCK细胞株.结果表明,成功构建了SLAM的真核表达载体pcDNA3.1/SLAM,并通过G418筛选获得了稳定表达SLAM的细胞系MDCK.

  19. 犬SLAM基因真核表达载体的构建及Vero细胞系转染的研究%Construction of Eukaryotic Expressing Vector of SLAM Gene and its Transient Expression in Vero Cell

    Institute of Scientific and Technical Information of China (English)

    苏建青; 褚秀玲; 张吉清; 马秀亮; 江成

    2012-01-01

    To elucidate the character and functions of cellular receptors of canine distemper virus, the gene SLAM of canine distemper virus' s open reading frame (ORF) was cloned into eukaryotic expression vector pCDNA3.1(+) to generate the recombinant plasmid pcDNA3.1/S.LAM. The pureed plasmid was transected into Vero cells in vitro with Lipofectamine 2000. The transient expression of the SLAM protein was detected by reverse transcription polymerase chain reaction and Westem-blot assay. The results showed that the eukaryotic expression vectors of canine SLAM gene were constructed successfully. The reverse transcription polymerase chain reaction and Western-blot assay confirmed that the protein SLAM was expression in Vero cell. Recombinant SLAM was successfully expressed, which laid foundation for further research on the stable express of SLAM gene in Vero.%为了研究犬瘟热病毒细胞受体SLAM基因的特性和功能.将基因SLAM克隆到真核表达载体pcDNA3.1(+)上,构建真核表达载体pCDNA3.1/SLAM,重组质粒纯化后应用脂质体2000转染到Vero细胞中,通过RT-PCR和免疫印迹方法检测犬SLAM基因在Vero细胞中的转录和表达情况.结果表明:成功构建了表达SLAM基因的真核表达载体,RT-PCR和免疫印迹显示SLAM基因获得表达;pcDNA3.1/SLAM载体的构建为研究犬SLAM基因在Vero细胞中的稳定表达奠定了基础.

  20. Impaired Epstein-Barr virus-specific CD8+ T-cell function in X-linked lymphoproliferative disease is restricted to SLAM family-positive B-cell targets.

    Science.gov (United States)

    Hislop, Andrew D; Palendira, Umaimainthan; Leese, Alison M; Arkwright, Peter D; Rohrlich, Pierre S; Tangye, Stuart G; Gaspar, H Bobby; Lankester, Arjan C; Moretta, Alessandro; Rickinson, Alan B

    2010-10-28

    X-linked lymphoproliferative disease (XLP) is a condition associated with mutations in the signaling lymphocytic activation molecule (SLAM)-associated protein (SAP; SH2D1A). SAP functions as an adaptor, binding to and recruiting signaling molecules to SLAM family receptors expressed on T and natural killer cells. XLP is associated with extreme sensitivity to primary Epstein-Barr virus (EBV) infection, often leading to a lethal infectious mononucleosis. To investigate EBV-specific immunity in XLP patients, we studied 5 individuals who had survived EBV infection and found CD8(+) T-cell responses numerically comparable with healthy donors. However, further investigation of in vitro-derived CD8(+) T-cell clones established from 2 of these donors showed they efficiently recognized SLAM ligand-negative target cells expressing EBV antigens, but showed impaired recognition of EBV-transformed, SLAM ligand-positive, lymphoblastoid cell lines (LCLs). Importantly, LCL recognition was restored when interactions between the SLAM receptors CD244 and natural killer-, T-, and B-cell antigen (NTBA) and their ligands on LCLs were blocked. We propose that XLP patients' particular sensitivity to EBV, and not to other viruses, reflects at least in part EBV's strict tropism for B lymphocytes and the often inability of the CD8(+) T-cell response to contain the primary infection of SLAM ligand-expressing target cells.

  1. The CCCB is a cultural centre, not a tourist centre

    Directory of Open Access Journals (Sweden)

    Elena Xirau

    2004-04-01

    Full Text Available Last February, Barcelona's Centre of Contemporary Culture (CCCB celebrated its first ten years in existence. During this time, this institution has looked to be a showcase to the most modern and innovative cultural expressions focused on reflecting on the concept of the city. In this interview, Josep Ramoneda offers his personal view, as the CCCB's director. He talks of how this cultural project was born, of how the concept of the institution took shape in the CCCB, of its relations with Barcelona's Strategic Plan, of how the project has evolved, of the architectural remodelling of the Casa de la Caritat building for its conversion into a cultural centre, of the relations with other institutions and its future.

  2. 自主机器人SLAM改进算法%Improved SLAM Algorithm Research on Autonomous Rover

    Institute of Scientific and Technical Information of China (English)

    曹梦龙; 崔平远

    2008-01-01

    SLAM(Simultaneous Localization and Mapping,同时定位与地图创建)可以看成同时估计机器人和障碍物位置的问题,SLAM应用于未知环境的的主要困难之一就是这两个估计问题之间的强耦合.围绕这个问题提出了融合SLAM这两个估计的协方差交叉优化算法,解决了SLAM常用滤波算法易受到数据相关性困扰的问题.

  3. SLAM-SAP signaling promotes differentiation of IL-17-producing T cells and progression of experimental autoimmune encephalomyelitis.

    Science.gov (United States)

    Huang, Yu-Hsuan; Tsai, Kevin; Ma, Caixia; Vallance, Bruce A; Priatel, John J; Tan, Rusung

    2014-12-15

    IL-17 plays critical roles in host defenses, combating bacterial and fungal infections, as well as the pathogenesis of autoimmune diseases such as experimental autoimmune encephalomyelitis (EAE). The signaling adaptor SAP is essential for normal immune homeostasis and mutations within SH2D1A, the locus encoding this protein, result in serious and sometimes fatal syndromes, including X-linked lymphoproliferative disease and severe cases of common variable immunodeficiency. However, the precise cellular basis of how SAP deficiency contributes to immune dysfunction remains incompletely understood. In this study, we found that CD4 and CD8 T cells lacking SAP had a diminished capacity to differentiate into IL-17-producing Th17 and T cytotoxic (Tc17) cells relative to wild-type lymphocytes. The use of costimulating SLAM Abs was found to augment the differentiation of IL-17-secreting effectors in wild-type but not Sh2d1a(-/-) splenic T cells under IL-17-polarizing conditions. In addition, SAP's regulation of IL-17-secreting T cells was shown to be a T cell-intrinsic role, as purified naive Sh2d1a(-/-) CD4 and CD8 T cells were inherently defective at converting into Th17 and Tc17 cells in vitro and in vivo. Furthermore, Sh2d1a(-/-) mice were protected from EAE and exhibited greatly decreased numbers of CNS-infiltrating Th17 and Tc17 effector T cells and reduced disease severity. Collectively, these results suggest that SLAM-SAP signaling drives the differentiation and function of Th17 and Tc17 cells in vitro and in vivo and contributes to the pathogenesis of autoimmunity in EAE.

  4. European Centre for Disease Prevention and Control.

    Science.gov (United States)

    Evans, Roger

    2014-11-04

    The European Centre for Disease Prevention and Control was set up in 2005 to strengthen Europe's defences against infectious diseases. The centre is an independent agency of the European Union and is based in Stockholm, Sweden.

  5. Simulation Research of SLAM Algorithm Based on Iterated Unscented Kalman Filter%基于迭代无迹卡尔曼滤波的SLAM算法仿真研究

    Institute of Scientific and Technical Information of China (English)

    陈晨; 程荫杭

    2012-01-01

    The SLAM algorithm based on iterated unscented Kalman filter was analyzed through simulation. Simulation results indicate that, comparing with the SLAM algorithm based on unscented Kalman filter, the iterated one could not improve the SLAM accuracy in some circumstances. To deal with this problem, the condition of using iteration in SLAM was discussed frst; the damped Gauss-Newton iteration was adopted to replace the traditional full Gauss-Newton iteration during the observation update process of SLAM algorithm. A new improved SLAM algorithm based on interated unscented Kanlman filter was proposed. The simulation experiments validate the proposed iteration condition. The experiment results show that the proposed algorithm can further improve the SLAM accuracy.%对迭代无迹卡尔曼滤波算法在SLAM问题中的应用进行仿真研究。通过仿真分析发现,与一般的无迹卡尔曼滤波算法相比,迭代的算法有时无法提高SLAM的精度,继而探讨了SLAM问题中选择采用迭代算法的条件;同时针对迭代算法的观测更新阶段,用阻尼的高斯-牛顿迭代方法改进完全高斯-牛顿迭代方法,从而提出一种改进的基于迭代无迹卡尔曼滤波的SLAM算法。仿真实验对提出的迭代条件进行了验证,仿真结果表明提出的SLAM算法与无迹卡尔曼滤波算法相比,可以进一步提高SLAM问题的估计精度。

  6. Scheduling participants of Assessment Centres

    DEFF Research Database (Denmark)

    Lysgaard, Jens; Løber, Janni

      Assessment Centres are used as a tool for psychologists and coaches to observe a number of dimensions in a person's behaviour and test his/her potential within a number of chosen focus areas. This is done in an intense course, with a number of different exercises which expose each participant......'s ability level in the chosen focus areas. The participants are observed by assessors with the purpose of gathering material for reaching a conclusion on each participant's personal profile. We consider the particular case that arises at the company Human Equity (www.humanequity.dk), where Assessment...

  7. Neighbourhood Centres – Organisation, Management and Finance

    DEFF Research Database (Denmark)

    Larsen, Jacob Norvig

    public subsidy. Some of the centres have high number of users on a daily basis, whereas others are only rarely used. It is explored how organisation, management and financial set-up differs among the centres. Quantitative data on financial issues and annual accounts of fifteen centres were analysed......From the late 1990s neighbourhood centres were brought to the fore of public urban regen-eration policy, because they were seen as a means to accelerate the formation of social capital in deprived urban neighbourhoods. A number of such local community centres were established with substantial...... to identify different financial models and analyse economic sustainability. As regards organisational and management models data were collected through documentary sources and by means of personal interviews and field visits to ten centres. Even within the analysed limited population of centres economic...

  8. Perceptual centres in speech - an acoustic analysis

    Science.gov (United States)

    Scott, Sophie Kerttu

    Perceptual centres, or P-centres, represent the perceptual moments of occurrence of acoustic signals - the 'beat' of a sound. P-centres underlie the perception and production of rhythm in perceptually regular speech sequences. P-centres have been modelled both in speech and non speech (music) domains. The three aims of this thesis were toatest out current P-centre models to determine which best accounted for the experimental data bto identify a candidate parameter to map P-centres onto (a local approach) as opposed to the previous global models which rely upon the whole signal to determine the P-centre the final aim was to develop a model of P-centre location which could be applied to speech and non speech signals. The first aim was investigated by a series of experiments in which a) speech from different speakers was investigated to determine whether different models could account for variation between speakers b) whether rendering the amplitude time plot of a speech signal affects the P-centre of the signal c) whether increasing the amplitude at the offset of a speech signal alters P-centres in the production and perception of speech. The second aim was carried out by a) manipulating the rise time of different speech signals to determine whether the P-centre was affected, and whether the type of speech sound ramped affected the P-centre shift b) manipulating the rise time and decay time of a synthetic vowel to determine whether the onset alteration was had more affect on P-centre than the offset manipulation c) and whether the duration of a vowel affected the P-centre, if other attributes (amplitude, spectral contents) were held constant. The third aim - modelling P-centres - was based on these results. The Frequency dependent Amplitude Increase Model of P-centre location (FAIM) was developed using a modelling protocol, the APU GammaTone Filterbank and the speech from different speakers. The P-centres of the stimuli corpus were highly predicted by attributes of

  9. Use of SLAM and PVRL4 and identification of pro-HB-EGF as cell entry receptors for wild type phocine distemper virus.

    Directory of Open Access Journals (Sweden)

    Mary M Melia

    Full Text Available Signalling lymphocyte activation molecule (SLAM has been identified as an immune cell receptor for the morbilliviruses, measles (MV, canine distemper (CDV, rinderpest and peste des petits ruminants (PPRV viruses, while CD46 is a receptor for vaccine strains of MV. More recently poliovirus like receptor 4 (PVRL4, also known as nectin 4, has been identified as a receptor for MV, CDV and PPRV on the basolateral surface of polarised epithelial cells. PVRL4 is also up-regulated by MV in human brain endothelial cells. Utilisation of PVRL4 as a receptor by phocine distemper virus (PDV remains to be demonstrated as well as confirmation of use of SLAM. We have observed that unlike wild type (wt MV or wtCDV, wtPDV strains replicate in African green monkey kidney Vero cells without prior adaptation, suggesting the use of a further receptor. We therefore examined candidate molecules, glycosaminoglycans (GAG and the tetraspan proteins, integrin β and the membrane bound form of heparin binding epithelial growth factor (proHB-EGF,for receptor usage by wtPDV in Vero cells. We show that wtPDV replicates in Chinese hamster ovary (CHO cells expressing SLAM and PVRL4. Similar wtPDV titres are produced in Vero and VeroSLAM cells but more limited fusion occurs in the latter. Infection of Vero cells was not inhibited by anti-CD46 antibody. Removal/disruption of GAG decreased fusion but not the titre of virus. Treatment with anti-integrin β antibody increased rather than decreased infection of Vero cells by wtPDV. However, infection was inhibited by antibody to HB-EGF and the virus replicated in CHO-proHB-EGF cells, indicating use of this molecule as a receptor. Common use of SLAM and PVRL4 by morbilliviruses increases the possibility of cross-species infection. Lack of a requirement for wtPDV adaptation to Vero cells raises the possibility of usage of proHB-EGF as a receptor in vivo but requires further investigation.

  10. Use of SLAM and PVRL4 and identification of pro-HB-EGF as cell entry receptors for wild type phocine distemper virus.

    Science.gov (United States)

    Melia, Mary M; Earle, John Philip; Abdullah, Haniah; Reaney, Katherine; Tangy, Frederic; Cosby, Sara Louise

    2014-01-01

    Signalling lymphocyte activation molecule (SLAM) has been identified as an immune cell receptor for the morbilliviruses, measles (MV), canine distemper (CDV), rinderpest and peste des petits ruminants (PPRV) viruses, while CD46 is a receptor for vaccine strains of MV. More recently poliovirus like receptor 4 (PVRL4), also known as nectin 4, has been identified as a receptor for MV, CDV and PPRV on the basolateral surface of polarised epithelial cells. PVRL4 is also up-regulated by MV in human brain endothelial cells. Utilisation of PVRL4 as a receptor by phocine distemper virus (PDV) remains to be demonstrated as well as confirmation of use of SLAM. We have observed that unlike wild type (wt) MV or wtCDV, wtPDV strains replicate in African green monkey kidney Vero cells without prior adaptation, suggesting the use of a further receptor. We therefore examined candidate molecules, glycosaminoglycans (GAG) and the tetraspan proteins, integrin β and the membrane bound form of heparin binding epithelial growth factor (proHB-EGF),for receptor usage by wtPDV in Vero cells. We show that wtPDV replicates in Chinese hamster ovary (CHO) cells expressing SLAM and PVRL4. Similar wtPDV titres are produced in Vero and VeroSLAM cells but more limited fusion occurs in the latter. Infection of Vero cells was not inhibited by anti-CD46 antibody. Removal/disruption of GAG decreased fusion but not the titre of virus. Treatment with anti-integrin β antibody increased rather than decreased infection of Vero cells by wtPDV. However, infection was inhibited by antibody to HB-EGF and the virus replicated in CHO-proHB-EGF cells, indicating use of this molecule as a receptor. Common use of SLAM and PVRL4 by morbilliviruses increases the possibility of cross-species infection. Lack of a requirement for wtPDV adaptation to Vero cells raises the possibility of usage of proHB-EGF as a receptor in vivo but requires further investigation.

  11. The new AMS control centre

    CERN Multimedia

    Anaïs Schaeffer

    2011-01-01

    Construction work for the future AMS control room began in November 2010 and should be finished this June. The new building, which will have been completed in record time thanks to the professionalism of the project team, will soon be ready to receive the initial data from the AMS experiment.     Luigi Scibile and Michael Poehler, from the GS department, at the AMS control centre construction site.   The Alpha Magnetic Spectrometer (AMS) is due to wing its way towards the International Space Station (ISS) on board the shuttle Discovery in April. Mainly intended for research on antimatter and dark matter, the data collected by AMS will be sent to Houston in the United States and then directly to CERN’s new Building 946. Construction work for the AMS control centre building on the Route Gentner at CERN’s Prévessin site started in November 2010 and must be completed in time to receive the first data from the spectrometer in June. “It normall...

  12. 基于Kinect的移动机器人大视角3维V-SLAM%A Large Viewing Angle 3-Dimensional V-SLAM Algorithm with a Kinect-based Mobile Robot System

    Institute of Scientific and Technical Information of China (English)

    辛菁; 苟蛟龙; 马晓敏; 黄凯; 刘丁; 张友民

    2014-01-01

    To solve the performance degradation problem of the mobile robot 3D V-SLAM (visual simultaneous local-ization and mapping) in the presence of large viewing angle, an affine invariant features matching algorithm AORB (affine oriented FAST and rotated BRIEF) is proposed, and a mobile robot large viewing angle 3D V-SLAM system using Kinect camera is further developed. Firstly, AORB algorithm is adopted to implement the fast and efficient matching between ad-jacent frames captured by the Kinect RGB camera in the presence of large changes of viewing angle, and the corresponding relationship between adjacent frames is created. Secondly, 2D image points are converted into 3D color cloud data through using the calibrated intrinsic and extrinsic parameters of Kinect, and pixel depth values after alignment correction. Thirdly, the relative pose between adjacent frames is computed by using the least-squares algorithm after removing outliers using RANSAC (RANdom Sample Consensus). Finally, the 3D model is obtained by optimizing the resulting pose using g2o (gen-eral graph optimization). Mobile robot large viewing angle 3D V-SLAM is realized ultimately. Both the off-line (based on well-known and available benchmark data sets) and the online (with a developed mobile robot system) experimental testing show that the proposed matching algorithm and the developed 3D V-SLAM system can accurately update the local model, successfully reconstruct the environment model, and effectively estimate the motion trajectory of the mobile robot in the presence of large viewing angle.%针对大视角情况下,移动机器人3维视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)性能下降的问题,提出了一种仿射不变特征匹配算法AORB(affine oriented FAST and rotated BRIEF)并在此基础上构建了基于Kinect的移动机器人大视角3D V-SLAM系统.首先对Kinect相机采集到的彩色RGB数据采用AORB算法实现具有大

  13. Powering the Future Data Centre

    DEFF Research Database (Denmark)

    Zhang, Zhe

    2010-01-01

    . Considering the input impendence of fuel cell and super-cap, the small-signal stability of cascaded converter is analyzed. The system small-signal model is rebuilt and controllers for current loop and voltage loop are designed to obtain good transient performance. Through analysis and synthesis......The extended run Uninterruptible Power Supply system (UPSs) which powered by fuel cells and supercapcitors, is a promising solution for future data centre to obtain environmentfriendly energy efficient and cost effective. There are many challenges in power electronic interface circuits, because...... of the characteristics of these two power sources: long warm-up stage and low dynamics for fuel cell, and variable terminal voltage for supercapacitors. The motivation for this project was to find ways which can overcome those limitations to integrate fuel cells and supercapcitors to the system with high efficiency...

  14. AN ANALYSIS OF TEN YEARS OF THE FOUR GRAND SLAM MEN'S SINGLES DATA FOR LACK OF INDEPENDENCE OF SET OUTCOMES

    Directory of Open Access Journals (Sweden)

    Denny Meyer

    2006-12-01

    Full Text Available The objective of this paper is to use data from the highest level in men's tennis to assess whether there is any evidence to reject the hypothesis that the two players in a match have a constant probability of winning each set in the match. The data consists of all 4883 matches of grand slam men's singles over a 10 year period from 1995 to 2004. Each match is categorised by its sequence of win (W or loss (L (in set 1, set 2, set 3,... to the eventual winner. Thus, there are several categories of matches from WWW to LLWWW. The methodology involves fitting several probabilistic models to the frequencies of the above ten categories. One four-set category is observed to occur significantly more often than the other two. Correspondingly, a couple of the five-set categories occur more frequently than the others. This pattern is consistent when the data is split into two five-year subsets. The data provides significant statistical evidence that the probability of winning a set within a match varies from set to set. The data supports the conclusion that, at the highest level of men's singles tennis, the better player (not necessarily the winner lifts his play in certain situations at least some of the time

  15. Criteria of Categorizing Logistics and Distribution Centres

    OpenAIRE

    Darko Babić; Anđelko Šćukanec; Kristijan Rogic

    2011-01-01

    Logistics and distribution centres represent very significant infrastructure elements of the macro-logistic system. The creation of the logistics and distribution centres and their connection into a wide (global) network have resulted in the creation of conditions for an adequate distribution of labour and significant increase in the productivity of all the logistics elements and processes, noting that the logistics and distribution centres in this concept have a superregional significance. ...

  16. Smart work centres in rural areas

    DEFF Research Database (Denmark)

    Lorentzen, Anne Birte

    This paper discusses the establishment of telework centres as an element in local development strategies in rural areas, with a particular view to two new telework centres in region North Denmark. The paper argues that telework centres do not represent an easy solution to problems of local develo...... development and environmental sustainability, and further, that technology may not even be the most important feature needed to make them function as such....

  17. Activities of Radiation Protection Centre in 2000

    CERN Document Server

    Radiat. Prot. Cent. Vilnius

    2001-01-01

    Description of the activities of Radiation Protection Centre in 2000 is presented. Radiation Protection Centre is responsible for radiation protection issues. Currently there are six departments at Radiation Protection Centre: two in Vilnius - Department of Radiation Protection Supervision and Control and Department of Programs and Expertise, and four in the districts. Brief information on subject controlled by each departments is provided focusing on main achievements and events.

