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Sample records for rao-blackwellized slam giorgio

  1. H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps

    Directory of Open Access Journals (Sweden)

    Guillem Vallicrosa

    2018-05-01

    Full Text Available Occupancy Grid maps provide a probabilistic representation of space which is important for a variety of robotic applications like path planning and autonomous manipulation. In this paper, a SLAM (Simultaneous Localization and Mapping framework capable of obtaining this representation online is presented. The H-SLAM (Hilbert Maps SLAM is based on Hilbert Map representation and uses a Particle Filter to represent the robot state. Hilbert Maps offer a continuous probabilistic representation with a small memory footprint. We present a series of experimental results carried both in simulation and with real AUVs (Autonomous Underwater Vehicles. These results demonstrate that our approach is able to represent the environment more consistently while capable of running online.

  2. A Neuro-Fuzzy Multi Swarm FastSLAM Framework

    OpenAIRE

    Havangi, R.; Teshnehlab, M.; Nekoui, M. A.

    2010-01-01

    FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is used for the feature location's estimation. However, FastSLAM degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose of the robot loses its diversity. One of the main reasons for loosing particle diversity in FastSLA...

  3. An Example of an Improvable Rao-Blackwell Improvement, Inefficient Maximum Likelihood Estimator, and Unbiased Generalized Bayes Estimator.

    Science.gov (United States)

    Galili, Tal; Meilijson, Isaac

    2016-01-02

    The Rao-Blackwell theorem offers a procedure for converting a crude unbiased estimator of a parameter θ into a "better" one, in fact unique and optimal if the improvement is based on a minimal sufficient statistic that is complete. In contrast, behind every minimal sufficient statistic that is not complete, there is an improvable Rao-Blackwell improvement. This is illustrated via a simple example based on the uniform distribution, in which a rather natural Rao-Blackwell improvement is uniformly improvable. Furthermore, in this example the maximum likelihood estimator is inefficient, and an unbiased generalized Bayes estimator performs exceptionally well. Counterexamples of this sort can be useful didactic tools for explaining the true nature of a methodology and possible consequences when some of the assumptions are violated. [Received December 2014. Revised September 2015.].

  4. The Rao-Blackwellized Particle Filter: A Filter Bank Implementation

    Directory of Open Access Journals (Sweden)

    Karlsson Rickard

    2010-01-01

    Full Text Available For computational efficiency, it is important to utilize model structure in particle filtering. One of the most important cases occurs when there exists a linear Gaussian substructure, which can be efficiently handled by Kalman filters. This is the standard formulation of the Rao-Blackwellized particle filter (RBPF. This contribution suggests an alternative formulation of this well-known result that facilitates reuse of standard filtering components and which is also suitable for object-oriented programming. Our RBPF formulation can be seen as a Kalman filter bank with stochastic branching and pruning.

  5. Autoregressive Model with Partial Forgetting within Rao-Blackwellized Particle Filter

    Czech Academy of Sciences Publication Activity Database

    Dedecius, Kamil; Hofman, Radek

    2012-01-01

    Roč. 41, č. 5 (2012), s. 582-589 ISSN 0361-0918 R&D Projects: GA MV VG20102013018; GA ČR GA102/08/0567 Grant - others:ČVUT(CZ) SGS 10/099/OHK3/1T/16 Institutional research plan: CEZ:AV0Z10750506 Keywords : Bayesian methods * Particle filters * Recursive estimation Subject RIV: BB - Applied Statistics, Operational Research Impact factor: 0.295, year: 2012 http://library.utia.cas.cz/separaty/2012/AS/dedecius-autoregressive model with partial forgetting within rao-blackwellized particle filter.pdf

  6. Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter

    Directory of Open Access Journals (Sweden)

    Yazhao Wang

    2014-01-01

    Full Text Available This paper studies the Rao-Blackwellized Monte Carlo data association (RBMCDA filter for multiple target tracking. The elliptical gating strategies are redesigned and incorporated into the framework of the RBMCDA filter. The obvious benefit is the reduction of the time cost because the data association procedure can be carried out with less validated measurements. In addition, the overlapped parts of the neighboring validation regions are divided into several separated subregions according to the possible origins of the validated measurements. In these subregions, the measurement uncertainties can be taken into account more reasonably than those of the simple elliptical gate. This would help to achieve higher tracking ability of the RBMCDA algorithm by a better association prior approximation. Simulation results are provided to show the effectiveness of the proposed gating techniques.

  7. Particle rejuvenation of Rao-Blackwellized sequential Monte Carlo smoothers for conditionally linear and Gaussian models

    Science.gov (United States)

    Nguyen, Ngoc Minh; Corff, Sylvain Le; Moulines, Éric

    2017-12-01

    This paper focuses on sequential Monte Carlo approximations of smoothing distributions in conditionally linear and Gaussian state spaces. To reduce Monte Carlo variance of smoothers, it is typical in these models to use Rao-Blackwellization: particle approximation is used to sample sequences of hidden regimes while the Gaussian states are explicitly integrated conditional on the sequence of regimes and observations, using variants of the Kalman filter/smoother. The first successful attempt to use Rao-Blackwellization for smoothing extends the Bryson-Frazier smoother for Gaussian linear state space models using the generalized two-filter formula together with Kalman filters/smoothers. More recently, a forward-backward decomposition of smoothing distributions mimicking the Rauch-Tung-Striebel smoother for the regimes combined with backward Kalman updates has been introduced. This paper investigates the benefit of introducing additional rejuvenation steps in all these algorithms to sample at each time instant new regimes conditional on the forward and backward particles. This defines particle-based approximations of the smoothing distributions whose support is not restricted to the set of particles sampled in the forward or backward filter. These procedures are applied to commodity markets which are described using a two-factor model based on the spot price and a convenience yield for crude oil data.

  8. Combined state and parameter identification of nonlinear structural dynamical systems based on Rao-Blackwellization and Markov chain Monte Carlo simulations

    Science.gov (United States)

    Abhinav, S.; Manohar, C. S.

    2018-03-01

    The problem of combined state and parameter estimation in nonlinear state space models, based on Bayesian filtering methods, is considered. A novel approach, which combines Rao-Blackwellized particle filters for state estimation with Markov chain Monte Carlo (MCMC) simulations for parameter identification, is proposed. In order to ensure successful performance of the MCMC samplers, in situations involving large amount of dynamic measurement data and (or) low measurement noise, the study employs a modified measurement model combined with an importance sampling based correction. The parameters of the process noise covariance matrix are also included as quantities to be identified. The study employs the Rao-Blackwellization step at two stages: one, associated with the state estimation problem in the particle filtering step, and, secondly, in the evaluation of the ratio of likelihoods in the MCMC run. The satisfactory performance of the proposed method is illustrated on three dynamical systems: (a) a computational model of a nonlinear beam-moving oscillator system, (b) a laboratory scale beam traversed by a loaded trolley, and (c) an earthquake shake table study on a bending-torsion coupled nonlinear frame subjected to uniaxial support motion.

  9. 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

  10. 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.

  11. 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.

  12. 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.

  13. 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

  14. Rao-Blackwellization for Adaptive Gaussian Sum Nonlinear Model Propagation

    Science.gov (United States)

    Semper, Sean R.; Crassidis, John L.; George, Jemin; Mukherjee, Siddharth; Singla, Puneet

    2015-01-01

    each component weight during the nonlinear propagation stage an approximation of the true pdf can be successfully reconstructed. Particle filtering (PF) methods have gained popularity recently for solving nonlinear estimation problems due to their straightforward approach and the processing capabilities mentioned above. The basic concept behind PF is to represent any pdf as a set of random samples. As the number of samples increases, they will theoretically converge to the exact, equivalent representation of the desired pdf. When the estimated qth moment is needed, the samples are used for its construction allowing further analysis of the pdf characteristics. However, filter performance deteriorates as the dimension of the state vector increases. To overcome this problem Ref. [5] applies a marginalization technique for PF methods, decreasing complexity of the system to one linear and another nonlinear state estimation problem. The marginalization theory was originally developed by Rao and Blackwell independently. According to Ref. [6] it improves any given estimator under every convex loss function. The improvement comes from calculating a conditional expected value, often involving integrating out a supportive statistic. In other words, Rao-Blackwellization allows for smaller but separate computations to be carried out while reaching the main objective of the estimator. In the case of improving an estimator's variance, any supporting statistic can be removed and its variance determined. Next, any other information that dependents on the supporting statistic is found along with its respective variance. A new approach is developed here by utilizing the strengths of the adaptive Gaussian sum propagation in Ref. [2] and a marginalization approach used for PF methods found in Ref. [7]. In the following sections a modified filtering approach is presented based on a special state-space model within nonlinear systems to reduce the dimensionality of the optimization problem in

  15. Gibbs Sampler-Based λ-Dynamics and Rao-Blackwell Estimator for Alchemical Free Energy Calculation.

    Science.gov (United States)

    Ding, Xinqiang; Vilseck, Jonah Z; Hayes, Ryan L; Brooks, Charles L

    2017-06-13

    λ-dynamics is a generalized ensemble method for alchemical free energy calculations. In traditional λ-dynamics, the alchemical switch variable λ is treated as a continuous variable ranging from 0 to 1 and an empirical estimator is utilized to approximate the free energy. In the present article, we describe an alternative formulation of λ-dynamics that utilizes the Gibbs sampler framework, which we call Gibbs sampler-based λ-dynamics (GSLD). GSLD, like traditional λ-dynamics, can be readily extended to calculate free energy differences between multiple ligands in one simulation. We also introduce a new free energy estimator, the Rao-Blackwell estimator (RBE), for use in conjunction with GSLD. Compared with the current empirical estimator, the advantage of RBE is that RBE is an unbiased estimator and its variance is usually smaller than the current empirical estimator. We also show that the multistate Bennett acceptance ratio equation or the unbinned weighted histogram analysis method equation can be derived using the RBE. We illustrate the use and performance of this new free energy computational framework by application to a simple harmonic system as well as relevant calculations of small molecule relative free energies of solvation and binding to a protein receptor. Our findings demonstrate consistent and improved performance compared with conventional alchemical free energy methods.

  16. Recovering Sample Diversity in Rao-Blackwellized Particle Filters for Simultaneous Localization and Mapping

    National Research Council Canada - National Science Library

    Anderson, Andrew D

    2006-01-01

    ...) in simultaneous localization and mapping (SLAM) situations that arises when precise feature measurements yield a limited perceptual distribution relative to a motion-based proposal distribution...

  17. COSMIC MICROWAVE BACKGROUND LIKELIHOOD APPROXIMATION BY A GAUSSIANIZED BLACKWELL-RAO ESTIMATOR

    International Nuclear Information System (INIS)

    Rudjord, Oe.; Groeneboom, N. E.; Eriksen, H. K.; Huey, Greg; Gorski, K. M.; Jewell, J. B.

    2009-01-01

    We introduce a new cosmic microwave background (CMB) temperature likelihood approximation called the Gaussianized Blackwell-Rao estimator. This estimator is derived by transforming the observed marginal power spectrum distributions obtained by the CMB Gibbs sampler into standard univariate Gaussians, and then approximating their joint transformed distribution by a multivariate Gaussian. The method is exact for full-sky coverage and uniform noise and an excellent approximation for sky cuts and scanning patterns relevant for modern satellite experiments such as the Wilkinson Microwave Anisotropy Probe (WMAP) and Planck. The result is a stable, accurate, and computationally very efficient CMB temperature likelihood representation that allows the user to exploit the unique error propagation capabilities of the Gibbs sampler to high ls. A single evaluation of this estimator between l = 2 and 200 takes ∼0.2 CPU milliseconds, while for comparison, a singe pixel space likelihood evaluation between l = 2 and 30 for a map with ∼2500 pixels requires ∼20 s. We apply this tool to the five-year WMAP temperature data, and re-estimate the angular temperature power spectrum, C l , and likelihood, L(C l ), for l ≤ 200, and derive new cosmological parameters for the standard six-parameter ΛCDM model. Our spectrum is in excellent agreement with the official WMAP spectrum, but we find slight differences in the derived cosmological parameters. Most importantly, the spectral index of scalar perturbations is n s = 0.973 ± 0.014, 1.9σ away from unity and 0.6σ higher than the official WMAP result, n s = 0.965 ± 0.014. This suggests that an exact likelihood treatment is required to higher ls than previously believed, reinforcing and extending our conclusions from the three-year WMAP analysis. In that case, we found that the suboptimal likelihood approximation adopted between l = 12 and 30 by the WMAP team biased n s low by 0.4σ, while here we find that the same approximation

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

    Science.gov (United States)

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

    2014-09-01

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

  19. Giorgio Goldoni

    Indian Academy of Sciences (India)

    Giorgio Goldoni. Articles written in Resonance – Journal of Science Education. Volume 12 Issue 7 July 2007 pp 86-91 Classroom. Rapidity: The Physical Meaning of the Hyperbolic Angle in Special Relativity · Giorgio Goldoni · More Details Fulltext PDF. Volume 17 Issue 11 November 2012 pp 1065-1084 General Article.

  20. Jyoti Rao

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. Jyoti Rao. Articles written in Resonance – Journal of Science Education. Volume 22 Issue 9 September 2017 pp 829-833 General Article. Nobel Prize in Physiology or Medicine 2016 · Shekhar C Mande Jyoti Rao · More Details Abstract Fulltext PDF. The Nobel ...

  1. 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.

  2. R Vittal Rao

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. R Vittal Rao. Articles written in Resonance – Journal of Science Education. Volume 1 Issue 12 December 1996 pp 78-80 Book Review. A Mathematician's Apology Mathematics and Creativity · R Vittal Rao · More Details Fulltext PDF ...

  3. J Raghava Rao

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. J Raghava Rao. Articles written in Resonance – Journal of Science Education. Volume 19 Issue 10 October 2014 pp 887-899 General Article. Yelavarthy Nayudamma: Scientist, Leader, and Mentor Extraordinary · J Raghava Rao T Ramasami · More Details ...

  4. K J Rao

    Indian Academy of Sciences (India)

    Home; Journals; Bulletin of Materials Science. K J Rao. Articles written in Bulletin of Materials Science. Volume 23 Issue 6 December 2000 pp 461-466 Material Synthesis. Microwave synthesis of electrode materials for lithium batteries · M Harish Bhat B P Chakravarthy P A Ramakrishnan A Levasseur K J RAO.

  5. K Narasimha Rao

    Indian Academy of Sciences (India)

    Home; Journals; Bulletin of Materials Science. K Narasimha Rao. Articles written in Bulletin of Materials Science. Volume 26 Issue 2 February 2003 pp 239-245 Thin Films. Studies on thin film materials on acrylics for optical applications · K Narasimha Rao · More Details Abstract Fulltext PDF. Deposition of durable thin film ...

  6. Review of ship slamming loads and responses

    Science.gov (United States)

    Wang, Shan; Guedes Soares, C.

    2017-12-01

    The paper presents an overview of studies of slamming on ship structures. This work focuses on the hull slamming, which is one of the most important types of slamming problems to be considered in the ship design process and the assessment of the ship safety. There are three main research aspects related to the hull slamming phenomenon, a) where and how often a slamming event occurs, b) slamming load prediction and c) structural response due to slamming loads. The approaches used in each aspect are reviewed and commented, together with the presentation of some typical results. The methodology, which combines the seakeeping analysis and slamming load prediction, is discussed for the global analysis of the hull slamming of a ship in waves. Some physical phenomena during the slamming event are discussed also. Recommendations for the future research and developments are made.

  7. P R Vasudeva Rao

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. P R Vasudeva Rao. Articles written in Sadhana. Volume 27 Issue 5 October 2002 pp 527-558. Development of fuels and structural materials for fast breeder reactors · Baldev Raj S L Mannan P R Vasudeva Rao M D Mathew · More Details Abstract Fulltext PDF. Fast breeder reactors (FBRs) are ...

  8. Literature review of SLAM and DATMO

    CSIR Research Space (South Africa)

    Pancham, A

    2011-11-01

    Full Text Available IV compares the different techniques. Section V concludes the paper, and Section VI describes the intended application. II. SLAM AND DATMO A. SLAM and DATMO processes SLAM and DATMO provide a basis for the development of driverless cars...

  9. Giorgio Agamben and Dante Alighieri - possible theoretical reflections

    Directory of Open Access Journals (Sweden)

    Silvana de Gaspari

    2017-12-01

    Full Text Available Studying the Dante Alighieri’s poetry is more important than studying only the medieval era and its literary representations; it is also to glimpse survival perspective, which is brought to us by ways that are not always very calm, being guided through rhizomes that organize and disorganize themselves around the author. Thus, thinking of this rhizome, on evolution of the book and of the world, the aim of this text is to view Dante as an idea originator. Giorgio Agamben is chosen as an interlocutor of the Florentine work, because he is a philosopher who shows his reflection in his most texts regarding medieval poetry work and it gives him the true light of contemporaneity that it seems to deserve. From this choice, concepts such as parody, comedy and tragedy, contemporaneity, limbo, prophecy and creation, power and glory, criticism, canon, sacred, and profane will be analyzed. Thinking regarding Dante from Giorgio Agamben’s reflections seems to be important, not only due to his thought span on actuality, but also to be someone that reflects Dante and for him to compose Giorgio many texts, which complement and renew themselves over time, according to the philosopher.

  10. Review of The use of bodies by Giorgio Agamben, translated by Adam Kotsko

    OpenAIRE

    Taylor, Rachael

    2017-01-01

    This article reviews Giorgio Agamben's ninth installment in his Homo Sacer series, The Use of Bodies by Giorgio Agamben, translated by Adam Kotsko. The review considers Agamben's political philosophy framing of the body with reference to existentialist philosophy.

  11. Novel Mobile Robot Simultaneous Localization and Mapping Using Rao-Blackwellised Particle Filter

    Directory of Open Access Journals (Sweden)

    Hong Bingrong

    2008-11-01

    Full Text Available This paper presents the novel method of mobile robot simultaneous localization and mapping (SLAM, which is implemented by using the Rao-Blackwellised particle filter (RBPF for monocular vision-based autonomous robot in unknown indoor environment. The particle filter is combined with unscented Kalman filter (UKF to extending the path posterior by sampling new poses that integrate the current observation. The landmark position estimation and update is implemented through the unscented transform (UT. Furthermore, the number of resampling steps is determined adaptively, which seriously reduces the particle depletion problem. Monocular CCD camera mounted on the robot tracks the 3D natural point landmarks, which are structured with matching image feature pairs extracted through Scale Invariant Feature Transform (SIFT. The matching for multi-dimension SIFT features which are highly distinctive due to a special descriptor is implemented with a KDTree in the time cost of O(log2N. Experiments on the robot Pioneer3 in our real indoor environment show that our method is of high precision and stability.

  12. Novel Mobile Robot Simultaneous Loclization and Mapping Using Rao-Blackwellised Particle Filter

    Directory of Open Access Journals (Sweden)

    Li Maohai

    2006-09-01

    Full Text Available This paper presents the novel method of mobile robot simultaneous localization and mapping (SLAM, which is implemented by using the Rao-Blackwellised particle filter (RBPF for monocular vision-based autonomous robot in unknown indoor environment. The particle filter is combined with unscented Kalman filter (UKF to extending the path posterior by sampling new poses that integrate the current observation. The landmark position estimation and update is implemented through the unscented transform (UT. Furthermore, the number of resampling steps is determined adaptively, which seriously reduces the particle depletion problem. Monocular CCD camera mounted on the robot tracks the 3D natural point landmarks, which are structured with matching image feature pairs extracted through Scale Invariant Feature Transform (SIFT. The matching for multi-dimension SIFT features which are highly distinctive due to a special descriptor is implemented with a KD-Tree in the time cost of O(log2N. Experiments on the robot Pioneer3 in our real indoor environment show that our method is of high precision and stability.

  13. Distributed Monocular SLAM for Indoor Map Building

    OpenAIRE

    Ruwan Egodagamage; Mihran Tuceryan

    2017-01-01

    Utilization and generation of indoor maps are critical elements in accurate indoor tracking. Simultaneous Localization and Mapping (SLAM) is one of the main techniques for such map generation. In SLAM an agent generates a map of an unknown environment while estimating its location in it. Ubiquitous cameras lead to monocular visual SLAM, where a camera is the only sensing device for the SLAM process. In modern applications, multiple mobile agents may be involved in the generation of such maps,...

  14. V S C Manga Rao

    Indian Academy of Sciences (India)

    Home; Journals; Pramana – Journal of Physics. V S C Manga Rao. Articles written in Pramana – Journal of Physics. Volume 61 Issue 3 September 2003 pp 563-575 Research Articles. Phase conjugation of gap solitons: A numerical study · V S C Manga Rao S Dutta Gupta · More Details Abstract Fulltext PDF. We study the ...

  15. 'presence' in the poetry of giorgio caproni

    African Journals Online (AJOL)

    User

    Sommario. Giorgio Caproni è ormai considerato uno dei più importanti poeti del. Novecento italiano. Qui mi occupo soprattutto delle raccolte da Il congedo del viaggiatore cerimonioso fino al postumo Res Amissa, proponendo una lettura della poesia caproniana alla luce di concetti quali presenza, erranza e potenzialità.

  16. Clustered features for use in stereo vision SLAM

    CSIR Research Space (South Africa)

    Joubert, D

    2010-07-01

    Full Text Available SLAM, or simultaneous localization and mapping, is a key component in the development of truly independent robots. Vision-based SLAM utilising stereo vision is a promising approach to SLAM but it is computationally expensive and difficult...

  17. Numerical prediction of slamming loads

    DEFF Research Database (Denmark)

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

    2012-01-01

    It is important to include the contribution of the slamming-induced response in the structural design of large vessels with a significant bow flare. At the same time it is a challenge to develop rational tools to determine the slamming-induced loads and the prediction of their occurrence. Today i...

  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 Hyp...

  19. 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....

  20. Photon Rao

    Indian Academy of Sciences (India)

    Volume 2 Issue 5 May 1997 pp 69-72 Feature Article. Molecule of the Month Molecular–Chameleon: Solvatochromism at its Iridescent Best! Photon Rao · More Details Fulltext PDF. Volume 16 Issue 12 December 2011 pp 1303-1306. Molecule of the Month - Molecular-Chameleon: Solvatochromism at its Iridescent Best!

  1. Resolution enhancement of slam using transverse wave

    International Nuclear Information System (INIS)

    Ko, Dae Sik; Moon, Gun; Kim, Young H.

    1997-01-01

    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.

  2. Weierstrass semigroups and the Feng-Rao Distance

    DEFF Research Database (Denmark)

    Campillo, Antonio; Farran, Ignacio

    2000-01-01

    We detrmine the Feng-Rao distance for several claases of codes from algebraic geometry usingthe weierstrass semigroups......We detrmine the Feng-Rao distance for several claases of codes from algebraic geometry usingthe weierstrass semigroups...

  3. Hartebeesthoek Radio Astronomy Observatory (HartRAO)

    Science.gov (United States)

    Nickola, Marisa; Gaylard, Mike; Quick, Jonathan; Combrinck, Ludwig

    2013-01-01

    HartRAO provides the only fiducial geodetic site in Africa, and it participates in global networks for VLBI, GNSS, SLR, and DORIS. This report provides an overview of geodetic VLBI activities at HartRAO during 2012, including the conversion of a 15-m alt-az radio telescope to an operational geodetic VLBI antenna.

  4. On the Feng-Rao bound for generalized hamming weights

    DEFF Research Database (Denmark)

    Geil, Hans Olav; Thommesen, Christian

    2006-01-01

    The Feng-Rao bound gives good estimates of the minimum distance of a large class of codes. In this work we are concerned with the problem of how to extend the Feng-Rao bound so that it deals with all the generalized Hamming weights. The problem was solved by Heijnen and Pellikaan in [7] for a large...... family of codes that includes the duals of one-point geometric Goppa codes and the q-ary Reed-Muller codes, but not the Feng-Rao improved such ones. We show that Heijnen and Pellikaan's results holds for the more general class of codes for which the traditional Feng-Rao bound can be applied. We also...... establish the connection to the Shibuya-Sakaniwa bound for generalized Hamming weights ([15], [16], [17], [18], [19] and [20]). More precisely we show that the Shibuya-Sakaniwa bound is a consequence of the extended Feng-Rao bound. In particular the extended Feng-Rao bound gives always at least as good...

  5. On the Feng-Rao bound for generalized Hamming weights

    DEFF Research Database (Denmark)

    Geil, Olav; Thommesen, Christian

    2005-01-01

    The Feng-Rao bound gives good estimates of the minimum distance of a large class of codes. In this work we are concerned with the problem of how to extend the Feng-Rao bound so that it deals with all the generalized Hamming weights. The problem was solved by Heijnen and Pellikaan in [7] for a large...... family of codes that includes the duals of one-point geometric Goppa codes and the q-ary Reed-Muller codes, but not the Feng-Rao improved such ones. We show that Heijnen and Pellikaan’s results holds for the more general class of codes for which the traditional Feng-Rao bound can be applied. We also...... establish the connection to the Shibuya-Sakaniwa bound for generalized Hamming weights ([15], [16], [17], [18], [19] and [20]). More precisely we show that the Shibuya-Sakaniwa bound is a consequence of the extended Feng-Rao bound. In particular the extended Feng-Rao bound gives always at least as good...

  6. images of estrangement in the cinema of giorgio mangiamele

    African Journals Online (AJOL)

    User

    Giorgio Mangiamele is widely regarded as the most significant first-generation. Italo-Australian filmmaker of ... the constant rejection by the Anglo-Australian establishment. This study .... doubling rules the two sexes' relations of desire. From it.

  7. Slamming: Recent Progress in the Evaluation of Impact Pressures

    Science.gov (United States)

    Dias, Frédéric; Ghidaglia, Jean-Michel

    2018-01-01

    Slamming, the violent impact between a liquid and solid, has been known to be important for a long time in the ship hydrodynamics community. More recently, applications ranging from the transport of liquefied natural gas (LNG) in LNG carriers to the harvesting of wave energy with oscillating wave surge converters have led to renewed interest in the topic. The main reason for this renewed interest is that the extreme impact pressures generated during slamming can affect the integrity of the structures involved. Slamming fluid mechanics is challenging to describe, as much from an experimental viewpoint as from a numerical viewpoint, because of the large span of spatial and temporal scales involved. Even the physical mechanisms of slamming are challenging: What physical phenomena must be included in slamming models? An important issue deals with the practical modeling of slamming: Are there any simple models available? Are numerical models viable? What are the consequences for the design of structures? This article describes the loading processes involved in slamming, offers state-of-the-art results, and highlights unresolved issues worthy of further research.

  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. Three main paradigms of simultaneous localization and mapping (SLAM) problem

    Science.gov (United States)

    Imani, Vandad; Haataja, Keijo; Toivanen, Pekka

    2018-04-01

    Simultaneous Localization and Mapping (SLAM) is one of the most challenging research areas within computer and machine vision for automated scene commentary and explanation. The SLAM technique has been a developing research area in the robotics context during recent years. By utilizing the SLAM method robot can estimate the different positions of the robot at the distinct points of time which can indicate the trajectory of robot as well as generate a map of the environment. SLAM has unique traits which are estimating the location of robot and building a map in the various types of environment. SLAM is effective in different types of environment such as indoor, outdoor district, Air, Underwater, Underground and Space. Several approaches have been investigated to use SLAM technique in distinct environments. The purpose of this paper is to provide an accurate perceptive review of case history of SLAM relied on laser/ultrasonic sensors and camera as perception input data. In addition, we mainly focus on three paradigms of SLAM problem with all its pros and cons. In the future, use intelligent methods and some new idea will be used on visual SLAM to estimate the motion intelligent underwater robot and building a feature map of marine environment.

  10. Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

    Science.gov (United States)

    Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

    2017-04-20

    This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods.

  11. Bearing-only SLAM: comparison between probabilistic and deterministic methods

    OpenAIRE

    Joly , Cyril; Rives , Patrick

    2008-01-01

    This work deals with the problem of simultaneous localization and mapping (SLAM). Classical methods for solving the SLAM problem are based on the Extended Kalman Filter (EKF-SLAM) or particle filter (FastSLAM). These kinds of algorithms allow on-line solving but could be inconsistent. In this report, the above-mentioned algorithms are not studied but global ones. Global approaches need all measurements from the initial step to the final step in order to compute the trajectory of the robot and...

  12. Rao, Prof. Sumathi

    Indian Academy of Sciences (India)

    Rao, Prof. Sumathi Ph.D. (SUNY, Stony Brook), FNASc. Date of birth: 5 December 1956. Specialization: Theoretical Condensed Matter Physics, Quantum field Theory Address: Harish Chandra Research Institute, Chhatnag Road, Jhusi, Allahabad 211 019, U.P.. Contact: Office: (0532) 227 4303. Residence: (0532) 227 4002

  13. Distributed Monocular SLAM for Indoor Map Building

    Directory of Open Access Journals (Sweden)

    Ruwan Egodagamage

    2017-01-01

    Full Text Available Utilization and generation of indoor maps are critical elements in accurate indoor tracking. Simultaneous Localization and Mapping (SLAM is one of the main techniques for such map generation. In SLAM an agent generates a map of an unknown environment while estimating its location in it. Ubiquitous cameras lead to monocular visual SLAM, where a camera is the only sensing device for the SLAM process. In modern applications, multiple mobile agents may be involved in the generation of such maps, thus requiring a distributed computational framework. Each agent can generate its own local map, which can then be combined into a map covering a larger area. By doing so, they can cover a given environment faster than a single agent. Furthermore, they can interact with each other in the same environment, making this framework more practical, especially for collaborative applications such as augmented reality. One of the main challenges of distributed SLAM is identifying overlapping maps, especially when relative starting positions of agents are unknown. In this paper, we are proposing a system having multiple monocular agents, with unknown relative starting positions, which generates a semidense global map of the environment.

  14. AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2017-05-01

    Full Text Available In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure.

  15. Rao, Prof. Kaza Kesava

    Indian Academy of Sciences (India)

    Elected: 1992 Section: Engineering & Technology. Rao, Prof. ... Address: Professor, Department of Chemical Engineering, Indian Institute of Science, Bengaluru 560 012, Karnataka Contact: ... Upcoming Refresher Courses. Topology 02 to 14 ...

  16. Environment exploration and SLAM experiment research based on ROS

    Science.gov (United States)

    Li, Zhize; Zheng, Wei

    2017-11-01

    Robots need to get the information of surrounding environment by means of map learning. SLAM or navigation based on mobile robots is developing rapidly. ROS (Robot Operating System) is widely used in the field of robots because of the convenient code reuse and open source. Numerous excellent algorithms of SLAM or navigation are ported to ROS package. hector_slam is one of them that can set up occupancy grid maps on-line fast with low computation resources requiring. Its characters above make the embedded handheld mapping system possible. Similarly, hector_navigation also does well in the navigation field. It can finish path planning and environment exploration by itself using only an environmental sensor. Combining hector_navigation with hector_slam can realize low cost environment exploration, path planning and slam at the same time

  17. 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.

  18. 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.

  19. Research of cartographer laser SLAM algorithm

    Science.gov (United States)

    Xu, Bo; Liu, Zhengjun; Fu, Yiran; Zhang, Changsai

    2017-11-01

    As the indoor is a relatively closed and small space, total station, GPS, close-range photogrammetry technology is difficult to achieve fast and accurate indoor three-dimensional space reconstruction task. LIDAR SLAM technology does not rely on the external environment a priori knowledge, only use their own portable lidar, IMU, odometer and other sensors to establish an independent environment map, a good solution to this problem. This paper analyzes the Google Cartographer laser SLAM algorithm from the point cloud matching and closed loop detection. Finally, the algorithm is presented in the 3D visualization tool RViz from the data acquisition and processing to create the environment map, complete the SLAM technology and realize the process of indoor threedimensional space reconstruction

  20. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

    OpenAIRE

    Mur-Artal, Raul; Tardos, Juan D.

    2016-01-01

    We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city. Our back-end based on bundle adjustment with monocular and stereo observations allows for accurate trajectory estimation with metric scale. Our syst...

  1. The Historical Archive of the Arcetri Astrophysical Observatory: Antonio and Giorgio Abetti Archive

    Science.gov (United States)

    Gasperini, Antonella; Baglioni, Roberto

    In 1993, during the renovation of the library, we found boxes containing letters, reports, papers, scientific notes, circulars, conference proceedings, astronomical data collections, books, maps, invoices, balance sheets, obituaries, pictures and spectrograms, drawings and journal cuttings. The archival material spanned the years from 1893 to the early 1970s. However, for the time being, only Giorgio Abetti's correspondences are being considered (about 2300 items). In addition, a complete bibliography of Antonio and Giorgio Abetti's publications have been prepared so it is possible to complete the reconstruction of both personalities.

  2. 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.

  3. Slam estimation in dynamic outdoor environments

    OpenAIRE

    Lu, Zheyuan; Hu, Zhencheng; Uchimura, Keiichi; コ, シンテイ; ウチムラ, ケイイチ; 胡, 振程; 内村, 圭一

    2010-01-01

    This paper describes and compares three different approaches to estimate simultaneous localization and mapping (SLAM) in dynamic outdoor environments. SLAM has been intensively researched in recent years in the field of robotics and intelligent vehicles, many approaches have been proposed including occupancy grid mapping method (Bayesian, Dempster-Shafer and Fuzzy Logic), Localization estimation method (edge or point features based direct scan matching techniques, probabilistic likelihood, EK...

  4. 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.

  5. 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

  6. The Hartshorne-Rao module of curves on rational normal scrolls

    Directory of Open Access Journals (Sweden)

    Roberta Di Gennaro

    2000-09-01

    Full Text Available We study the Hartshorne-Rao module of curves lying on a rational normal scroll S_e of invariant e ≥ 0 in P^{e+3} .We calculate the Rao function, we characterize the aCM curves on S_e .Finally, we give an algorithm to check if a curve is aC M or not and, inthe second case, to calculate the Rao function.

  7. Jagirdar, Prof. Balaji Rao

    Indian Academy of Sciences (India)

    Fellow Profile. Elected: 2013 Section: Chemistry. Jagirdar, Prof. Balaji Rao Ph.D. (Kansas State). Date of birth: 9 September 1965. Specialization: Organometallic Chemistry, Materials Chemistry, Catalysis Address: Department of Inorganic & Physical Chemistry, Indian Institute of Science, Bengaluru 560 012, Karnataka

  8. Rao, Prof. Maddali Nageswara

    Indian Academy of Sciences (India)

    Rao, Prof. Maddali Nageswara Dr. rer. nat. (Cologne). Date of birth: 11 July 1931. Specialization: Solar System Physics, Mars Fundamental Research, Earth & Planetary Sciences and Lunar & Meteorite Sample Studies Address: 16931, Tower Ridge, Friendswood, Texas 77546, USA Contact: Residence: (+1-281) 993 9191

  9. Rao, Prof. Valipe Ramgopal

    Indian Academy of Sciences (India)

    Home; Fellowship. Fellow Profile. Elected: 2009 Section: Engineering & Technology. Rao, Prof. Valipe Ramgopal FNAE, FNASc, FNA, FIEEE. Date of birth: 16 August 1965. Specialization: Nanoelectronics and Nanotechnology Address: Director, Indian Institute of Technology, Hauz Khas, New Delhi 110 016, U.T.. Contact:

  10. Giorgio Perlasca, 'Giusto tra le nazioni' e 'eroe italiano'

    NARCIS (Netherlands)

    Jansen, M.M.

    2008-01-01

    Giorgio Perlasca che, fingendosi console spagnolo, nel 1944 salvò più di cinquemila ebrei ungheresi a Budapest, è stato proclamato “Giusto tra le Nazioni” a Yad Vashem nel 1989, dopo di che è seguito il suo riconoscimento all’estero ed in Italia come “uomo giusto” e come “eroe italiano”. Dopo il

  11. Situations in Construction of 3D Mapping for Slam

    OpenAIRE

    Nguyen Hoang Thuy Trang; Shydlouski Stanislav

    2018-01-01

    Nowadays, the simultaneous localization and mapping (SLAM) approach has become one of the most advanced engineering methods used for mobile robots to build maps in unknown or inaccessible spaces. Update maps before a certain area while tracking current location and distance. The motivation behind writing this paper is mainly to help us better understand about SLAM and the study situation of SLAM in the world today. Through this, we find the optimal algorithm for moving robots in three dimensi...

  12. 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.

  13. Valluri, Dr Sitaram Rao

    Indian Academy of Sciences (India)

    Home; Fellowship. Fellow Profile. Elected: 1971 Section: Engineering & Technology. Valluri, Dr Sitaram Rao Ph.D. (Caltech). Date of birth: 25 June 1924. Specialization: Metal Fatigue Address: 'Prashanthi', 659, 100 Feet Road, Indiranagar, Bengaluru 560 038, Karnataka Contact: Residence: (080) 2525 8294. YouTube ...

  14. A Comparison of SLAM Algorithms Based on a Graph of Relations

    OpenAIRE

    Burgard, W.; Stachniss, C.; Grisetti, G.; Steder, B.; Kümmerle, R.; Dornhege, C.; Ruhnke, M.; Kleiner, Alexander; Tardós, Juan D.

    2009-01-01

    In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach in...

  15. Situations in Construction of 3D Mapping for Slam

    Directory of Open Access Journals (Sweden)

    Nguyen Hoang Thuy Trang

    2018-01-01

    Full Text Available Nowadays, the simultaneous localization and mapping (SLAM approach has become one of the most advanced engineering methods used for mobile robots to build maps in unknown or inaccessible spaces. Update maps before a certain area while tracking current location and distance. The motivation behind writing this paper is mainly to help us better understand about SLAM and the study situation of SLAM in the world today. Through this, we find the optimal algorithm for moving robots in three dimensions.

  16. 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

  17. Distributed SLAM

    Science.gov (United States)

    Binns, Lewis A.; Valachis, Dimitris; Anderson, Sean; Gough, David W.; Nicholson, David; Greenway, Phil

    2002-07-01

    Previously, we have developed techniques for Simultaneous Localization and Map Building based on the augmented state Kalman filter. Here we report the results of experiments conducted over multiple vehicles each equipped with a laser range finder for sensing the external environment, and a laser tracking system to provide highly accurate ground truth. The goal is simultaneously to build a map of an unknown environment and to use that map to navigate a vehicle that otherwise would have no way of knowing its location, and to distribute this process over several vehicles. We have constructed an on-line, distributed implementation to demonstrate the principle. In this paper we describe the system architecture, the nature of the experimental set up, and the results obtained. These are compared with the estimated ground truth. We show that distributed SLAM has a clear advantage in the sense that it offers a potential super-linear speed-up over single vehicle SLAM. In particular, we explore the time taken to achieve a given quality of map, and consider the repeatability and accuracy of the method. Finally, we discuss some practical implementation issues.

  18. Nageswara Rao, Dr Gullapalli

    Indian Academy of Sciences (India)

    Nageswara Rao, Dr Gullapalli M.D. (Opthal.) (AIIMS), FAMS, FACS, FRCS, FNASc. Date of birth: 1 September 1945. Specialization: Cornea, Community Eye Health and Eye Care Policy & Planning Address: Distinguished Chair of Eye Health, LV Prasad Eye Institute, LV Prasad Marg, Banjara Hills, Hyderabad 500 034, A.P.

  19. Rao, Prof. Kalya Jagannatha

    Indian Academy of Sciences (India)

    Rao, Prof. Kalya Jagannatha Ph.D. (IIT, Kanpur), D.Sc. (IISc), FNA, FNASc, D.Sc. (h.c., Univ. Bordeaux, France) Council Service: 1998-2003. Date of birth: 7 December 1940. Specialization: Physical Chemistry of Amorphous Solids & Ceramics and Phase Transitions Address: 187/1, Tadvanam Estate, Halasinganahalli Road ...

  20. Bottom Slamming on Heaving Point Absorber Wave Energy Devices

    DEFF Research Database (Denmark)

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

    2010-01-01

    shapes are considered: a hemisphere and two conical shapes with deadrise angles of 30 and 45, with a waterline diameter of 5 m. The simulations indicate that the risk of rising out of the water is largely dependent on the buoy draft and sea state. Although associated with power losses, emergence......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...

  1. 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

  2. L V G Rao

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Earth System Science. L V G Rao. Articles written in Journal of Earth System Science. Volume 109 Issue 2 June 2000 pp 255-265. Thermohaline structure and circulation in the upper layers of the southern Bay of Bengal during BOBMEX-Pilot (October — November 1998) · V Ramesh Babu V S N ...

  3. Signaling lymphocytic activation molecules Slam and cancers: friends or foes?

    Science.gov (United States)

    Fouquet, Gregory; Marcq, Ingrid; Debuysscher, Véronique; Bayry, Jagadeesh; Rabbind Singh, Amrathlal; Bengrine, Abderrahmane; Nguyen-Khac, Eric; Naassila, Mickael; Bouhlal, Hicham

    2018-03-23

    Signaling Lymphocytic Activation Molecules (SLAM) family receptors are initially described in immune cells. These receptors recruit both activating and inhibitory SH2 domain containing proteins through their Immunoreceptor Tyrosine based Switch Motifs (ITSMs). Accumulating evidence suggest that the members of this family are intimately involved in different physiological and pathophysiological events such as regulation of immune responses and entry pathways of certain viruses. Recently, other functions of SLAM, principally in the pathophysiology of neoplastic transformations have also been deciphered. These new findings may prompt SLAM to be considered as new tumor markers, diagnostic tools or potential therapeutic targets for controlling the tumor progression. In this review, we summarize the major observations describing the implications and features of SLAM in oncology and discuss the therapeutic potential attributed to these molecules.

  4. Canine distemper virus isolated from a monkey efficiently replicates on Vero cells expressing non-human primate SLAM receptors but not human SLAM receptor.

    Science.gov (United States)

    Feng, Na; Liu, Yuxiu; Wang, Jianzhong; Xu, Weiwei; Li, Tiansong; Wang, Tiecheng; Wang, Lei; Yu, Yicong; Wang, Hualei; Zhao, Yongkun; Yang, Songtao; Gao, Yuwei; Hu, Guixue; Xia, Xianzhu

    2016-08-02

    In 2008, an outbreak of canine distemper virus (CDV) infection in monkeys was reported in China. We isolated CDV strain (subsequently named Monkey-BJ01-DV) from lung tissue obtained from a rhesus monkey that died in this outbreak. We evaluated the ability of this virus on Vero cells expressing SLAM receptors from dog, monkey and human origin, and analyzed the H gene of Monkey-BJ01-DV with other strains. The Monkey-BJ01-DV isolate replicated to the highest titer on Vero cells expressing dog-origin SLAM (10(5.2±0.2) TCID50/ml) and monkey-origin SLAM (10(5.4±0.1) TCID50/ml), but achieved markedly lower titers on human-origin SLAM cells (10(3.3±0.3) TCID50/ml). Phylogenetic analysis of the full-length H gene showed that Monkey-BJ01-DV was highly related to other CDV strains obtained during recent CDV epidemics among species of the Canidae family in China, and these Monkey strains CDV (Monkey-BJ01-DV, CYN07-dV, Monkey-KM-01) possessed a number of amino acid specific substitutions (E276V, Q392R, D435Y and I542F) compared to the H protein of CDV epidemic in other animals at the same period. Our results suggested that the monkey origin-CDV-H protein could possess specific substitutions to adapt to the new host. Monkey-BJ01-DV can efficiently use monkey- and dog-origin SLAM to infect and replicate in host cells, but further adaptation may be required for efficient replication in host cells expressing the human SLAM receptor.

  5. Prof. Bookinkere Channakeshavaiah Subba Rao

    Indian Academy of Sciences (India)

    Annual Meetings · Mid Year Meetings · Discussion Meetings · Public Lectures · Lecture Workshops · Refresher Courses · Symposia · Live Streaming. Home; Fellowship. Fellow Profile. Elected: 1975 Section: Chemistry. Subba Rao, Prof. Bookinkere Channakeshavaiah Ph.D. (Purdue). Date of birth: 8 December 1923

  6. SLAM: a sodium-limestone concrete ablation model

    International Nuclear Information System (INIS)

    Suo-Anttila, A.J.

    1983-12-01

    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

  7. Rethinking the Learning Society: Giorgio Agamben on Studying, Stupidity, and Impotence

    Science.gov (United States)

    Lewis, Tyson E.

    2011-01-01

    In this article, the author rethinks critiques of the learning society using Giorgio Agamben's theory of potentiality. Summarizing several major contributions to our understanding of the limitations of the discourse of learning, the author proposes that critics thus far have failed to fully pinpoint the exact danger of learning. Importantly,…

  8. Modeling Highly Buoyant Flows in the Castel Giorgio

    OpenAIRE

    Volpi, Giorgio; Magri, Fabien; Colucci, Francesca; Fisher, Thomas; De Caro, Mattia; Crosta, Giovanni B.

    2018-01-01

    The Castel Giorgio-Torre Alfina (CG-TA, central Italy) is a geothermal reservoir whose fluids are hosted in a carbonate formation at temperatures ranging between 120°C and 210°C. Data from deep wells suggest the existence of convective flow. We present the 3D numerical model of the CG-TA to simulate the undisturbed natural geothermal field and investigate the impacts of the exploitation process. The open source finite-element code OpenGeoSys is applied to solve the coupled systems of partial ...

  9. ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS

    Directory of Open Access Journals (Sweden)

    Jan Bayer

    2016-11-01

    Full Text Available In this work we are concerning the problem of localization accuracy evaluation of visual-based Simultaneous Localization and Mapping (SLAM techniques. Quantitative evaluation of the SLAM algorithm performance is usually done using the established metrics of Relative pose error and Absolute trajectory error which require a precise and reliable ground truth. Such a ground truth is usually hard to obtain, while it requires an expensive external localization system. In this work we are proposing to use the SLAM algorithm itself to construct a reliable ground-truth by offline frame-by-frame processing. The generated ground-truth is suitable for evaluation of different SLAM systems, as well as for tuning the parametrization of the on-line SLAM. The presented practical experimental results indicate the feasibility of the proposed approach.

  10. 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.

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

    Science.gov (United States)

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

    2012-01-01

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

  12. a Laser-Slam Algorithm for Indoor Mobile Mapping

    Science.gov (United States)

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

    2016-06-01

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

  13. Erring in Poetry: The issue of 'presence' in the poetry of Giorgio ...

    African Journals Online (AJOL)

    Giorgio Caproni è ormai considerato uno dei più importanti poeti del Novecento italiano. Qui mi occupo soprattutto delle raccolte da Il congedo del viaggiatore cerimonioso fino al postumo Res Amissa, proponendo una lettura della poesia caproniana alla luce di concetti quali presenza, erranza e potenzialità. Mi pare che ...

