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Sample records for centre slam brc

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

    OpenAIRE

    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 considerabl...

  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. PMID:24570852

  3. 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.

  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. NEW YOUNG STAR CANDIDATES IN BRC 27 AND BRC 34

    Energy Technology Data Exchange (ETDEWEB)

    Rebull, L. M.; Laher, R.; Legassie, M. [Spitzer Science Center/Caltech, M/S 220-6, 1200 E. California Blvd., Pasadena, CA 91125 (United States); Johnson, C. H.; Carlson, S.; Clark, M.; Killingstad, N.; Koop, S. [Breck School, 123 Ottawa Avenue N., Golden Valley, MN 55422 (United States); Gibbs, J. C.; Aryal, S.; Canakapalli, T. S. [Glencoe High School, 2700 NW Glencoe Rd., Hillsboro, OR 97124 (United States); Linahan, M.; Ezyk, N.; Fagan, J. [Carmel Catholic High School, One Carmel Parkway, Mundelein, IL 60060 (United States); Sartore, D.; Badura, K. S. [Pine Ridge High School, 926 Howland Blvd., Deltona, FL 32738 (United States); Armstrong, J. D. [Las Cumbres Observatory Global Telescope (LCOGT) Network, Inc., 6740 Cortona Dr. Suite 102, Goleta, CA 93117 (United States); Allen, L. E. [National Optical Astronomy Observatory (NOAO), Tucson, AZ 85719 (United States); McGehee, P. [Infrared Processing and Analysis Center (IPAC), M/S 220-6, 1200 E. California Blvd., Pasadena, CA 91125 (United States); Padgett, D. L., E-mail: rebull@ipac.caltech.edu [NASA' s Goddard Space Flight Center (GSFC), 8800 Greenbelt Rd., Greenbelt, MD 20771 (United States); and others

    2013-01-01

    We used archival Spitzer Space Telescope mid-infrared data to search for young stellar objects (YSOs) in the immediate vicinity of two bright-rimmed clouds, BRC 27 (part of CMa R1) and BRC 34 (part of the IC 1396 complex). These regions both appear to be actively forming young stars, perhaps triggered by the proximate OB stars. In BRC 27, we find clear infrared excesses around 22 of the 26 YSOs or YSO candidates identified in the literature, and identify 16 new YSO candidates that appear to have IR excesses. In BRC 34, the one literature-identified YSO has an IR excess, and we suggest 13 new YSO candidates in this region, including a new Class I object. Considering the entire ensemble, both BRCs are likely of comparable ages, within the uncertainties of small number statistics and without spectroscopy to confirm or refute the YSO candidates. Similarly, no clear conclusions can yet be drawn about any possible age gradients that may be present across the BRCs.

  7. USEPA's proposed standard for BRC criteria

    International Nuclear Information System (INIS)

    This paper reports that the EPA has developed technical information, cost data, a methodology for analyzing promising candidate waste streams, and a rationale for proposing BRC criteria. Risk assessments to support the BRC criteria include an analysis of surrogate radioactive waste streams, disposal alternatives, and diverse demographic settings. In considering the development of a proposed BRC level, EPA carefully weighted many factors. Foremost was protection of the public and the development of an exposure level with assurance of no undue risk. Also considered were other daily risks encountered, ability to demonstrate compliance, guidance for similar exemptions by other groups, consistency with other regulated risk levels, general population health risks, maximum annual exposures to critical population groups, and the costs presently associated with the regulation of these wastes

  8. RGB-D SLAM

    OpenAIRE

    García Bueno, Jorge

    2011-01-01

    This project has been developed as an implementation of a SLAM technique called GraphSLAM. This technique applies the theory of graphs to create an on-line optimization system that allows robots to map the scenario and locate themselves using a Time of Flight camera as the input source. To do that, a RGB-D system has been calibrated and used to create color 3D point clouds. With this information, the feature detector module estimates, as a first approximation, the pose of the camera. Therefor...

  9. Towards Dense Visual SLAM

    OpenAIRE

    Pietzsch, Tobias

    2011-01-01

    Visual Simultaneous Localisation and Mapping (SLAM) is concerned with simultaneously estimating the pose of a camera and a map of the environment from a sequence of images. Traditionally, sparse maps comprising isolated point features have been employed, which facilitate robust localisation but are not well suited to advanced applications. In this thesis, we present map representations that allow a more dense description of the environment. In one approach, planar features are used to repr...

  10. Visual Trajectory Based SLAM

    OpenAIRE

    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 location to simultaneously build a consistent spatial representation (a map) and determine its location within this map. The classical approach to solve the SLAM problem was presented long ago [21] and m...

  11. 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...

  12. 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.

  13. Selective submap joining SLAM for autonomous vehicles

    OpenAIRE

    Aulinas Masó, Josep M.

    2011-01-01

    Simultaneous Localization and Mapping (SLAM) do not result in consistent maps of large areas because of gradual increase of the uncertainty for long term missions. In addition, as the size of the map grows the computational cost increases, making SLAM solutions unsuitable for on-line applications. This thesis surveys SLAM approaches paying special attention to those approaches aimed to work on large scenarios. Special focus is given to existing underwater SLAM applications. A tech...

  14. 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.

  15. 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. PMID:24400624

  16. 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...

  17. MonoSLAM: real-time single camera SLAM.

    Science.gov (United States)

    Davison, Andrew J; Reid, Ian D; Molton, Nicholas D; Stasse, Olivier

    2007-06-01

    We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera. PMID:17431302

  18. 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.

  19. Concurrent Initialization for Bearing-Only SLAM

    OpenAIRE

    Antoni Grau; Rodrigo Munguía

    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 ...

  20. Monocular SLAM Supported Object Recognition

    OpenAIRE

    Pillai, Sudeep; Leonard, John,

    2015-01-01

    In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By incorporating several key ideas including multi-view object proposals and efficient feature encoding methods, our proposed system is able to detect and robustly recognize objects in its environment using a single RGB camera in near-constant time. Through e...

  1. SLAM temporel à contraintes multiples

    OpenAIRE

    Ramadasan, Datta

    2015-01-01

    This report describes my thesis work conducted within the ComSee (Computers That See) team related to the ISPR axis (ImageS, Perception Systems and Robotics) of Institut Pascal. It was financed by the Auvergne Région and the European Fund of Regional Development. The thesis was motivated by localization issues related to Augmented Reality and autonomous navigation. The framework developed during this thesis is a generic approach to implement SLAM algorithms : Simultaneous Localization And Map...

  2. Resolution enhancement of slam using transverse wave

    International Nuclear Information System (INIS)

    We studied the resolution enhancement of a novel scanning laser acoustic microscope (SLAM) using transverse waves. Mode conversion of the ultrasonic wave takes place at the liquid-solid interface and some energy of the insonifying longitudinal waves in the water will convert to transverse wave energy within the solid specimen. The resolution of SLAM depends on the size of detecting laser spot and the wavelength of the insonifying ultrasonic waves. Since the wavelength of the transverse wave is shorter than that of the longitudinal wave, we are able to achieve the high resolution by using transverse waves. In order to operate SLAM in the transverse wave mode, we made wedge for changing the incident angle. Our experimental results with model 2140 SLAM and an aluminum specimen showed higher contrast of the SLAM Image In the transverse wave mode than that in the longitudinal wave mode.

  3. 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.

  4. 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.

  5. General Concept of 3D SLAM

    OpenAIRE

    Zhang, Peter; Millos, Evangelous; Gu, Jason

    2009-01-01

    This chapter established an approach to solve the full 3D SLAM problem, applied to an underwater environment. First, a general approach to the 3D SLAM problem was presented, which included the models in 3D case, data association and estimation algorithm. For an underwater mobile robot, a new measurement system was designed for large area's globally-consistent SLAM: buoys for long-range estimation, and camera for short-range estimation and map building. Globally-consistent results could be obt...

  6. CoSLAM: collaborative visual SLAM in dynamic environments.

    Science.gov (United States)

    Zou, Danping; Tan, Ping

    2013-02-01

    This paper studies the problem of vision-based simultaneous localization and mapping (SLAM) in dynamic environments with multiple cameras. These cameras move independently and can be mounted on different platforms. All cameras work together to build a global map, including 3D positions of static background points and trajectories of moving foreground points. We introduce intercamera pose estimation and intercamera mapping to deal with dynamic objects in the localization and mapping process. To further enhance the system robustness, we maintain the position uncertainty of each map point. To facilitate intercamera operations, we cluster cameras into groups according to their view overlap, and manage the split and merge of camera groups in real time. Experimental results demonstrate that our system can work robustly in highly dynamic environments and produce more accurate results in static environments. PMID:22547430

  7. 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....

  8. SIFT Based Graphical SLAM on a Packbot

    OpenAIRE

    Folkesson, John; Christensen, Henrik

    2008-01-01

    International audience We present an implementation of Simultaneous Localization and Mapping (SLAM) that uses infrared (IR) camera images collected at 10 Hz from a Packbot robot. The Packbot has a number of challenging characteristics with regard to vision based SLAM. The robot travels on tracks which causes the odometry to be poor especially while turning. The IMU is of relatively low quality as well making the drift in the motion prediction greater than on conventional robots. In additio...

  9. Visual SLAM for Autonomous Navigation of MAVs

    OpenAIRE

    Yang, Shaowu

    2014-01-01

    This thesis focuses on developing onboard visual simultaneous localization and mapping (SLAM) systems to enable autonomous navigation of micro aerial vehicles (MAVs), which is still a challenging topic considering the limited payload and computational capability that an MAV normally has. In MAV applications, the visual SLAM systems are required to be very efficient, especially when other visual tasks have to be done in parallel. Furthermore, robustness in pose tracking is highly desired in or...

  10. Evaluating SLAM algorithms for Autonomous Helicopters

    OpenAIRE

    Skoglund, Martin

    2008-01-01

    Navigation with unmanned aerial vehicles (UAVs) requires good knowledge of the current position and other states. A UAV navigation system often uses GPS and inertial sensors in a state estimation solution. If the GPS signal is lost or corrupted state estimation must still be possible and this is where simultaneous localization and mapping (SLAM) provides a solution. SLAM considers the problem of incrementally building a consistent map of a previously unknown environment and simultaneously loc...

  11. 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. PMID:22294884

  12. 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.

  13. 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

  14. 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

  15. 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

  16. 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.

  17. 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. PMID:22346639

  18. A Highest Order Hypothesis Compatibility Test for Monocular SLAM

    OpenAIRE

    Edmundo Guerra; Rodrigo Munguia; Yolanda Bolea; Antoni Grau

    2013-01-01

    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 Hypothesi...

  19. 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.

  20. SLAM contraint en environnement de grande taille

    OpenAIRE

    Ramadasan, Datta; Chevaldonné, Marc; Chateau, Thierry

    2014-01-01

    National audience Ce papier présente un algorithme de localisation et cartographie simultanée (ou SLAM pour Simultaneous Localization And Mapping) utilisant des contraintes issues d'un modèle d'environnement, on parle alors de SLAM contraint. L'objectif est d'utiliser un modèle 3D épars de grande taille issu d'une reconstruction de type SFM (Structure From Motion) afin d'estimer le mouvement de la caméra relativement au modèle, même lorsque ce dernier est peu ou pas observé. Il est nécesai...

  1. Biogas Research Center, BRC : Slutrapport för etapp 1

    OpenAIRE

    Ammenberg, Jonas; Svensson, Bo; Karlsson, Magnus; Svensson, Niclas; Björn, Annika; Karlsson, Martin; Tonderski, Karin; Eklund, Mats

    2015-01-01

    Biogas Research Center (BRC) är ett kompetenscentrum för biogasforskning som finansieras av Energimyndigheten, LiU och ett flertal externa organisationer med en tredjedel vardera. BRC har en mycket bred tvärvetenskaplig inriktning och sammanför biogasrelaterad kompetens från flera olika områden för att skapa interaktion på flera olika plan: mellan näringsliv, akademi och samhälle, mellan olika perspektiv, samt mellan olika discipliner och kompetensområden. BRC:s vision är: Resurseffektiva bi...

  2. 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.

  3. RT-SLAM: a generic and real-time visual SLAM implementation

    OpenAIRE

    Roussillon, Cyril; Gonzalez, Aurélien; Solà, Joan; Codol, Jean-Marie; Mansard, Nicolas; Lacroix, Simon; Devy, Michel

    2011-01-01

    10 pages International audience 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 sev...

  4. Visual EKF-SLAM from Heterogeneous Landmarks.

    Science.gov (United States)

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

    2016-01-01

    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. PMID:27070602

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. Improving monocular plane-based SLAM with inertial measures

    OpenAIRE

    Servant, Fabien; Houlier, Pascal; Marchand, E

    2010-01-01

    International audience This article presents a solution to the problem of fusing measurements acquired from a monocular camera with inertial data to achieve simultaneous localization and mapping (SLAM) tasks. This paper describes the models used to correctly integrate inertial and vision data in an EKF-SLAM based application, and ways to perform the fusion on low cost hardware. Both synthetic and real sequences show that our method work and greatly enhance classical SLAM estimation.

  10. Monocular SLAM for Autonomous Robots with Enhanced Features Initialization

    OpenAIRE

    Edmundo Guerra; Rodrigo Munguia; Antoni Grau

    2014-01-01

    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 fiel...

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

    OpenAIRE

    Hongjian Wang; Guixia Fu; Juan Li; Zheping Yan; Xinqian Bian

    2013-01-01

    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...

  12. 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.

  13. 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.

  14. Monocular Vision SLAM for Indoor Aerial Vehicles

    OpenAIRE

    Koray Çelik; Arun K. Somani

    2013-01-01

    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 ...

  15. On the observability of bearing only SLAM

    OpenAIRE

    Vidal-Calleja, Teresa A.; Bryson, Mitch; Sukkarieh, Salah; Sanfeliu, Alberto; Andrade-Cetto, J

    2007-01-01

    In this paper we present an observability analysis for a mobile robot performing SLAM with a single monocular camera. The aim is to get a better understanding of the well known intuitive behavior of these systems, such as the need for triangulation to features from different positions in order to get accurate relative pose estimates. The characterization of the unobservable directions is made using the nullspace basis of the stripped observability matrix. This allow us to identify which vehic...

  16. 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.

  17. Autonomy through SLAM for an Underwater Robot

    OpenAIRE

    Folkesson, John; Leonard, John,

    2011-01-01

    An autonomous underwater vehicle (AUV) is achieved that integrates state of the art simultaneous localization and mapping (SLAM) into the decision processes. This autonomy is used to carry out undersea target reacquisition missions that would otherwise be impossible with a low-cost platform. The AUV requires only simple sensors and operates without navigation equipment such as Doppler Velocity Log, inertial navigation or acoustic beacons. Demonstrations of the capability show that the vehicle...

  18. Minimalistic vision-based cognitive SLAM

    OpenAIRE

    Saleiro, Mário; Rodrigues, J. M. F.; du Buf, J. M. H.

    2012-01-01

    The interest in cognitive robotics is still increasing, a major goal being to create a system which can adapt to dynamic environments and which can learn from its own experiences. We present a new cognitive SLAM architecture, but one which is minimalistic in terms of sensors and memory. It employs only one camera with pan and tilt control and three memories, without additional sensors nor any odometry. Short-term memory is an egocentric map which holds information at close range a...

  19. 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.

  20. 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. PMID:24107925

  1. 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.

  2. 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.

  3. 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

  4. 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...... occurrence probabilities can be significantly reduced by adapting the control parameters. The magnitude of the slamming load is severely influenced by the buoy shape. The ratio between the peak impact load on the hemisphere and that on the 45 cone is approximately 2, whereas the power absorption is only 4......-8% higher for the 45 degrees cone. This work illustrates the need to include slamming considerations aside from power absorption criteria in the buoy shape design process and the control strategy....

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

    OpenAIRE

    Antoni Grau; Rodrigo Munguía; Bernardino Castillo-Toledo

    2013-01-01

    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...

  6. Human-Robot SLAM in industrial environments

    OpenAIRE

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco

    2015-01-01

    A novel approach to the SLAM problem has been tested in an industrial environment within a robotic assistance context. In order to be fully reliable in non-modelled circumstances where the environment cannot be considered as known a priori, a robot assistant must be able to localize and map its environment. The use of a camera sensor to solve localization has several advantages and weaknesses due the nature of the only-bearing data. But as the robot is expected to assist the human agent...

  7. 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.

  8. Spectroscopic Classification of SN 2016bkz (=PTSS-16brc) as a Type IIP Supernova

    Science.gov (United States)

    Zhang, Jujia; Lun, Baoli; Wang, Xiaofeng; Li, Wenxiong; Yang, Zesheng; Li, Bin; Zhao, Haibin; Wang, Lifan; Xu, Zhijian

    2016-04-01

    We obtained an optical spectrum (range 350-900 nm) of SN 2016bkz(=PTSS-16brc), discovered by the PMO-Tsinghua Supernova Survey (PTSS: http://119.78.210.3/ptss2/), on UT Mar.31.6 2016 with the 2.4-m telescope (+YFOSC) at LiJiang Gaomeigu Station of Yunnan Astronomical Observatories (YNAO).

  9. FastSLAM Using Compressed Occupancy Grids

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-01-01

    Full Text Available Robotic vehicles working in unknown environments require the ability to determine their location while learning about obstacles located around them. In this paper a method of solving the SLAM problem that makes use of compressed occupancy grids is presented. The presented approach is an extension of the FastSLAM algorithm which stores a compressed form of the occupancy grid to reduce the amount of memory required to store the set of occupancy grids maintained by the particle filter. The performance of the algorithm is presented using experimental results obtained using a small inexpensive ground vehicle equipped with LiDAR, compass, and downward facing camera that provides the vehicle with visual odometry measurements. The presented results demonstrate that although with our approach the occupancy grid maintained by each particle uses only 40% of the data needed to store the uncompressed occupancy grid, we can still achieve almost identical results to the approach where each particle filter stores the full occupancy grid.

  10. 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.

  11. 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.

  12. SLAM visuel monoculaire par caméra infrarouge

    OpenAIRE

    Gonzalez, Aurélien; Devy, Michel; Solà, Joan

    2011-01-01

    National audience Nowadays many applications require the execution of visual algorithms on a vehicle, for motion estimation of for self-localization. This paper presents an algorithm for a 3D Simultaneous Localization And Mapping (SLAM) that will be later integrated on a vehicle. Even if more e cient SLAM methods have been proposed recently, a method based on the Extended Kalman Filter (EKF), has been choosen for its easier implementation, for the easiness of migration on embedded system, ...

  13. Closing loops with a virtual sensor based on monocular SLAM

    OpenAIRE

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni

    2009-01-01

    Monocular simultaneous localization and mapping(SLAM) techniques implicitly estimate camera ego-motion while incrementally building a map of the environment. In monocular SLAM, when the number of features in the system state increases, maintaining a real-time operation becomes very difficult. However, it is easy to remove old features from the state to maintain a stable computational cost per frame. If features are removed from the map, then previously mapped areas cannot be recognized to min...