  18. Criteria of Categorizing Logistics and Distribution Centres

    Directory of Open Access Journals (Sweden)

    Darko Babić

    2011-07-01

    Full Text Available Logistics and distribution centres represent very significant infrastructure elements of the macro-logistic system. The creation of the logistics and distribution centres and their connection into a wide (global network have resulted in the creation of conditions for an adequate distribution of labour and significant increase in the productivity of all the logistics elements and processes, noting that the logistics and distribution centres in this concept have a superregional significance. This paper represents the summary (results of the research that was carried out on a large number of logistics and distribution centres with the aim of considering the complexity and the issues related to the logistics and distribution centres and the distribution network, their elements and action of the subsystems according to the following criteria: spatial, technical, technological, and organizational, with the aim of defining the categorisation model of the logistics and distribution centres. The analysis of the selected data collected during the research has resulted in defining of the categorisation model of the logistics and distribution centres which foresees six categories. Each of the foreseen categories has been defined according to the set model by the mentioned traffic, technical and technological, and organisational characteristics and the level of service. This is precisely where the application of the categorisation model of the logistics and distribution centres can be found, which will define the relevant categories of the centres applicable in the creation of effective distribution

  19. Systemic lupus erythematosus immune complexes increase the expression of SLAM family members CD319 (CRACC) and CD229 (LY-9) on plasmacytoid dendritic cells and CD319 on CD56(dim) NK cells.

    Science.gov (United States)

    Hagberg, Niklas; Theorell, Jakob; Schlums, Heinrich; Eloranta, Maija-Leena; Bryceson, Yenan T; Rönnblom, Lars

    2013-09-15

    Patients with systemic lupus erythematosus (SLE) display an activated type I IFN system due to unceasing IFN-α release from plasmacytoid dendritic cells (pDCs) stimulated by nucleic acid-containing immune complexes (ICs). NK cells strongly promote the IFN-α production by pDCs; therefore, we investigated surface molecules that could be involved in the pDC-NK cell cross-talk. In human PBMCs stimulated with RNA-containing ICs (RNA-ICs), the expression of the signaling lymphocyte activation molecule (SLAM) family receptors CD319 and CD229 on pDCs and CD319 on CD56(dim) NK cells was selectively increased. Upregulation of CD319 and CD229 on RNA-IC-stimulated pDCs was induced by NK cells or cytokines (e.g., GM-CSF, IL-3). IFN-α-producing pDCs displayed a higher expression of SLAM molecules compared with IFN-α⁻ pDCs. With regard to signaling downstream of SLAM receptors, pDCs expressed SHIP-1, SHP-1, SHP-2, and CSK but lacked SLAM-associated protein (SAP) and Ewing's sarcoma-activated transcript 2 (EAT2), indicating that these receptors may act as inhibitory receptors on pDCs. Furthermore, pDCs from patients with SLE had decreased expression of CD319 on pDCs and CD229 on CD56(dim) NK cells, but RNA-IC stimulation increased CD319 and CD229 expression. In conclusion, this study reveals that the expression of the SLAM receptors CD319 and CD229 is regulated on pDCs and NK cells by lupus ICs and that the expression of these receptors is specifically altered in SLE. These results, together with the observed genetic association between the SLAM locus and SLE, suggest a role for CD319 and CD229 in the SLE disease process.

  20. Laparoscopic adrenalectomy: Single centre experience.

    LENUS (Irish Health Repository)

    O'Farrell, N J

    2012-02-01

    BACKGROUND: Laparoscopic adrenalectomy is an attractive alternative to the traditional open approach in the surgical excision of an adrenal gland. It has replaced open adrenalectomy in our institution and we review our experience to date. METHODS: All cases of laparoscopic adrenalectomies in our hospital over eight years (from 2001 to May 2009) were retrospectively reviewed. Patient demographics, diagnosis, length of hospital stay, histology and all operative and post-operative details were evaluated. RESULTS: Fifty-five laparoscopic adrenalectomies (LA) were performed on 51 patients over eight years. The mean age was 48 years (Range 16-86 years) with the male: female ratio 1:2. Twenty-three cases had a right adrenalectomy, 24 had a left adrenalectomy and the remaining four patients had bilateral adrenalectomies. 91% were successfully completed laparoscopically with five converted to an open approach. Adenomas (functional and non functional) were the leading indication for LA, followed by phaeochromocytomas. Other indications for LA included Cushing\\'s disease, adrenal malignancies and rarer pathologies. There was one mortality from necrotising pancreatitis following a left adrenalectomy for severe Cushing\\'s disease, with subsequent death 10 days later. CONCLUSION: Laparoscopic adrenalectomy is effective for the treatment of adrenal tumours, fulfilling the criteria for the ideal minimally invasive procedure. It has replaced the traditional open approach in our centre and is a safe and effective alternative. However, in the case of severe Cushing\\'s disease, laparoscopic adrenalectomy has the potential for significant adverse outcomes and mortality.

  1. Danish Anaesthesia Allergy Centre - preliminary results

    DEFF Research Database (Denmark)

    Garvey, L H; Roed-Petersen, J; Menné, T

    2001-01-01

    BACKGROUND: Anaphylactoid reactions in anaesthesia are rare and should ideally be investigated in specialist centres. At Gentofte University Hospital, we established such a centre in 1998 as a joint venture between the Departments of Anaesthesiology and Dermatology. We present the methodology, di...

  2. Oil Trading Centre to Reopen in Shanghai

    Institute of Scientific and Technical Information of China (English)

    2004-01-01

    @@ Chinese oil companies will likely resume activities at the oil trading centre in Shanghai this year, a move to further liberalize the once tightly controlled oil market. The centre will trade forward contracts for refined oil products,including gasoline, diesel oil, kerosene and fuel oil, industrial sources said.

  3. The Press Research Centre, 1956-1976.

    Science.gov (United States)

    Press Research Centre, Krakow (Poland).

    In 1956, the Press Research Centre was established in Cracow, Poland by a group of journalists and publishers, for the purpose of instituting press research that would have practical applications. The aims of the Centre were to conduct studies on the history of the Polish press, the contemporary press, press readership, and editorial techniques.…

  4. A Novel EKF-SLAM Algorithm Against Outlier Disturbance%一种新的抗外部干扰EKF-SLAM算法

    Institute of Scientific and Technical Information of China (English)

    吕太之

    2012-01-01

    There is not only sensor noise, but also outlier disturbance when a robot explores in unknown environments. The traditional EKF-SLAM algorithm does not consider the impact of outlier disturbance that may lead to positioning failure. The new algorithm detects the outlier disturbance by comparing two observations result using polar coordinates. Covariance would be inflated when disturbance is detected, so that system state of uncertainty is expanded and the state quickly converges to the true value. Simulation results show that the proposed algorithm is better than EKF-SLAM both in mobile robot SLAM accuracy and robustness.%机器人在未知环境中探索时不仅存在传感器误差,而且经常受到外部干扰的影响.传统EKF-SLAM算法没有考虑外部干扰,会导致机器人定位的失败,为此,提出一种改进的EKF-SLAM算法.采用极坐标对比前后2次观测结果来检测是否存在外部干扰.当检测到存在外部干扰时,通过膨胀系统状态的方差扩大其不确定性,使系统状态迅速收敛到真值.仿真结果表明,该算法在移动机器人SLAM的估计精度和鲁棒性两方面均优于传统的EKF-SLAM算法.

  5. A Research on Monocular Visual SLAM Based on SURF Feature%基于SURF特征的单目视觉SLAM方法研究∗

    Institute of Scientific and Technical Information of China (English)

    胡衡; 梁岚珍

    2015-01-01

    Because the visual information is easily affected by external environment factors, therefore the selected feature points of mobile robot based on visual simultaneous localization and map building requires high stability and good robustness. For the problem of monocular visual mobile robot SLAM(Simultaneous Localization and Mapping),a kind of mono-SLAM algorithm based on Extended kalman filter is proposed by using SURF(Speed Up Robust Features) feature points and the inverse depth method. The process of SLAM is completed by fusing the information of SURF features and robot information with EKF. The result of simulation experiment indicates that the proposed algorithm is feasible, and with high localization precision in indoor structured environment.%由于视觉信息很容易受到外界环境因素的影响,因此基于视觉的移动机器人同步定位与地图构建问题所选取的特征点要求具有较高的精确度和良好的鲁棒性。针对单目SLAM问题,提出一种基于扩展卡尔曼滤波器的单目视觉SLAM算法。该算法采用SURF特征点,结合反向深度估计法,应用扩展卡尔曼滤波器融合SURF特征信息与机器人位姿信息完成SLAM过程。仿真实验结果表明,在未知室内结构化环境下,该算法运行可靠,定位精度高。

  6. Assessing the effect of Measurement-Based Care depression treatment on HIV medication adherence and health outcomes: rationale and design of the SLAM DUNC Study.

    Science.gov (United States)

    Pence, Brian W; Gaynes, Bradley N; Williams, Quinn; Modi, Riddhi; Adams, Julie; Quinlivan, E Byrd; Heine, Amy; Thielman, Nathan; Mugavero, Michael J

    2012-07-01

    Depression affects 20-30% of people living with HIV/AIDS (PLWHA) in the U.S. and predicts greater sexual risk behaviors, lower antiretroviral (ARV) medication adherence, and worse clinical outcomes. Yet little experimental evidence addresses the critical clinical question of whether depression treatment improves ARV adherence and clinical outcomes in PLWHA with depression. The Strategies to Link Antidepressant and Antiretroviral Management at Duke, UAB, and UNC (SLAM DUNC) Study is a randomized clinical effectiveness trial funded by the National Institute for Mental Health. The objective of SLAM DUNC is to test whether a depression treatment program integrated into routine HIV clinical care affects ARV adherence. PLWHA with depression (n=390) are randomized to enhanced usual care or a depression treatment model called Measurement-Based Care (MBC). MBC deploys a clinically supervised Depression Care Manager (DCM) to provide evidence-based antidepressant treatment recommendations to a non-psychiatric prescribing provider, guided by systematic and ongoing measures of depressive symptoms and side effects. MBC has limited time requirements and the DCM role can be effectively filled by a range of personnel given appropriate training and supervision, enhancing replicability. In SLAM DUNC, MBC is integrated into HIV care to support HIV providers in antidepressant prescription and management. The primary endpoint is ARV adherence measured by unannounced telephone-based pill counts at 6 months with follow-up to 12 months and secondary endpoints including viral load, health care utilization, and depressive severity. Important outcomes of this study will be evidence of the effectiveness of MBC in treating depression in PLWHA and improving HIV-related outcomes.

  7. The role of the sexual assault centre.

    LENUS (Irish Health Repository)

    Eogan, Maeve

    2013-02-01

    Sexual Assault Centres provide multidisciplinary care for men and women who have experienced sexual crime. These centres enable provision of medical, forensic, psychological support and follow-up care, even if patients chose not to report the incident to the police service. Sexual Support Centres need to provide a ring-fenced, forensically clean environment. They need to be appropriately staffed and available 24 hours a day, 7 days a week to allow prompt provision of medical and supportive care and collection of forensic evidence. Sexual Assault Centres work best within the context of a core agreed model of care, which includes defined multi-agency guidelines and care pathways, close links with forensic science and police services, and designated and sustainable funding arrangements. Additionally, Sexual Assault Centres also participate in patient, staff and community education and risk reduction. Furthermore, they contribute to the development, evaluation and implementation of national strategies on domestic, sexual and gender-based violence.

  8. Design and Implementation of Simulation System for Single Camera SLAM%单目视觉SLAM仿真系统的设计与实现

    Institute of Scientific and Technical Information of China (English)

    张展宇; 黄亚楼; 李超; 康叶伟; 孙凤池

    2008-01-01

    实现单目视觉同时定位与建图(SLAM)仿真系统,描述其设计过程.该系统工作性能良好,其SLAM算法可扩展性强,可以精确逼近真实单目视觉SLAM过程.以方便SLAM算法的研究为目标,提供了大量辅助记录、观察和分析实验结果的功能,有助于实验的复现和不同算法效果的对比研究.

  9. Big Surveys, Big Data Centres

    Science.gov (United States)

    Schade, D.

    2016-06-01

    Well-designed astronomical surveys are powerful and have consistently been keystones of scientific progress. The Byurakan Surveys using a Schmidt telescope with an objective prism produced a list of about 3000 UV-excess Markarian galaxies but these objects have stimulated an enormous amount of further study and appear in over 16,000 publications. The CFHT Legacy Surveys used a wide-field imager to cover thousands of square degrees and those surveys are mentioned in over 1100 publications since 2002. Both ground and space-based astronomy have been increasing their investments in survey work. Survey instrumentation strives toward fair samples and large sky coverage and therefore strives to produce massive datasets. Thus we are faced with the "big data" problem in astronomy. Survey datasets require specialized approaches to data management. Big data places additional challenging requirements for data management. If the term "big data" is defined as data collections that are too large to move then there are profound implications for the infrastructure that supports big data science. The current model of data centres is obsolete. In the era of big data the central problem is how to create architectures that effectively manage the relationship between data collections, networks, processing capabilities, and software, given the science requirements of the projects that need to be executed. A stand alone data silo cannot support big data science. I'll describe the current efforts of the Canadian community to deal with this situation and our successes and failures. I'll talk about how we are planning in the next decade to try to create a workable and adaptable solution to support big data science.

  10. Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM

    Directory of Open Access Journals (Sweden)

    Jaehoon Jung

    2015-10-01

    Full Text Available The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM. The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m according to the guidelines of the General Services Administration for BIM accuracy.

  11. Development of kinematic 3D laser scanning system for indoor mapping and as-built BIM using constrained SLAM.

    Science.gov (United States)

    Jung, Jaehoon; Yoon, Sanghyun; Ju, Sungha; Heo, Joon

    2015-10-16

    The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy.

  12. Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM

    Science.gov (United States)

    Jung, Jaehoon; Yoon, Sanghyun; Ju, Sungha; Heo, Joon

    2015-01-01

    The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy. PMID:26501292

  13. Holistic design : learning from the Learning Centre

    Energy Technology Data Exchange (ETDEWEB)

    Simon, C. [Charles Simon Architect and Planner, Eden Mills, ON, (Canada); McKee, C. [Kitchener-Waterloo YMCA Outdoor Services, ON (Canada)

    2004-08-01

    The energy efficiency of several solar technologies currently in operation at the Kitchener-Waterloo YMCA's Environmental Learning Centre was evaluated. The off-grid earth-sheltered building dug into a south-facing slope features a sod roof, and protection from north winds by coniferous tree plantations. Passive solar strategies are evaluated, including average indoor temperatures and lighting requirements in both summer and winter. Also evaluated were the centre's ventilation systems, windows and passive heat recovery ventilators (HRVs), solar collectors, masonry heaters, and photovoltaic panels. The centre's composting toilets and use of the Living Machine{sup TM} were also discussed and details of the centre's building materials were provided. Ten straw-bale cabins are currently under construction at the centre, using passive solar strategies for heating, ventilation and cooling and combination propane fired/solar hot water heaters, straw bale building envelope and wood frame roof. Further suggestions for the centre's potential uses, and an outline of the centre's ongoing priorities were outlined. 4 refs.

  14. Review of CERN Data Centre Infrastructure

    CERN Document Server

    Andrade, P; van Eldik, J; McCance, G; Panzer-Steindel, B; Coelho dos Santos, M; Traylen, S; Schwickerath, U

    2012-01-01

    The CERN Data Centre is reviewing strategies for optimizing the use of the existing infrastructure and expanding to a new data centre by studying how other large sites are being operated. Over the past six months, CERN has been investigating modern and widely-used tools and procedures used for virtualisation, clouds and fabric management in order to reduce operational effort, increase agility and support unattended remote data centres. This paper gives the details on the project’s motivations, current status and areas for future investigation.

  15. Modelling total energy costs of sports centres

    Energy Technology Data Exchange (ETDEWEB)

    Boussabaine, A.H.; Kirkham, R.J.; Grew, R.J. [Liverpool Univ., School of Architecture and Building Engineering, Liverpool (United Kingdom)

    1999-12-07

    Providing and maintaining safe and comfortable conditions in sport centres raises many issues, particularly cost. The paper gives an overview of the factors associated with sport centre servicing and attempts to highlight the governing factors associated with this, particularly energy costs. A total of 19 sport centres in the City of Liverpool in the UK are investigated, using data elicited from the Liverpool Leisure Services Directorate. The energy operating costs were analysed using statistical methods. Six models were developed to predict total energy costs. Testing and validation results showed a high level of model accuracy. The models would be of use to professionals involved in feasibility studies at the design stage. (Author)

  16. Potential of Natural Ventilation in Shopping Centres

    DEFF Research Database (Denmark)

    Diederichsen, Alice; Friis, Kristina; Brohus, Henrik;

    2008-01-01

    The indoor environmental quality (IEQ) is a fundamental requirement for a well performing shopping centre. This paper contains a pilot study of the potential of using hybrid ventilation (a combination of automatically controlled natural and mechanical ventilation - respectively NV and MV......) in shopping centres with focus on both the achieved IEQ and energy consumptions for air movement. By thermal building simulations it is found that there exists an interesting potential for hybrid ventilation of shopping centres, which can lead to great savings in the electrical energy consumptions...... for ventilation and cooling without compromising IEQ....

  17. New centre for intelligent mining systems

    Energy Technology Data Exchange (ETDEWEB)

    Gibson, W.

    2002-10-01

    A Centre for Intelligent Mining Systems has been opened by the University of Alberta's Computing Science Department, a collaborative effort by the University and Syncrude Canada Ltd. The objective of the new Centre is to apply technologies in the area of artificial intelligence and robotics to the problems of surface mining. The Centre has already attracted attention from other players within the industry and a long-term funding proposal by a consortium that includes Syncrude is in the works. Noranda Inc and Inco Inc have also shown interest.

  18. Planetary Radars Operating Centre PROC

    Science.gov (United States)

    Catallo, C.; Flamini, E.; Seu, R.; Alberti, G.

    2007-12-01

    Planetary exploration by means of radar systems, mainly using Ground Penetrating Radars (GPR) plays an important role in Italy. Numerous scientific international space programs are currently carried out jointly with ESA and NASA by Italian Space Agency, the scientific community and the industry. Three important experiments under Italian leadership ( designed and manufactured by the Italian industry), provided by ASI either as contribution to ESA programs either within a NASA/ASI joint venture framework, are now operating: MARSIS on-board Mars Express, SHARAD on-board Mars Reconnaissance Orbiter and CASSINI Radar on-board Cassini spacecraft. In order to support all the scientific communities, institutional customers and experiment teams operation three Italian dedicated operational centers have been realized, namely SHOC, (Sharad Operating Centre), MOC (Marsis Operating Center) and CASSINI PAD ( Processing Altimetry Data). Each center is dedicated to a single instrument management and control, data processing and distribution. Although they had been conceived to operate autonomously and independently one from each other, synergies and overlaps have been envisaged leading to the suggestion of a unified center, the Planetary Radar Processing Center (PROC). PROC is conceived in order to include the three operational centers, namely SHOC, MOC and CASSINI PAD, either from logistics point of view and from HW/SW capabilities point of view. The Planetary Radar Processing Center shall be conceived as the Italian support facility to the scientific community for on-going and future Italian planetary exploration programs. Therefore, scalability, easy use and management shall be the design drivers. The paper describes how PROC is designed and developed, to allow SHOC, MOC and CASSINI PAD to operate as before, and to offer improved functionalities to increase capabilities, mainly in terms of data exchange, comparison, interpretation and exploitation. Furthermore, in the frame of

  19. Towards Human-Centred Design

    Science.gov (United States)

    Bannon, Liam J.

    The field of HCI has evolved and expanded dramatically since its origin in the early 1980’s. The HCI community embraces a large community of researchers and practitioners around the world, from a variety of disciplinary backgrounds in the human and social sciences, engineering and informatics, and more recently, the arts and design disciplines. This kaleidoscope of cultures and disciplines as seen at INTERACT Conferences provides a rich pool of resources for examining our field. Applications are increasingly exploring our full range of sensory modalities, and merging the digital and physical worlds. WiFi has opened up a huge design space for mobile applications. A focus on usability of products and services has been complemented by an emphasis on engagement, enjoyment and experience. With the advent of ubiquitous computing, and the emergence of “The Internet of Things”, new kinds of more open infrastructures make possible radically new kinds of applications. The sources of innovation have also broadened, to include human and social actors outside of the computing and design organizations. The question is to what extent is our mainstream thinking in the HCI field ready for the challenges of this Brave New World? Do the technological and social innovations that we see emerging require us to re-shape, or even, re-create, our field, or is it a case of a more gradual evolution and development of that which we already know? In this closing Keynote, I will provide a perspective on the evolution and development of the HCI field, looking backwards as well as forwards, in order to determine what are some of the changes of significance in the field. This “broad-brush” approach to what I term “ human-centred design” will be complemented by the examination of specific projects and applications, to help anchor some of the discussion. Areas such as user-centred design, participatory design, computer-supported cooperative work and learning, and interaction design, in

  20. 平方根容积Rao-Blackwillised粒子滤波SLAM算法%SLAM with Square-root Cubature Rao-Blackwillised Particle Filter

    Institute of Scientific and Technical Information of China (English)

    宋宇; 李庆玲; 康轶非; 闫德立

    2014-01-01

    面向大尺度环境中的移动机器人同时定位与地图构建(Simultaneous localization and mapping,SLAM)问题,提出平方根容积Rao-Blackwillised粒子滤波SLAM算法.算法主要特点在于:1)采用容积律计算SLAM中的非线性函数高斯权重积分,达到减小SLAM非线性模型线性化误差、提高SLAM精度的目的;2)在SLAM中直接传播误差协方差矩阵的平方根因子,避免了耗费时间的协方差矩阵分解与重构过程,提高了SLAM计算效率.通过仿真、实验将提出的SLAM算法与FastSLAM2.0、UFastSLAM两种算法进行对比,结果表明本文算法在SLAM性能上优于另两者.

  1. Augmenting ViSP's 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments

    Science.gov (United States)

    Li-Chee-Ming, J.; Armenakis, C.

    2016-06-01

    This paper presents a novel application of the Visual Servoing Platform's (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP's pose estimation process. Li-Chee-Ming and Armenakis (2015) explored the application of ViSP in mapping large outdoor environments, and tracking larger objects (i.e., building models). Their experiments revealed that tracking was often lost due to a lack of model features in the camera's field of view, and also because of rapid camera motion. Further, the pose estimate was often biased due to incorrect feature matches. This work proposes a solution to improve ViSP's pose estimation performance, aiming specifically to reduce the frequency of tracking losses and reduce the biases present in the pose estimate. This paper explores the integration of ViSP with RGB-D SLAM. We discuss the performance of the combined tracker in mapping indoor environments and tracking 3D wireframe indoor building models, and present preliminary results from our experiments.