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

    NARCIS (Netherlands)

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

    2008-01-01

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

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

    Science.gov (United States)

    Auat Cheein, Fernando A.; Carelli, Ricardo

    2011-01-01

    This paper introduces several non-arbitrary feature selection techniques for a Simultaneous Localization and Mapping (SLAM) algorithm. The feature selection criteria are based on the determination of the most significant features from a SLAM convergence perspective. The SLAM algorithm implemented in this work is a sequential EKF (Extended Kalman filter) SLAM. The feature selection criteria are applied on the correction stage of the SLAM algorithm, restricting it to correct the SLAM algorithm with the most significant features. This restriction also causes a decrement in the processing time of the SLAM. Several experiments with a mobile robot are shown in this work. The experiments concern the map reconstruction and a comparison between the different proposed techniques performance. The experiments were carried out at an outdoor environment composed by trees, although the results shown herein are not restricted to a special type of features. PMID:22346568

  16. ‘Co₂.’ Intervista a Giorgio Battistelli

    Directory of Open Access Journals (Sweden)

    Anna Menichetti

    2016-06-01

    Full Text Available On the 16th of June 2015, the premiere of the opera CO₂ by Giorgio Battistelli, based on a libretto by Ian Burton and directed by Robert Carsen, opened at the Teatro alla Scala, meeting with great acclaim from the critics and public. After a long period of preparatory work and many changes in the production, the opera coincided with EXPO 2015, addressing, as it does, environmental issues and deliberately broaching exceptionally topical issues in economic, social and political thinking. Highlighting a subject as urgent as the pollution of the Earth in an operatic setting achieved a double effect: it created an opera which functions as a means of reflection on contemporary reality – this is already evident in the title, a chemical formula repeated so often nowadays that it even appears in the recent papal encyclical – and produced sung theatre with no frills which is able to express a universal truth. These elements are at the heart of the opera’s originality: CO₂ can rightly be considered the opera of the New Millennium. During the conversation, which took place in Rome on the 30th of March 2015, Giorgio Battistelli talked with great enthusiasm about how important it is to make music theatre an expression of social commitment. When he speaks on this subject, you can perceive his close attention for the theatrical word, for the musicality of his work and for its ethical and ideological content which, however, never falls into the trap of rhetoric. The sincerity and character of the author shine through the interview, as do his writing methods, and in the generous and forthcoming dialogue we get a faithful picture of his painstaking creative process.

  17. Canine Distemper Virus Fusion Activation: Critical Role of Residue E123 of CD150/SLAM.

    Science.gov (United States)

    Khosravi, Mojtaba; Bringolf, Fanny; Röthlisberger, Silvan; Bieringer, Maria; Schneider-Schaulies, Jürgen; Zurbriggen, Andreas; Origgi, Francesco; Plattet, Philippe

    2016-02-01

    Measles virus (MeV) and canine distemper virus (CDV) possess tetrameric attachment proteins (H) and trimeric fusion proteins, which cooperate with either SLAM or nectin 4 receptors to trigger membrane fusion for cell entry. While the MeV H-SLAM cocrystal structure revealed the binding interface, two distinct oligomeric H assemblies were also determined. In one of the conformations, two SLAM units were sandwiched between two discrete H head domains, thus spotlighting two binding interfaces ("front" and "back"). Here, we investigated the functional relevance of both interfaces in activating the CDV membrane fusion machinery. While alanine-scanning mutagenesis identified five critical regulatory residues in the front H-binding site of SLAM, the replacement of a conserved glutamate residue (E at position 123, replaced with A [E123A]) led to the most pronounced impact on fusion promotion. Intriguingly, while determination of the interaction of H with the receptor using soluble constructs revealed reduced binding for the identified SLAM mutants, no effect was recorded when physical interaction was investigated with the full-length counterparts of both molecules. Conversely, although mutagenesis of three strategically selected residues within the back H-binding site of SLAM did not substantially affect fusion triggering, nevertheless, the mutants weakened the H-SLAM interaction recorded with the membrane-anchored protein constructs. Collectively, our findings support a mode of binding between the attachment protein and the V domain of SLAM that is common to all morbilliviruses and suggest a major role of the SLAM residue E123, located at the front H-binding site, in triggering the fusion machinery. However, our data additionally support the hypothesis that other microdomain(s) of both glycoproteins (including the back H-binding site) might be required to achieve fully productive H-SLAM interactions. A complete understanding of the measles virus and canine distemper virus

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

    Science.gov (United States)

    Guerra, Edmundo; Munguia, Rodrigo; Grau, Antoni

    2014-04-02

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

  19. Loose fusion based on SLAM and IMU for indoor environment

    Science.gov (United States)

    Zhu, Haijiang; Wang, Zhicheng; Zhou, Jinglin; Wang, Xuejing

    2018-04-01

    The simultaneous localization and mapping (SLAM) method based on the RGB-D sensor is widely researched in recent years. However, the accuracy of the RGB-D SLAM relies heavily on correspondence feature points, and the position would be lost in case of scenes with sparse textures. Therefore, plenty of fusion methods using the RGB-D information and inertial measurement unit (IMU) data have investigated to improve the accuracy of SLAM system. However, these fusion methods usually do not take into account the size of matched feature points. The pose estimation calculated by RGB-D information may not be accurate while the number of correct matches is too few. Thus, considering the impact of matches in SLAM system and the problem of missing position in scenes with few textures, a loose fusion method combining RGB-D with IMU is proposed in this paper. In the proposed method, we design a loose fusion strategy based on the RGB-D camera information and IMU data, which is to utilize the IMU data for position estimation when the corresponding point matches are quite few. While there are a lot of matches, the RGB-D information is still used to estimate position. The final pose would be optimized by General Graph Optimization (g2o) framework to reduce error. The experimental results show that the proposed method is better than the RGB-D camera's method. And this method can continue working stably for indoor environment with sparse textures in the SLAM system.

  20. Fast Erasure and Error decoding of Algebraic Geometry Codes up to the Feng-Rao Bound

    DEFF Research Database (Denmark)

    Jensen, Helge Elbrønd; Sakata, S.; Leonard, D.

    1996-01-01

    This paper gives an errata(that is erasure-and error-) decoding algorithm of one-point algebraic geometry codes up to the Feng-Rao designed minimum distance using Sakata's multidimensional generalization of the Berlekamp-massey algorithm and the votin procedure of Feng and Rao.......This paper gives an errata(that is erasure-and error-) decoding algorithm of one-point algebraic geometry codes up to the Feng-Rao designed minimum distance using Sakata's multidimensional generalization of the Berlekamp-massey algorithm and the votin procedure of Feng and Rao....

  1. Geometric projection filter: an efficient solution to the SLAM problem

    Science.gov (United States)

    Newman, Paul M.; Durrant-Whyte, Hugh F.

    2001-10-01

    This paper is concerned with the simultaneous localization and map building (SLAM) problem. The SLAM problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Conventional approaches to this problem are plagued with a prohibitively large increase in computation with the size of the environment. This paper offers a new solution to the SLAM problem that is both consistent and computationally feasible. The proposed algorithm builds a map expressing the relationships between landmarks which is then transformed into landmark locations. Experimental results are presented employing the new algorithm on a subsea vehicle using a scanning sonar sensor.

  2. 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.

  3. Noncommutative Blackwell-Ross martingale inequality

    Science.gov (United States)

    Talebi, Ali; Moslehian, Mohammad Sal; Sadeghi, Ghadir

    We establish a noncommutative Blackwell-Ross inequality for supermartingales under a suitable condition which generalizes Khan’s work to the noncommutative setting. We then employ it to deduce an Azuma-type inequality.

  4. Probability Analysis of the Wave-Slamming Pressure Values of the Horizontal Deck with Elastic Support

    Science.gov (United States)

    Zuo, Weiguang; Liu, Ming; Fan, Tianhui; Wang, Pengtao

    2018-06-01

    This paper presents the probability distribution of the slamming pressure from an experimental study of regular wave slamming on an elastically supported horizontal deck. The time series of the slamming pressure during the wave impact were first obtained through statistical analyses on experimental data. The exceeding probability distribution of the maximum slamming pressure peak and distribution parameters were analyzed, and the results show that the exceeding probability distribution of the maximum slamming pressure peak accords with the three-parameter Weibull distribution. Furthermore, the range and relationships of the distribution parameters were studied. The sum of the location parameter D and the scale parameter L was approximately equal to 1.0, and the exceeding probability was more than 36.79% when the random peak was equal to the sample average during the wave impact. The variation of the distribution parameters and slamming pressure under different model conditions were comprehensively presented, and the parameter values of the Weibull distribution of wave-slamming pressure peaks were different due to different test models. The parameter values were found to decrease due to the increased stiffness of the elastic support. The damage criterion of the structure model caused by the wave impact was initially discussed, and the structure model was destroyed when the average slamming time was greater than a certain value during the duration of the wave impact. The conclusions of the experimental study were then described.

  5. 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

  6. Computing the Feng-Rao distances for codes from order domains

    DEFF Research Database (Denmark)

    Ruano Benito, Diego

    2007-01-01

    We compute the Feng–Rao distance of a code coming from an order domain with a simplicial value semigroup. The main tool is the Apéry set of a semigroup that can be computed using a Gröbner basis.......We compute the Feng–Rao distance of a code coming from an order domain with a simplicial value semigroup. The main tool is the Apéry set of a semigroup that can be computed using a Gröbner basis....

  7. A novel visual-inertial monocular SLAM

    Science.gov (United States)

    Yue, Xiaofeng; Zhang, Wenjuan; Xu, Li; Liu, JiangGuo

    2018-02-01

    With the development of sensors and computer vision research community, cameras, which are accurate, compact, wellunderstood and most importantly cheap and ubiquitous today, have gradually been at the center of robot location. Simultaneous localization and mapping (SLAM) using visual features, which is a system getting motion information from image acquisition equipment and rebuild the structure in unknown environment. We provide an analysis of bioinspired flights in insects, employing a novel technique based on SLAM. Then combining visual and inertial measurements to get high accuracy and robustness. we present a novel tightly-coupled Visual-Inertial Simultaneous Localization and Mapping system which get a new attempt to address two challenges which are the initialization problem and the calibration problem. experimental results and analysis show the proposed approach has a more accurate quantitative simulation of insect navigation, which can reach the positioning accuracy of centimeter level.

  8. Giorgio Agamben's inclusive exclusion of Étienne De la Boétie

    DEFF Research Database (Denmark)

    Flohr, Mikkel

    2017-01-01

    This paper analyzes the significance of Étienne de La Boétie’s appearance and subsequent disappearance in the introduction to Giorgio Agamben’s Homo Sacer: Sovereign Power and Bare Life. The introduction to the first installment of the Homo Sacer-series is a significant document, which establishes...... of Agamben’s political thought to be that of the sovereign exception....

  9. 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.

  10. SLAM POETRY: A SIMPLE WAY TO GET CLOSER WITH LITERATURE

    Directory of Open Access Journals (Sweden)

    Murti Ayu Wijayanti

    2017-04-01

    Full Text Available Teaching literature in teacher training faculty in which the students are prepared for being English teachers is always challenging as the students think that they have nothing to do with any kinds of literary work. It takes times to prepare them learn literature. Most students think that they have no talent in literature. Thus, it will certainly affect the teaching and learning process. While the lecturer is teaching, the students tend to listen and think of another else but literature. It therefore needs the lecturer‘s effort to deal with this challenge. One part of literary works taught which creates problem for most of students is poetry. One way to encourage students in learning poetry is slam poetry. Slam poetry is a kind of poetry competition which was firstly popularized in America in 1990s. A rumor that only beautiful and rhythmic poetry which is highly appreciated vanishes since the poet will only write what he or she understands. In slam poetry, the students themselves create their own poetry and present it in front of their classmates whereas other students will be the judges and decide who the winner of this slam poetry is. This method will encourage the students to learn poetry as well as appreciate it.

  11. 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.

  12. Localisation accuracy of semi-dense monocular SLAM

    Science.gov (United States)

    Schreve, Kristiaan; du Plessies, Pieter G.; Rätsch, Matthias

    2017-06-01

    Understanding the factors that influence the accuracy of visual SLAM algorithms is very important for the future development of these algorithms. So far very few studies have done this. In this paper, a simulation model is presented and used to investigate the effect of the number of scene points tracked, the effect of the baseline length in triangulation and the influence of image point location uncertainty. It is shown that the latter is very critical, while the other all play important roles. Experiments with a well known semi-dense visual SLAM approach are also presented, when used in a monocular visual odometry mode. The experiments shows that not including sensor bias and scale factor uncertainty is very detrimental to the accuracy of the simulation results.

  13. Citing "Whatever" Authority: The Ethics of Quotation in the Work of Giorgio Agamben

    Science.gov (United States)

    Dickinson, Colby

    2014-01-01

    This article seeks to lay out an analysis of Giorgio Agamben's central claims with regard to the formation of a theory of citationality. By juxtaposing Walter Benjamin's theory of citations alongside his more recent, critical engagements with the Western theological tradition, Agamben sets himself the goal of redefining ethics along…

  14. Experimental investigation of slamming impact acted on flat bottom bodies and cumulative damage

    Directory of Open Access Journals (Sweden)

    Hyunkyoung Shin

    2018-05-01

    Full Text Available Most offshore structures including offshore wind turbines, ships, etc. suffer from the impulsive pressure loads due to slamming phenomena in rough waves. The effects of elasticity & plasticity on such slamming loads are investigated through wet free drop test results of several steel unstiffened flat bottom bodies in the rectangular water tank. Also, their cumulative deformations by consecutively repetitive free drops from 1000 mm to 2000 mm in height are measured. Keywords: Slamming phenomena, Impulsive pressure load, Wet free drop test, Flat bottom body, Cumulative damage

  15. Microscopic insight into thermodynamics of conformational changes of SAP-SLAM complex in signal transduction cascade

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2017-04-01

    The signalling lymphocytic activation molecule (SLAM) family of receptors, expressed by an array of immune cells, associate with SLAM-associated protein (SAP)-related molecules, composed of single SH2 domain architecture. SAP activates Src-family kinase Fyn after SLAM ligation, resulting in a SLAM-SAP-Fyn complex, where, SAP binds the Fyn SH3 domain that does not involve canonical SH3 or SH2 interactions. This demands insight into this SAP mediated signalling cascade. Thermodynamics of the conformational changes are extracted from the histograms of dihedral angles obtained from the all-atom molecular dynamics simulations of this structurally well characterized SAP-SLAM complex. The results incorporate the binding induced thermodynamic changes of individual amino acid as well as the secondary structural elements of the protein and the solvent. Stabilization of the peptide partially comes through a strong hydrogen bonding network with the protein, while hydrophobic interactions also play a significant role where the peptide inserts itself into a hydrophobic cavity of the protein. SLAM binding widens SAP's second binding site for Fyn, which is the next step in the signal transduction cascade. The higher stabilization and less fluctuation of specific residues of SAP in the Fyn binding site, induced by SAP-SLAM complexation, emerge as the key structural elements to trigger the recognition of SAP by the SH3 domain of Fyn. The thermodynamic quantification of the protein due to complexation not only throws deeper understanding in the established mode of SAP-SLAM interaction but also assists in the recognition of the relevant residues of the protein responsible for alterations in its activity.

  16. Applying FastSLAM to Articulated Rovers

    Science.gov (United States)

    Hewitt, Robert Alexander

    This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

  17. 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.

  18. 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.

  19. 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)

    1997-12-31

    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.

  20. Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM

    OpenAIRE

    Park, Chanoh; Moghadam, Peyman; Kim, Soohwan; Elfes, Alberto; Fookes, Clinton; Sridharan, Sridha

    2017-01-01

    The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of global batch optimization is critically hindering its relevance for real-time and life-long applications. In this paper, we present a dense map-centric SLAM method based on a continuous-time trajectory to cope with this problem. The proposed system locally f...

  1. The Cramér-Rao Bounds and Sensor Selection for Nonlinear Systems with Uncertain Observations.

    Science.gov (United States)

    Wang, Zhiguo; Shen, Xiaojing; Wang, Ping; Zhu, Yunmin

    2018-04-05

    This paper considers the problems of the posterior Cramér-Rao bound and sensor selection for multi-sensor nonlinear systems with uncertain observations. In order to effectively overcome the difficulties caused by uncertainty, we investigate two methods to derive the posterior Cramér-Rao bound. The first method is based on the recursive formula of the Cramér-Rao bound and the Gaussian mixture model. Nevertheless, it needs to compute a complex integral based on the joint probability density function of the sensor measurements and the target state. The computation burden of this method is relatively high, especially in large sensor networks. Inspired by the idea of the expectation maximization algorithm, the second method is to introduce some 0-1 latent variables to deal with the Gaussian mixture model. Since the regular condition of the posterior Cramér-Rao bound is unsatisfied for the discrete uncertain system, we use some continuous variables to approximate the discrete latent variables. Then, a new Cramér-Rao bound can be achieved by a limiting process of the Cramér-Rao bound of the continuous system. It avoids the complex integral, which can reduce the computation burden. Based on the new posterior Cramér-Rao bound, the optimal solution of the sensor selection problem can be derived analytically. Thus, it can be used to deal with the sensor selection of a large-scale sensor networks. Two typical numerical examples verify the effectiveness of the proposed methods.

  2. 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.

  3. 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.

  4. An Integrated GNSS/INS/LiDAR-SLAM Positioning Method for Highly Accurate Forest Stem Mapping

    Directory of Open Access Journals (Sweden)

    Chuang Qian

    2016-12-01

    Full Text Available Forest mapping, one of the main components of performing a forest inventory, is an important driving force in the development of laser scanning. Mobile laser scanning (MLS, in which laser scanners are installed on moving platforms, has been studied as a convenient measurement method for forest mapping in the past several years. Positioning and attitude accuracies are important for forest mapping using MLS systems. Inertial Navigation Systems (INSs and Global Navigation Satellite Systems (GNSSs are typical and popular positioning and attitude sensors used in MLS systems. In forest environments, because of the loss of signal due to occlusion and severe multipath effects, the positioning accuracy of GNSS is severely degraded, and even that of GNSS/INS decreases considerably. Light Detection and Ranging (LiDAR-based Simultaneous Localization and Mapping (SLAM can achieve higher positioning accuracy in environments containing many features and is commonly implemented in GNSS-denied indoor environments. Forests are different from an indoor environment in that the GNSS signal is available to some extent in a forest. Although the positioning accuracy of GNSS/INS is reduced, estimates of heading angle and velocity can maintain high accurate even with fewer satellites. GNSS/INS and the LiDAR-based SLAM technique can be effectively integrated to form a sustainable, highly accurate positioning and mapping solution for use in forests without additional hardware costs. In this study, information such as heading angles and velocities extracted from a GNSS/INS is utilized to improve the positioning accuracy of the SLAM solution, and two information-aided SLAM methods are proposed. First, a heading angle-aided SLAM (H-aided SLAM method is proposed that supplies the heading angle from GNSS/INS to SLAM. Field test results show that the horizontal positioning accuracy of an entire trajectory of 800 m is 0.13 m and is significantly improved (by 70% compared to that

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

    Science.gov (United States)

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

    2017-01-01

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

  6. AGAMBEN, Giorgio. Arqueologia da obra de arte

    Directory of Open Access Journals (Sweden)

    Vinícius Nicastro Honesko

    2015-07-01

    Full Text Available Conferência de Giorgio Agamben em Scicli, Sicília, no dia 06 deagosto de 2012. A conferência ainda se encontra inédita em italianoe tem nesta publicação em português (autorizada pelo autor suaprimeira versão escrita. O arquivo aqui transliterado e traduzidoesteve disponível durante o primeiro semestre de 2013 no endereçoeletrônico: http://www.youtube.com/watch?v=A7NrMgIoEfg. Porse tratar de transliteração de uma conferência, algumas passagensapresentam um tom coloquial; ademais, procurei evitar, à medidado possível, as repetições e retomadas comuns aos discursos econferências. Ainda assim, o leitor poderá constatar, de certo modo,algumas diferenças estilísticas em comparação aos textos deAgamben.

  7. Quantitative cine-left ventriculography - Superiority of 45 .deg. RAO view to straight AB view -

    International Nuclear Information System (INIS)

    Lim, Tae Hwan; Han, Man Chung

    1981-01-01

    The volumetry by cineangiocardiography is known to have the most diagnostic and prognostic value in the evaluation of various valvular heart diseases and ischemic heart diseases. Although many authors favor the area-length method for the volumetry of left ventricle, 45 .deg. RAO projection seems to be more simple, inexpensive and accurate technique, considering the positional relationship of cardiac valves and obliquity of the long axis of left ventricle within the chest cage. Authors present the anatomical, geometrical and radiological basis for the superiority of 45 .deg. RAO protection by analyzing 20 normal heart specimen and 115 cineangiocardiograms of valvular heart diseases, and the results as follows: 1. Blood flow and motility of the mitral and aortic valves can be more clearly demonstrated by 45 .deg. RAO projection than by AP view. 2. The long diameter of left ventricular silhouette made 45 .deg. RAO projection reflects 90% or more of real diameter. 3. In RAO 45 .deg. position, patient's left nipple is optimal and convenient level for the ruler offering accurate magnification coefficient of left ventricle. 4. Ejection fraction after the extrasystole is exaggerated regardless of the left ventricular function, so it is desirable to exclude the 2 or 3 beats after extrasystole

  8. 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.

  9. Performing poetry slam

    DEFF Research Database (Denmark)

    Schweppenhäuser, Jakob; Pedersen, Birgitte Stougaard

    2017-01-01

    – namely the contemporary Western literary poetry reading and a literary network, on the one side, and, on the other side, the rap battle connected to hip hop culture (other genres, such as e.g. stand-up comedy, could also have been drawn into the discussion, but in order to clarify our argument we have...... chosen to keep focus on the two mentioned). The article builds on a generalised perspective negotiating poetry slam as an aesthetic and cultural phenomenon in between hip hop culture and literary culture, but it also includes a close reading/listening aspect deriving from a specific example, namely...

  10. 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.

  11. First-time observation of Mastro Giorgio masterpieces by means of non-destructive techniques

    Science.gov (United States)

    Padeletti, G.; Ingo, G. M.; Bouquillon, A.; Pages-Camagna, S.; Aucouturier, M.; Roehrs, S.; Fermo, P.

    2006-06-01

    For the first time some excellent pieces belonging to the majolica production of the great master Giorgio Andreoli from Gubbio (Central Italy) have been characterized from a chemical and structural point of view with the aim to identify the composition of both pigments and lustres. A series of particle-induced X-ray emission (PIXE), Rutherford backscattering spectrometry (RBS) and Raman analyses have been performed on some plates coming from Museo del Palazzo dei Consoli (Gubbio) and several French museums (Louvre, Musée National de la Céramique, Musée National de la Renaissance) lustred by Giorgio Andreoli and decorated by famous majolica painters such as Francesco Xanto Avelli. The three techniques are complementary and useful in the investigation of art objects since they are non-destructive. Furthermore, the low detection limits allow the identification of all elements and compounds present, and RBS allows concentration profiling, too. It is worth noticing that the examined objects are characterized by the presence of both gold and ruby-red lustres, a peculiarity of Mastro Giorgio’s technique. The measurements by PIXE and RBS have been carried out on the AGLAE accelerator at C2RMF, Louvre Palace.

  12. Vision-based map building and trajectory planning to enable autonomous flight through urban environments

    Science.gov (United States)

    Watkins, Adam S.

    The desire to use Unmanned Air Vehicles (UAVs) in a variety of complex missions has motivated the need to increase the autonomous capabilities of these vehicles. This research presents autonomous vision-based mapping and trajectory planning strategies for a UAV navigating in an unknown urban environment. It is assumed that the vehicle's inertial position is unknown because GPS in unavailable due to environmental occlusions or jamming by hostile military assets. Therefore, the environment map is constructed from noisy sensor measurements taken at uncertain vehicle locations. Under these restrictions, map construction becomes a state estimation task known as the Simultaneous Localization and Mapping (SLAM) problem. Solutions to the SLAM problem endeavor to estimate the state of a vehicle relative to concurrently estimated environmental landmark locations. The presented work focuses specifically on SLAM for aircraft, denoted as airborne SLAM, where the vehicle is capable of six degree of freedom motion characterized by highly nonlinear equations of motion. The airborne SLAM problem is solved with a variety of filters based on the Rao-Blackwellized particle filter. Additionally, the environment is represented as a set of geometric primitives that are fit to the three-dimensional points reconstructed from gathered onboard imagery. The second half of this research builds on the mapping solution by addressing the problem of trajectory planning for optimal map construction. Optimality is defined in terms of maximizing environment coverage in minimum time. The planning process is decomposed into two phases of global navigation and local navigation. The global navigation strategy plans a coarse, collision-free path through the environment to a goal location that will take the vehicle to previously unexplored or incompletely viewed territory. The local navigation strategy plans detailed, collision-free paths within the currently sensed environment that maximize local coverage

  13. Education as Free Use: Giorgio Agamben on Studious Play, Toys, and the Inoperative Schoolhouse

    Science.gov (United States)

    Lewis, Tyson E.

    2014-01-01

    In this essay, I argue that the work of Giorgio Agamben provides us with a theory of studious play which cuts across many of the categories that polarize educational thought. Rather than either ritualized testing or constructivist playfulness, Agamben provides a model of what he refers to as studious play--a practice which suspends the logic of…

  14. The metaphysical art of Giorgio de Chirico. Migraine or epilepsy?

    Science.gov (United States)

    Blanke, Olaf; Landis, Theodor

    2003-01-01

    It has been suggested that the great Italian painter Giorgio de Chirico (1888-1978), who developed the unique style of 'metaphysical art', suffered from migraine and used some of his morbid manifestations as a source of inspiration for his paintings. Yet, whereas many of the symptoms that de Chirico described are rare in migraine, they are frequently encountered in patients with temporal lobe epilepsy. Here we rediscuss de Chirico's symptoms critically and suggest that, if his symptoms were of neurological origin, they rather relate to temporal lobe epilepsy than migraine. Copyright 2003 S. Karger AG, Basel

  15. Estimation of visual maps with a robot network equipped with vision sensors.

    Science.gov (United States)

    Gil, Arturo; Reinoso, Óscar; Ballesta, Mónica; Juliá, Miguel; Payá, Luis

    2010-01-01

    In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment.

  16. Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

    Directory of Open Access Journals (Sweden)

    Arturo Gil

    2010-05-01

    Full Text Available In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment.

  17. 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.

  18. 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...

  19. Fast Erasure-and error decoding of algebraic geometry codes up to the Feng-Rao bound

    DEFF Research Database (Denmark)

    Høholdt, Tom; Jensen, Helge Elbrønd; Sakata, Shojiro

    1998-01-01

    This correspondence gives an errata (that is erasure-and error-) decoding algorithm of one-point algebraic-geometry codes up to the Feng-Rao designed minimum distance using Sakata's multidimensional generalization of the Berlekamp-Massey algorithm and the voting procedure of Feng and Rao....

  20. MSGD: Scalable back-end for indoor magnetic field-based GraphSLAM

    OpenAIRE

    Gao, C; Harle, Robert Keith

    2017-01-01

    Simultaneous Localisation and Mapping (SLAM) systems that recover the trajectory of a robot or mobile device are characterised by a front-end and back-end. The front-end uses sensor observations to identify loop closures; the back-end optimises the estimated trajectory to be consistent with these closures. The GraphSLAM framework formulates the back-end problem as a graph-based optimisation on a pose graph. This paper describes a back-end system optimised for very dense sequence-based lo...

  1. Medical and radiological aspects of emergency preparedness and response at SevRAO facilities.

    Science.gov (United States)

    Savkin, M N; Sneve, M K; Grachev, M I; Frolov, G P; Shinkarev, S M; Jaworska, A

    2008-12-01

    Regulatory cooperation between the Norwegian Radiation Protection Authority and the Federal Medical Biological Agency (FMBA) of the Russian Federation has the overall goal of promoting improvements in radiation protection in Northwest Russia. One of the projects in this programme has the objectives to review and improve the existing medical emergency preparedness capabilities at the sites for temporary storage of spent nuclear fuel and radioactive waste. These are operated by SevRAO at Andreeva Bay and in Gremikha village on the Kola Peninsula. The work is also intended to provide a better basis for regulation of emergency response and medical emergency preparedness at similar facilities elsewhere in Russia. The purpose of this paper is to present the main results of that project, implemented by the Burnasyan Federal Medical Biophysical Centre. The first task was an analysis of the regulatory requirements and the current state of preparedness for medical emergency response at the SevRAO facilities. Although Russian regulatory documents are mostly consistent with international recommendations, some distinctions lead to numerical differences in operational intervention criteria under otherwise similar conditions. Radiological threats relating to possible accidents, and related gaps in the regulation of SevRAO facilities, were also identified. As part of the project, a special exercise on emergency medical response on-site at Andreeva Bay was prepared and carried out, and recommendations were proposed after the exercise. Following fruitful dialogue among regulators, designers and operators, special regulatory guidance has been issued by FMBA to account for the specific and unusual features of the SevRAO facilities. Detailed sections relate to the prevention of accidents, and emergency preparedness and response, supplementing the basic Russian regulatory requirements. Overall it is concluded that (a) the provision of medical and sanitary components of emergency

  2. EKF - SLAM based navigation system for an AUV

    CSIR Research Space (South Africa)

    Matsebe, O

    2008-11-01

    Full Text Available SLAM is the process by which a robot builds a map of the environment and concurrently localise its position within the map. Solving this problem will render the robot truly autonomous...

  3. Stochastic processes and functional analysis a volume of recent advances in honor of M. M. Rao

    CERN Document Server

    Krinik, Alan C

    2004-01-01

    This extraordinary compilation is an expansion of the recent American Mathematical Society Special Session celebrating M. M. Rao's distinguished career and includes most of the presented papers as well as ancillary contributions from session invitees. This book shows the effectiveness of abstract analysis for solving fundamental problems of stochastic theory, specifically the use of functional analytic methods for elucidating stochastic processes, as made manifest in M. M. Rao's prolific research achievements. Featuring a biography of M. M. Rao, a complete bibliography of his published works,

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

    Directory of Open Access Journals (Sweden)

    Zirlane Castelo Branco Coêlho

    2017-02-01

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

  5. 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

  6. IMLS-SLAM: scan-to-model matching based on 3D data

    OpenAIRE

    Deschaud, Jean-Emmanuel

    2018-01-01

    The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to be very useful to perceive the environment in autonomous driving, but few methods exist that directly use these 3D data for odometry. We present a new low-drift SLAM algorithm based only on 3D LiDAR data. Our method relies on a scan-to-model matching framew...

  7. 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.

  8. Using external sensors in solution of SLAM task

    Science.gov (United States)

    Provkov, V. S.; Starodubtsev, I. S.

    2018-05-01

    This article describes the algorithms of spatial orientation of SLAM, PTAM and their positive and negative sides. Based on the SLAM method, a method that uses an RGBD camera and additional sensors was developed: an accelerometer, a gyroscope, and a magnetometer. The investigated orientation methods have their advantages when moving along a straight trajectory or when rotating a moving platform. As a result of experiments and a weighted linear combination of the positions obtained from data of the RGBD camera and the nine-axis sensor, it became possible to improve the accuracy of the original algorithm even using a constant as a weight function. In the future, it is planned to develop an algorithm for the dynamic construction of a weight function, as a result of which an increase in the accuracy of the algorithm is expected.

  9. [Establishment and application of a Vero cell line stably expressing raccoon dog SLAM, the cellular receptor of canine distemper virus].

    Science.gov (United States)

    Zhao, Jianjun; Yan, Ruxun; Zhang, Hailing; Zhang, Lei; Hu, Bo; Bai, Xue; Shao, Xiqun; Chai, Xiuli; Yan, Xijun; Wu, Wei

    2012-12-04

    The signaling lymphocyte activation molecule (SLAM, also known as CD150), is used as a cellular receptor by canine distemper virus (CDV). Wild-type strains of CDVs can be isolated and propagated efficiently in non-lymphoid cells expressing this protein. Our aim is to establish a Vero cells expressing raccoon dog SLAM (rSLAM) to efficiently isolate CDV from pathological samples. A eukaryotic expression plasmid, pIRES2-EGFP-rSLAMhis, containing rSLAM gene fused with six histidine-coding sequence, EGFP gene, and neomycin resistance gene was constructed. After transfection with the plasmid, a stable cell line, Vero-rSLAM, was screened from Vero cells with the identification of EGFP reporter and G418 resistance. Three CD positive specimens from infected foxes and raccoon dogs were inoculated to Vero-rSLAM cells for CDV isolation. Foxes and raccoon dogs were inoculated subcutaneously LN (10)fl strain with 4 x 10(2.39)TCID50 dose to evaluate pathogenicity of CDV isolations. The rSLAMh fused gene was shown to transcript and express stably in Vero-rSLAM cells by RT-PCR and Immunohistochemistry assay. Three CDV strains were isolated successfully in Vero-rSLAM cells 36 -48 hours after inoculation with spleen or lung specimens from foxes and raccoon dogs with distemper. By contrast, no CDV was recovered from those CD positive specimens when Vero cells were used for virus isolation. Infected foxes and raccoon dogs with LN(10)f1 strain all showed typical CD symptoms and high mortality (2/3 for foxes and 3/3 for raccoon dogs) in 22 days post challenge. Our results indicate that Vero-rSLAM cells stably expressing raccoon dog SLAM are highly sensitive to CDV in clinical specimens and the CDV isolation can maintain high virulence to its host animals.

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

    Science.gov (United States)

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

    2014-12-01

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

  11. a Variant of Lsd-Slam Capable of Processing High-Speed Low-Framerate Monocular Datasets

    Science.gov (United States)

    Schmid, S.; Fritsch, D.

    2017-11-01

    We develop a new variant of LSD-SLAM, called C-LSD-SLAM, which is capable of performing monocular tracking and mapping in high-speed low-framerate situations such as those of the KITTI datasets. The methods used here are robust against the influence of erronously triangulated points near the epipolar direction, which otherwise causes tracking divergence.

  12. La gloria y el concepto de los político en Giorgio Agamben.

    Directory of Open Access Journals (Sweden)

    Alfonso Galindo Hervás.

    2010-04-01

    Full Text Available This article analyzes the concept of the political proposed by Giorgio Agamben in a genealogical study of the concepts of government and glory. To this end, it criticizes Agamben’s proposal on two counts: its relevance from the perspective of conceptual history; and its deficiencies in terms philosophies, such as Hans Blumenberg’s, that underline the importance of myths as a source of meaning and an indication of the human determination to survive.

  13. Application of kinect sensors for SLAM and DATMO

    CSIR Research Space (South Africa)

    Pancham, A

    2011-10-01

    Full Text Available This work involves the development of algorithms for the implementation of multiple Kinect sensors for SLAM and DATMO. The algorithms will allow the mobile robot to navigate in a dynamic environment and simutaneously create a map of the environment...

  14. It's a Profane Life: Giorgio Agamben on the Freedom of Im-Potentiality in Education

    Science.gov (United States)

    Lewis, Tyson Edward

    2014-01-01

    In this article, I explore the importance of Giorgio Agamben's theory of potentiality for rethinking education. While potentiality has been a long-standing concern for educational practitioners and theorists, Agamben's work is unique in that it emphasizes how potentiality can only be thought of in relation to impotentiality. This moment…

  15. Response of Peripheral Blood Lymphocytes from RAO-affected Horses to b2-Agonist Stimulation

    OpenAIRE

    Werner Becker, Marianne Patricia

    2011-01-01

    Recurrent airway obstruction (RAO) affects middle-age horses, inducing bronchoconstriction and airway inflammation. β2-agonists like salbutamol are used as treatment, promoting airway smooth muscle (ASM) relaxation and bronchodilation. In addition to ASM, inflammatory cells express the β2-adrenoreceptors (β2-AR). In other species, β2-agonists promote peripheral blood lymphocyte (PBL) cytokine expression towards a pro-inflammatory phenotype. RAO horses are a good model for evaluating chron...

  16. Map generation in unknown environments by AUKF-SLAM using line segment-type and point-type landmarks

    Science.gov (United States)

    Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

    2018-02-01

    Recently, autonomous mobile robots that collect information at disaster sites are being developed. Since it is difficult to obtain maps in advance in disaster sites, the robots being capable of autonomous movement under unknown environments are required. For this objective, the robots have to build maps, as well as the estimation of self-location. This is called a SLAM problem. In particular, AUKF-SLAM which uses corners in the environment as point-type landmarks has been developed as a solution method so far. However, when the robots move in an environment like a corridor consisting of few point-type features, the accuracy of self-location estimated by the landmark is decreased and it causes some distortions in the map. In this research, we propose AUKF-SLAM which uses walls in the environment as a line segment-type landmark. We demonstrate that the robot can generate maps in unknown environment by AUKF-SLAM, using line segment-type and point-type landmarks.

  17. Sampling in image space for vision based SLAM

    NARCIS (Netherlands)

    Booij, O.; Zivkovic, Z.; Kröse, B.

    2008-01-01

    Loop closing in vision based SLAM applications is a difficult task. Comparing new image data with all previous image data acquired for the map is practically impossible because of the high computational costs. This problem is part of the bigger problem to acquire local geometric constraints from

  18. Integration of IMU and Velodyne LiDAR sensor in an ICP-SLAM framework

    OpenAIRE

    Zhang, Erik

    2016-01-01

    Simultaneous localization and mapping (SLAM) of an unknown environment is a critical step for many autonomous processes. For this work, we propose a solution which does not rely on storing descriptors of the environment and performing descriptors filtering. Compared to most SLAM based methods this work with general sparse point clouds with the underlying generalized ICP (GICP) algorithm for point cloud registration. This thesis presents a modified GICP method and an investigation of how and i...

  19. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    -SLAM assumes that at each observation, the robot observes atleast two landmarks f1 and .... eight further divisions of its volume, it allows multi-resolution planning. .... The graphical model perspective for probabilistic inference is used. In the ...

  20. A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments.

    Science.gov (United States)

    López, Elena; García, Sergio; Barea, Rafael; Bergasa, Luis M; Molinos, Eduardo J; Arroyo, Roberto; Romera, Eduardo; Pardo, Samuel

    2017-04-08

    One of the main challenges of aerial robots navigation in indoor or GPS-denied environments is position estimation using only the available onboard sensors. This paper presents a Simultaneous Localization and Mapping (SLAM) system that remotely calculates the pose and environment map of different low-cost commercial aerial platforms, whose onboard computing capacity is usually limited. The proposed system adapts to the sensory configuration of the aerial robot, by integrating different state-of-the art SLAM methods based on vision, laser and/or inertial measurements using an Extended Kalman Filter (EKF). To do this, a minimum onboard sensory configuration is supposed, consisting of a monocular camera, an Inertial Measurement Unit (IMU) and an altimeter. It allows to improve the results of well-known monocular visual SLAM methods (LSD-SLAM and ORB-SLAM are tested and compared in this work) by solving scale ambiguity and providing additional information to the EKF. When payload and computational capabilities permit, a 2D laser sensor can be easily incorporated to the SLAM system, obtaining a local 2.5D map and a footprint estimation of the robot position that improves the 6D pose estimation through the EKF. We present some experimental results with two different commercial platforms, and validate the system by applying it to their position control.

  1. Analysing Institutions Interdisciplinarity by Extensive Use of Rao-Stirling Diversity Index.

    Science.gov (United States)

    Cassi, Lorenzo; Champeimont, Raphaël; Mescheba, Wilfriedo; de Turckheim, Élisabeth

    2017-01-01

    This paper shows how the Rao-Stirling diversity index may be extensively used for positioning and comparing institutions interdisciplinary practices. Two decompositions of this index make it possible to explore different components of the diversity of the cited references in a corpus of publications. The paper aims at demonstrating how these bibliometric tools can be used for comparing institutions in a research field by highlighting collaboration orientations and institutions strategies. To make the method available and easy to use for indicator users, this paper first recalls a previous result on the decomposition of the Rao-Stirling index into multidisciplinarity and interdisciplinarity components, then proposes a new decomposition to further explore the profile of research collaborations and finally presents an application to Neuroscience research in French universities.

  2. Cross-cultural adaptation and validation of the French version of the Rheumatoid and Arthritis Outcome Score (RAOS)

    DEFF Research Database (Denmark)

    Duval, Aurelie; Maillefert, Jean Francis; Gossec, Laure

    2010-01-01

    The Rheumatoid and Arthritis Outcome Score (RAOS) was recently developed to evaluate functional disability and quality of life in rheumatoid arthritis (RA) patients suffering from lower limb symptoms. The aims of this study were to cross-culturally adapt the RAOS into French and to assess its...

  3. Adaptive Monocular Visual-Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices.

    Science.gov (United States)

    Piao, Jin-Chun; Kim, Shin-Dug

    2017-11-07

    Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual-inertial SLAM method for real-time augmented reality applications in mobile devices. First, the SLAM system is implemented based on the visual-inertial odometry method that combines data from a mobile device camera and inertial measurement unit sensor. Second, we present an optical-flow-based fast visual odometry method for real-time camera pose estimation. Finally, an adaptive monocular visual-inertial SLAM is implemented by presenting an adaptive execution module that dynamically selects visual-inertial odometry or optical-flow-based fast visual odometry. Experimental results show that the average translation root-mean-square error of keyframe trajectory is approximately 0.0617 m with the EuRoC dataset. The average tracking time is reduced by 7.8%, 12.9%, and 18.8% when different level-set adaptive policies are applied. Moreover, we conducted experiments with real mobile device sensors, and the results demonstrate the effectiveness of performance improvement using the proposed method.

  4. Adaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices

    Directory of Open Access Journals (Sweden)

    Jin-Chun Piao

    2017-11-01

    Full Text Available Simultaneous localization and mapping (SLAM is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual–inertial SLAM method for real-time augmented reality applications in mobile devices. First, the SLAM system is implemented based on the visual–inertial odometry method that combines data from a mobile device camera and inertial measurement unit sensor. Second, we present an optical-flow-based fast visual odometry method for real-time camera pose estimation. Finally, an adaptive monocular visual–inertial SLAM is implemented by presenting an adaptive execution module that dynamically selects visual–inertial odometry or optical-flow-based fast visual odometry. Experimental results show that the average translation root-mean-square error of keyframe trajectory is approximately 0.0617 m with the EuRoC dataset. The average tracking time is reduced by 7.8%, 12.9%, and 18.8% when different level-set adaptive policies are applied. Moreover, we conducted experiments with real mobile device sensors, and the results demonstrate the effectiveness of performance improvement using the proposed method.

  5. Adaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices

    Science.gov (United States)

    Piao, Jin-Chun; Kim, Shin-Dug

    2017-01-01

    Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual–inertial SLAM method for real-time augmented reality applications in mobile devices. First, the SLAM system is implemented based on the visual–inertial odometry method that combines data from a mobile device camera and inertial measurement unit sensor. Second, we present an optical-flow-based fast visual odometry method for real-time camera pose estimation. Finally, an adaptive monocular visual–inertial SLAM is implemented by presenting an adaptive execution module that dynamically selects visual–inertial odometry or optical-flow-based fast visual odometry. Experimental results show that the average translation root-mean-square error of keyframe trajectory is approximately 0.0617 m with the EuRoC dataset. The average tracking time is reduced by 7.8%, 12.9%, and 18.8% when different level-set adaptive policies are applied. Moreover, we conducted experiments with real mobile device sensors, and the results demonstrate the effectiveness of performance improvement using the proposed method. PMID:29112143

  6. The Wiley Blackwell companion to political geography

    NARCIS (Netherlands)

    Agnew, J.; Mamadouh, V.; Secor, A.J.; Sharp, J.

    2015-01-01

    The Wiley Blackwell Companion to Political Geography aims to account for the intellectual and worldly developments that have taken place in and around political geography in the last 10 years. Bringing together established names in the field as well as new scholars, it highlights provocative

  7. 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.

  8. Rheumatology in the Italian literary fiction: “La Longobarda” by Giorgio Conconi (1999

    Directory of Open Access Journals (Sweden)

    P. Marson

    2011-09-01

    Full Text Available In the literary fiction “La Longobarda” by Giorgio Conconi (1999 the protagonist Linda narrates her life, when about fifty she falls ill because of arthritis, thus looking prematurely older and suffering from severe disturbances of body image. This fiction represents an uncommon case of contemporary literature dealing with rheumatological topics. In the present note, it has shown how literature can contribute in several ways to achievement in the human dimension of medicine, by teaching physician concrete and powerful lessons about the lives of sick people.

  9. Quantum metrology in open systems: dissipative Cramér-Rao bound.

    Science.gov (United States)

    Alipour, S; Mehboudi, M; Rezakhani, A T

    2014-03-28

    Estimation of parameters is a pivotal task throughout science and technology. The quantum Cramér-Rao bound provides a fundamental limit of precision allowed to be achieved under quantum theory. For closed quantum systems, it has been shown how the estimation precision depends on the underlying dynamics. Here, we propose a general formulation for metrology scenarios in open quantum systems, aiming to relate the precision more directly to properties of the underlying dynamics. This feature may be employed to enhance an estimation precision, e.g., by quantum control techniques. Specifically, we derive a Cramér-Rao bound for a fairly large class of open system dynamics, which is governed by a (time-dependent) dynamical semigroup map. We illustrate the utility of this scenario through three examples.

  10. Da Teologia política à Teologia Econômica - Entrevista com Giorgio Agamben

    Directory of Open Access Journals (Sweden)

    Selvino José Assmann

    2018-02-01

    Full Text Available Entrevista concedida a Gianluca Sacco, publicada em: Rivista online, Scuola superiore dell’economia e delle finanze, anno I, n.6/7, Giugno-Luglio 2004, 07 pp. Intervista A Giorgio Agamben: Dalla Teologia Politica Alla Teologia Economica. http://www.rivista.ssef.it/www.rivista.ssef.it/site623b.html?page=20040308184630627&edition=2010-02-01    Acesso em 28/12/2017 Tradução portuguesa de Selvino José Assmann.

  11. 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.

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

    Science.gov (United States)

    Rodríguez-Salgado, Beatriz; 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. PMID:27247820

  13. 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.

  14. Advancement of vision-based SLAM from static to dynamic environments

    CSIR Research Space (South Africa)

    Pancham, A

    2012-11-01

    Full Text Available Simultaneous Localization And Mapping (SLAM) allows a mobile robot to construct a map of an unknown, static environment and simultaneously localize itself. Real world environments, however, have dynamic objects such as people, doors that open...

  15. 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.