  14. Batch gating for data association in monocular SLAM

    OpenAIRE

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni

    2013-01-01

    This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stoch...

  15. Interval SLAM for underwater robots; a new experiment

    OpenAIRE

    Le Bars, Fabrice; Bertholom, Alain; Sliwka, Jan; Jaulin, Luc

    2010-01-01

    International audience This paper provides a new submarine experiment and shows the results of an interval SLAM (Simultaneous Localization And Mapping) method. The SLAM problem is cast into a constraint satisfaction problem where interval propagation algorithms are particularly efficient. The resulting method is applied to the localization of a submarine robot from the GESMA (Groupe d'Etudes Sous-Marines de l'Atlantique), the Daurade during an experiment in the Douarnenez bay, in Brittany ...

  16. A Composite Beacon Initialization for EKF Range-Only SLAM

    OpenAIRE

    Génevé, Lionel; Kermorgant, Olivier; Laroche, Edouard

    2015-01-01

    Accurately localize a mobile vehicle with an easy and quickly deployable system can be very useful for many applications. Herein we present an EKF-SLAM algorithm which allows using radio frequency (RF) beacons without any prior knowledge of their location. As RF beacons provide only range information, recovering their positions is not an easy task. For this range-only SLAM case, a new procedure to instantiate the beacons in the filter is proposed. The method uses two range measurements from d...

  17. 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.

  18. 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.

  19. 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.

  20. Molecular characterization of brown carbon (BrC) chromophores in secondary organic aerosol generated from photo-oxidation of toluene.

    Science.gov (United States)

    Lin, Peng; Liu, Jiumeng; Shilling, John E; Kathmann, Shawn M; Laskin, Julia; Laskin, Alexander

    2015-09-28

    Atmospheric brown carbon (BrC) is a significant contributor to light absorption and climate forcing. However, little is known about a fundamental relationship between the chemical composition of BrC and its optical properties. In this work, light-absorbing secondary organic aerosol (SOA) was generated in the PNNL chamber from toluene photo-oxidation in the presence of NOx (Tol-SOA). Molecular structures of BrC components were examined using nanospray desorption electrospray ionization (nano-DESI) and liquid chromatography (LC) combined with UV/Vis spectroscopy and electrospray ionization (ESI) high-resolution mass spectrometry (HRMS). The chemical composition of BrC chromophores and the light absorption properties of toluene SOA (Tol-SOA) depend strongly on the initial NOx concentration. Specifically, Tol-SOA generated under high-NOx conditions (defined here as initial NOx/toluene of 5/1) appears yellow and mass absorption coefficient of the bulk sample (MACbulk@365 nm = 0.78 m(2) g(-1)) is nearly 80 fold higher than that measured for the Tol-SOA sample generated under low-NOx conditions (NOx/toluene NOx. The integrated absorbance of these fifteen chromophores accounts for 40-60% of the total light absorbance by Tol-SOA at wavelengths between 300 nm and 500 nm. The combination of tandem LC-UV/Vis-ESI/HRMS measurements provides an analytical platform for predictive understanding of light absorption properties by BrC and their relationship to the structure of individual chromophores. General trends in the UV/Vis absorption by plausible isomers of the BrC chromophores were evaluated using theoretical chemistry calculations. The molecular-level understanding of BrC chemistry is helpful for better understanding the evolution and behavior of light absorbing aerosols in the atmosphere. PMID:26173064

  1. Roles of DgBRC1 in regulation of lateral branching in chrysanthemum (Dendranthema ×grandiflora cv. Jinba).

    Science.gov (United States)

    Chen, Xiaoli; Zhou, Xiaoyang; Xi, Lin; Li, Junxiang; Zhao, Ruiyan; Ma, Nan; Zhao, Liangjun

    2013-01-01

    The diverse plasticity of plant architecture is largely determined by shoot branching. Shoot branching is an event regulated by multiple environmental, developmental and hormonal stimuli through triggering lateral bud response. After perceiving these signals, the lateral buds will respond and make a decision on whether to grow out. TCP transcriptional factors, BRC1/TB1/FC1, were previously proven to be involved in local inhibition of shoot branching in Arabidopsis, pea, tomato, maize and rice. To investigate the function of BRC1, we isolated the BRC1 homolog from chrysanthemum. There were two transcripts of DgBRC1 coming from two alleles in one locus, both of which complemented the multiple branches phenotype of Arabidopsis brc1-1, indicating that both are functionally conserved. DgBRC1 was mainly expressed in dormant axillary buds, and down-regulated at the bud activation stage, and up-regulated by higher planting densities. DgBRC1 transcripts could respond to apical auxin supply and polar auxin transport. Moreover, we found that the acropetal cytokinin stream promoted branch outgrowth whether or not apical auxin was present. Basipetal cytokinin promoted outgrowth of branches in the absence of apical auxin, while strengthening the inhibitory effects on lower buds in the presence of apical auxin. The influence of auxin and strigolactons (SLs) on the production of cytokinin was investigated, we found that auxin locally down-regulated biosynthesis of cytokinin in nodes, SLs also down-regulated the biosynthesis of cytokinin, the interactions among these phytohormones need further investigation. PMID:23613914

  2. 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. PMID:23701896

  3. 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.

  4. SLAM: a sodium-limestone concrete ablation model

    International Nuclear Information System (INIS)

    SLAM is a three-region model, containing a pool (sodium and reaction debris) region, a dry (boundary layer and dehydrated concrete) region, and a wet (hydrated concrete) region. The model includes a solution to the mass, momentum, and energy equations in each region. A chemical kinetics model is included to provide heat sources due to chemical reactions between the sodium and the concrete. Both isolated model as well as integrated whole code evaluations have been made with good results. The chemical kinetics and water migration models were evaluated separately, with good results. Several small and large-scale sodium limestone concrete experiments were simulated with reasonable agreement between SLAM and the experimental results. The SLAM code was applied to investigate the effects of mixing, pool temperature, pool depth and fluidization. All these phenomena were found to be of significance in the predicted response of the sodium concrete interaction. Pool fluidization is predicted to be the most important variable in large scale interactions

  5. 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.

  6. 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.

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

    Science.gov (United States)

    Guerra, Edmundo; Munguia, Rodrigo; Grau, Antoni

    2014-01-01

    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. PMID:24699284

  8. 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.

  9. 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,

  10. 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.

  11. 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.

  12. Visual EKF-SLAM from Heterogeneous Landmarks †

    Science.gov (United States)

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

    2016-01-01

    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. PMID:27070602

  13. Molecular Characterization of Brown Carbon (BrC) Chromophores in Secondary Organic Aerosol Generated From Photo-Oxidation of Toluene

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Peng; Liu, Jiumeng; Shilling, John E.; Kathmann, Shawn M.; Laskin, Julia; Laskin, Alexander

    2015-09-28

    Atmospheric Brown carbon (BrC) is a significant contributor to light absorption and climate forcing. However, little is known about a fundamental relationship between the chemical composition of BrC and its optical properties. In this work, light-absorbing secondary organic aerosol (SOA) was generated in the PNNL chamber from toluene photo-oxidation in the presence of NOx (Tol-SOA). Molecular structures of BrC components were examined using nanospray desorption electrospray ionization (nano-DESI) and liquid chromatography (LC) combined with UV/Vis spectroscopy and electrospray ionization (ESI) high-resolution mass spectrometry (HRMS). The chemical composition of BrC chromophores and the light absorption properties of toluene SOA (Tol-SOA) depend strongly on the initial NOx concentration. Specifically, Tol-SOA generated under high-NOx conditions (defined here as initial NOx/toluene of 5/1) appears yellow and mass absorption coefficient of the bulk sample (MACbulk@365nm = 0.78 m2 g-1) is nearly 80 fold higher than that measured for the Tol-SOA sample generated under low-NOx conditions (NOx/toluene < 1/300). Fifteen compounds, most of which are nitrophenols, are identified as major BrC chromophores responsible for the enhanced light absorption of Tol-SOA material produced in the presence of NOx. The integrated absorbance of these fifteen chromophores accounts for 40-60% of the total light absorbance by Tol-SOA at wavelengths between 300 nm and 500 nm. The combination of tandem LC-UV/Vis-ESI/HRMS measurements provides an analytical platform for predictive understanding of light absorption properties by BrC and their relationship to the structure of individual chromophores. General trends in the UV/vis absorption by plausible isomers of the BrC chromophores were evaluated using theoretical chemistry calculations. The molecular-level understanding of BrC chemistry is helpful for better understanding the evolution and behavior of light absorbing aerosols in the atmosphere.

  14. 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.

  15. Initialisation and Estimation Methods for Batch Optimisation of Inertial/Visual SLAM

    OpenAIRE

    Skoglund, Martin; Sjanic, Zoran; Gustafsson, Fredrik

    2013-01-01

    Simultaneous Localisation and Mapping (SLAM) denotes the problem of jointly localizing a moving platform and mapping the environment. This work studies the SLAM problem using a combination of inertial sensors, measuring the platform's accelerations and angular velocities, and a monocular camera observing the environment. We formulate the SLAM problem on a nonlinear least squares (NLS) batch form, whose solution provides a smoothed estimate of the motion and map. The NLS problem is highly nonc...

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

    OpenAIRE

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

    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 wit...

  17. 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...

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

    OpenAIRE

    Kamarudin, Kamarulzaman; Mamduh, Syed; Shakaff, Ali; Zakaria, Ammar

    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

  19. 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.

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

    Science.gov (United States)

    Cole, Daniel J; Rajendra, Eeson; Roberts-Thomson, Meredith; Hardwick, Bryn; McKenzie, Grahame J; Payne, Mike C; Venkitaraman, Ashok R; Skylaris, Chris-Kriton

    2011-07-01

    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 experimental tools for the

  1. 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

  2. Multi-Sensor SLAM Approach for Robot Navigation

    OpenAIRE

    Berrabah, Sid Ahmed; Baudoin, Yvan; Sahli, Hichem

    2010-01-01

    To be able to operate and act successfully, the robot needs to know at any time where it is. This means the robot has to find out its location relative to the environment. This contribution introduces the increase of accuracy of mobile robot positioning in large outdoor environments based on data fusion from different sensors: camera, GPS, inertial navigation system (INS), and wheel encoders. The fusion is done in a Simultaneous Localization and Mapping (SLAM) approach.

  3. Visual EKF-SLAM from Heterogeneous Landmarks †

    OpenAIRE

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

    2016-01-01

    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 land...

  4. Monocular visual SLAM based on Inverse depth parametrization

    OpenAIRE

    Rivero Pindado, Víctor

    2010-01-01

    The first objective of this research has always been carry out a study of visual techniques SLAM (Simultaneous localization and mapping), specifically the type monovisual, less studied than the stereo. These techniques have been well studied in the world of robotics. These techniques are focused on reconstruct a map of the robot enviroment while maintaining its position information in that map. We chose to investigate a method to encode the points by the inverse of its depth, from the first t...

  5. SLAM with SC-PHD filters: an underwater vehicle application

    OpenAIRE

    Lee, Chee Sing; Nagappa, Sharad; Palomeras Rovira, Narcís; Clark, Daniel E.; Salvi, Joaquim

    2014-01-01

    The random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing multiple-target tracking algorithms. These techniques are also gaining traction in the field of feature-based simultaneous localization and mapping (SLAM) for mobile robotic...

  6. SLAM using an Imaging Sonar for Partially Structured Underwater Environments

    OpenAIRE

    Ribas Romagós, David; Ridao Rodríguez, Pere; Neira Parra, José; Tardós, Juan Domingo

    2006-01-01

    In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurement...

  7. Multibeam 3D underwater SLAM with probabilistic registration

    OpenAIRE

    Albert Palomer; Pere Ridao; David Ribas

    2016-01-01

    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 divi...

  8. Aerial SLAM with a Single Camera using Visual Expectation

    OpenAIRE

    Milford, Michael J.; Schill, Felix Stephan; Corke, Peter; Mahony, Robert

    2011-01-01

    Micro aerial vehicles (MAVs) are a rapidly growing area of research and development in robotics. For autonomous robot operations, localization has typically been calculated using GPS, external camera arrays, or onboard range or vision sensing. In cluttered indoor or outdoor environments, onboard sensing is the only viable option. In this paper we present an appearance-based approach to visual SLAM on a flying MAV using only low quality vision. Our approach consists of a visual place recogniti...

  9. 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. PMID:24650980

  10. 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.

  11. Hydroelastic responses of cross deck panel to slamming; Slamming ni taisuru cross deck panel no dansei oto ni tsuite

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-06-01

    An analysis and a study were performed on deformation and stress response occurring in a structure when a high-speed catamaran ship is subjected to wave slamming on the lower face of the cross deck. The study proposed a method to analyze response to water slamming, which can consider elastic effects by utilizing solution of potential flow around a flat plate having perpendicular speed distribution of a triangle form. A dynamic response simulation was performed by using this method on a problem that a flat cross deck slams wave crests of parabolic shape. As a result, the following points were made clear: the maximum bending and bending moment at the center of a span of the panel show a trend of becoming proportional to the drop speed as the curvature radius on the water surface increases, where the proportion constant shows a trend of not depending on the curvature radius of the water surface; the peak value of impact pressure is thought not to give large effect directly to the dynamic response; and the reason for the maximum bending at the span center becoming proportional to the drop speed can be explained by reduction in magnification of the dynamic response. 10 refs., 14 figs., 1 tab.

  12. 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.

  13. 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

  14. 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

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

    OpenAIRE

    Cole, Daniel J.; Eeson Rajendra; Meredith Roberts-Thomson; Bryn Hardwick; Grahame J. McKenzie; Payne, Mike C.; Ashok R Venkitaraman; Chris-Kriton Skylaris

    2011-01-01

    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 evolutionar...

  16. 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.

  17. 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.

  18. SLAM contraint pour la localisation dans des environnements partiellement connus

    OpenAIRE

    Naudet, Sylvie; Gay-Bellile, Vincent; Bourgeois, Steve; Tamaazousti, Mohamed; Larnaout, Dorra; Dhome, Michel

    2014-01-01

    National audience Cet article porte sur la localisation temps réel d'une caméra mobile dans un environnement partiellement connu. Ces travaux reposent sur une solution de type SLAM monoculaire et traitent la problématique de dérive inhérente à ce type de méthode en proposant un nouvel ajustement de faisceaux, dit ajustement de faisceaux contraint. Ce dernier permet d'intégrer des contraintes géométriques apportées par le modèle partiellement connu de la scène. Nous montrons l'apport de cet...

  19. Undelayed initialization of line segments in Monocular SLAM

    OpenAIRE

    Solà, Joan; Vidal-Calleja, Teresa; Devy, Michel

    2009-01-01

    International audience This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plücker parametrization. A careful analysis of the properties of the Plücker coordinates, defined in the projective space P, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plücker line is incorporated in the map. A single Gaussian \\pdf\\ includes inside its 2-sigma r...

  20. Towards a benchmark for RGB-D SLAM evaluation

    OpenAIRE

    Sturm, Jürgen; Magnenat, Stéphane; Engelhard, Nikolas; Pomerleau, François; Colas, Francis; Cremers, Daniel; Siegwart, Roland; Burgard, Wolfram

    2011-01-01

    International audience We provide a large dataset containing RGB-D image sequences and the ground-truth camera trajectories with the goal to establish a benchmark for the evaluation of visual SLAM systems. Our dataset contains the color and depth images of a Microsoft Kinect sensor and the ground-truth trajectory of camera poses. The data was recorded at full frame rate (30 Hz) and sensor resolution (640x480). The ground-truth trajectory was obtained from a high-accuracy motion-capture sys...

  1. 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

    2014-01-01

    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 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. PMID:25490595

  2. 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.

  3. 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.

  4. 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...

  5. 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. PMID:26537953

  6. 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.

  7. Multibeam 3D Underwater SLAM with Probabilistic Registration.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Ribas, David

    2016-01-01

    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. PMID:27104538

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

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

    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. PMID:26999142

  9. 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.

  10. Validation of Underwater Sensor Package Using Feature Based SLAM

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

    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. PMID:26999142

  11. Multibeam 3D Underwater SLAM with Probabilistic Registration.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Ribas, David

    2016-01-01

    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.

  12. 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. PMID:26340773

  13. 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.

  14. 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.

  15. Solving The SLAM Problem for Unmanned Aerial Vehicles Using Smoothed Estimates

    OpenAIRE

    Sjanic, Zoran; Skoglund, Martin; Schön, Thomas; Gustafsson, Fredrik

    2010-01-01

    In this paper we present a solution to the simultaneous localization and mapping (SLAM) problem for unmanned aerial vehicles (UAV) using a camera and inertial sensors. A good SLAM solution is an important enabler for autonomous robots. Our approach is based on an optimization based formulation of the problem, which results in a smoother, rather than a filter. The proposed algorithm is evaluated on experimental data and the resultsare compared with accurate ground truth data. The results from t...

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

    OpenAIRE

    Shuhuan Wen; Kamal Mohammed Othman; Rad, Ahmad B.; Yixuan Zhang; Yongsheng Zhao

    2014-01-01

    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 reduc...

  17. 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

    2013-01-01

    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. PMID:23823972

  18. Development, Evaluation and Validation of a Stereo Camera Underwater SLAM Algorithm

    OpenAIRE

    Hildebrandt, Marc

    2014-01-01

    In this work the development of an algorithm for visual underwater localization is described. It spans the complete process from the initial idea, the development of a suitable underwater vehicle for testing to the algorithm's experimental validation in real underwater environments. Besides the development and validation of the visual SLAM algorithm, the methodology for its evaluation is a key aspect of this work. The resulting SURE-SLAM algorithm uses a stereo camera system and basic vehicle...

  19. 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

  20. 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.

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

    OpenAIRE

    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 Classification Societies rules. Currently there are no commercial tools available to compute the seakeeping response including slamming induced whipping. This is the main reason for not accounting for the e...

  2. Real-time SLAM for Humanoid Robot Navigation Using Augmented Reality

    OpenAIRE

    Zhang, Yixuan

    2014-01-01

    The integration of Augmented Reality (AR) with Extended Kalman Filter based Simultaneously Localization and Mapping (EKF-SLAM) is proposed and implemented on a humanoid robot in this thesis. The goal has been to improve the performance of EKF-SLAM in terms of reducing the computational effort, to simplify the data association problem and to improve the trajectory control of the algorithm. Two applications of Augmented Reality are developed. In the first application, during a standard EKF-SLA...

  3. 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.

  4. 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.

  5. 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.