  2. Structural characterization of disease-causing mutations on SAP and the functional impact on the SLAM peptide: a molecular dynamics approach.

    Science.gov (United States)

    Chandrasekaran, P; Rajasekaran, R

    2014-07-01

    X-linked lymphoproliferative (XLP) syndrome is an extremely rare inherited immunodeficiency disease characterized by severe immune dysregulation caused by mutations in signaling lymphocyte activation molecule (SLAM) associated protein (SAP) gene. The XLP syndrome was manifested due to dysfunction of SAP as a result of amino acid substitution. Hence, to understand the molecular aspects of the XLP syndrome, we structurally characterized two observed mutations, R32Q and T53I on SAP through the systematic molecular dynamics (MD) approach. Our MD analysis showed that mutant structures elucidated an atomic level variation influenced by mutations that substantially altered the residual flexibility and more importantly the hot spot residues as well in unbound and bound systems. In addition, change in residual flexibility of mutant structures showed an unusual conformational behavior associated with their molecular recognition function compared to the wild-type SAP in both systems. Besides, both mutant structures established different secondary structural profiles during the course of the simulation period in both systems. Moreover, the docking analysis revealed that mutant R32Q and T53I structures displayed remarkably reduced levels of binding affinity to the unphosphorylated SLAM peptide with respect to their docking scores. Collectively, our findings provide knowledge to understand the structural and functional relationship of disease-causing mutations, R32Q and T53I on SAP as well as gain further insights into the molecular pathogenesis of the XLP syndrome.

  3. Occupational deprivation in an asylum centre:

    DEFF Research Database (Denmark)

    Morville, Anne-Le; Erlandsson, Lena-Karin

    2013-01-01

    explored the participants’ occupational history and its influence on their occupations in the asylum centre. A thematic analysis showed that the participants had been subjected to occupational disruption and deprivation by politically oppressive systems even before their flight. Their occupations...

  4. Symmetric centres of braided monoidal categories

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    This paper introduces the concept of‘symmetric centres' of braided monoidal categories. Let H be a Hopf algebra with bijective antipode over a field k. We address the symmetric centre of the Yetter-Drinfel'd module category HH(yD) and show that a left Yetter-Drinfel'd module M belongs to the symmetric centre of HH(yD) if and only if M is trivial. We also study the symmetric centres of categories of representations of quasitriangular Hopf algebras and give a sufficient and necessary condition for the braid of H(M) to induce the braid of (H(H)(A),(○)A,A,φ,l,r), or equivalently, the braid of (A#H(H),(○)A,A,φ,l,r), where A is a quantum commutative H-module algebra.

  5. Identity Theft: A Study in Contact Centres

    Science.gov (United States)

    Moir, Iain; Weir, George R. S.

    This paper explores the recent phenomenon of identity theft. In particular, it examines the contact centre environment as a mechanism for this to occur. Through a survey that was conducted amongst forty-five contact centre workers in the Glasgow area we determined that contact centres can and do provide a mechanism for identity theft. Specifically, we found a particularly high incidence of agents who had previously dealt with phone calls that they considered suspicious. Furthermore, there are agents within such environments who have previously been offered money in exchange for customers' details, or who know of fellow workers who received such offers. Lastly, we identify specific practices within contact centres that may contribute to the likelihood of identity theft.

  6. Social innovation for People-Centred Development

    DEFF Research Database (Denmark)

    Hulgård, Lars; P.K., Shajahan

    2013-01-01

    Social innovation is closely related to the people-centred development (PCD) framework of knowledge production. The discussion of PCD in this chapter particularly expands on the feature of empowerment and socio-political mobilization of people in social innovation......Social innovation is closely related to the people-centred development (PCD) framework of knowledge production. The discussion of PCD in this chapter particularly expands on the feature of empowerment and socio-political mobilization of people in social innovation...

  7. 一种基于球形摄像机模型和3D建模的全向机器人SLAM%An Omni-directional vSLAM based on Spherical Camera Model and 3D Modeling

    Institute of Scientific and Technical Information of China (English)

    佟国峰; 吴子章; 翁宁龙; 侯文博

    2012-01-01

    This paper presents an efficient Omni-directional Visual Simultaneous Localization and Mapping (vSLAM) algorithm based on spherical camera model and 3D modeling. In the paper, the robot has the ability of Omni-directional vision, which makes the algorithm more adaptive in an unknown environment. To get spherical panoramic images, we choose the panoramic image acquisition and mosaic equipment (divergent camera cluster). The improved SURF on spherical image, is adopted for feature extraction and matching. According to the theory of multiple view geometry of the spherical camera model, the 3D modeling is conducted for the surrounding environment. By using the feature points with high robustness, the location and pose of the robot can be estimated. In the process of system updating, the particle filter combined with Kalman filter is used for it can perform well in a complex environment. The results of numerical simulations and experiments have been included in this paper to verify the performance of the proposed approach.%本文针对未知环境的机器人自主定位与地图绘制,利用全向图像采集设备,获得球面全景图像,以球形摄像机模型的视图理论和激光建模方法为基础,对周围环境进行三维建模与机器人的自主定位,同时进行地图的绘制与更新。采用球面的SURF特征提取与匹配方法,获得稳键的特征点,据此对机器人位姿进行高精度估计。在系统的实时更新方面,将Particle滤波和Kalman滤波结合起来,用Particle 滤波做整个路径的位姿估计,Kalman滤波用来估计环境特征位置。实验结果表明,本文提出的算法不但具有视角宽广,对位置环境适应性强的优点,而且在机器人对未知环境的全景漫游方面表现良好,具有很高的实时性和鲁棒性。

  8. The Imperial College Thermophysical Properties Data Centre

    Science.gov (United States)

    Angus, S.; Cole, W. A.; Craven, R.; de Reuck, K. M.; Trengove, R. D.; Wakeham, W. A.

    1986-07-01

    The IUPAC Thermodynamic Tables Project Centre in London has at its disposal considerable expertise on the production and utilization of high-accuracy equations of state which represent the thermodynamic properties of substances. For some years they have been content to propagate this information by the traditional method of book production, but the increasing use of the computer in industry for process design has shown that an additional method was needed. The setting up of the IUPAC Transport Properties Project Centre, also at Imperial College, whose products would also be in demand by industry, afforded the occasion for a new look at the problem. The solution has been to set up the Imperial College Thermophysical Properties Data Centre, which embraces the two IUPAC Project Centres, and for it to establish a link with the existing Physical Properties Data Service of the Institution of Chemical Engineers, thus providing for the dissemination of the available information without involving the Centres in problems such as those of marketing and advertising. This paper outlines the activities of the Centres and discusses the problems in bringing their products to the attention of industry in suitable form.

  9. Perspectives on recycling centres and future developments.

    Science.gov (United States)

    Engkvist, I-L; Eklund, J; Krook, J; Björkman, M; Sundin, E

    2016-11-01

    The overall aim of this paper is to draw combined, all-embracing conclusions based on a long-term multidisciplinary research programme on recycling centres in Sweden, focussing on working conditions, environment and system performance. A second aim is to give recommendations for their development of new and existing recycling centres and to discuss implications for the future design and organisation. Several opportunities for improvement of recycling centres were identified, such as design, layout, ease with which users could sort their waste, the work environment, conflicting needs and goals within the industry, and industrialisation. Combining all results from the research, which consisted of different disciplinary aspects, made it possible to analyse and elucidate their interrelations. Waste sorting quality was recognized as the most prominent improvement field in the recycling centre system. The research identified the importance of involving stakeholders with different perspectives when planning a recycling centre in order to get functionality and high performance. Practical proposals of how to plan and build recycling centres are given in a detailed checklist.

  10. Transmission of HIV in dialysis centre.

    Science.gov (United States)

    Velandia, M; Fridkin, S K; Cárdenas, V; Boshell, J; Ramirez, G; Bland, L; Iglesias, A; Jarvis, W

    1995-06-01

    In August, 1993, 13 dialysis patients at one dialysis centre in Colombia, South America, were found to be HIV positive, and this prompted an epidemiological investigation. We carried out a cohort study of all dialysis centre patients during January, 1992 to December, 1993 (epidemic period) to determine risk factors for HIV seroconversion. Haemodialysis and medical records were reviewed, dialysis centre staff and surviving patients were interviewed, and dialysis practices were observed. Stored sera from all dialysis centre patients were tested for HIV antibody. 12 (52%) of 23 patients tested positive for HIV antibody by enzyme immunoassay and western blot during the epidemic period. Of the 23 tested, 9 (39%) converted from HIV antibody negative to positive (seroconverters) and 10 (44%) remained HIV negative (seronegatives). The HIV seroconversion rate was higher among patients dialysed at the centre while a new patient, who was HIV seropositive, was dialysed there (90% vs 0%; p dialysis centre reprocessed access needles, dialysers, and bloodlines (60% vs 0%). While 2 of 9 HIV seroconverters had had sex with prostitutes, none had received unscreened blood products or had other HIV risk factors. No surgical or dental procedures were associated with HIV seroconversion. Dialysers were reprocessed separately with 5% formaldehyde and were labelled for use on the same patient. Access needles were reprocessed by soaking them in a common container with a low-level disinfectant, benzalkonium chloride; 4 pairs of needles were placed in one pan creating the potential for cross-contamination or use of one patient's needles on another patient. HIV transmission at the dialysis centre was confirmed. Improperly reprocessed patient-care equipment, most probably access needles, is the likely mechanism of transmission. This outbreak was discovered by accident and similar transmission may be occurring in many other countries where low-level disinfectants are used to sterilise critical

  11. Scavenger hunt in the CERN Computing Centre

    CERN Multimedia

    CERN Bulletin

    2013-01-01

    Hidden among the racks of servers and disks in the CERN Computing Centre, you’ll find Hawaiian dancers, space aliens, gorillas… all LEGO® figurines! These characters were placed about the Centre for the arrival of Google’s Street View team for the world to discover.   PLEASE NOTE THAT THE COMPETITION IS OVER. ONLY FOR REFERENCE, HERE IS THE ORIGINAL ARTICLE. We’re pleased to announce our first global scavenger hunt! Spot three LEGO® figurines using Google’s Street View and you’ll be entered to win a gift of your choice from our CERN Gift Guide. A LEGO® figurine in the CERN Computing Centre, as seen on Google Street View. Here are the details: Find at least three LEGO® figurines hidden around the CERN Computing Centre using Google Street View.   Take screencaps of the figurines and e-mail the pictures to TreasureHunt-ComputingCentre@cern.ch. This email is no longer active.   The...

  12. Visits to Tier-1 Computing Centres

    CERN Multimedia

    Dario Barberis

    At the beginning of 2007 it became clear that an enhanced level of communication is needed between the ATLAS computing organisation and the Tier-1 centres. Most usual meetings are ATLAS-centric and cannot address the issues of each Tier-1; therefore we decided to organise a series of visits to the Tier-1 centres and focus on site issues. For us, ATLAS computing management, it is most useful to realize how each Tier-1 centre is organised, and its relation to the associated Tier-2s; indeed their presence at these visits is also very useful. We hope it is also useful for sites... at least, we are told so! The usual participation includes, from the ATLAS side: computing management, operations, data placement, resources, accounting and database deployment coordinators; and from the Tier-1 side: computer centre management, system managers, Grid infrastructure people, network, storage and database experts, local ATLAS liaison people and representatives of the associated Tier-2s. Visiting Tier-1 centres (1-4). ...

  13. The Aube centre. 1997 statement; Le centre de l`Aube. Bilan 1997

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-09-01

    Since January 1992 the Aube centre ensures the storage of 90% of the short life radioactive wastes produced in France. This educational booklet describes the organization of the activities in the centre from the storage of wastes to the radioactivity surveillance of the environment (air, surface and ground waters, river sediments, plants and milk). (J.S.)

  14. Learning Styles of Independent Learning Centre Users

    Directory of Open Access Journals (Sweden)

    Tarik Uzun

    2014-09-01

    Full Text Available Learning style research has been a significant field within language teaching and learning. There have been very few attempts, however, to seek possible links between independent learning and learning style preferences. This paper aims to identify the learning styles of students who use the Independent Learning Centre (ILC on a regular basis at a state university in Turkey (n=102. The findings of the learning style analysis revealed that, contrary to expectations, most of the regular users of the centre were synoptic learners, which implies that these learners might not necessarily have conscious control over their own learning processes. An in-depth analysis of learning styles and recommendations to improve the services offered in the centre are also included in the paper.

  15. A day in the CERN Control Centre

    CERN Multimedia

    Rosaria Marraffino

    2015-01-01

    The CERN Control Centre (CCC) is the nerve centre of the CERN beam systems. From this room, the experts prepare, monitor, adjust, and control the particle beams that circulate throughout the accelerator complex while ensuring that the services and the technical infrastructure work flawlessly. Buttons, screens, telephones, lights (but no sound): in the CCC, everything is ready to make it possible for the LHC to reach the unprecedented energies expected at Run 2.   Seen from above, the CERN Control Centre resembles the shape of a quadrupole magnet. The consoles are distributed in four circles, called “islands”, dedicated to the LHC, the SPS, the PS Complex and the Technical Infrastructure (TI) respectively. Spread between TI and LHC are the Cryogenics consoles. Being in the same room allows the 24h-manned islands to be constantly in touch with one another, thus ensuring the best performance of the machines. At the LHC island, operators are currently busy training the magnet...

  16. THE ELUSIVENESS OF LEARNER-CENTRED TEACHING

    Directory of Open Access Journals (Sweden)

    Ervin Kovačević

    2016-03-01

    Full Text Available This research will explore teaching styles of university professors. Teaching style is an umbrella term for teaching decisions made during the entire teaching process – planning, delivery, and evaluation. Contemporary university teachers are advised to adopt the learner-centred teaching style which is assumed to produce remarkable possibilities. In the Fall Semester 2015 fifty-two respondents in different faculties of International University of Sarajevo were surveyed using The Principles of Adult Learning Scale inventory designed by Gary J. Conti. Inventory scores were calculated according to guidelines suggested by the author of the inventory. The scores revealed that majority of respondents strongly supported teacher-centred rather than learner-centred styles of instruction. Scores were analysed on gender lines and across three different faculties, namely: Arts and Social Sciences; Business and Administration; Engineering and Natural Sciences. In all five groups none of the seven teaching style indicators was found to conform with the learner-centred teaching criteria. There was no statistically significant difference between the two genders’ preference for a teaching style. And there was no statistically significant difference between teaching style preference across the three different faculties.The results of this research imply that the learner-centred style of instruction is not frequently implemented. Secondly, the results indicate that the requirements necessary for proper application of the learner-centred teaching style are not easy to meet in current written and unwritten norms. Finally, the results show that traditional teaching styles, which have been preserved in different scientific fields, still predominate in universities.

  17. Enhancing person-centred communication in NICU

    DEFF Research Database (Denmark)

    Weis, Janne; Zoffmann, Vibeke; Egerod, Ingrid

    2015-01-01

    Aims of this article were (a) to explore how parents of premature infants experience guided family-centred care (GFCC), and (b) to compare how parents receiving GFCC versus standard care (SC) describe nurse-parent communication in the neonatal intensive care unit.......Aims of this article were (a) to explore how parents of premature infants experience guided family-centred care (GFCC), and (b) to compare how parents receiving GFCC versus standard care (SC) describe nurse-parent communication in the neonatal intensive care unit....

  18. Byurakan Astrophysical Observatory as Cultural Centre

    Science.gov (United States)

    Mickaelian, A. M.; Farmanyan, S. V.

    2016-12-01

    NAS RA V. Ambartsumian Byurakan Astrophysical Observatory is presented as a cultural centre for Armenia and the Armenian nation in general. Besides being scientific and educational centre, the Observatory is famous for its unique architectural ensemble, rich botanical garden and world of birds, as well as it is one of the most frequently visited sightseeing of Armenia. In recent years, the Observatory has also taken the initiative of the coordination of the Cultural Astronomy in Armenia and in this field, unites the astronomers, historians, archaeologists, ethnographers, culturologists, literary critics, linguists, art historians and other experts.

  19. 强跟踪滤波在移动机器人SLAM的应用研究%Study on the Application of STF in Mobile Robot SLAM

    Institute of Scientific and Technical Information of China (English)

    曾静; 敬斌; 宋海涛; 张国良

    2010-01-01

    针对移动机器人的运行特点,分析机器人常用SLAM方法,提出将STF应用于移动机器人SLAM.主要结合STF算法优点,通过引入渐消因子,解决机器人模型未知和状态变化不连续的问题,将算法用于环境地图的创建和机器人的定位.实验结果证明该应用比其它方法定位精度高,能够满足在大范围室内环境下SLAM的需求.

  20. 机器人SLAM算法失真模糊性消除优化方法研究%Research and Simulation of Robot SLAM Algorithm Distortion Ambiguity Elimination Method

    Institute of Scientific and Technical Information of China (English)

    李丽丽; 宋志章

    2014-01-01

    为准确有效实现对移动机器人的同时定位和环境创建,提出将传统的粒子滤波SLAM技术和模糊神经网络算法相结合,对粒子滤波SLAM算法进行改进。提出在训练过程中设置频率计数器的方法,使测量的机器人位姿信息参数失真达到最小。实际场地实验和数据仿真结果表明通过本算法的SLAM定位信息轨迹能正确反映机器人的原始行踪轨迹,其行踪轨迹偏差的误差率仅为4.03%。与传统的粒子滤波算法相比,表现为轨迹跟踪的机器人SLAM同时定位性能比传统的粒子滤波算法提高一倍以上,仿真结果展示了新的机器人SLAM算法良好的快速收敛性能和高精度定位性能。%In order to realize the SLAM of robot effectively and efficiently, an improved SLAM method based on the com-bination of partial filter SLAM algorithm and the fuzzy neural network was proposed. The frequency counter method was proposed in the process of the training. Then the parameters of the location information distortion of the robot were de-creased to the minimum. The simulation and experiment were taken in the field with the real robot and the simulation re-sult shows that the new SLAM method can generally reflect the real original trajectory effectively, and the error range rate is just 4.03%. Comparing to the traditional partial filter SLAM method, the performance of location that showed as the trajectory tracking is improved more than one time. The result shows the nice performance of convergence and accuracy of SLAM location for the robot.

  1. 基于局部子图匹配的SLAM方法%A New Solution to SLAM Problem Based on Local Map Matching

    Institute of Scientific and Technical Information of China (English)

    丁帅华; 陈雄; 韩建达

    2009-01-01

    针对现有的SLAM解决方法在机器人被"绑架"时失效的问题,提出了基于局部子图匹配的方法.该方法对现有的SLAM解决构架进行了改进,提出交点最优匹配的特征相关算法,并且将奇异值分解方法引入机器人定位.最后,在结构化环境下将本方法和基于扩展卡尔曼滤波器的方法进行比较,讨论了基于局部了图匹配的方法在结构化环境中解决机器人"绑架"问题的有效性和可行性.%For the kidnapped robot problem in which most current SLAM (simultaneous localization and map building) approaches are invalid, a new solution based on the matching of local sub-graphs is proposed. The presented approach improves the architecture of current SLAM problems, provides a new feature association algorithm based on optimized vertex matching, and introduces a singular value decomposition method into robot localization. In the end, the presented approach and the EKF (extended Kalman filtering) approach are compared in structured environment, and the discussion are made in the term of the feasibility and the effectiveness of this approach based on local sub-graph matching method for the kidnapped robot problem in structured environment.

  2. [Accreditation criteria and quality standards for Poisons centres: development of a quality management system within the Milan Poisons centre].

    Science.gov (United States)

    Della Puppa, Tiziana; Manfrè, Sergio; Grezzi, Marinella

    2006-01-01

    Poisons centres throughout Italy and Europe vary considerably in terms of their institutions and organisation. The European Association of Poisons Centres and Clinical Toxicologists (EAPCCT) has laid down the activities that a poisons centre must carry out, specifying minimum and maximum standards required. These directions allow an evaluation of the service provided. In 2002 Milan Poisons Centre began a project aiming to introduce concepts and methodology proper of the quality systems within poisons centres' institutional activity. Concluded, the project resulted in the centre's certification and the documentation of its procedures: this may now contribute to help define the status and activity of poisons centres in Italy.

  3. [The coordination of care in health centres].

    Science.gov (United States)

    Ribardière, Olivia

    2016-06-01

    Health centres are structurally designed to facilitate the coordination of care. However, evolutions in society have resulted in forms of consumption of health care which are not necessarily compatible with efficient care coordination. On a local level, teams are nevertheless organising and structuring themselves to offer the right form of care, to the right patient and at the right time.

  4. Tensions in human-centred design

    NARCIS (Netherlands)

    Steen, M.G.D.

    2011-01-01

    In human-centred design (HCD), researchers and designers attempt to cooperate with and learn from potential users of the products or services which they are developing. Their goal is to develop products or services that match users' practices, needs and preferences. In this position paper it is argu

  5. Frequency selectivity at very low centre frequencies

    DEFF Research Database (Denmark)

    Orellana, Carlos Andrés Jurado; Pedersen, Christian Sejer; Marquardt, Torsten

    2010-01-01

    -3638 (2007)]. Recent experiments showed that the exact frequency varies from individual to individual. Besides, the helicotrema region in the METF has been found to highly influence frequency selectivity for centre frequencies (CFs) below 80 Hz (Jurado and Moore in prep). By using individual METF...

  6. Visiting a science centre: what's on offer?

    Science.gov (United States)

    Russell, Ian

    1990-09-01

    Science centres are a valuable resource, used more frequently by family groups and primary school parties than by secondary schools. The importance of affective learning, involving attitude changes, is stressed. Provided the right approach is used, accompanying adults can help children get the most out of a visit.

  7. Mandibular trauma: a two-centre study

    NARCIS (Netherlands)

    Boffano, P.; Kommers, S.C.; Karagozoglu, K.H.; Gallesio, C.; Forouzanfar, T.