  16. Neutrophil and macrophage apoptosis in bronchoalveolar lavage fluid from healthy horses and horses with recurrent airway obstruction (RAO)

    Science.gov (United States)

    2014-01-01

    Background Dysregulation of apoptosis has been implicated in a range of diseases including tumors, neurodegenerative and autoimmine diseases, as well as allergic asthma and chronic obstructive pulmonary disease (COPD) in humans. Although it has a different pathophysiology, delayed apoptosis of various inflammatory cells may play a pivotal role in the development of recurrent airway obstruction (RAO) in horses. Reduction of inflammatory cell apoptosis or a dysregulation of this process could lead to chronic inflammation and tissue injury. Therefore, the aim of this study was to investigate the rate of apoptosis and necrosis of neutrophils and macrophages in bronchoalveolar lavage fluid obtained from seven horses suffering from RAO (study group) and seven control horses. Results We demonstrated that neutrophil/macrophage apoptosis is altered in RAO-affected horses compared with the control group in the BAL fluid. We found a significant difference between the median percentage of early and late apoptosis of neutrophils between the study and control group of horses. Moreover, we found a positive correlation between the rate of apoptosis and the median percentage of macrophages in RAO-affected horses. Conclusion The findings suggest that apoptosis dysregulation may play a significant role in the pathogenesis of RAO. However, further studies are needed to clarify the role of altered apoptosis in the course of equine recurrent airway obstruction. PMID:24460911

  17. Cooperative Airborne Inertial-SLAM for Improved Platform and Feature/Target Localisation

    National Research Council Canada - National Science Library

    Sukkarieh, Salah; Bryson, Mitch

    2008-01-01

    .... The benefit of using the SLAM algorithm is that it can determine the accuracy of both platform and target locations, both of which improve as a function of feature/target revisitation or sharing...

  18. 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

  19. An EKF-SLAM algorithm with consistency properties

    OpenAIRE

    Barrau, Axel; Bonnabel, Silvere

    2015-01-01

    In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant ot the EKF meant to account for the symmetries of the state space. Extensive Monte-Carlo runs illustrate the theoretical results.

  20. Towards Informative Path Planning for Acoustic SLAM

    OpenAIRE

    Evers, C; Moore, A; Naylor, P

    2016-01-01

    Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot?s positions and jointly map t...

  1. Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM.

    Science.gov (United States)

    Lagüela, Susana; Dorado, Iago; Gesto, Manuel; Arias, Pedro; González-Aguilera, Diego; Lorenzo, Henrique

    2018-03-02

    This paper presents a Wearable Prototype for indoor mapping developed by the University of Vigo. The system is based on a Velodyne LiDAR, acquiring points with 16 rays for a simplistic or low-density 3D representation of reality. With this, a Simultaneous Localization and Mapping (3D-SLAM) method is developed for the mapping and generation of 3D point clouds of scenarios deprived from GNSS signal. The quality of the system presented is validated through the comparison with a commercial indoor mapping system, Zeb-Revo, from the company GeoSLAM and with a terrestrial LiDAR, Faro Focus 3D X330. The first is considered as a relative reference with other mobile systems and is chosen due to its use of the same principle for mapping: SLAM techniques based on Robot Operating System (ROS), while the second is taken as ground-truth for the determination of the final accuracy of the system regarding reality. Results show that the accuracy of the system is mainly determined by the accuracy of the sensor, with little increment in the error introduced by the mapping algorithm.

  2. Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM

    Directory of Open Access Journals (Sweden)

    Susana Lagüela

    2018-03-01

    Full Text Available This paper presents a Wearable Prototype for indoor mapping developed by the University of Vigo. The system is based on a Velodyne LiDAR, acquiring points with 16 rays for a simplistic or low-density 3D representation of reality. With this, a Simultaneous Localization and Mapping (3D-SLAM method is developed for the mapping and generation of 3D point clouds of scenarios deprived from GNSS signal. The quality of the system presented is validated through the comparison with a commercial indoor mapping system, Zeb-Revo, from the company GeoSLAM and with a terrestrial LiDAR, Faro Focus3D X330. The first is considered as a relative reference with other mobile systems and is chosen due to its use of the same principle for mapping: SLAM techniques based on Robot Operating System (ROS, while the second is taken as ground-truth for the determination of the final accuracy of the system regarding reality. Results show that the accuracy of the system is mainly determined by the accuracy of the sensor, with little increment in the error introduced by the mapping algorithm.

  3. Rao Quan Feasibility Study - Phase 1: Toxic Substances and Contamination (Final Report)

    Energy Technology Data Exchange (ETDEWEB)

    Berge, Dag; Knutzen, Jon

    1997-12-31

    Due to wartime activity in the Khe Sanh area, it was expected that damming of the river Rao Quan could wash out diffuse pollutants from the ground and from possible military dump sites. As discussed in this report, the rivers Rao Quan, Khe Nghi and Quang Tri contain relatively soft water. The buffer capacity against acidification is good. The sulphate concentration is low. The water will not be aggressive against concrete. The maximum particulate content in the wet season is low. The nutrient content of the rivers is relatively low. The phosphorus content correlated well with the turbidity, which indicates that the phosphorus is bound to particles. Khe Nghi has significantly higher nitrogen content than the other rivers, which may indicate some slight impact from animal husbandry. However, there was no eutrophication. The content of heavy metals is low and indicates no pollution from the military activities in the area. The water is well suited for irrigation. There was no indication from the analysed fish , the river sediments from Rao Quan or the top soil of the rice fields of any significant dioxin contamination. The content was similar to normal back ground levels caused by diffuse atmospheric fallout. The herbicide Agent Orange in 1962-1975 was applied mostly in the southernmost part of the country and contamination from it in the Quang Tri Province is not expected. 13 refs., 4 figs., 4 tabs.

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

    International Nuclear Information System (INIS)

    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. (authors)

  5. 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.

  6. Identification of Key Residues in Virulent Canine Distemper Virus Hemagglutinin That Control CD150/SLAM-Binding Activity▿

    Science.gov (United States)

    Zipperle, Ljerka; Langedijk, Johannes P. M.; Örvell, Claes; Vandevelde, Marc; Zurbriggen, Andreas; Plattet, Philippe

    2010-01-01

    Morbillivirus cell entry is controlled by hemagglutinin (H), an envelope-anchored viral glycoprotein determining interaction with multiple host cell surface receptors. Subsequent to virus-receptor attachment, H is thought to transduce a signal triggering the viral fusion glycoprotein, which in turn drives virus-cell fusion activity. Cell entry through the universal morbillivirus receptor CD150/SLAM was reported to depend on two nearby microdomains located within the hemagglutinin. Here, we provide evidence that three key residues in the virulent canine distemper virus A75/17 H protein (Y525, D526, and R529), clustering at the rim of a large recessed groove created by β-propeller blades 4 and 5, control SLAM-binding activity without drastically modulating protein surface expression or SLAM-independent F triggering. PMID:20631152

  7. vSLAM: vision-based SLAM for autonomous vehicle navigation

    Science.gov (United States)

    Goncalves, Luis; Karlsson, Niklas; Ostrowski, Jim; Di Bernardo, Enrico; Pirjanian, Paolo

    2004-09-01

    Among the numerous challenges of building autonomous/unmanned vehicles is that of reliable and autonomous localization in an unknown environment. In this paper we present a system that can efficiently and autonomously solve the robotics 'SLAM' problem, where a robot placed in an unknown environment, simultaneously must localize itself and make a map of the environment. The system is vision-based, and makes use of Evolution Robotic's powerful object recognition technology. As the robot explores the environment, it is continuously performing four tasks, using information from acquired images and the drive system odometry. The robot: (1) recognizes previously created 3-D visual landmarks; (2) builds new 3-D visual landmarks; (3) updates the current estimate of its location, using the map; (4) updates the landmark map. In indoor environments, the system can build a map of a 5m by 5m area in approximately 20 minutes, and can localize itself with an accuracy of approximately 15 cm in position and 3 degrees in orientation relative to the global reference frame of the landmark map. The same system can be adapted for outdoor, vehicular use.

  8. 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.

  9. Saints' Relics in Scuola di S. Giorgio degli Schiavoni: An Anti-Ottoman Pantheon

    Directory of Open Access Journals (Sweden)

    Ana Marinković

    2018-04-01

    Full Text Available The intensified military campaigns against the Ottomans in the second half of the fifteenth century palpably influenced the cult of saints venerated in Scuola di S. Giorgio degli Schiavoni, both by assimilating new saints, as well as strenghtening the existing cults through indulgences and relic acquisitions. The initial pair of patron saints – St George and St Tryphon, the city patrons of Bar and Kotor – delineated the geographical area where the majority of confraternity members originated from, that is, the Venetian Albania. The inclusion of St Jerome, the patron of Dalmatia, to the confraternal pantheon by Cardinal Bessarion's indulgence issued in 1464, in addition to rounding up the holy patronage to all the Eastern Adriatic Venetian dependencies, also marked the beginning of a strong anti-Ottoman motivation in the scuola's hagiographic horizon. The triple endowment of the Scuola in 1502 – relic acquisition, granting of indulgence, and commission of Carpaccio's monumental cycle – continued to work on the same line, and added to the practical aspect of spiritual support to the members of Venetian troops provenient of the Eastern Adriatic. However, the saints whose relics are today kept in the altar of the lower hall, including the patron saint of the Republic of Dubrovnik, point to an even wider devotional agenda, possibly arranged after the Battle of Lepanto, as the comparative analysis of the reliquaries show.   Le campagne militari contro gli Ottomani intensificatesi nella seconda metà del XV secolo influenzarono palesemente il culto dei santi venerati nella Scuola di S. Giorgio degli Schiavoni, sia attraverso l'assimilazione di nuovi santi, sia tramite il rafforzamento del culto già esistente verso le indulgenze e l'impulso all'acquisizione di reliquie. La prima coppia di santi patroni - San Giorgio e San Trifone, patroni della città di Bar e Cattaro - delimitano l'area geografica da cui proviene la maggior parte dei membri

  10. AGU and Wiley-Blackwell to partner on publication of journals and books

    Science.gov (United States)

    McEntee, Chris

    2012-07-01

    AGU has signed a memorandum of understanding (MOU) with Wiley-Blackwell to partner in journal and book publishing. The agreement, effective 1 January 2013, is a significant step forward in transforming AGU publishing consistent with our strategic plan goal of scientific leadership and collaboration. Wiley-Blackwell is the international scientific, technical, medical, and scholarly publishing business of John Wiley & Sons, Inc. Family-owned and publicly traded on the New York Stock Exchange, the company is strong in every major academic and professional field and partners with many of the world's leading societies. Wiley-Blackwell, a leader in developing models for open access and providing developing nations with access to science, publishes nearly 1500 peer-reviewed journals and more than 1500 new books annually. The company publishes approximately 700 society titles.

  11. 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.

  12. Algorithm of Particle Data Association for SLAM Based on Improved Ant Algorithm

    Directory of Open Access Journals (Sweden)

    KeKe Gen

    2015-01-01

    Full Text Available The article considers a problem of data association algorithm for simultaneous localization and mapping guidelines in determining the route of unmanned aerial vehicles (UAVs. Currently, these equipments are already widely used, but mainly controlled from the remote operator. An urgent task is to develop a control system that allows for autonomous flight. Algorithm SLAM (simultaneous localization and mapping, which allows to predict the location, speed, the ratio of flight parameters and the coordinates of landmarks and obstacles in an unknown environment, is one of the key technologies to achieve real autonomous UAV flight. The aim of this work is to study the possibility of solving this problem by using an improved ant algorithm.The data association for SLAM algorithm is meant to establish a matching set of observed landmarks and landmarks in the state vector. Ant algorithm is one of the widely used optimization algorithms with positive feedback and the ability to search in parallel, so the algorithm is suitable for solving the problem of data association for SLAM. But the traditional ant algorithm in the process of finding routes easily falls into local optimum. Adding random perturbations in the process of updating the global pheromone to avoid local optima. Setting limits pheromone on the route can increase the search space with a reasonable amount of calculations for finding the optimal route.The paper proposes an algorithm of the local data association for SLAM algorithm based on an improved ant algorithm. To increase the speed of calculation, local data association is used instead of the global data association. The first stage of the algorithm defines targets in the matching space and the observed landmarks with the possibility of association by the criterion of individual compatibility (IC. The second stage defines the matched landmarks and their coordinates using improved ant algorithm. Simulation results confirm the efficiency and

  13. 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.

  14. Integrated High-Fidelity CFD/FE FSI Code Development and Benchmark Full-Scale Validation EFD for Slamming Analysis

    Science.gov (United States)

    2016-06-30

    accelerometers, an additional inertia navigation system, and L YDT’s. New tests were performed in the Atlantic Ocean and further insight into slamming was...accelerometers, an additional inertia navigation system, and LVDT’s. New tests were performed in the Atlantic Ocean and further insight into slamming was...measured data, Fig. 13. The Numerette was then operated in the Atlantic Ocean . A typical strain history is shown in Fig. 14. Fast Fourier Transforms

  15. How employees perceive organizational learning: construct validation of the 25-item short form of the strategic learning assessment map (SF-SLAM)

    NARCIS (Netherlands)

    Mainert, Jakob; Niepel, Christoph; Lans, T.; Greiff, Samuel

    2018-01-01

    Purpose: The Strategic Learning Assessment Map (SLAM) originally assessed organizational learning (OL) at the level of the firm by addressing managers, who rated OL in the SLAM on five dimensions of individual learning, group learning, organizational learning, feed-forward learning, and feedback

  16. Multi-Sensor SLAM Approach for Robot Navigation

    Directory of Open Access Journals (Sweden)

    Sid Ahmed BERRABAH

    2010-12-01

    Full Text Available o 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. The paper gives an overview on the proposed algorithm and discusses the obtained results.

  17. Bartleby the Example and Eros the Idea of the Work: Some Considerations on Giorgio Agamben's "The Idea of Study"

    Science.gov (United States)

    Vanhoutte, Kristof K. P.

    2014-01-01

    The present article investigates the rhythm of study as described by Giorgio Agamben in "The idea of study", present in Idea of prose. In this short treatise, Agamben presents Melville's scrivener Bartleby as the exemplary embodiment of study. Bartleby's paradigmatic status, according to Agamben's interpretation, does,…

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

    NARCIS (Netherlands)

    Booij, O.; Zivkovic, Z.; Kröse, B.

    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

  19. LEADER WITH GOLDEN HEART - SRI CA. A. RAGHAVENDRA RAO

    OpenAIRE

    Aithal Sreeramana P.; Suresh Kumar P.M.; Shailashri V.T.; Prithi Jeevan

    2015-01-01

    Srinivas group of colleges has come into being from a humble beginning in1988, into a chain of institutions due to its visionary founder Sri CA A Raghavendra Rao. Today it spreads over 18 colleges with 70 courses and over 12000 students generating livelihood to 3500 employees and their families. His leadership qualities and values are distinct. He is wired like business people but bottom line oriented and extraordinarily committed to results. The steep ascend from humble person to an accompl...

  20. 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.

  1. Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments.

    Science.gov (United States)

    Trujillo, Juan-Carlos; Munguia, Rodrigo; Guerra, Edmundo; Grau, Antoni

    2018-04-26

    This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation.

  2. Giorgio Agamben, del biopoder a la comunidad que viene

    Directory of Open Access Journals (Sweden)

    María Luisa Bacarlett Pérez

    2010-01-01

    Full Text Available Se abordan algunos de los conceptos clave de la obra de Giorgio Agamben concernientes a su análisis del poder político en Occidente y su vinculación con la vida biológica (z¿¿. A partir del análisis foucaultiano en torno al biopoder, Agamben extiende dicho concepto más allá del mundo moderno, identificando el poder político occidental desde sus comienzos -en la polis griega- con un movimiento de exclusión incluyente de la vida biológica en el ámbito de la vida política y la ley. Las consecuencias de esta particular relación entre vida y ley nos obligan a replantear los conceptos tradicionales de soberanía, gobierno y comunidad, entre muchos otros. En particular para Agamben, desde los inicios de la civilización occidental, la fuente de la soberanía del poder político se encuentra en un doble movimiento que permite al mismo tiempo excluir la vida biológica de la ley, al tiempo que la introduce a través del estado de excepción.

  3. Methodology for Check Valve Selection to Maintain the Integrity of Pipeline against the Check Valve Slam for the KIJANG Research Reactor

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dayong; Yoon, Hyungi; Seo, Kyoungwoo; Kim, Seonhoon [KAERI, Daejeon (Korea, Republic of)

    2016-05-15

    The check valve slam results in a water hammer and unexpected system pressure rise in the pipeline. Sometimes, the pressure rise by check valve slam in the pipeline exceeds the design pressure and then it causes the rupture of pipeline. Therefore, check valve slam significantly influences on the integrity of pipe. Especially, this it is most likely to occur by check valve installed in the discharge of pump when one pump trips among the two or more running in parallel pump system. This study focuses on the check valve selection to maintain the integrity of PCS pipeline against the check valve slam. If design head for KJRR PCS pipeline is higher than the sum of static head and 11 m, any type check valves can be installed at the discharge of pump. However, if design head for KJRR PCS pipeline is lower than the sum of static head and 11 m, installation of swing and ball check on the discharge of pump must be avoid to prevent the rupture of PCS pipeline.

  4. Methodology for Check Valve Selection to Maintain the Integrity of Pipeline against the Check Valve Slam for the KIJANG Research Reactor

    International Nuclear Information System (INIS)

    Kim, Dayong; Yoon, Hyungi; Seo, Kyoungwoo; Kim, Seonhoon

    2016-01-01

    The check valve slam results in a water hammer and unexpected system pressure rise in the pipeline. Sometimes, the pressure rise by check valve slam in the pipeline exceeds the design pressure and then it causes the rupture of pipeline. Therefore, check valve slam significantly influences on the integrity of pipe. Especially, this it is most likely to occur by check valve installed in the discharge of pump when one pump trips among the two or more running in parallel pump system. This study focuses on the check valve selection to maintain the integrity of PCS pipeline against the check valve slam. If design head for KJRR PCS pipeline is higher than the sum of static head and 11 m, any type check valves can be installed at the discharge of pump. However, if design head for KJRR PCS pipeline is lower than the sum of static head and 11 m, installation of swing and ball check on the discharge of pump must be avoid to prevent the rupture of PCS pipeline

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

    NARCIS (Netherlands)

    Hins, W.

    2008-01-01

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

  6. Deciphering complex dynamics of water counteraction around secondary structural elements of allosteric protein complex: Case study of SAP-SLAM system in signal transduction cascade.

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2018-01-28

    The first hydration shell of a protein exhibits heterogeneous behavior owing to several attributes, majorly local polarity and structural flexibility as revealed by solvation dynamics of secondary structural elements. We attempt to recognize the change in complex water counteraction generated due to substantial alteration in flexibility during protein complex formation. The investigation is carried out with the signaling lymphocytic activation molecule (SLAM) family of receptors, expressed by an array of immune cells, and interacting with SLAM-associated protein (SAP), composed of one SH2 domain. All atom molecular dynamics simulations are employed to the aqueous solutions of free SAP and SLAM-peptide bound SAP. We observed that water dynamics around different secondary structural elements became highly affected as well as nicely correlated with the SLAM-peptide induced change in structural rigidity obtained by thermodynamic quantification. A few instances of contradictory dynamic features of water to the change in structural flexibility are explained by means of occluded polar residues by the peptide. For βD, EFloop, and BGloop, both structural flexibility and solvent accessibility of the residues confirm the obvious contribution. Most importantly, we have quantified enhanced restriction in water dynamics around the second Fyn-binding site of the SAP due to SAP-SLAM complexation, even prior to the presence of Fyn. This observation leads to a novel argument that SLAM induced more restricted water molecules could offer more water entropic contribution during the subsequent Fyn binding and provide enhanced stability to the SAP-Fyn complex in the signaling cascade. Finally, SLAM induced water counteraction around the second binding site of the SAP sheds light on the allosteric property of the SAP, which becomes an integral part of the underlying signal transduction mechanism.

  7. Deciphering complex dynamics of water counteraction around secondary structural elements of allosteric protein complex: Case study of SAP-SLAM system in signal transduction cascade

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2018-01-01

    The first hydration shell of a protein exhibits heterogeneous behavior owing to several attributes, majorly local polarity and structural flexibility as revealed by solvation dynamics of secondary structural elements. We attempt to recognize the change in complex water counteraction generated due to substantial alteration in flexibility during protein complex formation. The investigation is carried out with the signaling lymphocytic activation molecule (SLAM) family of receptors, expressed by an array of immune cells, and interacting with SLAM-associated protein (SAP), composed of one SH2 domain. All atom molecular dynamics simulations are employed to the aqueous solutions of free SAP and SLAM-peptide bound SAP. We observed that water dynamics around different secondary structural elements became highly affected as well as nicely correlated with the SLAM-peptide induced change in structural rigidity obtained by thermodynamic quantification. A few instances of contradictory dynamic features of water to the change in structural flexibility are explained by means of occluded polar residues by the peptide. For βD, EFloop, and BGloop, both structural flexibility and solvent accessibility of the residues confirm the obvious contribution. Most importantly, we have quantified enhanced restriction in water dynamics around the second Fyn-binding site of the SAP due to SAP-SLAM complexation, even prior to the presence of Fyn. This observation leads to a novel argument that SLAM induced more restricted water molecules could offer more water entropic contribution during the subsequent Fyn binding and provide enhanced stability to the SAP-Fyn complex in the signaling cascade. Finally, SLAM induced water counteraction around the second binding site of the SAP sheds light on the allosteric property of the SAP, which becomes an integral part of the underlying signal transduction mechanism.

  8. a Mapping Method of Slam Based on Look up Table

    Science.gov (United States)

    Wang, Z.; Li, J.; Wang, A.; Wang, J.

    2017-09-01

    In the last years several V-SLAM(Visual Simultaneous Localization and Mapping) approaches have appeared showing impressive reconstructions of the world. However these maps are built with far more than the required information. This limitation comes from the whole process of each key-frame. In this paper we present for the first time a mapping method based on the LOOK UP TABLE(LUT) for visual SLAM that can improve the mapping effectively. As this method relies on extracting features in each cell divided from image, it can get the pose of camera that is more representative of the whole key-frame. The tracking direction of key-frames is obtained by counting the number of parallax directions of feature points. LUT stored all mapping needs the number of cell corresponding to the tracking direction which can reduce the redundant information in the key-frame, and is more efficient to mapping. The result shows that a better map with less noise is build using less than one-third of the time. We believe that the capacity of LUT efficiently building maps makes it a good choice for the community to investigate in the scene reconstruction problems.

  9. Detection of image structures using the Fisher information and the Rao metric.

    Science.gov (United States)

    Maybank, Stephen J

    2004-12-01

    In many detection problems, the structures to be detected are parameterized by the points of a parameter space. If the conditional probability density function for the measurements is known, then detection can be achieved by sampling the parameter space at a finite number of points and checking each point to see if the corresponding structure is supported by the data. The number of samples and the distances between neighboring samples are calculated using the Rao metric on the parameter space. The Rao metric is obtained from the Fisher information which is, in turn, obtained from the conditional probability density function. An upper bound is obtained for the probability of a false detection. The calculations are simplified in the low noise case by making an asymptotic approximation to the Fisher information. An application to line detection is described. Expressions are obtained for the asymptotic approximation to the Fisher information, the volume of the parameter space, and the number of samples. The time complexity for line detection is estimated. An experimental comparison is made with a Hough transform-based method for detecting lines.

  10. Autonomous Positioning Techniques Based on Cramér-Rao Lower Bound Analysis

    Directory of Open Access Journals (Sweden)

    Urruela Andreu

    2006-01-01

    Full Text Available We consider the problem of autonomously locating a number of asynchronous sensor nodes in a wireless network. A strong focus lies on reducing the processing resources needed to solve the relative positioning problem, an issue of great interest in resource-constrained wireless sensor networks. In the first part of the paper, based on a well-known derivation of the Cramér-Rao lower bound for the asynchronous sensor positioning problem, we are able to construct optimal preprocessing methods for sensor clock-offset cancellation. A cancellation of unknown clock-offsets from the asynchronous positioning problem reduces processing requirements, and, under certain reasonable assumptions, allows for statistically efficient distributed positioning algorithms. Cramér-Rao lower bound theory may also be used for estimating the performance of a positioning algorithm. In the second part of this paper, we exploit this property in developing a distributed algorithm, where the global positioning problem is solved suboptimally, using a divide-and-conquer approach of low complexity. The performance of this suboptimal algorithm is evaluated through computer simulation, and compared to previously published algorithms.

  11. An Indoor Slam Method Based on Kinect and Multi-Feature Extended Information Filter

    Science.gov (United States)

    Chang, M.; Kang, Z.

    2017-09-01

    Based on the frame of ORB-SLAM in this paper the transformation parameters between adjacent Kinect image frames are computed using ORB keypoints, from which priori information matrix and information vector are calculated. The motion update of multi-feature extended information filter is then realized. According to the point cloud data formed by depth image, ICP algorithm was used to extract the point features of the point cloud data in the scene and built an observation model while calculating a-posteriori information matrix and information vector, and weakening the influences caused by the error accumulation in the positioning process. Furthermore, this paper applied ORB-SLAM frame to realize autonomous positioning in real time in interior unknown environment. In the end, Lidar was used to get data in the scene in order to estimate positioning accuracy put forward in this paper.

  12. AN INDOOR SLAM METHOD BASED ON KINECT AND MULTI-FEATURE EXTENDED INFORMATION FILTER

    Directory of Open Access Journals (Sweden)

    M. Chang

    2017-09-01

    Full Text Available Based on the frame of ORB-SLAM in this paper the transformation parameters between adjacent Kinect image frames are computed using ORB keypoints, from which priori information matrix and information vector are calculated. The motion update of multi-feature extended information filter is then realized. According to the point cloud data formed by depth image, ICP algorithm was used to extract the point features of the point cloud data in the scene and built an observation model while calculating a-posteriori information matrix and information vector, and weakening the influences caused by the error accumulation in the positioning process. Furthermore, this paper applied ORB-SLAM frame to realize autonomous positioning in real time in interior unknown environment. In the end, Lidar was used to get data in the scene in order to estimate positioning accuracy put forward in this paper.

  13. «Ad faciendum et distrenpandum colores». Giorgio da Firenze e la pittura murale a olio in Piemonte nel Trecento / «Ad faciendum et distrenpandum colores». Giorgio da Firenze and the oil mural painting in Piemonte in the 14th Century

    Directory of Open Access Journals (Sweden)

    Bernardo Oderzo Gabrieli

    2013-11-01

    Full Text Available Il periferico Piemonte ospita dalla fine del Settecento un erudito dibattito su di una serie di documenti che testimoniano l’uso dell’olio in pittura murale da parte di un pittore toscano, Giorgio degli Agli, artista di corte dei Savoia tra il 1314 ed il 1348. L’analisi dei ricettari e dei trattati di tecnica artistica medievale rivela quanto fosse nota la possibilità di una pittura a olio o totalmente a tempera su muro, dalla Schedula di Teophilus fino al Manoscritto di Strasburgo. I documenti d’archivio inglesi trecenteschi confermano le quantità e i prezzi pagati nelle attestazioni piemontesi, sia per i pigmenti che per i leganti, dove uova, colla e olio sono ad faciendum et distrenpandum colores. Recenti campagne analitiche infine hanno permesso di riconoscere la presenza di leganti di natura organica tra i diversi strati della pellicola pittorica, rivelando una tradizione tecnica tutta oltralpina (a partire dal cantiere assisiate; fra questi, Jean de Grandson, collaboratore e allievo di Giorgio, nel ciclo della Camera Domini del Castello di Chillon (1342-1343 dipinge su muro proprio come se si trattasse di una tavola.   To the late eighteenth century, the peripheral Piedmont hosts a scholarly debate on a series of documents which demonstrate the use of oil in mural painting by a Tuscan painter, Giorgio degli Agli, court artist of the Savoy between 1314 and 1348. The analysis of medieval technique treaties reveals how was known the use of oil or tempera on wall painting, from the Schedule of Theophilus to the Manuscript in Strasbourg. The English fourteenth archive documents confirm the quantities and prices paid claims in Piedmont, both for the pigments to the medium, where eggs, glue and oil are used at faciendum et distrenpandum colores. Recent analytical campaigns finally made it possible to recognize the presence of organic media between the different film layers of paintings, revealing a whole transalpine technical tradition

  14. BioPower and economic theology. Critical review of the Giorgio Agamben’s proposals

    Directory of Open Access Journals (Sweden)

    Adán Salinas Araya

    2015-02-01

    Full Text Available The article make a critical review of the Giorgio Agamben’s proposals, showing the tensions between Homo sacer I and The Kingdom and the Glory. In this review is taken in particular consideration how a possible economic theology would constitute a projection of the Foucault’s biopolitical analysis; or rather, continuity of schmittians political theology. For this, the main arguments of the Agamben’s proposal and some of the Schmitt debates with Benjamin and Peterson are reconstructed. In the first case, regarding messianism, and the second, regarding the impossibility of political theology. The economic theology of Agamben and the political theology of Schmitt would share a same status, both necessarily express the conviction that theology is able to justify a speech and a political order.

  15. Resting lymphocyte transduction with measles virus glycoprotein pseudotyped lentiviral vectors relies on CD46 and SLAM

    International Nuclear Information System (INIS)

    Zhou Qi; Schneider, Irene C.; Gallet, Manuela; Kneissl, Sabrina; Buchholz, Christian J.

    2011-01-01

    The measles virus (MV) glycoproteins hemagglutinin (H) and fusion (F) were recently shown to mediate transduction of resting lymphocytes by lentiviral vectors. MV vaccine strains use CD46 or signaling lymphocyte activation molecule (SLAM) as receptor for cell entry. A panel of H protein mutants derived from vaccine strain or wild-type MVs that lost or gained CD46 or SLAM receptor usage were investigated for their ability to mediate gene transfer into unstimulated T lymphocytes. The results demonstrate that CD46 is sufficient for efficient vector particle association with unstimulated lymphocytes. For stable gene transfer into these cells, however, both MV receptors were found to be essential.

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

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

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

  17. Entering tennis men’s Grand Slams within the top-10 and its relationship with the fact of winning the tournament. [Acceder a los Grand Slams de tenis masculino desde el top-10 y su relación con el hecho de ganar el torneo].

    Directory of Open Access Journals (Sweden)

    Jaime Prieto-Bermejo

    2016-10-01

    Full Text Available The purpose of this study was to analyse the relationship between entering tennis men’s singles Grand Slams within the top-10 ranking (i.e. title favourites and the fact of winning the tournament. In order to differentiate between these players in a more powerful way than just considering the ranking number, a cluster algorithm was used to classify the players into two groups depending on their number of ranking points (i.e. higher level top-10 players vs. lower level top-10 players. The possible winners entering the tournament outside the top-10 (if any were also considered. The sample comprised all the 92 men’s singles Grand Slams played between 1990 and 2012. As was expected, the majority of Grand Slams were won by players entering the tournament ranked in the top-10. However, the main result is contrary to the hypothesis that there would be significant differences in the number of titles won in favour of the players entering the tournament from the higher positions of the top-10 when comparing to those won by the players entering from the lower positions of the top-10. Several factors that may influence whether and to what extent a player is more or less favourite to win a Grand Slam title are presented in the discussion. Resumen El propósito del estudio fue analizar la relación entre acceder a los Grand Slam de tenis masculino desde el top-10 del ranking (favoritos al título y el hecho de ganar el torneo. Con el objeto de diferenciar a estos jugadores de una forma más potente que simplemente considerando su número de ranking, se empleó un algoritmo cluster que clasificó a los jugadores en dos grupos en función del número de puntos de ranking (jugadores de mayor nivel dentro del top-10 v. jugadores de menor nivel del top-10. Los posibles ganadores del torneo accediendo al mismo desde posiciones fuera del top-10 (si los hubiera fueron también considerados. La muestra comprendió los 92 torneos de Grand Slam masculinos jugados

  18. 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.

  19. SLAM in a van

    Science.gov (United States)

    Binns, Lewis A.; Valachis, Dimitris; Anderson, Sean; Gough, David W.; Nicholson, David; Greenway, Phil

    2002-07-01

    We have developed techniques for Simultaneous Localization and Map Building based on the augmented state Kalman filter, and demonstrated this in real time using laboratory robots. Here we report the results of experiments conducted out doors in an unstructured, unknown, representative environment, using a van equipped with a laser range finder for sensing the external environment, and GPS to provide an estimate of ground truth. The goal is simultaneously to build a map of an unknown environment and to use that map to navigate a vehicle that otherwise would have no way of knowing its location. In this paper we describe the system architecture, the nature of the experimental set up, and the results obtained. These are compared with the estimated ground truth. We show that SLAM is both feasible and useful in real environments. In particular, we explore its repeatability and accuracy, and discuss some practical implementation issues. Finally, we look at the way forward for a real implementation on ground and air vehicles operating in very demanding, harsh environments.

  20. Fisher Information and the Quantum Cramér-Rao Sensitivity Limit of Continuous Measurements

    DEFF Research Database (Denmark)

    Gammelmark, Søren; Mølmer, Klaus

    2014-01-01

    Precision measurements with quantum systems rely on our ability to trace the differences between experimental signals to variations in unknown physical parameters. In this Letter we derive the Fisher information and the ensuing Cramér-Rao sensitivity limit for parameter estimation by continuous...

  1. SLAMM: Visual monocular SLAM with continuous mapping using multiple maps.

    Directory of Open Access Journals (Sweden)

    Hayyan Afeef Daoud

    Full Text Available This paper presents the concept of Simultaneous Localization and Multi-Mapping (SLAMM. It is a system that ensures continuous mapping and information preservation despite failures in tracking due to corrupted frames or sensor's malfunction; making it suitable for real-world applications. It works with single or multiple robots. In a single robot scenario the algorithm generates a new map at the time of tracking failure, and later it merges maps at the event of loop closure. Similarly, maps generated from multiple robots are merged without prior knowledge of their relative poses; which makes this algorithm flexible. The system works in real time at frame-rate speed. The proposed approach was tested on the KITTI and TUM RGB-D public datasets and it showed superior results compared to the state-of-the-arts in calibrated visual monocular keyframe-based SLAM. The mean tracking time is around 22 milliseconds. The initialization is twice as fast as it is in ORB-SLAM, and the retrieved map can reach up to 90 percent more in terms of information preservation depending on tracking loss and loop closure events. For the benefit of the community, the source code along with a framework to be run with Bebop drone are made available at https://github.com/hdaoud/ORBSLAMM.

  2. Giorgio Vasari and Niccolò Machiavelli’s Medicean Appetite for Peace and Glory

    Directory of Open Access Journals (Sweden)

    Liana Cheney

    2016-12-01

    Full Text Available This study examines the literary and visual connections between war and peace as a cultural diplomacy made by both Niccolò Machiavelli (1469-1527 and Giorgio Vasari (1511-1574. The approach here is iconographical, focusing on three points. First, Machiavelli’s notions of condottiere, virtù, and war and peace in The Art of War (1521 are discussed in relation to Renaissance imagery, particularly in that produced as a result of Medicean patronage. Second, Vasari’s battle cycle in the Salone dei Cinquecento of the Palazzo Vecchio (1555-60 in Florence is examined within the context of peace as revealed in Renaissance art and emblems. Finally, Vasari’s assimilation of Machiavelli’s notions of the art of war are interpreted in relation to the painting cycle, which visually embodies the paradox of war and peace discussed in Machiavelli’s writing.

  3. Line Segmentation of 2d Laser Scanner Point Clouds for Indoor Slam Based on a Range of Residuals

    Science.gov (United States)

    Peter, M.; Jafri, S. R. U. N.; Vosselman, G.

    2017-09-01

    Indoor mobile laser scanning (IMLS) based on the Simultaneous Localization and Mapping (SLAM) principle proves to be the preferred method to acquire data of indoor environments at a large scale. In previous work, we proposed a backpack IMLS system containing three 2D laser scanners and an according SLAM approach. The feature-based SLAM approach solves all six degrees of freedom simultaneously and builds on the association of lines to planes. Because of the iterative character of the SLAM process, the quality and reliability of the segmentation of linear segments in the scanlines plays a crucial role in the quality of the derived poses and consequently the point clouds. The orientations of the lines resulting from the segmentation can be influenced negatively by narrow objects which are nearly coplanar with walls (like e.g. doors) which will cause the line to be tilted if those objects are not detected as separate segments. State-of-the-art methods from the robotics domain like Iterative End Point Fit and Line Tracking were found to not handle such situations well. Thus, we describe a novel segmentation method based on the comparison of a range of residuals to a range of thresholds. For the definition of the thresholds we employ the fact that the expected value for the average of residuals of n points with respect to the line is σ / √n. Our method, as shown by the experiments and the comparison to other methods, is able to deliver more accurate results than the two approaches it was tested against.

  4. LINE SEGMENTATION OF 2D LASER SCANNER POINT CLOUDS FOR INDOOR SLAM BASED ON A RANGE OF RESIDUALS

    Directory of Open Access Journals (Sweden)

    M. Peter

    2017-09-01

    Full Text Available Indoor mobile laser scanning (IMLS based on the Simultaneous Localization and Mapping (SLAM principle proves to be the preferred method to acquire data of indoor environments at a large scale. In previous work, we proposed a backpack IMLS system containing three 2D laser scanners and an according SLAM approach. The feature-based SLAM approach solves all six degrees of freedom simultaneously and builds on the association of lines to planes. Because of the iterative character of the SLAM process, the quality and reliability of the segmentation of linear segments in the scanlines plays a crucial role in the quality of the derived poses and consequently the point clouds. The orientations of the lines resulting from the segmentation can be influenced negatively by narrow objects which are nearly coplanar with walls (like e.g. doors which will cause the line to be tilted if those objects are not detected as separate segments. State-of-the-art methods from the robotics domain like Iterative End Point Fit and Line Tracking were found to not handle such situations well. Thus, we describe a novel segmentation method based on the comparison of a range of residuals to a range of thresholds. For the definition of the thresholds we employ the fact that the expected value for the average of residuals of n points with respect to the line is σ / √n. Our method, as shown by the experiments and the comparison to other methods, is able to deliver more accurate results than the two approaches it was tested against.

  5. A negative search of acute canine distemper virus infection in DogSLAM transgenic C57BL/6 mice

    Directory of Open Access Journals (Sweden)

    Somporn Techangamsuwan

    2010-12-01

    Full Text Available Canine distemper is a highly contagious and immunosuppressive viral disease caused by canine distemper virus(CDV, an enveloped RNA virus of the family Paramyxoviridae. The susceptible host spectrum of CDV is broad andincludes all families of the order Carnivora. To accomplish the infection, CDV requires an expression of signaling lymphocyteactivation molecule (SLAM functioning as a cellular receptor which generally presents in a variety of different lymphoid cellsubpopulations, including immature thymocytes, primary B cells, activated T cells, memory T cells, macrophages and maturedendritic cells. The distribution of SLAM-presenting cells is in accordance with the lymphotropism and immunosuppressionfollowing morbillivirus infection. In the present study, the C57BL/6 mice engrafted with dog-specific SLAM sequence(DogSLAM were used. The weanling (3-week-old transgenic offspring C57BL/6 mice were infected with CDV Snyder Hill(CDV-SH strain via the intranasal (n=6, intracerebral (n=6 and intraperitoneal (n=5 routes. Clinical signs, hematology,histopathology, immunohistochemistry, virus isolation and RT-PCR were observed for two weeks post infection. Resultsshowed that CDV-SH-inoculated transgenic mice displayed mild-to-moderate congestion of various organs (brain, lung,spleen, kidney, lymph node, and adrenal gland. By means of immunohistochemistry, virus isolation and RT-PCR, CDV couldnot be detected. The evidence of CDV infection in this study could not be demonstrated in acute phase. Even though thetransgenic mouse is not a suitable animal model for CDV, or a longer incubation period is prerequisite, it needs to be clarifiedin a future study.

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

    Science.gov (United States)

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

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

  7. Análisis de Detectores y Descriptores de Características Visuales en SLAM en Entornos Interiores y Exteriores

    Directory of Open Access Journals (Sweden)

    M. Ballesta

    2010-04-01

    Full Text Available Resumen: El objetivo de este artículo es encontrar un extractor de características visuales que pueda ser utilizado en un proceso de SLAM (Simultaneous Localization and Mapping. Este extractor de características consiste en la combinación de un detector que extrae puntos significativos del entorno, y un descriptor local que caracteriza dichos puntos. Este artículo presenta la comparación de un conjunto de detectores de puntos de interés y de descriptores locales que se utilizan como marcas visuales en un proceso de SLAM. El análisis comparativo se divide en dos fases diferenciadas: detección y descripción. Se evalúa la repetibilidad de los detectores, así como la invariabilidad de los descriptores ante cambios de vista, escala e iluminación. Los experimentos se han realizado a partir de un conjunto de secuencias de imágenes tanto interiores (entorno de oficinas como exteriores, con diversas variaciones en la imagen (iluminación y posición, representando así de una forma bastante general los entornos típicos de un robot. Se considera que los resultados de este trabajo pueden ser útiles a la hora de seleccionar una marca adecuada en SLAM visual, tanto para entornos interiores como exteriores. Palabras clave: SLAM visual, marcas visuales, detectores de puntos de interés, descriptores locales

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

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

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

  9. Existential Choice as Repressed Theism: Jean-Paul Sartre and Giorgio Agamben in Conversation

    Directory of Open Access Journals (Sweden)

    Marcos Antonio Norris

    2018-04-01

    Full Text Available This article brings Sartre’s notion of existential authenticity, or sovereign decisionism, into conversation with the work of contemporary political theorist Giorgio Agamben, who argues that sovereign decisionism is the repressed theological foundation of authoritarian governments. As such, the article seeks to accomplish two goals. The first is to show that Sartre’s depiction of sovereign decisionism directly parallels how modern democratic governments conduct themselves during a state of emergency. The second is to show that Sartre’s notion of existential authenticity models, what Agamben calls, secularized theism. Through an ontotheological critique of Sartre’s professed atheism, the article concludes that an existential belief in sovereign decision represses, rather than profanes, the divine origins of authoritarian law. I frame the argument with a reading of Sartre’s 1943 play The Flies, which models the repressed theological underpinnings of Sartre’s theory.

  10. Log-Optimal Portfolio Selection Using the Blackwell Approachability Theorem

    OpenAIRE

    V'yugin, Vladimir

    2014-01-01

    We present a method for constructing the log-optimal portfolio using the well-calibrated forecasts of market values. Dawid's notion of calibration and the Blackwell approachability theorem are used for computing well-calibrated forecasts. We select a portfolio using this "artificial" probability distribution of market values. Our portfolio performs asymptotically at least as well as any stationary portfolio that redistributes the investment at each round using a continuous function of side in...

  11. Hydroelastic slamming of flexible wedges: Modeling and experiments from water entry to exit

    Science.gov (United States)

    Shams, Adel; Zhao, Sam; Porfiri, Maurizio

    2017-03-01

    Fluid-structure interactions during hull slamming are of great interest for the design of aircraft and marine vessels. The main objective of this paper is to establish a semi-analytical model to investigate the entire hydroelastic slamming of a wedge, from the entry to the exit phase. The structural dynamics is described through Euler-Bernoulli beam theory and the hydrodynamic loading is estimated using potential flow theory. A Galerkin method is used to obtain a reduced order modal model in closed-form, and a Newmark-type integration scheme is utilized to find an approximate solution. To benchmark the proposed semi-analytical solution, we experimentally investigate fluid-structure interactions through particle image velocimetry (PIV). PIV is used to estimate the velocity field, and the pressure is reconstructed by solving the incompressible Navier-Stokes equations from PIV data. Experimental results confirm that the flow physics and free-surface elevation during water exit are different from water entry. While water entry is characterized by positive values of the pressure field, with respect to the atmospheric pressure, the pressure field during water exit may be less than atmospheric. Experimental observations indicate that the location where the maximum pressure in the fluid is attained moves from the pile-up region to the keel, as the wedge reverses its motion from the entry to the exit stage. Comparing experimental results with semi-analytical findings, we observe that the model is successful in predicting the free-surface elevation and the overall distribution of the hydrodynamic loading on the wedge. These integrated experimental and theoretical analyses of water exit problems are expected to aid in the design of lightweight structures, which experience repeated slamming events during their operation.

  12. Grotoco@SLAM: Second Language Acquisition Modeling with Simple Features, Learners and Task-wise Models

    DEFF Research Database (Denmark)

    Klerke, Sigrid; Martínez Alonso, Héctor; Plank, Barbara

    2018-01-01

    We present our submission to the 2018 Duolingo Shared Task on Second Language Acquisition Modeling (SLAM). We focus on evaluating a range of features for the task, including user-derived measures, while examining how far we can get with a simple linear classifier. Our analysis reveals that errors...

  13. Improving visual SLAM by filtering outliers with the aid of optical flow

    OpenAIRE

    Özaslan, Tolga

    2011-01-01

    Ankara : The Department of Computer Engineering and the Graduate School of Engineering and Science of Bilkent University, 2011. Thesis (Master's) -- Bilkent University, 2011. Includes bibliographical references leaves 77-81. Simultaneous Localization and Mapping (SLAM) for mobile robots has been one of the challenging problems for the robotics community. Extensive study of this problem in recent years has somewhat saturated the theoretical and practical background on this to...

  14. A cisão biopolítica originária em Giorgio Agamben

    Directory of Open Access Journals (Sweden)

    Estenio Ericson Botelho de Azevedo

    2016-12-01

    Full Text Available Este artigo pretende reconstituir a concepção de Biopolítica em Giorgio Agamben. Em diálogo com Hannah Arendt, o pensador italiano retoma a distinção entre zoé e bios, todavia considerando-a a cisão biopolítica originária. Essa cisão funda uma relação de inclusão excludente (exceptio presente em toda relação do Poder Soberano com a vida nua, de modo que esta se encontra excluída da vida política e ao mesmo tempo é nela incluída de forma subalterna. Essa cisão é posta pela própria Soberania política; por isso, para Agamben, o Poder Soberano é essencialmente, desde os gregos, um Biopoder. Com base nessa tese, delineiam-se suas aproximações e seus distanciamentos da perspectiva da Biopolítica inaugurada por Michel Foucault.

  15. A QUESTÃO DA PARÓDIA: A FILOSOFIA AO LADO DE GIORGIO AGAMBEN

    Directory of Open Access Journals (Sweden)

    Vinícius Nicastro Honesko

    2015-07-01

    Full Text Available A partir da leitura de diversos textos de Giorgio Agamben,o presente ensaio pretende expor como o conceito de paródia podeser fundamental para a compreensão da filosofia do autor italiano.Além disso, propõe a aproximação entre os conceitos de paradigma,parábola e paródia, elaborando uma constelação teórica a partir daqual pensar o problema da constituição essencial do homem paraalém da questão metafísica – aproximando-se, para tanto, de certasleituras que Deleuze faz da patafísica de Alfred Jarry. Por fim,pretende estabelecer uma vinculação do conceito benjaminiano deorigem com os problemas filosóficos fundamentais de Agamben,sobretudo no que diz respeito às questões atinentes ao pensamentoda História (e, por isso, à impossibilidade de atribuição de umaessência, um fim, ao homem.