  6. Interrogation of the Protein-Protein Interactions between Human BRCA2 BRC Repeats and RAD51 Reveals Atomistic Determinants of Affinity

    OpenAIRE

    Cole, Daniel J.; Rajendra, Eeson; Roberts-Thomson, Meredith; Hardwick, Bryn; Grahame J. McKenzie; Payne, Mike C.; Ashok R Venkitaraman; Skylaris, Chris-Kriton

    2011-01-01

    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 evolutionar...

  7. 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

  8. 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. PMID:22368478

  9. 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.

  10. 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.

  11. 3-D seakeeping analysis with water on deck and slamming. Part 2: Experiments and physical investigation

    Science.gov (United States)

    Greco, M.; Bouscasse, B.; Lugni, C.

    2012-08-01

    A synergic 3-D experimental and numerical investigation is conducted for wave-ship interactions involving the water-on-deck and slamming phenomena. The adopted solver has been developed in Greco and Lugni (in press) and combines (A) a weakly nonlinear external solution for the wave-vessel interactions with (B) a 2-D in-deck shallow-water approximation, which describes water shipping events, and (C) a local analytical analysis of the bottom-slamming phenomenon. This solver can handle regular and irregular sea states and vessels at rest or with limited speed. The experiments examine a patrol ship at rest or with forward speed that is free to oscillate in heave and pitch in regular and irregular waves. In this study, the head-sea regular-wave conditions are examined in terms of (1) response amplitude operators (RAOs) and relative motions, (2) occurrence, features and loads of water-on-deck, bottom-slamming and flare-slamming events and (3) added resistance in waves. A systematic and comprehensive analysis of the phenomena is made available in terms of the Froude number, incoming wavelength-to-ship length ratio and wave steepness for the examined ship geometry. The main parameters that affect the global and local quantities are identified and possible danger in terms of water-on-deck severity and structural consequences are determined. Different slamming behaviors were identified, depending on the spatial location of the impact on the vessel: single-peak, church-roof and double-peak behaviors. A bottom-slamming criterion, using the Ochi's (1964) velocity condition and the Greco and Lugni's (2012) pressure condition, is assessed. A statistical analysis of more than 100 events is needed for the bottom-slamming pressure peaks. The numerical solver is promising. The major discrepancies with the experiments are discussed, and the importance of viscous hull damping and flare impact for the most violent conditions is emphasized. Inclusion of these effects improved the

  12. 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.

  13. 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.

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

    Science.gov (United States)

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

    2016-01-01

    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. PMID:27548175

  15. 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.

  16. 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.

  17. [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

  18. 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.

  19. 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.

  20. Super High Frequency (SHF) Link Analysis Model (SLAM) for nonsatellite applications

    Science.gov (United States)

    James, R. R.; Rockway, J. W.

    1990-06-01

    A point-to-point link analysis model has been developed for the Super High Frequency (SHF) band. It was developed to evaluate ship-to-ship and ship-to-air links. The SHF Link Analysis Model (SLAM) evaluates a communication link and determines system margin. The link margin is determined after a user defines the transmitter subsystem, the receiver subsystem, the specified level of system performance, and the propagation channel. The propagation channel incorporates the Engineer's Refractive Effects Prediction System (EREPS) and includes the effects of the evaporation duct. A rain model developed by NASA is also included in the channel. SLAM provides a detailed discussion of the link equation, the propagation effects, the rain model, and the antenna characteristics. In addition, a detailed explanation of the operation of the SLAM computer program is given. Two communication links are evaluated and these examples are used to demonstrate the computer program's capabilities.

  1. 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。

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 3D plane-based egomotion for SLAM on semi-structured environment

    OpenAIRE

    Viejo Hernando, Diego; Cazorla Quevedo, Miguel Ángel

    2007-01-01

    Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results are shown for outdoor environment. This work has been s...

  10. 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。

  11. 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.

  12. 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.

  13. 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.

  14. Clonging of BrcCUC3 from Brassica rapa ssp.chinensis and Its Effect on Leaf Morphology and Inflorescence Structure%白菜NAC转录因子BrcCUC3基因克隆及其对叶缘和主枝发育的影响

    Institute of Scientific and Technical Information of China (English)

    惠麦侠; 张鲁刚; 余祥; 王晗; 白金娟; 何玉科

    2012-01-01

    植物NAC (矮牵牛NAM基因、拟南芥ATAF1/2和CUC2基因)转录因子CUP-SHAPED COTYLEDON(CUC)亚家族成员在植物茎尖分生组织形态建成、器官边界分离、叶发育方面发挥着重要作用.采用基因同源克隆的方法获得了白菜(Brassica rapa ssp.chinensis)基因BrcCUC3,并转化拟南芥(Arabidopsis thaliana)做了初步的功能鉴定.研究结果表明,白菜Brc CUC3的编码区长1 008 bp,编码335个氨基酸,基因结构分析显示BrcCUC3包含3个外显子、2个内含子,内含子剪接位点符合GT-AG规则.氨基酸序列分析表明,BrcCUC3蛋白具有典型的植物NAC domain结构域.BrcCUC3编码区氨基酸序列与其它植物的CUC3蛋白有很高的一致性,尤其与甘蓝(Brasica oleracea)、萝卜(Raphanus sativus)和拟南芥CUC3蛋白高度一致,一致性分别达到98%,97%和83%.在不同物种CUC3的系统进化树上,BrcCUC3归属于双子叶植物分支的十字花科亚组,由不同植物20条CUC3编码区氨基酸序列所建立的系统进化树与真实的植物进化基本一致.荧光定量PCR分析结果表明,BrcCUC3在白菜叶深裂株系叶片中的表达量比叶全缘叶片中的高.利用根癌农杆菌(A grobacterium tumefaciens)浸花法转化拟南芥,获得了转BrcCUC3基因的拟南芥植株.过表达BrcCUC3的转基因拟南芥呈现叶缘出现裂刻、主枝增加的新表型.初步说明该基因参与叶形和主枝的发育调控,为揭示白菜叶形发育分子调控机制和通过基因工程创制植物叶形新种质提供分子依据.%CUP-SHAPED COTYLEDON(CUC), members of the NAC family of transcription factors (such as NAM in Petunia hybrida, ATAF1/2 and CUC2 in Arabidopsis lhaliana) play an important role in shoot apical meristem (SAM) construction, organ separation and leaf development. BrcCUC3 was cloned from the non-heading Chinese cabbag (Brassica rapa ssp. chinensis) by the method of homologous sequence amplification and transformed into Arabidopsis thcdiana

  15. 基于2点RANSAC的无人直升机单目视觉SLAM%Monocular Visual SLAM of Unmanned Helicopter Based on 2-point RANSAC

    Institute of Scientific and Technical Information of China (English)

    徐伟杰; 李平; 韩波

    2012-01-01

    1点随机抽样一致性(RANSAC)算法是一种准确度高、计算量小的数据关联算法,但是其在摄像机多个轴上的角速度都快速变化时会失效,用在以无人直升机为载体的单目视觉同步定位与地图构建(SLAM)上存在滤波发散的风险.针对该问题,提出2点RANSAC算法,结合EKF运动模型的先验信息,用只抽样2个匹配点的RANSAC去除野点.在微小型无人直升机平台上进行了基于2点RANSAC算法的单目视觉SLAM实验,实验结果表明2点RANSAC算法工作可靠,SLAM的位姿估计精度可以达到自主飞行需要.%The 1-point random sample consensus (RANSAC) algorithm is a data association algorithm with high accuracy and low compaction cost. However, it fails when angular velocities around multiple axes of the camera change quickly, and causes the risk of filter divergence when applied to the monocular visual simultaneous localization and mapping (SLAM) of unmanned helicopter. For this problem, 2-point RANSAC algorithm is proposed, which incorporates a priori information from the EKF (extended Kalman filter) motion model, and uses RANSAC, in which only 2 matched points are used for sampling, to remove the outliers. Monocular visual SLAM based on 2-point RANSAC algorithm is performed on a mini unmanned helicopter (MUH) platform. The field-experiment results show that 2-point RANSAC algorithm works reliably, and the SLAM's pose estimation is precise enough for autonomous flight.

  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. 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.

  18. 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…

  19. 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.

  20. 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. PMID:23012549

  1. 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

  2. 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.

  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. 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.

  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. 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.

  7. 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

  8. 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. PMID:23012549

  9. 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

  10. 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.

  11. 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...

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

    OpenAIRE

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

    2012-01-01

    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 ...

  13. 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.

  14. 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

  15. Estimation of the Effect of Green Water and Bow Flare Slamming on the Wave-Induced Vertical Bending Moment Using Closed-Form Ex-pressions

    DEFF Research Database (Denmark)

    Jensen, Jørgen Juncher; Mansour, A. E.

    2003-01-01

    ABSTRACT: The effect of impulsive loads like slamming and green water on deck on the wave-induced bending mo-ment is estimated by a semi-analytical approach. The impulse loads leading to transient vibrations are described in terms of magnitude, phase lag relative to the wave-induced peak and decay...... rate. These loads can be due to bow flare slamming, bottom slamming or green water loads as they all can be characterised by a short duration relative to the wave cycle. The magnitude of the bow flare slamming loads is estimated using accurate results from wedge-shaped sections, Zhao and Faltinsen...

  16. 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.......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....

  17. Canadian Irradiation Centre

    International Nuclear Information System (INIS)

    The Canadian Irradiation Centre is a non-profit cooperative project between Atomic Energy of Canada Limited, Radiochemical Company and Universite du Quebec, Institut Armand-Frappier, Centre for Applied Research in Food Science. The Centre's objectives are to develop, demonstrate and promote Canada's radiation processing technology and its applications by conducting applied research; training technical, professional and scientific personnel; educating industry and government; demonstrating operational and scientific procedures; developing processing procedures and standards, and performing product and market acceptance trials. This pamphlet outlines the history of radoation technology and the services offered by the Canadian Irradiation Centre

  18. 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.

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

    Science.gov (United States)

    Zhang, Heng; Liu, Yanli; Tan, Jindong

    2015-01-01

    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. PMID:26102492

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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.

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

    OpenAIRE

    Hyukdoo Choi; Ryunseok Kim; Euntai Kim

    2014-01-01

    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 ad...

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

    OpenAIRE

    Heng Zhang; Yanli Liu; Jindong Tan

    2015-01-01

    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 hierarchi...

  7. Extraction and error modeling of 3D data: application to SLAM

    OpenAIRE

    Viejo Hernando, Diego; Cazorla Quevedo, Miguel Ángel

    2006-01-01

    We are interested in using artificial landmarks obtained by a stereo system not only in SLAM-like algorithms but also feature extraction, map building, and so on. Using a stereo camera we can extract planes and geometrical primitives like that. In order to use these primitives a perceptual model of landmarks is needed. In this paper we present our perceptual model and some points about its possible use are detailed.

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

    OpenAIRE

    Siyang Song; Shengping Xia; Zhaosheng Teng; Shuimei Zhang

    2015-01-01

    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 ...

  9. Visual navigation in unmanned air vehicles with simultaneous location and mapping (SLAM)

    OpenAIRE

    Li, X

    2014-01-01

    This thesis focuses on the theory and implementation of visual navigation techniques for Autonomous Air Vehicles in outdoor environments. The target of this study is to fuse and cooperatively develop an incremental map for multiple air vehicles under the application of Simultaneous Location and Mapping (SLAM). Without loss of generality, two unmanned air vehicles (UAVs) are investigated for the generation of ground maps from current and a priori data. Each individual UAV is equipped with i...

  10. Visual SLAM for underwater vehicles using video velocity log and natural landmarks

    OpenAIRE

    Salvi, Joaquim; Petillot, Yvan R.; Thomas, Stephen; Aulinas Masó, Josep M.

    2008-01-01

    A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odom...

  11. Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

    OpenAIRE

    Mallios, Angelos; Ridao Rodríguez, Pere; Hernàndez Bes, Emili; Ribas Romagós, David; Maurelli, Francesco; Petillot, Yvan R.

    2009-01-01

    This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). T...

  12. Pose-based slam with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

    OpenAIRE

    Mallios, Angelos; Ridao, Pere; Hernández, Emili; Ribas, David

    2010-01-01

    This paper proposes a pose-based algorithm to solve the full SLAM problem for an Autonomous Underwater Vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a Mechanical Scanned Imaging Sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The raw data from the sensors are processed and ...

  13. Real Time SLAM Using Compressed Occupancy Grids For a Low Cost Autonomous Underwater Vehicle

    OpenAIRE

    Cain, Christopher Hawthorn

    2014-01-01

    The research presented in this dissertation pertains to the development of a real time SLAM solution that can be performed by a low cost autonomous underwater vehicle equipped with low cost and memory constrained computing resources. The design of a custom rangefinder for underwater applications is presented. The rangefinder makes use of two laser line generators and a camera to measure the unknown distance to objects in an underwater environment. A visual odometry algorithm is...

  14. 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。

  15. 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.

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

    OpenAIRE

    Yin-Tien Wang; Ming-Chun Lin; Rung-Chi Ju

    2010-01-01

    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...

  17. PML-SLAM: a solution for localization in large-scale urban environments

    OpenAIRE

    Alsayed, Zayed; Bresson, Guillaume; Nashashibi, Fawzi; Verroust-Blondet, Anne

    2015-01-01

    International audience Localization is considered a key factor for autonomous cars. In this paper, we present a complete Simultaneous Localization And Mapping (SLAM) solution. This algorithm is based on probabilistic maximum likelihood framework using grid maps (the map is simply presented as a grid of occupancy probabilities). The solution mainly solve three renowned localization problems (1. localization in unknown environment, 2. localization in a pre-mapped environment and 3. recoverin...

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

    OpenAIRE

    Lobo Pereira Fernando; di Sciascio Fernando A; Soria Carlos M; Lopez Natalia; Auat Cheein Fernando A; Carelli Ricardo

    2010-01-01

    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 allo...

  19. An approach to robot SLAM based on incremental appearance learning with omnidirectional vision

    Science.gov (United States)

    Wu, Hua; Qin, Shi-Yin

    2011-03-01

    Localisation and mapping with an omnidirectional camera becomes more difficult as the landmark appearances change dramatically in the omnidirectional image. With conventional techniques, it is difficult to match the features of the landmark with the template. We present a novel robot simultaneous localisation and mapping (SLAM) algorithm with an omnidirectional camera, which uses incremental landmark appearance learning to provide posterior probability distribution for estimating the robot pose under a particle filtering framework. The major contribution of our work is to represent the posterior estimation of the robot pose by incremental probabilistic principal component analysis, which can be naturally incorporated into the particle filtering algorithm for robot SLAM. Moreover, the innovative method of this article allows the adoption of the severe distorted landmark appearances viewed with omnidirectional camera for robot SLAM. The experimental results demonstrate that the localisation error is less than 1 cm in an indoor environment using five landmarks, and the location of the landmark appearances can be estimated within 5 pixels deviation from the ground truth in the omnidirectional image at a fairly fast speed.

  20. 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.

  1. 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.

  2. Strong tracking CKF based SLAM method for unmanned underwater vehicle%基于强跟踪CKF的无人水下航行器SLAM

    Institute of Scientific and Technical Information of China (English)

    王宏健; 傅桂霞; 李娟; 李村

    2013-01-01

    针对基于容积卡尔曼滤波(CKF)的无人水下航行器(uuv)同步定位与地图构建(SLAM)存在对模型参数变化的鲁棒性差、收敛速度慢、对突变状态跟踪能力低等问题,通过在CKF中引入渐消因子和弱化因子,提出了一种基于强跟踪CKF(STCKF)的SLAM算法(STCKF-SLAM).首先建立UUV的运动模型、特征模型、测距声呐模型,然后基于霍夫变换从多测距声呐测量数据中提取堤岸线特征,最终采用STCKF实现了UUV的同步定位与地图构建.基于UUV海试数据的仿真实验结果表明:相比CKF-SLAM算法,STCKF-SLAM算法保持了对突变状态的强跟踪能力,且均方根误差降低了13%,提高了SLAM系统的精确性,可应用于UUV长航时水下隐蔽作业.

  3. 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.

  4. 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.

  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. 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.

  7. CENTRE FOR GEOMETRICAL METROLOGY

    DEFF Research Database (Denmark)

    De Chiffre, Leonardo

    The objective of this Annual Report is to give a general introduction to CGM as well as to give an account of the tasks carried out using the facilities of CGM's Instrument Centre during 1998 and 1999....

  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. The Bruce Energy Centre

    International Nuclear Information System (INIS)

    The Bruce Energy Centre Development Corporation is a joint venture of the Ontario Energy Corporation and 6 private companies formed to market surplus steam from the Bruce Nuclear Power Development. The corporation will also sell or lease land near Bruce NPD. The Bruce Energy Centre has an energy output of 900 BTU per day per dollar invested. Potential customers include greenhouse operators, aquaculturalists, food and beverage manufacturers, and traditional manufacturers

  10. 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.

  11. 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.

  12. 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.

  13. Efecto de la infección del citomegalovirus sobre receptores SLAM en macrófagos murinos

    OpenAIRE

    Zarama Ortiz, Angela María

    2014-01-01

    [spa] Los receptores de la familia SLAM se encuentran expresados diferencialmente en la superficie de los leucocitos y juegan un papel importante en la inmunidad innata y adaptativa. En este trabajo se demuestra que el citomegalovirus (CMV) murino reduce específicamente la expresión de determinados miembros SLAM en la superficie de los macrófagos infectados. Mediante el escrutinio de un panel de mutantes de deleción del CMV murino se ha identificado m154 como el producto viral que modula ...

  14. The 2007 National Federation of the Blind Youth Slam: Making Astronomy Accessible to Students Who are Blind

    Science.gov (United States)

    Grice, Noreen A.

    2008-05-01

    In the summer of 2007, nearly two hundred blind and visually impaired high school students participated in a weeklong enrichment program at Johns Hopkins University called the National Federation of the Blind Youth Slam. They spent four days participating in hands-on science and engineering classes and exploring careers previously thought inaccessible to those without sight. The students were separated into "tracks” with each group focusing on a different field. Want to know what happened in the astronomy track? Come by this paper and see examples of accessible astronomy activities, including accessible star parties, from the Youth Slam!

  15. 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.

  16. 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...

  17. Real-time large-scale dense RGB-D SLAM with volumetric fusion

    OpenAIRE

    Whelan, T.; Kaess, M.; Johannsson, H.; Fallon, M; Leonard, J.J.; McDonald, J.

    2015-01-01

    We present a new simultaneous localization and mapping (SLAM) system capable of producing high-quality globally consistent surface reconstructions over hundreds of meters in real time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface reconstruction we achieve a much higher quality map over what would be achieved using raw RGB-D point clouds. In this paper we highlight three key techniques associated with applying a volumetric fusion-based mapping system to the S...

  18. 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.

  19. 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...