    2015-01-01

    The aims of this study were to assess and compare epidemiological data on mandibular fractures from two European centres and to perform a review of the literature. Between 2001 and 2010, a total of 752 patients with a total of 1167 mandibular fractures were admitted to a hospital in Turin, and 245 p

  8. Renovation of the CERN Computer Centre

    CERN Multimedia

    Patrice Loïez

    2003-01-01

    The Computer Centre at CERN is seen after half of the equipment is the large ground floor room has been removed. A large-scale spring-cleaning operation took place before renovation work for the new CERN Grid system began. Fifteen kilometres of cables that were no longer needed were removed from the cavity floor for recycling.

  9. Cactus: The Centres of a Triangle

    Science.gov (United States)

    Hyde, Hartley

    2009-01-01

    This is the first of two articles which describe how to use "JavaSketchPad" to explore the centres of a triangle. This introductory exercise is suggested in the GSP "Workshop Guide". Students can use "JavaSketchPad Interactive Geometry" (JSP) at home at no cost. They are likely to impress their parents with their enthusiasm for geometry and all…

  10. Person-centred care in nursing documentation.

    LENUS (Irish Health Repository)

    Broderick, Margaret C

    2012-12-07

    BACKGROUND: Documentation is an essential part of nursing. It provides evidence that care has been carried out and contains important information to enhance the quality and continuity of care. Person-centred care (PCC) is an approach to care that is underpinned by mutual respect and the development of a therapeutic relationship between the patient and nurse. It is a core principle in standards for residential care settings for older people and is beneficial for both patients and staff (International Practice Development in Nursing and Healthcare, Chichester, Blackwell, 2008 and The Implementation of a Model of Person-Centred Practice in Older Person Settings, Dublin, Health Service Executive, 2010a). However, the literature suggests a lack of person-centredness within nursing documentation (International Journal of Older People Nursing 2, 2007, 263 and The Implementation of a Model of Person-Centred Practice in Older Person Settings, Dublin, Health Service Executive, 2010a). AIMS AND OBJECTIVES: To explore nursing documentation in long-term care, to determine whether it reflected a person-centred approach to care and to describe aspects of PCC as they appeared in nursing records. METHOD: A qualitative descriptive study using the PCN framework (Person-centred Nursing; Theory and Practice, Oxford, Wiley-Blackwell, 2010) as the context through which nursing assessments and care plans were explored. RESULTS: Findings indicated that many nursing records were incomplete, and information regarding psychosocial aspects of care was infrequent. There was evidence that nurses engaged with residents and worked with their beliefs and values. However, nursing documentation was not completed in consultation with the patient, and there was little to suggest that patients were involved in decisions relating to their care. IMPLICATIONS FOR PRACTICE: The structure of nursing documentation can be a major obstacle to the recording of PCC and appropriate care planning. Documentation

  11. School Construction Summer Slam

    Science.gov (United States)

    Jensen, Richard F.

    2012-01-01

    Every school has a list of renovations, upgrades and repairs that need attention, but many are too distracting and disruptive to carry out during the school year. Often, the best time to address these nagging construction projects is during the summer when students are on break and the campus is quieter. Although these "summer slammers" often are…

  12. Visual Trajectory Based SLAM

    NARCIS (Netherlands)

    Esteban, I.

    2008-01-01

    SLAMstands for Simultaneous Localization AndMapping. It is a fundamental topic in Autonomous Systems and Robotics as it represents one of the most basic skills that any robot requires in order to be truly autonomous. This skill will allow a robot placed in an unknown environment at an unknown locati

  13. Slam-Dunking Scholars.

    Science.gov (United States)

    Winbush, Donald E.

    1995-01-01

    The Clark Atlanta University (GA) women's basketball coach recruits high academic achievers and supports their academic and athletic performance with discipline, on-the-road study, and teamwork. The approach has been effective for achieving athletic, academic, and interpersonal goals. (MSE)

  14. A Bilateral Slam Dunk

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    New Zealand became the first developed country to sign a free trade agreement with China The three years of hard work on nego- tiating a free trade agreement finally paid off for China and New Zealand. Chinese Commerce Minister Chen Deming and Trade Minister of New Zealand Phil Goff formally signed a free trade agree- ment (FTA) on April 7 in Beijing.It was the first FTA that the Chinese Government signed with a developed country.

  15. 大型集装箱船迎浪航行的外飘砰击压力研究%Research on Flare Slamming Pressure of a Large Container Ship Running at Head Seas

    Institute of Scientific and Technical Information of China (English)

    陈胜男; 高志龙; 牟立伟; 王宁

    2013-01-01

    This paper discusses about flare slamming pressure on a large container ship when it runs at head seas with the direct calculation method.Based on 3-D potential flow theory Rankine Panel Method,the nonlinear motion response of the ship was predicted when it runs at different sea conditions and speed in irregular waves in the time domain with the commercial software,Wasim of DNV.Then,the flare slamming pressure on the bow flare area was calculatedbased with the Wagner impact theory.At last,the slamming probability and the extreme value oflhe slamming pressure in different working conditions were calculated based on the probability and stochastic theory,and the characteristics were analyzed%采用直接计算法研究一艘大型集装箱船迎浪航行时的外飘砰击压力特点.基于三维势流理论Rankine面元法,应用DNV船级社的商业软件Wasim计算出该船在压载时不同海况下以不同航速航行时在非规则波中时域内的非线性运动响应时历,根据Wagner型冲击理论计算得到该集装箱船艏外飘区域的外飘砰击压力.依据概率随机理论,得到不同工况下的外飘砰击概率以及外飘砰击压力极值,并分析概率和极值特点.

  16. Measurement of Eccentricity of the Centre of Mass from the Geometric Centre of a Sphere

    Institute of Scientific and Technical Information of China (English)

    郭俊起; 胡忠坤; 顾邦明; 罗俊

    2004-01-01

    The eccentricity of the centre of mass from the geometric centre of a spherical attracting mass in determining the Newtonian gravitational constant G is tested by means of an electronic balance. The experimental result shows that the eccentricity of the sample is about 0.31 μm with uncertainty of 0.05 μm. Two density distribution models are discussed to estimate the uncertainty to G by the eccentricities of the attracting masses.

  17. Effects of unstratified and centre-stratified randomization in multi-centre clinical trials.

    Science.gov (United States)

    Anisimov, Vladimir V

    2011-01-01

    This paper deals with the analysis of randomization effects in multi-centre clinical trials. The two randomization schemes most often used in clinical trials are considered: unstratified and centre-stratified block-permuted randomization. The prediction of the number of patients randomized to different treatment arms in different regions during the recruitment period accounting for the stochastic nature of the recruitment and effects of multiple centres is investigated. A new analytic approach using a Poisson-gamma patient recruitment model (patients arrive at different centres according to Poisson processes with rates sampled from a gamma distributed population) and its further extensions is proposed. Closed-form expressions for corresponding distributions of the predicted number of the patients randomized in different regions are derived. In the case of two treatments, the properties of the total imbalance in the number of patients on treatment arms caused by using centre-stratified randomization are investigated and for a large number of centres a normal approximation of imbalance is proved. The impact of imbalance on the power of the study is considered. It is shown that the loss of statistical power is practically negligible and can be compensated by a minor increase in sample size. The influence of patient dropout is also investigated. The impact of randomization on predicted drug supply overage is discussed.

  18. 基于EKF-SLAM的AUV自主导航算法的多线程实现%Multithread Implementation of AUV Autonomous Navigation Technology Based on EKF-SLAM Algorithm

    Institute of Scientific and Technical Information of China (English)

    齐林庆

    2011-01-01

    针对海巡者号(C-RANGER) AUV平台以及适用于此平台的EKF-SLAM算法模型,为了提高算法的运算速度和系统的时效性,对EKF-SLAM算法进行了并发执行的可行性分析,并运用多线程技术对算法的实现进行了改进.为了验证效果做了测试实验.通过对实验结果的分析表明,采用多线程技术可以改善EKF-SLAM算法的效率和系统性能.%As far as the sea patrol(C-RANGER) AUV platform and the EKF-SLAM algorithm model which is applicable to the plalform in order to improve the operation speed of the algorithm and timeliness of the system, the feasibility of parallel execution of SLAM algorithm is analyzed, the multithreading technology is used to improve the implementation of algorithm, and many test experiments are performed to verify the experimental results . Through analysis of the experimental result, it is shown that multithread technology can improve the efficiency of the algorithm EKF-SLAM and performance of the system.

  19. Danish Polymer Centre annual report 2001

    DEFF Research Database (Denmark)

    Hassager, O.; Hvilsted, S.; Mortensen, Kell

    The centre is a collaboration between the Risø National Laboratory and the Technical University of Denmark (DTU). At the DTU the Department of Chemical Engineering and the Department of Manufacturing Engineering and Management participate in the centre.From 2001 the Polymer Department at Risø coo....... The Annual Report for 2001 represents therefore the first report from a period in which the new facilitieshave been utilized to full advantage....... coordinates the activities at Risø From the outset it was considered important with common laboratories to obtain the full effect of the collaboration between the two departments at the DTU and Risø NationalLaboratory. In 2001 new laboratories for polymer research and education were established at the DTU...

  20. Patient-centred Prevention among PAD Patients

    DEFF Research Database (Denmark)

    Pii, Kathrine Hoffmann

    2014-01-01

    Intro: This paper discusses a central professional dilemma in patient-centred education: on one hand the concern for ensuring patients autonomy and right to make their own decisions regarding their treatment and, on the other hand, a concern for getting patients to make the “right” decisions......-centredness is thus promoted as a way to organize health more effectively (in terms of cost and treatment outcomes) and as a way to ensure patients’ autonomy and fundamental right to make their own decisions regarding their treatment. Critical voices within social and nursing theory have however argued...... of a patient-centred prevention programme aimed at PAD patients, which includes medical treatment as well as individual nurse-led lifestyle-oriented conversations (inspired by psychological theory and methods such as Motivational Interviewing). Method: The findings are based on four months ethnographic field...

  1. JOB CENTRE FOR DOMESTIC STAFF IN SWITZERLAND

    CERN Multimedia

    Relations with the Host States Service; http://www.cern.ch/relations/

    2001-01-01

    The Permanent mission of Switzerland to the International Organisations in Geneva has informed CERN that the Geneva Welcome Centre has set up an employment registration desk for the domestic staff of international civil servants. The aim of this pilot project is, on the one hand, to help international civil servants find domestic staff and, on the other hand, to help domestic staff holding an 'F'-type carte de légitimation find employment within 30 days after the expiry of a contract. For more information, please contact the Geneva Welcome Centre, La Pastorale, 106, route de Ferney, Case postale 103, 1211 Genève 20, tel. (+41.22) 918 02 70, fax (+41.22) 918 02 79), http://geneva-international.org/Welcome.E.html.

  2. Institutional profile: the London Centre for Nanotechnology.

    Science.gov (United States)

    Weston, David; Bontoux, Thierry

    2009-12-01

    Located in the London neighborhoods of Bloomsbury and South Kensington, the London Centre for Nanotechnology is a UK-based multidisciplinary research center that operates at the forefront of science and technology. It is a joint venture between two of the world's leading institutions, UCL and Imperial College London, uniting their strong capabilities in the disciplines that underpin nanotechnology: engineering, the physical sciences and biomedicine. The London Centre for Nanotechnology has a unique operating model that accesses and focuses the combined skills of the Departments of Chemistry, Physics, Materials, Medicine, Electrical and Electronic Engineering, Mechanical Engineering, Chemical Engineering, Biochemical Engineering and Earth Sciences across the two universities. It aims to provide the nanoscience and nanotechnology required to solve major problems in healthcare, information processing, energy and the environment.

  3. Emergency Centre Organization and Automated Triage System

    CERN Document Server

    Golding, Dan; Marwala, Tshilidzi

    2008-01-01

    The excessive rate of patients arriving at accident and emergency centres is a major problem facing South African hospitals. Patients are prioritized for medical care through a triage process. Manual systems allow for inconsistency and error. This paper proposes a novel system to automate accident and emergency centre triage and uses this triage score along with an artificial intelligence estimate of patient-doctor time to optimize the queue order. A fuzzy inference system is employed to triage patients and a similar system estimates the time but adapts continuously through fuzzy Q-learning. The optimal queue order is found using a novel procedure based on genetic algorithms. These components are integrated in a simple graphical user interface. Live tests could not be performed but simulations reveal that the average waiting time can be reduced by 48 minutes and priority is given to urgent patients

  4. Achieving competences in patient-centred care

    DEFF Research Database (Denmark)

    Lomborg, Kirsten; Nielsen, Else Skånning; Jensen, Annesofie Lunde

    2011-01-01

    Aim: To document the efficacy of a training programme in patient-centred care in which the nursing staff was trained to involve chronic obstructive pulmonary patients in assisted personal body care (APBC). The objectives were to describe the programme and uncover the outcomes. Background: Chronic...... obstructive pulmonary patients suffer from breathlessness and may need comprehensive assistance with personal body care. The patients’ wellbeing may be improved and their integrity safeguarded if nurses are able to involve the patients in accordance with their illness conditions and personal preferences....... The training was time-consuming. Conclusion: A comprehensive training programme can improve nursing competences to action patient-centred and involve severely ill respiratory patients in APBC. Further studies are needed to investigate the efficacy from the patients’ perspective. Relevance to clinical practice...

  5. It's all change at the Computer Centre

    CERN Multimedia

    Laëtitia Pedroso

    2011-01-01

    The IT and EN Departments are modernising the infrastructure of the Computer Centre to improve the conditions in which the equipment has to operate and to increase capacity. The construction work has already begun and is due to be completed in October 2012.   Every year CERN experiences around ten power cuts lasting from less than a second to several hours. In most cases the two protection systems - the UPS* and the diesel generators – are able to ensure that the operation of the Computer Centre is not affected. As Vincent Doré, the project leader for the IT Department, and Paul Pepinster, the EN Department's technical coordinator in charge of modernising the infrastructure, explains: "Building 513 has two types of computing facilities – the "non-critical" ones, such as the servers for "off-line" computing, which have UPS systems ensuring that they can operate for 10 minutes after a power cut, and the "critical&...

  6. [The development process of colon cancer centres].

    Science.gov (United States)

    Sahm, M; Wesselmann, S; Kube, R; Schöffel, N; Pross, M; Lippert, H; Kahl, S

    2013-02-01

    Colon carcinomas are the most common malignant tumours in the Western world. Important findings about the overall quality of medical care have been reported in multi-centre observational studies. A quality enhancement of therapeutic care can be achieved by an additional increase in diagnostic and therapeutic measures in the interdisciplinary setting. The development of colon cancer centres improves the chance to objectively observe the results of medical care induced by the development of an interdisciplinary and cross-sectoral unit that includes a comprehensive medical care for patients. The implementation of the current medical findings based on evidence in clinical routine, the inspection of the usage of guidelines by external specialists as part of an audit and the continuous correction of analysed deficits in the course of treatment guarantee a continuous improvement of service.

  7. Birth of a science centre. Italian phenomenology

    Directory of Open Access Journals (Sweden)

    Paola Rodari

    2006-06-01

    Full Text Available In May 2004 the Balì Museum, Planetarium and interactive science museum, was opened to the public in Italy: 35 hands-on exhibits designed according to the interactive tradition of the Exploratorium in San Francisco, an astronomic observatory for educational activities, a Planetarium with 70 places. With a total investment of about three million euros, about two thirds of which were spent on restructuring the splendid eighteenth-century villa in which it is housed, the undertaking may be considered a small one in comparison with other European science centres. Three million euros: perhaps enough to cover the cost of only the splendid circular access ramp to the brand-new Cosmocaixa in Barcelona, an investment of one hundred million euros. But the interesting aspect of the story of the Balì Museum (but also of other Italian stories, as we shall see lies in the fact that this lively and advanced science centre stands in the bucolic region of the Marches, next to a small town of only 800 inhabitants (Saltara, in the Province of Pesaro and Urbino, in a municipal territory that has a total of 5000. Whereas in Italy the projects for science centres comparable with the Catalan one, for example projects for Rome and Turin, never get off the ground, smaller ones are opening in small and medium-sized towns: why is this? And what does the unusual location of the centres entail for science communication in Italy? This Focus does not claim to tell the whole truth about Italian interactive museums, but it does offer some phenomenological cues to open a debate on the cultural, economic and political premises that favour their lives.

  8. User-Centred Design Using Gamestorming.

    Science.gov (United States)

    Currie, Leanne

    2016-01-01

    User-centered design (UX) is becoming a standard in software engineering and has tremendous potential in healthcare. The purpose of this tutorial will be to demonstrate and provide participants with practice in user-centred design methods that involve 'Gamestorming', a form of brainstorming where 'the rules of life are temporarily suspended'. Participants will learn and apply gamestorming methods including persona development via empathy mapping and methods to translate artefacts derived from participatory design sessions into functional and design requirements.

  9. CMS Centres Worldwide - a New Collaborative Infrastructure

    CERN Document Server

    Taylor, Lucas

    2011-01-01

    Webcasts, and generic Web tools such as CMS-TV for broadcasting live monitoring and outreach information. Being Web-based and experiment-independent, these systems could easily be extended to other organizations. We describe the experiences of using CMS Centres Worldwide in the CMS data-taking operations as well as for major media events with several hundred TV channels, radio stations, and many more press journalists simultaneously around the world.

  10. Enhancing Safety at Airline Operations Control Centre

    Directory of Open Access Journals (Sweden)

    Lukáš Řasa

    2015-04-01

    Full Text Available In recent years a new term of Safety Management System (SMS has been introduced into aviation legislation. This system is being adopted by airline operators. One of the groundbased actors of everyday operations is Operations Control Centre (OCC. The goal of this article has been to identify and assess risks and dangers which occur at OCC and create a template for OCC implementation into SMS.

  11. Training science centre Explainers. The Techniquest experience

    Directory of Open Access Journals (Sweden)

    Colin Johnson

    2005-12-01

    Full Text Available Techniquest was established in 1986, and in 1995 moved to its current premises at Cardiff Bay, South Wales. This was the first purpose-built science centre in the UK. It receives around 200,000 visitors every year to its exhibition, and to its programmes for schools and public audiences in the theatre, laboratory, discovery room and planetarium. The author joined the Techniquest project in 1985, became a staff member in 1990 and was the Chief Executive from 1997 until his retirement in 2004. Techniquest has three “out-stations” in Wales, and is responsible for the supply and maintenance of exhibits to the Look Out Discovery Centre in Bracknell, England. There is a Techniquest gallery at the Lisbon Pavilhão do Conhecimento - Ciência Viva, and a traveling exhibition, SciQuest, in South Africa which was also supplied by Techniquest. All these centres rely on the effective intervention of “Explainers” (at Techniquest we call them “Helpers” to provide the best possible experience for visitors. At its most demanding, the tasks of an Explainer are varied and intensive, yet there may be times when the duties are mundane or even dull. When you rely on people to act as both hosts and housekeepers, to provide both support and stimulus, and to be both welcoming and watchful, you are asking a great deal. This article raises some of the issues concerned with the recruitment and retention of Explainers, their training and management, and the way in which their role is recognized and valued by the science centre as a whole.

  12. Bismuth centred magnetic perovskite: A projected multiferroic

    Energy Technology Data Exchange (ETDEWEB)

    Kundu, Asish K., E-mail: asish.k@gmail.com [Discipline of Physics, Indian Institute of Information Technology, Design and Manufacturing, Dumna Airport Road, Jabalpur 482005 (India); Seikh, Md. Motin [Department of Chemistry, Visva-Bharati University, Santiniketan, West Bengal 731235 (India); Nautiyal, Pranjal [Discipline of Mechanical Engineering, Indian Institute of Information Technology, Design and Manufacturing, Dumna Airport Road, Jabalpur 482005 (India)

    2015-03-15

    In recent time substantial attention has been initiated to understand the physics behind multiferroism and to design new multiferroic materials. BiMnO{sub 3} and BiFeO{sub 3} are the well-studied Bi-centred multiferroic oxides. BiMnO{sub 3} is a ferromagnetic–ferroelectric (metastable) phase and require drastic conditions to synthesize. However, lanthanum substituted BiMnO{sub 3} phases stabilized at ambient pressure. It is thus of major importance to increase the number of ferromagnetic perovskites with Bi cations that could be designed under ambient conditions. In this article, we have presented an up to date report of investigations on Bi-centred magnetic perovskites, a prospective material for multiferroic application. Central focus is concentrated on La{sub 0.5}Bi{sub 0.5}MnO{sub 3} perovskite with various substitutions at different levels. A few of these perovskites are found to be of practical importance e.g. La{sub 0.5}Bi{sub 0.5}Mn{sub 0.67}Co{sub 0.33}O{sub 3} with high dielectric permittivity coupled with ferromagnetism. A comprehensive analysis of different physical functionalities and their interrelation for a wide range of compositions of these Bi-centred perovskites is presented. It has been found that the complex magnetic behaviour originates from mixed valence metal ions. The ferroelectricity is associated with the 6s{sup 2} lone pair of Bi{sup 3+} cations. The magnetic ground state influences the dielectric properties reflecting the multiferroism in a single material. - Highlights: • Multiferroics have attracted increasing attention due to their possible device applications. • Bismuth centred magnetic perovskite is one kind of such promising multiferroic materials. • Ferromagnetic Bi-perovskites, which are synthesized at ambient conditions, have been discussed.

  13. Upcoming opening of CERN's new Mobility Centre

    CERN Multimedia

    2016-01-01

    On 29 February, CERN’s brand new Mobility Centre opened in the Globe car park. The Centre has been created to cater to the transport needs of everyone at CERN, to simplify procedures and to centralise all the transport services on offer: the rental of CERN bikes and cars, the CERN car-sharing scheme and SIXT car rental.   From 29 February onwards, the Mobility Centre in the Globe car park will be the place to go for all your duty travel needs: rental of CERN cars (with or without the CERN logo), SIXT car rental, CERN bike rental, distribution of cards allowing the use of CERN’s self-service bike- and car-sharing schemes. That same day, the premises currently housing the Car Pool in Building 130 will become the CERN garage, responsible for: upkeep and repairs on CERN bikes, minor maintenance work on CERN vehicles (e.g. replacing windscreen wipers, bulbs and fuses, refilling windscreen washer fluid, pumping up tyres, etc.), arranging and following up the repair and maintenan...