  16. Numerical simulations of highly buoyant flows in the Castel Giorgio - Torre Alfina deep geothermal reservoir

    Science.gov (United States)

    Volpi, Giorgio; Crosta, Giovanni B.; Colucci, Francesca; Fischer, Thomas; Magri, Fabien

    2017-04-01

    Geothermal heat is a viable source of energy and its environmental impact in terms of CO2 emissions is significantly lower than conventional fossil fuels. However, nowadays its utilization is inconsistent with the enormous amount of energy available underneath the surface of the earth. This is mainly due to the uncertainties associated with it, as for example the lack of appropriate computational tools, necessary to perform effective analyses. The aim of the present study is to build an accurate 3D numerical model, to simulate the exploitation process of the deep geothermal reservoir of Castel Giorgio - Torre Alfina (central Italy), and to compare results and performances of parallel simulations performed with TOUGH2 (Pruess et al. 1999), FEFLOW (Diersch 2014) and the open source software OpenGeoSys (Kolditz et al. 2012). Detailed geological, structural and hydrogeological data, available for the selected area since early 70s, show that Castel Giorgio - Torre Alfina is a potential geothermal reservoir with high thermal characteristics (120 ° C - 150 ° C) and fluids such as pressurized water and gas, mainly CO2, hosted in a carbonate formation. Our two steps simulations firstly recreate the undisturbed natural state of the considered system and then perform the predictive analysis of the industrial exploitation process. The three adopted software showed a strong numerical simulations accuracy, which has been verified by comparing the simulated and measured temperature and pressure values of the geothermal wells in the area. The results of our simulations have demonstrated the sustainability of the investigated geothermal field for the development of a 5 MW pilot plant with total fluids reinjection in the same original formation. From the thermal point of view, a very efficient buoyant circulation inside the geothermal system has been observed, thus allowing the reservoir to support the hypothesis of a 50 years production time with a flow rate of 1050 t

  17. Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

    OpenAIRE

    Zhang, Teng; Wu, Kanzhi; Song, Jingwei; Huang, Shoudong; Dissanayake, Gamini

    2017-01-01

    In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs do not require the restrictive assumption that the Jacobians of the motion and observation models need to be evaluated at the ground truth. It is also shown that the output of RI-EKF is invariant under any stochastic rigid body transformation...

  18. On the Cramér–Rao bound applicability and the role of Fisher information in computational neuroscience

    Czech Academy of Sciences Publication Activity Database

    Pilarski, Stevan; Pokora, O.

    2015-01-01

    Roč. 136, Oct 2015 (2015), s. 11-22 ISSN 0303-2647 Institutional support: RVO:67985823 Keywords : Fisher information * neuronal coding * Cramér–Rao admissibility Subject RIV: BA - General Mathematics Impact factor: 1.495, year: 2015

  19. The Bayesian Cramér-Rao lower bound in Astrometry

    Science.gov (United States)

    Mendez, R. A.; Echeverria, A.; Silva, J.; Orchard, M.

    2018-01-01

    A determination of the highest precision that can be achieved in the measurement of the location of a stellar-like object has been a topic of permanent interest by the astrometric community. The so-called (parametric, or non-Bayesian) Cramér-Rao (CR hereafter) bound provides a lower bound for the variance with which one could estimate the position of a point source. This has been studied recently by Mendez et al. (2013, 2014, 2015). In this work we present a different approach to the same problem (Echeverria et al. 2016), using a Bayesian CR setting which has a number of advantages over the parametric scenario.

  20. Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse

    Directory of Open Access Journals (Sweden)

    El Houssein Chouaib Harik

    2018-05-01

    Full Text Available The key factor for autonomous navigation is efficient perception of the surroundings, while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied environment typical for a greenhouse. The Hector Simultaneous Localization and Mapping (SLAM approach is used in order to estimate the robots’ pose using a LIght Detection And Ranging (LIDAR sensor. Waypoint following and obstacle avoidance are ensured by means of a new artificial potential field (APF controller presented in this paper. The combination of the Hector SLAM and the APF controller allows the mobile robot to perform periodic tasks that require autonomous navigation between predefined waypoints. It also provides the mobile robot with a robustness to changing conditions that may occur inside the greenhouse, caused by the dynamic of plant development through the season. In this study, we show that the robot is safe to operate autonomously with a human presence, and that in contrast to classical odometry methods, no calibration is needed for repositioning the robot over repetitive runs. We include here both hardware and software descriptions, as well as simulation and experimental results.

  1. 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.

  2. Vida nua e forma-de-vida em Giorgio Agamben e Karl Marx: Violência e emancipação entre capitalismo e estado de exceção

    Directory of Open Access Journals (Sweden)

    Pedro Dalla Bernardina Brocco

    2016-01-01

    Full Text Available O presente trabalho se concentra na investigação sobre as aproximações teóricas entre os trabalhos de Giorgio Agamben, em seu projeto Homo Sacer e os de Karl Marx, em uma tentativa de construir novas ferramentas analíticas para a problemática da violência e da emancipação social na contemporaneidade. A aproximação entre as duas obras se dará pela via dos conceitos de vida nua e de forma-de-vida, os quais, segundo a hipótese deste trabalho, seriam comuns a ambos. O objetivo será o de elaborar a articulação entre o conceito de forma-de-vida em Agamben e o de sociedade sem classes em Marx, com vistas a possíveis leituras da emancipação e da justiça social.  The article Naked Life and Form-of-Life in Giorgio Agamben and Karl Marx: Violence and Emancipation Between Capitalism and State of Exception investigates the theoretical relationship between Agamben and Marx, focusing on Agamben’s Homo Sacer project. It is an attempt to build new analytical tools to the question of violence and social emancipation in contemporary societies. The approach between the two theories will be done by analyzing the concepts of bare life and form-of-life, which, per the hypothesis of this work, would be common to both. The objective would be the articulation of the concept of form-of-life in Agamben and the classless society in Marx, towards new possible approaches to emancipation and social justice. Keywords: bare life, biopolitics, form-of-life, Giorgio Agamben, Karl Marx

  3. The Divine Comedy revisited: the reflective paths of Giorgio Agamben in dantesque verses

    Directory of Open Access Journals (Sweden)

    Monique Bione Silva

    2017-12-01

    Full Text Available This essay intends to study some points of the Divine Comedy and its author, through the perspective of the Italian philosopher and literary critic Giorgio Agamben, and also, how he creates rhizomes among his texts using as object of study the Florentine poet. Being one of the most studied poems in different academic areas, the Dante an chants pass through time and remain updated and active not only in re-readings of poetic productions, but also in the eyes of scholars like Agamben. The literary critic presents a compilation of several texts, in a study differentiated from Dante's poetry with books like Estancias e Categorie Italiane. Agamben approaches the question of the meaning of poetry and how it can be decisive for poetic construction, as well as the conceptualization of enjambement; re-think about the title of Comedy; brings the understanding of the contemporaneity of the poets, especially Dante, and goes deeper into the theological foundations of politics to think about the question of acclamation as the center of political devices.

  4. 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.

  5. 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.

  6. Ontologías de lo común en el pensamiento de Giorgio Agamben y Roberto Esposito: entre ética y política

    Directory of Open Access Journals (Sweden)

    Saidel, Matías

    2013-12-01

    Full Text Available This paper elaborates on Giorgio Agamben’s and Roberto Esposito’s thought on the Community. Both authors interrogate the Common from an impolitical perspective that tries to deconstruct the presuppositions of traditional metaphysics and political philosophy in order to create an affirmative conceptuality in ontological terms. In these authors predominates the recourse to the figure of the community, later considered in the horizon of biopolitics, since life becomes the center of both the power dispositives and today’s forms of political subjectification. The paper asks if these ontological approaches succeed in thinking the common politically or only in ethical terms.El presente trabajo reflexiona sobre el pensamiento de la comunidad en Giorgio Agamben y Roberto Esposito. Ambos interrogan lo común desde una perspectiva impolítica que intenta deconstruir los presupuestos de la metafísica y de la filosofía política tradicionales para poder elaborar una conceptualidad afirmativa en clave ontológica. En estos autores predomina el recurso a la figura de la comunidad, situada luego en el horizonte de la biopolítica, ya que la vida deviene el centro hacia el cual apuntarían los dispositivos de poder y las formas de subjetivación política actuales. El trabajo plantea como interrogante si estos abordajes ontológicos logran dar cuenta plenamente de lo común en términos políticos o sólo éticos.

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

    Science.gov (United States)

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

    2014-12-01

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

  8. a Preliminary Work on Layout Slam for Reconstruction of Indoor Corridor Environments

    Science.gov (United States)

    Baligh Jahromi, A.; Sohn, G.; Shahbazi, M.; Kang, J.

    2017-09-01

    We propose a real time indoor corridor layout estimation method based on visual Simultaneous Localization and Mapping (SLAM). The proposed method adopts the Manhattan World Assumption at indoor spaces and uses the detected single image straight line segments and their corresponding orthogonal vanishing points to improve the feature matching scheme in the adopted visual SLAM system. Using the proposed real time indoor corridor layout estimation method, the system is able to build an online sparse map of structural corner point features. The challenges presented by abrupt camera rotation in the 3D space are successfully handled through matching vanishing directions of consecutive video frames on the Gaussian sphere. Using the single image based indoor layout features for initializing the system, permitted the proposed method to perform real time layout estimation and camera localization in indoor corridor areas. For layout structural corner points matching, we adopted features which are invariant under scale, translation, and rotation. We proposed a new feature matching cost function which considers both local and global context information. The cost function consists of a unary term, which measures pixel to pixel orientation differences of the matched corners, and a binary term, which measures the amount of angle differences between directly connected layout corner features. We have performed the experiments on real scenes at York University campus buildings and the available RAWSEEDS dataset. The incoming results depict that the proposed method robustly performs along with producing very limited position and orientation errors.

  9. An Approach of Dynamic Object Removing for Indoor Mapping Based on UGV SLAM

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-07-01

    Full Text Available The study of indoor mapping for Location Based Service (LBS becomes more and more popular in recent years. LiDAR SLAM based mapping method seems to be a promising indoor mapping solution. However, there are some dynamic objects such as pedestrians, indoor vehicles, etc. existing in the raw LiDAR range data. They have to be removal for mapping purpose. In this paper, a new approach of dynamic object removing called Likelihood Grid Voting (LGV is presented. It is a model free method and takes full advantage of the high scanning rate of LiDAR, which is moving at a relative low speed in indoor environment. In this method, a counting grid is allocated for recording the occupation of map position by laser scans. The lower counter value of this position can be recognized as dynamic objects and the point cloud will be removed from map. This work is a part of algorithms in our self- developed Unmanned Ground Vehicles (UGV simultaneous localization and Mapping (SLAM system- NAVIS. Field tests are carried in an indoor parking place with NAVIS to evaluate the effectiveness of the proposed method. The result shows that all the small size objects like pedestrians can be detected and removed quickly; large size of objects like cars can be detected and removed partly.

  10. EVALUATING CONTINUOUS-TIME SLAM USING A PREDEFINED TRAJECTORY PROVIDED BY A ROBOTIC ARM

    Directory of Open Access Journals (Sweden)

    B. Koch

    2017-09-01

    Full Text Available Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

  11. Evaluating Continuous-Time Slam Using a Predefined Trajectory Provided by a Robotic Arm

    Science.gov (United States)

    Koch, B.; Leblebici, R.; Martell, A.; Jörissen, S.; Schilling, K.; Nüchter, A.

    2017-09-01

    Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

  12. LA LINGUA FILMATA: "L'UOMO CHE VERRÀ" DI GIORGIO DIRITTI

    Directory of Open Access Journals (Sweden)

    Marta Idini

    2016-02-01

    Full Text Available La lingua filmata appare oggi uno dei campi linguistici in cui il dialetto torna ad essere scelta registica e veicolo di nuove istanze comunicative, in stretta relazione con un nuovo modo di intendere e praticare il cinema. Il presente articolo introduce il lettore alla consuetudine cinematografica del dialetto, analizzandone la presenza e le funzioni che gli sono state attribuite nei decenni trascorsi e presenti, e guarda a L’Uomo che verrà quale espressione attuale di una nuova risorgenza dialettale all’interno delle pellicole nostrane. Attraverso un’analisi attenta dei fenomeni vernacolari in esso presenti, l’indagine si sofferma sulle motivazioni e l’efficacia comunicativa cui perviene l’uso del dialetto e si interroga su quale grado di realismo o mimesi linguistica Diritti abbia raggiunto. Language of film: "L’uomo che verrà" by Giorgio DirittiLanguage in films is one of the fields where dialect becomes a choice and a vehicle for new communicative demands, closely related the new way of understanding and practicing the cinema. This article introduces the reader to the use of dialect in films, analyzing the presence and functions that have been attributed to it in the past and present decades, and looks at L’Uomo che verrà as an expression of the new resurgence of dialect in Italian films. Through careful analysis of the vernacular, the paper focuses on the motivations and the communicative effectiveness of the use of dialect and questions the degree of realism or linguistic mimesis that Diritti was able to reach.

  13. A Cramer Rao analysis on receiver placement in a FM band commensal radar system based on doppler only measurements

    CSIR Research Space (South Africa)

    Maasdorp, FDV

    2014-10-01

    Full Text Available of receiver positions. Further, we show that time history information of a target can cumulatively be used together with FIM that will improve the Cramer-Rao bound. Lastly, we use the theory developed to evaluate receiver placement combinations by means of a...

  14. Design and construction of demineralized water production and maintenance system for RA-O nuclear reactor

    International Nuclear Information System (INIS)

    Rumis, D.; Martin, H.R.

    1990-01-01

    The normal operation of zero power RA-O Nuclear Reactor requires a production and maintenance of demineralized water system. This system was designed and built-up during the works for actualization, upgrading and new start up at Cordoba National University of this facility. This paper comments the relevant aspects about the didactical purpose of that system and the details considered for training and practices with it. Similarly, considerations about solids wastes and effluents treatment are discussed. (Author)

  15. Evaluation of the flathead catfish population and fishery on Lake Carl Blackwell, Oklahoma, with emphasis on the effects of noodling

    Science.gov (United States)

    Winkelman, Dana L.; Michaletz, Paul H.; Travnichek, Vincent H.

    2011-01-01

    I conducted a 3-year study at Lake Carl Blackwell, Oklahoma to estimate effects of various fishing gears on the flathead catfish Pylodictis olivaris population. Managers were particularly interested in the effect of handfishing or noodling on this population. I used a phone survey to assess angler effort and electrofishing and gill nets to calculate standard population metrics to assess composition of the current population. Survey data indicated that fishing effort and harvest were highest for trotlines and juglines and lowest for noodling. Size distribution of fish harvested by noodlers was not different from sizes that were available in the fishery and was similar to those fish harvested with other gears. Flathead catfish Sampled in Lake Carl Blackwell ranged in size from 38 to 1,220 mm total length, and 77% of the population was less than 508 mm (minimum legal size). Estimated total annual mortality was about 11%. Proportional size distribution (PSD) of flathead catfish for Lake Carl Blackwell indicates that about 70% of legal-sized flathead catfish were over the preferred size of 710 mm. Overall, the Lake Carl Blackwell flathead catfish population appeared healthy. There were a wide range of sizes and ages in the population, and PSD indicated a well-balanced population with many preferred and memorable-sized fish. Due to its rarity, noodling is probably not adversely influencing the population. Additionally, noodling at Lake Carl Blackwell does not appear to be as size-selective as previously thought. 

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

    Science.gov (United States)

    Cai, Chenxu; Liu, Guangao; Wang, Yuande; Du, Juan; Lin, Xin; Yang, Meixiang

    2017-01-01

    Signaling lymphocytic activation molecule (SLAM)–associated protein (SAP) mutations in X-linked lymphoproliferative disease (XLP) lead to defective NKT cell development and impaired humoral immunity. Because of the redundancy of SLAM family receptors (SFRs) and the complexity of SAP actions, how SFRs and SAP mediate these processes remains elusive. Here, we examined NKT cell development and humoral immunity in mice completely deficient in SFR. We found that SFR deficiency severely impaired NKT cell development. In contrast to SAP deficiency, SFR deficiency caused no apparent defect in follicular helper T (TFH) cell differentiation. Intriguingly, the deletion of SFRs completely rescued the severe defect in TFH cell generation caused by SAP deficiency, whereas SFR deletion had a minimal effect on the defective NKT cell development in SAP-deficient mice. These findings suggest that SAP-dependent activating SFR signaling is essential for NKT cell selection; however, SFR signaling is inhibitory in SAP-deficient TFH cells. Thus, our current study revises our understanding of the mechanisms underlying T cell defects in patients with XLP. PMID:28049627

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

    Science.gov (United States)

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

    2017-02-01

    Signaling lymphocytic activation molecule (SLAM)-associated protein (SAP) mutations in X-linked lymphoproliferative disease (XLP) lead to defective NKT cell development and impaired humoral immunity. Because of the redundancy of SLAM family receptors (SFRs) and the complexity of SAP actions, how SFRs and SAP mediate these processes remains elusive. Here, we examined NKT cell development and humoral immunity in mice completely deficient in SFR. We found that SFR deficiency severely impaired NKT cell development. In contrast to SAP deficiency, SFR deficiency caused no apparent defect in follicular helper T (T FH ) cell differentiation. Intriguingly, the deletion of SFRs completely rescued the severe defect in T FH cell generation caused by SAP deficiency, whereas SFR deletion had a minimal effect on the defective NKT cell development in SAP-deficient mice. These findings suggest that SAP-dependent activating SFR signaling is essential for NKT cell selection; however, SFR signaling is inhibitory in SAP-deficient T FH cells. Thus, our current study revises our understanding of the mechanisms underlying T cell defects in patients with XLP. © 2017 Chen et al.

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

    Directory of Open Access Journals (Sweden)

    Denis Mike

    2009-08-01

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

  19. A CD with the wishes for the 21st century from thousands of readers of the science magazine "Newton", was buried at the Atlas construction site on 16.03.2000 (handling the CD: Giorgio Riviecco, Editor of "Newton")

    CERN Multimedia

    Laurent Guiraud

    2000-01-01

    A CD with the wishes for the 21st century from thousands of readers of the science magazine "Newton", was buried at the Atlas construction site on 16.03.2000 (handling the CD: Giorgio Riviecco, Editor of "Newton")

  20. SLAM- and nectin-4-independent noncytolytic spread of canine distemper virus in astrocytes.

    Science.gov (United States)

    Alves, Lisa; Khosravi, Mojtaba; Avila, Mislay; Ader-Ebert, Nadine; Bringolf, Fanny; Zurbriggen, Andreas; Vandevelde, Marc; Plattet, Philippe

    2015-05-01

    Measles and canine distemper viruses (MeV and CDV, respectively) first replicate in lymphatic and epithelial tissues by using SLAM and nectin-4 as entry receptors, respectively. The viruses may also invade the brain to establish persistent infections, triggering fatal complications, such as subacute sclerosis pan-encephalitis (SSPE) in MeV infection or chronic, multiple sclerosis-like, multifocal demyelinating lesions in the case of CDV infection. In both diseases, persistence is mediated by viral nucleocapsids that do not require packaging into particles for infectivity but are directly transmitted from cell to cell (neurons in SSPE or astrocytes in distemper encephalitis), presumably by relying on restricted microfusion events. Indeed, although morphological evidence of fusion remained undetectable, viral fusion machineries and, thus, a putative cellular receptor, were shown to contribute to persistent infections. Here, we first showed that nectin-4-dependent cell-cell fusion in Vero cells, triggered by a demyelinating CDV strain, remained extremely limited, thereby supporting a potential role of nectin-4 in mediating persistent infections in astrocytes. However, nectin-4 could not be detected in either primary cultured astrocytes or the white matter of tissue sections. In addition, a bioengineered "nectin-4-blind" recombinant CDV retained full cell-to-cell transmission efficacy in primary astrocytes. Combined with our previous report demonstrating the absence of SLAM expression in astrocytes, these findings are suggestive for the existence of a hitherto unrecognized third CDV receptor expressed by glial cells that contributes to the induction of noncytolytic cell-to-cell viral transmission in astrocytes. While persistent measles virus (MeV) infection induces SSPE in humans, persistent canine distemper virus (CDV) infection causes chronic progressive or relapsing demyelination in carnivores. Common to both central nervous system (CNS) infections is that

  1. 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)

  2. 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.

  3. 'Redemption between politics and ontology: Agamben on the coming politics' [Review] Abbott, M (2014) The figure of this world: Agamben and the question of political ontology; Whyte, J (2014) Catastrophe and redemption: the political thought of Giorgio Agamben

    OpenAIRE

    Frost, Tom

    2016-01-01

    Review of: \\ud \\ud Abbott, M. (2014) The figure of this world: Agamben and the question of political ontology. Edinburgh: Edinburgh University Press, 9780748684090\\ud \\ud Whyte, J. (2014) Catastrophe and redemption: the political thought of Giorgio Agamben. Albany, NY: SUNY Press, 9781438448527

  4. 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.

  5. Line-based monocular graph SLAM algorithm%基于图优化的单目线特征SLAM算法

    Institute of Scientific and Technical Information of China (English)

    董蕊芳; 柳长安; 杨国田; 程瑞营

    2017-01-01

    A new line based 6-DOF monocular algorithm for using graph simultaneous localization and mapping(SLAM) algoritm was proposed.First,the straight line were applied as a feature instead of points,due to a map consisting of a sparse set of 3D points is unable to describe the structure of the surrounding world.Secondly,most of previous line-based SLAM algorithms were focused on filtering-based solutions suffering from the inconsistent when applied to the inherently non-linear SLAM problem,in contrast,the graph-based solution was used to improve the accuracy of the localization and the consistency of mapping.Thirdly,a special line representation was exploited for combining the Plücker coordinates with the Cayley representation.The Plücker coordinates were used for the 3D line projection function,and the Cayley representation helps to update the line parameters during the non-linear optimization process.Finally,the simulation experiment shows that the proposed algorithm outperforms odometry and EKF-based SLAM in terms of the pose estimation,while the sum of the squared errors (SSE) and root-mean-square error (RMSE) of proposed method are 2.5％ and 10.5％ of odometry,and 22.4％ and 33％ of EKF-based SLAM.The reprojection error is only 45.5 pixels.The real image experiment shows that the proposed algorithm obtains only 958 cm2 and 3.941 3 cm the SSE and RMSE of pose estimation.Therefore,it can be concluded that the proposed algorithm is effective and accuracy.%提出了基于图优化的单目线特征同时定位和地图构建(SLAM)的方法.首先,针对主流视觉SLAM算法因采用点作为特征而导致构建的点云地图稀疏、难以准确表达环境结构信息等缺点,采用直线作为特征来构建地图.然后,根据现有线特征的SLAM算法都是基于滤波器的SLAM框架、存在线性化及更新效率的问题,采用基于图优化的SLAM解决方案以提高定位精度及地图构建的一致性和准确性.将线特征

  6. Memories of Miles – Miles Blackwell and his contribution to South African librarianship

    Directory of Open Access Journals (Sweden)

    A.S.C. Hooper

    2010-01-01

    Full Text Available The contribution of BH Blackwell (BHB, and specifically of Miles Blackwell, to the development of libraries and librarians in South Africa is explored based on available literature sources and personal reminiscences. This article tells how Miles was true to his personal values and how he demonstrated his integrity in the exercise of his office. Miles integrated in his mind the history of the “firm” of BHB and the times that it lived though with his sense of his responsibility to his customers. He was prepared to stand up against enormous political pressure from his peers in Europe and North America, and perhaps his fellow board members in BHB, to make sure that the channels of published information flow remained open to his customers in South Africa. The value of books and information was what he believed in. His service to his customers in South Africa reflected the self-sacrificing service ethic that he understood to be the essence of the family firm of which he had the great privilege of leading. He contributed to the development of the new, post-apartheid South Africa by ensuring that the people who needed the enlightened word to become part of the global society, benefited by what he had done.

  7. Ideal geometries in the military architecture of F. di Giorgio Martini. The defence system fortress-tower of Cagli

    Directory of Open Access Journals (Sweden)

    Paolo Clini

    2015-09-01

    Full Text Available  The subject of the military architecture was widely studied and analyzed by the architect Francesco di Giorgio Martini (1439-1501, who created important defensive works in the duchy of Montefeltro. A defensive line connects a series of medieval villages of the Marches: b Between the Martini’s fortifications, Cagli has still a fortified tower perfectly preserved and some traces of the fortress. The analysis conducted on them involves the information inferable by the essay, by historical surveys and the recent laser scanner survey. The aim of the research was to identify the generating geometry of the architecture: taking the precepts of Vitruvius, in the Renaissance period geometry was synonymous with proportion, order and symmetry. Two are subjects: the first one is the in-depth knowledge of the tower through the digital data obtained from the point cloud, the other one is the reconstruction of a global image of the complex tower-fortress.

  8. Application of the Engel, Kollat and Blackwell Model to Consumers of Automobile Insurance

    OpenAIRE

    Joseph C. Bonnice

    1985-01-01

    A significant stage of the analysis of consumer behavior was reached in the 1960s with the development of three models of consumer behavior in the following studies: Nicosia], Howard and Sheth, Engel Koolat, and Blackwell (EKB), all of which attempted to present a conceptual framework for the analysis of consumer behavior . This article focuses on the examination of these conceptual models of consumer behavior and the determination of whether these models accurately depict the behavior of con...

  9. A FAST AND FLEXIBLE METHOD FOR META-MAP BUILDING FOR ICP BASED SLAM

    Directory of Open Access Journals (Sweden)

    A. Kurian

    2016-06-01

    Full Text Available 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.

  10. In margine a un convegno. Gli intellettuali/scrittori ebrei e il dovere della testimonianza. Per Giorgio Bassani, “di là dal cuore” (Firenze, 7-8-9 novembre 2016

    Directory of Open Access Journals (Sweden)

    Martina Romanelli

    2016-12-01

    Full Text Available This brief article aims to investigate some aspects of an international conference held last November in Florence. In the year devoted to Giorgio Bassani, it was an occasion to address aspects of Jewish cultural data, with special reference to the reactions of writers in general and an individual in particular to the unspeakable horrors of the Holocaust. The conference acknowledged the need to face up to harsh reality and search for an adequate historiographical, ethical and literary response.

  11. CHRISTIAN PHILOSOPHERS OF THE WEST ABOUT THE “COLD WAR”, TOTALITARIANISM AND COMMUNISM: COMPARATIVE ANALYSIS OF REINHOLD NIEBUHR’S AND GIORGIO LA PIRA’S CONCEPTS

    Directory of Open Access Journals (Sweden)

    T. V. Zonova

    2012-01-01

    Full Text Available The author examines the legacy of two great Christian thinkers, the American Reinhold Niebuhr and the Italian Giorgio La Pira, both very influential during the Cold War. Niebuhr was a Protestant theologian and political adviser to the American establishment. The Mayor of Florence, La Pira, was a prominent Italian statesman and an eminent Catholic thinker. The author analyzes their views on international relations, in particularly on the western policy towards the Soviet Union, the use of nuclear weapons, the war in Vietnam and communism. The legacy of two thinkers is highly topical in front of the ethical dimension of choices needed in international politics today.

  12. The Effect of Slamming Impact on Out-of-Autoclave Cured Prepregs of GFRP Composite Panels for Hulls

    OpenAIRE

    Suárez, J.C.; Townsend, P.; Sanz, E.; Ulzurrum, I. Diez de; Pinilla, P.

    2016-01-01

    This paper proposes a methodology that employs an experimental apparatus that reproduces, in pre-impregnated and cured out-of-autoclave Glass Fiber Reinforced Polymer (GFRP) panels, the phenomenon of slamming or impact on the bottom of a high-speed boat during planing. The pressure limits in the simulation are defined by employing a finite element model (FEM) that evaluates the forces applied by the cam that hits the panels in the apparatus via microdeformations obtained in the simulation. Th...

  13. Los ojos de Amanda Berenguer y de Marosa di Giorgio para una exégesis de “El Jardín de las delicias” de El Bosco

    Directory of Open Access Journals (Sweden)

    Antonella Cancellier

    2015-07-01

    Full Text Available If in Hieronymus Bosch’s (1453-­‐‑1516 hybrids and metamorphosis Marosa di Giorgio (1932-­‐‑2004 absorbs the most symbolic and disturbing aspects of his “maravilloso negro”, in the same flamish painter Amanda Berenguer (1921-­‐‑2010 finds the inspiration for a subversive discourse. Writings and images enlighten and strengthen each other while the two extraordinary texts of uruguayan literature (Papeles salvajes and Los culos de El Bosco intertwine and converse with triptych of The Garden of Earthly Delights, thus participating in its own complex exegesis.

  14. Navegación Autónoma Asistida Basada en SLAM para una Silla de Ruedas Robotizada en Entornos Restringidos

    Directory of Open Access Journals (Sweden)

    Fernando A. Auat Cheein

    2011-04-01

    Full Text Available Resumen: En este trabajo se presenta una interfaz especialmente diseñada para la navegación de una silla de ruedas robotizada dentro de entornos restringidos. El funcionamiento de la interfaz se rige por dos modos: un modo autónomo y un modo no-autónomo. El manejo no-autónomo de la interfaz de la silla de ruedas se realiza por medio de un joystick adecuado a las capacidades del usuario el cual gobierna el movimiento del vehículo dentro del ambiente. El modo autónomo de la silla de ruedas se ejecuta cuando el usuario tiene que girar un determinado ángulo dentro del ambiente. La estrategia de giro se ejecuta mediante un algoritmo de maniobrabilidad compatible con la cinemática del vehículo y mediante el uso del algoritmo de SLAM (por sus siglas en inglés de Simultaneous Localization and Mapping. El modo autónomo se compone de dos módulos: un módulo de planificación de caminos y un módulo de control. El módulo de planificación de caminos usa la información del mapa provista por el algoritmo de SLAM para trazar un camino seguro y compatible con la silla de ruedas, que le permita al vehículo alcanzar la orientación deseada. El módulo de control gobierna el movimiento del vehículo en el seguimiento del camino trazado mediante un controlador de seguimiento de trayectorias. Las referencias del controlador son actualizadas mediante la estimación de la postura de la silla de ruedas dentro del ambiente, obtenida por el algoritmo de SLAM. Acompañan a este trabajo resultados experimentales utilizando una silla de ruedas robotizada real. Palabras clave: Vehículos autónomos, Sistemas biomédicos, Navegación de robots

  15. Modeling Highly Buoyant Flows in the Castel Giorgio: Torre Alfina Deep Geothermal Reservoir

    Directory of Open Access Journals (Sweden)

    Giorgio Volpi

    2018-01-01

    Full Text Available The Castel Giorgio-Torre Alfina (CG-TA, central Italy is a geothermal reservoir whose fluids are hosted in a carbonate formation at temperatures ranging between 120°C and 210°C. Data from deep wells suggest the existence of convective flow. We present the 3D numerical model of the CG-TA to simulate the undisturbed natural geothermal field and investigate the impacts of the exploitation process. The open source finite-element code OpenGeoSys is applied to solve the coupled systems of partial differential equations. The commercial software FEFLOW® is also used as additional numerical constraint. Calculated pressure and temperature have been calibrated against data from geothermal wells. The flow field displays multicellular convective patterns that cover the entire geothermal reservoir. The resulting thermal plumes protrude vertically over 3 km at Darcy velocity of about 7⁎10-8 m/s. The analysis of the exploitation process demonstrated the sustainability of a geothermal doublet for the development of a 5 MW pilot plant. The buoyant circulation within the geothermal system allows the reservoir to sustain a 50-year production at a flow rate of 1050 t/h. The distance of 2 km, between the production and reinjection wells, is sufficient to prevent any thermal breakthrough within the estimated operational lifetime. OGS and FELFOW results are qualitatively very similar with differences in peak velocities and temperatures. The case study provides valuable guidelines for future exploitation of the CG-TA deep geothermal reservoir.

  16. La exclusión-inclusiva de la nuda vida en el modelo biopolítico de Giorgio Agamben: algunas reflexiones acerca de los puntos de encuentro entre democracia y totalitarismo

    Directory of Open Access Journals (Sweden)

    Ayder Berrío Puerta

    2010-01-01

    Full Text Available Al tomar distancia con el biopoder y la biopolítica, propuestos a mediados de la década del setenta por Michel Foucault, el filósofo italiano Giorgio Agamben llega a una concepción biopolítica propia, de vertiente jurídico-filosófica antes que histórica, apoyada en la exclusión-inclusiva de la vida biológica ( nuda vida del ser humano, como sustrato primigenio de la política en Occidente. Lo relevante de la tesis de Agamben radica en la capacidad que tiene la exclusión-inclusiva de la nuda vida, para evidenciar un cierto umbral de indistinción o contigüidad entre la democracia y el totalitarismo, en cuanto a sus prácticas de gestión sobre la vida de individuos y poblaciones, sin que por ello, se desconozcan o afecten sus presupuestos filosóficos antagónicos. Este artículo pretende ofrecer una aproximación crítica a las implicaciones que reviste para la teoría y filosofía política la tesis propuesta por el filósofo italiano Giorgio Agamben, como base de su modelo biopolítico. Por último, este artículo propende por una lectura crítica, no coyuntural, frente a autores y teorías políticas “novedosas” para nuestro medio académico.

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

    International Nuclear Information System (INIS)

    Martin, C.S.

    2011-01-01

    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)

  18. On-patient see-through augmented reality based on visual SLAM.

    Science.gov (United States)

    Mahmoud, Nader; Grasa, Óscar G; Nicolau, Stéphane A; Doignon, Christophe; Soler, Luc; Marescaux, Jacques; Montiel, J M M

    2017-01-01

    An augmented reality system to visualize a 3D preoperative anatomical model on intra-operative patient is proposed. The hardware requirement is commercial tablet-PC equipped with a camera. Thus, no external tracking device nor artificial landmarks on the patient are required. We resort to visual SLAM to provide markerless real-time tablet-PC camera location with respect to the patient. The preoperative model is registered with respect to the patient through 4-6 anchor points. The anchors correspond to anatomical references selected on the tablet-PC screen at the beginning of the procedure. Accurate and real-time preoperative model alignment (approximately 5-mm mean FRE and TRE) was achieved, even when anchors were not visible in the current field of view. The system has been experimentally validated on human volunteers, in vivo pigs and a phantom. The proposed system can be smoothly integrated into the surgical workflow because it: (1) operates in real time, (2) requires minimal additional hardware only a tablet-PC with camera, (3) is robust to occlusion, (4) requires minimal interaction from the medical staff.

  19. Slamming pressures on the bottom of a free-falling vertical wedge

    Science.gov (United States)

    Ikeda, C. M.; Judge, C. Q.

    2013-11-01

    High-speed planing boats are subjected to repeat impacts due to slamming, which can cause structural damage and injury to passengers. A first step in understanding and predicting the physics of a craft re-entering the water after becoming partially airborne is an experimental vertical drop test of a prismastic wedge (deadrise angle, β =20° beam, B = 300 mm; and length, L = 600 mm). The acrylic wedge was mounted to a rig allowing it to free-fall into a deep-water tank (5.2m × 5.2m × 4.2m deep) from heights 0 camera (1000 fps, resolution of 1920 × 1200 pixels) is mounted above the wedge model to record the wetted surface as the wedge descended below the free surface. The pressure measurements taken with both conventional surface pressure transducers and the pressure mapping system agree within 10% of the peak pressure values (0.7 bar, typical). Supported by the Office of Naval Research.

  20. Tiyatro, karikatür ve film provokasyonları bağlamında Fransız basınında İslam ve Hz. Muhammed imajı

    OpenAIRE

    METİN, İsmail

    2016-01-01

    Oryantalizm ve oryantalistler, tarih boyunca İslamı kendi zihin dünyasına göre anlamış ve bu yönde çalışmalar yapmıştır. Yapılan bu çalışmalar ilmi eserler, ansiklopediler, kitaplar, makaleler başta olmak üzere, yazılı ve görsel basında da yer almıştır. Bu makale, oryantalizmin önemli merkezlerinden olan Fransada, özellikle yazılı basında, başta İslam, Kuran-ı Kerim, Hz. Muhammed olmak üzere dini değerlerin medya tarafından algılanış biçimini, karikatür ve film provokasyonları bağlamında tari...

  1. 77 FR 14010 - Rocky Ridge Wind Project, LLC, Blackwell Wind, LLC, CPV Cimarron Renewable Energy Company, LLC...

    Science.gov (United States)

    2012-03-08

    ..., EG12-18-000, EG12-19-000, EG12- 20-000, EG12-21-000, EG12-22-000, EG12-23-000] Rocky Ridge Wind Project, LLC, Blackwell Wind, LLC, CPV Cimarron Renewable Energy Company, LLC, Minco Wind Interconnection Services, LLC, Shiloh III Lessee, LLC, California Ridge Wind Energy LLC, Perrin Ranch Wind, LLC, Erie Wind...

  2. NATURALIZAÇÃO DA DESIGUALDADE NO BRASIL: UM DIÁLOGO COM CARL SCHMITT, WALTER BENJAMIN E GIORGIO AGAMBEN

    Directory of Open Access Journals (Sweden)

    Bruna da Penha de Mendonça Coelho

    2017-10-01

    Full Text Available O artigo estabelece um diálogo entre as teorias de Carl Schmitt, Walter Benjamin e Giorgio Agamben, transpondo-as para a realidade social brasileira. A naturalização da desigualdade constitui marca cruel de nossa sociedade, e a filosofia do direito contribui para uma abordagem jurídica que leva em conta as disparidades sociais. Far-se-á, primeiramente, uma análise do estado de exceção à luz das obras de Benjamin e Agamben. Posteriormente, com Schmitt, a questão da exceção será analisada em conjunto com a decisão política, demonstrando a ligação intrínseca entre direito e política e o reflexo disto no agravamento das desigualdades sociais. Será estabelecida a diferença entre os conceitos de “inimigo”, de Schmitt, e homo sacer, de Agamben, na instauração do estado de exceção e como o conceito de “inimigo” foi desvirtuado com a construção da Teoria do Direito Penal do Inimigo.

  3. Du personnel au politique : construction d’une identité militante dans le journal d’Alice Stone Blackwell (1872-1874

    Directory of Open Access Journals (Sweden)

    Claire Sorin

    2008-09-01

    Full Text Available Le militantisme n’est pas seulement affaire de scène publique ; les coulisses, qui sont en interaction permanente avec cette scène, forment un espace crucial où les enjeux se tissent et les acteurs se fabriquent. Alice Stone Blackwell, la fille de la célèbre féministe américaine Lucy Stone, a laissé un certain nombre de journaux mais c’est dans celui qu’elle écrivit adolescente (1872-1874 que l’on voit clairement s’ébaucher et s’incarner la voix militante de l’auteur. L’étude d’un texte « privé » (dont le statut est en fait beaucoup plus complexe ne présente pas seulement l’intérêt d’un regard intime et particulier sur le mouvement féministe américain de la fin du dix-neuvième siècle. Elle permet aussi de comprendre comment l’écriture autorise le sujet à tester et à s’approprier un ensemble de discours sur la nature féminine qui rompent avec l’idéal de domesticité et le culte de la fragilité. Le journal permet à Alice Blackwell de construire son identité de militante et de l’articuler avec d’autres facettes de son existence. Loin d’être simplement le reflet conventionnel d’une pratique bourgeoise essentiellement réservée au sexe féminin, l’écriture du journal chez Blackwell participe d’un acte militant, dont le trait le plus saillant est sans doute de mettre en scène un corps vigoureux et triomphant, apte à investir la sphère publique.El militantismo no sólo es un asunto de la escena pública ; los arcanos, en continua interacción con esa escena, forman un espacio donde se trama lo que está en juego y donde se fabrican los actores. Alice Stone Blackwell, hija de la famosa feminista americana Lucy Stone, ha dejado varios diarios, pero es en él que escribió de joven (1872-1874 donde claramente se esboza y se encarna la voz militante de la autora. El estudiar un texto « privado » no sólo presenta el interés de una mirada intima sobre el movimiento

  4. SLAM family markers are conserved among hematopoietic stem cells from old and reconstituted mice and markedly increase their purity.

    Science.gov (United States)

    Yilmaz, Omer H; Kiel, Mark J; Morrison, Sean J

    2006-02-01

    Recent advances have increased the purity of hematopoietic stem cells (HSCs) isolated from young mouse bone marrow. However, little attention has been paid to the purity of HSCs from other contexts. Although Thy-1 low Sca-1+ Lineage- c-kit+ cells from young bone marrow are highly enriched for HSCs (1 in 5 cells gives long-term multilineage reconstitution after transplantation into irradiated mice), the same population from old, reconstituted, or cytokine-mobilized mice engrafts much less efficiently (1 in 78 to 1 in 185 cells gives long-term multilineage reconstitution). To test whether we could increase the purity of HSCs isolated from these contexts, we examined the SLAM family markers CD150 and CD48. All detectable HSCs from old, reconstituted, and cyclophosphamide/G-CSF-mobilized mice were CD150+ CD48-, just as in normal young bone marrow. Thy-1 low Sca-1+ Lineage- c-kit+ cells from old, reconstituted, or mobilized mice included mainly CD48+ and/or CD150- cells that lacked reconstituting ability. CD150+ CD48- Sca-1+ Lineage- c-kit+ cells from old, reconstituted, or mobilized mice were much more highly enriched for HSCs, with 1 in 3 to 1 in 7 cells giving long-term multilineage reconstitution. SLAM family receptor expression is conserved among HSCs from diverse contexts, and HSCs from old, reconstituted, and mobilized mice engraft relatively efficiently after transplantation when contaminating cells are eliminated.

  5. The influence of random element displacement on DOA estimates obtained with (Khatri-Rao-)root-MUSIC.

    Science.gov (United States)

    Inghelbrecht, Veronique; Verhaevert, Jo; van Hecke, Tanja; Rogier, Hendrik

    2014-11-11

    Although a wide range of direction of arrival (DOA) estimation algorithms has been described for a diverse range of array configurations, no specific stochastic analysis framework has been established to assess the probability density function of the error on DOA estimates due to random errors in the array geometry. Therefore, we propose a stochastic collocation method that relies on a generalized polynomial chaos expansion to connect the statistical distribution of random position errors to the resulting distribution of the DOA estimates. We apply this technique to the conventional root-MUSIC and the Khatri-Rao-root-MUSIC methods. According to Monte-Carlo simulations, this novel approach yields a speedup by a factor of more than 100 in terms of CPU-time for a one-dimensional case and by a factor of 56 for a two-dimensional case.

  6. Implementation of Information Management System for Radiation Safety of Personnel at the Russian Northwest Center for Radioactive Waste Management 'SevRAO' - 13131

    Energy Technology Data Exchange (ETDEWEB)

    Chizhov, K.; Simakov, A.; Seregin, V.; Kudrin, I.; Shandala, N.; Tsovyanov, A.; Kryuchkov, V. [Burnasyan Federal Medical Biophysical Center of Federal Medical Biological Agency, RF Ministry of Health and Social Development. 46, Zhivopisnaya St., Moscow, 123182 (Russian Federation); Krasnoschekov, A.; Kosnikov, A. [Northwest Center for Radioactive Waste Management ' SevRAO' - a branch of the Federal State Unitary Enterprise ' Enterprise for Radioactive Waste Management' ' RosRAO' 183017, Murmansk, Lobova st., 100 (Russian Federation); Kemsky, I. [Regional management - 120 of the Federal Medical-Biological Agency, 184682, Snezhnogorsk, Valentina Biryukova St., 5/1 (Russian Federation); Sneve, M. [Norwegian Radiation Protection Authority, Postboks 55, 1332 Oesteraas (Norway)

    2013-07-01

    The report is an overview of the information-analytical system designed to assure radiation safety of workers. The system was implemented in the Northwest Radioactive Waste Management Center 'SevRAO' (which is a branch of the Federal State Unitary Enterprise 'Radioactive Waste Management Enterprise RosRAO'). The center is located in the Northwest Russia. In respect to 'SevRAO', the Federal Medical-Biological Agency is the regulatory body, which deals with issues of radiation control. The main document to regulate radiation control is 'Reference levels of radiation factors in radioactive wastes management center'. This document contains about 250 parameters. We have developed a software tool to simplify control of these parameters. The software includes: input interface, the database, dose calculating module and analytical block. Input interface is used to enter radiation environment data. Dose calculating module calculates the dose on the route. Analytical block optimizes and analyzes radiation situation maps. Much attention is paid to the GUI and graphical representation of results. The operator can enter the route at the industrial site or watch the fluctuations of the dose rate field on the map. Most of the results are presented in a visual form. Here we present some analytical tasks, such as comparison of the dose rate in some point with control levels at this point, to be solved for the purpose of radiation safety control. The program helps to identify points making the largest contribution to the collective dose of the personnel. The tool can automatically calculate the route with the lowest dose, compare and choose the best route. The program uses several options to visualize the radiation environment at the industrial site. This system will be useful for radiation monitoring services during the operation, planning of works and development of scenarios. The paper presents some applications of this system on real data

  7. A Fast and Robust Feature-Based Scan-Matching Method in 3D SLAM and the Effect of Sampling Strategies

    Directory of Open Access Journals (Sweden)

    Cihan Ulas

    2013-11-01

    Full Text Available Simultaneous localization and mapping (SLAM plays an important role in fully autonomous systems when a GNSS (global navigation satellite system is not available. Studies in both 2D indoor and 3D outdoor SLAM are based on the appearance of environments and utilize scan-matching methods to find rigid body transformation parameters between two consecutive scans. In this study, a fast and robust scan-matching method based on feature extraction is introduced. Since the method is based on the matching of certain geometric structures, like plane segments, the outliers and noise in the point cloud are considerably eliminated. Therefore, the proposed scan-matching algorithm is more robust than conventional methods. Besides, the registration time and the number of iterations are significantly reduced, since the number of matching points is efficiently decreased. As a scan-matching framework, an improved version of the normal distribution transform (NDT is used. The probability density functions (PDFs of the reference scan are generated as in the traditional NDT, and the feature extraction - based on stochastic plane detection - is applied to the only input scan. By using experimental dataset belongs to an outdoor environment like a university campus, we obtained satisfactory performance results. Moreover, the feature extraction part of the algorithm is considered as a special sampling strategy for scan-matching and compared to other sampling strategies, such as random sampling and grid-based sampling, the latter of which is first used in the NDT. Thus, this study also shows the effect of the subsampling on the performance of the NDT.

  8. Reaching the Quantum Cramér-Rao Bound for Transmission Measurements

    Science.gov (United States)

    Woodworth, Timothy; Chan, Kam Wai Clifford; Marino, Alberto

    2017-04-01

    The quantum Cramér-Rao bound (QCRB) is commonly used to quantify the lower bound for the uncertainty in the estimation of a given parameter. Here, we calculate the QCRB for transmission measurements of an optical system probed by a beam of light. Estimating the transmission of an optical element is important as it is required for the calibration of optimal states for interferometers, characterization of high efficiency photodetectors, or as part of other measurements, such as those in plasmonic sensors or in ellipsometry. We use a beam splitter model for the losses introduced by the optical system to calculate the QCRB for different input states. We compare the bound for a coherent state, a two-mode squeezed-state (TMSS), a single-mode squeezed-state (SMSS), and a Fock state and show that it is possible to obtain an ultimate lower bound, regardless of the state used to probe the system. We prove that the Fock state gives the lowest possible uncertainty in estimating the transmission for any state and demonstrate that the TMSS and SMSS approach this ultimate bound for large levels of squeezing. Finally, we show that a simple measurement strategy for the TMSS, namely an intensity difference measurement, is able to saturate the QCRB. Work supported by the W.M. Keck Foundation.