  20. The ideal Atomic Centre

    International Nuclear Information System (INIS)

    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)

  1. Lidar Calibration Centre

    Science.gov (United States)

    Pappalardo, Gelsomina; Freudenthaler, Volker; Nicolae, Doina; Mona, Lucia; Belegante, Livio; D'Amico, Giuseppe

    2016-06-01

    This paper presents the newly established Lidar Calibration Centre, a distributed infrastructure in Europe, whose goal is to offer services for complete characterization and calibration of lidars and ceilometers. Mobile reference lidars, laboratories for testing and characterization of optics and electronics, facilities for inspection and debugging of instruments, as well as for training in good practices are open to users from the scientific community, operational services and private sector. The Lidar Calibration Centre offers support for trans-national access through the EC HORIZON2020 project ACTRIS-2.

  2. International research centre launched

    International Nuclear Information System (INIS)

    Full text: The first scientific research and educational institution to be set up on a completely international basis was officially inaugurated in Trieste on 5 October 1964 by the Director General of IAEA, Dr. Sigvard Eklund, when he opened the first seminar of the International Centre for Theoretical Physics. As evidence of the international nature of the institution he noted that the scientists who would work and teach there during the first year represented sixteen different countries. By the end of 1964, the Centre building was nearing completion and three of the five floors were occupied. A successful symposium had been held on the subject of plasma physics, and a score of professors and fellows were at work, from Bulgaria, Czechoslovakia, Greece, India, Japan, Jordan, the Netherlands, Norway, Pakistan, Poland, the United Kingdom, and the United States. A dozen scientific papers had been issued as preprints. The main purpose of the Centre is to foster the advancement of theoretical physics through training and research; at first the chief subject will be high-energy and elementary particle physics. Plasma physics, low energy physics and solid-state physics will also be dealt with. Special attention is paid to the needs of the developing countries. Of the 25 fellows selected for the academic year 1964-65, more than half are from South America, Africa and Asia. In conjunction with the Research Centre, there is an Advanced School for theoretical Physics to provide graduate training for fellows who need such preparation before they embark upon research. The Centre works under the guidance of a Scientific Council comprising the president, Prof. M. Sandoval-Vallarta (Nuclear Energy Commission of Mexico); Prof. A. Abragam (Saclay, France); Prof. R. Oppenheimer (Institute for Advanced Study, Princeton, USA); Dr. V. Soloviev (Dubna, USSR); Prof V.F. Weiskopf (Director General, CERN) ; Prof Abdus Salam (Imperial College, London) ; Prof. P. Budini (University of Trieste

  3. 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...

  4. 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…

  5. 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.

  6. Automatic Relocalization and Loop Closing for Real-Time Monocular SLAM.

    Science.gov (United States)

    Williams, Brian; Klein, Georg; Reid, Ian

    2011-09-01

    Monocular SLAM has the potential to turn inexpensive cameras into powerful pose sensors for applications such as robotics and augmented reality. We present a relocalization module for such systems which solves some of the problems encountered by previous monocular SLAM systems--tracking failure, map merging, and loop closure detection. This module extends recent advances in keypoint recognition to determine the camera pose relative to the landmarks within a single frame time of 33 ms. We first show how this module can be used to improve the robustness of these systems. Blur, sudden motion, and occlusion can all cause tracking to fail, leading to a corrupted map. Using the relocalization module, the system can automatically detect and recover from tracking failure while preserving map integrity. Extensive tests show that the system can then reliably generate maps for long sequences even in the presence of frequent tracking failure. We then show that the relocalization module can be used to recognize overlap in maps, i.e., when the camera has returned to a previously mapped area. Having established an overlap, we determine the relative pose of the maps using trajectory alignment so that independent maps can be merged and loop closure events can be recognized. The system combining all of these abilities is able to map larger environments and for significantly longer periods than previous systems. PMID:21358004

  7. 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

    2016-01-01

    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. PMID:27529256

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

    Directory of Open Access Journals (Sweden)

    Kaichang Di

    2016-08-01

    Full Text Available 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.

  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. 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

    2016-01-01

    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. PMID:27529256

  11. 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。

  12. 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.

  13. 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.

  14. 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.

  15. İslam coğrafyacılarına göre mezhepler

    OpenAIRE

    YURTALAN, Betül

    2015-01-01

    Tez, “giriş, üç bölüm, sonuç ve ek”ten oluşmaktadır. Girişte, tezinhazırlanmasında takip edilen yöntem ve yararlanılan kaynaklar hakkında bilgiverilmiştir.Birinci bölümde, İslam coğrafyacılığının oluşum süreci ve önemli temsilcileriele alınmış ve coğrafya eserlerinin mezhepler tarihi açısından önemi üzerindedurulmuştur. İslam coğrafyacılarının mezhebi kimlikleri hakkında bilgi verilmişardından onların eserlerinde yer alan mezhepler ile ilgili genel bilgilerdeğerlendirilmiştir.İkinci ...

  16. 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...

  17. 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.

  18. 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

  19. 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

  20. 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.

  1. 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.

  2. 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.

  3. 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....

  4. Localisation d'une flotte de véhicules communicants par approche de type SLAM visuel décentralisé

    OpenAIRE

    Bresson, Guillaume

    2014-01-01

    The localization of a vehicle with the use of SLAM techniques (Simultaneous Localization And Mapping) has been extensively studied during the last 20 years. However, only a few approaches have tried to extend these algorithms to a fleet of vehicles despite the many potential applications. It is the objective of this thesis. First of all, a monocular SLAM for a single vehicle has been developed. This one proposes to pair an Extended Kalman Filter with a Cartesian representation for landmarks s...

  5. 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.

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

    International Nuclear Information System (INIS)

    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. (paper)

  7. Klasik İslam Hukuk Teorisi ve Hadislerin Rolü

    OpenAIRE

    SCHACHT, Joseph; MACİT, Yüksel

    2009-01-01

    Joseph Schacht, İslam Hukuku alanıyla ilgili çalışmalarıyla tanınan bir müsteşriktir. The Origins Of Muhammadan Jurisprudence (Muhammedi Hukukun Kaynakları) isimli eseri de, Schacht'ın önde gelen eserlerinden biridir. Biz Bu çalışmamızda Schacht'ın bu eserinin birinci bölümünün birinci kısmı olan “The Classical Theory of Muhammadan Law. The Function of Traditions” başlıklı kısmı, Türkçe'ye tercüme ederek tahlil etmeye çalıştık.

  8. Numerical Investigation of Wave Slamming of Flat Bottom Body during Water Entry Process

    Directory of Open Access Journals (Sweden)

    Xiaozhou Hu

    2014-01-01

    Full Text Available A numerical wave load model based on two-phase (water-air Reynolds-averaged Navier-Stokes (RANS type equations is used to evaluate hydrodynamic forces exerted on flat bottom body while entering ocean waves of deploying process. The discretization of the RANS equations is achieved by a finite volume (FV approach. The volume of fluid (VOF method is employed to track the complicated free surface. A numerical wave tank is built to generate the ocean waves which are suitable for deploying offshore structures. A typical deploying condition is employed to reflect the process of flat bottom body impacting waves, and the pressure distribution of bottom is also presented. Four different lowering velocities are applied to obtain the relationship between slamming force and wave parameters. The numerical results clearly demonstrated the characteristics of flat bottom body impacting ocean waves.

  9. Ajustement de faisceaux du SLAM revisité en utilisant un capteur RGB-D

    OpenAIRE

    Melbouci, kathia; Naudet Collette, Sylvie; Gay-Bellile, Vincent; Ait Aider, Omar; Carrier, Mathieu; Dhome, Michel

    2015-01-01

    International audience Nous présentons dans ce papier une méthode qui intègre l'information de profondeur fournie par un capteurRGB-D, pour la cartographie et la localisation simultanée ou (Simultanuous Localization And Mapping, SLAM) afind'améliorer la précision de la localisation. Nous présentons un nouvel ajustement de faisceaux local qui permet de combiner des données ayant une information de profondeur et des données visuelles dans une même fonction de coût totalement exprimée en pixe...

  10. Check valve slam caused by air intrusion in emergency cooling water system

    International Nuclear Information System (INIS)

    Waterhammer pressures were experienced during periodic starting of Residual Heat Removal (RHR) pumps at a nuclear plant. Prior to an analytical investigation careful analysis performed by plant engineers indicated that the spring effect of entrapped air in a heat exchanger resulted in water hammer due to check valve slam following flow reversal. In order to determine in more detail the values of pertinent parameters controlling this water hammer a hydraulic transient analysis was performed of the RHR piping system, including essential elements such as the pump, check valve, and heat exchanger. Using characteristic torque and pressure loss curves the motion of the check valve was determined. By comparing output of the water hammer analysis with site recordings of pump discharge pressure the computer model was calibrated, allowing for a realistic estimate of the quantity of entrapped air in the heat exchanger. (author)

  11. DGNB certified Healthcare Centres

    DEFF Research Database (Denmark)

    Brunsgaard, Camilla; Larsen, Tine Steen

    2015-01-01

    for sustainability and wants a certification. This research investigates the decision‐making and design process (DMaDP) behind four DGNB certified Healthcare Centres (HCC) in Northern Jutland in Denmark. In general, knowledge about the DMaDP is important. However it is important to know what part DGNB plays...... a dialog about DGNB and energy concept is important even before anyone start sketching. Experiences with the different approaches will be further outlined in the paper.Future research has the intention to collect further knowledge about DGNB and DMaDP in practise. This project was limited to Healthcare...

  12. Centre liikekeskuksen digital signage

    OpenAIRE

    Bincl, Suzana

    2015-01-01

    Opinnäytetyöni tarkastelee digital signagen suunnittelussa huomioitavia tekijöitä ja sen arvoa markkinointikanavana. Työ on toteutettu tilaustyönä Lappeenrantalaiselle mainostoimisto Mediakolmiolle. Työ sisältää teoriaosuuden lisäksi sisältösuunnitelman rakenteilla olevalle Centre liikekeskukselle. Tavoitteena oli luoda liikekeskukselle sen brändiä tukeva digital signage konsepti. Työ ei sisällä valmista tuotetta, vaan se toimii ehdotelmana myöhemmin alkavalle tuotanno...

  13. Town Centre Redevelopment Strategies

    DEFF Research Database (Denmark)

    Vagnby, Bo Hellisen

    urban planning and design strategieswhich have been practised in most of the larger Danish towns: pedestrian streets, shopping centres, preservation of historic features, waterfronts, concentration of offices, conference and sports facilities, improvement og traffic and transport conditions as well...... as slum clearence and urban renewal. To a certain extent parallels are drawn to international experiences, especially where these are of such a nature that they can be assumed transferred to Danish connctions. Conclusively, the strategies are discussed in the light of the turn of Danish urban planning...

  14. 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。

  15. 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.

  16. Localisation d'un véhicule à l'aide d'un SLAM visuel contraint

    OpenAIRE

    Larnaout, Dorra

    2014-01-01

    To ensure a global localization in urban environment, the majority of commercial solutions is based on Global Positioning Systems (GPS). While these systems offer sufficient accuracy in peri-urban or rural areas, their accuracy decreases significantly in cities because of the urban canyon (i.e. reflections of the GPS signal through the facades of buildings). To overcome this problem, vision based solutions such as the visual SLAM (Simultaneous Localization And Mapping) seem to be a promising ...

  17. A real time visual SLAM for RGB-D cameras based on chamfer distance and occupancy grid

    OpenAIRE

    Dib, Abdallah; Beaufort, Nicolas; Charpillet, François

    2014-01-01

    International audience We present a feature based visual SLAM method that uses chamfer distance to estimate the camera motion from RGB-D images. The proposed method does not require any matching which is an expensive operation and always generates false matching that affects the estimated camera motion. Our approach registers the input image iteratively by minimizing the distance between the feature points and the occupancy grid using a distance map. We demonstrate with real experiments th...

  18. 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.

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

    OpenAIRE

    Rodrigo Munguía; Antoni Grau

    2012-01-01

    Copyright 2012: R. Munguía and A. Grau. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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 m...

  20. UAV Active SLAM Algorithm Based on Boundary%基于边界的无人机主动SLAM算法

    Institute of Scientific and Technical Information of China (English)

    沈永福; 王希彬

    2014-01-01

    同步定位与地图构建技术是无人机实现真正自主导航的关键。为克服被动同步定位与地图构建算法的缺陷,研究了基于边界的无人机主动同步定位与地图构建算法。在无人机的探测区域周围产生候选边界点,通过建立合理的目标函数,从候选边界点中选择目标点,控制无人机朝该目标点方向运动,再运用扩展卡尔曼滤波算法更新无人机的运动状态。通过建立的无人机简化模型,对提出的算法和随机同步定位与地图构建算法进行对比研究,仿真结果表明该算法是有效可行的。%The technology of simultaneous localization and mapping (SLAM) is the key for an unmanned aerial vehicle (UAV) to realize truly autonomous navigation. To overcome the disadvantage of the passive SLAM, the active SLAM meth-od based on boundary for UAV was studied. Firstly, the candidate boundary points were produced around the exploration area, and the destination point was selected from those points by building a proper objective function. Then the UAV moved towards this point and its movement state was updated by extended Kalman filtering (EKF) algorithm. Using a sim-plified model of UAV, comparative research was carried out between the proposed algorithm and random SLAM. The simu-lation results with Matlab showed that this algorithm was effective and feasible.

  1. [The primary healthcare centres].

    Science.gov (United States)

    Brambilla, Antonio; Maciocco, Gavino

    2014-04-01

    The central attributes of primary care are: first contact (accessibility), longitudinality (person- focused preventive and curative care overtime), patient-oriented comprehensiveness and coordination (including navigation towards secondary and tertiary care). Besides taking care of the needs of the individuals, primary health care teams are also looking at the community, especially when addressing social determinants of health. The rationale for the benefits for primary care for health has been found in: 1) greater access to needed services; 2) better quality of care; 3) a greater focus on prevention; 4) early management of health problems; 5) organizing and delivering high quality care for chronic non-communicable diseases. This paper describes the role of primary healthcare centres in strengthening community primary services and in reducing health inequalities. Furthemore, the experiences of Regional Health Services from Tuscany and Emilia-Romagna are discussed, with a brief overview of the literature. PMID:24770539

  2. Experiences of Telebased Information Centres

    DEFF Research Database (Denmark)

    Falch, Morten

    1999-01-01

    Tele-based information community centres or just tele-centres have been seen as the killer application to empower local communities in developed and developing countries to meet the challenges of the information society. This paper will present a number of models for introducing such centres and ...... and discuss the different models and national strategies used for setting up tele-based information in relation to the Ghana experience.......Tele-based information community centres or just tele-centres have been seen as the killer application to empower local communities in developed and developing countries to meet the challenges of the information society. This paper will present a number of models for introducing such centres...

  3. Update on System Coordination Centre

    Energy Technology Data Exchange (ETDEWEB)

    Stangl, W. [Power Pool of Alberta, Calgary, AB (Canada)

    1998-07-01

    The new System Coordination Centre at the Power Pool of Alberta was designed to meet the unique requirements of Alberta`s electric industry under the new regulatory regime. Development of the Centre, key provisions of the energy management system (EMS) are highlighted. The centre will provide an energy management system for the Pool`s system controller function and interface with the Power Pool Administrator`s market functions and the operations of the Transmission Administrator. System controllers are expected to be operating from the new location by the end of 1998. Unique EMS features of the centre include: (1) real-time management of energy market and network operations using diverse SCADA/EMS, (2) inter-control centre protocol used to accommodate the unique participant information requirements, and (3) special custom applications. The Centre is expected to be fully functioning by July 1999. 1 fig.

  4. 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

    2012-01-01

    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. PMID:23344377

  5. 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

    2014-01-01

    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. PMID:25019633

  6. 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。

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. Lighter-Than-Air UAV with slam capabilities for mapping applications and atmpsphere analysys.

    Science.gov (United States)

    Colombatti, G.; Aboudan, A.; La Gloria, N.; Debei, S.; Flamini, E.

    Exploration of the planets and the moons of the Solar System has, up to now, been performed by remote sensing from Earth, fly-by probes, orbiters, landers and rovers. It must be outlined that remote sensing probes and orbiters can only provide non-contact, limited resolution imagery over a small number of spectral bands; on the other hand, landers provide high-resolution imagery and in-situ data collection and analysis capabilities, but only for a single site; while rovers allow imagery collection and in-situ science across their path. These characteristics of the described means highlight how mobility is a key requirement for planetary exploration missions. Autonomous Lighter-Than-Air systems can be used to explore unknown environments without obstacle avoidance problems, mapping large areas to different resolutions and perform a wide variety of measurements and experiments while traveling in the atmosphere. Sensor fusion between Inertial Measurement Unit (IMU) and vision systems can be used to support vehicle navigation and variable resolution surface mapping. In this work a minimal sensor suite composed by a navigation-grade IMU and stereo camera pair has been studied. At altitudes below 100 m stereo vision techniques can provide range, bearing and elevation measurements of a set of scattered points on the planetary surface. Simultaneous Localization and Mapping (SLAM) extended Kalman filter algorithm has been adapted to deal with stereo camera observations. Sensor fusion with IMU measurements is used to track rapid vehicle movements and to maintain the vehicle position and attitude estimation also if, for a limited period of time, no vision measurements are available. Moreover the SLAM algorithm produces a scattered points map of the complete traveled area. In this work we analyse the dynamics of the airship in response of the encountered environment of Titan moon. Possible trajectories for an extended survey are investigated; this allows to have a precise

  12. 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.

  13. 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。

  14. 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

  15. 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.

  16. Cross-Covariance Estimation for Ekf-Based Inertial Aided Monocular Slam

    Science.gov (United States)

    Kleinert, M.; Stilla, U.

    2011-04-01

    Repeated observation of several characteristically textured surface elements allows the reconstruction of the camera trajectory and a sparse point cloud which is often referred to as "map". The extended Kalman filter (EKF) is a popular method to address this problem, especially if real-time constraints have to be met. Inertial measurements as well as a parameterization of the state vector that conforms better to the linearity assumptions made by the EKF may be employed to reduce the impact of linearization errors. Therefore, we adopt an inertial-aided monocular SLAM approach where landmarks are parameterized in inverse depth w.r.t. the coordinate system in which they were observed for the first time. In this work we present a method to estimate the cross-covariances between landmarks which are introduced in the EKF state vector for the first time and the old filter state that can be applied in the special case at hand where each landmark is parameterized w.r.t. an individual coordinate system.

  17. 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.

  18. 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.

  19. 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. PMID:27009823

  20. 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.

  1. 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.

  2. The Aube centre; Le Centre de l`Aube

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-07-01

    This educational booklet is devoted to a general presentation of the Aube radioactive wastes storage centre. After a short presentation of the Andra, the French national agency for the management of radioactive wastes, it gives some general information about radioactive wastes (origin, classification), containers (quality assurance and different types), wastes transportation (planning, safety), and about the Aube centre itself: description, treatment and conditioning of drums (compacting and injection), storage facilities, geological situation of the site, and environmental controls. (J.S.)