  14. Bismuth centred magnetic perovskite: A projected multiferroic

    Science.gov (United States)

    Kundu, Asish K.; Seikh, Md. Motin; Nautiyal, Pranjal

    2015-03-01

    In recent time substantial attention has been initiated to understand the physics behind multiferroism and to design new multiferroic materials. BiMnO3 and BiFeO3 are the well-studied Bi-centred multiferroic oxides. BiMnO3 is a ferromagnetic-ferroelectric (metastable) phase and require drastic conditions to synthesize. However, lanthanum substituted BiMnO3 phases stabilized at ambient pressure. It is thus of major importance to increase the number of ferromagnetic perovskites with Bi cations that could be designed under ambient conditions. In this article, we have presented an up to date report of investigations on Bi-centred magnetic perovskites, a prospective material for multiferroic application. Central focus is concentrated on La0.5Bi0.5MnO3 perovskite with various substitutions at different levels. A few of these perovskites are found to be of practical importance e.g. La0.5Bi0.5Mn0.67Co0.33O3 with high dielectric permittivity coupled with ferromagnetism. A comprehensive analysis of different physical functionalities and their interrelation for a wide range of compositions of these Bi-centred perovskites is presented. It has been found that the complex magnetic behaviour originates from mixed valence metal ions. The ferroelectricity is associated with the 6s2 lone pair of Bi3+ cations. The magnetic ground state influences the dielectric properties reflecting the multiferroism in a single material.

  15. Energy Efficiency Improvements Using DC in Data Centres

    OpenAIRE

    Bergqvist, Sofia

    2011-01-01

    The installed power usage in a data centre will often amount to several megawatts (MW). Thetotal power consumption of the data centres in the world is comparable to that of the airtraffic. The high energy costs and carbon dioxide emissions resulting from the operation of adata centre call for alternative, more efficient, solutions for the power supply design. Oneproposed solution to decrease the energy usage is to use a direct current power supply (DCUPS) for all the servers in the data centr...

  16. Investigation of Spring and Slamming Loads for River-Sea Ships by Model Test%江海直达船波激与砰击载荷的模型试验研究

    Institute of Scientific and Technical Information of China (English)

    耿彦超; 虞昊; 胡嘉骏; 顾学康; 司海龙; 陈小平

    2014-01-01

    Enormous changes of loading circumstances lead to severe wave springing, wave induced load and structure vibration, while river-sea ship enters into sea from upstream. On the other hand, due to the height limitations of bridges across inner river channels, river-sea ships have flatter shapes compared with sea ships, which leads to high vulnerabilities of bulbous head and bottom under slam-ming loads. Ship model tests in two classic loading conditions (ballast condition and load condition) are established and carried out with subsection model of river-sea ship. The main purpose of the test is to discover and forecast the Vertical Bending Moments (VBM), etc, wave induced loads and slam-ming vibrations of river-sea ships under regular wave and irregular wave conditions. Results suggest that, under several particular conditions, river-sea ship is suffering from tremendous wave induced loads and slamming loads.%江海直达换代船型研究中,船舶由江入海,环境载荷变化较大,波浪砰击、波激载荷及船舶振动较为严重,另外,由于内河航道桥梁的限制,江海直达船船型较海船更为扁平,球艏及底部更易受到砰击载荷作用。经分析后确定采取分段船模的方法开展江海直达船在典型装载(满载和压载)工况下的模型试验研究,在规则和不规则波极限工况下进行船体梁的垂向弯曲特性与波激、砰击振动响应预报研究。可知在某些工况下江海直达船的波激、砰击响应较大。

  17. Application of FastSLAM based on simulated annealing variance reduction in navigation and localization of AUV%模拟退火方差缩减的FastSLAM算法在AUV导航定位中的应用

    Institute of Scientific and Technical Information of China (English)

    王宏健; 王晶; 曲丽萍; 刘振业

    2013-01-01

    The FastSLAM algorithm based on variance reduction of particle weight was presented in order to solve the decrease of estimated accuracy of AUV ( autonomous underwater vehicle) , location due to particles degeneracy and the sample impoverishment as a result of resampling in standard FastSLAM. The variance of particle weight was decreased by generating an adaptive exponential fading factor, which came from the thought of cooling function in simulated annealing. The effective particle number was increased by application of FastSLAM based on simulated annealing variance reduction in navigation and localization of AUV. Resampling in standard FastSLAM was replaced with it. Establish the kinematic model of AUV, feature model and measurement models of sensors, and make feature extraction with Hough transform. The experiment of AUV's simultaneous localization and mapping u-sing simulated annealing variance reduction FastSLAM was based on trial data. The results indicate that the method described in this paper maintains the diversity of the particles, however, weakens the degeneracy, while at the same time enhances the accuracy stability of AUV's navigation and localization system.%由于标准FastSLAM中存在粒子退化及重采样引起的粒子贫化,导致自主水下航行器(AUV)位置估计精度严重下降的问题,提出了一种基于粒子权值方差缩减的FastSLAM算法.利用模拟退火的降温函数产生自适应指数渐消因子来降低粒子权值的方差,进而增加有效粒子数,以此取代标准FastSLAM中的重采样步骤.建立AUV的运动学模型、特征模型及传感器的测量模型,通过霍夫变换进行特征提取.利用方差缩减FastSLAM算法,基于海试数据进行了AUV同步定位与构图仿真试验,结果表明所提方法能够保证粒子的多样性,并且降低粒子的退化程度,提高了AUV定位与地图构建系统的准确性及稳定性.

  18. 基于空间域划分的分布式 SLAM 算法%Distributed simultaneous localization and mapping algorithm based on partition of space-region

    Institute of Scientific and Technical Information of China (English)

    裴福俊; 程雨航; 李昊洋; 居鹤华

    2015-01-01

    To solve the problem of the simultaneous localization and mapping (SLAM)under the complex circumstance,a distributed algorithm of the SLAM based on partition of space-region is proposed considering the respective advantages of centralized configuration and distributed structure.The region is formed according to the angle between two landmarks and the robot,which is designed in case of the collinearity between two landmarks.The landmarks in each region are combined to establish the corresponding observation model.Be-sides,the position of the robot is obtained by applying the distributed unscented particle filter and the positions of the landmarks are estimated simultaneously by employing the Kalman filter.Meanwhile,the accuracy and the stability are improved through constructing the adjustment of particle distribution during the dynamic recon-figuration process.Eventually,the better real-time capability and filter accuracy of the proposed SLAM algo-rithm are proved through simulation experiments which are supported by actual data.%针对同步定位与地图构建(simultaneous localization and mapping,SLAM)中状态量高维时变的问题,本文通过综合集中式和分布式实现结构的各自优势,提出了一种基于空间域划分的分布式 SLAM 算法。该算法依据两个路标点与机器人连线之间的夹角,将整个空间域中的路标点进行区域划分,保证每个子空间域内含有两个不共线的路标点,并将每个空间域内的路标点组合构建观测模型,采用分布式无味粒子滤波器进行机器人位姿的估计,而采用联邦 Kalman 滤波完成对路标点的估计,并通过设计各子滤波器中粒子分布的调整方式改善了系统在动态重构过程的精度和稳定性。最后,通过实际数据的仿真试验证明所提算法具有更好的实时性和滤波精度。

  19. Optimal catchment area and primary PCI centre volume revisited

    DEFF Research Database (Denmark)

    Schoos, Mikkel Malby; Pedersen, Frants; Holmvang, Lene;

    2015-01-01

    AIMS: The currently stated optimal catchment population for a pPCI centre is 300,000-1,100,000, resulting in 200-800 procedures/year. pPCI centres are increasing in number even within small geographic areas. We describe the organisation and quality of care after merging two high-volume centres...

  20. Tele-centres as a way of achieving universal access

    DEFF Research Database (Denmark)

    Falch, Morten; Anyimadu, Amos

    2003-01-01

    The success of tele-centres in Ghana is discussed. The tele-centres offer a low cost opportunity to empower local communities in developed and developing countries to meet the challenges of the information society. The tele-centres can also contribute more directly to the supply of non-commercial...

  1. Anexploration on visionbased SLAM and navigation method combining range finder%基于视觉和距离传感器的SLAM和导航方法的探新

    Institute of Scientific and Technical Information of China (English)

    花罡辰

    2015-01-01

    Simultaneous Localization and Mapping(SLAM) is widely used for generation of maps for autonomous robotic navigation etc.SLAM based on visual features is a kind of low cost solution. Besides, SLAM based on visual features have plenty information for matching and recognition.But appearance of actual world is always dynamic. Many kinds of vision-based SLAM method are not robust to influence of unstable objects such as walking humans in cafeterias or shopping malls.ICGM(Incremental Center of Gravity Matching) is method which extracts static visual features from images sequence based on feature points geometric structure. SLAMs based on ICGM can exclude bad influences of dynamic objects. This proposed method is using ICGM to extract static features and combines range finderinformation. Thus, the proposed method can achieve high accuracy robotic navigation in highly dynamic environment.We run our approach in a crowed cafeteria. The result shows that by using proposed method SLAM and navigation can be achievedfast enough for real-time processing. Comparing to previous, the proposed method's precision is higher. Proposed method is more suitable for actual needs.%SLAM(Simultaneous Localization and Mapping)被广泛应用于生成地图和机器人导航领域。基于视觉特征的SLAM是一种低成本的解决方案,且能够提取环境的丰富的特征点用于机器人导航,但是,现实世界的可视特征往往是动态的,很多基于视觉特征的SLAM方法都不能排除环境中移动物体的影响,比如:在餐厅或购物中心的行人等等。ICGM(Incremental Center of Gravity Matching)是一个通过图像队列之间特征点的几何结构互相匹配而得到稳定特征点的方法,基于ICGM的SLAM能有效地排除环境中移动物体的影响。本研究在前人研究的基础上提出了一种新的算法,利用ICGM的方法提取环境稳定的视觉特征,结合Kinect距离传感器,在高度动态环境中实现了较

  2. Low energy use at Vaestervik sports centre

    Energy Technology Data Exchange (ETDEWEB)

    2009-05-15

    Vaestervik, in south Sweden, has saved both energy and money since modern energy efficiency equipment was installed in its swimming pool and bowling alley. Energy use in the sports centre has so far fallen by around 830 MWh/year, and operating costs have been reduced by efficient heat recovery. Energy efficiency at the Vaestervik sports centre is a good example of how a local authority can save energy and money by installing modern equipment for ventilation and heat recovery in a facility with high energy consumption. The well-used sports centre, including a swimming pool and bowling alley, is in central Vaestervik. In 1999 the Municipality received grants from the local investment programme (LIP) to improve the facility's energy efficiency. An efficient ventilation system with a dehumidifier and heat exchanger was installed at the swimming pool, reducing the need to introduce cold air. In addition the bowling alley, which did not have heat recovery, was given a modern heat-recovery plant. - Lower operating costs due to efficient heat recovery. - Reduced energy use (electricity and district heating) for the plant at around 830 MWh/year. The modern and highly efficient units for heat recovery, dehumidification and heat exchange result in lower operating costs and reduced energy use, which means that the Municipality of Vaestervik saves energy and money. Installation at the swimming pool resulted in slightly higher air humidity, but a relative humidity of 60% is common in swimming pools and difficult to reduce without inconveniencing bathers. A new fan room installed in the roof contributed to higher than anticipated costs, but the financial and economic gains outweigh these. New frequency-controlled circulation pumps for the pool water were installed in 2007. They are to have occupancy control capability, giving a further improvement of energy saving and heat recovery

  3. Biological Inspiration in Human Centred Robotics

    Institute of Scientific and Technical Information of China (English)

    HU Huo-sheng; LIU Jin-dong; Calderon Carlos A

    2004-01-01

    Human centred robotics (HCR) concerns with the development of various kinds of intelligent systems and robots that will be used in environments coexisting with humans. These systems and robots will be interactive and useful assistants/companions for people in different ages, situations, activities and environments in order to improve the quality of life. This paper presents the autors' current research work toward the development of advanced theory and technologies for HCR applications, based on inspiration from biological systems. More specifically, both bio-mimetic system modelling and robot learning by imitation are discussed respectively, and some preliminary results are demonstrated.

  4. Dynamics of B cells in germinal centres.

    Science.gov (United States)

    De Silva, Nilushi S; Klein, Ulf

    2015-03-01

    Humoral immunity depends on the germinal centre (GC) reaction during which somatically mutated high-affinity memory B cells and plasma cells are generated. Recent studies have uncovered crucial cues that are required for the formation and the maintenance of GCs and for the selection of high-affinity antibody mutants. In addition, it is now clear that these events are promoted by the dynamic movements of cells within and between GCs. These findings have resolved the complexities of the GC reaction in greater detail than ever before. This Review focuses on these recent advances and discusses their implications for the establishment of humoral immunity.

  5. The INTEGRAL science data centre (ISDC)

    DEFF Research Database (Denmark)

    Courvoisier, T.J.L.; Walter, Rasmus; Beckmann, V.;

    2003-01-01

    The INTEGRAL Science Data Centre (ISDC) provides the INTEGRAL data and means to analyse them to the scientific community. The ISDC runs a gamma ray burst alert system that provides the position of gamma ray bursts on the sky within seconds to the community. It operates a quick-look analysis...... of the data within few hours that detects new and unexpected sources as well as it monitors the instruments. The ISDC processes the data through a standard analysis the results of which are provided to the observers together with their data....

  6. WISB: Warwick Integrative Synthetic Biology Centre.

    Science.gov (United States)

    McCarthy, John

    2016-06-15

    Synthetic biology promises to create high-impact solutions to challenges in the areas of biotechnology, human/animal health, the environment, energy, materials and food security. Equally, synthetic biologists create tools and strategies that have the potential to help us answer important fundamental questions in biology. Warwick Integrative Synthetic Biology (WISB) pursues both of these mutually complementary 'build to apply' and 'build to understand' approaches. This is reflected in our research structure, in which a core theme on predictive biosystems engineering develops underpinning understanding as well as next-generation experimental/theoretical tools, and these are then incorporated into three applied themes in which we engineer biosynthetic pathways, microbial communities and microbial effector systems in plants. WISB takes a comprehensive approach to training, education and outreach. For example, WISB is a partner in the EPSRC/BBSRC-funded U.K. Doctoral Training Centre in synthetic biology, we have developed a new undergraduate module in the subject, and we have established five WISB Research Career Development Fellowships to support young group leaders. Research in Ethical, Legal and Societal Aspects (ELSA) of synthetic biology is embedded in our centre activities. WISB has been highly proactive in building an international research and training network that includes partners in Barcelona, Boston, Copenhagen, Madrid, Marburg, São Paulo, Tartu and Valencia.

  7. CMS tracker slides into centre stage

    CERN Multimedia

    2006-01-01

    As preparations for the magnet test and cosmic challenge get underway, a prototype tracker has been carefully inserted into the centre of CMS. The tracker, in its special platform, is slowly inserted into the centre of CMS. The CMS prototype tracker to be used for the magnet test and cosmic challenge coming up this summer has the same dimensions -2.5 m in diameter and 6 m in length- as the real one and tooling exactly like it. However, the support tube is only about 1% equipped, with 2 m2 of silicon detectors installed out of the total 200 m2. This is already more than any LEP experiment ever used and indicates the great care needed to be taken by engineers and technicians as these fragile detectors were installed and transported to Point 5. Sixteen thousand silicon detectors with a total of about 10 million strips will make up the full tracker. So far, 140 modules with about 100 000 strips have been implanted into the prototype tracker. These silicon strips will provide precision tracking for cosmic muon...

  8. ALICE opens its new nerve centre

    CERN Multimedia

    Antonella Del Rosso

    2014-01-01

    Twenty-nine fully equipped and ergonomic workstations, one meeting area and 11 large format screens in a completely refurbished room: the ALICE Run Control Centre (ARC) implements the best and newest solutions for its shift workers and expert operators, including access for persons with reduced mobility and very soon a magic window for Point 2 visitors.   The ALICE Run Control Centre. “Our initial intention was just to optimise the old layout,” says Federico Ronchetti from Laboratori Nazionali di Frascati (Italy), a CERN scientific associate currently appointed as ALICE Run Coordinator and person in charge of the ALICE Consolidation Task Force. “However, during the review process, we carried out a study of all the existing control rooms at CERN and became aware we needed a radical change. Hence we started planning a complete redesign of the workspace.” Designed and equipped over many years, the old ALICE control room did not have enough space to fit al...

  9. KNMI Data Centre: Easy access for all

    Science.gov (United States)

    van de Vegte, John; Som de Cerff, Wim; Plieger, Maarten; de Vreede, Ernst; Sluiter, Raymond; Willem Noteboom, Jan; van der Neut, Ian; Verhoef, Hans; van Versendaal, Robert; van Binnendijk, Martin; Kalle, Henk; Knopper, Arthur; Spit, Jasper; Mastop, Joeri; Klos, Olaf; Calis, Gijs; Ha, Siu-Siu; van Moosel, Wim; Klein Ikkink, Henk-Jan; Tosun, Tuncay

    2013-04-01

    KNMI is the Dutch institute for weather, climate research and seismology. It disseminates weather information to the public at large, the government, aviation and the shipping industry in the interest of safety, the economy and a sustainable environment. To gain insight into long-term developments KNMI conducts research on climate change. Making the knowledge, data and information on hand at KNMI accessible is one core activity. A huge part of the KNMI information is from numerical models, insitu sensor networks and remote sensing satellites. This digital collection is mostly internal only available and is a collection of non searchable , non standardized file formats, lacking documentation and has no references to scientific publications. With the KNMI Data Centre (KDC) project these issues are tackled. In the project a user driven development approach with SCRUM was chosen to get maximum user involvement in a relative short development timeframe. Building on open standards and proven open source technology (which includes in-house developed software like ADAGUC WMS and Portal) resulted in a first release in December 2012 This presentation will focus on the aspects of KDC relating to its technical challenges, the development strategy and the initial usage results of the data centre.

  10. 基于SLAM算法的AUV自主导航仿真研究%Simulation Research of AUV Autonomous Navigation Based on SLAM Algorithm

    Institute of Scientific and Technical Information of China (English)

    赵辉; 杜航原; 张虎

    2015-01-01

    自主导航的实现对于自主式水下航行器(Autonomous Underwater Vehicle,AUV)的应用和发展具有重要意义,本文将同步定位与地图创建(simultaneous localization and mapping,SLAM)方法用于解决AUV在作业过程中的自身定位及环境地图构建问题,在扩展卡尔曼滤波(extended Kalman filtering,EKF)框架下实现了AUV自身位姿及环境特征状态的同时估计.在仿真实验中使用航位推算法进行对比,仿真结果表明,基于SLAM的导航算法能有效抑制AUV位姿估计的误差累计,其精度相比航位推算法显著提高,同时能够生成外部环境的可靠描述,为AUV自主导航开辟了新的研究方向.

  11. 基于SLAM的水下导航算法及仿真分析%Underwater navigation algorithm based on SLAM and its simulation analysis

    Institute of Scientific and Technical Information of China (English)

    孙枫; 王文晶; 刘付强; 朱怡

    2008-01-01

    起源于移动机器人定位的同步构网定位(simultaneous localization and mapping,SLAM)算法可以克服基于先验图的水下导航算法的不足,实现水下载体的自主导航.本文给出了基于SLAM算法的水下导航算法的系统构建和执行过程,建立了状态方程和观测方程,讨论了新特征加入的问题.并利用模拟数据进行了仿真.仿真结果表明,无论是采用航渡还是区域探索航行方式,该导航算法的定位精度均高于单纯推位方法,具有广阔的应用前景.

  12. Children's Centre "3 in 1 - together"

    Science.gov (United States)

    Gancheva, Hristina

    2013-04-01

    "There are only two ways to life your live. One is as though nothing is a miracle. The other is as though everything is a miracle." Albert Einstein Children's Centre "3 in 1" is an extracurricular unit linked to the High School of Zlatartitsa, St. Cyril and St. Methodius, accomplished with the help of the municipality and many volunteers from the local community. With its activity it forms in children patriotic spirit, love for nature, active citizenship, and an impulse for a healthy life through communication with nature, saving the traditions and history, insurance of equality of the kids of the local five ethnicities and participation in activities in the sphere of science, art, sport and tourism. The educational work is mainly directed towards kids with difficulties with communication, hyperactivity, aggression, problems in their families, or those deprived of parental care. For a few years in the Children's Centre there have been clubs of interests: "Gardeners" - kids cultivate a garden. They plow, dig, plant, put in, irrigate and weed under the watch of Ms Stafka Nikolova, parents, and volunteers of the local community. The ecologically clean products - vegetables and fruits, kids use to cook delicious meals, sell, or give away. Weeds are also utilized; they are making herbarium out of them. "Cooks" - "What to have for lunch, when mom is out?". One can learn a lot of wonderful recipes from the club "Cooks". Products are own made, raised with love. In 2010, on the on the annual traditional holiday of the garden soup in Zlataritsa, the little cooks won third prize for making a delicious vegetable soup. On the same day, the 26 years old Nadezhda Savova, Cultural and Social Anthropology PhD in Princeton, founded the second community bakery in Bulgaria in Children's Centre "3 in1". Nadezhda Savova was declared traveler of 2012 by National Geographic. After the baking house in Gabrovo and Zlataritsa, Nadezhda also founded such projects in Sofia, Varna and Ruse

  13. Data communication at the CERN computer centre

    CERN Document Server

    Bruins, T; Pieters, R; Slettenhaar, Hendrik J; Van de Kerk, P

    1972-01-01

    The growing interest for on-line computer service and process control at CERN decentralises certain computer activities. Small process computers, remote batch stations and user terminals are to be backed by a powerful central computer. The present data network is principally star shaped. At the centre of it is a CDC 6600-6500 computer combination. It has a front end CDC 3100 computer with a Hewlett Packard 2116 as multiplexer. Some details about the fast parallel connections between the CDC 3100 and the HP 2116B are given in the paper, as well as descriptions of some computer simulation techniques used to test the present systems. Finally some plans on a future network are given. (12 refs).

  14. Learner-Centred Education in International Perspective

    Directory of Open Access Journals (Sweden)

    Michele Schweisfurth

    2013-04-01

    Full Text Available Abstract: This article provides an overview of Learner-Centred ducation (LCE as a travelling policy and outlines some of the arguments and pathways that have been used to fuel its travel. Despite the rich promises it offers and its proliferation as a global phenomenon and national policy, there is evidence that implementation and changes to classroom practice have proved to be problematic in many contexts. This seems particularly true in developing countries, and the article explores some of the reasons behind these perennial gaps. It concludes by arguing for the importance of both a birds-eye view and local understandings in researching and operationalising LCE, and suggests ways that the local and the global might be reconciled so that the promise of LCE is not lost in translation.