  9. Simulation of an integrated age replacement and spare provisioning policy using SLAM

    International Nuclear Information System (INIS)

    Zohrul Kabir, A.B.M.; Farrash, S.H.A.

    1996-01-01

    This paper presents a SLAM simulation model for determining a jointly optimal age replacement and spare part provisioning policy. The policy, referred to as a stocking policy, is formulated by combining age replacement policy with a continuous review (s, S) type inventory policy, where s is the stock reorder level and S is the maximum stock level. The optimal values of the decision variables are obtained by minimizing the total cost of replacement and inventory. The simulation procedure outlined in the paper can be used to model any operating situation having either a single item or a number of identical items. Results from a number of case problems specifically constructed by 5-factor second order rotatory design have been presented and the effects of different cost elements, item failure characteristics and lead time characteristics have been highlighted. For all case problems, optimal (s, S) policies to support the Barlow-Proschan age policy have also been determined. Simulation results clearly indicate the separate optimizations of replacement and spare provisioning policies do not ensure global optimality when total system cost has to be minimized

  10. “TORINO 1911” PROJECT: A CONTRIBUTION OF A SLAM-BASED SURVEY TO EXTENSIVE 3D HERITAGE MODELING

    Directory of Open Access Journals (Sweden)

    F. Chiabrando

    2018-05-01

    Full Text Available In the framework of the digital documentation of complex environments the advanced Geomatics researches offers integrated solution and multi-sensor strategies for the 3D accurate reconstruction of stratified structures and articulated volumes in the heritage domain. The use of handheld devices for rapid mapping, both image- and range-based, can help the production of suitable easy-to use and easy-navigable 3D model for documentation projects. These types of reality-based modelling could support, with their tailored integrated geometric and radiometric aspects, valorisation and communication projects including virtual reconstructions, interactive navigation settings, immersive reality for dissemination purposes and evoking past places and atmospheres. The aim of this research is localized within the “Torino 1911” project, led by the University of San Diego (California in cooperation with the PoliTo. The entire project is conceived for multi-scale reconstruction of the real and no longer existing structures in the whole park space of more than 400,000 m2, for a virtual and immersive visualization of the Turin 1911 International “Fabulous Exposition” event, settled in the Valentino Park. Particularly, in the presented research, a 3D metric documentation workflow is proposed and validated in order to integrate the potentialities of LiDAR mapping by handheld SLAM-based device, the ZEB REVO Real Time instrument by GeoSLAM (2017 release, instead of TLS consolidated systems. Starting from these kind of models, the crucial aspects of the trajectories performances in the 3D reconstruction and the radiometric content from imaging approaches are considered, specifically by means of compared use of common DSLR cameras and portable sensors.

  11. Migraciones irregulares y poder. Biopolítica, nuda vida y sistema inmunitario: una aproximación desde Giorgio Agamben y Roberto Esposito

    Directory of Open Access Journals (Sweden)

    Cristian Acosta Olaya

    2013-06-01

    Full Text Available El presente texto se enmarca en el desarrollo teórico de Giorgio Agamben sobre la nuda vida y su división entre zôê y bíos, y el análisis que Roberto Esposito realiza a cerca del poder de y sobre la vida para la inmunización del cuerpo social. Partiendo de esta base teórica, este escrito intenta dilucidar las problemáticas que presentan hoy las migraciones internacionales, principalmente, aquellas que se dan hacía países del centro económico mundial de manera “irregular” frente a su ordenamiento jurídico migratorio. Desde los aportes de Agamben y Esposito, se busca explorar las lógicas tanto de desprotección política en la actualidad (entendida como producción de nuda vida como del sistema inmunitario del “cuerpo” social y la expulsión de agentes patógenos exteriores, tomando como figura central de análisis el inmigrante “no deseado” y los mecanismos para controlarlo.

  12. Demo-application of shape memory alloy devices: the rehabilitation of the S. Giorgio Church bell tower

    Science.gov (United States)

    Indirli, Maurizio; Castellano, Maria G.; Clemente, Paolo; Martelli, Alessandro

    2001-07-01

    This paper describes the rehabilitation of the S. Giorgio Church Bell-Tower (Trignano, Municipality of S. Martino in Rio, Reggio Emilia, Italy), completed in September 1999. This masonry building, seriously damaged by the earthquake of October 15th 1996 which struck the Reggio Emilia and Modena Districts, Italy), was investigated by the authors immediately after the seismic event, as other ancient Cultural Heritage Structures (CUHESs) in the same area. In the past, seismic events have visited substantial destruction that translates into a significant loss of architectural heritage. The most common solution traditionally used to enhance the CUHESs seismic behaviour is the introduction of localized reinforcements, usually Traditional Steel Ties (TSTs), increasing stability and ductility. Anyway, in many cases said reinforcement techniques, often too invasive, proved to be inadequate to prevent collapse. For these reasons, the Bell-Tower intervention applies Innovative Antiseismic Techniques (IATs) by the use of superelastic Shape Memory Alloy (SMA) Devices (SMADs), a technology developed after a large amount of theoretical studies, numerical analyses and test campaigns. The SMADs, which can be considered a powerful tool with respect to the traditional methods, provide acceleration reduction, force limitation and energy dissipation. Furthermore, they are characterized by low invasivity and complete reversibility. When another earthquake occurred on June 18th 2000, with the same epicenter and a comparable Richter Magnitudo, the Bell-Tower, subjected to a new investigation, showed no damage of any type. Thus, the new seismic event has been the best verification of the retrofit intervention.

  13. Optimizing wavelength choice for quantitative optoacoustic imaging using the Cramer-Rao lower bound

    International Nuclear Information System (INIS)

    Modgil, Dimple; La Riviere, Patrick J

    2010-01-01

    Several papers have recently addressed the issue of estimating chromophore concentration in optoacoustic imaging (OAI) using multiple wavelengths. The choice of wavelengths obviously affects the accuracy and precision of the estimates. One might assume that the wavelengths that maximize the extinction coefficients of the chromophores would be the most suitable. However, this may not always be the case since the distribution of light intensity in the medium is also wavelength dependent. In this paper, we explore a method for optimizing the choice of wavelengths based on the Cramer-Rao lower bound (CRLB) on the variance of the chromophore concentration. This lower bound on variance can be evaluated numerically for different wavelengths using the variation of the extinction coefficients and scattering coefficients with wavelength. The wavelengths that give the smallest variance will be considered optimal for multi-wavelength OAI to estimate the chromophore concentrations. The expression for the CRLB has been derived analytically for estimating the concentration of multiple chromophores for several simple phantom models for the case when the optoacoustic signal is proportional to the product of the optical absorption and the illumination function. This approach could be easily extended to other geometries.

  14. Optimizing wavelength choice for quantitative optoacoustic imaging using the Cramer-Rao lower bound.

    Science.gov (United States)

    Modgil, Dimple; La Riviére, Patrick J

    2010-12-07

    Several papers have recently addressed the issue of estimating chromophore concentration in optoacoustic imaging (OAI) using multiple wavelengths. The choice of wavelengths obviously affects the accuracy and precision of the estimates. One might assume that the wavelengths that maximize the extinction coefficients of the chromophores would be the most suitable. However, this may not always be the case since the distribution of light intensity in the medium is also wavelength dependent. In this paper, we explore a method for optimizing the choice of wavelengths based on the Cramer-Rao lower bound (CRLB) on the variance of the chromophore concentration. This lower bound on variance can be evaluated numerically for different wavelengths using the variation of the extinction coefficients and scattering coefficients with wavelength. The wavelengths that give the smallest variance will be considered optimal for multi-wavelength OAI to estimate the chromophore concentrations. The expression for the CRLB has been derived analytically for estimating the concentration of multiple chromophores for several simple phantom models for the case when the optoacoustic signal is proportional to the product of the optical absorption and the illumination function. This approach could be easily extended to other geometries.

  15. Quantum Cramer–Rao Bound for a Massless Scalar Field in de Sitter Space

    Directory of Open Access Journals (Sweden)

    Marcello Rotondo

    2017-10-01

    Full Text Available How precisely can we estimate cosmological parameters by performing a quantum measurement on a cosmological quantum state? In quantum estimation theory, the variance of an unbiased parameter estimator is bounded from below by the inverse of measurement-dependent Fisher information and ultimately by quantum Fisher information, which is the maximization of the former over all positive operator-valued measurements. Such bound is known as the quantum Cramer –Rao bound. We consider the evolution of a massless scalar field with Bunch–Davies vacuum in a spatially flat FLRW spacetime, which results in a two-mode squeezed vacuum out-state for each field wave number mode. We obtain the expressions of the quantum Fisher information as well as the Fisher informations associated to occupation number measurement and power spectrum measurement, and show the specific results of their evolution for pure de Sitter expansion and de Sitter expansion followed by a radiation-dominated phase as examples. We will discuss these results from the point of view of the quantum-to-classical transition of cosmological perturbations and show quantitatively how this transition and the residual quantum correlations affect the bound on the precision.

  16. The Fisher-information-based uncertainty relation, Cramer-Rao inequality and kinetic energy for the D-dimensional central problem

    Energy Technology Data Exchange (ETDEWEB)

    Dehesa, J S [Departamento de Fisica Atomica, Molecular y Nuclear, Universidad de Granada, 18071-Granada (Spain); Gonzalez-Ferez, R [Departamento de Fisica Atomica, Molecular y Nuclear, Universidad de Granada, 18071-Granada (Spain); Sanchez-Moreno, P [Departamento de Fisica Atomica, Molecular y Nuclear, Universidad de Granada, 18071-Granada (Spain)

    2007-02-23

    The inequality >= (l+1/2){sup 2}, with L being the grand orbital quantum number, and its conjugate relation for ((r{sup 2}) (p{sup -2})) are shown to be fulfilled in the D-dimensional central problem. Their use has allowed us to improve the Fisher-information-based uncertainty relation (I{sub {rho}}I{sub {gamma}}{>=} const) and the Cramer-Rao inequalities ((r{sup 2})I{sub {rho}} {>=} D{sup 2}; (p{sup 2})I{sub {gamma}} {>=} D{sup 2}). In addition, the kinetic energy and the radial expectation value (r{sup 2}) are shown to be bounded from below by the Fisher information in position and momentum spaces, denoted by I{sub {rho}} and I{sub {gamma}}, respectively.

  17. Travel report on a preparatory mission to the Agencija RAO, Ljubljana for a radium conditioning operation

    International Nuclear Information System (INIS)

    Neubauer, J.

    2001-07-01

    The purpose of the trip was to establish the current status of radioactive waste management in Slovenia, to discuss their plans for the future management of their radioactive wastes and to prepare for a radium source conditioning operation to make safe and secure their known inventory of radium withdrawn from service. The IAEA are considering placing a contract on the Oesterreichisches Forschungszentrum Seibersdorf (OeFZS) to carry out the radium conditioning operation on the agency's behalf in a manner used successfully on a number of previous occasions. In Slovenia responsibility for the management of radioactive wastes arising from nuclear applications in medicine research and industry is delegated to 'Agencija Rao'. First a visit was made to the storage building in which such wastes are stored, the building being within the grounds of the Josef Stefan Institute in Ljubljana. The possibility of carrying out the radium conditioning operation in the building and the improvements and modifications necessary was discussed. The inventory of stored waste was reviewed, the packages containing radium were identified and located in the store. Some of these contained radium-beryllium sources. It was agreed that such sources would not be conditioned during the forthcoming operation. Next a visit was made to the chemistry laboratories of the Josef Stefan Institute, these being a possible alternative location for the operation. On returning to the 'Agencija Rao' office in Ljubljana detail discussion of the merits of the alternative locations were discussed. It was realized that the operation could proceed quicker and at less cost if the existing laboratory was chosen, the unknown factor is the time taken to obtain regulatory approval. Next detailed discussion took place of the availability of necessary equipment and consumable items and agreement reached on what should be supplied locally and what should be brought to Slovenia, by the conditioning team. Plans were made to

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

    International Nuclear Information System (INIS)

    Park, Byeolteo; Myung, Hyun

    2014-01-01

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

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

    Science.gov (United States)

    Park, Byeolteo; Myung, Hyun

    2014-12-01

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

  20. Smart watch RSSI localization and refinement for behavioral classification using laser-SLAM for mapping and fingerprinting.

    Science.gov (United States)

    Carlson, Jay D; Mittek, Mateusz; Parkison, Steven A; Sathler, Pedro; Bayne, David; Psota, Eric T; Perez, Lance C; Bonasera, Stephen J

    2014-01-01

    As a first step toward building a smart home behavioral monitoring system capable of classifying a wide variety of human behavior, a wireless sensor network (WSN) system is presented for RSSI localization. The low-cost, non-intrusive system uses a smart watch worn by the user to broadcast data to the WSN, where the strength of the radio signal is evaluated at each WSN node to localize the user. A method is presented that uses simultaneous localization and mapping (SLAM) for system calibration, providing automated fingerprinting associating the radio signal strength patterns to the user's location within the living space. To improve the accuracy of localization, a novel refinement technique is introduced that takes into account typical movement patterns of people within their homes. Experimental results demonstrate that the system is capable of providing accurate localization results in a typical living space.

  1. Optimization of source and detector configurations based on Cramer-Rao lower bound analysis

    Science.gov (United States)

    Chen, Ling; Chen, Nanguang

    2011-03-01

    Optimization of source and detector (SD) arrangements in a diffuse optical tomography system is helpful for improving measurements' sensitivity to localized changes in imaging domain and enhancing the capacity of noise resistance. We introduced a rigorous and computationally efficient methodology and adapt it into the diffuse optics field to realize the optimizations of SD arrangements. Our method is based on Cramer-Rao lower bound analysis, which combines the diffusion-forward model and a noise model together. This method can be used to investigate the performance of the SD arrangements through quantitative estimations of lower bounds of the standard variances of the reconstructed perturbation depths and values. More importantly, it provides direct estimations of parameters without solving the inverse problem. Simulations are conducted in the reflection geometry to validate the effectiveness of the method on selections of the optimized SD sets, with a fixed number of sources and detectors, from an SD group on a planar probe surface. The impacts of different noise levels and target perturbation depths are considered in the simulations. It is demonstrated that the SD sets selected by this method afford better reconstructed images. This methodology can be adapted to other probe surfaces and other imaging geometries.

  2. The Real-Valued Sparse Direction of Arrival (DOA Estimation Based on the Khatri-Rao Product

    Directory of Open Access Journals (Sweden)

    Tao Chen

    2016-05-01

    Full Text Available There is a problem that complex operation which leads to a heavy calculation burden is required when the direction of arrival (DOA of a sparse signal is estimated by using the array covariance matrix. The solution of the multiple measurement vectors (MMV model is difficult. In this paper, a real-valued sparse DOA estimation algorithm based on the Khatri-Rao (KR product called the L1-RVSKR is proposed. The proposed algorithm is based on the sparse representation of the array covariance matrix. The array covariance matrix is transformed to a real-valued matrix via a unitary transformation so that a real-valued sparse model is achieved. The real-valued sparse model is vectorized for transforming to a single measurement vector (SMV model, and a new virtual overcomplete dictionary is constructed according to the KR product’s property. Finally, the sparse DOA estimation is solved by utilizing the idea of a sparse representation of array covariance vectors (SRACV. The simulation results demonstrate the superior performance and the low computational complexity of the proposed algorithm.

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

    Science.gov (United States)

    Munguia, Rodrigo; Urzua, Sarquis; Grau, Antoni

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguia

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

  5. A NEW EARLY SEMIONOTIDAE (SEMIONOTIFORMES, ACTINOPTERYGII FROM THE UPPER LADINIAN OF MONTE SAN GIORGIO AREA SOUTHERN SWITZERLAND AND NORTHERN ITALY

    Directory of Open Access Journals (Sweden)

    ANDREA TINTORI

    2007-11-01

    Full Text Available The early history of the Semionotiformes is still scarcely known as, apart from the Permian Acentrophorus, most of the Early and Middle Triassic taxa traditionally ascribed to this order are often poorly known and/or they actually belong to other groups. Sangiorgioichthys aldae gen. n. sp. n. is described from the Upper Ladinian Kalkschieferzone (Upper Meride Limestone of the Monte San Giorgio area on specimens coming from both Italy and Switzerland. The new genus is ascribed to the family Semionotidae as it shows several of the characters usually considered as diagnostic of the family itself, even if no real synapomorphies have been so far proposed for it. As a Semionotidae, Sangiorgioichthys gen. n. has an almost complete circumorbital series, large ascending process of the premaxilla, rostral and nasals almost tube-like, short maxilla, several suborbital bones posterior and ventral to the infraorbitals, long antero-dorsal process of the suboperculum, sensory canal system very rich in pores, mid dorsal ridge scales with an incipient spine. Peculiar characters of the new genus are dermal skull bones completely covered by ganoine, a very large ventral infraorbital almost attaining the anterior edge of the preoperculum, two ‘ventral’ suborbitals, very elongate anterior supraorbital bone,  dentition made of a number of tiny pencil-like teeth, anterior and posterior lateral line scales differentiated. 

  6. 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.

  7. Faktor-faktor yang berhubungan dengan Pengolahan Sampah Organik Rumah Tangga menjadi Kompos di Jorong IX Pancahan Kecamatan Rao Kebupaten Pasaman Tahun 2013

    Directory of Open Access Journals (Sweden)

    Nurdin ,

    2015-07-01

    Full Text Available Dari 10 responden yang di wawancarai oleh peneliti 6 responden mengaku mengetahui cara pembuatan kompos dan 4 di antaranya tidak mengetahui bagaimana cala pembuatan kompos. Dari hasil observasi yang peneliti lakukan responden membuang sampah rumah tangganya ke belakang rumah. Penelitian ini berlujuan untuk mengetahui Faktor-Faktor yang berhubungan dengan Pengolahan Sampah Organik Rumah Tangga Menjadi Kompos Di Jorong trX Pancahan Kecamatan Rao Kabupaten Pasaman Tahun 2013.Penelitian ini bersifat Deskriptif Analitik dengan pendekatan Cross secsional. Dan analisis data dilakukan dengan analisis univariat dan analisis bivariat dengan uji Chi Square. Populasi dalam penelitian ini adalah 330 kepala keluarga dengan jurnlah sampel 75 kepala keluarga yang ada di Jorong IX Pancahan Kecamatan Rao Kabupaten Pasatnan. Data diperoleh dengan cara wawancara dengan menggunakan kuesioner. Dimana variabel dependen adalah Pengolahan sampah organik rumah tangga menjadi kompos. sedangkan paria variabel independennya adalah pengetahuan, kebutuhan, dan kemampuan.Berdasarkan hasil penelitian terdapat 47 (6 I,8% responden mempunyai pengetahuan rendah dengan p=0,03 dan OR=0,308. Responden yang tidak membutuhkan kompos yaitu 44 (57,9% responden dengan p=0,05 dan OR=2,826. Responden yang mampu mengolah sarnpah organik rumah tangga 52 (68,4% responden dengan p=0,10 dan OR=2,623.Dapat disimpulkan bahwa sebagian besar masyarakat di Jorong IX Pancahan memiliki pengetahuan yang rendah" Pengetahuan dan kebutuhan berhubungan dengan pengolahan sampah organik rumah tangga menjadi kompos, sedangkan kemampuan tidak memiliki hubungan yang signifikan. Diperlukan upaya meningkatkan pengetahuan pengolahan sampah organik rumah tangga menjadi kompos dan memberikan pemahaman kepada mayarakat tentang kebutuhan dan manfaat kompos.Kata Kunci: Pengetahuan, kebutuhan, kemampuan, Sampah rumah tangga

  8. SLAM-seq defines direct gene-regulatory functions of the BRD4-MYC axis.

    Science.gov (United States)

    Muhar, Matthias; Ebert, Anja; Neumann, Tobias; Umkehrer, Christian; Jude, Julian; Wieshofer, Corinna; Rescheneder, Philipp; Lipp, Jesse J; Herzog, Veronika A; Reichholf, Brian; Cisneros, David A; Hoffmann, Thomas; Schlapansky, Moritz F; Bhat, Pooja; von Haeseler, Arndt; Köcher, Thomas; Obenauf, Anna C; Popow, Johannes; Ameres, Stefan L; Zuber, Johannes

    2018-05-18

    Defining direct targets of transcription factors and regulatory pathways is key to understanding their roles in physiology and disease. We combined SLAM-seq [thiol(SH)-linked alkylation for the metabolic sequencing of RNA], a method for direct quantification of newly synthesized messenger RNAs (mRNAs), with pharmacological and chemical-genetic perturbation in order to define regulatory functions of two transcriptional hubs in cancer, BRD4 and MYC, and to interrogate direct responses to BET bromodomain inhibitors (BETis). We found that BRD4 acts as general coactivator of RNA polymerase II-dependent transcription, which is broadly repressed upon high-dose BETi treatment. At doses triggering selective effects in leukemia, BETis deregulate a small set of hypersensitive targets including MYC. In contrast to BRD4, MYC primarily acts as a selective transcriptional activator controlling metabolic processes such as ribosome biogenesis and de novo purine synthesis. Our study establishes a simple and scalable strategy to identify direct transcriptional targets of any gene or pathway. Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

  9. Analysis of sensor impulse response effects on Cramèr–Rao lower bounds for signal parameter estimators

    Directory of Open Access Journals (Sweden)

    Ephraim S. Gower

    2014-12-01

    Full Text Available In this study, a generic analysis of sensor impulse response effects on linearly filtered channel noise is presented to illustrate the resulting variations to the Cramèr–Rao lower bounds (CRLBs of signal parameter estimators in signal processing and communication applications. The authors start by deriving the density function of a filtered signal, which is shown to be a mixture density, and hence the exact expressions for the mean and variance. Simulation results are used to confirm the derivations, which are then used to investigate the effects of impulse response length and variance, as well as channel noise length and variance effects on the resulting CRLBs. Results indicate that for non-zero-mean channel noise and impulse responses, the resulting mean of filtered noise can be relatively large causing adverse deviations to parameter estimations. The filtered noise variance is shown to be proportional to the impulse response energy, where for long duration of signal capture the CRLB is significantly increased.

  10. Frequency Diverse Array Radar Cramér-Rao Lower Bounds for Estimating Direction, Range, and Velocity

    Directory of Open Access Journals (Sweden)

    Yongbing Wang

    2014-01-01

    Full Text Available Different from phased-array radar, frequency diverse array (FDA radar offers range-dependent beampattern and thus provides new application potentials. But there is a fundamental question: what estimation performance can achieve for an FDA radar? In this paper, we derive FDA radar Cramér-Rao lower bounds (CRLBs for estimating direction, range (time delay, and velocity (Doppler shift. Two different data models including pre- and postmatched filtering are investigated separately. As the FDA radar has range-angle coupling, we use a simple transmit subaperturing strategy which divides the whole array into two subarrays, each uses a distinct frequency increment. Assuming temporally white Gaussian noise and linear frequency modulated transmit signal, extensive simulation examples are performed. When compared to conventional phased-array radar, FDA can yield better CRLBs for estimating the direction, range, and velocity. Moreover, the impacts of the element number and frequency increment are also analyzed. Simulation results show that the CRLBs decrease with the increase of the elements number and frequency increment.

  11. Three-Dimensional Target Localization and Cramér-Rao Bound for Two-Dimensional OFDM-MIMO Radar

    Directory of Open Access Journals (Sweden)

    Xingxing Li

    2017-01-01

    Full Text Available Target localization using a frequency diversity multiple-input multiple-output (MIMO system is one of the hottest research directions in the radar society. In this paper, three-dimensional (3D target localization is considered for two-dimensional MIMO radar with orthogonal frequency division multiplexing linear frequency modulated (OFDM-LFM waveforms. To realize joint estimation for range and angle in azimuth and elevation, the range-angle-dependent beam pattern with high range resolution is produced by the OFDM-LFM waveform. Then, the 3D target localization proposal is presented and the corresponding closed-form expressions of Cramér-Rao bound (CRB are derived. Furthermore, for mitigating the coupling of angle and range and further improving the estimation precision, a CRB optimization method is proposed. Different from the existing methods of FDA-based radar, the proposed method can provide higher range estimation because of multiple transmitted frequency bands. Numerical simulation results are provided to demonstrate the effectiveness of the proposed approach and its improved performance of target localization.

  12. Numerical Evaluation of Dynamic Response for Flexible Composite Structures under Slamming Impact for Naval Applications

    Science.gov (United States)

    Hassoon, O. H.; Tarfaoui, M.; El Moumen, A.; Benyahia, H.; Nachtane, M.

    2018-06-01

    The deformable composite structures subjected to water-entry impact can be caused a phenomenon called hydroelastic effect, which can modified the fluid flow and estimated hydrodynamic loads comparing with rigid body. This is considered very important for ship design engineers to predict the global and the local hydrodynamic loads. This paper presents a numerical model to simulate the slamming water impact of flexible composite panels using an explicit finite element method. In order to better describe the hydroelastic influence and mechanical properties, composite materials panels with different stiffness and under different impact velocities with deadrise angle of 100 have been studied. In the other hand, the inertia effect was observed in the early stage of the impact that relative to the loading rate. Simulation results have been indicated that the lower stiffness panel has a higher hydroelastic effect and becomes more important when decreasing of the deadrise angle and increasing the impact velocity. Finally, the simulation results were compared with the experimental data and the analytical approaches of the rigid body to describe the behavior of the hydroelastic influence.

  13. Cognitive impairment in neuromyelitis optica spectrum disorders: A comparison of the Wechsler Adult Intelligence Scale-III and the Wechsler Memory Scale Revised with the Rao Brief Repeatable Neuropsychological Battery

    OpenAIRE

    Fujimori, Juichi; Nakashima, Ichiro; Baba, Toru; Meguro, Yuko; Ogawa, Ryo; Fujihara, Kazuo

    2017-01-01

    Background: Approximately 55% of patients with neuromyelitis optica spectrum disorder (NMOSD) show cognitive impairment as evaluated using the Rao Brief Repeatable Neuropsychological Battery (BRBN), but this frequency appears to be higher than the frequency of specific brain lesions in NMOSD. Objective: We studied whether cognitive impairment could be observed in NMOSD patients with no or minor non-specific brain lesions. Methods: We evaluated cognitive function in 12 NMOSD and 14 MS patients...

  14. Racismo de estado e tanatopolítica: Sobre o paradoxo do nazismo em Michel Foucault e Giorgio Agamben

    Directory of Open Access Journals (Sweden)

    Francisco Bruno Pereira Diógenes

    2013-12-01

    Full Text Available Este artigo propõe-se a expor as reflexões de dois filósofos contemporâneos, quais sejam, Michel Foucault e Giorgio Agamben, de modo a promover um paralelo,ou mesmo uma analogia, entre duas noções que permeiam as obras dos respectivos autores. Estas noções consistem no que Foucault chamou de Racismo de Estado, e no que Agamben nomeou de Tanatopolítica. O contexto, e tambémo objeto, no qual se efetiva este intento é, em uma palavra, a política totalitária do Estado nazista.Ambos os autores compreendem os fenômenos totalitários a partir do ponto de vista da biopolítica, entretanto, ao tratar do Estado Nacional-socialista, Foucault identifica nele um paradoxo, sem, contudo desenvolver com maior profundidade a imbricação que ali se deu. Agamben, por sua vez, concebe semelhante paradoxo como pertencendo a uma forma de fazer política que já traz, desde a sua origem, os fundamentos que permitiram a emergência do fenômeno da forma como surgiu e que fora identificada pelos ditos autores, ou seja, trazendo em si tanto elementos antigos, como a glória e os ideais de sangue, quanto modernos, como a eugenia. A pesquisa bibliográfica que aqui se desenvolveu deu-se na leitura de, basicamente, três obras dos supraditos autores, quais sejam, Em defesa da sociedade, História da sexualidade I – A vontade de saber, de um lado (Foucault, e Homo sacer – O poder soberano e a vida nua I, de outro (Agamben.

  15. Group-SMA Algorithm Based Joint Estimation of Train Parameter and State

    Directory of Open Access Journals (Sweden)

    Wei Zheng

    2015-03-01

    Full Text Available The braking rate and train arresting operation is important in the train braking performance. It is difficult to obtain the states of the train on time because of the measurement noise and a long calculation time. A type of Group Stochastic M-algorithm (GSMA based on Rao-Blackwellization Particle Filter (RBPF algorithm and Stochastic M-algorithm (SMA is proposed in this paper. Compared with RBPF, GSMA based estimation precisions for the train braking rate and the control accelerations were improved by 78% and 62%, respectively. The calculation time of the GSMA was decreased by 70% compared with SMA.

  16. Perturbed soliton excitations of Rao-dust Alfvén waves in magnetized dusty plasmas

    Energy Technology Data Exchange (ETDEWEB)

    Kavitha, L., E-mail: louiskavitha@yahoo.co.in [Department of Physics, School of Basic and Applied Sciences, Central University of Tamil Nadu, Thiruvarur 610 101 (India); The Abdus Salam International Centre for Theoretical Physics, Trieste (Italy); Lavanya, C.; Senthil Kumar, V. [Department of Physics, Periyar University, Salem, Tamil Nadu 636 011 (India); Gopi, D. [Department of Chemistry, Periyar University, Salem 636 011 (India); Center for Nanoscience and Nanotechnology, Periyar University, Salem, Tamil Nadu 636 011 (India); Pasqua, A. [Department of Physics, University of Trieste, Trieste (Italy)

    2016-04-15

    We investigate the propagation dynamics of the perturbed soliton excitations in a three component fully ionized dusty magnetoplasma consisting of electrons, ions, and heavy charged dust particulates. We derive the governing equation of motion for the two dimensional Rao-dust magnetohydrodynamic (R-D-MHD) wave by employing the inertialess electron equation of motion, inertial ion equation of motion, the continuity equations in a plasma with immobile charged dust grains, together with the Maxwell's equations, by assuming quasi neutrality and neglecting the displacement current in Ampere's law. Furthermore, we assume the massive dust particles are practically immobile since we are interested in timescales much shorter than the dusty plasma period, thereby neglecting any damping of the modes due to the grain charge fluctuations. We invoke the reductive perturbation method to represent the governing dynamics by a perturbed cubic nonlinear Schrödinger (pCNLS) equation. We solve the pCNLS, along the lines of Kodama-Ablowitz multiple scale nonlinear perturbation technique and explored the R-D-MHD waves as solitary wave excitations in a magnetized dusty plasma. Since Alfvén waves play an important role in energy transport in driving field-aligned currents, particle acceleration and heating, solar flares, and the solar wind, this representation of R-D-MHD waves as soliton excitations may have extensive applications to study the lower part of the earth's ionosphere.

  17. The stochastic Cramér-Rao bound for source localization and medium tomography using vector sensors.

    Science.gov (United States)

    Baggeroer, Arthur B

    2017-05-01

    A direct version for the stochastic Cramér-Rao bound (CRB) for parameters of Gaussian signals with additive Gaussian noise is introduced. The formulation applies to passive and active radars/sonars/seismics/structures with vector observations from multiple sources. These sensors include pressure, vector velocity, and/or acceleration sensors for ocean and structural acoustics, seismometers, polarized receivers for electromagnetics, and vector current meters for oceanography. The observations may contain partially coherent signals such as multipath. The parameters represent (i) signal localization or (ii) tomographic ones. As such, their embedding is very general using a Green's function vector and is not limited to direction of arrival problems. This formulation leads to simplified expressions for the stochastic CRB using just three quadratic forms involving just the Green's function and its derivatives with the inverse of the noise matrix for the norm. The number of the parameters sets the dimensions of these quadratic forms, so performance studies over the parameter space can be done with much smaller matrices as the noise covariance is inverted just once. The formulas are applied to vector sensors in jamming with both analytical and numerical results. The results are also compared to often cited papers on the CRB.

  18. Cognitive impairment in neuromyelitis optica spectrum disorders: A comparison of the Wechsler Adult Intelligence Scale-III and the Wechsler Memory Scale Revised with the Rao Brief Repeatable Neuropsychological Battery

    Directory of Open Access Journals (Sweden)

    Juichi Fujimori

    2017-12-01

    Full Text Available Background: Approximately 55% of patients with neuromyelitis optica spectrum disorder (NMOSD show cognitive impairment as evaluated using the Rao Brief Repeatable Neuropsychological Battery (BRBN, but this frequency appears to be higher than the frequency of specific brain lesions in NMOSD. Objective: We studied whether cognitive impairment could be observed in NMOSD patients with no or minor non-specific brain lesions. Methods: We evaluated cognitive function in 12 NMOSD and 14 MS patients using the Wechsler Adult Intelligence Scale-III (WAIS-III, the Wechsler Memory Scale-Revised (WMS-R, and the BRBN. We judged as cognitively impaired patients whose scores were below the average by 2 standard deviations or greater in 2 or more cognitive domains. Results: Cognitive impairment was observed in 5 MS patients (35.7% and in the only NMOSD patient (8.3% with symptomatic brain lesions, but not in the other NMOSD patients who had no or minor non-specific brain lesions. Meanwhile, 5 NMOSD (41.7% and 4 MS (28.6% patients who had normal cognition according to the WAIS-III and WMS-R were assessed as cognitively impaired by the BRBN (which is not standardized for age. Conclusions: Cognitive function in NMOSD patients with no or mild non-specific brain lesions was preserved according to the WAIS-III and WMS-R. Keywords: Neuromyelitis Optica, Cognitive impairment, Wechsler Adult Intelligence Scale-III, Wechsler Memory Scale-Revised, Rao Brief Repeatable Neuropsychological Battery, Multiple sclerosis

  19. Indoor Modelling from Slam-Based Laser Scanner: Door Detection to Envelope Reconstruction

    Science.gov (United States)

    Díaz-Vilariño, L.; Verbree, E.; Zlatanova, S.; Diakité, A.

    2017-09-01

    Updated and detailed indoor models are being increasingly demanded for various applications such as emergency management or navigational assistance. The consolidation of new portable and mobile acquisition systems has led to a higher availability of 3D point cloud data from indoors. In this work, we explore the combined use of point clouds and trajectories from SLAM-based laser scanner to automate the reconstruction of building indoors. The methodology starts by door detection, since doors represent transitions from one indoor space to other, which constitutes an initial approach about the global configuration of the point cloud into building rooms. For this purpose, the trajectory is used to create a vertical point cloud profile in which doors are detected as local minimum of vertical distances. As point cloud and trajectory are related by time stamp, this feature is used to subdivide the point cloud into subspaces according to the location of the doors. The correspondence between subspaces and building rooms is not unambiguous. One subspace always corresponds to one room, but one room is not necessarily depicted by just one subspace, for example, in case of a room containing several doors and in which the acquisition is performed in a discontinue way. The labelling problem is formulated as combinatorial approach solved as a minimum energy optimization. Once the point cloud is subdivided into building rooms, envelop (conformed by walls, ceilings and floors) is reconstructed for each space. The connectivity between spaces is included by adding the previously detected doors to the reconstructed model. The methodology is tested in a real case study.

  20. Assessment of cognition using the Rao's Brief Repeatable Battery of Neuropsychological Tests on a group of Brazilian patients with multiple sclerosis

    Directory of Open Access Journals (Sweden)

    Joseph Bruno Bidin Brooks

    2011-12-01

    Full Text Available To assess the cognition of patients with multiple sclerosis (MS using the Rao's Brief Repeatable Battery of Neuropsychological Tests (BRB-N. METHOD: BRB-N was translated and adapted for control subjects. Subsequently, it was applied to a group of patients with relapsing-remitting (RR MS. RESULTS: The assessment on the healthy controls (n=47 showed that the correlation between tests on the same cognitive domain was high and that there was a five-factor solution that explained 90% of the total variance. Except for the Word List Generation subset of tests, the performance of patients with RRMS (n=39 was worse than that of the healthy controls. CONCLUSION: BRB-N is a relatively simple method to assess cognition of patients with MS in the daily clinic. It does not take long to apply and does not require special skills or equipment.

  1. Kairos. Træk af humanisme og posthumanisme i italiensk kultur (Politik, ret & samfund)

    DEFF Research Database (Denmark)

    Sørensen, Gert

    Humanisme, Posthumanisme, Italiensk kultur, Kairos, Dante, Machiavelli, Perniola (Mario), Agamben (Giorgio), Dobbeltstat......Humanisme, Posthumanisme, Italiensk kultur, Kairos, Dante, Machiavelli, Perniola (Mario), Agamben (Giorgio), Dobbeltstat...

  2. An internal reference model-based PRF temperature mapping method with Cramer-Rao lower bound noise performance analysis.

    Science.gov (United States)

    Li, Cheng; Pan, Xinyi; Ying, Kui; Zhang, Qiang; An, Jing; Weng, Dehe; Qin, Wen; Li, Kuncheng

    2009-11-01

    The conventional phase difference method for MR thermometry suffers from disturbances caused by the presence of lipid protons, motion-induced error, and field drift. A signal model is presented with multi-echo gradient echo (GRE) sequence using a fat signal as an internal reference to overcome these problems. The internal reference signal model is fit to the water and fat signals by the extended Prony algorithm and the Levenberg-Marquardt algorithm to estimate the chemical shifts between water and fat which contain temperature information. A noise analysis of the signal model was conducted using the Cramer-Rao lower bound to evaluate the noise performance of various algorithms, the effects of imaging parameters, and the influence of the water:fat signal ratio in a sample on the temperature estimate. Comparison of the calculated temperature map and thermocouple temperature measurements shows that the maximum temperature estimation error is 0.614 degrees C, with a standard deviation of 0.06 degrees C, confirming the feasibility of this model-based temperature mapping method. The influence of sample water:fat signal ratio on the accuracy of the temperature estimate is evaluated in a water-fat mixed phantom experiment with an optimal ratio of approximately 0.66:1. (c) 2009 Wiley-Liss, Inc.

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

    Science.gov (United States)

    Cronin, V.; Sverdrup, K. A.

    2013-05-01

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

  4. INDOOR MODELLING FROM SLAM-BASED LASER SCANNER: DOOR DETECTION TO ENVELOPE RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    L. Díaz-Vilariño

    2017-09-01

    Full Text Available Updated and detailed indoor models are being increasingly demanded for various applications such as emergency management or navigational assistance. The consolidation of new portable and mobile acquisition systems has led to a higher availability of 3D point cloud data from indoors. In this work, we explore the combined use of point clouds and trajectories from SLAM-based laser scanner to automate the reconstruction of building indoors. The methodology starts by door detection, since doors represent transitions from one indoor space to other, which constitutes an initial approach about the global configuration of the point cloud into building rooms. For this purpose, the trajectory is used to create a vertical point cloud profile in which doors are detected as local minimum of vertical distances. As point cloud and trajectory are related by time stamp, this feature is used to subdivide the point cloud into subspaces according to the location of the doors. The correspondence between subspaces and building rooms is not unambiguous. One subspace always corresponds to one room, but one room is not necessarily depicted by just one subspace, for example, in case of a room containing several doors and in which the acquisition is performed in a discontinue way. The labelling problem is formulated as combinatorial approach solved as a minimum energy optimization. Once the point cloud is subdivided into building rooms, envelop (conformed by walls, ceilings and floors is reconstructed for each space. The connectivity between spaces is included by adding the previously detected doors to the reconstructed model. The methodology is tested in a real case study.

  5. Anti-slamming bulbous bow and tunnel stern applications on a novel Deep-V catamaran for improved performance

    Directory of Open Access Journals (Sweden)

    Mehmet Atlar

    2013-06-01

    Full Text Available While displacement type Deep-V mono hulls have superior seakeeping behaviour at speed, catamarans typically have modest behaviour in rough seas. It is therefore a logical progression to combine the superior seakeeping performance of a displacement type Deep-V mono-hull with the high-speed benefits of a catamaran to take the advantages of both hull forms. The displacement Deep-V catamaran concept was developed in Newcastle University and Newcastle University's own multi-purpose research vessel, which was launched in 2011, pushed the design envelope still further with the successful adoption of a novel anti-slamming bulbous bow and tunnel stern for improved efficiency. This paper presents the hullform development of this unique vessel to understand the contribution of the novel bow and stern features on the performance of the Deep-V catamaran. The study is also a further validation of the hull resistance by using advanced numerical analysis methods in conjunction with the model test. An assessment of the numerical predictions of the hull resistance is also made against physical model test results and shows a good agreement between them.

  6. Patients as teachers, medical students as filmmakers: the video slam, a pilot study.

    Science.gov (United States)

    Shapiro, Dan; Tomasa, Lynne; Koff, Nancy Alexander

    2009-09-01

    In 2006-2007 and 2007-2008, the authors pilot-tested a filmmaking project, (medical students filmed patients) to assess the project's potential to teach about the challenges of living with serious chronic illness. Two years of second-year medical students (N = 32) from The University of Arizona, working in groups of two or three, were paired with patients and filmed multiple home visits during eight months. Students edited their films to 7 to 10 minutes and added transitions, titles, and music. A mixed audience of students and faculty viewed the resulting 12 films in a "Video Slam." Faculty also used the films in the formal curriculum to illustrate teaching points related to chronic illness. Student filmmakers, on average, made 4.4 visits, collected 5.6 hours of film, and edited for 26.6 hours. Students reported that the project affected what they planned to cover in clinic visits, increased their plans to involve patients in care, enhanced their appreciation for patient-centered care, improved their knowledge of community resources, improved their understanding of allied health professionals' roles, and taught them about patients' innovative adaptations. Overall, students rated the project highly for its impact on their education (mean = 4.52 of 5). Student and faculty viewers of the films (N = 74) found the films compelling (mean = 4.95 of 5) and informative (mean = 4.93 of 5). The authors encountered the ethical dilemmas of deciding who controls the patients' recorded stories and navigating between patient anonymity/confidentiality and allowing patients to use their stories to teach.

  7. Online Nonparametric Bayesian Activity Mining and Analysis From Surveillance Video.

    Science.gov (United States)

    Bastani, Vahid; Marcenaro, Lucio; Regazzoni, Carlo S

    2016-05-01

    A method for online incremental mining of activity patterns from the surveillance video stream is presented in this paper. The framework consists of a learning block in which Dirichlet process mixture model is employed for the incremental clustering of trajectories. Stochastic trajectory pattern models are formed using the Gaussian process regression of the corresponding flow functions. Moreover, a sequential Monte Carlo method based on Rao-Blackwellized particle filter is proposed for tracking and online classification as well as the detection of abnormality during the observation of an object. Experimental results on real surveillance video data are provided to show the performance of the proposed algorithm in different tasks of trajectory clustering, classification, and abnormality detection.

  8. Estimation of Dynamic Panel Data Models with Stochastic Volatility Using Particle Filters

    Directory of Open Access Journals (Sweden)

    Wen Xu

    2016-10-01

    Full Text Available Time-varying volatility is common in macroeconomic data and has been incorporated into macroeconomic models in recent work. Dynamic panel data models have become increasingly popular in macroeconomics to study common relationships across countries or regions. This paper estimates dynamic panel data models with stochastic volatility by maximizing an approximate likelihood obtained via Rao-Blackwellized particle filters. Monte Carlo studies reveal the good and stable performance of our particle filter-based estimator. When the volatility of volatility is high, or when regressors are absent but stochastic volatility exists, our approach can be better than the maximum likelihood estimator which neglects stochastic volatility and generalized method of moments (GMM estimators.

  9. Study of check valve slamming in a BWR feedwater system following a postulated pipe break

    International Nuclear Information System (INIS)

    Safwat, H.H.; Arastu, A.H.; Norman, A.

    1985-01-01

    This study deals with a swing check valve slamming due to a break at relatively short distance from the valve. Under this situation, substantial flashing occurs near the valve and the result of the study are subject to what is believed to be a conservative simplifying assumption, i.e., the hydrodynamic moment acting on the valve during the transient is represented by resultant moment due to the pressure differential across the valve. It is believed that vapor voids forming at the valve would actually reduce the disk impact velocities in comparison to those predicted under this simplifying assumption. A technique used to represent a double-ended break through hypothetical valves may have some influence on the results particularly for long break opening times. The study has yielded good insight to help understand the complex problem. The study has focused on some parameters and the reader may raise questions on the effects of other parameters. Nevertheless, the present study underlines the complexity facing analysts dealing with this transient using analytical methods. Though some experimental data are available, the authors believe that an experimental study (recognizing the complexity of the experimental setup and instrumentation), would be quite useful. It can provide answers to questions facing analysts dealing with this problem and thus avoid unnecessary conservatisms due to uncertainties in input data

  10. A survey of simultaneous localization and mapping on unstructured lunar complex environment

    Science.gov (United States)

    Wang, Yiqiao; Zhang, Wei; An, Pei

    2017-10-01

    Simultaneous localization and mapping (SLAM) technology is the key to realizing lunar rover's intelligent perception and autonomous navigation. It embodies the autonomous ability of mobile robot, and has attracted plenty of concerns of researchers in the past thirty years. Visual sensors are meaningful to SLAM research because they can provide a wealth of information. Visual SLAM uses merely images as external information to estimate the location of the robot and construct the environment map. Nowadays, SLAM technology still has problems when applied in large-scale, unstructured and complex environment. Based on the latest technology in the field of visual SLAM, this paper investigates and summarizes the SLAM technology using in the unstructured complex environment of lunar surface. In particular, we focus on summarizing and comparing the detection and matching of features of SIFT, SURF and ORB, in the meanwhile discussing their advantages and disadvantages. We have analyzed the three main methods: SLAM Based on Extended Kalman Filter, SLAM Based on Particle Filter and SLAM Based on Graph Optimization (EKF-SLAM, PF-SLAM and Graph-based SLAM). Finally, this article summarizes and discusses the key scientific and technical difficulties in the lunar context that Visual SLAM faces. At the same time, we have explored the frontier issues such as multi-sensor fusion SLAM and multi-robot cooperative SLAM technology. We also predict and prospect the development trend of lunar rover SLAM technology, and put forward some ideas of further research.

  11. Türkiye İçin Gümrük Birliği’ne Alternatif Bir Pazar: İslam İşbirliği Teşkilatı / An Alternative Market to European Union for Turkey: The Organization of Islamic Cooperation

    Directory of Open Access Journals (Sweden)

    Hayrettin Kesgingöz

    2018-03-01

    ütünleşmelerle dış ticareti arttırmak için alternatifler oluşturma düşüncesi, Türkiye için önemli hale gelmektedir. Türkiye’nin öncülüğünde oluşturulan İslam İşbirliği Teşkilatı (İİT Türkiye’nin dış ticaretinde G-20, OECD ve Gümrük Birliği (GB ile dış ticaretinden sonra en önemli paya sahiptir. Bu çalışmada Türkiye’nin dış ticaret payında önemli sırada yer almasına rağmen az bilinen uluslararası ekonomik kuruluşlardan İslam İşbirliği Teşkilatı’nın zamanla Gümrük Birliğine alternatif olup olmayacağı sorusuna cevap aranmıştır. Bu soruya cevap verebilmek için çalışmada dış ticaretin performansı analizi makroekonomik göstergeler ve dış ticaretin uyum analizi ise uluslararası dış ticaret endeksleri yardımıyla yapılmıştır. Dış ticaretin performans analizi ve dış ticaretin uyum analizi sonucunda Türkiye için İslam İşbirliği Teşkilatı’nın önemi her geçen gün artmaktadır. Türkiye’nin Gümrük Birliğiyle olan dış ticaretinin azalmasının aksine İslam İşbirliği Teşkilatı ile dış ticaretinin artması Türkiye’nin İslam İşbirliği Teşkilatı alternatif pazarına yöneldiğini göstermektedir. Fakat Türkiye ile İslam İşbirliği Teşkilatı arasındaki dış ticaret ancak zamanla Gümrük Birliğine iyi bir alternatif olarak değerlendirilebilir.