  3. Code of Conduct on Biosecurity for Biological Resource Centres: procedural implementation.

    Science.gov (United States)

    Rohde, Christine; Smith, David; Martin, Dunja; Fritze, Dagmar; Stalpers, Joost

    2013-07-01

    A globally applicable code of conduct specifically dedicated to biosecurity has been developed together with guidance for its procedural implementation. This is to address the regulations governing potential dual-use of biological materials, associated information and technologies, and reduce the potential for their malicious use. Scientists researching and exchanging micro-organisms have a responsibility to prevent misuse of the inherently dangerous ones, that is, those possessing characters such as pathogenicity or toxin production. The code of conduct presented here is based on best practice principles for scientists and their institutions working with biological resources with a specific focus on micro-organisms. It aims to raise awareness of regulatory needs and to protect researchers, their facilities and stakeholders. It reflects global activities in this area in response to legislation such as that in the USA, the PATRIOT Act of 2001, Uniting and Strengthening America by Providing Appropriate Tools Required to Intercept and Obstruct Terrorism Act of 2001; the Anti-Terrorism Crime and Security Act 2001 and subsequent amendments in the UK; the EU Dual-Use Regulation; and the recommendations of the Organization for Economic Co-operation and Development (OECD), under their Biological Resource Centre (BRC) Initiative at the beginning of the millennium (OECD, 2001). Two project consortia with international partners came together with experts in the field to draw up a Code of Conduct on Biosecurity for BRCs to ensure that culture collections and microbiologists in general worked in a way that met the requirements of such legislation. A BRC is the modern day culture collection that adds value to its holdings and implements common best practice in the collection and supply of strains for research and development. This code of conduct specifically addresses the work of public service culture collections and describes the issues of importance and the controls or

  4. 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.

  5. 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.

  6. Mobile Robot SLAM Method Based on Particle Swarm Optimization%基于粒子群优化的移动机器人SLAM方法

    Institute of Scientific and Technical Information of China (English)

    陈白帆; 蔡自兴; 袁成

    2009-01-01

    A large number of particles are needed to improve the precision in particle filtering SLAM (simultaneous localization and mapping) of mobile robots. To solve this problem, a SLAM method based on particle swarm optimization (PSO) is presented by introducing PSO's idea into the FastSLAM. Through the particle swarm optimization, the particle's prediction is updated, the particle's proposal distribution is adjusted in FastSLAM, and then the particles are concentrated around the robot's true pose. The method can enhance the SLAM precision effectively, and reduce the particle number and the computational time complexity. The simulation experiment results prove its effectiveness and feasibility.%针对移动机器人的粒子滤波SLAM(同时定位与建图)方法中需要大量粒子来提高精度的问题,将粒子群优化思想引入到FastSLAM中,提出了一种基于粒子群优化的同时定位与建图方法.通过粒子群优化方法对FastSLAM中预估粒子进行更新,调整粒子的提议分布,使得预测采样粒子集中于机器人的真实位姿附近.该方法能有效提高SALM精度,并减少所使用的粒子数以及计算的时间复杂度.仿真实验结果表明该方法有效、可行.

  7. 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.

  8. Contemporary design for 'landmark' centre.

    Science.gov (United States)

    2009-08-01

    As one of the UK's largest builders of healthcare facilities, construction company Morgan Ashurst is accustomed to delivering complex, challenging hospital projects. The construction of a new oncology centre at Musgrove Park Hospital, Taunton for Taunton and Somerset NHS Foundation Trust-- said to be the first new stand-alone radiotherapy centre to be built in the UK for almost 20 years--was no exception. Health Estate Journal reports. PMID:19711668

  9. 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.

  10. Training centres - organization and management

    International Nuclear Information System (INIS)

    In the lecture 'Training centres - organization and management' some principles and requirements which influence the organization, management and activity pattern of nuclear training centres, are briefly introduced. It is demonstrated, step by step, how these general principles are implemented in the development of the Czechoslovak nuclear power programme, it means, how the training of the NPP personnel proceeds in Czechoslovak nuclear training centres. General principles which are selected: a connection between the capacity of the training centre and the scope and needs of the nuclear power programme, a position of the training center within the institutional set-up, a structure and organization of the training system which complies with the system of NPP construction, reflect the pattern and the activity of the nuclear training centre and nuclear power technical level, a research group of workers in the nuclear training centre, main tasks and technical facilities, management of the training process and a transfer of knowledge and research results into the training process. The lecture is supplemented by pictures and slides. (orig.)

  11. 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

  12. 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.

  13. 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)

  14. A stochastic, Lagrangian model of sinking biogenic aggregates in the ocean (SLAMS 1.0): model formulation, validation and sensitivity

    Science.gov (United States)

    Jokulsdottir, Tinna; Archer, David

    2016-04-01

    We present a new mechanistic model, stochastic, Lagrangian aggregate model of sinking particles (SLAMS) for the biological pump in the ocean, which tracks the evolution of individual particles as they aggregate, disaggregate, sink, and are altered by chemical and biological processes. SLAMS considers the impacts of ballasting by mineral phases, binding of aggregates by transparent exopolymer particles (TEP), zooplankton grazing and the fractal geometry (porosity) of the aggregates. Parameterizations for age-dependent organic carbon (orgC) degradation kinetics, and disaggregation driven by zooplankton grazing and TEP degradation, are motivated by observed particle fluxes and size spectra throughout the water column. The model is able to explain observed variations in orgC export efficiency and rain ratio from the euphotic zone and to the sea floor as driven by sea surface temperature and the primary production rate and seasonality of primary production. The model provides a new mechanistic framework with which to predict future changes on the flux attenuation of orgC in response to climate change forcing.

  15. 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.

  16. The Galactic centre pulsar population

    CERN Document Server

    Chennamangalam, Jayanth

    2013-01-01

    The recent discovery of a magnetar in the Galactic centre region has allowed Spitler et al. to characterize the interstellar scattering in that direction. They find that the temporal broadening of the pulse profile of the magnetar is substantially less than that predicted by models of the electron density of that region. This raises the question of what the plausible limits for the number of potentially observable pulsars - i.e., the number of pulsars beaming towards the Earth - in the Galactic centre region are. In this paper, using realistic assumptions, we show that the potentially observable population of pulsars in the inner parsec has a conservative upper limit of $\\sim$950, and that it is premature to conclude that the number of pulsars in this region is small. We also show that the observational results so far are consistent with this number and make predictions for future radio pulsar surveys of the Galactic centre.

  17. Construction of the Wigner Data Centre

    CERN Multimedia

    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.

  18. 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.

  19. 对BRC以及IFS食品审核标准特点的初步剖析及比较%Primary analyze and comparison on the nature of IFS and BRC food audit standard

    Institute of Scientific and Technical Information of China (English)

    黄子程; 姬莹莹; 姬松涛

    2011-01-01

    选取BRC食品标准第五版和IFS食品标准第五版,从其认可集团名录以及标准的结构等两方面进行剖析。分析结果表明:BRC标准在英国和美国有着广泛的支持,而德国、法国以及意大利的采购商则更加支持IFS标准,立足于全球的大型超市如乐购、家乐福、沃尔玛和麦德龙,对两个标准均持支持的态度;上述两个标准均包含质量管理体系与食品安全管理体系,这其中食品安全管理体系占主导地位。IFS与BRC标准的差异性在于IFS主要考察项目比BRC条款要少13条,BRC条款中要求的医疗筛查、硬塑料、陶瓷并未在IFS条款中涉及到。不同国家对%BRC food standard version 5 and IFS food standard version 5 were selected with the purpose of comparison and analyzing from two aspects,i.e.group who recognize the standards and standard structure.The result of analysis indicated that BRC standard was widely recognized in England and The United State of America.In comparison purchasers from Germany,France and Italia more support the IFS standard.The large supermarkets located around global areas such as Tesco,Carrefour,Wal-Mart and Metro presented the attitude of supporting both of the standards.Both of the aforementioned two standards contained quality management system and food safety management system,in which food safety management system was occupying in a led position.The difference between IFS and BRC standards were mainly reflected as the quantity of clauses in IFS standard which was less than the quantity of clauses in BRC standard,the requirements related to medical screening,hard plastic,ceramics were present in BRC standard,but not in IFS standard.The statistic of the supporting powers by different countries to the respective standards could let the factories who were preparing for exporting to their target country knew which standard needed to be certified.The similar aspects and the different aspects obtained from the analysis

  20. 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

  1. 基于RGB-D相机的移动机器人三维SLAM

    Institute of Scientific and Technical Information of China (English)

    贾松敏; 王可; 郭兵; 李秀智

    2014-01-01

    A fast method for mobile robot 3D SLAM(simultaneous localization and mapping)was pres-ented to address the problem of 3D modeling in complex indoor environment.Environment texture and 3D data were captured by RGB-D camera.According to the camera calibration model and the image feature extraction and matching procedure,the association between two 3D point clouds was estab-lished.On the basis of the RANSAC(random sample consensus)algorithm,the correspondence-based iterative closest point arithmetic model was solved to realize the robot′s precise localization effectively. With the keyframe-to-frame selection mechanism,the 3D grid map method and the unique normal characteristic of a spatial point were used for maintaining and updating the global map.Experimental results demonstrate the feasibility and effectiveness of the proposed algorithm in the indoor environ-ment.%针对室内复杂环境三维建模问题,提出一种移动机器人快速三维同时定位与地图创建(SLAM)方法。利用RGB-D相机分别获取环境纹理和三维信息,通过图像特征提取与匹配,结合相机标定模型,建立三维点云对应关系,运用随机抽样一致性(RANSAC)算法作为位姿估计的策略求解基于对应点迭代最临近点的模型,有效解决机器人精确定位问题;引入keyframe-to-frame 关键帧选取机制,结合立体栅格法及空间点云法向唯一特征,实现三维地图的更新与维护。室内环境下的实验结果验证了所提方法的可行性与有效性。

  2. 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.

  3. 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.

  4. 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.

  5. The INTEGRAL Science Data Centre

    OpenAIRE

    Beckmann, V.

    2002-01-01

    The INTEGRAL Science Data Centre (ISDC) processes, archives and distributes data from the INTEGRAL mission. At the ISDC incoming data from the satellite are processed and searched for transient sources and Gamma-Ray bursts. The data are archived and distributed to the guest observers. As soon as the data are public, any astronomer can access the data via the internet. ISDC also provides the tools which are necessary for the data analysis and offers user support concerning questions related to...

  6. Radwaste Treatment Centre Jaslovske Bohunice

    International Nuclear Information System (INIS)

    In this leaflet the Bohunice Radwaste Treatment Centre (BSC RAO) is presented. BSC RAO is designed to process and treat liquid and solid radwaste, arising from the NPP A-1 decommissioning, from NPPs V-1, V-2, and Mochovce operations, as well as institutional radwaste of diverse institutional (hospitals, research institutes) in the Slovak Republic. Transport, sorting, incineration, compacting, concentration and cementation of radwaste as well as monitoring of emission are described

  7. 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.

  8. 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. PMID:25362182

  9. The Notting Dale Urban Studies Centre

    Science.gov (United States)

    Webb, Chris; Lynas, Sue

    1976-01-01

    Founded in 1974, the Centre is one of the most intensively used resource centres in the United Kingdom. Adults and students from elementary to college level use its facilities to learn about the urban environment. (BD)

  10. Application of SLAM Algorithm in Autonomous Underwater Vehicle%一种水下航行器的SLAM算法应用研究

    Institute of Scientific and Technical Information of China (English)

    石守东; 康丹; 徐斌斌

    2010-01-01

    研究精确稀疏扩展信息滤波(ESEIF)的快速算法,提出一种三维水下航行器(AUV)的同时定位和地图创建(SLAM)算法.作者设计了一种大规模水下三维环境的SLAM解决方案,建立了三维环境的航行器运动、传感器观测及重定位系统模型,分析了方法实时性和定位精度.仿真实验证明:用ESIEF算法能高效地实现水下环境的SLAM,为项目研究提供了理论基础.

  11. 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...

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

    OpenAIRE

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

    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-senso...

  13. Développement d'un capteur composite Vision/Laser à couplage serré pour le SLAM d'intérieur

    OpenAIRE

    Gallegos Garrido, Gabriela

    2011-01-01

    Autonomous navigation in unknown environments has been the focus of attention in the mobile robotics community for the last three decades. When neither the location of the robot nor a map of the region are known, localization and mapping are two tasks that are highly inter-dependent and must be performed concurrently. This problem, is known as Simultaneous Localization and Mapping (SLAM). In order to gather accurate information about the environment, mobile robots are equipped with a variety ...

  14. 一种实时的单目视觉SLAM改进算法%An improved real-time monocular visual SLAM algorithm

    Institute of Scientific and Technical Information of China (English)

    李全科; 曾连荪

    2015-01-01

    针对目前 SLAM 算法实时性和鲁棒性的问题,提出了一种改进的实时单目视觉 SLAM算法。该算法采用一个摄像头作为外部传感器来提取机器人行进过程中周围环境的特征信息,用实时性良好的 FAST 提取环境特征点,结合逆深度参数化进行特征点非延时初始化,用压缩扩展卡尔曼滤波更新地图。实验研究表明,该方法提高了算法的鲁棒性和实时性。%Aiming at the problem of robust SLAM algorithm, an improved real-time monocular visual SLAM algorithm is proposed. Taking a camera as its external sensor, this algorithm can obtain the feature information of the surrounding. It obtains the feature points of environment by using FAST which has good real-time capability. With the combination of inverse depth parametrization, the feature points begin to initialize without delay. The map is updated by the CEKF. The experimental study shows that this method improves the robustness and real-time of the algorithm.

  15. Core Competencies Of A Call Centre AgentCore Competencies Of A Call Centre Agent

    OpenAIRE

    Christine White; Vera Roos

    2005-01-01

    Call centre agents are becoming increasingly important in the call centre context. They act as a contact point between the customer and the company. Call centre agents should have certain competencies to perform their duties sufficiently. Identifying competencies, required to be effective agents, will ease the task of training and recruitment. Due to the interrelatedness of the call centre agent, the management of a call centre and customers, all relevant role players’ perceptions were taken ...

  16. 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

  17. 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。

  18. 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...

  19. Centre for nuclear engineering University of Toronto annual report 1984

    International Nuclear Information System (INIS)

    The annual report of the Centre for Nuclear Engineering, University of Toronto covers the following subjects: message from the Dean; Chairman's message; origins of the centre; formation of the centre; new nuclear appointments; and activities of the centre, 1984

  20. 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.

  1. Powering the Future Data Centre

    DEFF Research Database (Denmark)

    Zhang, Zhe

    2010-01-01

    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......: • Optimized design method for dual active bridge (DAB) converter and its derived circuits; • A novel hybrid dc-dc converter and its corresponding optimal design method are proposed; • An improved dual input current-fed DC-DC converter with bidirectional power conversion ability is investigated; • Extend...... the circuit level decoupling modulation scheme into 3LNPC inverter. As to the DAB converter, through the power factor and harmonics analysis, the dominated loss factor is found in variable input voltage range. Optimized parameter choosing method is used to decide the ac inductance and switching frequency...

  2. 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...... development and environmental sustainability, and further, that technology may not even be the most important feature needed to make them function as such....

  3. 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.

  4. Elm Farm Organic Research Centre December 2006

    OpenAIRE

    Sanders, Richard; Whiltley, Andrew; Haigh, Zoe; Clarke, Sarah; Hitchings, Roger; O'Brien, Josie

    2006-01-01

    The Organic Research Centre. Elm Farm Research Centre Bulletin with Technical Updates from The Organic Advisory Service is a regular publication from The Organic Research Centre. The current issue covers: Report from 2006 Cirencester Conference; Quest for more home produced organic food; in a world where bread matters; Improving wheat with plenty of parents; Unlocking the secrets of the ancient (cereal varieties); Brain food- a good read; Not to late to protect the future: The organic...

  5. Business plan – Tennis centre modernization

    OpenAIRE

    Moravec, Martin

    2012-01-01

    The goal of this master's thesis "Business plan -- Tennis centre modernization" - is creating and writing the business plan for the reconstruction of the existing tennis centre. The theoretical part describes characteristics of small and medium sized enterprises, their meaning. Describes the necessary parts of the business plan, its possible structure. The paper involves the knowledge gained into the concrete case of the tennis centre. Describes its nowadays conditions and possible solutions....

  6. 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

  7. 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

  8. A method study on SFEKF-SLAM for a UUV's structural environment%水下无人航行器结构环境SFEKF同步构图定位方法

    Institute of Scientific and Technical Information of China (English)

    张勋; 王宏健; 周佳加; 边信黔; 熊磊

    2012-01-01

    Traditional simultaneous localization and mapping ( SLAM) transducers have the shortcomings of a large amount of data, slow processing speed, and poor real time capability. Furthermore, the method based on extended Kalman filter (EKF)-SLAM has the deficiency of relatively low estimation precision for the location of unmanned underwater vehicles (UUVs). In consideration of these problems, a suboptimal fading extended Kalman filter was introduced into a UUV navigation system, and a method of suboptimal fading extended Kalman filter-SLAM (SFEKF-SLAM) for a UUVs structural environment based on multi-ranging sonar (MRS)was presented. First, a feature extraction model of underwater multi-ranging sonar based on the Hough transform was established; then a UUV navigation system based on SFEKF-SLAM was designed. Applying the system, the UUV's state can be estimated and its structural environment can be updated by the data of multi-ranging sonar. The sea-trial results show that the model of underwater multi-ranging sonar based on the Hough transform can extract environmental features efficiently, and a UUV navigation system based on SFEKF-SLAM has higher precision than one based on EKF-SLAM and can build the map of port embankment more precisely. It was also proven that the SFEKF-SLAM method for a UUVs structural environment based on multi-ranging sonar has potential applications in underwater structural environments such as ports.%针对传统同步构图定位(SLAM)传感器具有数据量大、处理速度慢、实时性差的不足和基于扩展卡尔曼滤波的同步构图定位( EKF-SLAM)具有对水下无人航行器(UUV)位置估计精度低、甚至发散的缺陷,把带次优渐消因子的扩展卡尔曼滤波器应用到了导航系统中,提出了基于多元测距声呐(MRS)的UUV结构环境SFEKF-SLAM( suboptimal fading extended Kalman filter-SLAM)方法.首先建立基于霍夫变换的水下MRS特征提取模型,设计了基于SFEKF-SLAM的UUV导航系统,

  9. The European NEO Coordination Centre

    Science.gov (United States)

    Perozzi, E.; Borgia, B.; Micheli, M.