  15. MATERNAL MORTALITY IN A TERTIARY CARE CENTRE

    Directory of Open Access Journals (Sweden)

    Harpreet

    2013-06-01

    Full Text Available ABSTRACT: Maternal Mortality in A Tertiary Care Centre. OBJECTIVE: To study maternal mortality and the complications leading to maternal death. METHODS: A retrospective study of hospital record to study maternal mortality and its causes over 3 years from January 2010 to December 2012. RESULTS: There were a total of 58 maternal deaths out of 2823 live births giving a maternal mortality ratio of 2054.55 per one lakh live births. Unbooked and late referrals account for 77.58% of maternal deaths. The majority of deaths around 75.86% were in 20-30 years age group. Haemorrhage was the commonest causes of death (24.12% followed by sepsis (18.96% and pregnancy induced hypertension 15.51% Anemia contributed to the most common indirect cause of maternal morality. CONCLUSION: Haemorrhage, sepsis and pregnancy induced hypertension including eclampsia were the direct major causes of death. Anaemia and cardiac diseases were other indirect causes of death.

  16. Stimulated emission from NV centres in diamond

    CERN Document Server

    Jeske, Jan; McGuinness, Liam P; Reineck, Philip; Johnson, Brett C; McCallum, Jeffrey C; Jelezko, Fedor; Volz, Thomas; Cole, Jared H; Gibson, Brant C; Greentree, Andrew D

    2016-01-01

    Stimulated emission is the process fundamental to laser operation, thereby producing coherent photon output. Despite negatively-charged nitrogen-vacancy (NV$^-$) centres being discussed as a potential laser medium since the 1980's, there have been no definitive observations of stimulated emission from ensembles of NV$^-$ to date. Reasons for this lack of demonstration include the short excited state lifetime and the occurrence of photo-ionisation to the neutral charge state by light around the zero-phonon line. Here we show both theoretical and experimental evidence for stimulated emission from NV$^-$ states using light in the phonon-sidebands. Our system uses a continuous wave pump laser at 532 nm and a pulsed stimulating laser that is swept across the phononic sidebands of the NV$^-$. Optimal stimulated emission is demonstrated in the vicinity of the three-phonon line at 700 nm. Furthermore, we show the transition from stimulated emission to photoionisation as the stimulating laser wavelength is reduced fro...

  17. Project for a renewable energy research centre

    Directory of Open Access Journals (Sweden)

    Andrea Giachetta

    2011-04-01

    Full Text Available In Liguria, where sustainable approaches to the design, construction and management of buildings enjoy scant currency, the idea of a company from Milan (FERA s.r.l. setting up a research centre for studies into renewable energy resources, could well open up very interesting development opportunities.The project includes: environmental rehabilitation (restoration projects; strategies for the protection of water resources and waste management systems; passive and active solar systems (solar thermal and experiments with thermodynamic solar energy; hyperinsulation systems, passive cooling of buildings; use of natural materials; bio-climatic use of vegetation. The author describes the project content within the context of the multidisciplinary work that has gone into it.

  18. Simulation of Structure Falling Slamming Process Affected by Air Cushion and Wind%空气垫与来风对结构物坠落砰击影响的仿真

    Institute of Scientific and Technical Information of China (English)

    朱良生; 于龙飞; 张善举; 李健华

    2015-01-01

    As the air cushion and the wind both greatly affect the falling process of marine structures from the sky into the water, this paper proposes an air-solid coupled mathematical model to describe the falling slamming process of 3D complex structures.In the investigation, the falling mechanism of structures is analyzed, the air damping and the 6DOF ( Degree of Freedom) motion characteristics are fully taken into consideration, and the three-dimension transient N-S equation, the turbulence dynamic equation, the energy equation and the rigid 6DOF kinematic equa-tion are comprehensively adopted.The proposed model is then applied to numerically simulate the falling slamming process of a structure from the air into the water, and the results are compared with those obtained by the physical model, finding that the proposed model is effective in simulating the falling slamming process.Moreover, from the simulated results obtained at different falling heights or in different wind blow environments, it is found that (1) the existence of air cushion changes not only the structure slamming speed but also the pressure distribution;( 2 ) the slamming may result in a temperature rise of the air cushion; and ( 3 ) the wind blow changes the falling pose of structures and makes the structures fall from the air with a “zigzag” pose and then slam into the water.%针对空气垫及来风对海洋结构物空中坠落入水过程产生重要影响的问题,在对结构物坠落机理进行分析的基础上,充分考虑结构物在空中坠落过程中所受到的空气阻尼及六自由度运动特点,结合流体三维瞬态N-S方程、湍流动力方程、能量方程和刚体6自由度运动方程,建立了三维复杂结构物空中坠落砰击入水的气-固耦合过程数学模型。对结构物坠落砰击入水的数值模拟结果与物模试验结果的比较表明,该数学模型能有效模拟空气中的坠落砰击过程。对不同高度以及来风时的

  19. Communications Centre Model in Insurance Business

    Directory of Open Access Journals (Sweden)

    Danijel Bara

    2013-07-01

    Full Text Available The aim of this paper is to define a communications centre model in an insurance company that essentially has two objectives. The first objective is focused on providing quality support with the sales process thereby creating a strategic advantage over the competition while the second objective is focused on improving the link between internal organizational units whose behaviour can often render decision-making at all levels difficult. The function of sales is fundamental for an insurance company. Whether an insurance company will fulfil its basic function, which is transfer of risk from the insured party to the insurer who agrees tonreimburse incidental damages to the damaged party and distribute them among all members of the risk group on the principles of reciprocity and solidarity, depends on successful sales and billing (Andrijašević & Petranović, 1999. For an insurance company to operate successfully in a demanding market, it is necessary to meet the needs of potential clients who then must be at the centre of all the activities of the insurer. A satisfied policy holder, who is respected by the insurer as a partner, is a guarantee that the sales of insurance services will be successful and that the insured party will come back to the same insurance company. In the era of globalization and all-pervading new technologies and modes of communication, policy holders need to be able to communicate with insurance company employees. Quality communication is a good foundation for a sales conversation. A fast flow of all types of information within an organisation using a single communication module makes decision-making at all levels quicker and easier.

  20. Collaborating at a distance: operations centres, tools, and trends

    Energy Technology Data Exchange (ETDEWEB)

    Gottschalk, Erik E.; /Fermilab

    2009-05-01

    Successful operation of the LHC and its experiments is crucial to the future of the worldwide high-energy physics program. Remote operations and monitoring centres have been established for the CMS experiment in several locations around the world. The development of remote centres began with the LHC{at}FNAL ROC and has evolved into a unified approach with distributed centres that are collectively referred to as 'CMS Centres Worldwide'. An overview of the development of remote centres for CMS will be presented, along with a synopsis of collaborative tools that are used in these centres today and trends in the development of remote operations capabilities for high-energy physics.

  1. VIA Ageing and Dementia, Research Centre, VIA University College, Denmark

    DEFF Research Database (Denmark)

    Munk, Karen Pallesgaard; Maibom, Kirsten

    2016-01-01

    New research environments are evolving in Denmark. Following a legislative change in 2013, the conditions for research in University Colleges have been improved. University Colleges (professionshøjskoler) includes the undergraduate-level educations such as nursing, occupational therapy and physio...... and physiotherapy and related research centres. The article describes such a research centre, namely VIA Ageing and Dementia, Research Centre, VIA University College, Denmark....

  2. 传感节点优化覆盖机器人SLAM算法模型及仿真%Model Simulation of Robot SLAM Algorithm Based on Optimal Coverage of Sensor Nodes

    Institute of Scientific and Technical Information of China (English)

    李丽丽; 宋志章

    2014-01-01

    An improved SLAM method based on the combination of partial filter SLAM algorithm and optimal coverage of sensor nodes method in this paper. The new method could overcome the weakness of traditional method, and it realized the optimal converge in the SLAM location information of robot, and it searched the optimal result based on the current informa-tion. On the basis of the searching result, the location searching optimal result was carried out again. This processing was taken again and again, and the accurate location information was got finally. The simulation result shows that the affect of the delay time in the SLAM experiment for the real robot is near to 0, and it shows perfect performance and stable location property in the application.%为准确有效实现对移动机器人的同时定位和环境创建,在标准粒子滤波SLAM算法的基础上,对其进行算法上的改进,提出基于传感节点优化覆盖的SLAM算法,新的算法克服标准粒子滤波SLAM算法在机器人位姿同时定位和环境地图创建上的不准的缺点,进行传感节点优化覆盖机器人SLAM定位信息节点高覆盖度构建,改进的粒子滤波SLAM算法实现对现有信息下搜索到理想结果,在这个理想结果的基础上再次进行局部寻优,得到另一个局部状态下的理想结果,如此循环往复,最终得到全局准确的机器人SLAM信息。仿真实验表明,在不同的运动速度下计算机器人SLAM同时定位的时延参数的影响几乎为0,显示了新算法优越的定位稳定性能。

  3. Crystalline roof glazing - Westside shopping centre, Berne; Kristalline Dachverglasungen

    Energy Technology Data Exchange (ETDEWEB)

    Enkerli, W.

    2009-07-01

    This illustrated article takes a look at the new shopping and leisure centre on the western outskirts of Berne, Switzerland. In particular, the roof of this unusual building over the motorway with its sloping walls and zig-zag design is looked at. The centre's shopping mall, adventure baths and spa, a multiplex cinema, an old peoples' home and a hotel are briefly discussed, as is the embedding of the centre in its suburban environment. The roof construction with its crystalline skylights is examined and discussed in detail. The centre's building technical services are also briefly commented on.

  4. RGBD-based Indoor Robot SLAM and Path Planning System%基于RGBD的机器人室内SLAM与路径规划系统

    Institute of Scientific and Technical Information of China (English)

    李卫成; 汪地; 宗殿栋; 姜海龙

    2016-01-01

    By use RGB-D sensor mounted on NAO robot,this paper captures sensor data for feature extraction and matching,then integrate the RGB and depth data and establish an environmental map.On the environment map,this paper uses the Path Search Algorithm of D* for the robot to plan its path.This paper constructs a simultaneous localization and mapping system (SLAM) for NAO robot in indoor environment,in the generated map,the NAO robot can plan its path and control its motion correctly.%移动机器人路径规划通常需要搭载多种传感器来建立环境模型和对自身进行定位,导致系统过于复杂。通过NAO机器人搭载的RGB-D传感器,在ROS环境下,对传感器数据进行特征提取和匹配,融合RGB和深度数据,建立环境地图并对机器人进行定位;在环境地图上,利用D*路径搜索算法,对机器人路径进行规划。实现了室内环境下移动机器人的同时定位与建图系统(SLAM),并在生成的环境地图中进行路径规划与控制。

  5. 多假设跟踪的移动机器人SLAM算法%SLAM algorithm based on multi-hypothesis tracking for mobile robots

    Institute of Scientific and Technical Information of China (English)

    杨敬辉; 杨晶东

    2013-01-01

      With respect to pose candidates, resulted from autonomous localization for mobile robots based on vision measurement, this paper proposed an approach to SLAM based on Multi-hypothesis tracking. The approach extracts SIFT features of image for vision measurement, modifies the accumulative odometric error, and acquires the optimal pose from pose candidates using Multi-hypothesis tracking algorithm. At the same time the occupancy map of the environment is built and updated according to the transformation of robot pose. The experiment shows the localization method can not only build the environment map in real-time, but also solve the robot “kidnapping”, and improve the accuracy of autonomous localization.%  针对基于视觉定位的移动机器人自主定位过程中容易产生多种候选位姿。提出一种基于多假设跟踪的同时定位和地图创建方法。该方法通过提取图像SIFT特征进行视觉量测,修正里程计累计误差,再利用多假设跟踪方法获得当前时刻的最优位姿,实时产生环境的栅格地图,并且随着机器人的位姿变化实时更新。研究结果表明:此算法不仅能够较好地创建环境地图,而且能够有效解决机器人“绑架”问题,提高自主定位精度。

  6. Demonstration of the vacuum drying technique on sludge from the paper and pulp industry; Demonstration av vakuumtorktekniken paa skogsindustriellt slam

    Energy Technology Data Exchange (ETDEWEB)

    Eklund, Anders [AaF-Energikonsult AB, Stockholm (Sweden)

    2003-10-01

    Previous studies have indicated that a cost effective drying of sludge from the paper and pulp mills can be done by the use of vacuum at a lower water temperature. The purpose was to erect a pilot plant and test different types of sludge. Therefore, advantages and problems with this method could be determined. This work has planned and erected a complete pilot plant for continuous drying of sludge and the pilot plant occupies a hard surface of 10x10 meters. A drum type dryer is in the centre of the pilot plant and it has been modified for lower pressures. Other vital components are: handling of vapours, vacuum pump, hot water generation and materials handling of the sludge, both in wet and dry condition. First, tests where carried out to verify theories and previous laboratory studies. These test successfully confirmed that difficult sludge types could effectively be dried at lower temperatures by the use of vacuum. Then, tests where carried out on 9 different sludges from 7 different mills. Average sample weight was about 170 kg or 250 litres. All sludge samples could successfully be dried but with different levels of complexity. For an easier comprehension of the handling and drying, the different sludges were organised into three classes: sludge with a clear resemblance of clay, sludge with a resemblance of mud or earth and finally, sludge with a majority of fibres. Fibre type sludges were easy to dry to a high degree of dryness. However, they also dusted easily and thus, fibres easily carried over into the condensate. Earth type sludge was in wet condition difficult to handle. The drying was more time consuming and the sludge formed small round balls during the drying. These balls slowed the drying process but they were eventually gradually reduced and a higher degree of drying could continue. Clay type sludges formed already in the handling round balls and during drying these balls formed a hard dry outer layer, which contained moisture inside the balls. By

  7. The Centres for Environment-friendly Energy Research (FME)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2011-07-01

    High expectations for Norway's Centres for Environment-friendly Energy Research (FME).The FME centres address a broad range of areas, allcentral to developing the energy sector of the future. The activities of the eight centres established in 2009 focus on renewable energy, raising energy efficiency, energy planning, and carbon capture and storage (CCS). In 2011 three new FME centres were established which focus on social science-related energy research. The FME scheme is a direct follow-up of the broad-based political agreement on climate policy achieved in the Storting in January 2008, and of the national RandD Energi21 strategy submitted in February 2008 to the Ministry of Petroleum and Energy. In April 2008 the Research Council of Norway's Executive Board decided to launch a process to establish centres for environment-friendly energy research, and a funding announcement was issued that same year. In 2010 it was decided that additional FME centres would be established in the field of social science-related energy research. After a thorough assessment of each project (based on feasibility, scientific merit, potential to generate value creation and innovation, and composition of the consortium) eight applicants were selected to become FME centres in February 2009. A new call for proposals was issued in 2010, and three more centres were awarded FME status in February 2011. The objective of the FME scheme is to establish time-limited research centres which conduct concentrated, focused and long-term research of high international calibre in order to solve specific challenges in the energy sphere. The selected centres must exhibit higher goals, a longer-term perspective and a more concentrated focus than is required under other funding instruments for the same scientific area. The make-up of the centres is critical to achieving this objective. The centres bring together Norway's leading research institutions and key players in private enterprise, the

  8. Mass Segregation in the Galactic Centre

    CERN Document Server

    Hopman, Clovis

    2010-01-01

    Two-body energy exchange between stars orbiting massive black holes (MBHs) leads to the formation of a power-law density distribution n(r)~r^(-a) that diverges towards the MBH. For a single mass population, a=7/4 and the flow of stars is much less than N(centre (GC) is t_r ~2-3 * 10^(10) yr, a cusp should form in less than a Hubble time. The absence of a visible cusp of old stars in the GC poses a challenge to these models, ...

  9. Detecting pulsars in the Galactic centre

    CERN Document Server

    Rajwade, Kaustubh; Anderson, Loren

    2016-01-01

    Although high-sensitivity surveys have revealed a number of highly dispersed pulsars in the inner Galaxy, none have so far been found in the Galactic centre (GC) region, which we define to be within a projected distance of 1~pc from Sgr~A*. This null result is surprising given that several independent lines of evidence predict a sizeable population of neutron stars in the region. Here, we present a detailed analysis of both the canonical and millisecond pulsar populations in the GC and consider free-free absorption and multi-path scattering to be the two main sources of flux mitigation. We demonstrate the sensitivity limits of previous surveys are not sufficient to detect GC pulsar population, and investigate the optimum observing frequency for future surveys. Depending on the degree of scattering and free-free absorption in the GC, current surveys constrain the size of the potentially observable population (i.e. those beaming towards us) to be up to 50 canonical pulsars and 1430 millisecond pulsars. We find ...

  10. The Galactic Centre in the Far Infrared

    CERN Document Server

    Etxaluze, M; Tolls, V; Stark, A A; Gonzalez-Alfonso, E

    2011-01-01

    We analyse the far infrared dust emission from the Galactic Centre region, including the Circumnuclear Disk (CND) and other structures, using Herschel PACS and SPIRE photometric observations. These Herschel data are complemented by unpublished observations by the Infrared Space Observatory Long Wavelength Spectrometer (ISO LWS), which used parallel mode scans to obtain photometric images of the region with a larger beam than Herschel but with a complementary wavelength coverage and more frequent sampling with ten detectors observing at ten different wavelengths in the range from 46 to 180 \\mum, where the emission peaks. We also include data from the MSX at 21.3 \\mum for completeness. We model the combined ISO LWS continuum plus Herschel PACS and SPIRE photometric data toward the central 2 pc in Sgr A*, a region that includes the CND. We find that the FIR spectral energy distribution is best represented by a continuum that is the sum of three greybody curves from dust at temperatures of 90, 44.5, and 23 K. We ...

  11. Rockshire Care Centre, Rockshire Road, Ferrybank, Waterford.

    LENUS (Irish Health Repository)

    Bushe, Chris J

    2008-01-01

    BACKGROUND: Weight gain is commonly observed during psychotropic treatments for chronic forms of severe mental illness and is most rapid during the early treatment phases. All formats of behavioural weight intervention programmes have suggested that weight gain can be prevented or reversed in some patients. There is no data on these programmes in acutely unwell inpatients whom may be the major beneficiaries. METHODS: A modular behavioural intervention programme (Solutions for Wellness) used in SMI outpatients since 2002 in Ireland has been adapted for inpatient use. Preliminary data is reported from 5 centres in Ireland. RESULTS: In 47 inpatients the mean weight change was +0.26 kg (SD 2.02) with a median change of 0 kg. Mean follow-up was 23.7 (SD 21.6) days, and median 14 days (range 6-98 days). There was no difference in mean weight change in those patients involved for > 35 days compared with < 35 days (+0.26 kg; 0.25 kg; p = 0.5). Weight loss or maintenance was seen in 70% of patients. CONCLUSION: These preliminary data are supportive of the concept that acutely unwell inpatients with SMI may engage with a behavioural weight programme. Weight change observed contrasts with the significant weight gain often seen in most subjects. Further clinical trials are warranted.

  12. The LHC Physics Centre at CERN

    CERN Multimedia

    CERN Bulletin

    2010-01-01

    As the LHC goes on line for its first exploration of the new high-energy frontier, CERN is also getting ready to enhance the support it provides for the analysis and interpretation of the emerging data.    The LHC Physics Centre at CERN (LPCC) has started up over the past couple of months, beginning with a series of initiatives ranging from Workshops to lectures for students. More details about the LPCC will be featured in a forthcoming Bulletin article. In the meantime, you can consult the LPCC web page, now available at http://cern.ch/lpcc. This offers the high energy physics community a portal to the LPCC's activities, as well as to useful resources, tools and information about the LHC physics programme, the progress of accelerator operations, relevant workshops and events around the world, and much more. The LPCC will shortly begin issuing a weekly bulletin of its own, distributed by e-mail. Members of the CERN physics community and subscribers to the CERN Bulletin will receive the ...

  13. The LHC Physics Centre at CERN

    CERN Multimedia

    CERN Bulletin

    2010-01-01

    Although raw physics data is produced at CERN, thanks to the GRID its analysis is performed in various institutes worldwide. In addition, workshops, conferences and meetings take place all over the world. The physicist community is decentralized, and CERN must continue to provide intellectual leadership. The LHC Physics Centre is the tool that will make this possible.   Until the early days of LEP, a large part of the scientific activity related to CERN’s experiments was strongly centered at the Laboratory. Few places had the infrastructure to host activities such as the working groups preparing the Yellow Reports, and the limited access to information in the pre-web era made CERN the natural place to learn what was happening in the field. “I remember the days when we, the theorists, would come to CERN just to read the most recent preprints, which were reaching CERN's Library before we could get them in our institutes”, says Michelangelo Mangano, a member of the Theo...

  14. The Charles Perkins Centre's Twins Research Node.

    Science.gov (United States)

    Ferreira, Lucas C; Craig, Jeffrey M; Hopper, John L; Carrick, Susan E

    2016-08-01

    Twins can help researchers disentangle the roles of genes from those of the environment on human traits, health, and diseases. To realize this potential, the Australian Twin Registry (ATR), University of Melbourne, and the Charles Perkins Centre (CPC), University of Sydney, established a collaboration to form the Twins Research Node, a highly interconnected research facility dedicated specifically to research involving twins. This collaboration aims to foster the adoption of twin designs as important tools for research in a range of health-related domains. The CPC hosted their Twins Research Node's launch seminar entitled 'Double the power of your research with twin studies', in which experienced twin researchers described how twin studies are supporting scientific discoveries and careers. The launch also featured twin pairs who have actively participated in research through the ATR. Researchers at the CPC were surveyed before the event to gauge their level of understanding and interest in utilizing twin research. This article describes the new Twins Research Node, discusses the survey's main results and reports on the launch seminar.