  12. Preliminary Use of the Seismo-Lineament Analysis Method (SLAM) to Investigate Seismogenic Faulting in the Grand Canyon Area, Northern Arizona

    Science.gov (United States)

    Cronin, V. S.; Cleveland, D. M.; Prochnow, S. J.

    2007-12-01

    This is a progress report on our application of the Seismo-Lineament Analysis Method (SLAM) to the eastern Grand Canyon area of northern Arizona. SLAM is a new integrated method for identifying potentially seismogenic faults using earthquake focal-mechanism solutions, geomorphic analysis and field work. There are two nodal planes associated with any double-couple focal-mechanism solution, one of which is thought to coincide with the fault that produced the earthquake; the slip vector is normal to the other (auxiliary) plane. When no uncertainty in the orientation of the fault-plane solution is reported, we use the reported vertical and horizontal uncertainties in the focal location to define a tabular uncertainty volume whose orientation coincides with that of the fault-plane solution. The intersection of the uncertainty volume and the ground surface (represented by the DEM) is termed a seismo-lineament. An image of the DEM surface is illuminated perpendicular to the strike of the seismo- lineament to accentuate geomorphic features within the seismo-lineament that may be related to seismogenic faulting. This evaluation of structural geomorphology is repeated for several different azimuths and elevations of illumination. A map is compiled that includes possible geomorphic indicators of faulting as well as previously mapped faults within each seismo-lineament, constituting a set of hypotheses for the possible location of seismogenic fault segments that must be evaluated through fieldwork. A fault observed in the field that is located within a seismo-lineament, and that has an orientation and slip characteristics that are statistically compatible with the fault-plane solution, is considered potentially seismogenic. We compiled a digital elevation model (DEM) of the Grand Canyon area from published data sets. We used earthquake focal-mechanism solutions produced by David Brumbaugh (2005, BSSA, v. 95, p. 1561-1566) for five M > 3.5 events reported between 1989 and 1995

  13. A comparison of likelihood ratio tests and Rao's score test for three separable covariance matrix structures.

    Science.gov (United States)

    Filipiak, Katarzyna; Klein, Daniel; Roy, Anuradha

    2017-01-01

    The problem of testing the separability of a covariance matrix against an unstructured variance-covariance matrix is studied in the context of multivariate repeated measures data using Rao's score test (RST). The RST statistic is developed with the first component of the separable structure as a first-order autoregressive (AR(1)) correlation matrix or an unstructured (UN) covariance matrix under the assumption of multivariate normality. It is shown that the distribution of the RST statistic under the null hypothesis of any separability does not depend on the true values of the mean or the unstructured components of the separable structure. A significant advantage of the RST is that it can be performed for small samples, even smaller than the dimension of the data, where the likelihood ratio test (LRT) cannot be used, and it outperforms the standard LRT in a number of contexts. Monte Carlo simulations are then used to study the comparative behavior of the null distribution of the RST statistic, as well as that of the LRT statistic, in terms of sample size considerations, and for the estimation of the empirical percentiles. Our findings are compared with existing results where the first component of the separable structure is a compound symmetry (CS) correlation matrix. It is also shown by simulations that the empirical null distribution of the RST statistic converges faster than the empirical null distribution of the LRT statistic to the limiting χ 2 distribution. The tests are implemented on a real dataset from medical studies. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Bacterial growth efficiency in the tropical estuarine and coastal waters of Goa, southwest coast of India

    Digital Repository Service at National Institute of Oceanography (India)

    Ram, A.; Nair, S.; Chandramohan, D.

    overview. Mar Ecol Prog Ser 43:1-10 8. Del Giorgio PA, Cole 11 (1998) Bacterial growth efficiency in natural aquatic ecosystems. Annu Rev Ecol Syst 29:503 541 9. Del Giorgio PA, Cole n (2000) Bacterial energetics and growth efficiency. In: DL Kirchman (ed...) Microbial Ecology of the Oceans. Wiley-Liss, New York pp289~325 10. Del Giorgio PA, Gasol JM, Mura P, Vaque D, Duarte CM (1996) Protozoan control of the proportion of metabolically active bacteria in coastal marine plankton. Limnol Oceanogr 41:1169-1179 11...

  15. Rendiconti finanziari e struttura di governo del Seminario di Siena in S. Giorgio durante la reggenza dell’Arcivescovo Giuseppe Mancini (1824-1855 = Financial reports and governance structure of s. Giorgio Seminary in Siena, during the Archbishop Giuseppe Mancini regency (1824-1855

    Directory of Open Access Journals (Sweden)

    Giussepe Caturi

    2016-06-01

    esistenti tra i diversi aspetti della cultura di un popolo, tanto che i cambiamenti in uno di essi possono provocare modificazioni in tutti gli altri. Così non è possibile pensare alla cultura religiosa di una comunità come staccata e ininfluente rispetto a quella economica e scientifica, in quanto ognuna di esse ha l’essere umano come polo centrale e originario. Inoltre, la dimensione religiosa è così penetrante nell’animo umano, da poter essere considerata come il tratto caratterizzante di una collettività. In quest’ottica risulta fondamentale l’esercizio della missione presbiterale che presuppone una formazione acquisibile con la frequenza di percorsi di studio tenuti in particolari istituzioni: i “seminari”. Questi enti ecclesiastici costituiscono il nostro oggetto di studio, con particolare riferimento a quello che, fino ai nostri giorni, ha operato nella diocesi senese. La comunità sociale di Siena risulta straordinariamente attraente per via della sua storia politico-amministrativa, del suo patrimonio artistico-culturale e, soprattutto, del sentimento religioso della sua popolazione, che ha generato numerosi grandi santi, come Caterina Benincasa e Bernardino. Lo studio, inquadrato in un’ottica economico-aziendale, fa riferimento al sistema contabile ed alla correlata struttura di governo dell’ente analizzato. Considerata la sua storia ricca di eventi, abbiamo circoscritto l’indagine ad un periodo significativamente interessante: la reggenza diocesana dell’arcivescovo Giuseppe Mancini (1824-1855, allorquando si stavano assorbendo le soppressioni leopoldine e quelle napoleoniche. Nel periodo considerato, la sede del Seminario era la Chiesa di S. Giorgio. This study aims to investigate on a particular cultural dimension of a social community, the religious one. Its basic premise is the existence of correlations and interdependencies among numerous aspects of people’s culture. Indeed, changes in one of them can modify other environment

  16. Fisher information and Cramér-Rao lower bound for experimental design in parallel imaging.

    Science.gov (United States)

    Bouhrara, Mustapha; Spencer, Richard G

    2018-06-01

    The Cramér-Rao lower bound (CRLB) is widely used in the design of magnetic resonance (MR) experiments for parameter estimation. Previous work has considered only Gaussian or Rician noise distributions in this calculation. However, the noise distribution for multi-coil acquisitions, such as in parallel imaging, obeys the noncentral χ-distribution under many circumstances. The purpose of this paper is to present the CRLB calculation for parameter estimation from multi-coil acquisitions. We perform explicit calculations of Fisher matrix elements and the associated CRLB for noise distributions following the noncentral χ-distribution. The special case of diffusion kurtosis is examined as an important example. For comparison with analytic results, Monte Carlo (MC) simulations were conducted to evaluate experimental minimum standard deviations (SDs) in the estimation of diffusion kurtosis model parameters. Results were obtained for a range of signal-to-noise ratios (SNRs), and for both the conventional case of Gaussian noise distribution and noncentral χ-distribution with different numbers of coils, m. At low-to-moderate SNR, the noncentral χ-distribution deviates substantially from the Gaussian distribution. Our results indicate that this departure is more pronounced for larger values of m. As expected, the minimum SDs (i.e., CRLB) in derived diffusion kurtosis model parameters assuming a noncentral χ-distribution provided a closer match to the MC simulations as compared to the Gaussian results. Estimates of minimum variance for parameter estimation and experimental design provided by the CRLB must account for the noncentral χ-distribution of noise in multi-coil acquisitions, especially in the low-to-moderate SNR regime. Magn Reson Med 79:3249-3255, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

  17. Predicting minimum uncertainties in the inversion of ocean color geophysical parameters based on Cramer-Rao bounds.

    Science.gov (United States)

    Jay, Sylvain; Guillaume, Mireille; Chami, Malik; Minghelli, Audrey; Deville, Yannick; Lafrance, Bruno; Serfaty, Véronique

    2018-01-22

    We present an analytical approach based on Cramer-Rao Bounds (CRBs) to investigate the uncertainties in estimated ocean color parameters resulting from the propagation of uncertainties in the bio-optical reflectance modeling through the inversion process. Based on given bio-optical and noise probabilistic models, CRBs can be computed efficiently for any set of ocean color parameters and any sensor configuration, directly providing the minimum estimation variance that can be possibly attained by any unbiased estimator of any targeted parameter. Here, CRBs are explicitly developed using (1) two water reflectance models corresponding to deep and shallow waters, resp., and (2) four probabilistic models describing the environmental noises observed within four Sentinel-2 MSI, HICO, Sentinel-3 OLCI and MODIS images, resp. For both deep and shallow waters, CRBs are shown to be consistent with the experimental estimation variances obtained using two published remote-sensing methods, while not requiring one to perform any inversion. CRBs are also used to investigate to what extent perfect a priori knowledge on one or several geophysical parameters can improve the estimation of remaining unknown parameters. For example, using pre-existing knowledge of bathymetry (e.g., derived from LiDAR) within the inversion is shown to greatly improve the retrieval of bottom cover for shallow waters. Finally, CRBs are shown to provide valuable information on the best estimation performances that may be achieved with the MSI, HICO, OLCI and MODIS configurations for a variety of oceanic, coastal and inland waters. CRBs are thus demonstrated to be an informative and efficient tool to characterize minimum uncertainties in inverted ocean color geophysical parameters.

  18. Recent host range expansion of canine distemper virus and variation in its receptor, the signaling lymphocyte activation molecule, in carnivores.

    Science.gov (United States)

    Ohishi, Kazue; Suzuki, Rintaro; Maeda, Taro; Tsuda, Miwako; Abe, Erika; Yoshida, Takao; Endo, Yasuyuki; Okamura, Maki; Nagamine, Takashi; Yamamoto, Hanae; Ueda, Miya; Maruyama, Tadashi

    2014-07-01

    The signaling lymphocyte activation molecule (SLAM) is a receptor for morbilliviruses. To understand the recent host range expansion of canine distemper virus (CDV) in carnivores, we determined the nucleotide sequences of SLAMs of various carnivores and generated three-dimensional homology SLAM models. Thirty-four amino acid residues were found for the candidates binding to CDV on the interface of the carnivore SLAMs. SLAM of the domestic dog (Canis lupus familiaris) were similar to those of other members of the suborder Caniformia, indicating that the animals in this group have similar sensitivity to dog CDV. However, they were different at nine positions from those of felids. Among the nine residues, four of domestic cat (Felis catus) SLAM (72, 76, 82, and 129) and three of lion (Panthera leo persica) SLAM (72, 82, and 129) were associated with charge alterations, suggesting that the felid interfaces have lower affinities to dog CDV. Only the residue at 76 was different between domestic cat and lion SLAM interfaces. The domestic cat SLAM had threonine at 76, whereas the lion SLAM had arginine, a positively charged residue like that of the dog SLAM. The cat SLAM with threonine is likely to have lower affinity to CDV-H and to confer higher resistance against dog CDV. Thus, the four residues (72, 76, 82, and 129) on carnivore SLAMs are important for the determination of affinity and sensitivity with CDV. Additionally, the CDV-H protein of felid strains had a substitution of histidine for tyrosine at 549 of dog CDV-H and may have higher affinity to lion SLAM. Three-dimensional model construction is a new risk assessment method of morbillivirus infectivity. Because the method is applicable to animals that have no information about virus infection, it is especially useful for morbillivirus risk assessment and wildlife conservation.

  19. Cramer-Rao Lower Bound Evaluation for Linear Frequency Modulation Based Active Radar Networks Operating in a Rice Fading Environment.

    Science.gov (United States)

    Shi, Chenguang; Salous, Sana; Wang, Fei; Zhou, Jianjiang

    2016-12-06

    This paper investigates the joint target parameter (delay and Doppler) estimation performance of linear frequency modulation (LFM)-based radar networks in a Rice fading environment. The active radar networks are composed of multiple radar transmitters and multichannel receivers placed on moving platforms. First, the log-likelihood function of the received signal for a Rician target is derived, where the received signal scattered off the target comprises of dominant scatterer (DS) component and weak isotropic scatterers (WIS) components. Then, the analytically closed-form expressions of the Cramer-Rao lower bounds (CRLBs) on the Cartesian coordinates of target position and velocity are calculated, which can be adopted as a performance metric to access the target parameter estimation accuracy for LFM-based radar network systems in a Rice fading environment. It is found that the cumulative Fisher information matrix (FIM) is a linear combination of both DS component and WIS components, and it also demonstrates that the joint CRLB is a function of signal-to-noise ratio (SNR), target's radar cross section (RCS) and transmitted waveform parameters, as well as the relative geometry between the target and the radar network architectures. Finally, numerical results are provided to indicate that the joint target parameter estimation performance of active radar networks can be significantly improved with the exploitation of DS component.

  20. Cramer-Rao Lower Bound Evaluation for Linear Frequency Modulation Based Active Radar Networks Operating in a Rice Fading Environment

    Directory of Open Access Journals (Sweden)

    Chenguang Shi

    2016-12-01

    Full Text Available This paper investigates the joint target parameter (delay and Doppler estimation performance of linear frequency modulation (LFM-based radar networks in a Rice fading environment. The active radar networks are composed of multiple radar transmitters and multichannel receivers placed on moving platforms. First, the log-likelihood function of the received signal for a Rician target is derived, where the received signal scattered off the target comprises of dominant scatterer (DS component and weak isotropic scatterers (WIS components. Then, the analytically closed-form expressions of the Cramer-Rao lower bounds (CRLBs on the Cartesian coordinates of target position and velocity are calculated, which can be adopted as a performance metric to access the target parameter estimation accuracy for LFM-based radar network systems in a Rice fading environment. It is found that the cumulative Fisher information matrix (FIM is a linear combination of both DS component and WIS components, and it also demonstrates that the joint CRLB is a function of signal-to-noise ratio (SNR, target’s radar cross section (RCS and transmitted waveform parameters, as well as the relative geometry between the target and the radar network architectures. Finally, numerical results are provided to indicate that the joint target parameter estimation performance of active radar networks can be significantly improved with the exploitation of DS component.

  1. Beyond Objects, Beyond Subjects: Giorgio Agamben on Animality, Particularlity and the End of Onto-theology

    Directory of Open Access Journals (Sweden)

    Colby Dickinson

    2011-06-01

    Full Text Available The work of Giorgio Agamben could perhaps best be described as an original extension of the onto-theological critique that has dominated much of the last century’s philosophical endeavors. For him, this fundamental critical perspective extends itself toward the deconstruction of traditional significations, including the boundaries said to exist between the human and the animal as well as between the human and the divine. By repeatedly unveiling these arbitrary divisions as being a result of the state of ‘original sin’ in which we dwell, Agamben aims to advance philosophical discourse ‘beyond representation’ and toward a ‘pure’ encounter with the myriad of faces always ever present before us. In this sense, he works toward redefining ‘revelation’ as being little more than an exposure of our animality, something which indeed lies now unveiled at the real root of our being. This animality is in fact locateable beyond the separation of being into form and content, a division which is rather indebted to the onto-theological representations that have governed the discourse of being.By focusing instead on the manner in which paradigms could be said to operate over and against the (sovereign rule of representations, he articulates a movement from particularity to particularity that resists the temptation to universalize our language on being. In this sense, then, the analogical logic of the paradigm, expressed always through the absolutely singular, exposes the beings which we all are before another, rather than violently condense any given (‘whatever’ being into a formal representation. By thus determining the contours of the paradigmatic expression, this essay intends to unite several ‘loose’ strands of Agamben’s thought in order to demonstrate the consequence of this line of inquiry: that the end of representation, often criticized as a form of political nihilism, is the only way in which to develop a justifiable ethics

  2. Application of a partitioning procedure based on Rao quadratic entropy index to characterize the temporal evolution of in situ varietal and genetic diversity of bread wheat in France over the period 1981-2006.

    Science.gov (United States)

    Perronne, Rémi; Goldringer, Isabelle

    2018-04-01

    We present and highlight a partitioning procedure based on the Rao quadratic entropy index to assess temporal in situ inter-annual varietal and genetic changes of crop diversity. For decades, Western-European agroecosystems have undergone profound changes, among which a reduction of crop genetic diversity. These changes have been highlighted in numerous studies, but no unified partitioning procedure has been proposed to compute the inter-annual variability in both varietal and genetic diversity. To fill this gap, we tested, adjusted and applied a partitioning procedure based on the Rao quadratic entropy index that made possible to describe the different components of crop diversity as well as to account for the relative acreages of varieties. To emphasize the relevance of this procedure, we relied on a case study focusing on the temporal evolution of bread wheat diversity in France over the period 1981-2006 at both national and district scales. At the national scale, we highlighted a decrease of the weighted genetic replacement indicating that varieties sown in the most recent years were more genetically similar than older ones. At the district scale, we highlighted sudden changes in weighted genetic replacement in some agricultural regions that could be due to fast shifts of successive leading varieties over time. Other regions presented a relatively continuous increase of genetic similarity over time, potentially due to the coexistence of a larger number of co-leading varieties that got closer genetically. Based on the partitioning procedure, we argue that a tendency of in situ genetic homogenization could be compared to some of its potential causes, such as a decrease in the speed of replacement or an increase in between-variety genetic similarity over time.

  3. SLAM-based dense surface reconstruction in monocular Minimally Invasive Surgery and its application to Augmented Reality.

    Science.gov (United States)

    Chen, Long; Tang, Wen; John, Nigel W; Wan, Tao Ruan; Zhang, Jian Jun

    2018-05-01

    While Minimally Invasive Surgery (MIS) offers considerable benefits to patients, it also imposes big challenges on a surgeon's performance due to well-known issues and restrictions associated with the field of view (FOV), hand-eye misalignment and disorientation, as well as the lack of stereoscopic depth perception in monocular endoscopy. Augmented Reality (AR) technology can help to overcome these limitations by augmenting the real scene with annotations, labels, tumour measurements or even a 3D reconstruction of anatomy structures at the target surgical locations. However, previous research attempts of using AR technology in monocular MIS surgical scenes have been mainly focused on the information overlay without addressing correct spatial calibrations, which could lead to incorrect localization of annotations and labels, and inaccurate depth cues and tumour measurements. In this paper, we present a novel intra-operative dense surface reconstruction framework that is capable of providing geometry information from only monocular MIS videos for geometry-aware AR applications such as site measurements and depth cues. We address a number of compelling issues in augmenting a scene for a monocular MIS environment, such as drifting and inaccurate planar mapping. A state-of-the-art Simultaneous Localization And Mapping (SLAM) algorithm used in robotics has been extended to deal with monocular MIS surgical scenes for reliable endoscopic camera tracking and salient point mapping. A robust global 3D surface reconstruction framework has been developed for building a dense surface using only unorganized sparse point clouds extracted from the SLAM. The 3D surface reconstruction framework employs the Moving Least Squares (MLS) smoothing algorithm and the Poisson surface reconstruction framework for real time processing of the point clouds data set. Finally, the 3D geometric information of the surgical scene allows better understanding and accurate placement AR augmentations

  4. On South African Violence Through Giorgio Agamben’s Biopolitical Framework: A Comparative Study Of J.M. Coetzee’s Disgrace And Z. Mda’s Ways Of Dying

    Directory of Open Access Journals (Sweden)

    Bartnik Ryszard

    2014-12-01

    Full Text Available In this article I argue that the developments of countries going through transition from authoritarian to democratic rule are always stamped by numerous references to formerly sanctioned and fully operational institutionalized violence. A perfect exemplification of this phenomenon is [post-] apartheid South Africa and its writing. In the context of the above, both the social and the literary realm of the 1990s might be perceived as resonant with Giorgio Agamben’s ‘concentrationary’, deeply divisive imaginary. Escaping from, and concurrently remembering, past fears, anxieties, yet seeking hope and consolation, the innocent but also the formerly outlawed and victimized along [interestingly enough] with [ex]perpetrators exemplify, as discussed in J. M. Coetzee’s and Z. Mda’s novels, the necessity of an exposure of the mechanism of South African ‘biopoliticization’ of life. Their stories prove how difficult the uprooting of the mentality of segregation, hatred and the policy of bracketing the other’s life as insubstantial, thus vulnerable to instrumental violence, in [post-] apartheid society was. In view of the above what is to be highlighted here is the authorial perception of various attempts at disavowing past and present violence as detrimental to South African habitat. In the end, coming to terms with the past, with the belligerent nature of local mental maps, must inevitably lead to the acknowledgement of guilt and traumatic suffering. Individual and collective amnesia conditioned by deeply-entrenched personal culpability or personal anguish is then construed as damaging, and as such is subject do deconstructive analysis.

  5. Til forsvar for det levendes mangfoldighed

    DEFF Research Database (Denmark)

    Jensen, Henrik Dahl

    2005-01-01

    Livs-form : perspektiver i Giorgio Agambens filosofi Anmeldelse i Berlingske tidende. - 2005-08-15. - Sektion 2, s. 8-9 Anmeldt af Henrik Dahl Jensen......Livs-form : perspektiver i Giorgio Agambens filosofi Anmeldelse i Berlingske tidende. - 2005-08-15. - Sektion 2, s. 8-9 Anmeldt af Henrik Dahl Jensen...

  6. Hydraulic and biological analysis of the passability of select fish species at the U.S. Geological Survey streamgaging weir at Blackwells Mills, New Jersey

    Science.gov (United States)

    Haro, Alexander J.; Mulligan, Kevin; Suro, Thomas P.; Noreika, John; McHugh, Amy

    2017-10-16

    Recent efforts to advance river connectivity for the Millstone River watershed in New Jersey have led to the evaluation of a low-flow gauging weir that spans the full width of the river. The methods and results of a desktop modelling exercise were used to evaluate the potential ability of three anadromous fish species (Alosa sapidissima [American shad], Alosa pseudoharengus [alewife], and Alosa aestivalis [blueback herring]) to pass upstream over the U.S. Geological Survey Blackwells Mills streamgage (01402000) and weir on the Millstone River, New Jersey, at various streamflows, and to estimate the probability that the weir will be passable during the spring migratory season. Based on data from daily fishway counts downstream from the Blackwells Mills streamgage and weir between 1996 and 2014, the general migratory period was defined as April 14 to May 28. Recorded water levels and flow data were used to theoretically estimate water depths and velocities over the weir, as well as flow exceedances occurring during the migratory period.Results indicate that the weir is a potential depth barrier to fish passage when streamflows are below 200 cubic feet per second using a 1-body-depth criterion for American shad (the largest fish among the target species). Streamflows in that range occur on average 35 percent of the time during the migratory period. An increase of the depth criterion to 2 body depths causes the weir to become a possible barrier to passage when flows are below 400 cubic feet per second. Streamflows in that range occur on average 73 percent of the time during the migration season. Average cross-sectional velocities at several points along the weir do not seem to be limiting to the fish migration, but maximum theoretical velocities estimated without friction loss over the face of the weir could be potentially limiting.

  7. Roberto ARLT et al., "Apocalisse. Alle origini della fantascienza latinoamericana", 2014

    Directory of Open Access Journals (Sweden)

    Matteo Rei

    2014-12-01

    Full Text Available Roberto ARLT , Aluísio AZEVEDO , Leopoldo LUGONES , Joaquim Manuel DE MACEDO , Amado NERVO, "Apocalisse. Alle origini della fantascienza latinoamericana", con un saggio di Camilla Cattarulla e Giorgio de Marchis, traduzioni di Camilla Cattarulla e Giorgio de Marchis, Roma, Nova Delphi Libri, 2014 [Book Review

  8. Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

    Directory of Open Access Journals (Sweden)

    Hongling Wang

    2018-01-01

    Full Text Available The first application of utilizing unique information-fusion SLAM (IF-SLAM methods is developed for mobile robots performing simultaneous localization and mapping (SLAM adapting to search and rescue (SAR environments in this paper. Several fusion approaches, parallel measurements filtering, exploration trajectories fusing, and combination sensors’ measurements and mobile robots’ trajectories, are proposed. The novel integration particle filter (IPF and optimal improved EKF (IEKF algorithms are derived for information-fusion systems to perform SLAM task in SAR scenarios. The information-fusion architecture consists of multirobots and multisensors (MAM; multiple robots mount on-board laser range finder (LRF sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. This information-fusion SLAM (IF-SLAM is compared with conventional methods, which indicates that fusion trajectory is more consistent with estimated trajectories and real observation trajectories. The simulations and experiments of SLAM process are conducted in both cluttered indoor environment and outdoor collapsed unstructured scenario, and experimental results validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.

  9. Monte Carlo Solutions for Blind Phase Noise Estimation

    Directory of Open Access Journals (Sweden)

    Çırpan Hakan

    2009-01-01

    Full Text Available This paper investigates the use of Monte Carlo sampling methods for phase noise estimation on additive white Gaussian noise (AWGN channels. The main contributions of the paper are (i the development of a Monte Carlo framework for phase noise estimation, with special attention to sequential importance sampling and Rao-Blackwellization, (ii the interpretation of existing Monte Carlo solutions within this generic framework, and (iii the derivation of a novel phase noise estimator. Contrary to the ad hoc phase noise estimators that have been proposed in the past, the estimators considered in this paper are derived from solid probabilistic and performance-determining arguments. Computer simulations demonstrate that, on one hand, the Monte Carlo phase noise estimators outperform the existing estimators and, on the other hand, our newly proposed solution exhibits a lower complexity than the existing Monte Carlo solutions.

  10. A Generalized Schwartz Model for Energy Spot Prices - Estimation using a Particle MCMC Method

    DEFF Research Database (Denmark)

    Lunde, Asger; Brix, Anne Floor; Wei, Wei

    structure. Instead of using various filtering techniques for splitting the two factors, as often found in the literature, we estimate the model in one step using an adaptive MCMC method with a Rao-Blackwellized particle filter. We fit the model to UK natural gas spot prices and investigate the importance......We propose an energy spot price model featuring a two-factor price process and a two-component stochastic volatility process. The first factor in the price process captures the normal variations; the second accounts for spikes. The two-component volatility allows for a flexible autocorrelation...... of spikes and stochastic volatility. We find that the inclusion of stochastic volatility is crucial and that it strongly impacts the jump intensity in the spike process. Furthermore, our estimation method enables us to consider both continuous and purely jump-driven volatility processes, and thereby assess...

  11. An adaptive scheme for robot localization and mapping with dynamically configurable inter-beacon range measurements.

    Science.gov (United States)

    Torres-González, Arturo; Martinez-de Dios, Jose Ramiro; Ollero, Anibal

    2014-04-25

    This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates. It also includes a supervision module that monitors the SLAM performance and dynamically selects the measurement gathering configuration balancing SLAM accuracy and resource consumption. The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34% and 14%, respectively) than traditional methods with a lower computational burden (16%) and similar beacon energy consumption.

  12. 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

  13. 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.

  14. Counter Tunnel Project

    Science.gov (United States)

    2014-03-01

    CMU) used a nodding lidar and registered the data using Simulataneous Localization and Mapping ( SLAM ) [3]. Other mine-mapping systems have used stop...a 2D mapping system using a Hokuyo UTM-30LX lidar mounted on the CTER (Figure 26) and used SLAM open source software Hector Mapping, found in the... SLAM . Hector Mapping is a method to perform SLAM using only a horizontal lidar scan and no odometry information. A 9- to 36-VDC to 12-VDC converter

  15. KARTEZYEN DÜALİZM’İN ‘DEMİR KAFES’İ VE WEBER’İN ANLADIĞI İSLAM TOPLUMU / IRON CAGE OF “CARTESIAN DUALISM” AND THE ISLAMIC SOCIETY UNDERSTOOD BY WEBER

    Directory of Open Access Journals (Sweden)

    Ejder ULUTAŞ

    2016-06-01

    Full Text Available Bryan S. Turner, “Max Weber ve İslam” adlı eserinde Weber’in İslam’a ve İslam toplumlarına yaklaşırken kendi yorumcu sosyolojisinin ölçütlerine uymadığını belirtmektedir. Ona göre Weber’in İslam’a yönelik değerlendirmeleri Marx’ınkinden pek de farklı değildir. Turner, Weber’in doğuya özgü bir toplum modeli olarak tasarımladığı patrimonyalizm kuramına sık sık atıfta bulunmaktadır. Bu düşüncenin, Weber’in oryantalist bir ön yargıya derin bağlılığından kaynaklandığını düşünmektedir. Dolayısıyla bu yazıda, bilim felsefesinde kendisine büyük bir taraftar ve izleyici kitlesi ve geniş hacimli bir tartışma alanı açan Kartezyen felsefenin kısa bir açıklama ve tartışması yapılmaktadır. ‘Batı Aklı’nın düştüğü çıkmazların bir örneği üzerinde durulmaktadır. Weber’in bilim anlayışı hakkında bir değerlendirme yapılmaktadır. İslam toplumlarını incelerken, pozitivist paradigmanın pek de dışına çıkamadığını dile getiren Turner’in eseri üzerinden de bir tartışma yürütülmektedir. Weber’in de kapıldığı düşünülen bu düalizm açmazı ele alınmaktadır.

  16. Basic extended Kalman filter: simultaneous localisation and mapping

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-01-01

    Full Text Available in SLAM with a bent towards EKF-SLAM. It will also be helpful in realizing what methods are being employed and what sensors are being used. It presents the 2 – Dimensional (2D) feature based EKF-SLAM technique used for generating robot pose estimates...

  17. Vision enhanced navigation for unmanned systems

    Science.gov (United States)

    Wampler, Brandon Loy

    A vision based simultaneous localization and mapping (SLAM) algorithm is evaluated for use on unmanned systems. SLAM is a technique used by a vehicle to build a map of an environment while concurrently keeping track of its location within the map, without a priori knowledge. The work in this thesis is focused on using SLAM as a navigation solution when global positioning system (GPS) service is degraded or temporarily unavailable. Previous work on unmanned systems that lead up to the determination that a better navigation solution than GPS alone is first presented. This previous work includes control of unmanned systems, simulation, and unmanned vehicle hardware testing. The proposed SLAM algorithm follows the work originally developed by Davidson et al. in which they dub their algorithm MonoSLAM [1--4]. A new approach using the Pyramidal Lucas-Kanade feature tracking algorithm from Intel's OpenCV (open computer vision) library is presented as a means of keeping correct landmark correspondences as the vehicle moves through the scene. Though this landmark tracking method is unusable for long term SLAM due to its inability to recognize revisited landmarks, as opposed to the Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), its computational efficiency makes it a good candidate for short term navigation between GPS position updates. Additional sensor information is then considered by fusing INS and GPS information into the SLAM filter. The SLAM system, in its vision only and vision/IMU form, is tested on a table top, in an open room, and finally in an outdoor environment. For the outdoor environment, a form of the slam algorithm that fuses vision, IMU, and GPS information is tested. The proposed SLAM algorithm, and its several forms, are implemented in C++ using an Extended Kalman Filter (EKF). Experiments utilizing a live video feed from a webcam are performed. The different forms of the filter are compared and conclusions are made on

  18. Modelling and analysis of a compensator burst after a check valve slam with the pressure surge code DYVRO mod. 3

    International Nuclear Information System (INIS)

    Neuhaus, Thorsten; Schaffrath, Andreas

    2009-01-01

    In this contribution the analysis and calculation of a compensator burst after a pump start and check valve slam with the pressure surge code DYVRO mod. 3 are presented. The compensator burst occurred in the essential service water system (ESWS) of a pressurized water reactor (PWR) in a deviant operation mode. Due to lack of knowledge about the causes a systematic investigation has been performed by TUV NORD SysTec GmbH and Co. KG. The following scenario was identified as most likely: Because of maintenance a heat exchanger was shut off from the ESWS by a closed valve. Due to the hydrostatic pressure profile air had been sucked in through this leaky closed valve forming an air bubble. After the pump start the water was accelerated against the closed valve where the air bubble was compressed. The subsequent backflow resulted in a fast closing of a check valve and a pressure surge that caused the compensator burst. Calculations have been performed with the self developed and validated pressure surge computer code DYVRO mod. 3. The present paper is focussed on the modelling of the pipe system, the pump, the check valve and the behaviour of the air bubble as well as the simulation of the incident. The calculated maximum pressure in the ESWS is above 3 MPa, which is approx. four times higher than the design pressure of 0.7 MPa. This pressure increase has led most likely to the abrupt compensator failure. (author)

  19. Kidnapping Detection and Recognition in Previous Unknown Environment

    Directory of Open Access Journals (Sweden)

    Yang Tian

    2017-01-01

    Full Text Available An unaware event referred to as kidnapping makes the estimation result of localization incorrect. In a previous unknown environment, incorrect localization result causes incorrect mapping result in Simultaneous Localization and Mapping (SLAM by kidnapping. In this situation, the explored area and unexplored area are divided to make the kidnapping recovery difficult. To provide sufficient information on kidnapping, a framework to judge whether kidnapping has occurred and to identify the type of kidnapping with filter-based SLAM is proposed. The framework is called double kidnapping detection and recognition (DKDR by performing two checks before and after the “update” process with different metrics in real time. To explain one of the principles of DKDR, we describe a property of filter-based SLAM that corrects the mapping result of the environment using the current observations after the “update” process. Two classical filter-based SLAM algorithms, Extend Kalman Filter (EKF SLAM and Particle Filter (PF SLAM, are modified to show that DKDR can be simply and widely applied in existing filter-based SLAM algorithms. Furthermore, a technique to determine the adapted thresholds of metrics in real time without previous data is presented. Both simulated and experimental results demonstrate the validity and accuracy of the proposed method.

  20. Revisiting the Cramér Rao Lower Bound for Elastography: Predicting the Performance of Axial, Lateral and Polar Strain Elastograms.

    Science.gov (United States)

    Verma, Prashant; Doyley, Marvin M

    2017-09-01

    We derived the Cramér Rao lower bound for 2-D estimators employed in quasi-static elastography. To illustrate the theory, we modeled the 2-D point spread function as a sinc-modulated sine pulse in the axial direction and as a sinc function in the lateral direction. We compared theoretical predictions of the variance incurred in displacements and strains when quasi-static elastography was performed under varying conditions (different scanning methods, different configuration of conventional linear array imaging and different-size kernels) with those measured from simulated or experimentally acquired data. We performed studies to illustrate the application of the derived expressions when performing vascular elastography with plane wave and compounded plane wave imaging. Standard deviations in lateral displacements were an order higher than those in axial. Additionally, the derived expressions predicted that peak performance should occur when 2% strain is applied, the same order of magnitude as observed in simulations (1%) and experiments (1%-2%). We assessed how different configurations of conventional linear array imaging (number of active reception and transmission elements) influenced the quality of axial and lateral strain elastograms. The theoretical expressions predicted that 2-D echo tracking should be performed with wide kernels, but the length of the kernels should be selected using knowledge of the magnitude of the applied strain: specifically, longer kernels for small strains (<5%) and shorter kernels for larger strains. Although the general trends of theoretical predictions and experimental observations were similar, biases incurred during beamforming and subsample displacement estimation produced noticeable differences. Copyright © 2017 World Federation for Ultrasound in Medicine & Biology. Published by Elsevier Inc. All rights reserved.

  1. Synergistic effect of elevated temperature, pCO2 and nutrients on marine biofilm

    Digital Repository Service at National Institute of Oceanography (India)

    Baragi, L.V.; Anil, A.C.

    the respiration and in turn metabolic and energy cost of bacteria (Del Giorgio et al., 1999; Siu et al., 2014). This highlights the significant influence of nutrients on the response of bacteria to ocean acidification. Elevated temperature, irrespective of p...., Thyrhaug, R., Grossart, H.-P., 2008. Coupling of heterotrophic bacteria to phytoplankton bloom development at different pCO2 levels: a mesocosm study. Biogeosciences 5, 1007-1022. Apple, J.K., Del Giorgio, P., Kemp, W.M., 2006. Temperature regulation...

  2. Relevance of bacterioplankton abundance and production in the oligotrophic equatorial Indian Ocean

    Digital Repository Service at National Institute of Oceanography (India)

    Fernandes, V.; Rodrigues, V.; Ramaiah, N.; Paul, J.T.

    , in some regions heterotrophic bacterial respiration (Del Giorgio et al. 1997) and production (Ameryk et al. 2005) sometimes far exceed the primary photosynthetic production. Unlike the Atlantic or Pacific Oceans, the Indian Ocean is landlocked... of the Yellow Sea. Mar Ecol Prog Ser 115:181–190 Cole JJ, Findlay S, Pace ML (1988) Bacterial production in fresh and saltwater ecosystem; a cross-system overview. Mar Ecol Prog Ser 43:1–10 Del Giorgio PA, Cole JJ, Cimbleris A (1997) Respiration rates...

  3. Seasonal shift in net ecosystem production in a tropical estuary

    Digital Repository Service at National Institute of Oceanography (India)

    Ram, A.S.P.; Nair, S.; Chandramohan, D.

    ) and community respiration (R). Measurements of these variables are a prerequisite to assess the trophic status of aquatic ecosystems. Del Giorgio et al. (1997) suggested that metabolic balance depends on the primary productivity of the system. The rate...), and heterotrophy is not restricted to oligotrophic sys- tems. Of late, there has been considerable debate on the role of planktonic communities as sources (del Giorgio et al. 1997; Duarte et al. 2001) or sinks (Williams 1998) of carbon in subtropical and temperate...

  4. Spatial variations in time-integrated plankton metabolic rates in Sagami Bay using triple oxygen isotopes and O2:Ar ratios

    Digital Repository Service at National Institute of Oceanography (India)

    Sarma, V.V.S.S.; Abe, O.; Saino, T.

    processes are substantially out of balance in the open-ocean regions, i.e., respiration is higher than produc- tion (del Giorgio and Duarte 2002; Williams et al. 2004), while coastal oceans are net autotrophic (Ducklow and McAllister 2005). Williams (1997... advection (del Giorgio and Duarte 2002). In order to assess the way in which short-term variability in plankton metabolic rates could influence our measure- ments, 18 O-enriched and DO incubation experiments were conducted in central Sagami Bay (sta. S3...

  5. Retinal artery occlusion and associated recurrent vascular risk with underlying etiologies.

    Directory of Open Access Journals (Sweden)

    Jeong-Ho Hong

    Full Text Available RAO is caused by various etiologies and subsequent vascular events may be associated with underlying etiologies. Our aim is to investigate the etiologies of RAO, the occurrence of subsequent vascular events and their association in patients with RAO.We analyzed data from 151 consecutive patients presenting with acute non-arteritic RAO between 2003 and 2013 in a single tertiary-care hospital. The primary outcome was the occurrence of a vascular event defined as stroke, myocardial infarction, and vascular death within 365 days of the RAO onset. The Kaplan-Meier survival analysis and Cox proportional hazard model were used to estimate the hazard ratio of the vascular events.Large artery atherosclerosis (LAA was the etiology more frequently associated with of RAO (41.1%, 62/151. During the one year follow-up, ischemic stroke and vascular events occurred in 8.6% and 9.9% of patients, respectively. Ten vascular events occurred in RAO patients attributed to LAA and 4 occurred in undetermined etiology. RAO patients with LAA had a nearly four times higher risk of vascular events compared to those without LAA (hazard ratio 3.94, 95% confidence interval 1.21-12.81. More than a half of all events occurred within one month and over three fourths of ischemic strokes occurred ipsilateral to the RAO.After occurrence of RAO, there is a high risk of a subsequent vascular event, particularly ipsilateral stroke, within one month. LAA is an independent factor for the occurrence of a subsequent vascular event. Management for the prevention of secondary vascular events is necessary in patients with RAO especially with LAA. Large clinical trials are needed to confirm these findings.

  6. Verdine and glaucony facies from surficial sediments of the eastern continental margin of India

    Digital Repository Service at National Institute of Oceanography (India)

    Rao, V.P.; Thamban, M.; Lamboy, M.

    -trioctahedral Fe-rich 1:l clay mineral. Clay Miner., 23: 237-247. Murthy, K.S.R., 1989. Seismic stratigraphy of Ongole-Paradip continental shelf East coast of India. Indian J. Mar. Sci., 16: 47-58. Murthy, K.S.R., Rao, T.C.S., Subramanyam, AS., Rao, M... at the continent- ocean boundary: the verdine facies. Clay Miner. 25: 477-483. Rao, K.M. and Rao, T.C.S., 1994. Holocene sea levels of Visakhapatnam shelf, East Coast of India. J. Geol. Sot. India, 44: 685-689. Rao, V.P., 1991. Clay mineral distribution...

  7. GNSS Positioning Performance Analysis Using PSO-RBF Estimation Model

    Directory of Open Access Journals (Sweden)

    Jgouta Meriem

    2017-06-01

    Full Text Available Positioning solutions need to be more precise and available. The most frequent method used nowadays includes a GPS receiver, sometimes supported by other sensors. Generally, GPS and GNSS suffer from spreading perturbations that produce biases on pseudo-range measurements. With a view to optimize the use of the satellites received, we offer a positioning algorithm with pseudo range error modelling with the contribution of an appropriate filtering process. Extended Kalman Filter, The Rao- Blackwellized filter are among the most widely used algorithms to predict errors and to filter the high frequency noise. This paper describes a new method of estimating the pseudo-range errors based on the PSO-RBF model which achieves an optimal training criterion. This model is appropriate of its method to predict the GPS corrections for accurate positioning, it reduce the positioning errors at high velocities by more than 50% compared to the RLS or EKF methods.

  8. Radiological protection regulation during spent nuclear fuel and radioactive waste management in the western branch of the Federal State Unitary Enterprise 'SevRAO'.

    Science.gov (United States)

    Simakov, A V; Sneve, M K; Abramov, Yu V; Kochetkov, O A; Smith, G M; Tsovianov, A G; Romanov, V V

    2008-12-01

    The site of temporary storage of spent nuclear fuel and radioactive waste, situated at Andreeva Bay in Northwest Russia, was developed in the 1960s, and it has carried out receipt and storage of fresh and spent nuclear fuel, and solid and liquid radioactive waste generated during the operation of nuclear submarines and nuclear-powered icebreakers. The site is now operated as the western branch of the Federal State Unitary Enterprise, SevRAO. In the course of operation over several decades, the containment barriers in the Spent Nuclear Fuel and Radioactive Waste storage facilities partially lost their containment effectiveness, so workshop facilities and parts of the site became contaminated with radioactive substances. This paper describes work being undertaken to provide an updated regulatory basis for the protection of workers during especially hazardous remediation activities, necessary because of the unusual radiation conditions at the site. It describes the results of recent survey work carried out by the Burnasyan Federal Medical Biophysical Centre, within a programme of regulatory cooperation between the Norwegian Radiation Protection Authority and the Federal Medical-Biological Agency of Russia. The survey work and subsequent analyses have contributed to the development of special regulations setting out radiological protection requirements for operations planned at the site. Within these requirements, and taking account of a variety of other factors, a continuing need arises for the implementation of optimisation of remediation at Andreeva Bay.

  9. Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation

    Directory of Open Access Journals (Sweden)

    Susanna Kaiser

    2016-01-01

    Full Text Available Indoor navigation and mapping have recently become an important field of interest for researchers because global navigation satellite systems (GNSS are very often unavailable inside buildings. FootSLAM, a SLAM (Simultaneous Localization and Mapping algorithm for pedestrians based on step measurements, addresses the indoor mapping and positioning problem and can provide accurate positioning in many structured indoor environments. In this paper, we investigate how to compare FootSLAM maps via two entropy metrics. Since collaborative FootSLAM requires the alignment and combination of several individual FootSLAM maps, we also investigate measures that help to align maps that partially overlap. We distinguish between the map entropy conditioned on the sequence of pedestrian’s poses, which is a measure of the uncertainty of the estimated map, and the entropy rate of the pedestrian’s steps conditioned on the history of poses and conditioned on the estimated map. Because FootSLAM maps are built on a hexagon grid, the entropy and relative entropy metrics are derived for the special case of hexagonal transition maps. The entropy gives us a new insight on the performance of FootSLAM’s map estimation process.

  10. Resolution Enhancement of Scanning Laser Acoustic Microscope Using Transverse Wave

    International Nuclear Information System (INIS)

    Ko, D. S.; Park, J. S.; Kim, Y. H.

    1997-01-01

    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. Science 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

  11. Dewey Onlu Sınıflandırması ve İslâm Literatürünün Sınıflandırma Sorunları

    Directory of Open Access Journals (Sweden)

    Fahriye Mercanlıgil Gündoğdu

    1993-03-01

    Full Text Available İslam ülkelerinde en yaygın kullanılan sınıflandırma sistemi, Dewey Onlu Sınıflandırma sistemi (DDC'dir. Ancak, İslam ülkeleri kütüphanecilerinin de görüşleri alındığı halde, özellikle İslamiyet'le ilgili bölüm hâlâ yetersiz olup çeşitli uyarlamalar yapılması gereği doğmaktadır. Ayrıca sistemde İslam anlayışına ters düşen kavramsal yanlışlar da vardır. 297 İslam şeması değerlendirilerek İslam literatürünün sınıflandırılmasında karşılaşılan sorunların nedenleri saptanmış ve bunların giderilmesi için önerilerde bulunulmuştur. Sorunların çözümü için şemanın adından başlayarak radikal değişiklikler yapılması gerekir. 297.1-297.9, Kur'an, Hadis, Akâid ve Kelam, Fıkıh, İslam mezhebleri, Tasavvuf, İslam ahlak ve adabı, İslam dinî tarihi ve siyer temel konularını içerecek şekilde yeniden düzenlenmelidir. Şemanın uluslararası düzeyde kullanılabilmesi için İslam ülkelerinden sınıflandırma konusunda uzman kütüphaneciler ile DDC'nin ilgili birimleri sıkı bir işbirliği içinde çalışmalıdırlar.