    An operational approach to NEO (Near-Earth Object) hazard monitoring has been developed at European level within the framework of the Space Situational Awareness Program (SSA) of the European Space Agency (ESA). Through federating European assets and profiting of the expertise developed in European Universities and Research Centers, it has been possible to start the deployment of the so-called SSA NEO Segment. This initiative aims to provide a significant contribution to the worldwide effort to the discovery, follow-up and characterization of the near-Earth object population. A major achievement has been the inauguration in May 2013 of the ESA NEO Coordination Centre located at ESRIN (Frascati, Italy). The goal of the NEOCC Precursor Service operations is twofold: to make available updated information on the NEO population and the associated hazard and to contribute to optimize the NEO observational efforts. This is done by maintaining and improving a Web Portal publicly available at http://neo.ssa.esa.int and by performing follow-up observations through a network of collaborating telescopes and facilities. An overview of the SSA-NEO System and a summary of the first two years of NEOCC operations is presented.

  10. 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.

  11. 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.

  12. 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.

  13. 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...

  14. Neighbourhood Centres – Organisation, Management and Finance

    DEFF Research Database (Denmark)

    Larsen, Jacob Norvig

    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 pub...

  15. 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.

  16. 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.

  17. The Canadian Astronomy Data Centre

    Science.gov (United States)

    Ball, Nicholas M.; Schade, D.; Astronomy Data Centre, Canadian

    2011-01-01

    The Canadian Astronomy Data Centre (CADC) is the world's largest astronomical data center, holding over 0.5 Petabytes of information, and serving nearly 3000 astronomers worldwide. Its current data collections include BLAST, CFHT, CGPS, FUSE, Gemini, HST, JCMT, MACHO, MOST, and numerous other archives and services. It provides extensive data archiving, curation, and processing expertise, via projects such as MegaPipe, and enables substantial day-to-day collaboration between resident astronomers and computer specialists. It is a stable, powerful, persistent, and properly supported environment for the storage and processing of large volumes of data, a condition that is now absolutely vital for their science potential to be exploited by the community. Through initiatives such as the Common Archive Observation Model (CAOM), the Canadian Virtual Observatory (CVO), and the Canadian Advanced Network for Astronomical Research (CANFAR), the CADC is at the global forefront of advancing astronomical research through improved data services. The CAOM aims to provide homogeneous data access, and hence viable interoperability between a potentially unlimited number of different data collections, at many wavelengths. It is active in the definition of numerous emerging standards within the International Virtual Observatory, and several datasets are already available. The CANFAR project is an initiative to make cloud computing for storage and data-intensive processing available to the community. It does this via a Virtual Machine environment that is equivalent to managing a local desktop. Several groups are already processing science data. CADC is also at the forefront of advanced astronomical data analysis, driven by the science requirements of astronomers both locally and further afield. The emergence of 'Astroinformatics' promises to provide not only utility items like object classifications, but to directly enable new science by accessing previously undiscovered or intractable

  18. 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。

  19. 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.

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

    OpenAIRE

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

    2016-01-01

    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...

  1. 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.

  2. 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.

  3. Review of CERN Data Centre Infrastructure

    Science.gov (United States)

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

    2012-12-01

    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.

  4. 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.

  5. 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

  6. 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.

  7. The relativistic two-centre continuum

    International Nuclear Information System (INIS)

    A method is presented to define unique continuum states for the two-centre Dirac Hamiltonian. In the spherical limit these states become the familiar angular momentum eigenstates of the radial Coulomb potential. The different states for a fixed total energy vertical strokeEvertical stroke > m may be distinguished by considering the asymptotic spin-angular distribution of states with unique scattering-phases. First numerical solutions of the two-centre Dirac equation for continuum states are presented. (orig.)

  8. INFOTERM – Information Disseminating Centre for Terminology

    OpenAIRE

    Albina Auksoriūtė

    2014-01-01

    International Information Centre for Terminology (INFOTERM) was founded in 1971 by contract with the United Nations Educational, Scientific and Cultural Organization (UNESCO) and the Austrian Standards Institute (ASI). In 1996, INFOTERM was reorganized and established as an independent non-profit organization. INFOTERM promotes and supports the cooperation of existing and the establishment of new terminology centres and networks with the general aim to improve domain communication, knowledge ...

  9. Two centre problems in relativistic atomic physics

    OpenAIRE

    McConnell, Sean R.

    2012-01-01

    The work contained within this thesis is concerned with the explanation and usage of a set of theoretical procedures for the study of static and dynamic two–centre problems in the relativistic framework of Dirac’s equation. Two distinctly different theories for handling time–dependent atomic interactions are reviewed, namely semi–classical perturbation theory and a non–perturbative numerical technique based on the coupled channel equation to directly solve the time–dependent, two–centre Dirac...

  10. Joint Research Centre. Ispra establishment-Italy

    International Nuclear Information System (INIS)

    A comprehensive review of the work carried out during 1974 and 1975 in the Ispra establishment of the Joint Research Centre is presented. A description of the activity carried out within the context of the running programmes is given. Some of the most relevant scientific and technical achievement are described from the viewpoints of the Scientific Departments of the Centre. The technical and administrative support activities are also presented. A list of publications issued by the Ispra Scientific staff is given

  11. 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...

  12. 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. PMID:26826952

  13. Medication errors: pharmacovigilance centres in detection and prevention

    OpenAIRE

    Bencheikh, Rachida Soulaymani; Benabdallah, Ghita

    2009-01-01

    Detecting medication errors needs collaboration between various organizations, such as patient safety institutions, pharmacovigilance centres, and poison control centres. In order to evaluate the input of pharmacovigilance centres and poison control centres in detecting and evaluating medication errors a pilot project was initiated by the World Alliance for Patient Safety in collaboration with the Uppsala Monitoring Centre; the Moroccan pharmacovigilance centre acted as project coordinator. A...

  14. 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.

  15. 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.

  16. Study on Indoor Robot of SLAM Based on RGB-D Camera%基于体感传感器的室内机器人定位研究

    Institute of Scientific and Technical Information of China (English)

    贺白羽; 蒋蓁

    2012-01-01

    SLAM is the key technologies for mobile robot to achieve autonomous navigation. By the fast development of the RGB - D camera, the article put forward to implementation for SLAM on RGB - D camera. Based on the system architecture adopting by the article, the data of the RGB - D camera are processed to constitute the map of the landmarks. Finally, SLAM to be achieved by EKF and validity of the RGB - D method to be proved.%同时定位与地图构建是机器人能够实现智能化自主导航的关键技术.该文提出一种基于体感传感器的移动机器人SLAM实现方法.通过分析体感视觉获取原理和数据特点,设计了系统结构,并将体感传感器获取的数据进行处理,得到构建地图所需的特征路标;再使用扩展卡尔曼滤波实现SLAM,通过实验结果验证了基于体感传感器的SLAM方法的有效性和正确性.

  17. 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。

  18. 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

  19. 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...

  20. 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). ...

  1. 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.)

  2. 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.

  3. Occupational deprivation in an asylum centre:

    DEFF Research Database (Denmark)

    Morville, Anne-Le; Erlandsson, Lena-Karin

    2013-01-01

    This article presents a study of three asylum-seeking men from Iran and Afghanistan. It aimed to explore how and if they experienced occupations as occupations in a Danish asylum centre and how their life experience shaped their choice and value of current occupations. In-depth narrative interviews...... 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...... in Denmark were to a certain extent influenced by their earlier occupations and the current occupational deprivation they all experienced was due to limited possibilities in the centre. Although they tried their best to fill their days and create structure, there was a loss of valued occupations...

  4. 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...

  5. 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....

  6. Imperial College Reactor Centre annual report. 1984

    International Nuclear Information System (INIS)

    The following new equipment is noted; for atomic absorption spectrometry to supplement the neutron activation analysis, and an additional nuclear data analysis system to improve the quality and speed of the service to users of the Centre's facilities. Users include undergraduates from the University of London, outside bodies such as the British Musueum, as well as departments of Colleges of the University of London. The reactor lost only three days through failures or faults. Two replacement fuel elements were put into the reactor during the year. The report contains brief accounts of 34 research programmes at the Centre. (U.K.)

  7. [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. PMID:27338687

  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. The Australian Centre for Minesite Rehabilitation Research

    International Nuclear Information System (INIS)

    The Australian Centre for Minesite Rehabilitation Research (ACMRR) is a joint venture between the Australian mining industry through the Australian Mineral Industries Research Association Ltd. (AMIRA) and three of the organizations working most actively in this area in Australia: CSIRO Minesite Rehabilitation Research Program; University of Queensland Centre for Mined Land Rehabilitation; and Curtin University Mulga Research Centre. The ACMRR was established in July 1993 to provide a national framework to conduct Strategic Research into minesite rehabilitation. It is an industry led and funded initiative. The Goals of the Centre include: to conduct strategic research into minesite rehabilitation to provide sustainable environmental solutions which are acceptable to industry, government and the community; to be recognized as a center of excellence undertaking commissioned research on minesite rehabilitation in an independent and thorough manner; to provide scientific and technological foundations to facilitate industry and government in setting acceptable standards; to act as networking and communications focus; and to enhance education and training in minesite rehabilitation. Strategic Research Programs in: Water Systems--downstream surface and groundwater quality; Land--the long-term behavior and stability of constructed landforms; Ecosystems--the long-term sustainability of constructed landforms; Waste--the long-term treatment and disposal of waste products; will allow the ACMRR to achieve these goals through specific research projects in these areas, developed with industry sponsors. This paper will discuss their progress to date, research projects underway, and plans for the future

  10. Interorganisatorisk styring i Shared Service Centre

    DEFF Research Database (Denmark)

    Harritz, Daniel

    2011-01-01

    I den offentlige sektor er der en stigende udbredelse af Shared Service Centre (SSC). Men der er endnu meget lidt viden om de interorganisatoriske styringsproblemstillinger, der opstår når et SSC oprettes. I denne artikel præsenteres, ud fra et interorganisatorisk perspektiv, en styringsramme der...

  11. [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.

  12. In the Field: The Canadian Ecology Centre.

    Science.gov (United States)

    Magee, Clare

    2000-01-01

    The Canadian Ecology Centre (Ontario) offers year-round residential and day programs in outdoor and environmental education for secondary students, field placement and internship opportunities for college students, and ecotourism programs, while providing employment and tax revenues to the local community. Dubbed consensus environmentalism, the…

  13. Centring the Subject in Order to Educate

    Science.gov (United States)

    Webster, R. Scott

    2007-01-01

    It is important for educators to recognise that the various calls to decentre the subject--or self--should not be interpreted as necessarily requiring the removal of the subject altogether. Through the individualism of the Enlightenment the self was centred. This highly individualistic notion of the sovereign self has now been decentred especially…

  14. The fragility of human-centred design

    NARCIS (Netherlands)

    Steen, M.G.D.

    2008-01-01

    In human-centred design (HCD), researchers and designers develop products in cooperation with the potential users of these products. They attempt to give users a voice or a role in their projects, with the intention of developing products that match users' needs and preferences. This approach is esp

  15. Student-Centred Learning: A Humanist Perspective

    Science.gov (United States)

    Tangney, Sue

    2014-01-01

    The notion of student-centred learning is often not defined; within the pedagogic literature it is generally associated with constructivism or principles associated with a constructivist environment such as building on prior knowledge, purposeful active learning and sense-making. An informal enquiry into conceptions of university staff prior to…

  16. The young centre of the Earth

    DEFF Research Database (Denmark)

    Uggerhøj, Ulrik Ingerslev; Mikkelsen, Rune E.; Faye, Jan

    2016-01-01

    We treat, as an illustrative example of gravitational time dilation in relativity, the observation that the centre of the Earth is younger than the surface by an appreciable amount. Richard Feynman first made this insightful point and presented an estimate of the size of the effect in a talk...

  17. 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.

  18. 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.

  19. 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

  20. Nuclear Electric Visitor Centres - Innovation and inspiration

    International Nuclear Information System (INIS)

    Full text: This eight minute video demonstrates the approach taken by Nuclear Electric to exhibitions that are open to the public. The information is given both visually - with excerpts from some of the attractions on display at the centres - and in comments from interviews with visitors, the centre guides and the man responsible for many of the exhibits featured in the video. on one side are the schoolchildren who are visiting the exhibition and are seen both playing and learning as they press buttons, watch videos, 'meet' Michael Faraday, and learn about radiation - its disposal and its safe transportation. The headmaster of the school is interviewed and explains that the exhibition is helping his children understand the importance of electricity to their world. on the other side is Jackie Lucas, the visitor centre manager, explaining what the public make of the exhibition. We see her staff greeting the children and helping them to understand the show. The designer of the exhibition, Len Upton explains how you go about making an exhibition such as this both informative and fun. Also interviewed is the man behind many of the exhibitions featured at Nuclear Electric's visitor centres up and down the country, Nicholas Mullane. He explains the purpose of the exhibition and what messages it imparts. The video is presented in split-screen or composite format, whereby the interviewee and children are often presented together. Excerpts from the various videos on display are presented as both how they are seen from the floor, as well as the full screen effect of the various programmes. The video gives much of the feeling of fun to be gained at the exhibition, as well as showing the educational benefits to be gained from a couple of hours at one of Nuclear Electric's visitor centres. Copies of the video can be obtained from Bob Fenton at Nuclear Electric. (Fax: ++44 1 452 652 443). (author)

  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. 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.

  3. 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.

  4. Online Monocular SLAM : Rittums

    OpenAIRE

    Persson, Mikael

    2014-01-01

    A classic Computer Vision task is the estimation of a 3D map from a collection of images. This thesis explores the online simultaneous estimation of camera poses and map points, often called Visual Simultaneous Localisation and Mapping [VSLAM]. In the near future the use of visual information by autonomous cars is likely, since driving is a vision dominated process. For example, VSLAM could be used to estimate the position of the car in relation to objects of interest, such as the road, other...

  5. 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

  6. 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.

  7. 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)

  8. Beyond the slammed door

    Directory of Open Access Journals (Sweden)

    Solace Sefakor Anku

    2015-02-01

    Full Text Available A Doll’s House (1879 is the most read of Ibsen’s plays in West Africa and the most performed. As the basis for the discourse on European emancipatory feminism, the play is presently being employed by selective dramatists in West Africa to contest the misinterpretation of the West African woman by European emancipatory feminists. Nora as a character creates a symbolic canvas on which the “real” African woman as envisaged by Tracie Utoh-Ezeajugh in her adaption titled Nneora: an African doll’s house (2005 is drawn. Owusu Janet, another dramatist, faces the issues from a conservative feminist point of view with her interpretation of the play influenced by her cultural perceptions of the woman.

  9. 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&...

  10. 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.

  11. Frequency selectivity at very low centre frequencies

    DEFF Research Database (Denmark)

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

    2010-01-01

    A significant factor in the decrease of sensitivity to low-frequency sound is the helicotrema shunt effect. In humans, it causes a slope increase of the middle-ear transfer function (METF) from 6 dB/oct to 12 dB/oct below approximately 50 Hz [Marquardt et al., J.Acoust. Soc. Am. 121, 3628...... measurements based on OAE suppression techniques and notched-noise masking data psychophysically measured for centre frequencies in the range 50-125 Hz, this study examines how individual differences in frequency selectivity, as well as in masking, may occur at very low CFs due to individual differences......-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...

  12. Patient-centred Prevention among PAD Patients

    DEFF Research Database (Denmark)

    Pii, Kathrine Hoffmann

    2014-01-01

    that will improve their health condition. The patient-centred approach (and related concepts: patient participation, involvement, and empowerment) is being promoted both in healthcare politics and by healthcare professionals as a way to achieve more active self-managing and self-caring patients. Patient......-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...... that the patient-centred approach does not ensure patient autonomy, but continues to be organized according to biomedical regimes and thereby carry on a paternalistic approach. In this paper, I present findings from a PhD project, which investigates how the ideal of patient-centredness is practiced in the case...

  13. 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...... 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...... campus in Lyngby as shown in the pictures on this page. In addition to well equipped laboratories at Risø which will be expanded in 2002 and 2003, thesefacilities provide a common ground for polymer chemists, polymer physicists, chemical engineers and mechanical engineers from the two institutions...

  14. Display-centred applications in ubiquitous computing

    OpenAIRE

    José, Rui; Pinto, Helder

    2006-01-01

    Public displays can play an important enabling role in ubiquitous computing environments. This paper describes an on-going work for a multipurpose, multi-display infrastructure, designed to address the requirements of display-centred applications in ubiquitous computing environments. The system provides an infrastructure in which situated displays can act as portals to the physical space, allowing ubicomp applications to support their association with the physical world by providing them with...

  15. The Researcher : The Refugee Documentation Centre Newsletter

    OpenAIRE

    Ahmed, Elisabeth; Goggins, David

    2014-01-01

    Contents: Subsidiary Protection – a distinct and autonomous form of complementary protection / Enda O’Neill, Jennifer Higgins, UNHCR Ireland; Recent Changes at the Refugee Appeals Tribunal / Barry Magee, Refugee Appeals Tribunal; The Use of Decision Templates for Refugee Status Determination / Seán O’Connell, Refugee Appeals Tribunal; Forced Marriage in Afghanistan / David Goggins, Refugee Documentation Centre; Houses of the Holy: Iraq and the last days of the Mandeans / Patrick Dowling, R...

  16. Structure and Responsibilities of Radiation Protection Centre

    International Nuclear Information System (INIS)

    Constitution of Radiation Protection Centre (RPC) in Lithuania is presented. RPC was established in 1997, in 1999 the Government granted the status of the regulatory authority of Lithuania on radiation protection issues. Currently there are two departments at RPC: two in Vilnius - Department of Radiation Protection Supervision and Control and Department of Programs and Expertise, and four in the districts. Main tasks of RPC are listed

  17. Imperial College Reactor Centre annual report. 1983

    International Nuclear Information System (INIS)

    It is reported that the reactor operated reliably during the year with less than half a day of operating time lost by faults or failures. Brief accounts of the 34 research projects at the Centre are given, and a list of teaching experiments or visits is included. These include undergraduate and post-graduate teaching. Commercial requests for irradiations and neutron activation analysis are reported as increasing. (U.K.)

  18. 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.

  19. Learning Styles of Independent Learning Centre Users

    OpenAIRE

    Tarik Uzun

    2014-01-01

    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 ...

  20. LSE centre for economic performance: bankers’ bonuses

    OpenAIRE

    Bell, Brian

    2010-01-01

    A new series of Election Analyses is now available from the LSE’s Centre for Economic Performance (CEP). The series will discuss the research evidence on some of the key policy battlegrounds of the 2010 General Election, including macroeconomic policy, immigration, health, education, crime, poverty and inequality, labour market policy, regional policy, energy and the environment, financial regulation and bankers’ bonuses, and foreign aid. The latest CEP Election Analysis, by Brian Bell, g...

  1. 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.