  15. Radio polarimetry of Galactic centre pulsars

    CERN Document Server

    Schnitzeler, D H F M; Ferrière, K; Kramer, M; Lee, K J; Noutsos, A; Shannon, R M

    2016-01-01

    To study the strength and structure of the magnetic field in the Galactic centre (GC) we measured Faraday rotation of the radio emission of pulsars which are seen towards the GC. Three of these pulsars have the largest rotation measures (RMs) observed in any Galactic object with the exception of Sgr A*. Their large dispersion measures, RMs and the large RM variation between these pulsars and other known objects in the GC implies that the pulsars lie in the GC and are not merely seen in projection towards the GC. The large RMs of these pulsars indicate large line-of-sight magnetic field components between ~ 16-33 microgauss; combined with recent model predictions for the strength of the magnetic field in the GC this implies that the large-scale magnetic field has a very small inclination angle with respect to the plane of the sky (~ 12 degrees). Foreground objects like the Radio Arc or possibly an ablated, ionized halo around the molecular cloud G0.11-0.11 could contribute to the large RMs of two of the pulsar...

  16. The Discharge Coefficient of a Centre-Pivot Roof Window

    DEFF Research Database (Denmark)

    Iqbal, Ahsan; Afshari, Alireza; Nielsen, Peter V.

    2012-01-01

    value of discharge coefficient is used. The constant value of discharge coefficient leads to deceptive airflow estimation in the cases of centre-pivot roof windows. The object of this paper is to study and evaluate the discharge coefficient of the centre pivot roof window. Focus is given...

  17. Importance of patient centred care for various patient groups.

    NARCIS (Netherlands)

    Rademakers, J.J.D.J.M.; Delnoij, D.M.J.; Boer, D. de

    2010-01-01

    Background: Though patient centred care is a somewhat ‘fuzzy’ concept, in general it is considered as something to strive for. However, preliminary evidence suggests that the importance of elements of patient-centred care (PCC), such as communication, information and shared decision making, may vary

  18. Opportunity Centred Learning: An Innovation in Enterprise Education?

    Science.gov (United States)

    Rae, David

    2003-01-01

    This paper describes an approach called opportunity centred learning that has been developed by the author and applied in the field of enterprise education. The relationship between opportunity centred learning and existing theory and practice in learning and education is outlined in comparison with problem-based learning and action learning, and…

  19. Low-Income Parents' Adult Interactions at Childcare Centres

    Science.gov (United States)

    Reid, Jeanne L.; Martin, Anne; Brooks-Gunn, Jeanne

    2017-01-01

    Little is known about the extent and nature of low-income parents' interactions with other parents and staff at childcare centres, despite the potential for these interactions to provide emotional, informational, and instrumental support. This study interviewed 51 parents at three childcare centres in low-income neighbourhoods in New York City.…

  20. Science Centres: A Resource for School and Community

    Science.gov (United States)

    Pilo, Miranda; Mantero, Alfonso; Marasco, Antonella

    2011-01-01

    We present a science centre established in Genoa on an agreement between Municipality of Genoa and Department of Physics of University of Genoa. The aim is to offer children, young people and community an opportunity to approach science in a playful way. The centre staffs guide the visitors through the exhibits, attracting their interests towards…

  1. The CERN Control Centre is up and running!

    CERN Multimedia

    Maximilien Brice

    2006-01-01

    The CERN Control Centre (CCC) that combines all the control rooms for the accelerators, the cryogenic system and the technical infrastructure came into operation on 1st February. On 1st February, at 2.00 p.m., Patrick Villeton Pachot started the first Technical Infrastructure shift at the brand new CERN Control Centre.

  2. The Hierarchy Model of the Size Distribution of Centres

    NARCIS (Netherlands)

    J. Tinbergen (Jan)

    1968-01-01

    textabstractWe know that human beings live in centres, that is, cities, towns and villages of different size. Both large and small centres have a number of advantages and disadvantages, different for different people and this is why we have a whole range of sizes. Statistically, we even find that th

  3. Stromal networking: cellular connections in the germinal centre.

    Science.gov (United States)

    Denton, Alice E; Linterman, Michelle A

    2017-03-17

    Secondary lymphoid organs are organized into distinct zones, governed by different types of mesenchymal stromal cells. These stromal cell subsets are critical for the generation of protective humoral immunity because they direct the migration of, and interaction between, multiple immune cell types to form the germinal centre. The germinal centre response generates long-lived antibody-secreting plasma cells and memory B cells which can provide long-term protection against re-infection. Stromal cell subsets mediate this response through control of immune cell trafficking, activation, localization and antigen access within the secondary lymphoid organ. Further, distinct populations of stromal cells underpin the delicate spatial organization of immune cells within the germinal centre. Because of this, the interactions between immune cells and stromal cells in secondary lymphoid organs are fundamental to the germinal centre response. Herein we review how this unique relationship leads to effective germinal centre responses.

  4. The "magic" of tutorial centres in Hong Kong: An analysis of media marketing and pedagogy in a tutorial centre

    Science.gov (United States)

    Koh, Aaron

    2014-12-01

    Why do more than three-quarters of Hong Kong's senior secondary students flock to tutorial centres like moths to light? What is the "magic" that is driving the popularity of the tutorial centre enterprise? Indeed, looking at the ongoing boom of tutorial centres in Hong Kong (there are almost 1,000 of them), it is difficult not to ask these questions. This paper examines the phenomenon of tutorial centres in Hong Kong and seeks to understand what draws students to these centres. Combining theories of marketing semiotics and emotion studies, the author investigates the pivotal role of media marketing in generating the "magic" of tutorial centres, whose advertising strategy includes, for example, a display of billboard posters featuring stylishly-dressed "celebrity teachers". The author reviews some of the literature available on the subject of tutorial centres. In a case study approach, he then maps out the pedagogy he observed in an English tutorial class, seeking heuristic insights into the kind of teaching students in the study were looking for. He argues that part of the "magical" attraction of what are essentially "cram schools" is their formulaic pedagogy of teaching and reinforcing exam skills. Finally, the paper considers the social implications of the tutorial centre industry in terms of media marketing of education and unequal access to tutorial services.

  5. Student-Centred and Teacher-Centred Learning Environment in Pre-Vocational Secondary Education: Psychological Needs, and Motivation

    Science.gov (United States)

    Smit, Karin; de Brabander, Cornelis J.; Martens, Rob L.

    2014-01-01

    In this study the perception of psychological needs and motivation in a student-centred and a teacher-centred learning environment are compared, using Self Determination Theory as a framework. The self-report Intrinsic Motivation Inventory was completed by 230 students (mean age 16.1 years) in pre-vocational secondary education. School records on…

  6. Hillary Clinton impressed by the Centre's work.

    Science.gov (United States)

    1995-01-01

    In April 1994, US First Lady Hillary Rodham Clinton, her daughter Chelsea, the Bangladesh Minister for Women and Children's Affairs, and the US Ambassador to Bangladesh visited the International Centre for Diarrhoeal Disease Research, Bangladesh (ICDDR,B). The First Lady remarked that ICDDR,B's research programs on health and family planning have many important lessons for the developing and developed regions alike. She noted the development successes in Bangladesh that can be applied in the US and other countries: the Grameen Bank, oral rehydration solution (ORS), and the community outreach programs for health and family planning services. The First Lady was especially interested in ORS and its cost-effectiveness. Most of the 220,000 children hospitalized each year in the US for severe gastrointestinal illness are treated with expensive intravenous (IV) drips (average cost = $2300), while a few ORS packets would be a small fraction of the cost. The average cost of treatment per patient at ICDDR,B was only $12. Patients receive care free of charge. Less than 0.6% of the patients die. The previous year, a USAID administrator asked ICDDR,B for its expertise in fighting cholera at the Rwandan refugee camps in Goma, Zaire. ICDDR,B staff developed diagnostic antisera for the new cholera strain responsible for the epidemic in the Americas, described its pathophysiology, and established its mode of transmission in surface waters. ICDDR,B also provides technical support to the national family planning and maternal and child health programs. In the Matlab, ICDDR,B's work has contributed to a high contraceptive prevalence rate of more than 64% among poor and largely illiterate persons.

  7. 基于特征地图的移动机器人EKF-SLAM和FastSLAM算法自主导航研究%The Autonomous Navigation Research of Mobile Robot EKF-SLAM and FastSLAM Algorithm Based on Feature Map

    Institute of Scientific and Technical Information of China (English)

    陶辉; 吴怀宇; 程磊; 杨升

    2010-01-01

    对移动机器人未知环境中自主导航和SLAM(即时定位与构图)问题进行讨论.设计了一种构建2D可视化路标特征地图的方案,该方案结合单目视觉传感器和里程计的鲁棒感知模型,建立包含世界坐标系下三维信息的路标数据库,并获得全局环境下特征地图;提出了一种基于Python平台分析移动机器人自主导航鲁棒性的方法,通过在Python平台下引入扩展模块NumPy、PyLab构建仿真平台,对不同噪声环境下EKF-SLAM(扩展卡尔曼滤波器)和FastSLAM算法的导航过程进行了研究.实验显示了构图方案和仿真平台的可行性.

  8. A designated centre for people with disabilities operated by St Aidan's Day Care Centre Ltd., Wexford

    LENUS (Irish Health Repository)

    Gibbons, C

    2015-02-01

    Ireland has seen a steady increase in paediatric sickle cell disease (SCD). In 2005, only 25% of children with SCD were referred to the haemoglobinopathy service in their first year. A non-funded screening programme was implemented. This review aimed to assess the impact screening has had. All children referred to the haemoglobinopathy service born in Ireland after 2005 were identified. Data was collected from the medical chart and laboratory system. Information was analysed using Microsoft Excel. 77 children with SCD were identified. The median age at antibiotic commencement in the screened group was 56 days compared with 447 days in the unscreened group, p = < 0.0003. 22 (28%) of infants were born in centre\\'s that do not screen and 17 (81%) were over 6 months old at referral, compared with 14 (21%) in the screened group. 6 (27%) of those in the unscreened group presented in acute crisis compared with 2 (3%) in the screened population. The point prevalence of SCD in Ireland is 0.2% in children under 15 yr of African and Asian descent. We identified delays in referral and treatment, which reflect the lack of government funded support and policy. We suggest all maternity units commence screening for newborns at risk of SCD. It is a cost effective intervention with a number needed to screen of just 4 to prevent a potentially fatal crisis.

  9. Role of logistics centres in national logistics system

    Directory of Open Access Journals (Sweden)

    2010-06-01

    Full Text Available This article presents a division of logistics centres according to various criteria and specifies their role in a national logistics system. It provides a classification of the main logistics network nodes. It also describes those features of logistics centres that have an impact on zoning development of towns and regions. The current situation in the national logistics system has been presented here against theoretical analyses and also a concept for the development of a logistics centre network in Poland has been formulated.

  10. Negotiating active ageing at a Danish activity centre

    DEFF Research Database (Denmark)

    Lassen, Aske Juul

    and practices active ageing. The paper uses an activity centre in Copenhagen as its site of negotiation. Methods: These questions have been explored with the use of ethnographic fieldwork and through a documentary study. The ethnographic fieldwork has been conducted at an activity centre with 4 months...... of participatory observation in 2011 and 2012, as well as 11 semi-structured, in-depth interviews with users of the centre. 4 of these users have been followed around during everyday activities such as doing groceries, picking up grandchildren, etc. The documentary study consists of documents and statements...

  11. The experience of work in a call centre environment

    Directory of Open Access Journals (Sweden)

    Sanet Hauptfleisch

    2006-02-01

    Full Text Available This qualitative research study explored the work experience in a call centre environment in an information technology call centre based in South Africa, which service foreign customers exclusively. Three data collection methods were used, namely narratives, in-depth interviews with call centre consultants, and observation. Following a grounded theory approach, four themes were elicited, namely the perceptions of team members, uncertainty created by a constantly changing environment, perceived distances due to management practices, and depersonalisation experienced while actually dealing with customers. In addition to this, the reported impact of these themes on work performance was explored and compared to existing research.

  12. CWTC business plan; Wind turbine component centre

    Energy Technology Data Exchange (ETDEWEB)

    Hjuler Jensen, P.; Hillestroem, A.; Markou, H.; Berring, P.; Friis, P.

    2011-04-15

    This report presents the Business Plan for the establishment of the Wind Turbine Component Centre (CWTC) to meet the objectives of performing theoretical research and experimental testing. The core idea of a CWTC is to support the Danish wind energy industry and research activities at the component level improving the competitive advantage of that industry. The CWTC will in itself operate its activities, including access to test and experimental facilities, on a semi commercial basis. The business model for the CWTC presented is based on revenues coming from component manufacturers as well as research grants, and will include membership fees as well as hourly payment and larger projects where payment is a limited project sum. The presented roadmap model clarifies the development path towards a fully developed CWTC, which will cover test of all important components along the drive-train as well as offering a comprehensive systematic understanding of the entire drive-train. The CWTC will over time market and sell its products and services on a global scale, but first and foremost the CWTC is established to support and strengthen the Danish wind energy industry and specifically the Danish sub suppliers to the Danish wind turbine industry and also the Danish research establishments. The presented organizational structure reflects that there are certain functions that are separated from the operations and it also reflects that scientific staffing are hired in on a project basis. Machine operators will be hired in on a permanent basis. The breakdown of the cost for running the rig, both for R and D and commercial projects is presented. The income from the other activities is calculated based on the cost for the research staff, both for R and D activities and commercial. In the first year the income will be 100% from R and D activities, which is the cost for the staff to set-up the test-rig, the guidelines and test procedures, and partly for running the rig. Within 3

  13. Upgrade Opportunities for Buildings in City Centres

    Directory of Open Access Journals (Sweden)

    Silva M.

    2012-10-01

    Full Text Available This proposal focus on the potential of the existing buildings upgrade process in achieving the 20-20-20 goals, as these are the biggest energy consumers, the most significant built area and the better placed buildings within our cities. These buildings frequently lack basic maintenance and need intervention, but include within themselves a vast amount of incorporated energy and centuries of construction knowledge. Beyond the advantages that may result from re-attracting people back into the city centre, upgrading these existing buildings can also have positive bounce-back effect on the reduction of the energy needs related to transportation, as demonstrated in studies that alert to the impact of the building sprawl in the total energy use. As “buildings account for 40 % of total energy consumption in the Union”, the better performance of this sector has a significant role, remembering that “these requirements shall take account of general indoor climate conditions, in order to avoid possible negative effects such as inadequate ventilation, as well as local conditions and the designated function and the age of the building” [1]. The importance of “upgrading” the existing buildings resides on the fact that new buildings represent only approximately 1 or 2% of the total usable area, an estimate that is bound to decrease due to the current construction crisis. While the recent buildings tend to be more efficient, the numerous existing buildings are important stakeholders due to their massive consumptions and incorporated energy. The ongoing Annex 56 on “Energy & Greenhouse Gas Optimized Building Renovation” assumes that “Current standards do not respond effectively to the numerous constraints imposed by existing buildings and in many cases, the requirements result in very expensive measures and complex procedures, seldom accepted by occupants, owners or developers. It is then urgent for the new standards to respond to these

  14. Visualization in a Climate Computing Centre

    Science.gov (United States)

    Meier-Fleischer, Karin; Röber, Niklas; Böttinger, Michael

    2014-05-01

    Today, the extensive numerical simulations of climate models require elaborate visualization for understanding and communicating the results. Typical data sets of climate models are 3-dimensional, multivariate and time dependent, and can hence be very large. Interactive visual data analysis improves and accelerates the comprehension of these vast amounts of data. At DKRZ, the German Climate Computing Centre, a central high end visualization server, various domain specific visualization applications, and a remote 3D rendering solution enable users to interactively visualize their extensive model results right at their desktops. The DKRZ's visualization server is a heterogeneous Linux cluster, currently consisting of 10 state of the art visualization nodes equipped with 96 -256 GB RAM and high end NVidia GPUs. Since the parallel file system of the DKRZ's supercomputer is directly mounted over a powerful network, the model data can directly be analyzed and visualized. VirtualGL and TurboVNC are used for utilizing the server's GPUs for 3D rendering, while the TurboVNC client on the user's local computer continuously displays the resulting video stream. By using this central visualization server instead of a local computer, three main benefits are achieved: Time consuming transfers of large data sets from the supercomputer to the local computer are not needed. The hardware of the user's local workstation doesn't need to be powerful, no expensive GPU is required. Users don't have to install or buy visualization software. On the visualization server, a wide range of visualization software is installed. Avizo Green, a powerful commercial software customized for interactive 3D visualization of climate model data, is available, as well as SimVis and ParaView, which focus more on an exploratory visualization of data. SimVis and ParaView provide techniques like Linking & Brushing to emphasize or de-emphasize portions of the data. Furthermore, some domain specific 2D graphics

  15. Target preparation at the ANTARES AMS Centre

    Energy Technology Data Exchange (ETDEWEB)

    Jacobsen, G.E.; Hua, Q.; Fink, D.; Hotchkis, M.A.C.; Lawson, E.M. [Australian Nuclear Science and Technology Organisation, Lucas Heights, NSW (Australia)

    1996-12-31

    The Antares Accelerator Mass Spectroscopy Centre at ANSTO has two chemistry labs dedicated to preparing targets for measurement. Target preparation encompasses a variety of activities ranging from the curation of incoming samples to the numerous steps involved in the purification and processing of dissimilar samples. One of the two laboratories is set up for the physical and chemical pretreatment of {sup 14}C samples. Treatments include cleaning by sonification, sorting, grinding and sieving, and chemical treatments such as the standard AAA treatment, and solvent extraction. Combustion and graphitization are also carried out in this laboratory. The second laboratory is a clean room and is dedicated to the combustion, hydrolysis and graphitization of {sup 14}C samples as well as the process of the targets for the other isotopes. Combustion is achieved by heating the sample to 900 deg C in the presence of CuO, the resulting gas is purified by passing over Ag and Cu wire at 600 deg C. Graphitization is carried out by reducing the CO{sub 2} with an iron catalyst (600 deg C) in the presence of zinc (400 deg C) and a small amount of hydrogen. Samples such as charcoal, shell bone, wood, sediment, seawater and groundwater, containing 0.3-1 mg or more of original carbon, are processed routinely for radiocarbon analysis. The current {sup 14}C chemistry background for 1 mg carbon is {approx} 0.3 percent of modern carbon (pMC) enabling us to date materials up to 45 000 BP. Samples of 0.5 - 3 mg carbon or more are routinely performed with a precision < 1% At present, procedures are being tested for the treatment of samples containing a minimum of 20 {mu}g original carbon. Such small samples sre more likely to be affected by contamination with modern carbon. These laboratories are also being expanded to cater for the processing of a variety of samples for the measurement of other isotopes, ie {sup 129}I, {sup 10}Be, {sup 36}CI and {sup 26}Al. Initial tests for the extraction of

  16. Protein-lipid interactions in the purple bacterial reaction centre.

    Science.gov (United States)

    Jones, Michael R; Fyfe, Paul K; Roszak, Aleksander W; Isaacs, Neil W; Cogdell, Richard J

    2002-10-11

    The purple bacterial reaction centre uses the energy of sunlight to power energy-requiring reactions such as the synthesis of ATP. During the last 20 years, a combination of X-ray crystallography, spectroscopy and mutagenesis has provided a detailed insight into the mechanism of light energy transduction in the bacterial reaction centre. In recent years, structural techniques including X-ray crystallography and neutron scattering have also been used to examine the environment of the reaction centre. This mini-review focuses on recent studies of the surface of the reaction centre, and briefly discusses the importance of the specific protein-lipid interactions that have been resolved for integral membrane proteins.

  17. Enantiomeric resolution of multiple chiral centres racemates by capillary electrophoresis.

    Science.gov (United States)

    Ali, Imran; Suhail, Mohd; Al-Othman, Zeid A; Alwarthan, Abdulrahman; Aboul-Enein, Hassan Y

    2016-05-01

    Enantiomeric resolution of multichiral centre racemates is an important area as some multichiral centre racemates are of great medicinal importance. However, enantioseparation of such types of racemates is a challenging task. Amongst many analytical techniques, capillary electrophoresis is a powerful technique and may be used to resolve such racemates. Only few papers are available describing enantiomeric resolution of such racemates. Therefore, efforts have been made to describe the enantiomeric resolution of multichiral centre racemates by capillary electrophoresis. This article discusses the importance of multichiral racemates, the need for capillary electrophoresis in enantiomeric resolution and chiral resolution of multichiral centre racemates using various chiral selectors. Further, attempts have been made to discuss the future challenges and prospects of enantiomeric resolution of multichiral racemates. The various chiral selectors used for the purpose are chiral crown ether, cyclodextrins, polysaccharides, macrocyclic glycopeptide antibiotics and ligand exchange.

  18. Centre National d'enseignement à distance (CNED

    Directory of Open Access Journals (Sweden)

    Stefania Manca

    1996-01-01

    Full Text Available Presentation of the Centre National d'Enseignement a Distance "(CNED in France, a public institution with the aim of providing and promoting distance learning, especially through the modern communication techniques.

  19. The Visual Advice Centre, Eindhoven, The Netherlands. An intervenient evaluation.

    Science.gov (United States)

    Neve, J J; Korten, W E; Jorritsma, F F; Kinds, G F; Legein, C P

    1992-01-01

    On referral by ophthalmologists, the Visual Advice Centre provides the partially sighted with advice and prescriptions for illumination and visual aids. In this paper the multidisciplinary structure of the centre is presented and the results obtained in the first 18 months of its existence are discussed. Two hundred and ninety-eight patients were referred to the centre in this period. The majority of these patients (79.2%) were older than 60 years. The main cause of visual impairment was macular disease (45.3% of the patients). An interesting finding is that, although reading is an important need, reading problems only constituted 35.9% of the total number of demands for help. From an inquiry into the situation of 125 patients 6 months after prescription, it appears that more than 90% of the aids prescribed are used regularly. The conclusion is drawn that patients referred to the Visual Advice Centre benefit from the multi-disciplinary approach to their problems.

  20. Nano-engineered pinning centres in YBCO superconducting films

    Science.gov (United States)

    Crisan, A.; Dang, V. S.; Mikheenko, P.