  12. Particle-associated bacterial dynamics in a tropical tidal plain (Zuari estuary, India)

    Digital Repository Service at National Institute of Oceanography (India)

    DeSouza, M.J.B.D.; Nair, S.; LokaBharathi, P.A.; Chandramohan, D.

    that the estuarine bacterial community undergoes physiologi- cal stress leading to reduced bacterial production (del Giorgio & Bouvier 2002), which was not observed at this station. However, during the pre-monsoon season, when the salinity values are the highest... to be significant. As PAB abundance and production formed a signifi- cant portion of the microbial biomass in the Zuari waters, the BCD would be expected to be high. The reported BGE from marine system ranged from <10 to 50% (Azam et al. 1983, del Giorgio et al...

  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. Visual-based simultaneous localization and mapping and global positioning system correction for geo-localization of a mobile robot

    International Nuclear Information System (INIS)

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

    2011-01-01

    This paper introduces an approach combining visual-based simultaneous localization and mapping (V-SLAM) and global positioning system (GPS) correction for accurate multi-sensor localization of an outdoor mobile robot in geo-referenced maps. The proposed framework combines two extended Kalman filters (EKF); the first one, referred to as the integration filter, is dedicated to the improvement of the GPS localization based on data from an inertial navigation system and wheels' encoders. The second EKF implements the V-SLAM process. The linear and angular velocities in the dynamic model of the V-SLAM EKF filter are given by the GPS/INS/Encoders integration filter. On the other hand, the output of the V-SLAM EKF filter is used to update the dynamics estimation in the integration filter and therefore the geo-referenced localization. This solution increases the accuracy and the robustness of the positioning during GPS outage and allows SLAM in less featured environments

  15. National Statistical Commission and Indian Official Statistics

    Indian Academy of Sciences (India)

    Author Affiliations. T J Rao1. C. R. Rao Advanced Institute of Mathematics, Statistics and Computer Science (AIMSCS) University of Hyderabad Campus Central University Post Office, Prof. C. R. Rao Road Hyderabad 500 046, AP, India.

  16. M3RSM: Many-to-Many Multi-Resolution Scan Matching

    Science.gov (United States)

    2015-05-01

    a localization problem), or may be derived from a LIDAR scan earlier in the robot’s trajectory (a SLAM problem). The reference map is generally...Mapping ( SLAM ) systems prevent the unbounded accumulation of error. A typical approach with laser range-finder data is to compute the posterior...even greater bottleneck than the SLAM optimiza- tion itself. In our multi-robot mapping system, over a dozen robots explored an area simultaneously [14

  17. Rao, Prof. Sumathi

    Indian Academy of Sciences (India)

    Ethical Guidelines and Procedures document. Posted on 17 January 2017. A revised version of the document 'Scientific Values: Ethical Guidelines and Procedures' has been produced by the Academy's Panel on Scientific Values. For more details, see the Academy Committee on Scientific Values page.

  18. Info (TR Rao)

    Indian Academy of Sciences (India)

    ) measured in Scoville Units (SUs). Pure capsaicin: 16 M SU. Smoking Ed's Carolina reaper: 1.47 MSU. Tezpur mirchi: 0.855 MSU; 163 times the jalapeno pepper. Bhut Jolokia 1.6M; infinity chilli: 1.2M, Naga Viper: 1.4 M; Trinidad Moruga ...

  19. İran Mitolojisinin İslam Devrimindeki Rolü & Humeyni ve Şah’ın Söylemlerinin Analizi

    Directory of Open Access Journals (Sweden)

    Fatih TİRYAKİ

    2015-09-01

    Full Text Available İran tarihinde köklü değişimler meydana getiren İran İslam devrimi birçok farklı açıdan analiz edilmiş olsa da bu analizlerin pek azı devrimi mitolojik çerçeve ile temellendirmektedir. Böylesine köklü bir devletin geçmişle olan bağlarının her daim canlı olduğu gerçeğini varsayar isek devrim sürecinde de halkın bilinçaltındaki mitolojik inanışların önemli bir payı olduğunu söylemek mümkündür. Bu bilgiler ışığında biz bu çalışmamızda İran mitolojisinin devrime olan etkilerini ve hem Şah’ın hem de Humeyni’nin bu dönemdeki söylemlerini mitolojik bir perspektiften değerlendireceğiz. Bunu yaparken de 1953 Musaddık devrimini milat olarak kabul edip bu tarihten devrime kadar geçen kırılma noktalarını kronolojik bir sıra ile anakronizme kaçmadan incelerken olayları son tahlilde mitoloji ile ilişkilendireceğiz. Sonuç bölümünde ise devrim ile esasında çok fazla şeyin değişmediğini, değişenin yalnızca meşruiyetini ve İran halkının baba figürü olma özelliğini kaybeden Şah’ın yerine halkçı ve sözde fundemantalist söylemleri ile halkı derinden etkileyen yeni baba figürü Humeyni’nin geldiği tespitlerinde bulunacağız

  20. Matching of Ground-Based LiDAR and Aerial Image Data For Mobile Robot Localization in Densely Forested Environments

    Science.gov (United States)

    2013-11-01

    for rovers operating in close proximity to points of interest. Techniques such as Simultaneous Localization and Mapping ( SLAM ) have been utilized...successfully to localize rovers in a variety of settings and scenarios [3,4]. SLAM focuses on building a local map of landmarks as observed by a rover...more landmarks are observed and errors filtered. SLAM therefore does not require a priori knowledge of the locations of landmarks or that of the rover

  1. Structural Loading of Cross Deck Connections for Trimaran Vessels

    National Research Council Canada - National Science Library

    Rhoads, Jason

    2004-01-01

    ...: longitudinal bending, transverse bending, torsional bending, spreading and squeezing of hulls, inner and outer hull slam pressures, wet deck slam pressures, loading from ship's motions, and whipping of slender hulls...

  2. Atrial Fibrillation and Coronary Artery Disease as Risk Factors of Retinal Artery Occlusion: A Nationwide Population-Based Study

    Directory of Open Access Journals (Sweden)

    Ju-Chuan Yen

    2015-01-01

    Full Text Available We use Taiwanese national health insurance research database (NHIRD to investigate whether thrombolism (carotid artery disease (CAD as a surrogate or embolism (atrial fibrillation (AF as a surrogate plays roles in later retinal artery occlusion (RAO development and examine their relative weights. The relative risks of RAO between AF and CAD patients and controls were compared by estimating the crude hazard ratio with logistic regression. Kaplan-Meier analysis was used to calculate the cumulative incidence rates of developing RAO, and a log-rank test was used to analyze the differences between the survival curves. Separate Cox proportional hazard regressions were done to compute the RAO-free rate after adjusting for possible confounding factors such as age and sex. The crude hazard ratios were 7.98 for the AF group and 5.27 for the CAD group, and the adjusted hazard ratios were 8.32 and 5.34 for the AF and CAD groups, respectively. The observation time with RAO-free was shorter for AF compared with CAD group (1490 versus 1819 days. AF and CAD were both risk factors for RAO with different hazard ratios. To tackle both AF and CAD is crucial for curbing RAO.

  3. Sensor Failure Detection through Introspection

    National Research Council Canada - National Science Library

    Smeltz, Jeremy; Valerius, Andrew

    2007-01-01

    .... One area of research being done is simultaneous localization and mapping (SLAM). SLAM uses a robot's sensors to generate a map of the area while maintaining its current position within that map...

  4. CD147/EMMPRIN acts as a functional entry receptor for measles virus on epithelial cells.

    Science.gov (United States)

    Watanabe, Akira; Yoneda, Misako; Ikeda, Fusako; Terao-Muto, Yuri; Sato, Hiroki; Kai, Chieko

    2010-05-01

    Measles is a highly contagious human disease caused by measles virus (MeV) and remains the leading cause of death in children, particularly in developing countries. Wild-type MeV preferentially infects lymphocytes by using signaling lymphocytic activation molecule (SLAM), whose expression is restricted to hematopoietic cells, as a receptor. MeV also infects other epithelial and neuronal cells that do not express SLAM and causes pneumonia and diarrhea and, sometimes, serious symptoms such as measles encephalitis and subacute sclerosing panencephalitis. The discrepancy between the tissue tropism of MeV and the distribution of SLAM-positive cells suggests that there are unknown receptors other than SLAM for MeV. Here we identified CD147/EMMPRIN (extracellular matrix metalloproteinase inducer), a transmembrane glycoprotein, which acts as a receptor for MeV on epithelial cells. Furthermore, we found the incorporation of cyclophilin B (CypB), a cellular ligand for CD147, in MeV virions, and showed that inhibition of CypB incorporation significantly attenuated SLAM-independent infection on epithelial cells, while it had no effect on SLAM-dependent infection. To date, MeV infection was considered to be triggered by binding of its hemagglutinin (H) protein and cellular receptors. Our present study, however, indicates that MeV infection also occurs via CD147 and virion-associated CypB, independently of MeV H. Since CD147 is expressed in a variety of cells, including epithelial and neuronal cells, this molecule possibly functions as an entry receptor for MeV in SLAM-negative cells. This is the first report among members of the Mononegavirales that CD147 is used as a virus entry receptor via incorporated CypB in the virions.

  5. Antagonistic pleiotropy and fitness trade-offs reveal specialist and generalist traits in strains of canine distemper virus.

    Directory of Open Access Journals (Sweden)

    Veljko M Nikolin

    Full Text Available Theoretically, homogeneous environments favor the evolution of specialists whereas heterogeneous environments favor generalists. Canine distemper is a multi-host carnivore disease caused by canine distemper virus (CDV. The described cell receptor of CDV is SLAM (CD150. Attachment of CDV hemagglutinin protein (CDV-H to this receptor facilitates fusion and virus entry in cooperation with the fusion protein (CDV-F. We investigated whether CDV strains co-evolved in the large, homogeneous domestic dog population exhibited specialist traits, and strains adapted to the heterogeneous environment of smaller populations of different carnivores exhibited generalist traits. Comparison of amino acid sequences of the SLAM binding region revealed higher similarity between sequences from Canidae species than to sequences from other carnivore families. Using an in vitro assay, we quantified syncytia formation mediated by CDV-H proteins from dog and non-dog CDV strains in cells expressing dog, lion or cat SLAM. CDV-H proteins from dog strains produced significantly higher values with cells expressing dog SLAM than with cells expressing lion or cat SLAM. CDV-H proteins from strains of non-dog species produced similar values in all three cell types, but lower values in cells expressing dog SLAM than the values obtained for CDV-H proteins from dog strains. By experimentally changing one amino acid (Y549H in the CDV-H protein of one dog strain we decreased expression of specialist traits and increased expression of generalist traits, thereby confirming its functional importance. A virus titer assay demonstrated that dog strains produced higher titers in cells expressing dog SLAM than cells expressing SLAM of non-dog hosts, which suggested possible fitness benefits of specialization post-cell entry. We provide in vitro evidence for the expression of specialist and generalist traits by CDV strains, and fitness trade-offs across carnivore host environments caused by

  6. Antagonistic Pleiotropy and Fitness Trade-Offs Reveal Specialist and Generalist Traits in Strains of Canine Distemper Virus

    Science.gov (United States)

    Nikolin, Veljko M.; Osterrieder, Klaus; von Messling, Veronika; Hofer, Heribert; Anderson, Danielle; Dubovi, Edward; Brunner, Edgar; East, Marion L.

    2012-01-01

    Theoretically, homogeneous environments favor the evolution of specialists whereas heterogeneous environments favor generalists. Canine distemper is a multi-host carnivore disease caused by canine distemper virus (CDV). The described cell receptor of CDV is SLAM (CD150). Attachment of CDV hemagglutinin protein (CDV-H) to this receptor facilitates fusion and virus entry in cooperation with the fusion protein (CDV-F). We investigated whether CDV strains co-evolved in the large, homogeneous domestic dog population exhibited specialist traits, and strains adapted to the heterogeneous environment of smaller populations of different carnivores exhibited generalist traits. Comparison of amino acid sequences of the SLAM binding region revealed higher similarity between sequences from Canidae species than to sequences from other carnivore families. Using an in vitro assay, we quantified syncytia formation mediated by CDV-H proteins from dog and non-dog CDV strains in cells expressing dog, lion or cat SLAM. CDV-H proteins from dog strains produced significantly higher values with cells expressing dog SLAM than with cells expressing lion or cat SLAM. CDV-H proteins from strains of non-dog species produced similar values in all three cell types, but lower values in cells expressing dog SLAM than the values obtained for CDV-H proteins from dog strains. By experimentally changing one amino acid (Y549H) in the CDV-H protein of one dog strain we decreased expression of specialist traits and increased expression of generalist traits, thereby confirming its functional importance. A virus titer assay demonstrated that dog strains produced higher titers in cells expressing dog SLAM than cells expressing SLAM of non-dog hosts, which suggested possible fitness benefits of specialization post-cell entry. We provide in vitro evidence for the expression of specialist and generalist traits by CDV strains, and fitness trade-offs across carnivore host environments caused by antagonistic

  7. Role of signaling lymphocytic activation molecule in T helper cell responses

    Directory of Open Access Journals (Sweden)

    Jan E. de Vries

    1998-01-01

    Full Text Available Signaling lymphocytic activation molecule (SLAM; CDw150 is a 70 kDa glycoprotein. Signaling lymphocytic activation molecule is constitutively expressed on memory T cells, CD56+ T cells, a subset of T cell receptor γδ+ cells, immature thymocytes and, at low levels, on a proportion of peripheral blood B cells. Signaling lymphocytic activation molecule is rapidly upregulated on all T and B cells after activation. Engagement of SLAM by F(ab’2 fragments of an anti-SLAM monoclonal antibody (mAb A12 enhances antigen-specific T cell proliferation. In addition, mAb A12 was directly mitogenic for T cell clones and activated T cells. T cell proliferation induced by mAb A12 is independent of interleukin (IL-2, IL-4, IL-12 and IL-15, but is cyclosporin A sensitive. Ligation of SLAM during antigen-specific T cell proliferation resulted in upregulation of interferon (IFN-γ production, even by allergen-specific T helper cell (Th 2 clones, whereas the levels of IL-4 and IL-5 production were only marginally affected. The mAb A12 was unable to induce IL-4 and IL-5 production by Th1 clones. Co-stimulation of skin-derived Der P1-specific Th2 cells from patients with atopic dermatitis via SLAM resulted in the generation of a population of IFN-γ-producing cells, thereby reverting their phenotype to a Th0 pattern. Signaling lymphocytic activation molecule is a high-affinity self ligand mediating homophilic cell interaction. In addition, soluble SLAM enhances both T and B cell proliferation. Collectively, these data indicate that SLAM molecules act both as receptors and ligands that are not only involved in T cell expansion but also drive the expanding T cells during immune responses into the Th0/Th1 pathway. This suggests that signaling through SLAM plays a role in directing Th0/Th1 development.

  8. Dewey Onlu Sınıflandırması ve İslâm Literatürünün Sınıflandırma Sorunları

    Directory of Open Access Journals (Sweden)

    Fahriye Mercanlıgil Gündoğdu

    1993-01-01

    Full Text Available İslam ülkelerinde en yaygın kullanılan sınıflandırma sistemi, Dewey Onlu Sınıflandırma sistemi (DDC'dir. Ancak, İslam ülkeleri kütüphanecilerinin de görüşleri alındığı halde, özellikle İslamiyet’le ilgili bölüm hâlâ yetersiz olup çeşitli uyarlamalar yapılması gereği doğmaktadır. Ayrıca sistemde İslam anlayışına ters düşen kavramsal yanlışlar da vardır. 297 Islam şeması değerlendirilerek İslam literatürünün sınıflandırılmasında karşılaşılan sorunların nedenleri saptanmış ve bunların giderilmesi için önerilerde  bulunulmuştur. Sorunların çözümü için şemanın adından başlayarak radikal değişiklikler yapılması gerekir. 297.1-297.9, Kur’an, Hadis, Akâid ve Kelam, Fıkıh, İslam mezhebleri, Tasavvuf, İslam ahlak ve adabı, İslam dinî tarihi ve siyer temel konularını içerecek şekilde yeniden düzenlenmelidir. Şemanın uluslararası düzeyde kullanılabilmesi için İslam ülkelerinden sınıflandırma konusunda uzman kütüphaneciler ile DDC’nin ilgili birimleri sıkı bir işbirliği içinde çalışmalıdırlar.

  9. Mortality of people with chronic fatigue syndrome: a retrospective cohort study in England and Wales from the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Clinical Record Interactive Search (CRIS) Register.

    Science.gov (United States)

    Roberts, Emmert; Wessely, Simon; Chalder, Trudie; Chang, Chin-Kuo; Hotopf, Matthew

    2016-04-16

    Mortality associated with chronic fatigue syndrome is uncertain. We investigated mortality in individuals diagnosed with chronic fatigue syndrome in secondary and tertiary care using data from the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Clinical Record Interactive Search (CRIS) register. We calculated standardised mortality ratios (SMRs) for all-cause, suicide-specific, and cancer-specific mortality for a 7-year observation period using the number of deaths observed in SLaM records compared with age-specific and sex-specific mortality statistics for England and Wales. Study participants were included if they had had contact with the chronic fatigue service (referral, discharge, or case note entry) and received a diagnosis of chronic fatigue syndrome. We identified 2147 cases of chronic fatigue syndrome from CRIS and 17 deaths from Jan 1, 2007, to Dec 31, 2013. 1533 patients were women of whom 11 died, and 614 were men of whom six died. There was no significant difference in age-standardised and sex-standardised mortality ratios (SMRs) for all-cause mortality (SMR 1·14, 95% CI 0·65-1·85; p=0·67) or cancer-specific mortality (1·39, 0·60-2·73; p=0·45) in patients with chronic fatigue syndrome when compared with the general population in England and Wales. This remained the case when deaths from suicide were removed from the analysis. There was a significant increase in suicide-specific mortality (SMR 6·85, 95% CI 2·22-15·98; p=0·002). We did not note increased all-cause mortality in people with chronic fatigue syndrome, but our findings show a substantial increase in mortality from suicide. This highlights the need for clinicians to be aware of the increased risk of completed suicide and to assess suicidality adequately in patients with chronic fatigue syndrome. National Institute for Health Research (NIHR) Biomedical Research Centre at South London and Maudsley NHS Foundation Trust and King's College London

  10. Sediment texture, distribution and transport on the Ayeyarwady continental shelf, Andaman Sea

    Digital Repository Service at National Institute of Oceanography (India)

    Rao, P.S.; Ramaswamy, V.; Thwin, S.

    . Kluwer Academic Publishers, The Nether- lands, pp. 63–85. Milliman, J.D., Meade, R.H., 1983. World-wide delivery of river sediment to the oceans. J. Geol. 91, 1–21. Ramaswamy, V., Rao, P.S., Rao, K.H., Swe Thwin, Srinivasa Rao, N., Raiker, V., 2004. Tidal...

  11. Uma ética para os novos desdobramentos da reforma psiquiátrica Ethics for the new development in psychiatric reform

    Directory of Open Access Journals (Sweden)

    Oswaldo França Neto

    2009-06-01

    Full Text Available Fazendo uso de elaborações de Giorgio Agamben e Alain Badiou, e tendo como pano de fundo a teoria lacaniana, este texto propõe que a Reforma Psiquiátrica teria entrado em uma segunda etapa, sendo necessário ressituarmos o que seria uma ética que contemplasse seus novos desdobramentos.Through a study of the works of Giorgio Agamben and Alain Badiou, and based on the Lacanian theory, this paper proposes that the Psychiatric Reform has entered into a second phase, therefore requiring a new look at the standard of ethics in light of these developments.

  12. Journal of Earth System Science | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Earth System Science. V V S Gurunadha Rao. Articles written in Journal of Earth System Science. Volume 122 Issue 3 June 2013 pp 855-867. Hydrogeochemistry and groundwater quality assessment of Ranipet industrial area, Tamil Nadu, India · G Tamma Rao V V S Gurunadha Rao K ...

  13. Jevgenij V. Doc: We do not want to build a monument at Mochovce

    International Nuclear Information System (INIS)

    Janoska, J.

    2004-01-01

    In this paper the interview with the General Manager of Inter RAO JES - Jevgenij V. Doc is published. Inter RAO JES applies for the privatisation of Slovenske elektrarne (Slovak Electric - SE). According to the General Manager of Inter RAO JES, the company does not need a foreign partner to provide financial support after the privatisation of SE, but rather it requires a political support. Plans about Bohunice NPP and of completion of the Mochovce NPP as well as of privatisation of the SE by the Inter RAO JES are presented

  14. Cognitive impairment in neuromyelitis optica spectrum disorders: A comparison of the Wechsler Adult Intelligence Scale-III and the Wechsler Memory Scale Revised with the Rao Brief Repeatable Neuropsychological Battery.

    Science.gov (United States)

    Fujimori, Juichi; Nakashima, Ichiro; Baba, Toru; Meguro, Yuko; Ogawa, Ryo; Fujihara, Kazuo

    2017-12-01

    Approximately 55% of patients with neuromyelitis optica spectrum disorder (NMOSD) show cognitive impairment as evaluated using the Rao Brief Repeatable Neuropsychological Battery (BRBN), but this frequency appears to be higher than the frequency of specific brain lesions in NMOSD. We studied whether cognitive impairment could be observed in NMOSD patients with no or minor non-specific brain lesions. We evaluated cognitive function in 12 NMOSD and 14 MS patients using the Wechsler Adult Intelligence Scale-III (WAIS-III), the Wechsler Memory Scale-Revised (WMS-R), and the BRBN. We judged as cognitively impaired patients whose scores were below the average by 2 standard deviations or greater in 2 or more cognitive domains. Cognitive impairment was observed in 5 MS patients (35.7%) and in the only NMOSD patient (8.3%) with symptomatic brain lesions, but not in the other NMOSD patients who had no or minor non-specific brain lesions. Meanwhile, 5 NMOSD (41.7%) and 4 MS (28.6%) patients who had normal cognition according to the WAIS-III and WMS-R were assessed as cognitively impaired by the BRBN (which is not standardized for age). Cognitive function in NMOSD patients with no or mild non-specific brain lesions was preserved according to the WAIS-III and WMS-R.

  15. CD147/EMMPRIN Acts as a Functional Entry Receptor for Measles Virus on Epithelial Cells▿

    Science.gov (United States)

    Watanabe, Akira; Yoneda, Misako; Ikeda, Fusako; Terao-Muto, Yuri; Sato, Hiroki; Kai, Chieko

    2010-01-01

    Measles is a highly contagious human disease caused by measles virus (MeV) and remains the leading cause of death in children, particularly in developing countries. Wild-type MeV preferentially infects lymphocytes by using signaling lymphocytic activation molecule (SLAM), whose expression is restricted to hematopoietic cells, as a receptor. MeV also infects other epithelial and neuronal cells that do not express SLAM and causes pneumonia and diarrhea and, sometimes, serious symptoms such as measles encephalitis and subacute sclerosing panencephalitis. The discrepancy between the tissue tropism of MeV and the distribution of SLAM-positive cells suggests that there are unknown receptors other than SLAM for MeV. Here we identified CD147/EMMPRIN (extracellular matrix metalloproteinase inducer), a transmembrane glycoprotein, which acts as a receptor for MeV on epithelial cells. Furthermore, we found the incorporation of cyclophilin B (CypB), a cellular ligand for CD147, in MeV virions, and showed that inhibition of CypB incorporation significantly attenuated SLAM-independent infection on epithelial cells, while it had no effect on SLAM-dependent infection. To date, MeV infection was considered to be triggered by binding of its hemagglutinin (H) protein and cellular receptors. Our present study, however, indicates that MeV infection also occurs via CD147 and virion-associated CypB, independently of MeV H. Since CD147 is expressed in a variety of cells, including epithelial and neuronal cells, this molecule possibly functions as an entry receptor for MeV in SLAM-negative cells. This is the first report among members of the Mononegavirales that CD147 is used as a virus entry receptor via incorporated CypB in the virions. PMID:20147391

  16. A proposal for combining mapping, localization and target recognition

    Science.gov (United States)

    Grönwall, Christina; Hendeby, Gustaf; Sinivaara, Kristian

    2015-10-01

    Simultaneous localization and mapping (SLAM) is a well-known positioning approach in GPS-denied environments such as urban canyons and inside buildings. Autonomous/aided target detection and recognition (ATR) is commonly used in military application to detect threats and targets in outdoor environments. This papers present approaches to combine SLAM with ATR in ways that compensate for the drawbacks in each method. The methods use physical objects that are recognizable by ATR as unambiguous features in SLAM, while SLAM provides the ATR with better position estimates. Landmarks in the form of 3D point features based on normal aligned radial features (NARF) are used in conjunction with identified objects and 3D object models that replace landmarks when possible. This leads to a more compact map representation with fewer landmarks, which partly compensates for the introduced cost of the ATR. We analyze three approaches to combine SLAM and 3D-data; point-point matching ignoring NARF features, point-point matching using the set of points that are selected by NARF feature analysis, and matching of NARF features using nearest neighbor analysis. The first two approaches are is similar to the common iterative closest point (ICP). We propose an algorithm that combines EKF-SLAM and ATR based on rectangle estimation. The intended application is to improve the positioning of a first responder moving through an indoor environment, where the map offers localization and simultaneously helps locate people, furniture and potentially dangerous objects such as gas canisters.

  17. Chlamydophila spp. infection in horses with recurrent airway obstruction: similarities to human chronic obstructive disease

    Directory of Open Access Journals (Sweden)

    Hotzel Helmut

    2008-01-01

    Full Text Available Abstract Background Recurrent airway obstruction (RAO in horses is a naturally occurring dust-induced disease mainly characterized by bronchiolitis which shows histological and pathophysiological similarities to human chronic obstructive pulmonary disease (COPD. In human COPD previous investigations indicated an association with Chlamydophila psittaci infection. The present study was designed (1 to clarify a possible role of this infectious agent in RAO and (2 to investigate the suitability of this equine disorder as a model for human COPD. Methods Clinico-pathological parameters of a total of 45 horses (25 horses with clinical signs of RAO and 20 clinically healthy controls were compared to histological findings in lung tissue samples and infection by Chlamydiaceae using light microscopy, immunohistochemistry, and PCR. Results Horses with clinical signs of RAO vs. controls revealed more inflammatory changes in histology (p = 0.01, and a higher detection rate of Chlamydia psittaci antigens in all cells (p OmpA sequencing identified Chlamydophila psittaci (n = 9 and Chlamydophila abortus (n = 13 in both groups with no significant differences. Within the group of clinically healthy horses subgroups with no changes (n = 15 and slight inflammation of the small airways (n = 5 were identified. Also in the group of animals with RAO subgroups with slight (n = 16 and severe (n = 9 bronchiolitis could be formed. These four subgroups can be separated in parts by the number of cells positive for Chlamydia psittaci antigens. Conclusion Chlamydophila psittaci or abortus were present in the lung of both clinically healthy horses and those with RAO. Immunohistochemistry revealed acute chlamydial infections with inflammation in RAO horses, whereas in clinically healthy animals mostly persistent chlamydial infection and no inflammatory reactions were seen. Stable dust as the known fundamental abiotic factor in RAO is comparable to smoking in human disease. These

  18. Parallel Tracking and Mapping for Controlling VTOL Airframe

    Directory of Open Access Journals (Sweden)

    Michal Jama

    2011-01-01

    Full Text Available This work presents a vision based system for navigation on a vertical takeoff and landing unmanned aerial vehicle (UAV. This is a monocular vision based, simultaneous localization and mapping (SLAM system, which measures the position and orientation of the camera and builds a map of the environment using a video stream from a single camera. This is different from past SLAM solutions on UAV which use sensors that measure depth, like LIDAR, stereoscopic cameras or depth cameras. Solution presented in this paper extends and significantly modifies a recent open-source algorithm that solves SLAM problem using approach fundamentally different from a traditional approach. Proposed modifications provide the position measurements necessary for the navigation solution on a UAV. The main contributions of this work include: (1 extension of the map building algorithm to enable it to be used realistically while controlling a UAV and simultaneously building the map; (2 improved performance of the SLAM algorithm for lower camera frame rates; and (3 the first known demonstration of a monocular SLAM algorithm successfully controlling a UAV while simultaneously building the map. This work demonstrates that a fully autonomous UAV that uses monocular vision for navigation is feasible.

  19. Fulltext PDF

    Indian Academy of Sciences (India)

    IAS Admin

    91, 1945 and the author is C R Rao, or, in full, Calyampudi Radhakrishna Rao, writing from the 'Statistical. Laboratory, Calcutta', which is now the Indian Statistical Institute, Kolkata. To get a feel for the issues that Rao's paper addresses, let us look at two very simple examples. The fraction of all the voters who favour a given ...

  20. Bulletin of Materials Science | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Bulletin of Materials Science; Volume 37; Issue 4. Structural, spectroscopic and electrochemical study of V5+ substituted LiTi2(PO4)3 solid electrolyte for lithium-ion batteries. A Venkateswara Rao V Veeraiah A V Prasada Rao B Kishore Babu B Swarna Latha K Rama Rao. Volume 37 Issue 4 June 2014 pp ...

  1. Impaired Cell Cycle Regulation in a Natural Equine Model of Asthma.

    Directory of Open Access Journals (Sweden)

    Alicja Pacholewska

    Full Text Available Recurrent airway obstruction (RAO is a common and potentially debilitating lower airway disease in horses, which shares many similarities with human asthma. In susceptible horses RAO exacerbation is caused by environmental allergens and irritants present in hay dust. The objective of this study was the identification of genes and pathways involved in the pathology of RAO by global transcriptome analyses in stimulated peripheral blood mononuclear cells (PBMCs. We performed RNA-seq on PBMCs derived from 40 RAO affected and 45 control horses belonging to three cohorts of Warmblood horses: two half-sib families and one group of unrelated horses. PBMCs were stimulated with hay dust extract, lipopolysaccharides, a recombinant parasite antigen, or left unstimulated. The total dataset consisted of 561 individual samples. We detected significant differences in the expression profiles between RAO and control horses. Differential expression (DE was most marked upon stimulation with hay dust extract. An important novel finding was a strong upregulation of CXCL13 together with many genes involved in cell cycle regulation in stimulated samples from RAO affected horses, in addition to changes in the expression of several HIF-1 transcription factor target genes. The RAO condition alters systemic changes observed as differential expression profiles of PBMCs. Those changes also depended on the cohort and stimulation of the samples and were dominated by genes involved in immune cell trafficking, development, and cell cycle regulation. Our findings indicate an important role of CXCL13, likely macrophage or Th17 derived, and the cell cycle regulator CDC20 in the immune response in RAO.

  2. Roman for unge - og deres voksne - fra Nick Hornby

    DEFF Research Database (Denmark)

    Haarder, Jon Helt

    2007-01-01

    Nick Hornby: SLAM. Oversat fra engelsk. af Jan Hansen. 280 sider, 249 kr. Lindhardt og Ringhof. Fire stjerner Udgivelsesdato: 071207......Nick Hornby: SLAM. Oversat fra engelsk. af Jan Hansen. 280 sider, 249 kr. Lindhardt og Ringhof. Fire stjerner Udgivelsesdato: 071207...

  3. Rethinking biopower: posthumanism, bare life, and emancipatory work.

    Science.gov (United States)

    Cloyes, Kristin G

    2010-01-01

    This article answers a call, recently published in Advances in Nursing Science, to more fully explore the use of Italian political philosopher Giorgio Agamben's theory of biopower in nursing research and scholarship. Giorgio Agamben argues that biopower is not a modern phenomenon, and critical analysis of the historical origins of Western political practice shows how humanist discourse has been complicit in a long tradition of marginalization and violence, accomplished in each era by designating certain classes of human beings as "bare life." I discuss how I have used Agamben's theory to frame my own research, and the challenges of applying this theory in emancipatory work.

  4. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency-constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC-EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  5. Can risk assessment predict suicide in secondary mental healthcare? Findings from the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Case Register.

    Science.gov (United States)

    Lopez-Morinigo, Javier-David; Fernandes, Andrea C; Shetty, Hitesh; Ayesa-Arriola, Rosa; Bari, Ashraful; Stewart, Robert; Dutta, Rina

    2018-06-02

    The predictive value of suicide risk assessment in secondary mental healthcare remains unclear. This study aimed to investigate the extent to which clinical risk assessment ratings can predict suicide among people receiving secondary mental healthcare. Retrospective inception cohort study (n = 13,758) from the South London and Maudsley NHS Foundation Trust (SLaM) (London, UK) linked with national mortality data (n = 81 suicides). Cox regression models assessed survival from the last suicide risk assessment and ROC curves evaluated the performance of risk assessment total scores. Hopelessness (RR = 2.24, 95% CI 1.05-4.80, p = 0.037) and having a significant loss (RR = 1.91, 95% CI 1.03-3.55, p = 0.041) were significantly associated with suicide in the multivariable Cox regression models. However, screening statistics for the best cut-off point (4-5) of the risk assessment total score were: sensitivity 0.65 (95% CI 0.54-0.76), specificity 0.62 (95% CI 0.62-0.63), positive predictive value 0.01 (95% CI 0.01-0.01) and negative predictive value 0.99 (95% CI 0.99-1.00). Although suicide was linked with hopelessness and having a significant loss, risk assessment performed poorly to predict such an uncommon outcome in a large case register of patients receiving secondary mental healthcare.

  6. Slam Dunk

    Science.gov (United States)

    Herek, Matthew

    2011-01-01

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

  7. New species and new records of earthworms of the genus Drawida from Kerala part of the Western Ghats biodiversity hotspot, India (Oligochaeta, Moniligastridae).

    Science.gov (United States)

    Narayanan, S Prasanth; Sathrumithra, S; Christopher, G; Julka, J M

    2017-01-01

    Two new species of Drawida Michaelsen, 1900, namely Drawida polydiverticulata Narayanan & Julka, sp. n. and Drawida thomasi Narayanan & Julka, sp. n. , are described from material collected from the Indian state of Kerala, which lies in the Western Ghats biodiversity hotspot. Drawida elegans Rao, 1921, Drawida kanarensis Stephenson, 1917, Drawida modesta Rao, 1921, Drawida somavarpatana Rao, 1921, and Drawida thurstoni Gates, 1945 are recorded for the first time from the state.

  8. Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

    Energy Technology Data Exchange (ETDEWEB)

    Vandewouw, Marlee M., E-mail: marleev@mie.utoronto.ca; Aleman, Dionne M. [Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8 (Canada); Jaffray, David A. [Radiation Medicine Program, Princess Margaret Cancer Centre, Toronto, Ontario M5G 2M9 (Canada)

    2016-08-15

    Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, are used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.

  9. Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

    International Nuclear Information System (INIS)

    Vandewouw, Marlee M.; Aleman, Dionne M.; Jaffray, David A.

    2016-01-01

    Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, are used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.

  10. Altered expression of signalling lymphocyte activation molecule receptors in T-cells from lupus nephritis patients-a potential biomarker of disease activity.

    Science.gov (United States)

    Stratigou, Victoria; Doyle, Anne F; Carlucci, Francesco; Stephens, Lauren; Foschi, Valentina; Castelli, Marco; McKenna, Nicola; Cook, H Terence; Lightstone, Liz; Cairns, Thomas D; Pickering, Matthew C; Botto, Marina

    2017-07-01

    The aim was to investigate whether the signalling lymphocyte activation molecule (SLAM) signalling pathways contribute to LN and whether SLAM receptors could be valuable biomarkers of disease activity. Peripheral blood mononuclear cells from 30National Research Ethics Service SLE patients with biopsy-proven LN were analysed by flow cytometry. Clinical measures of disease activity were assessed. The expression of the SLAM family receptors on T-cell subpopulations [CD4, CD8 and double negative (DN) T cells] was measured and compared between lupus patients with active renal disease and those in remission. The frequency of CD8 T cells expressing SLAMF3, SLAMF5 and SLAMF7 was significantly lower in LN patients who were in remission. In contrast, these subsets were similar in patients with active renal disease and in healthy individuals. Patients with active nephritis had an increased percentage of circulating monocytes, consistent with a potential role played by these cells in glomerular inflammation. Changes in the frequency of DN T cells positive for SLAMF2, SLAMF4 and SLAMF7 were observed in lupus patients irrespective of the disease activity. We detected alterations in the cellular expression of the SLAM family receptors, but these changes were less obvious and did not reveal any specific pattern. The percentage of DN T cells expressing SLAMF6 could predict the clinical response to B-cell depletion in patients with LN. Our study demonstrates altered expression of the SLAM family receptors in SLE T lymphocytes. This is consistent with the importance of the SLAM-associated pathways in lupus pathogenesis. © The Author 2017. Published by Oxford University Press on behalf of the British Society for Rheumatology.

  11. Phase relations in the pseudobinary systems RAO3-R2Ti2O7 (R: rare earth element and Y, A: Fe, Ga, Al, Cr and Mn) and syntheses of new compounds R(A1-xTix)O3+x/2 (2/3≤x≤3/4) at elevated temperatures in air

    Science.gov (United States)

    Brown, Francisco; Jacobo-Herrera, Ivan; Alvarez-Montaño, Victor; Kimizuka, Noboru; Kurashina, Keiji; Michiue, Yuichi; Matsuo, Yoji; Mori, Shigeo; Ikeda, Naoshi; Medrano, Felipe

    2017-07-01

    Phase relations in the pseudo-binary systems RFeO3-R2Ti2O7 (R: Lu, Ho and Dy), RGaO3-R2Ti2O7 (R: Lu and Er), LuAlO3-Lu2Ti2O7 and RAO3-R2Ti2O7 (R: Lu and Yb. A: Cr and Mn) at elevated temperatures in air were determined by means of a classic quenching method. There exist Lu(Fe1-xTix)O3+x/2, R(Ga1-xTix)O3+x/2 (R: Lu and Er) and Lu(Al1-xTix)O3+x/2 (2/3≤ x≤3/4) having the Yb(Fe1-xTix)O3+x/2-type of crystal structure (x=0.72, space group: R3m, a(Å)=17.9773 and c(Å)=16.978 as a hexagonal setting) in these pseudo binary systems. Eighteen compounds R(A1-xTix)O3+x/2 (R: Lu-Sm and Y, A: Fe, Ga and Al) were newly synthesized and their lattice constants as a hexagonal setting were measured by means of the X-ray powder diffraction method. The R occupies the octahedral site and both A and Ti does the trigonalbipyramidal one in these compounds. Relation between lattice constants for the rhombic R(A1-xTix)O3+x/2 and the monoclinic In(A1-xTix)O3+x/2 are as follows, ah≈5 x bm, ch≈3 x cm x sin β and am=31/2 x bm, where ah and ch are the lattice constants as a hexagonal setting for R(A1-xTix)O3+x/2 and am, bm, cm and β are those of the monoclinic In(A1-xTix)O3+x/2. Crystal structural relationships among α-InGaO3 (hexagonal, high pressure form, space group: P63/mmc), InGaO3 (rhombic, hypothetical), (RAO3)n(BO)m and RAO3(ZnO)m (R: Lu-Ho, Y and In, A: Fe, Ga, and Al, B: divalent cation element, m, n: natural number), the orthorhombic-and monoclinic In(A1-xTix)O3+x/2 (A: Fe, Ga, Al, Cr and Mn) and the hexagonal-and rhombic R(A1-xTix)O3+x/2 (R: Lu-Sm and Y, A: Fe, Ga and Al) are schematically presented. We concluded that the crystal structures of both the α-InGaO3 (high pressure form, hexagonal, space group: P63/mmc) and the hypothetical InGaO3 (rhombic) are the key structures for constructing the crystal structures of these compounds having the cations with CN=5.

  12. 76 FR 56694 - Approval and Promulgation of Air Quality Implementation Plans; California; Determinations of...

    Science.gov (United States)

    2011-09-14

    ... Stations (``SLAMS'') in the nonattainment area and entered into the EPA's Air Quality System (AQS) database... exceeds the requirements for the minimum number of SLAMS monitoring sites for all criteria pollutants, and... exceedances 3- General location Site (AQS ID) yr average 2008 2009 2010 2008-2010 LOS ANGELES COUNTY: East San...

  13. Serum concentrations of allergen-specific IgE in horses with equine recurrent airway obstruction and healthy controls assessed by ELISA.

    Science.gov (United States)

    Niedzwiedz, Artur; Jaworski, Zbigniew; Kubiak, Krzysztof

    2015-09-01

    Equine recurrent airway obstruction (RAO), also known as heaves, is one of the most common respiratory problems in older horses. When RAO-affected horses stay pastured or in a dust-free environment for a prolonged time, clinical signs as well as airway inflammation wane. A number of environmental, immunologic, infectious, and genetic factors play an important role in the pathogenesis of RAO, and the immunologic basis of this disease is still poorly understood. The aim of this study was to investigate the concentrations of allergen-specific IgE in the serum of horses suffering from RAO and healthy controls. The study included a group of 14 adult Polish Konik horses, kept in a standardized environment, and divided into 2 groups: 7 horses which did not have any respiratory problems comprised the control group and 7 horses with a history of RAO constituted the study group. A clinical and laboratory evaluation, endoscopic examination, and bronchoalveolar lavage (BAL) were performed in all horses. Sera of all horses were tested against allergens from 9 molds and 3 mites using the Heska Allercept assay. In the serologic tests, a statistically significant difference between both groups was found for specific IgE against mites, wherein Tyrophagus putrescentia correlated most clearly with RAO. There was no difference between groups for IgE specific against molds. On the basis of our observations and results, we conclude that RAO is associated with increased serum concentrations of specific serum IgE against mites, in particular T putrescentia. © 2015 American Society for Veterinary Clinical Pathology.

  14. Functional diversity through the mean trait dissimilarity: resolving shortcomings with existing paradigms and algorithms.

    Science.gov (United States)

    de Bello, Francesco; Carmona, Carlos P; Lepš, Jan; Szava-Kovats, Robert; Pärtel, Meelis

    2016-04-01

    While an increasing number of indices for estimating the functional trait diversity of biological communities are being proposed, there is a growing demand by ecologists to clarify their actual implications and simplify index selection. Several key indices relate to mean trait dissimilarity between species within biological communities. Among them, the most widely used include (a) the mean species pairwise dissimilarity (MPD) and (b) the Rao quadratic entropy (and related indices). These indices are often regarded as redundant and promote the unsubstantiated yet widely held view that Rao is a form of MPD. Worryingly, existing R functions also do not always simplify the use and differentiation of these indices. In this paper, we show various distinctions between these two indices that warrant mathematical and biological consideration. We start by showing an existing form of MPD that considers species abundances and is different from Rao both mathematically and conceptually. We then show that the mathematical relationship between MPD and Rao can be presented simply as Rao = MPD × Simpson, where the Simpson diversity index is defined as 1 - dominance. We further show that this relationship is maintained for both species abundances and presence/absence. This evidence dismantles the paradigm that the Rao diversity is an abundance-weighted form of MPD and indicates that both indices can differ substantially at low species diversities. We discuss the different interpretations of trait diversity patterns in biological communities provided by Rao and MPD and then provide a simple R function, called "melodic," which avoids the unintended results that arise from existing mainstream functions.

  15. Breaking wave impact forces on truss support structures for offshore wind turbines

    Science.gov (United States)

    Cieślikiewicz, Witold; Gudmestad, Ove T.; Podrażka, Olga

    2014-05-01

    Due to depletion of the conventional energy sources, wind energy is becoming more popular these days. Wind energy is being produced mostly from onshore farms, but there is a clear tendency to transfer wind farms to the sea. The foundations of offshore wind turbines may be truss structures and might be located in shallow water, where are subjected to highly varying hydrodynamic loads, particularly from plunging breaking waves. There are models for impact forces prediction on monopiles. Typically the total wave force on slender pile from breaking waves is a superposition of slowly varying quasi-static force, calculated from the Morison equation and additional dynamical, short duration force due to the impact of the breaker front or breaker tongue. There is not much research done on the truss structures of wind turbines and there are still uncertainties on slamming wave forces, due to plunging breaking waves on those structures. Within the WaveSlam (Wave slamming forces on truss structures in shallow water) project the large scale tests were carried out in 2013 at the Large Wave Flume in Forschungszentrum Küste (FZK) in Hannover, Germany. The following institutions participated in this initiative: the University of Stavanger and the Norwegian University of Science and Technology (project management), University of Gdańsk, Poland, Hamburg University of Technology and the University of Rostock, Germany and Reinertsen AS, Norway. This work was supported by the EU 7th Framework Programme through the grant to the budget of the Integrating Activity HYDRALAB IV. The main aim of the experiment was to investigate the wave slamming forces on truss structures, development of new and improvement of existing methods to calculate forces from the plunging breakers. The majority of the measurements were carried out for regular waves with specified frequencies and wave heights as well as for the irregular waves based on JONSWAP spectrum. The truss structure was equipped with both

  16. The Personalistic Pedagogy of Giorgio Agamben

    Science.gov (United States)

    Peterson, Thomas Erling

    2014-01-01

    Agamben's philosophy of education can be arrived at by focusing on the nexus of philology, philosophy and poetry that is prominent in his work. By exploring the functional and semantic reciprocity between these fields, one can identify diverse pedagogies: of language and the poetic voice, of infancy and history, of history redeemed (in the…

  17. Greenaway Kaana pulmas / Jaan Elken

    Index Scriptorium Estoniae

    Elken, Jaan, 1954-

    2009-01-01

    Peter Greenaway Paolo Veronese maalist "Kaana pulm" tehtud visioonist San Giorgio Maggiore kloostris Venezias ja Peter Greenaway esinemisest 3. 06. Projekti demonstreeriti sünkroonselt 53. Veneetsia biennaaliga

  18. A reply to the reviewer of "Totalitarismo, democrazia, etica pubblica. Scritti di filosofia morale, filosofia politica, etica"

    Directory of Open Access Journals (Sweden)

    Federico Sollazzo

    2013-03-01

    Full Text Available The author's reply to Giorgio Baruchello's review of the book Federico Sollazzo, Totalitarismo, democrazia, etica pubblica. Scritti di filosofia morale, filosofia politica, etica (Rome: Aracne, 2011

  19. Pilet mustvalgesse paradiisi ehk sügismood / Tanel Veenre

    Index Scriptorium Estoniae

    Veenre, Tanel, 1977-

    2009-01-01

    2009. a. juuli alguses toimunud kõrgmoe nädalast Pariisis. Giorgio Armani, Karl Lagerfeldi (Chanel), Christian Lacroix', John Galliano (Dior), Riccardo Tisci (Givenchy) ja Jean Paul Gaultier' kollektsioonidest

  20. DRIFT-FREE INDOOR NAVIGATION USING SIMULTANEOUS LOCALIZATION AND MAPPING OF THE AMBIENT HETEROGENEOUS MAGNETIC FIELD

    Directory of Open Access Journals (Sweden)

    J. C. K. Chow

    2017-09-01

    Full Text Available In the absence of external reference position information (e.g. surveyed targets or Global Navigation Satellite Systems Simultaneous Localization and Mapping (SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend, thus achieving a good balance between exploration and exploitation. Although vision-based systems like laser scanners are typically deployed for SLAM, these sensors are heavy, energy inefficient, and expensive, making them unattractive for wearables or smartphone applications. However, the concept of SLAM can be extended to non-optical systems such as magnetometers. Instead of matching features such as walls and furniture using some variation of the Iterative Closest Point algorithm, the local magnetic field can be matched to provide loop-closure and global trajectory updates in a Gaussian Process (GP SLAM framework. With a MEMS-based inertial measurement unit providing a continuous trajectory, and the matching of locally distinct magnetic field maps, experimental results in this paper show that a drift-free navigation solution in an indoor environment with millimetre-level accuracy can be achieved. The GP-SLAM approach presented can be formulated as a maximum a posteriori estimation problem and it can naturally perform loop-detection, feature-to-feature distance minimization, global trajectory optimization, and magnetic field map estimation simultaneously. Spatially continuous features (i.e. smooth magnetic field signatures are used instead of discrete feature correspondences (e.g. point-to-point as in conventional vision-based SLAM. These position updates from the ambient magnetic field also provide enough information for calibrating the accelerometer bias and gyroscope bias in-use. The only restriction for this method is the need for magnetic disturbances (which is typically not an issue for indoor environments; however

  1. Drift-Free Indoor Navigation Using Simultaneous Localization and Mapping of the Ambient Heterogeneous Magnetic Field

    Science.gov (United States)

    Chow, J. C. K.