  2. The LifeWatch Service Centre Plan

    OpenAIRE

    Parr, Terry; Spinelli, Oliviero; Mauri, Maria Paola; Billisari, Livia; Hardisty, Alex; Ludlow, David; Khan, Zaheer; Roberts, Dave; Sleep, Chris; Sier, Andrew

    2011-01-01

    This report summarises the construction plan for the Lifewatch Service Centre. The main purpose of LifeWatch is to serve the biodiversity and ecosystem research community in its work on the understanding and rational management of our ecosystems for use by policy makers, resource managers, the private sector and the general public. To do this the LifeWatch infrastructure will provide capabilities to analyse, model and simulate with integrated biodiversity and ecosystem data from many dive...

  3. 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.

  4. 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.

  5. INFOTERM – Information Disseminating Centre for Terminology

    Directory of Open Access Journals (Sweden)

    Albina Auksoriūtė

    2014-12-01

    Full Text Available International Information Centre for Terminology (INFOTERM was founded in 1971 by contract with the United Nations Educational, Scientific and Cultural Organization (UNESCO and the Austrian Standards Institute (ASI. In 1996, INFOTERM was reorganized and established as an independent non-profit organization. INFOTERM promotes and supports the cooperation of existing and the establishment of new terminology centres and networks with the general aim to improve domain communication, knowledge transfer and provision of content with view to facilitating the participation of all in the global multilingual knowledge society. The article presents not only a history of the foundation of INFOTERM, the tasks and activities of INFOTERM and its members, which are international, regional or national terminology institutions, organizations and networks, as well as specialized public or semi-public or other non-profit institutions engaged in terminological activities, but also analyses “Guidelines for terminology policies”, preparied by INFOTERM, and cooperation between INFOTERM and the Institute of the Lithuanian Language.In conclusion, the experience and sharing expertise of INFOTERM regarding harmonized methods and guidelines for terminology management and policies, the management of terminology centres, terminology standardization, the use of terminological data, methods and tools in all applications etc are very important for all countries and language communities especially for countries and language communities with less mature terminologies. The Institute of the Lithuanian Language as a member of INFOTERM has a possibility to get information on terminology research and training, terminology publications, terminological events and activities all over the world.

  6. 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...

  7. A new visitor centre for CMS

    CERN Multimedia

    2001-01-01

    At the inauguration of the new CMS visitor centre. The CMS experiment inaugurated a new visitor centre at its Cessy site on 14 June. This will allow the thousands of people who come to CERN each year to follow the construction of one the Laboratory's flagship experiments first-hand. CERN receives over 20,000 visitors each year. Until recently, many of them were taken on a guided tour of one of the LEP experiments. With the closure of LEP, however, trips underground are no longer possible, and the Visits' Service has put in place a number of other itineraries (Bulletin 46/2000). Since the CMS detector will be almost entirely constructed in a surface hall, it is now taking a big share of the limelight. The CMS visitor centre has been built on a platform overlooking CMS construction. It contains a set of clear descriptive posters describing the experiment, along with a video projection showing animations and movies about CMS construction. In the coming weeks, a display of CMS detector elements will be added, as...

  8. Gamma Rays frim the Galactic Centre

    CERN Document Server

    Erlykin, A D

    2007-01-01

    Recent results from the HESS gamma ray telescope have shown the presence of both a diffuse, extended, flux of gamma rays above ~0.4 TeV and discrete sources in and near the Galactic Centre. Here, we put forward a possible explanation in terms of the diffusion of cosmic ray protons from a succession of supernova remnants (SNR) in the SgrA* region of the Galaxy plus a contribution from SNR in the rest of the Galactic Centre Region, to be called the Galactic Centre Ridge (GCR). Protons are favoured over electrons because the mG magnetic fields in the Region will attenuate energetic electrons severely. Prominent features are the need for 'anomalous diffusion' of the protons in the whole region and the adoption of low efficiency for SNR acceleration in the high density regions. The latter is related by us to the well-known low 'cosmic ray gradient' in the Galaxy. A corroborating feature is the close correlation of inferred cosmic ray intensity with the smoothed intensity of 5 GHZ radio radiation. We attribute this...

  9. Effects of different camera motions on the error in estimates of epipolar geometry between two dimensional images in order to provide a framework for solutions to vision based Simultaneous Localization and Mapping (SLAM)

    OpenAIRE

    McVicker, Michael Charles.

    2007-01-01

    This thesis explores the effect camera motion and feature tracking have on the estimations of an epipolar geometry at different stages of a 3D reconstruction and relates the findings to a framework for vision based Simultaneous Localization and Mapping (SLAM). Although there have been previous attempts to determine the quality of algorithms that calculate a fundamental matrix, both robust and linear, we have found no study that explores the relationship between camera motion, or likewise the ...

  10. Addressing the challenges of patient-centred design

    Directory of Open Access Journals (Sweden)

    Karen LaBat

    2009-11-01

    Full Text Available Patient-centred design is a relatively new term, but a longstanding concept in clinical practice. This discussion looks at patient-centred design and explores the relationships of patient-centred design to universal design, user-centred design and the newer human-centred design. It also explores why interdisciplinary approaches are needed for patient-centred design and how interdisciplinary collaboration works to address the challenges of patient centred design. Successful patient-centred solutions can grow from collaborations which include shared visions, understanding of both the nature and degree of variation in the patient,materials, and the designed solution, clear regular communication among all parties with careful definition of terms, and respect for the inherent cultures of all disciplines involved.

  11. 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.

  12. 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...

  13. Canadian Educational Development Centre Websites: More Ebb than Flow?

    Science.gov (United States)

    Simmons, Nicola

    2010-01-01

    This paper examines information portrayed on Canadian educational development (ED) centre websites and, in particular, whether information that corresponds to questions compiled from a literature search of ED centre practices is readily available from centre websites. This study phase is part of a larger national study of Canadian educational…

  14. 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.

  15. 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。

  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. 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

    2014-01-01

    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…

  18. Bhabha Atomic Research Centre: annual report 1988

    International Nuclear Information System (INIS)

    The research and development (R and D) work carried out in the Bhabha Atomic Research Centre (BARC), Bombay during 1988 is summarised and presented in the sections entitled Physical Sciences, Chemical Sciences, Materials and Materials Science, Radioisotopes, Reactors, Fuel cycle, Radiological Safety and Protection, Electronics and Instrumentation, Engineering Services, Life Sciences and General. At the end of each section a list of publications is also given. The R and D work of the outstation units of BARC, namely, Nuclear Research Laboratory, Srinagar; High Altitute Research Laboratory, Gulmarg and Variable Energy Cyclotron Centre, Calcutta are also described in this report. Some of the highlights of the work during the year are: (1) Medium Energy Heavy Ion Accelerator (MEHIA) facility set up jointly by BARC and the Tata Institute of Fundamental Research (TIFR) at TIFR premises became fully operational in September 1988. A number of new compositions of high temperature supconducting materials were synthesized. The highest transition temperature achieved was 125 K. Research work to improve the quality of sintered uranium oxide pellets achieved the purpose. Nuclear fuels were fabricated by using sol-gel process. R and D work for 235 MWe and 500 MWe PHWR type reactors is continuing. Conceptual design of the fuel handling system for the prototype fast breeder reactor was finalised. 233U+Al alloy fuel for Kamini reactor was fabricated. Progress has been made in industrial applications of enzymes. Various applications of radioisotopes are being continued. Certain technologies and processes developed in the Centre were transferred to commercial agencies for large scale exploitation. (M.G.B.)

  19. Human-centred approaches in slipperiness measurement

    Science.gov (United States)

    Grönqvist, Raoul; Abeysekera, John; Gard, Gunvor; Hsiang, Simon M.; Leamon, Tom B.; Newman, Dava J.; Gielo-Perczak, Krystyna; Lockhart, Thurmon E.; Pai, Clive Y.-C.

    2010-01-01

    A number of human-centred methodologies—subjective, objective, and combined—are used for slipperiness measurement. They comprise a variety of approaches from biomechanically-oriented experiments to psychophysical tests and subjective evaluations. The objective of this paper is to review some of the research done in the field, including such topics as awareness and perception of slipperiness, postural and balance control, rating scales for balance, adaptation to slippery conditions, measurement of unexpected movements, kinematics of slipping, and protective movements during falling. The role of human factors in slips and falls will be discussed. Strengths and weaknesses of human-centred approaches in relation to mechanical slip test methodologies are considered. Current friction-based criteria and thresholds for walking without slipping are reviewed for a number of work tasks. These include activities such as walking on a level or an inclined surface, running, stopping and jumping, as well as stair ascent and descent, manual exertion (pushing and pulling, load carrying, lifting) and particular concerns of the elderly and mobility disabled persons. Some future directions for slipperiness measurement and research in the field of slips and falls are outlined. Human-centred approaches for slipperiness measurement do have many applications. First, they are utilized to develop research hypotheses and models to predict workplace risks caused by slipping. Second, they are important alternatives to apparatus-based friction measurements and are used to validate such methodologies. Third, they are used as practical tools for evaluating and monitoring slip resistance properties of foot wear, anti-skid devices and floor surfaces. PMID:11794763

  20. Biological Inspiration in Human Centred Robotics

    Institute of Scientific and Technical Information of China (English)

    HUHuo-sheng; LIUJin-dong; CalderonCarlosA

    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.

  1. 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....

  2. Hunting for hardware changes in data centres

    International Nuclear Information System (INIS)

    With many servers and server parts the environment of warehouse sized data centres is increasingly complex. Server life-cycle management and hardware failures are responsible for frequent changes that need to be managed. To manage these changes better a project codenamed “hardware hound” focusing on hardware failure trending and hardware inventory has been started at CERN. By creating and using a hardware oriented data set - the inventory - with detailed information on servers and their parts as well as tracking changes to this inventory, the project aims at, for example, being able to discover trends in hardware failure rates.

  3. 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

    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高精度的机器人自动导航。并通过实验检验了这种算法,实验结果显示,本方法的速度能够达到实时处理的要求,与此前研究的其它方法相比,这种方法能够达到更高的精度,所提出的SLAM和导航系统更加接近实用要求。%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

  4. 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

  5. The Australian centre for RF bioeffects research (ACRBR) - an NHMRC centre of research excellence

    International Nuclear Information System (INIS)

    Full text: The Australian Centre for Radiofrequency Bioeffects Research (ACRBR) is a newly established multi-institutional research centre which seeks to research questions pertaining to possible health effects of exposure to radiofrequency devices, such as mobile phones and which is funded under the Australian National Health and Medical Research Council (NHMRC) Centres of Research Excellence funding program. The Centre of Research Excellence in Electromagnetic Energy is combining the efforts of engineers, epidemiologists, physicists, psychophysiologists and veterinary pathologists from RMIT University, the Institute of Medical and Veterinary Science in South Australia (IMVS), Monash University, Swinburne University of Technology and Telstra Research Laboratories (TRL). The centre is funded at $2.5 M over five years and will undertake a program of research to address the issue of exposure to radiofrequency (RF) devices and health. It will also train new scientists, keep the community informed of ongoing developments and help the development of government policies in this area of considerable public concern. The 5-year program has the following components: Neurobiology: One important area where there is a perceived research gap is in the area of potential neurological effects, which will hence be a major focus of this Centre. The proposed studies range from in vitro and in vivo research studies of RF effects on neuron and neural system functioning in rodents, to that of RF effects on simple neural function, cognition and subjective report in humans. The latter series of studies have been developed to account for the consensus view that more emphasis needs to be placed on possible differences in RF population sensitivity (e.g. youth versus aged, and ' electromagnetic hypersensitives'). Epidemiological studies are an important tool in studying the impact on public health from exposure of whole populations to modern radio technologies. Cancer outcomes in this area of

  6. Information validation tool for technical support centres

    International Nuclear Information System (INIS)

    The French National Emergency Organisation relies on the expert advice given by the different Technical Support Centres (EDF/SEPTEN, CEA/IPSN, Framatome). For several years a great effort has been made to improve tools. The first generation was mainly concerned with computational aids such as real-time plant data acquisition and visualisation, break size calculations, containment release estimations... These tools were presented at the OECD NEA Specialist Meeting in 1993. Currently work is performed in the field of validation of information available to the Technical Support Centres. The three partners (EDF, CEA and Framatome) have developed a prototype implementing the diagnosis and the quality of the information pertaining to the 3D/3P method. The philosophy of this tool is to present to the expert a set of essential information (e.g. state of the fuel barrier, primary water inventory...) for the diagnosis with a confidence level associated to each information and the adequate explications. In fact the expert has not only to know the diagnosis but also how reliable the information is and why. Subsequently, the algorithms used to elaborate the diagnoses and the confidence factor have to be simple enough so that the user is able to consult the explanations in a fast and easy way. The paper details the three-step process to elaborate the diagnosis and the confidence factor

  7. 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...

  8. 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.

  9. Bhabha Atomic Research Centre annual report : 1989

    International Nuclear Information System (INIS)

    The main thrust of the various research and development (R and D) activities of the Bhabha Atomic Research Centre (BARC), Bombay, is towards the implementation of India's nuclear power programme. To that end, its R and D activities cover the entire nuclear fuel cycle, reactor technology; applications of radioisotopes and radiations in agriculture, medicine and industries; and radiation protection in nuclear installations. The report presents in summarised form the R and D activities carried out during 1989 in the chapters entitled: Physical Sciences, Chemical Sciences, Materials and Materials Sciences, Radioisotopes, Reactors, Fuel Cycle, Radiological Safety and Protection, Electronics and Instrumentation, Engineering Services, Life Sciences and General. At the end of each chapter, a list of publications by the staff scientists in the corresponding subject field is given. The list includes published journal articles and technical reports, and papers presented at conferences, symposia etc. The report also covers the R and D activities of the outstation units of BARC, namely, Nuclear Research Laboratory, Srinagar; High Altitude Research Laboratory, Gulmarg; and Variable Energy Cyclotron Centre, Calcutta. BARC is also engaged in basic an applied research in frontier areas of science such as plasma and fusion physics, accelerators and lasers, high temperature superconductivity, condensed matter physics, high pressure physics, high resolution spectroscopy, chemical reaction dynamics and laser induced chemistry, electronics and robotics: radiation biology, and genetic engineering. Report is illustrated with a number of figures, graphs, and coloured pictures. (M.G.B.) figs., refs

  10. 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...

  11. Pharmacist involvement in a diabetic education centre.

    Science.gov (United States)

    Kanitz, J; Birken, B; Ward, V

    1982-01-01

    During the past two years, a multi-discipline health team has been meeting with selected diabetic "problem" patients on a regular basis at the North York General Hospital (NYGH). The patients are referred to the programme by their physicians when they appear to be having difficulty handling or coping with their diabetes. The participants in the programme attend the Diabetic Education Centre (DEC) for one week as day patients in the hospital and are exposed to various types of counselling from members of the Diabetic Education Centre Team (DECT), one of which is the pharmacist. Follow-up from this week of intensive education is made at annual intervals. The main purpose of the pharmacist in the clinic is to provide information for the patients regarding their prescriptions and over the counter (OTC) medication. This is achieved by means of individual patient interviews and informal group discussions, as well as rounds with other team members and contact with patients' families. This programme provides a forum for the patient and the patient's family to obtain valid information about diabetes, as well as problems associated with the disease, and aids in coping with these problems. The team concept enables the patient to be analyzed by all disciplines in order to assess his teaching needs and fulfill them. The pharmacist is continually involved in this information system and plays a valuable role on the team. PMID:10257341

  12. 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.

  13. 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. PMID:27284024

  14. 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.

  15. 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.

  16. 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

  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. Annual report 1992 - Austrian Research Centre Seibersdorf

    International Nuclear Information System (INIS)

    This is a non-technical progress report (in English) of the activities of the Research Centre Seibersdorf in the fields of energy and safety, materials research, isotope and radiation techniques, environment protection, health and food and industrial consulting. Within other non nuclear related highlights the newly built radio-pharmaceutical laboratory is described, which will guarantee the reliable supply of products and develop new diagnostic and therapeutic preparations. A newly developed whole-body counter for measuring internal radiation is in use in the Vienna General Hospital to obtain better information of the patient's metabolism and can thus assess the efficiency of pharmaceuticals. The research in the field of toxicology and carcinogenicity was intensified. Geological dating was performed for the 'Continental Deep-Drilling Programme' on behalf of the Max Planck Institute. Environmental data acquisition was mainly conducted in the field of ozone, water quality, air pollution and electro-smog (quittner, rieger)

  19. 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...

  20. 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.

  1. 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).

  2. Surviving stroke in an Ebola Treatment Centre.

    Science.gov (United States)

    Dhillon, Paul; McCarthy, Sinead; Gibbs, Michael

    2015-01-01

    A middle aged woman presented to an Ebola Treatment Centre in West Africa with a 4-day history of fever, fatigue, joint pain and vomiting. She tested positive for Ebola virus disease (EVD) and a standard treatment platform of care was started. On day 3 of her admission, she was found to have suffered a left-sided CVA of unknown aetiology. Treatment was largely supportive within a resource-constrained environment and the added layer of providing care with extensive personal protective equipment, and human resource and safety constraints. The patient was able to clear the EVD and did regain some functional use of her arm and leg. She was discharged on day 15 of her stay, as a survivor of both stroke and Ebola. PMID:26516244

  3. Bhabha Atomic Research Centre : annual report 1990

    International Nuclear Information System (INIS)

    Research and development (R and D) activities of the Bhabha Atomic Research Centre (BARC) carried out during 1990 are reported. The main thrust of the R and D activities of BARC is on : (1)providing support to the nuclear power programme, (2)designing, building and utilising research reactors, (3)working in related frontline technologies, and also (4)basic research in frontier areas of science. These activities are described in brief under the chapters entitled : (1)Physical Sciences (2)Chemical Sciences (3)Materials and Material Science (4)Radioisotopes (5)Reactions (6)Fuel Cycle (7)Radiological Safety and Protection (8)Electronics and Instrumentation (9)Engineering Services (10)Life Sciences and (11)General. At the end of each chapter a list of papers and reports published in the subject field indicated by the title of the chapter is given. (N.B.). figs., tabs

  4. Beef quality assessed at European research centres.

    Science.gov (United States)

    Dransfield, E; Nute, G R; Roberts, T A; Boccard, R; Touraille, C; Buchter, L; Casteels, M; Cosentino, E; Hood, D E; Joseph, R L; Schon, I; Paardekooper, E J

    1984-01-01

    Loin steaks and cubes of M. semimembranosus from eight (12 month old) Galloway steers and eight (16-18 month old) Charolais cross steers raised in England and from which the meat was conditioned for 2 or 10 days, were assessed in research centres in Belgium, Denmark, England, France, the Federal Republic of Germany, Ireland, Italy and the Netherlands. Laboratory panels assessed meat by grilling the steaks and cooking the cubes in casseroles according to local custom using scales developed locally and by scales used frequently at other research centres. The meat was mostly of good quality but with sufficient variation to obtain meaningful comparisons. Tenderness and juiciness were assessed most, and flavour least, consistently. Over the 32 meats, acceptability of steaks and casseroles was in general compounded from tenderness, juiciness and flavour. However, when the meat was tough, it dominated the overall judgement; but when tender, flavour played an important rôle. Irish and English panels tended to weight more on flavour and Italian panels on tenderness and juiciness. Juciness and tenderness were well correlated among all panels except in Italy and Germany. With flavour, however, Belgian, Irish, German and Dutch panels ranked the meats similarly and formed a group distinct from the others which did not. The panels showed a similar grouping for judgements of acceptability. French and Belgian panels judged the steaks from the older Charolais cross steers to have more flavour and be more juicy than average and tended to prefer them. Casseroles from younger steers were invariably preferred although the French and Belgian panels judged aged meat from older animals equally acceptable. These regional biases were thought to be derived mainly from differences in cooking, but variations in experience and perception of assessors also contributed. PMID:22055992

  5. 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.