    2017-02-01

    For practical applications of superconducting materials in applied magnetic fields, artificial pinning centres in addition to natural ones are required to oppose the Lorentz force. These pinning centres are actually various types of defects in the superconductor matrix. The pinning centres can be categorised on their dimension (volume, surface or point) and on their character (normal cores or Δκ cores). Different samples have been produced by Pulsed Laser Deposition, with various thicknesses, temperatures and nanostructured additions to the superconducting matrix. They have been characterized by SQUID Magnetic Properties Measurement System and Physical Properties Measurement System, as well as by Transmission Electron Microscopy (TEM). Correlations between pinning architecture, TEM images, and critical currents at various fields and field orientations will be shown for a large number of YBa2Cu3Ox films with various types and architectures of artificial pinning centres.

  1. Dynamic analysis of house price diffusion across Asian financial centres

    OpenAIRE

    Nanda, Anupam; Yeh, Jia-Huey

    2012-01-01

    The aim of this paper is to explore effects of macroeconomic variables on house prices and also, the lead-lag relationships of real estate markets to examine house price diffusion across Asian financial centres. The analysis is based on the Global Vector Auto-Regression (GVAR) model estimated using quarterly data for six Asian financial centres (Hong Kong, Tokyo, Seoul, Singapore, Taipei and Bangkok) from 1991Q1 to 2011Q2. The empirical results indicate that the global economic conditions pla...

  2. Student centred teaching methods in a Chinese setting.

    Science.gov (United States)

    Clarke, Janice

    2010-01-01

    This paper offers a discussion about using Western, student centred teaching methods with Chinese student nurses. There is increasing interest from Chinese nurse educators in student centred learning and an increase in partnerships between Chinese and Western universities. This paper suggests that the assumption that Western teaching methods are superior is now questioned and transferring Western style teaching to China requires a high degree of cultural sensitivity.

  3. How to do a person-centred eye health consultation

    Directory of Open Access Journals (Sweden)

    Renée du Toit

    2015-09-01

    Full Text Available The care we give should focus on our patients – their needs, beliefs, and preferences – and not just on their disease. This is known as patient-centred care. We can take this idea further and talk about person-centred care, which reminds us that we should be concerned with the whole person – and their life – when they are outside of the clinic too, not just when they are in front of us.

  4. An approach for intelligent space aided home service robot SLAM%一种智能空间辅助的家庭服务机器人SLAM方法

    Institute of Scientific and Technical Information of China (English)

    孔令富; 吴培良; 杨学永

    2011-01-01

    在单机器人SLAM过程中,定位误差和建图误差随机器人运动距离增大而增大。为了有效降低SLAM误差,本文提出了一种智能空间辅助的家庭服务机器人SLAM方法。基于Rao-Blackwellized粒子滤波思想,机器人定位和建图问题被分解为两个独立环节,首先,联合机器人控制量和智能空间摄像机网络的观测值估计机器人位姿,给出了位姿粒子的采样提议分布和权值更新公式;然后,机器人利用自身位姿及对目标的观测来构建环境地图。仿真实验表明本方法有效提高了机器人的定位精度,进而得到了更加精确的环境地图。%During the process of single-robot SLAM, the localization error and mapping error increase with the robot movement distance. In this paper a novel intelligent space aided home service robot SLAM is presented. The SLAM is broken down into two separate sections on the basis of Rao-Blackwellized particle filtering theory. At first the pose of robot is estimated by combining the control variables from robot and observation values from camera network of intelligent space, and the proposal distribution for sampling robot pose particle and formula for updating particle weight are given. Then, the environmental map is built according to robot poses and its observations. The simulated experiments show that the proposed method could obviously improve the precision of robot localization, and get more accurate mapping result.

  5. 一种融合激光和深度视觉传感器的S LAM地图创建方法%Map-building approach based on laser and depth visual sensor fusion SLAM

    Institute of Scientific and Technical Information of China (English)

    张毅; 杜凡宇; 罗元; 熊艳

    2016-01-01

    When robots locate themselves in complex and uncertainty environments,the simultaneous localization and mapping (SLAM)system with a single sensor is poor in accuracy and reliability,and susceptible to the interference.This paper presen-ted a method of data fusion for laser and depth visual based on Bayesian estimation SLAM,which were interpreted by a probabi-listic heuristic model that abstracted the beam into a ray casting to an occupied grid cell and take full advantage of redundance, features information of consistency proposed and fusion.In order to update the occupancy grid,it applied the Bayesian estima-tion method to both sensor data arrays.Experiment based on ROS study shows that multi-sensor based on Beyesian yields a sig-nificant improvement between accuracy and robustness about SLAM.%针对移动机器人的不确定复杂环境,一般采用单一传感器进行同时定位和地图创建(SLAM)存在精度较低,并且易受干扰、可靠性不足等问题,提出一种基于Bayes方法的激光传感器和RGB-D传感器的信息融合SLAM方法。利用Bayes方法通过概率启发式模型提取光束投影到栅格地图单元,充分利用激光与视觉信息中的冗余信息,提取一致性特征信息,并进行特征级的信息融合;在地图更新阶段,提出一种融合激光传感器和视觉传感器的贝叶斯估计方法,对栅格地图进行更新。在使用ROS (移动机器人操作系统)的实验平台上的实验表明,多传感器信息融合可以有效提高SLAM的准确度和鲁棒性。

  6. Low-temperature pair associates of H centres in KBr

    Energy Technology Data Exchange (ETDEWEB)

    Akilbekov, A.; Elango, A.

    1984-04-01

    In the course of investigating the annealing of KBr crystals X-rayed at 4.2 K the creation of new pair associates of interstitial halogen atoms (di-H centres) with an absorption band at 3.85 eV is detected. The 3.85 centres arise only as a result of thermodestruction of the well-known di-H centres with an absorption band at 4.4 eV. The properties of these new centres are studied and the possible ways of halogen association in KBr are discussed. As a model for the 3.85 centres a model of (Br/sub 2//sup -/)/sub 2/ dimers is proposed, in which the optical transition differs from that in Br/sub 2//sup -/ ions both by size and direction. The range of KBr absorption spectra between Br/sub 2//sup -/ and Br/sub 3//sup -/ absorptions (3.6 to 4.4 eV) is attributed to the absorption of (Br/sub 2//sup -/)/sub 2/ dimers. The V/sub 4A/ centres in KBr with Li or Na impurities have obviously also a (Br/sub 2//sup -/)/sub 2/ structure.

  7. A relational conceptual framework for multidisciplinary health research centre infrastructure

    Directory of Open Access Journals (Sweden)

    Johnson Joy L

    2010-10-01

    Full Text Available Abstract Although multidisciplinary and team-based approaches are increasingly acknowledged as necessary to address some of the most pressing contemporary health challenges, many researchers struggle with a lack of infrastructure to facilitate and formalise the requisite collaborations. Specialised research centres have emerged as an important organisational solution, yet centre productivity and sustainability are frequently dictated by the availability and security of infrastructure funds. Despite being widely cited as a core component of research capacity building, infrastructure as a discrete concept has been rather analytically neglected, often treated as an implicit feature of research environments with little specification or relegated to a narrow category of physical or administrative inputs. The terms research infrastructure, capacity, and culture, among others, are deployed in overlapping and inconsistent ways, further obfuscating the crucial functions of infrastructure specifically and its relationships with associated concepts. The case is made for an expanded conceptualisation of research infrastructure, one that moves beyond conventional 'hardware' notions. Drawing on a case analysis of NEXUS, a multidisciplinary health research centre based at the University of British Columbia, Canada, a conceptual framework is proposed that integrates the tangible and intangible structures that interactively underlie research centre functioning. A relational approach holds potential to allow for more comprehensive accounting of the returns on infrastructure investment. For those developing new research centres or seeking to reinvigorate existing ones, this framework may be a useful guide for both centre design and evaluation.

  8. Women Labour in Call Centres: Understanding Characteristics of Work

    Directory of Open Access Journals (Sweden)

    Gulten Dursun

    2014-07-01

    Full Text Available This paper is concerned with the work experiences of women employees in info-service-based offices as telephone call centres. Call centres have grown rapidly in Tur-key in recent years, creating a large number of new jobs. In particular, it is concerned with the question of whether call centre jobs are offering women new opportunities for career progression, or whether a more common bias is taking place in which women are being drawn into highly routinized jobs. The collection of data was carried out so-urcing a heterogeneous plurality of instruments. Our research confirms that work pro-cesses in call centres are close association of surveillance technologies (technologic panoptican, exploitation and high levels of discipline, highly repetitive and heavily mo-nitored, and that the association with the assembly line and Taylorism have dominated much of the rhetoric on call centres. In addition, we have observed that, the structure of women’s employment in the call centre industry tends to polarise.

  9. Comparison of planned menus and centre characteristics with foods and beverages served in New York City child-care centres

    Science.gov (United States)

    Breck, Andrew; Dixon, L Beth; Khan, Laura Kettel

    2016-01-01

    Objective The present study evaluated the extent to which child-care centre menus prepared in advance correspond with food and beverage items served to children. The authors identified centre and staff characteristics that were associated with matches between menus and what was served. Design Menus were collected from ninety-five centres in New York City (NYC). Direct observation of foods and beverages served to children were conducted during 524 meal and snack times at these centres between April and June 2010, as part of a larger study designed to determine compliance of child-care centres with city health department regulations for nutrition. Setting Child-care centres were located in low-income neighbourhoods in NYC. Results Overall, 87% of the foods and beverages listed on the menus or allowed as substitutions were served. Menu items matched with foods and beverages served for all major food groups by > 60%. Sweets and water had lower match percentages (40 and 32%, respectively), but water was served 68% of the time when it was not listed on the menu. The staff person making the food and purchasing decisions predicted the match between the planned or substituted items on the menus and the foods and beverages served. Conclusions In the present study, child-care centre menus included most foods and beverages served to children. Menus planned in advance have potential to be used to inform parents about which child-care centre to send their child or what foods and beverages their enrolled children will be offered throughout the day. PMID:27280341

  10. Assessing health centre systems for guiding improvement in diabetes care

    Directory of Open Access Journals (Sweden)

    Robinson Gary

    2005-08-01

    Full Text Available Abstract Background Aboriginal people in Australia experience the highest prevalence of diabetes in the country, an excess of preventable complications and early death. There is increasing evidence demonstrating the importance of healthcare systems for improvement of chronic illness care. The aims of this study were to assess the status of systems for chronic illness care in Aboriginal community health centres, and to explore whether more developed systems were associated with better quality of diabetes care. Methods This cross-sectional study was conducted in 12 Aboriginal community health centres in the Northern Territory of Australia. Assessment of Chronic Illness Care scale was adapted to measure system development in health centres, and administered by interview with health centre staff and managers. Based on a random sample of 295 clinical records from attending clients with diagnosed type 2 diabetes, processes of diabetes care were measured by rating of health service delivery against best-practice guidelines. Intermediate outcomes included the control of HbA1c, blood pressure, and total cholesterol. Results Health centre systems were in the low to mid-range of development and had distinct areas of strength and weakness. Four of the six system components were independently associated with quality of diabetes care: an increase of 1 unit of score for organisational influence, community linkages, and clinical information systems, respectively, was associated with 4.3%, 3.8%, and 4.5% improvement in adherence to process standards; likewise, organisational influence, delivery system design and clinical information systems were related to control of HbA1c, blood pressure, and total cholesterol. Conclusion The state of development of health centre systems is reflected in quality of care outcome measures for patients. The health centre systems assessment tool should be useful in assessing and guiding development of systems for improvement of

  11. Norway's centres for environment-friendly energy research (CEERs)

    Energy Technology Data Exchange (ETDEWEB)

    2009-07-01

    In February 2009 Norway's Minister of Petroleum and Energy announced the establishment of eight new Centres for Environment-friendly Energy Research (CEERs). The centres form national teams within the areas of offshore wind energy, solar energy, energy efficiency, bio energy, energy planning and design, and carbon capture and storage. These centres are: BIGCCS Centre - International CCS Research Centre; Centre for Environmental Design of Renewable Energy (CEDREN); Bioenergy Innovation Centre (CenBio); Norwegian Centre for Offshore Wind Energy (NORCOW E); Norwegian Research Centre for Offshore Wind Technology (NOWITECH); The Norwegian Research Centre for Solar Cell Technology; SUbsurface CO{sub 2} storage - Critical Elements and Superior Strategy (SUCCESS) The Research Centre on Zero Emission Buildings - ZEB (AG)

  12. The Research of SLAM Algorithm Based on Multi-information Integrated Cognitive Model and the Design for Its Controller%基于多信息融合模型的SLAM算法研究及控制器设计

    Institute of Scientific and Technical Information of China (English)

    李正国; 李武钢; 张凯

    2013-01-01

    针对无人驾驶车辆SLAM算法中全局定位感知系统存在的问题,提出一种融合多信息认知模型的广义SLAM算法来设计控制器结构,并且利用道路结构化环境下智能传感器节点作为环境地图的一部分,快速构建道路环境地图,采用基于局部视觉的辅助定位导航方法进行车辆辅助定位,从而提高控制器全局定位的感知能力和系统定位响应速度.仿真计算表明,控制器可以得到车辆位置似然度的最佳值.%Aiming at the problems existing in the whole Localization apperceive system of Simultaneous Localization and Mapping(SLAM)algorithm for unmanned vehicle,this paper puts forward a generalized SLAM algorithm based on a fusion multi-information integrated cognitive model to design the controller structure,utilizes the intelligent sensor node under the road structuralized environment as a part of environmental map,builds the road environmental map fastly,and adopts an auxiliary location and navigation method based on partial visual sense to assisting localization,thereby improves the controller's ability of whole localization apperceive and the system's localization response speeds.Simulation calculation indicates that the controller could gain the best value of unmanned vehicle position likelihood.

  13. 同步定位及地图创建算法在车载移动测绘系统中的应用%Application of SLAM in Vehicle-Borne Mobile Mapping System

    Institute of Scientific and Technical Information of China (English)

    胡少兴; 陈春朋; 张爱武

    2012-01-01

    为了解决车载移动测图中全球卫星定位系统(GPS)失锁及无GPS导致的导航定位问题,提出了一种利用水平布设二维激光扫描仪和里程计结合的快速同步定位及地图创建(SLAM)方法.在详细分析车载移动测图系统定位误差来源的基础上,科学合理地设置系统的预测参数及重预测参数,并给出了宽间隔预测及状态重预测改进后的卡尔曼滤波算法.在不损失计算精度的前提下,提高了计算速度.利用上述算法在实验室环形走廊中进行了实验,实验结果证明了本算法的有效性.%To solve the GPS-denies or no GPS positioning problem of the vehicle-borne mobile mapping system (VBMMS), a fast simultaneous localization and mapping (SLAM) method using the horizontal 2D laser scanner and the odometer is proposed. Through position error analysis of VBMMS, the scientific prediction and re-prediction parameters are set. An improved extended Kalman filter (EKF) based on wide-interval prediction and re-predition are presented to speed up. The experiments done in the closed corridor show the method mentioned above are reliable.

  14. The Yale Cost Model and cost centres: servant or master?

    Science.gov (United States)

    Rigby, E

    1993-01-01

    Cost accounting describes that aspect of accounting which collects, allocates and controls the cost of producing a service. Costing information is primarily reported to management to enable control of costs and to ensure the financial viability of units, departments and divisions. As costing studies continue to produce estimates of Diagnosis Related Group (DRG) costs in New South Wales hospitals, as well as in other states, costs for different hospitals are being externally compared, using a tool which is usually related to internal management and reporting. Comparability of costs is assumed even though accounting systems differ. This paper examines the cost centre structures at five major teaching hospitals in Sydney. It describes the similarities and differences in how the cost centres were constituted, and then details the line items of expenditure that are charged to each cost centre. The results of a comparative study of a medical specialty are included as evidence of different costing methodologies in the hospitals. The picture that emerged from the study is that the hospitals are constituting their cost centres to meet their internal management needs, that is, to know the cost of running a ward or nursing unit, a medical specialty, department and so on. The rationale for the particular cost centre construction was that cost centre managers could manage and control costs and assign responsibility. There are variations in procedures for assigning costs to cost centres, and the question is asked 'Do these variations in procedures make a material difference to our ability to compare costs per Diagnosis Related Group at the various hospitals?' It is contended that the accounting information, which is produced as a result of different practices, is primarily for internal management, not external comparison. It would be better for hospitals to compare their estimated costs per Diagnosis Related Group to an internal standard cost rather than the costs from other

  15. Centre for Interactive Research on Sustainability : integration of PV

    Energy Technology Data Exchange (ETDEWEB)

    Cole, R.J. [British Columbia Univ., Vancouver, BC (Canada). School of Architecture and Landscape Architecture; Cayuela, A.; McCarry, B. [Stantec Consulting Ltd., Surrey, BC (Canada); Robinson, J. [British Columbia Univ., Vancouver, BC (Canada); Tabatabaian, M.; Yen, D. [British Columbia Institute of Technology, Burnaby, BC (Canada)

    2007-07-01

    This paper provided details of the building-integrated photovoltaic (BIPV) system designed for the Centre for Interactive Research on Sustainability (CIRS). The centre will be used as a research vehicle for the assessment and monitoring of sustainable building products and practices. The BIPV will occupy an area of 170 m{sup 2}, and will encompass the south-facing modules of an atrium skylight saw-tooth. Installed capacity of the system will be 23 kWp. The tilt angle of the south-facing part of the skylight will be 30 degrees. Real time monitoring and display of the energy provided by the BIPV is expected to provide feedback for the researchers and allow the public to gain a better understanding of its operation. The BIPV was designed to be a net producer of energy for the centre and is one of several clean energy strategies that will be used to ensure that the centre remains carbon neutral. The design of the PV system and its overall transparently will ensure that the centre uses 100 per cent daylighting. Rainwater will also be collected on the PV surfaces. The BIPV will be monitored as part of a research program developing anticipatory-predictive control algorithms for solar-optimized buildings, and was designed to be accessible to the public. It was concluded that the BIPV system will lead to greater public and industry acceptance of solar technology. 7 refs., 2 tabs., 7 figs.

  16. Higgs Reconstructed at CERN’s Computer Centre

    CERN Multimedia

    2012-01-01

    Thanks to the enormous computing capacity of the CERN Computer Centre, which hosts about 12,000 servers with 16,000 CPUs (i.e. 64,000 computing cores) and 64,000 hard-disks distributed over 1,100 racks and storing another 22 PB (PetaByte, i.e. 22 million billion bytes) of LHC data during 2011, CERN computing specialists have managed for the first time to reconstruct the “Higgs” (see photo below in which the newly installed racks are highlighted).   In fact, as clear physics evidence of the Higgs is still pending and expected to be established in 2012, the CERN Computer Centre operators have instead rearranged their computer racks in the Computer Centre (Building 513) to spell the word “Higgs”. Bruce Peppa, group leader of the IT/CC group who manages the Computer Centre, said “As many people have noticed, for a few months serious construction work has been going on in the annex to the CERN Computer Centre. With the installation of more servers ...

  17. Do flow principles of operations management apply to computing centres?

    CERN Document Server

    Abaunza, Felipe; Hameri, Ari-Pekka; Niemi, Tapio

    2014-01-01

    By analysing large data-sets on jobs processed in major computing centres, we study how operations management principles apply to these modern day processing plants. We show that Little’s Law on long-term performance averages holds to computing centres, i.e. work-in-progress equals throughput rate multiplied by process lead time. Contrary to traditional manufacturing principles, the law of variation does not hold to computing centres, as the more variation in job lead times the better the throughput and utilisation of the system. We also show that as the utilisation of the system increases lead times and work-in-progress increase, which complies with traditional manufacturing. In comparison with current computing centre operations these results imply that better allocation of jobs could increase throughput and utilisation, while less computing resources are needed, thus increasing the overall efficiency of the centre. From a theoretical point of view, in a system with close to zero set-up times, as in the c...

  18. The CERN Control Centre is up and running!

    CERN Multimedia

    2006-01-01

    The CERN Control Centre (CCC) that combines all the control rooms for the accelerators, the cryogenic system and the technical infrastructure came into operation on 1st February. This is not a mock-up but the real thing! The CERN Control Centre has been built and put into operation in only 15 months.On 1st February, at 2.00 p.m., Patrick Villeton Pachot started the first Technical Infrastructure shift at the brand new CERN Control Centre. From now on, when you dial 72201 to report a leak or an electrical fault, your call will ring out in the brand new CERN Control Centre. The much anticipated CCC came on line on 1st February, exactly as planned. The 2.00 p.m. shift by the operators of the former Technical Control Room (TCR), now renamed TI for Technical Infrastructure, marked the start of operations at the Centre. The PCR, MCR, TCR and QCR are no more, and all the individual control rooms have been merged into one. And what a control room it is! True to the streamlined image announced when the project was f...

  19. Unified storage systems for distributed Tier-2 centres

    CERN Document Server

    Cowan, Greig A; Elwell, Andrew

    2008-01-01

    The start of data taking at the Large Hadron Collider will herald a new era in data volumes and distributed processing in particle physics. Data volumes of hundreds of Terabytes will be shipped to Tier-2 centres for analysis by the LHC experiments using the Worldwide LHC Computing Grid (WLCG). In many countries Tier-2 centres are distributed between a number of institutes, e.g., the geographically spread Tier-2s of GridPP in the UK. This presents a number of challenges for experiments to utilise these centres efficaciously, as CPU and storage resources may be sub-divided and exposed in smaller units than the experiment would ideally want to work with. In addition, unhelpful mismatches between storage and CPU at the individual centres may be seen, which make efficient exploitation of a Tier-2's resources difficult. One method of addressing this is to unify the storage across a distributed Tier-2, presenting the centres' aggregated storage as a single system. This greatly simplifies data management for the VO, ...

  20. Nine meta-functions for science museums and science centres

    DEFF Research Database (Denmark)

    Achiam, Marianne; Sølberg, Jan

    2017-01-01

    Science centres and science museums face challenges such as increased accountability, increased demands for accessibility, and growing competition from leisure experiences. On their own, the traditional museum practices of preservation, communication, and research are insufficient to address...... these challenges. Accordingly, we use the framework of eight museum meta-functions, presented by Dubuc (2011) and further developed here, to understand how these institutions respond to calls for change. We analyse the presentations of staff members from 21 science centres and science museums, given at the 2013...... Ecsite conference, to map out how these institutions address modern-day challenges. This analysis generates a new framework of nine meta-functions for science centres and science museums that can guide and help qualify discussions about their present and future activities. We discuss the new meta...