    2017-09-01

    In the absence of external reference position information (e.g. surveyed targets or Global Navigation Satellite Systems) Simultaneous Localization and Mapping (SLAM) has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend, thus achieving a good balance between exploration and exploitation. Although vision-based systems like laser scanners are typically deployed for SLAM, these sensors are heavy, energy inefficient, and expensive, making them unattractive for wearables or smartphone applications. However, the concept of SLAM can be extended to non-optical systems such as magnetometers. Instead of matching features such as walls and furniture using some variation of the Iterative Closest Point algorithm, the local magnetic field can be matched to provide loop-closure and global trajectory updates in a Gaussian Process (GP) SLAM framework. With a MEMS-based inertial measurement unit providing a continuous trajectory, and the matching of locally distinct magnetic field maps, experimental results in this paper show that a drift-free navigation solution in an indoor environment with millimetre-level accuracy can be achieved. The GP-SLAM approach presented can be formulated as a maximum a posteriori estimation problem and it can naturally perform loop-detection, feature-to-feature distance minimization, global trajectory optimization, and magnetic field map estimation simultaneously. Spatially continuous features (i.e. smooth magnetic field signatures) are used instead of discrete feature correspondences (e.g. point-to-point) as in conventional vision-based SLAM. These position updates from the ambient magnetic field also provide enough information for calibrating the accelerometer bias and gyroscope bias in-use. The only restriction for this method is the need for magnetic disturbances (which is typically not an issue for indoor environments); however, no assumptions

  2. Where am I? Creating spatial awareness in unmanned ground ...

    Indian Academy of Sciences (India)

    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, ...

  3. ION INJECTION AT QUASI-PARALLEL SHOCKS SEEN BY THE CLUSTER SPACECRAFT

    International Nuclear Information System (INIS)

    Johlander, A.; Vaivads, A.; Khotyaintsev, Yu. V.; Retinò, A.; Dandouras, I.

    2016-01-01

    Collisionless shocks in space plasma are known to be capable of accelerating ions to very high energies through diffusive shock acceleration (DSA). This process requires an injection of suprathermal ions, but the mechanisms producing such a suprathermal ion seed population are still not fully understood. We study acceleration of solar wind ions resulting from reflection off short large-amplitude magnetic structures (SLAMSs) in the quasi-parallel bow shock of Earth using in situ data from the four Cluster spacecraft. Nearly specularly reflected solar wind ions are observed just upstream of a SLAMS. The reflected ions are undergoing shock drift acceleration (SDA) and obtain energies higher than the solar wind energy upstream of the SLAMS. Our test particle simulations show that solar wind ions with lower energy are more likely to be reflected off the SLAMS, while high-energy ions pass through the SLAMS, which is consistent with the observations. The process of SDA at SLAMSs can provide an effective way of accelerating solar wind ions to suprathermal energies. Therefore, this could be a mechanism of ion injection into DSA in astrophysical plasmas

  4. UNESCO - Tallinnu / Maksim Shmeljov

    Index Scriptorium Estoniae

    Shmeljov, Maksim

    2006-01-01

    UNESCO maailmapärandi esindaja professor Giorgio Piccinato hoiatab, et Viru hotelli juurdeehitus ja Skone bastioni erastamine võivad kaasa tuua Tallinna vanalinna maailmapärandi nimistust väljaarvamise

  5. Disainikaart : Itaalia / Eve Arpo

    Index Scriptorium Estoniae

    Arpo, Eve

    2009-01-01

    Itaalia disaineritest, disainifirmadest, arhitektidest. Renzo Piano (1937), Aldo Rossi (1931-1997), Alessandro Mendini (1931), Giorgio de Chirico (1888-1978), Federico Fellini (1920-1993), Gaetano Pesce, Ferrari, Alessi, Dolce & Gabbana, Artemide

  6. Nondestructive testing of thermocompression bonds. Final report

    International Nuclear Information System (INIS)

    Hale, G.M.

    1981-02-01

    A Scanning Laser Acoustic Microscope (SLAM) was used to characterize hybrid microcircuit beam lead bonds formed on thin film networks by a thermocompression process. Results from subsequent pull testing show that the SLAM offered no significant advantage over visual inspection for detecting bad bonds. Infrared microscopy and resistance measurements were also reviewed and rejected as being ineffective inspection methods

  7. Filosoofia silmitsi kriisiga / Klaus Heimes ; saksa keelest tõlkinud Peeter Helme

    Index Scriptorium Estoniae

    Heimes, Klaus

    2007-01-01

    Giorgio Agambeni teooriast riigi olemuse kohta tema teoste põhjal: "Homo Sacer" (1995), "Quel che resta di Auschwitz" ("See, mis jääb Auschwitzist", 1998), "Stato di eccezione" ("Eriolukord", 2003)

  8. Non-Pilot-Aided Sequential Monte Carlo Method to Joint Signal, Phase Noise, and Frequency Offset Estimation in Multicarrier Systems

    Directory of Open Access Journals (Sweden)

    Christelle Garnier

    2008-05-01

    Full Text Available We address the problem of phase noise (PHN and carrier frequency offset (CFO mitigation in multicarrier receivers. In multicarrier systems, phase distortions cause two effects: the common phase error (CPE and the intercarrier interference (ICI which severely degrade the accuracy of the symbol detection stage. Here, we propose a non-pilot-aided scheme to jointly estimate PHN, CFO, and multicarrier signal in time domain. Unlike existing methods, non-pilot-based estimation is performed without any decision-directed scheme. Our approach to the problem is based on Bayesian estimation using sequential Monte Carlo filtering commonly referred to as particle filtering. The particle filter is efficiently implemented by combining the principles of the Rao-Blackwellization technique and an approximate optimal importance function for phase distortion sampling. Moreover, in order to fully benefit from time-domain processing, we propose a multicarrier signal model which includes the redundancy information induced by the cyclic prefix, thus leading to a significant performance improvement. Simulation results are provided in terms of bit error rate (BER and mean square error (MSE to illustrate the efficiency and the robustness of the proposed algorithm.

  9. Browse Author Index

    African Journals Online (AJOL)

    Items 51 - 100 of 141 ... A B C D E F G H I J K L M N O P Q R S T U V W X Y Z All. R. Ramírez-León, A · Ramin, M · Ramirez-Mares, Marco Vinicio · Ramlagan, S · Ramzi, M · Ran, Afou · Rana, M · Rankoana, Sejabaledi Agnes · Rao, K · Rao, Nadendla Rama · Rao, USM · Ras, Sari Abu · Rashid, AZM Manzoor · Raval, SK

  10. An Analysis of the Best Available Unmanned Ground Vehicle in the Current Market with Respect to the Requirements of the Turkish Ministry of National Defense

    Science.gov (United States)

    2011-12-01

    Joint Robotics Program KPP Key Performance Parameter LIDAR Light Detection and Ranging LOA Level of Autonomy LOS Line of Sight LUGV Large...RSTA Reconnaissance, Surveillance, and Target Acquisition SA Situational Awareness SLAM Simultaneous Localization and Mapping SME Small and...mobility. (p. 51) The navigation module uses algorithms, such as Simultaneous Localization and Mapping ( SLAM ), to learn a “map” of its environment and

  11. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

    Directory of Open Access Journals (Sweden)

    Tianhong Yan

    2011-11-01

    Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  12. Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

    Science.gov (United States)

    He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

    2011-01-01

    This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  13. Samaja bolshaja stroiploshtshadka v Estonii / Konstantin Morenko

    Index Scriptorium Estoniae

    Morenko, Konstantin

    2004-01-01

    Tallinna linnavalitsus korraldas ümarlaua linna rannaalade hetkeseisu ja arenguvõimaluste hindamiseks, mille töös osalesid ka Euroopa tuntud linnaplaneerimise konsultandid. Arvamust avaldavad Peep Aaviksoo, Lutz Schleich, Giorgio Risicaris ja Stefan Boltz

  14. Vtoraja zhizn klassiki estonskogo kinematografa / Tiit Tuumalu

    Index Scriptorium Estoniae

    Tuumalu, Tiit, 1971-

    2006-01-01

    Oskar Lutsu jutustuse järgi valminud mängufilm "Kevade" restaureeriti ja digitaliseeriti Soomes Digital Film Finland poolt, restauraator Giuseppe di Giorgio. Lisatud nimekiri "Taastamise ootel" filmidest, mis "Eesti film 100" raames restaureerimist ootavad

  15. SU-F-T-197: Investigating Optimal Oblique-Beam Arrangement for Bilateral Metallic Prosthesis Prostate Cancer in Pencil Beam Scanning Proton Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Rana, S; Tesfamicael, B; Park, S [McLaren Proton Therapy Center, Karmanos Cancer Institute at McLaren-Flint, Flint, MI (United States); Zheng, Y; Singh, H; Twyford, T [Procure Proton Therapy Center, Oklahoma City, OK (United States); Cheng, C [Vantage Oncology, West Hills, CA (United States)

    2016-06-15

    Purpose: The main purpose of this study is to investigate the optimum oblique-beam arrangement for bilateral metallic prosthesis prostate cancer treatment in pencil beam scanning (PBS) proton therapy. Methods: A computed tomography dataset of bilateral metallic prosthesis prostate cancer case was selected for this retrospective study. A total of four beams (rightanterior- oblique [RAO], left-anterior-oblique [LAO], left-posterior-oblique [LPO], and right-posterior-oblique [RPO]) were selected for treatment planning. PBS plans were generated using multi-field-optimization technique for a total dose of 79.2 Gy[RBE] to be delivered in 44 fractions. Specifically, five different PBS plans were generated based on 2.5% ± 2 mm range uncertainty using five different beam arrangements (i)LAO+RAO+LPO+RPO, (ii)LAO+RAO, (iii)LPO+RPO, (iv)RAO+LPO, and (v)LAO+RPO. Each PBS plan was optimized by applying identical dose-volume constraints to the PTV, rectum, and bladder. Treatment plans were then compared based on the dose-volume histograms results. Results: The PTV coverage was found to be greater than 99% in all five plans. The homogeneity index (HI) was found to be almost identical (range, 0.03–0.04). The PTV mean dose was found to be comparable (range, 81.0–81.1 Gy[RBE]). For the rectum, the lowest mean dose (8.0 Gy[RBE]) and highest mean dose (31.1 Gy[RBE]) were found in RAO+LAO plan and LPO+RPO plan, respectively. LAO+RAO plan produced the most favorable dosimetric results of the rectum in the medium-dose region (V50) and high-dose region (V70). For the bladder, the lowest (5.0 Gy[RBE]) and highest mean dose (10.3 Gy[RBE]) were found in LPO+RPO plan and RAO+LAO plan, respectively. Other dosimetric results (V50 and V70) of the bladder were slightly better in LPO+RPO plan than in other plans. Conclusion: Dosimetric findings from this study suggest that two anterior-oblique proton beams arrangement (LAO+RAO) is a more favorable option with the possibility of reducing rectal

  16. Model simulation of storm surge potential for Andaman islands

    Digital Repository Service at National Institute of Oceanography (India)

    Kumar, V.S.; RameshBabu, V.; Babu, M.T.; Dhinakaran, G.; Rajamanickam, G.V.

    Hydraulics and Oceanography, the Hydrodynamics Module Reference Manual. DHI Water and Environment, Horsholm, Denmark, 58 p. Dube, S.K., Sinha, P C , Rao, A.D., and Rao, G.S., 1985. Numerical modeling of storm surges in the Arabian Sea, Appl. Math Modelling, 9...

  17. Fe speciation and Fe/Al ratio in the sediments of southeastern Arabian Sea as an indicator of climate change

    Digital Repository Service at National Institute of Oceanography (India)

    Pattan, J.N.; Parthiban, G.; Gupta, S.M.; Mir, I.A.

    the delivery of dissolved Fe into the Arabian Sea. Some part of the dissolved iron in the continental shelf has been 8 used in the formation of authigenic verdine and glaucony mineral grains (Rao et al., 1993; Thamban and Rao, 2000). The remaining part...

  18. The Twelfth Indian Scientific Expedition to Antarctica: Events and achievements

    Digital Repository Service at National Institute of Oceanography (India)

    Dhargalkar, V.K.

    Chief Minister of Goa on 5 December 1992 at 1945 hours. Other dignitories present on the occasion were Shri Simon D'Souza, Dy. Speaker, Goa Assembly, Dr. P. Rama Rao, Secretary, Shri J.V.R. Prasad Rao, Jt Secretary, Department of Ocean Development, New...

  19. Thermal Cycle Annealing and its Application to Arsenic-Ion Implanted HgCdTe

    Science.gov (United States)

    2014-06-26

    Rao Mulpuri Sina Simingalam, Priyalal Wijewarnasuriya, Mulpuri V. Rao 1720BH c. THIS PAGE The public reporting burden for this collection of...Implanted HgCdTe Sina Simingalama,b,c, Priyalal Wijewarnasuriyab, Mulpuri V. Raoc a. School of Physics, Astronomy and Computational Sciences, George

  20. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 13; Issue 8. Fermion Number Fractionization. Kumar Rao Narendra Sahu Prasanta K ... Author Affiliations. Kumar Rao1 Narendra Sahu1 Prasanta K Panigrahi1. Theoretical Physics Division, Physical Research Laboratory, Ahmedabad 380 009, India ...

  1. An investigation on weld quality characteristics of pulsed current ...

    African Journals Online (AJOL)

    user

    generally defined as an iron alloy containing a minimum of 12 wt. ... When steel is held at critical temperature range (600-800 °C) chromium precipitates out of the matrix and forms chrome carbides ..... Prasad K.S., Rao C.S., Rao D.N., 2011a.

  2. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. Durgesh D Rao. Articles written in Resonance – Journal of Science Education. Volume 3 Issue 7 July 1998 pp 61-70 General Article. Machine Translation - A Gentle Introduction · Durgesh D Rao · More Details Fulltext PDF ...

  3. Marketing Information Products and Services : A Primer for ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    Marketing Information Products and Services : A Primer for Librarians and Information Professionals. Couverture du livre Marketing Information Products and Services : A Primer for Librarians and Information Professionals. Directeur(s) : Abhinandan K. Jain, Ashok Jambhekar, T.P.Rama Rao et S. Sreenivas Rao. Maison(s) ...

  4. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. U R Rao. Articles written in Resonance – Journal of Science Education. Volume 6 Issue 12 December 2001 pp 10-18 General Article. Vikram Sarabhai, the Scientist · U R Rao · More Details Fulltext PDF ...

  5. Basement configuration of Visakhapatnam - Paradip continental margin from inversion of magnetic anomalies

    Digital Repository Service at National Institute of Oceanography (India)

    Rao, M.M.M.; Rao, S.J.; Venkateswarlu, K.; Murthy, K.S.R.; Murthy, I.V.R.; Subrahmanyam, A.S.

    . References 1 Curray J R, Emmel F J, Moore D G & Raitt R W, in: Ocean basins and margins, 6 (Plenum, New York) 1982, pp. 399-450. 2 Rao T C S & Murthy K S R, Magnetic surveys over the con- tinental shelf off Visakhapatnam, Mahasagar - Bull Nat Inst... Visakhapatnam, east coast of India, Indian J Earth Sci, 14(1987) 109-113. 8 Murthy K S R, Rao M M M, Rao T C S & Subrahmanyam A S, A comparative study of Werner deconvolution and con- ventional modelling of marine magnetic data, Geophy Res Bull, 25(1987) 152...

  6. B J Rao, TIFR, Mumbai

    Indian Academy of Sciences (India)

    admin

    With the knowledge of discrete spatial chromosome territory organization within interphase nuclei, our current studyinvestigates the effect of DNA damage at the whole chromosome level. DNA damage,in a dose dependent manner,indeed induces a spatial repositioning of chromosomes specifically with higher gene density.

  7. Angiographic Assessment of the Right Hepatic Artery for Encasement by Hilar Cholangiocarcinoma: Comparison Between Antero-Posterior and Right Anterior Oblique Projections

    International Nuclear Information System (INIS)

    Furukawa, Hiroyoshi; Iwata, Ryoko; Moriyama, Noriyuki

    2001-01-01

    Purpose: To evaluate the usefulness of right anterior oblique (RAO) arteriography for evaluating encasement of the right hepatic artery (RHA) by hilar cholangiocarcinoma.Methods: Celiac arteriography was performed in both the antero-posterior (AP) and RAO projection in ten patients with cholangiocarcinoma. The lengths of the arteries between the bifurcation of the anterior and posterior branch of the liver and the following points were measured: (a) the bifurcation of the left and right hepatic artery (AP-LR), (b) the bifurcation of the proper hepatic artery and the gastroduodenal artery (AP-PG). Additionally, image quality in investigating the invasion of the RHA was evaluated.Results: On the AP images, the average lengths of AP-LR and AP-PG were 24.5 ± 5.1 mm and 30.0 ± 4.9 mm, respectively. On RAO images, the lengths were 28.2 ± 4.6 mm and 32.7 ± 4.8 mm, respectively. Every length was different between the two projections (p < 0.01). In 6 of 10 patients with hilar cholangiocarcinoma, images in RAO projections were superior to AP images for evaluation of encasement.Conclusion: We conclude that angiography obtained in the RAO projection yields images that are superior to those obtained in the conventional AP projection for assessment of RHA encasement

  8. "Teisele poole" Agambeniga ja Agambenita / Ragne Nukk

    Index Scriptorium Estoniae

    Nukk, Ragne, 1984-

    2012-01-01

    Tallinna Fotokuu rahvusvahelise fotonäituse "Teisele poole" ideeliste lähtekohtade tõlgendamisest. Autor kõrvutab Adam Budaki kuraatornäituse aluseks olnud Giorgio Agambeni esseed „Viimne kohtupäev“ näitusel eksponeeritud piltidega

  9. Dynamic Data Driven Applications Systems (DDDAS)

    Science.gov (United States)

    2013-03-06

    detected Level 1 (L1) sensors: PIR & Piezoelectric Level 2 (L2) sensor: Overhead camera (UAV) Level 1.1 sensor: LIDAR Dynamic Influence Diagram ID1...Effects of Porous Shape Memory Alloys • Bayesian Computational Sensor Networks for Aircraft Structural Health Monitoring • Fluid SLAM and the Robotic...Structural Health Monitoring – PI: Thomas Henderson, U. of Utah • Fluid SLAM and the Robotic Reconstruction of Localized Atmospheric Phenomena – PI

  10. Vision Aided Inertial Navigation System Augmented with a Coded Aperture

    Science.gov (United States)

    2011-03-24

    GPS IMU INS LlDAR MAV MITE OTF PDF PSD PSF PVA SIFT SLAM List of Abbreviations Description Two Dimensional Three Dimensional Four...mapping ( SLAM ) [31]. A single image from a traditional camera provides heading information from the camera to a landmark, constraining the possible...through use of light detection and ranging ( LIDAR ) [3]. Laser range scanners emit light in a given direction and measure properties of the light

  11. Handheld Synthetic Array Final Report, Part A

    Science.gov (United States)

    2014-12-01

    Arrival UWB Ultra Wideband WiFi Wireless Fidelity WLAN Wireless Local Access Network Variables used variable description 0:tbel x Posterior pdf...technology has obvious application for military based personal and asset location. Differences will be that the wireless signals of opportunity that can...143 Chapter 2. Overview of the SLAM algorithm for SGL – This chapter describes the SLAM algorithm as applicable to the SGL problem. The general

  12. Journal of Astrophysics and Astronomy | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Astrophysics and Astronomy. N. Kameswara Rao. Articles written in Journal of Astrophysics and Astronomy. Volume 26 Issue 2-3 June-September 2005 pp 331-338. High Resolution Stellar Spectroscopy with VBT Echelle Spectrometer · N. Kameswara Rao S. Sriram K. Jayakumar F. Gabriel.

  13. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. G Venkateswara Rao. Articles written in Sadhana. Volume 25 Issue 4 August 2000 pp 367-380. Nonlinear oscillations of laminated plates using an accurate four-node rectangular shear flexible material finite element · Gajbir Singh G Venkateswara Rao · More Details Abstract Fulltext PDF.

  14. Journal of Earth System Science | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Earth System Science. G Sasibhushana Rao. Articles written in Journal of Earth System Science. Volume 116 Issue 5 October 2007 pp 407-411. GPS satellite and receiver instrumental biases estimation using least squares method for accurate ionosphere modelling · G Sasibhushana Rao.

  15. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. A R Rao. Articles written in Resonance – Journal of Science Education. Volume 6 Issue 1 January 2001 pp 28-41 General Article. The Football - From Euclid to Soccer it is... A R Rao · More Details Fulltext PDF ...

  16. Journal of Chemical Sciences | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Chemical Sciences. B Jayachander Rao. Articles written in Journal of Chemical Sciences. Volume 119 Issue 5 September 2007 pp 401-407. Reactive chemical dynamics through conical intersections · S Ghosal B Jayachander Rao S Mahapatra · More Details Abstract Fulltext PDF. Reaction ...

  17. Peter Greenaway klaarib kunstiajalooga arveid / Johannes Saar

    Index Scriptorium Estoniae

    Saar, Johannes, 1965-

    2009-01-01

    Peter Greenaway multimeediainstallatsioon seeriast "Üheksa klassikalist maali" Paolo Veronese maalist "Kaana pulm" San Giorgio Maggiore kloostris Venezias 6. juunist 13. septembrini. Kloostri söögisaali otsaseinal on Paolo Veronese maali "Kaana pulm" 2007. a. valminud koopia

  18. Untitled

    Indian Academy of Sciences (India)

    Syriaca and Crété (1950) Linum variation of Solanad type of embryo develop- ment in Asclepias curassavica. Rao and Rao (1954) published an account of male and female gametophytes, endosperm and embryo development in. Cryptostegia grandiflora and Caralluma attenuata. Biswas (1957) studied the embryology of ...

  19. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. G Srinivasa Rao. Articles written in Sadhana. Volume 40 Issue 2 April 2015 pp 395-410 Electrical and Computer Sciences. Parametric based morphological transformation for contrast enhancement of color images in poor-lighting · Atluri Srikrishna M Pompapathi G Srinivasa Rao · More Details ...

  20. Proceedings – Mathematical Sciences | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Proceedings – Mathematical Sciences. B V Rao. Articles written in Proceedings – Mathematical Sciences. Volume 116 Issue 1 February 2006 pp 83-96. On Characterisation of Markov Processes Via Martingale Problems · Abhay G Bhatt Rajeeva L Karandikar B V Rao · More Details Abstract Fulltext PDF.

  1. concentrations, two light regimes of in vitro rooting and ...

    African Journals Online (AJOL)

    PRECIOUS

    2009-11-16

    Nov 16, 2009 ... Mahmood AW (1998). Viability of Planting Teak and Sentang in. Malaysia. Forest Research Institute Malaysia. pp. 23-27. Lee SK, Rao AN (1981). In vitro plantlets development in tropical trees-. Calophyllum inophyllum and Eugenia grandis. In. Tissue culture of economically important plants. Rao AN (ed.).

  2. Valitsuseta jäänud Itaalias jätkub poliitiline karneval / Ülle Toode

    Index Scriptorium Estoniae

    Toode, Ülle, 1969-

    2008-01-01

    Itaalia president Giorgio Napolitano seisab valiku ees: kas riigis tulevad uued valimised või moodustatakse kõigepealt piiratud volitustega vahevalitsus. Ennetähtaegsetel valimistel võidaks tõenäoliselt Silvio Berlusconi parempoolne blokk. Lisa: Berlusconit ootab uus kohtuasi

  3. Carotid ultrasonographic and brain computerized tomographic findings in patients with vascular ocular syndromes

    Energy Technology Data Exchange (ETDEWEB)

    Iwamoto, Toshihiko; Matsushima, Chikage; Shimizu, Souichirou; Takasaki, Masaru; Iwasaki, Takuya; Usui, Masahiko [Tokyo Medical Coll. (Japan)

    2002-02-01

    To clarify the characteristics of cerebrovascular lesions in subtypes of vascular ocular syndrome, including amaurosis fugax (AF), retinal artery occlusion (RAO), and retinal vein occlusion (RVO), 93 patients with vascular ocular syndrome were studied by means of carotid ultrasonography (US) and brain computerized tomography (CT). The subjects comprised 21 patients with AF, 37 with RAO, and 35 with RVO who were sequentially given these diagnoses by the department of ophthalmology. On the basis of US findings, carotid lesions were defined as the presence of plaque or stenotic changes. CT findings were assessed for the presence and distribution of low-density areas (LDAs). Mean age was similar in each group, ranging from 64.5 to 67.4 years. The RAO group had high rates of men, hypertension, and smokers. US showed that the prevalence of carotid lesions ipsilateral to the affected eye was high in the RAO group and that severe stenosis and ulcerated plaque were present in 28.6% of the AF group and 45.9% of the RAO group. On CT examination, cerebral infarctions appeared as LDAs in about 10% of the patients in each group, and the incidence and distribution of LDAs were similar. Of 13 patients with cerebral infarction, only 2 were presumably due to carotid lesions; the others had a variety of causes. The discrepancy between US and CT findings was attributed to the small number of patients with cerebral infarction, since most patients had visual defects as an initial symptom. Our results suggest that extracranial carotid lesions, considered to be a major risk factor for stroke, should be carefully assessed in patients with AF or RAO to prevent further stroke. (author)

  4. Do antidepressants increase the risk of mania and bipolar disorder in people with depression? A retrospective electronic case register cohort study

    OpenAIRE

    Patel, Rashmi; Reiss, Peter; Shetty, Hitesh; Broadbent, Matthew; Stewart, Robert; McGuire, Philip; Taylor, Matthew

    2015-01-01

    Objectives To investigate the association between antidepressant therapy and the later onset of mania/bipolar disorder.Design Retrospective cohort study using an anonymised electronic health record case register.Setting South London and Maudsley National Health Service (NHS) Trust (SLaM), a large provider of inpatient and community mental healthcare in the UK.Participants 21 012 adults presenting to SLaM between 1 April 2006 and 31 March 2013 with unipolar depression.Exposure Prior antidepres...

  5. Real-Time NDE Using Multi-Function Robotic Sonoscope (MSRF)

    Science.gov (United States)

    1991-12-31

    was caused by a 0.16 Xc impacto - a"L a s?eed of 6-7 m/s. The field of view is 45 ran x 2 6 mm Mass 0.16 Kg Velocity = 6.70 m...3J tic . (c) SLAM inage of Specimen C3. ?ig. 6 (c) SLAM irrage of Scecimer. C^ 3£ 0 1 2 3 4 5 6 7 8 9 10 *! T ±± 12 13

  6. (DCT-FY08) Target Detection Using Multiple Modality Airborne and Ground Based Sensors

    Science.gov (United States)

    2013-03-01

    resolution SIFT grids in metric-topological SLAM ,” in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition, 2009. [4] M. Bosse and R...single camera SLAM ,” IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, no. 6, pp. 1052–1067, 2007. [7] D. Nister, O. Naroditsky, and J. Bergen...segmentation with ground-based and airborne LIDAR range data,” in Proceedings of the Fourth International Symposium on 3D Data Processing

  7. Coordinating a Team of Robots for Urban Reconnaisance

    Science.gov (United States)

    2010-11-01

    this local map. This task is performed by the mapping and estimation module using a SLAM solution. This module uses scan matching on LIDAR data to...the map of the world. LIDAR data provides knowledge about the open space, obstacles and unknown regions around each robot. The exploration planner...requires the use of Simultaneous Localization and Mapping ( SLAM ) to robustly compute the relative positions of each robot. Our robots rely on their

  8. The missing evaluation codes from order domain theory

    DEFF Research Database (Denmark)

    Andersen, Henning Ejnar; Geil, Olav

    The Feng-Rao bound gives a lower bound on the minimum distance of codes defined by means of their parity check matrices. From the Feng-Rao bound it is clear how to improve a large family of codes by leaving out certain rows in their parity check matrices. In this paper we derive a simple lower...... generalized Hamming weight. We interpret our methods into the setting of order domain theory. In this way we fill in an obvious gap in the theory of order domains. The improved codes from the present paper are not in general equal to the Feng-Rao improved codes but the constructions are very much related....

  9. Spi2 gene polymorphism is not associated with recurrent airway obstruction and inflammatory airway disease in thoroughbred horses

    Directory of Open Access Journals (Sweden)

    Aline Correa da Silva

    2011-01-01

    Full Text Available The aim was to detect the presence of polymorphisms at exons 1, 2, 3 and 4 of the Spi2 gene, and evaluate a possible association between them and recurrent airway obstruction (RAO or inflammatory airway disease (IAD in thoroughbred horses, through single-strand conformational-polymorphism (SSCP screening. Although polymorphism was not detected in exons 1, 2 and 3, three alleles and six genotypes were identified in exon 4. The frequencies of allele A (0.6388 and genotype AA (0.3888 were higher in horses affected by RAO, although no association was found between polymorphism and horses with either RAO or IAD.

  10. Determining large deflections in rectangular combined loaded ...

    Indian Academy of Sciences (India)

    (Bisshopp & Drucker 1945; Scott et al 1955; Lau 1982; Rao & Rao 1986; Baker 1993; Lee et al 1993; Frisch-Fay 1962; Fertis 1999). Prathap and Varadan (1976) had calculated large deflections in cantilever beams made of non-linear Ramberg–Osgood type material on which concentrated load effected on the free end.

  11. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. Sudhakar M Rao. Articles written in Resonance – Journal of Science Education. Volume 12 Issue 5 May 2007 pp 37-40 General Article. Reverse Osmosis · Sudhakar M Rao · More Details Fulltext PDF. Volume 16 Issue 12 December 2011 pp 1333-1336.

  12. Fermi–Dirac Statistics

    Indian Academy of Sciences (India)

    Subhash Chaturvedi1 Shyamal Biswas2. School of Physics University of Hyderabad C R Rao Road, Gachibowli Hyderabad 500 046, India. University of Hyderabad C R Rao Road, Gachibowli Hyderabad 500 046, India. Resonance – Journal of Science Education. Current Issue : Vol. 23, Issue 4 · Current Issue Volume 23 ...

  13. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. K Veerabhadra Rao. Articles written in Sadhana. Volume 25 Issue 1 February 2000 pp 37-43. A study of correlation technique on pyramid processed images · M Sankar Kishore K Veerabhadra Rao · More Details Abstract Fulltext PDF. The pyramid algorithm is potentially a powerful tool for ...

  14. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. PATTABHI R K RAO. Articles written in Sadhana. Volume 43 Issue 2 February 2018 pp 27. Enhancing multi-document summarization using concepts · PATTABHI R K RAO S LALITHA DEVI · More Details Abstract Fulltext PDF. In this paper we propose a methodology to mine concepts from ...

  15. 76 FR 47275 - Postal Service Initiative on Retail Postal Locations

    Science.gov (United States)

    2011-08-04

    .... Id. The RAO initiative applies to postal retail facilities across the country, without limit to geography or population, and is driven by Headquarters. The Commission finds that because the Postal Service... be applied in the RAO initiative. Id. at 19-23. \\3\\ See 39 CFR Part 241. The Request and all...

  16. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education. Rama Rao Nadendla. Articles written in Resonance – Journal of Science Education. Volume 9 Issue 5 May 2004 pp 51-60 General Article. Molecular Modeling: A Powerful Tool for Drug Design and Molecular Docking · Rama Rao Nadendla · More Details Fulltext ...

  17. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. B R Shrinivasa Rao. Articles written in Sadhana. Volume 40 Issue 2 April 2015 pp 515-535 Mechanical Sciences. Prediction models for performance and emissions of a dual fuel CI engine using ANFIS · A Adarsh Rai P Srinivasa Pai B R Shrinivasa Rao · More Details Abstract Fulltext PDF.

  18. History | About IASc | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    O. Siddiqi; 1989 - 1991: Prof. C. N. R. Rao; 1992 - 1994: Prof. R. Narasimha; 1995 - 1997: Prof. P. Rama Rao; 1998 - 2000: Prof. N. Kumar; 2001 - 2003: Dr K. Kasturirangan; 2004 - 2006: Prof. T. V. Ramakrishnan; 2007 - 2009: Prof. D. Balasubramanian; 2010 - 2012: Prof. A. K. Sood; 2013 - 2015: Prof. Dipankar Chatterji ...

  19. Journal of Biosciences | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Biosciences. Shobha Rao. Articles written in Journal of Biosciences. Volume 26 Issue 4 November 2001 pp 481-489. Nutritional status of the Indian population · Shobha Rao · More Details Abstract Fulltext PDF. High prevalence of low birth weight, high morbidity and mortality in children and poor ...

  20. Journal of Genetics | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    VEENA RAO. Articles written in Journal of Genetics. Volume 96 Issue 5 November 2017 pp 717-717 Haldane at 125. Preface · Partha P. Majumder Vidyanand Nanjundiah Veena Rao · More Details Abstract Fulltext PDF. Volume 96 Issue 5 November 2017 pp 765-772 HALDANE AT 125. Haldane's view of natural selection.

  1. Untitled

    Indian Academy of Sciences (India)

    Karady G, Rogers P 1985 Sadhana 8:135-145. MaassMM, Hufschmidt A, Dorfman R, Thomas HA, Marglin SA, Fair GM 1962 Design ofwater resources systems (Cambridge, Massachusetts. Harvard University Press). Rao PS, Ramaseshan S 1985a Sadhana 8: 179–206. Rao PS, Ramaseshan S 1985b Sadhana 8: 206– ...

  2. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

    OpenAIRE

    Niu, Xiaoji; Yu, Tong; Tang, Jian; Chang, Le

    2017-01-01

    Multisensors (LiDAR/IMU/CAMERA) integrated Simultaneous Location and Mapping (SLAM) technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time) version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling f...

  3. Copernican Revolution in the Complex Plane

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 17; Issue 11. Copernican Revolution in the Complex Plane - An Algebraic Way to Show the "Chief Point" of Copernican Innovation. Giorgio Goldoni. General Article Volume 17 Issue 11 November 2012 pp 1065-1084 ...

  4. Starõi gorod mogut iskljutshit iz spiska mirovogo nasledija / Maret Olvet

    Index Scriptorium Estoniae

    Olvet, Maret

    2006-01-01

    UNESCO maailmapärandi komitee eksperdi Giorgio Piccinato hinnang kritiseerib Tallinna linnaplaneerimist, sealjuures Viru hotelli juurdeehitust vanalinna vahetus läheduses ning bastionide ja linnamüüri kasutamist. Kommenteerib Jaan Tamm. Tallinna ähvardab UNESCO maailmapärandi linnade nimekirjast kustutamine

  5. Starõi gorod pod ugrozoi

    Index Scriptorium Estoniae

    2006-01-01

    UNESCO maailmapärandi komitee eksperdi Giorgio Piccinato hinnang kritiseerib Tallinna linnaplaneerimist, sealjuures Viru hotelli juurdeehitust vanalinna vahetus läheduses ning bastionide ja linnamüüri kasutamist. Kommenteerib Jaan Tamm. Tallinna ähvardab UNESCO maailmapärandi linnade nimekirjast kustutamine

  6. Casa Vasari : Een villa suburbana in Arezzo

    NARCIS (Netherlands)

    Kuiper, Yme

    2016-01-01

    Giorgio Vasari (1511-1574), the famous painter, architect and biographer of the artists of the Italian Renaissance, designed a villa suburbana, built in Arezzo (Tuscany) in 1540. Peter Burke's 'Culture and Society in Renaissance Italy' (1972) is modeern collective biography of Vasari's artists.

  7. Outlier Detection in GNSS Pseudo-Range/Doppler Measurements for Robust Localization

    Directory of Open Access Journals (Sweden)

    Salim Zair

    2016-04-01

    Full Text Available In urban areas or space-constrained environments with obstacles, vehicle localization using Global Navigation Satellite System (GNSS data is hindered by Non-Line Of Sight (NLOS and multipath receptions. These phenomena induce faulty data that disrupt the precise localization of the GNSS receiver. In this study, we detect the outliers among the observations, Pseudo-Range (PR and/or Doppler measurements, and we evaluate how discarding them improves the localization. We specify a contrario modeling for GNSS raw data to derive an algorithm that partitions the dataset between inliers and outliers. Then, only the inlier data are considered in the localization process performed either through a classical Particle Filter (PF or a Rao-Blackwellization (RB approach. Both localization algorithms exclusively use GNSS data, but they differ by the way Doppler measurements are processed. An experiment has been performed with a GPS receiver aboard a vehicle. Results show that the proposed algorithms are able to detect the ‘outliers’ in the raw data while being robust to non-Gaussian noise and to intermittent satellite blockage. We compare the performance results achieved either estimating only PR outliers or estimating both PR and Doppler outliers. The best localization is achieved using the RB approach coupled with PR-Doppler outlier estimation.

  8. Sugli studi medievali e il mutamento digitale On the medieval studies and the digital change

    Directory of Open Access Journals (Sweden)

    Redazione Reti Medievali (a cura di

    2004-12-01

    Full Text Available

    La sezione raccoglie tre brevi comunicazioni, tenute nell’ambito del seminario Medium-Evo. Gli studi medievali e il mutamento digitale (Firenze, 2001 e dedicate rispettivamente ai periodici e alle forme di comunicazione del sapere (Giorgio Chittolini, al problema del reperimento delle risorse e della repertoriazione delle fonti (Paolo Delogu, ai contraccolpi dell’uso del mezzo informatico sulla scrittura della storia (Giuseppe Sergi.

    This section includes three short papers - presented at the seminar on Medium-Evo. Gli studi medievali e il mutamento digitale (Firenze, 2001 (Medium-Evo. Medieval studies and the digital change - which are respectively focused on periodicals, different types of learning communication (Giorgio Chittolini, problems linked to document searching and filing (Paolo Delogu, backlashes  coming from the use of computer in writing history (Giuseppe Sergi.

  9. Conoscere Fermi nel centenario della nascita : 29 settembre 1901 - 2001

    CERN Document Server

    Bonolis, Luisa

    2001-01-01

    Il lavoro scientifico di Fermi riguarda molti campi disparati, ciascuno dei quali ha avuto uno sviluppo peculiare in tempi successivi alla morte. In questo volume un certo numero di specialisti contemporanei di ciascun settore espone in forma semplice l'idea originaria e la sua successiva evoluzione. INDICE. Carlo Bernardini, "Introduzione"; Giorgio Salvini, "Enrico Fermi. La sua vita, ed un commento alla sua opera"; Edoardo Amaldi, "Commemorazione del Socio Enrico Fermi"; Enrico Persico, "Commemorazione di Enrico Fermi"; Franco Rasetti, "Enrico Fermi e la Fisica Italiana"; Franco Bassani, "Enrico Fermi e la Fisica dello Stato Solido"; Giorgio Parisi, "La statistica di Fermi"; Giovanni Gallavotti, "La meccanica classica e la rivoluzione quantistica nei lavori giovanili di Fermi"; Tullio Levi-Civita, "Sugli invarianti adiabatici"; Bruno Bertotti, "Le coordinate di Fermi e il Principio di Equivalenza"; Marcello Cini, "Fermi e l'elettrodinamica quantistica"; Nicola Cabibbo. "Le interazioni deboli"; Ugo Amaldi, "...

  10. Cristiani ed Ebrei dopo la Shoah. Momenti e protagonisti dell’Amicizia ebraico-cristiana di Firenze (1945-1965

    Directory of Open Access Journals (Sweden)

    Elena Mazzini

    2014-04-01

    Full Text Available Il contributo punta a ricostruire la genesi e la storia dell’Amicizia ebraico-cristiana di Firenze (AEC, fondata nel capoluogo toscano nel 1950 con l’intento di promuovere un dialogo interreligioso fra ebrei e cristiani all’indomani dell’Olocausto. La periodizzazione proposta prende avvio dalla data della nascita della stessa associazione e si conclude con il 1965, anno della chiusura del Concilio Vaticano II, che decreta prospettive religiose nuove della Chiesa cattolica nei suoi rapporti con l’ebraismo. Nata per volontà di Arrigo Levasti, Giorgio La Pira, Ines Zilli, Giorgio Spini, Giacomo Devoto, Angelo Orvieto e Aldo Neppi Modona, l’Amicizia fiorentina rappresentava la sezione italiana dell’International Council of Christians and Jews e dell’Amitié judéo-chrétienne di Parigi, divenendo presto un luogo di attività feconde per il dialogo interreligioso in età pre-conciliare.

  11. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. K Mallikarjuna Rao. Articles written in Sadhana. Volume 26 Issue 6 December 2001 pp 549-590. A set of pathological tests to validate new finite elements · K Mallikarjuna Rao U Shrinivasa · More Details Abstract Fulltext PDF. The finite element method entails several approximations. Hence it is ...

  12. Journal of Earth System Science | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Earth System Science. T K Gundu Rao. Articles written in Journal of Earth System Science. Volume 111 Issue 2 June 2002 pp 103-113. Electron spin resonance dating of fault gouge from Desamangalam, Kerala: Evidence for Quaternary movement in Palghat gap shear zone · T K Gundu Rao C P ...

  13. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Comparative efficiencies of three parallel algorithms for nonlinear implicit transient dynamic analysis · A Rama Mohan Rao T V S R Appa Rao B Dattaguru · More Details Abstract Fulltext PDF. The work reported in this paper is motivated by the need to develop portable parallel processing algorithms and codes which can ...

  14. CMS Observes Single Top-Quark

    CERN Multimedia

    2011-01-01

      One of the many excellent results harvested by CMS from 2010 data. (Figure shows events vs cosine of the angle between lepton and light jets in t rest-frame.)   If you have any comments / suggestions please contact the editors: Marzena Lapka (marzena.lapka@cern.ch) and Achintya Rao (achintya.rao@cern.ch)  

  15. Journal of Chemical Sciences | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Chemical Sciences. G Ranga Rao. Articles written in Journal of Chemical Sciences. Volume 113 Issue 5-6 October-December 2001 pp 651-658. XRD and UV-Vis diffuse reflectance analysis of CeO2-ZrO2 solid solutions synthesized by combustion method · G Ranga Rao H Ranjan Sahu.

  16. A Review: Proteomics in Retinal Artery Occlusion, Retinal Vein Occlusion, Diabetic Retinopathy and Acquired Macular Disorders.

    Science.gov (United States)

    Cehofski, Lasse Jørgensen; Honoré, Bent; Vorum, Henrik

    2017-04-28

    Retinal artery occlusion (RAO), retinal vein occlusion (RVO), diabetic retinopathy (DR) and age-related macular degeneration (AMD) are frequent ocular diseases with potentially sight-threatening outcomes. In the present review we discuss major findings of proteomic studies of RAO, RVO, DR and AMD, including an overview of ocular proteome changes associated with anti-vascular endothelial growth factor (VEGF) treatments. Despite the severe outcomes of RAO, the proteome of the disease remains largely unstudied. There is also limited knowledge about the proteome of RVO, but proteomic studies suggest that RVO is associated with remodeling of the extracellular matrix and adhesion processes. Proteomic studies of DR have resulted in the identification of potential therapeutic targets such as carbonic anhydrase-I. Proliferative diabetic retinopathy is the most intensively studied stage of DR. Proteomic studies have established VEGF, pigment epithelium-derived factor (PEDF) and complement components as key factors associated with AMD. The aim of this review is to highlight the major milestones in proteomics in RAO, RVO, DR and AMD. Through large-scale protein analyses, proteomics is bringing new important insights into these complex pathological conditions.

  17. Segmental wall-motion analysis in the right anterior oblique projection: comparison of exercise equilibrium radionuclide ventriculography and exercise contrast ventriculography

    International Nuclear Information System (INIS)

    Brady, T.J.; Thrall, J.H.; Keyes, J.W. Jr.; Brymer, J.F.; Walton, J.A.; Pitt, B.

    1980-01-01

    Thirty-nine patients with known or suspected coronary artery disease were studied at rest and during supine bicycle exercise with radionuclide and contrast left ventriculography. Analysis of regional wall motion was made by visual evaluation of the five standard 30 0 right anterior oblique (RAO) wall segments in the contrast images and the corresponding 10 0 RAO radionuclide segments. The radionuclide studies were evaluated independently by three observers using a five-point grading system. The interobserver wall-motion grading agreed completely in more than 80% of segments at rest and exercise, and agreed within one wall-motion grade in more than 95% of segments. The comparison of wall-motion grades between radionuclide and contrast ventriculograms showed complete agreement in 86% of segments at rest and in 78% during exercise, and agreement within one wall-motion grade in 97% of rest and 96% of exercise segments. Visual evaluation of 10 0 RAO rest and exercise radionuclide ventriculograms compares favorably with rest and exercise 30 0 RAO contrast ventriculograms and demonstrates satisfactory interobserver agreement

  18. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. M D Ghouse. Articles written in Sadhana. Volume 36 Issue 1 February 2011 pp 35-51. Numerical modelling of failure of cement concrete using a unit cell approach · M D Ghouse C Lakshmana Rao B N Rao · More Details Abstract Fulltext PDF. In this paper, a unit cell based approach is followed, ...

  19. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    More Details Fulltext PDF. Volume 4 Issue 1 January 1999 pp 8-22 Series Article. 175 Years of Linear Programming - Pivots in Column Space · Vijay Chandru M R Rao · More Details Fulltext PDF. Volume 4 Issue 5 May 1999 pp 31-39 Series Article. 175 Years of Linear Programming - Pune's Gift · Vijay Chandru M R Rao.

  20. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. S R Koteswara Rao. Articles written in Sadhana. Volume 37 Issue 5 October 2012 pp 587-593. Comparative evaluation of tungsten inert gas and laser beam welding of AA5083-H321 · K Subbaiah M Geetha B Shanmugarajan S R Koteswara Rao · More Details Abstract Fulltext PDF. In this study ...

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