  6. International Centre for Theoretical Physics, Trieste Scientific activities in 1991

    International Nuclear Information System (INIS)

    The document contains three parts. Part 1 is a general review of the scientific activities of the Centre in 1991, including a statistical digest. Part II presents the scientific programme of the Centre in the following fields: Fundamental Physics, Condensed Matter Physics, Mathematics, Physics and Energy, Physics and Environment, Applied Physics, Adriatico Research Conferences, as well as other aspects of the Centre activities in 1991. Part III lists the publications issued in 1991. Tabs

  7. Routing algorithms for recursively-defined data centre networks.

    OpenAIRE

    Erickson, A.; Kiasari, A.; Navaridas, J.; Stewart, I.A.

    2015-01-01

    The server-centric data centre network architecture can accommodate a wide variety of network topologies. Newly proposed topologies in this arena often require several rounds of analysis and experimentation in order that they might achieve their full potential as data centre networks. We propose a family of novel routing algorithms on two well-known data centre networks of this type, (Generalized) DCell and FiConn, using techniques that can be applied more generally to the class of networks w...

  8. Complex Modelling Scheme Of An Additive Manufacturing Centre

    Science.gov (United States)

    Popescu, Liliana Georgeta

    2015-09-01

    This paper presents a modelling scheme sustaining the development of an additive manufacturing research centre model and its processes. This modelling is performed using IDEF0, the resulting model process representing the basic processes required in developing such a centre in any university. While the activities presented in this study are those recommended in general, changes may occur in specific existing situations in a research centre.

  9. International Centre for Theoretical Physics, Trieste. Scientific activities in 1990

    International Nuclear Information System (INIS)

    The document contains three parts: Part I is a general review of the scientific activities of the Centre in 1990, including a statistical digest. Part II describes the scientific programme of the Centre in the following fields: Fundamental physics, condensed nuclear physics, mathematics, physics and energy, physics and environment, physics of the living state, applied physics Adriatico research conferences and other aspects of the Centre activities. Part III lists the publications issued in 1990

  10. Ordinance on the Finnish Centre of Radiation and Nuclear Safety

    International Nuclear Information System (INIS)

    This Ordinance was adopted in implementation of the 1983 Act setting up the Finnish Centre for Radiation and Nuclear Safety and the 1987 Nuclear Energy Act and entered into force on 1 November 1990. The Ordinance specifies the tasks of the Centre, as provided under both Acts, and gives it several supplementary responsibilities. In addition to its overall competence in respect of radiation safety, the Centre will carry out research into and supervise the health effects of radiation and maintain a laboratory for national measurements in that field. The Ordinance also sets out the Centre's organisation chart and the staff duties

  11. 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.

  12. Status of Growth Monitoring in Anganwadi Centres of a Primary Health Centre, Thirubhuvanai, Puducherry

    Directory of Open Access Journals (Sweden)

    Gurukartick J

    2013-08-01

    Full Text Available Purpose: To assess the status of growth monitoring activities and difficulties faced by anganwadi workers (AWWs at the anganwadi centres (AWCs. Methodology: A survey was conducted among AWWs under a rural Primary Health Centre. Structured observations on weight measurement were made using a check list. Secondary data on record keeping and maintenance was collected. Findings: Study participants (n=20 had a 24 (± 10.25 years of experience in Integrated Child Development Services and underwent training once in two years. For advising mothers of malnourished children, deworming and immunization was not mentioned by majority AWWs. In AWCs, children less than 6 month were weighed on bathroom scale and not by Salter’s scale. Unclothing the child before weighing was practiced by only 10% AWWs. Nonfunctional weighing machine was the major problem reported by AWWs. Conclusion: There were gaps in the growth monitoring activities in AWCs of a PHC, Thirubhuvanai which needs to be tackled.

  13. The role of the Czechoslovak Nuclear Information Centre as a reference centre

    International Nuclear Information System (INIS)

    The Nuclear Information Centre (NIC) is the sector information centre for the Czechoslovak nuclear programme which comprises the peaceful uses of nuclear energy, ionizing radiation and isotopes. Briefly characterized are the different types of services provided which include search processing, librarian services, study analytical work, publishing activity, the sector inventory of research reports, searches, trip reports and translations and of late the provision of factual data. In this respect this includes the following systems: Economics of Nuclear Power Plants, and Nuclear Power Plant Indicators. The NIC also processes computer-based analyses of selected topics from a document retrieval base. For these analyses the use of the COMMODORE personal computer and foreign firm software is being envisaged. In the first stage the analyses will be made from the INIS data base. (Z.M.)

  14. 基于部分惯性传感器信息的单目视觉同步定位与地图创建方法%Monocular SLAM Based on Partial Inertial Measurement Unit Information

    Institute of Scientific and Technical Information of China (English)

    顾照鹏; 董秋雷

    2012-01-01

    It is difficult for traditional monocular simultaneous localization and mapping (MonoSLAM) methods to deal with the accumulated errors effectively, so how to fuse data from an inertial measurement unit (IMU) with data from a MonoSLAM system to reduce such errors becomes an important issue currently. We observed that, among the three Euler angles from an IMU, Roll and Pitch are more accurate than Yaw. Then if Yaw is used directly in a MonoSLAM system, the accumulated errors will increase rather than decrease. To address this problem, a new monocular SLAM method based only on Roll and Pitch output from an IMU is presented. First, the IMU-vision system is calibrated by using only Roll and Pitch. Then, the extended Kalman filter (EKF) is adopted to estimate the state vector comprising the camera position, Yaw of the IMU and the locations of features, and a SLAM system based on only Roll and Pitch is implemented robustly in real time. Experimental results show that the proposed method can reduce the accumulated errors effectively and alleviate the negative influence of the IMU's measurement errors on the system's stability.%传统的单目视觉同步定位与地图创建( MonoSLAM)方法很难处理累积误差问题,如何有效地利用惯性传感器输出的运动信息辅助SLAM系统抑制累积误差是MonoSLAM研究中的一项重要内容.由于惯性传感器输出的三轴方向角中横滚角和俯仰角的精度较高,而偏航角的精度相对较低,如果在SLAM系统中直接使用惯性传感器输出的偏航角信息不但无法有效地抑制该系统中的累积误差,反而会进一步增大系统误差、降低SLAM系统的稳定性.针对这种情况,提出一种基于惯性传感器横滚角和俯仰角的MonoSLAM方法.首先利用惯性传感器输出的横滚角和俯仰角进行系统标定;然后将惯性传感器自身的偏航角作为系统状态向量的一个分量,利用扩展卡尔曼滤波器实时地估计状态向量,进而

  15. A SDMS Model: Early Warning Coordination Centres

    Science.gov (United States)

    Santos-Reyes, Jaime

    2010-05-01

    Following the tsunami disaster in 2004, the General Secretary of the United Nations (UN) Kofi Annan called for a global early warning system for all hazards and for all communities. He also requested the ISDR (International Strategy fort Disaster Reduction) and its UN partners to conduct a global survey of capacities, gaps and opportunities in relation to early warning systems. The produced report, "Global survey of Early Warning Systems", concluded that there are many gaps and shortcomings and that much progress has been made on early warning systems and great capabilities are available around the world. However, it may be argued that an early warning system (EWS) may not be enough to prevent fatalities due to a natural hazard; i.e., it should be seen as part of a ‘wider' or total system. Furthermore, an EWS may work very well when assessed individually but it is not clear whether it will contribute to accomplish the purpose of the ‘total disaster management system'; i.e., to prevent fatalities. For instance, a regional EWS may only work if it is well co-ordinated with the local warning and emergency response systems that ensure that the warning is received, communicated and acted upon by the potentially affected communities. It may be argued that without these local measures being in place, a regional EWS will have little impact in saving lives. Researchers argued that unless people are warned in remote areas, the technology is useless; for instance McGuire [5] argues that: "I have no doubt that the technical element of the warning system will work very well,"…"But there has to be an effective and efficient communications cascade from the warning centre to the fisherman on the beach and his family and the bar owners." Similarly, McFadden [6] states that: "There's no point in spending all the money on a fancy monitoring and a fancy analysis system unless we can make sure the infrastructure for the broadcast system is there,"… "That's going to require a lot

  16. Establishing a National Nuclear Security Support Centre

    International Nuclear Information System (INIS)

    The responsibility for creating and sustaining a nuclear security regime for the protection of nuclear and other radiological material clearly belongs to the State. The nuclear security regime resembles the layers of an onion, with the equipment and personnel securing the borders and ports representing the outer layer, and nuclear power, research reactors and nuclear medicine facilities representing the inner layers, and the actual target material representing the core. Components of any nuclear security regime include not only technological systems, but the human resources needed to manage, operate, administer and maintain equipment, including hardware and software. This publication provides practical guidance on the establishment and maintenance of a national nuclear security support centre (NSSC) as a means to ensure nuclear security sustainability in a State. An NSSC's basic purpose is to provide a national focal point for passing ownership of nuclear security knowledge and associated technical skills to the competent authorities involved in nuclear security. It describes processes and methodologies that can be used by a State to analyse the essential elements of information in a manner that allows several aspects of long term, systemic sustainability of nuclear security to be addressed. Processes such as the systematic approach to training, sometimes referred to as instructional system design, are the cornerstone of the NSSC concept. Proper analysis can provide States with data on the number of personnel requiring training and instructors needed, scale and scope of training, technical and scientific support venues, and details on the type and number of training aids or simulators required so that operational systems are not compromised in any way. Specific regulatory guidance, equipment or technology lists, or specifications/design of protection systems are not included in this publication. For such details, the following IAEA publications should be consulted

  17. Hokkaido University Nuclear Reaction Data Centre (JCPRG)

    International Nuclear Information System (INIS)

    A research project to compile Charged-Particle Nuclear Reaction Data was initiated in 1974, which was approved by the Theoretical Nuclear Physics Society and the Experimental Nuclear Physics Society in Japan. When this project started, a mutual agreement with the JAERI Nuclear Data Centre was concluded; this Study Group would be responsible for Charged- Particle Nuclear Reaction Data while JAERI would be in charge of Nuclear Neutron Data. The original database (NRDF, Nuclear Reaction Data File) was devised by the Study Group under the sponsorship of the Japanese Ministry of Education, Science and Culture through the Grant-in-Aid for Scientific Research. With data storage and retrieval functions added to the original NRDF system, the project developed from the stage of research and development to the practical working stage of data compilation and data dissemination in 1987. Subsequently, the Study Group was reorganized to become the Japan Charged-Particle Nuclear Reaction Data Group (JCPRG) in NRDC, and was assigned an annual budget through the Nuclear Physics Laboratory, Department of Physics, Hokkaido University by the Ministry of Education, Science and Culture. This regular JCPRG budget ended in 2001, and was replaced by a yearly competitive process. The primary aims of JCPRG are to construct and provide an academic-oriented database according to an original and unique format by compiling and storing all charged-particle nuclear reaction data produced with Japanese accelerators. JCPRG is also responsible for transforming NRDF to EXFOR format, and sending these files to IAEA-NDS. On April 1, 2007, the Japan Charged-Particle Nuclear Reaction Data Group (JCPRG) was reorganized to the Hokkaido University Nuclear Reaction Data Centre (JCPRG) as a measure taken in the Faculty of Science, Hokkaido University. At the same time, the graduate school collaboration field ''Nuclear Data'' science with Japan Atomic Energy Agency (JAEA) was established in the Department of

  18. 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。

  19. 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

  20. 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 ...

  1. 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.

  2. Centre for Nuclear and Accelerator Technologies (CENTA)

    International Nuclear Information System (INIS)

    A Centre for Nuclear and Accelerator Technologies (CENTA) has been established at the Faculty of Mathematics, Physics and Informatics of the Comenius University in Bratislava comprising of a tandem laboratory designed for the Accelerator Mass Spectrometry (AMS) and Ion Beam Analysis (IBA). The 3 MV Pelletron accelerator is a key feature of the equipment which will enable to carry out state of the art research in physical, environmental, material, biological and medical sciences in collaboration with leading European and world laboratories. The laboratory is further equipped with two ion sources - Alphatros (RF source for H and He ions) and MC-SNICS source (target wheel with 40 positions for solid targets), and low and high energy analyzers of ions (all equipment of National Electrostatics Corp., USA). We shall discuss in detail development of methods for analysis of 14C around nuclear power plant in Jaslovske Bohunice, and present results of temporal 14C variations in atmospheric carbon dioxide and in tree rings collected at the monitoring stations in Zlkovce and in Bratislava. (authors)

  3. 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...

  4. Radio polarimetry of Galactic Centre pulsars

    Science.gov (United States)

    Schnitzeler, D. H. F. M.; Eatough, R. P.; Ferrière, K.; Kramer, M.; Lee, K. J.; Noutsos, A.; Shannon, R. M.

    2016-07-01

    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 and 33 μG; 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°). 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 pulsars. If these pulsars lie behind the Radio Arc or G0.11-0.11 then this proves that low-scattering corridors with lengths ≳100 pc must exist in the GC. This also suggests that future, sensitive observations will be able to detect additional pulsars in the GC. Finally, we show that the GC component in our most accurate electron density model oversimplifies structure in the GC.

  5. 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...

  6. Design Considerations for an Intensive Autism Treatment Centre

    Science.gov (United States)

    Deochand, Neil; Conway, Alissa A.; Fuqua, R. Wayne

    2015-01-01

    Individuals with autistic spectrum disorder (ASD) who display severe and challenging behaviour sometimes require centre-based intensive applied behaviour analysis (ABA) therapy to meet their health, safety and educational needs. Unfortunately, despite the need for centre-based treatment, there is a paucity of empirical research on building and…

  7. 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.

  8. 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 on...

  9. Continuum states of the two-centre Dirac equation

    International Nuclear Information System (INIS)

    Continuum wave functions of the two-centre Dirac equation are evaluated for positive as well as negative energy states. In particular solutions for superheavy systems and large two-centre distances are investigated. The calculation of phase correlation diagrams provides a reliable tool for the search for resonance states in the negative energy continuum. (orig.)

  10. 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…

  11. Using customer contact centres as relationship marketing instruments

    NARCIS (Netherlands)

    Aa, van der Zanna; Bloemer, Josée; Henseler, Jörg

    2015-01-01

    This article investigates whether, to what extent and how customer contact centres influence customer–firm relationships through customer contact centre quality. The proposed model compiles direct and indirect effects of this form of quality on focal relationship marketing constructs, including cust

  12. 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

  13. Girls' Groups and Boys' Groups at a Municipal Technology Centre

    Science.gov (United States)

    Salminen-Karlsson, Minna

    2007-01-01

    This article describes the Swedish initiative of municipal technology centres from a gender point of view. These centres provide after-school technology education for children aged 6-16. By means of an ethnographic study, the effects of the use of single-sex groups in increasing the interest of girls and boys in technical activities have been…

  14. Perceived customer contact centre quality: conceptual foundation and scale development

    NARCIS (Netherlands)

    Dun, van Zanna; Bloemer, Josée; Henseler, Jörg

    2011-01-01

    Although the quality of the customer contact centre is pivotal for services, a thorough conceptualization and operationalization of perceived customer contact centre quality does not exist. The extensive scale development process moves from focus group sessions for item generation to exploratory and

  15. Problems and Prospects of Education Resource Centres in Nigeria

    Science.gov (United States)

    Ekanem, Johnson Efiong

    2015-01-01

    Nigeria has good policies on Education and one of such policies is the establishment of Education Resource Centres in every State of the Federation, including the Federal Capital Territory, Abuja. The need is clearly articulated in the National Policy on Education. Despite the lofty plan, most of the centres are not fulfilling the need for their…

  16. Call Centres in Denmark 2004 - Strategy, HR Practices & Performance

    DEFF Research Database (Denmark)

    Sørensen, Ole H.; El-Salanti, Nadia

    This survey is the first scientifically based benchmarking study of the Danish call centre industry. The main results from the study are based on answers from 128 call centres, which correspond to a response rate of 65%. The Danish study is part of a global project coordinated by researchers at C...

  17. Reducing cooling energy consumption in data centres and critical facilities

    Science.gov (United States)

    Cross, Gareth

    Given the rise of our everyday reliance on computers in all walks of life, from checking the train times to paying our credit card bills online, the need for computational power is ever increasing. Other than the ever-increasing performance of home Personal Computers (PC's) this reliance has given rise to a new phenomenon in the last 10 years ago. The data centre. Data centres contain vast arrays of IT cabinets loaded with servers that perform millions of computational equations every second. It is these data centres that allow us to continue with our reliance on the internet and the PC. As more and more data centres become necessary due to the increase in computing processing power required for the everyday activities we all take for granted so the energy consumed by these data centres rises. Not only are more and more data centres being constructed daily, but operators are also looking at ways to squeeze more processing from their existing data centres. This in turn leads to greater heat outputs and therefore requires more cooling. Cooling data centres requires a sizeable energy input, indeed to many megawatts per data centre site. Given the large amounts of money dependant on the successful operation of data centres, in particular for data centres operated by financial institutions, the onus is predominantly on ensuring the data centres operate with no technical glitches rather than in an energy conscious fashion. This report aims to investigate the ways and means of reducing energy consumption within data centres without compromising the technology the data centres are designed to house. As well as discussing the individual merits of the technologies and their implementation technical calculations will be undertaken where necessary to determine the levels of energy saving, if any, from each proposal. To enable comparison between each proposal any design calculations within this report will be undertaken against a notional data facility. This data facility will

  18. 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。

  19. 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。

  20. Photostability of nitrogen-vacancy centres in diamond

    International Nuclear Information System (INIS)

    Full text: The nitrogen-vacancy colour centre is of interest as a potential single photon source and for solid state quantum computing applications. The centre can exist in both a neutrally charged, [NV]0, and negatively charged, [NV]-, state. Both centres are readily identified by their emission spectra, with characteristic zero phonon lines at 575nm and 637nm respectively, and both are considered to be photostable. We have investigated the photostability of single [NV]- centres using confocal fluorescence microscopy and the results are presented here. These results, along with those from ealier ensemble averaged measurements, lead us to conclude that the NV centre is not photostable. Copyright (2005) Australian Institute of Physics